1921 lines
52 KiB
C++
1921 lines
52 KiB
C++
/**
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******************************************************************************
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*
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* @file opmapwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief The Map Widget, this is the part exposed to the user
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* @see The GNU Public License (GPL) Version 3
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* @defgroup OPMapWidget
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "opmapwidget.h"
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#include <QtGui>
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#include <QMetaObject>
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#include "waypointitem.h"
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#include "QDir"
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#include <QGraphicsSceneMouseEvent>
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#include "QTextCodec"
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namespace mapcontrol {
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OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent), configuration(config), UAV(0), GPS(0), Home(0)
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, followmouse(true), compass(0), showuav(false), showhome(false), diagTimer(0), diagGraphItem(0), showDiag(false), overlayOpacity(1),isWPCreate(false)
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{
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//QTextCodec::setCodecForLocale(QTextCodec::codecForName("GB2312"));
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QTextCodec::setCodecForLocale(QTextCodec::codecForName("utf8"));
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/*
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QTranslator * translator = NULL;
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translator->load(QCoreApplication::applicationDirPath() + "\\MAP_zh_CN.qm");
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QCoreApplication::installTranslator(translator);
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*/
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setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
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core = new internals::Core;
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QDir *MapDir = new QDir;
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if(!MapDir->exists("./maps"))
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MapDir->mkdir("./maps");//如果文件夹不存在就新建
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config->SetCacheLocation(QDir::currentPath() + QDir::separator() + "maps" + QDir::separator());
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map = new MapGraphicItem(core, config);
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mscene.addItem(map);//添加图层
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this->setScene(&mscene);
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Home = new HomeItem(map, this);
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Home->setParentItem(map);
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Home->setZValue(-1);
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this->adjustSize();
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connect(map, SIGNAL(zoomChanged(double, double, double)), this, SIGNAL(zoomChanged(double, double, double)));
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connect(map->core, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
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connect(map->core, SIGNAL(OnEmptyTileError(int, core::Point)), this, SIGNAL(OnEmptyTileError(int, core::Point)));
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connect(map->core, SIGNAL(OnMapDrag()), this, SIGNAL(OnMapDrag()));
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connect(map->core, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SIGNAL(OnMapTypeChanged(MapType::Types)));
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connect(map->core, SIGNAL(OnMapZoomChanged()), this, SIGNAL(OnMapZoomChanged()));
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connect(map->core, SIGNAL(OnTileLoadComplete()), this, SIGNAL(OnTileLoadComplete()));
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connect(map->core, SIGNAL(OnTileLoadStart()), this, SIGNAL(OnTileLoadStart()));
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connect(map->core, SIGNAL(OnTilesStillToLoad(int)), this, SIGNAL(OnTilesStillToLoad(int)));
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connect(map, SIGNAL(wpdoubleclicked(WayPointItem *)), this, SIGNAL(OnWayPointDoubleClicked(WayPointItem *)));
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connect(&mscene, SIGNAL(selectionChanged()), this, SLOT(OnSelectionChanged()));
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SetShowDiagnostics(showDiag);
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this->setMouseTracking(followmouse);
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SetShowCompass(false);
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QPixmapCache::setCacheLimit(1024 * 1024);//set 1M byte
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setOverlayOpacity(overlayOpacity);
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altitudeitem = new AltitudeItem(map,Qt::red);
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altitudeitem->setParentItem(map);
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altitudeitem->setPos(0,(this->height() - altitudeitem->boundingRect().height())/2);
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altitudeitem->hide();
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NoOperationTimer = new QTimer(this);
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connect(NoOperationTimer,SIGNAL(timeout()),
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this,SLOT(NOPTimeout()));
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NoOperationTimer->start(20000);//20s不操作
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}
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void OPMapWidget::SetShowDiagnostics(bool const & value)
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{
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showDiag = value;
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}
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void OPMapWidget::SetUavPic(QString UAVPic)
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{
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if (UAV != 0) {
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UAV->SetUavPic(UAVPic);
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}
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if (GPS != 0) {
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GPS->SetUavPic(UAVPic);
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}
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}
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void OPMapWidget::SetShowUAV(const bool &value)
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{
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if (value && UAV == 0) {
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UAV = new UAVItem(map, this);
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UAV->setParentItem(map);
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connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)), UAV, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
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connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)), UAV, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
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connect(UAV,SIGNAL(selected(int,int)),
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this,SIGNAL(uav_selected(int,int)));
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UAV->setOpacity(overlayOpacity);
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} else if (!value) {
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if (UAV != 0) {
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delete UAV;
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UAV = NULL;
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}
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}
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}
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void OPMapWidget::addUAV(int sysid,int compid)
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{
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UAVItem *uavItem = new UAVItem(map, this);
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uavItem->setParentItem(map);
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uavItem->SetUavPic("Fixwing.png");
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uavItem->setID(sysid,compid);
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connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),
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uavItem, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
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connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)),
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uavItem, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
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connect(uavItem,SIGNAL(selected(int,int)),
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this,SIGNAL(uav_selected(int,int)));
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uavItem->setOpacity(overlayOpacity);
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//检测，如果只有一个飞机，那么就选中
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uint32_t uavCount = 0;
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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uavCount ++;
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}
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}
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if(uavCount <= 1)
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{
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uavItem->setSelect(true);
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}
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else
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{
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uavItem->setSelect(false);
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}
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this->SetCurrentPosition();
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}
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void OPMapWidget::NOPTimeout()
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{
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//qDebug() << "NOPTimeout";
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//这个超限
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if(isWPCreate == false)
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{
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isLNOP = true;
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}
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}
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void OPMapWidget::SetCurrentPosition()
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{
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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if(u->Select())//当前选中，那么检查如果超出了屏幕范围，就将位置拉回中点
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{
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map->core->SetCurrentPosition(u->UAVPos());//缓慢拉回来
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}
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}
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}
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}
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void OPMapWidget::SetCurrentPosition(internals::PointLatLng const & value)
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{
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map->core->SetCurrentPosition(value);
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}
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void OPMapWidget::setUAVPos(int sysid,int compid,double x,double y,double z)
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{
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//qDebug() << sysid << compid;
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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if(u->SysID() == sysid)
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{
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internals::PointLatLng LatLng;
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LatLng.SetLat(x);
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LatLng.SetLng(y);
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u->SetUAVPos(LatLng,z);
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/*
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//==========================
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编辑界面不拉回
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飞行界面 20s不操作才会拉回一次
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//===========================*/
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if(isWPCreate == false)
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{
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if(u->Select())//当前选中，那么检查如果超出了屏幕范围，就将位置拉回中点
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{
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if(((u->pos().x() <= 0)||
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(u->pos().x() >= this->size().width())||
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(u->pos().y() < 0)||
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(u->pos().y() >= this->size().height()))&&(isLNOP == true))
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{
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this->SetCurrentPosition(LatLng);//缓慢拉回来
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}
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}
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}
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}
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}
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}
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}
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void OPMapWidget::setUAVHeading(int sysid,int compid,float Heading)
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{
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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if(u->SysID() == sysid)
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{
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u->SetUAVHeading(Heading);
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//qDebug() << Heading;
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}
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}
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}
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}
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int OPMapWidget::getUAVCurrent(void)
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{
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int num = -1;
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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if(u->Select())
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{
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num = u->SysID();
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}
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}
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}
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return num;
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}
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void OPMapWidget::DeleteTrail(void)
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{
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foreach(QGraphicsItem * i, map->childItems()) {
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UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
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if (u) {
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if(u->Select())
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{
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u->DeleteTrail();
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}
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}
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}
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}
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WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
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{
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if (!from | !to) {
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return NULL;
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}
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WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
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ret->setOpacity(overlayOpacity);
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return ret;
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}
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WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed, int width)
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{
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if (!from | !to) {
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return NULL;
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}
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WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
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ret->setOpacity(overlayOpacity);
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return ret;
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}
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void OPMapWidget::WPLineDelete(WayPointItem *from, WayPointItem *to)
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{
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do
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{
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WayPointLine *line = WPLineFind(from,to);
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if(line)
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{
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delete line;
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}
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else
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{
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break;
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}
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}while(0);
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}
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WayPointLine *OPMapWidget::WPLineFind(WayPointItem *from, WayPointItem *to)
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{
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foreach(QGraphicsItem * i, map->childItems()) {
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WayPointLine *w = qgraphicsitem_cast<WayPointLine *>(i);
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if (w) {
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if (w->WPLineFrom() == from) {
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return w;
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}
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}
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}
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return NULL;
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}
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WayPointCircle *OPMapWidget::WPCircleCreate(WayPointItem *center, double radius, bool clockwise, QColor color, bool dashed, int width)
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{
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if (!center | !radius) {
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return NULL;
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}
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WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
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ret->setOpacity(overlayOpacity);
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return ret;
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}
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WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, double radius, bool clockwise, QColor color, bool dashed, int width)
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{
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if (!center | !radius) {
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return NULL;
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}
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WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
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ret->setOpacity(overlayOpacity);
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return ret;
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}
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void OPMapWidget::SetShowHome(const bool &value)
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{
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Home->setVisible(value);
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}
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void OPMapWidget::resizeEvent(QResizeEvent *event)
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{
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if (scene()) {
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scene()->setSceneRect(
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QRect(QPoint(0,0), event->size()));
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}
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QGraphicsView::resizeEvent(event);
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if (compass) {
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compass->setScale(0.1 + 0.05 * (qreal)(event->size().width()) / 1000 * (qreal)(event->size().height()) / 600);
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}
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}
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QSize OPMapWidget::sizeHint() const
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{
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return map->sizeHint();
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}
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void OPMapWidget::showEvent(QShowEvent *event)
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{
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connect(&mscene, SIGNAL(sceneRectChanged(QRectF)), map, SLOT(resize(QRectF)));
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map->start();
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QGraphicsView::showEvent(event);
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}
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OPMapWidget::~OPMapWidget()
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{
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if (UAV) {
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delete UAV;
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}
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if (Home) {
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delete Home;
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}
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if (map) {
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delete map;
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}
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if (core) {
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delete core;
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}
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if (configuration) {
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delete configuration;
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}
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foreach(QGraphicsItem * i, this->items()) {
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if (i) {
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delete i;
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}
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}
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}
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void OPMapWidget::closeEvent(QCloseEvent *event)
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{
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core->OnMapClose();
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event->accept();
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}
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void OPMapWidget::SetUseOpenGL(const bool &value)
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{
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useOpenGL = value;
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if (useOpenGL) {
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setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
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} else {
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setupViewport(new QWidget());
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}
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update();
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}
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internals::PointLatLng OPMapWidget::currentMousePosition()
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{
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return currentmouseposition;
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}
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void OPMapWidget::mouseMoveEvent(QMouseEvent *event)
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{
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QGraphicsView::mouseMoveEvent(event);
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QPointF p = event->pos();
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//qDebug() << "mouseMoveEvent";
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p = map->mapFromParent(p);
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currentmouseposition = map->FromLocalToLatLng(p.x(), p.y());
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isLNOP = false;
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emit EmitCurrentMousePosition(currentmouseposition);
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}
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void OPMapWidget::mousePressEvent(QMouseEvent *event)
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{
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QGraphicsView::mousePressEvent(event);
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//qDebug() << "mousePressEvent";
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isLNOP = false;
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emit MousePressEvent(event);
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}
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void OPMapWidget::mouseReleaseEvent(QMouseEvent *event)
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{
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isLNOP = false;
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QGraphicsView::mouseReleaseEvent(event);
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emit MouseReleaseEvent(event);
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}
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void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
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{
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QGraphicsView::mouseDoubleClickEvent(event);
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isLNOP = false;
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//生成一个列表
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if(isWPCreate == true)
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{
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if(event->button() == Qt::LeftButton)
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{
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QPointF p = event->pos();
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p = map->mapFromParent(p);
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internals::PointLatLng LatLng;
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LatLng = map->FromLocalToLatLng(p.x(), p.y());
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WayPointItem *Item = WPCreate(LatLng,50);
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WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
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qDebug() << "WPCreate Point"
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<< QThread::currentThreadId();
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}
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}
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emit MouseDoubleClickEvent(event);
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}
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////////////////WAYPOINT////////////////////////
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WayPointItem *OPMapWidget::WPCreate()
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{
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WayPointItem *item = new WayPointItem(this->CurrentPosition(), 0, map);
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ConnectWP(item);
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item->setParentItem(map);
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int position = item->Number();
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emit WPCreated(position, item);
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return item;
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}
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WayPointItem *OPMapWidget::magicWPCreate()
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{
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WayPointItem *item = new WayPointItem(map, true);
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item->SetShowNumber(false);
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item->setParentItem(map);
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return item;
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}
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void OPMapWidget::WPCreate(WayPointItem *item)
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{
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ConnectWP(item);
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item->setParentItem(map);
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int position = item->Number();
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emit WPCreated(position, item);
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setOverlayOpacity(overlayOpacity);
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}
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WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude)
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{
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WayPointItem *item = new WayPointItem(coord, altitude, map);
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ConnectWP(item);
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item->setParentItem(map);
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int position = item->Number();
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emit WPCreated(position, item);
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setOverlayOpacity(overlayOpacity);
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return item;
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}
|
|
WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude, QString const & description)
|
|
{
|
|
WayPointItem *item = new WayPointItem(coord, altitude, description, map);
|
|
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
int position = item->Number();
|
|
emit WPCreated(position, item);
|
|
setOverlayOpacity(overlayOpacity);
|
|
return item;
|
|
}
|
|
WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
|
|
{
|
|
WayPointItem *item = new WayPointItem(relativeCoord, description, map);
|
|
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
int position = item->Number();
|
|
emit WPCreated(position, item);
|
|
setOverlayOpacity(overlayOpacity);
|
|
return item;
|
|
}
|
|
|
|
|
|
void OPMapWidget::WPInsert(const int &position)
|
|
{
|
|
internals::PointLatLng latlng;
|
|
|
|
WayPointItem *item_old0 = WPFind(position-1);
|
|
WayPointItem *item_old1 = WPFind(position);
|
|
WayPointItem *item_old2 = WPFind(position+1);
|
|
|
|
|
|
|
|
|
|
//删除连线
|
|
if((item_old1)&&(item_old2))
|
|
{
|
|
WPLineDelete(item_old1,item_old2);
|
|
//WPLineDelete(item_old1,item_old2);
|
|
//WPLineDelete(item_old1,item_old2);
|
|
}
|
|
//删除连线
|
|
if((item_old1)&&(item_old0))
|
|
{
|
|
WPLineDelete(item_old0,item_old1);
|
|
//WPLineDelete(item_old0,item_old1);
|
|
//WPLineDelete(item_old0,item_old1);
|
|
|
|
internals::PointLatLng latlng1 = item_old0->Coord();
|
|
internals::PointLatLng latlng2 = item_old1->Coord();
|
|
|
|
latlng.SetLat((latlng1.Lat() + latlng2.Lat())/2);
|
|
latlng.SetLng((latlng1.Lng() + latlng2.Lng())/2);
|
|
}
|
|
else
|
|
{
|
|
if(item_old1)
|
|
{
|
|
latlng = item_old1->Coord();
|
|
}
|
|
}
|
|
|
|
|
|
if(item_old1)//如果指定的点存在，那么就可以在这之前插入一个点
|
|
{
|
|
WayPointItem *item = new WayPointItem(latlng, item_old1->Altitude(), map);
|
|
|
|
ConnectWP(item);
|
|
item->SetNumber(position);
|
|
item->setParentItem(map);
|
|
setOverlayOpacity(overlayOpacity);
|
|
|
|
setSelectedWP(item);
|
|
item->emitWPProperty();//这个没有执行
|
|
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
if(w != item)
|
|
{
|
|
if(w->Number() >= item->Number())
|
|
{
|
|
w->SetNumber(w->Number()+1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
WayPointItem *w_next = WPFind(item->Number() + 1);
|
|
if(w_next)
|
|
{
|
|
WPLineCreate(item,w_next,Qt::green,false,2);
|
|
|
|
WayPointItem *w_next_1 = WPFind(w_next->Number() + 1);
|
|
if(w_next_1)
|
|
{
|
|
WPLineCreate(w_next,w_next_1,Qt::green,false,2);
|
|
}
|
|
}
|
|
|
|
/*
|
|
WayPointItem *w_last = WPFind(item->Number() - 1);
|
|
if(w_last)
|
|
{
|
|
WPLineCreate(w_last,item,Qt::green,false,2);
|
|
|
|
WayPointItem *w_last2 = WPFind(item->Number() - 2);
|
|
if(w_last2)
|
|
{
|
|
WPLineCreate(w_last2,w_last,Qt::green,false,2);
|
|
}
|
|
|
|
}
|
|
*/
|
|
|
|
|
|
}
|
|
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
//qDebug() << "all number" << w->Number() << w->snumber;
|
|
|
|
|
|
WPFollowPrevious(w->FollowPrevious(),w);
|
|
}
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
|
|
{
|
|
item->SetNumber(position);
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
emit WPInserted(position, item);
|
|
setOverlayOpacity(overlayOpacity);
|
|
}
|
|
WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int const & altitude, const int &position)
|
|
{
|
|
WayPointItem *item = new WayPointItem(coord, altitude, map);
|
|
|
|
item->SetNumber(position);
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
emit WPInserted(position, item);
|
|
setOverlayOpacity(overlayOpacity);
|
|
return item;
|
|
}
|
|
WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int const & altitude, QString const & description, const int &position)
|
|
{
|
|
internals::PointLatLng mcoord;
|
|
bool reloc = false;
|
|
|
|
if (mcoord == internals::PointLatLng(0, 0)) {
|
|
mcoord = CurrentPosition();
|
|
reloc = true;
|
|
} else {
|
|
mcoord = coord;
|
|
}
|
|
WayPointItem *item = new WayPointItem(mcoord, altitude, description, map);
|
|
item->SetNumber(position);
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
emit WPInserted(position, item);
|
|
if (reloc) {
|
|
emit WPValuesChanged(item);
|
|
}
|
|
setOverlayOpacity(overlayOpacity);
|
|
return item;
|
|
}
|
|
WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QString const & description, const int &position)
|
|
{
|
|
WayPointItem *item = new WayPointItem(relative, description, map);
|
|
|
|
item->SetNumber(position);
|
|
ConnectWP(item);
|
|
item->setParentItem(map);
|
|
emit WPInserted(position, item);
|
|
setOverlayOpacity(overlayOpacity);
|
|
return item;
|
|
}
|
|
|
|
void OPMapWidget::WPDelete(WayPointItem *item)
|
|
{
|
|
int number = item->Number();
|
|
|
|
emit WPDeleted(number, item);
|
|
delete item;
|
|
|
|
//当前选中为上一点
|
|
WayPointItem *w = WPFind(number -1);
|
|
if(w)
|
|
{
|
|
setSelectedWP(w);
|
|
w->emitWPProperty();
|
|
|
|
WayPointItem *w_next = WPFind(w->Number() + 1);
|
|
if(w_next)
|
|
{
|
|
WPLineCreate(w,w_next,Qt::green,false,2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
WayPointItem *ww = WPFind(number);
|
|
if(ww)
|
|
{
|
|
setSelectedWP(ww);
|
|
ww->emitWPProperty();
|
|
}
|
|
}
|
|
}
|
|
void OPMapWidget::WPDelete(int number)
|
|
{
|
|
WayPointItem *w = WPFind(number);
|
|
|
|
if (w) {
|
|
qDebug() << "delete" <<w->Number();
|
|
emit WPDeleted(w->Number(), w);
|
|
delete w;
|
|
}
|
|
|
|
//当前选中为上一点
|
|
WayPointItem *item = WPFind(number -1);
|
|
if(item)
|
|
{
|
|
setSelectedWP(item);
|
|
item->emitWPProperty();
|
|
|
|
WayPointItem *item_next = WPFind(item->Number() + 1);
|
|
if(item_next)
|
|
{
|
|
WPLineCreate(item,item_next,Qt::green,false,2);
|
|
}
|
|
else
|
|
{
|
|
qDebug() << "can not find next fine";
|
|
}
|
|
}
|
|
else
|
|
{
|
|
WayPointItem *ww = WPFind(number);
|
|
if(ww)
|
|
{
|
|
setSelectedWP(ww);
|
|
ww->emitWPProperty();
|
|
}
|
|
}
|
|
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
WPFollowPrevious(w->FollowPrevious(),w);
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
WayPointItem *OPMapWidget::WPFind(int number)
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
|
|
if (w) {
|
|
if (w->Number() == number) {
|
|
return w;
|
|
}
|
|
}
|
|
}
|
|
return nullptr;
|
|
}
|
|
void OPMapWidget::WPSetVisibleAll(bool value)
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
|
|
if (w) {
|
|
if (w->Number() != -1) {
|
|
w->setVisible(value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
void OPMapWidget::WPDeleteAll()
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
|
|
if (w) {
|
|
emit WPDeleted(w->Number(), w);
|
|
delete w;
|
|
/*
|
|
if (w->Number() != -1) {
|
|
emit WPDeleted(w->Number(), w);
|
|
delete w;
|
|
}
|
|
*/
|
|
}
|
|
}
|
|
}
|
|
bool OPMapWidget::WPPresent()
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
|
|
if (w) {
|
|
if (w->Number() != -1) {
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void OPMapWidget::deleteAllOverlays()
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *w = qgraphicsitem_cast<WayPointLine *>(i);
|
|
|
|
if (w) {
|
|
w->deleteLater();
|
|
} else {
|
|
WayPointCircle *ww = qgraphicsitem_cast<WayPointCircle *>(i);
|
|
if (ww) {
|
|
ww->deleteLater();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
QList<WayPointItem *> OPMapWidget::WPSelected()
|
|
{
|
|
QList<WayPointItem *> list;
|
|
foreach(QGraphicsItem * i, mscene.selectedItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
|
|
if (w) {
|
|
list.append(w);
|
|
}
|
|
}
|
|
return list;
|
|
}
|
|
void OPMapWidget::WPRenumber(WayPointItem *item, const int &newnumber)
|
|
{
|
|
item->SetNumber(newnumber);
|
|
}
|
|
|
|
void OPMapWidget::ConnectWP(WayPointItem *item)
|
|
{
|
|
connect(item, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), this, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), Qt::DirectConnection);
|
|
connect(item, SIGNAL(WPValuesChanged(WayPointItem *)), this, SIGNAL(WPValuesChanged(WayPointItem *)), Qt::DirectConnection);
|
|
connect(item, SIGNAL(localPositionChanged(QPointF, WayPointItem *)), this, SIGNAL(WPLocalPositionChanged(QPointF, WayPointItem *)), Qt::DirectConnection);
|
|
connect(item, SIGNAL(manualCoordChange(WayPointItem *)), this, SIGNAL(WPManualCoordChange(WayPointItem *)), Qt::DirectConnection);
|
|
connect(this, SIGNAL(WPInserted(int, WayPointItem *)), item, SLOT(WPInserted(int, WayPointItem *)), Qt::DirectConnection);
|
|
connect(this, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), item, SLOT(WPRenumbered(int, int, WayPointItem *)), Qt::DirectConnection);
|
|
connect(this, SIGNAL(WPDeleted(int, WayPointItem *)), item, SLOT(WPDeleted(int, WayPointItem *)), Qt::DirectConnection);
|
|
connect(item,SIGNAL(WPChanged(int,double,double)),this,SIGNAL(WPChanged(int,double,double)));
|
|
|
|
connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
|
|
this, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
|
|
|
|
connect(this, SIGNAL(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
|
|
item, SLOT(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
|
|
|
|
|
|
|
|
connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
|
|
this, SLOT(find_PointNumber()),Qt::DirectConnection);
|
|
|
|
|
|
connect(item, SIGNAL(WPFollowPrevious(bool,WayPointItem*)),
|
|
this, SLOT(WPFollowPrevious(bool,WayPointItem*)),Qt::DirectConnection);
|
|
|
|
connect(item, SIGNAL(localPositionChanged(QPointF, WayPointItem *)),
|
|
this, SLOT(WPLocalChanged(QPointF, WayPointItem *)), Qt::DirectConnection);
|
|
|
|
connect(item,SIGNAL(SetCurrent(int)),
|
|
this,SIGNAL(setCurrent(int)), Qt::DirectConnection);
|
|
|
|
|
|
|
|
|
|
connect(item,SIGNAL(ElevationChanged(int,double)),
|
|
this,SLOT(ElevationChanged(int,double)), Qt::DirectConnection);
|
|
|
|
connect(item,SIGNAL(AltitudeChanged(int,double)),
|
|
this,SLOT(AltitudeChanged(int,double)), Qt::DirectConnection);
|
|
|
|
connect(item,SIGNAL(setCurrentPoint(int)),
|
|
this,SLOT(setCurrentPoint(int)), Qt::DirectConnection);
|
|
|
|
|
|
|
|
|
|
//生成后立即选中，并且把信息发给ui界面
|
|
setSelectedWP(item);
|
|
item->emitWPProperty();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void OPMapWidget::diagRefresh()
|
|
{
|
|
if (showDiag) {
|
|
if (diagGraphItem == 0) {
|
|
diagGraphItem = new QGraphicsTextItem();
|
|
mscene.addItem(diagGraphItem);
|
|
diagGraphItem->setPos(10, 100);
|
|
diagGraphItem->setZValue(3);
|
|
diagGraphItem->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
diagGraphItem->setDefaultTextColor(Qt::yellow);
|
|
}
|
|
diagGraphItem->setPlainText(core->GetDiagnostics().toString());
|
|
} else if (diagGraphItem != 0) {
|
|
delete diagGraphItem;
|
|
diagGraphItem = 0;
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////
|
|
void OPMapWidget::SetShowCompass(const bool &value)
|
|
{
|
|
if (value && !compass) {
|
|
compass = new QGraphicsSvgItem(QString::fromUtf8(":/markers/images/compas.svg"));
|
|
compass->setScale(0.1 + 0.05 * (qreal)(this->size().width()) / 1000 * (qreal)(this->size().height()) / 600);
|
|
// compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
|
|
compass->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
compass->setFlag(QGraphicsItem::ItemIsSelectable, true);
|
|
mscene.addItem(compass);
|
|
compass->setTransformOriginPoint(compass->boundingRect().width() / 2, compass->boundingRect().height() / 2);
|
|
compass->setPos(55 - compass->boundingRect().width() / 2, 55 - compass->boundingRect().height() / 2);
|
|
compass->setZValue(3);
|
|
compass->setOpacity(0.7);
|
|
}
|
|
if (!value && compass) {
|
|
delete compass;
|
|
compass = 0;
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::setOverlayOpacity(qreal value)
|
|
{
|
|
map->setOverlayOpacity(value);
|
|
overlayOpacity = value;
|
|
}
|
|
void OPMapWidget::SetRotate(qreal const & value)
|
|
{
|
|
map->mapRotate(value);
|
|
if (compass && (compass->rotation() != value)) {
|
|
compass->setRotation(value);
|
|
}
|
|
}
|
|
void OPMapWidget::RipMap()
|
|
{
|
|
new MapRipper(core, map->SelectedArea());
|
|
}
|
|
|
|
void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
|
|
{
|
|
this->scene()->clearSelection();
|
|
foreach(WayPointItem * wp, list) {
|
|
wp->setSelected(true);
|
|
if(altitudeitem)
|
|
{
|
|
if(!wp->FollowPrevious())
|
|
altitudeitem->setCurrentPoint(wp->Number());
|
|
}
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::setSelectedWP(int number)
|
|
{
|
|
this->scene()->clearSelection();
|
|
WayPointItem *wp = WPFind(number);
|
|
wp->setSelected(true);
|
|
|
|
if(altitudeitem)
|
|
{
|
|
if(!wp->FollowPrevious())
|
|
altitudeitem->setCurrentPoint(wp->Number());
|
|
}
|
|
|
|
}
|
|
|
|
void OPMapWidget::setSelectedWP(WayPointItem *item)
|
|
{
|
|
this->scene()->clearSelection();
|
|
item->setSelected(true);
|
|
|
|
if(altitudeitem)
|
|
{
|
|
if(!item->FollowPrevious())
|
|
altitudeitem->setCurrentPoint(item->Number());
|
|
}
|
|
}
|
|
|
|
|
|
void OPMapWidget::OnSelectionChanged()
|
|
{
|
|
QList<QGraphicsItem *> list;
|
|
QList<WayPointItem *> wplist;
|
|
list = this->scene()->selectedItems();
|
|
foreach(QGraphicsItem * item, list) {
|
|
WayPointItem *wp = qgraphicsitem_cast<WayPointItem *>(item);
|
|
|
|
qDebug() << "selete item" << wp->Number();
|
|
|
|
if (wp) {
|
|
wplist.append(wp);
|
|
}
|
|
}
|
|
if (wplist.length() > 0) {
|
|
emit selectedWPChanged(wplist);
|
|
}
|
|
}
|
|
|
|
|
|
void OPMapWidget::WPotherPoint(int number)
|
|
{
|
|
|
|
WayPointItem *wp = WPFind(number);
|
|
|
|
if(wp)
|
|
{
|
|
setSelectedWP(number);
|
|
wp->emitWPProperty();
|
|
}
|
|
}
|
|
|
|
|
|
void OPMapWidget::setWPLock(bool const & lock)
|
|
{
|
|
bool isEdit = false;
|
|
|
|
if(lock == true)
|
|
{
|
|
isEdit = false;
|
|
}
|
|
else
|
|
{
|
|
isEdit = true;
|
|
}
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
qDebug() << "set Edit" <<isEdit;
|
|
|
|
w->WPSetEdit(isEdit);
|
|
}
|
|
}
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
UAVItem *uav = qgraphicsitem_cast<UAVItem *>(i);
|
|
if (uav) {
|
|
uav->setEdit(isEdit);
|
|
}
|
|
}
|
|
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
|
|
if (l) {
|
|
l->setEdit(isEdit);
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
void OPMapWidget::WPSetCurrent(int seq)
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
|
|
if(w->Number() == seq)
|
|
{
|
|
w->WPSetCurrent(true);
|
|
//qDebug() << "map WPSetCurrent" << seq;
|
|
}
|
|
else
|
|
{
|
|
w->WPSetCurrent(false);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void OPMapWidget::WPsearchall(void)
|
|
{
|
|
//重新排序一下
|
|
|
|
//QList<mapcontrol::WayPointItem *> list;
|
|
|
|
QMap<int,int> list;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
list.insert(w->Number(),w->Command());
|
|
}
|
|
}
|
|
|
|
for (QMap<int,int>::iterator i = list.begin();i != list.end(); ++i)
|
|
{
|
|
qDebug() << i.key() << i.value();
|
|
}
|
|
|
|
|
|
if(list.size() != 0)
|
|
{
|
|
emit allPoint(list);
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::setWPCreate(bool const & value)
|
|
{
|
|
isWPCreate = value;
|
|
|
|
if(altitudeitem)
|
|
{
|
|
if(value)
|
|
{
|
|
altitudeitem->show();
|
|
}
|
|
else
|
|
{
|
|
altitudeitem->hide();
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void OPMapWidget::WPLocalChanged(QPointF p, WayPointItem *w)
|
|
{
|
|
WayPointItem *item = WPFind(w->Number() + 1);
|
|
|
|
if(item)
|
|
{
|
|
if(item->FollowPrevious() == true)
|
|
{
|
|
QPointF pos = p;
|
|
pos.setX(pos.x() + w->boundingRect().width());
|
|
item->setPosition(pos);
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *w)
|
|
{
|
|
int Point_Count = 0;
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {//逐渐往下增加
|
|
Point_Count++;
|
|
}
|
|
}
|
|
|
|
|
|
if(flag)
|
|
{
|
|
WayPointItem *item = WPFind(w->Number() - 1);
|
|
if(item)
|
|
{
|
|
WPLineDelete(item,w);
|
|
|
|
//跟随上一点的位置
|
|
QPointF pos = item->pos();
|
|
pos.setX(pos.x() + w->boundingRect().width());
|
|
w->setPosition(pos);
|
|
|
|
//找到前后两个不是跟随的点，将他们连接起来
|
|
WayPointItem *front_item;
|
|
int front_seq = w->Number();
|
|
do{
|
|
front_item = WPFind(front_seq--);
|
|
if(front_item)
|
|
{
|
|
if(front_item->FollowPrevious() == false)
|
|
{
|
|
qDebug() << "front_item" << front_item->Number();
|
|
break;
|
|
}
|
|
else {
|
|
continue;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}while(front_seq > 0);
|
|
|
|
WayPointItem *next_item;
|
|
int next_seq = w->Number();
|
|
do{
|
|
next_item = WPFind(next_seq++);
|
|
|
|
if(next_item)
|
|
{
|
|
WPLineDelete(w,next_item);
|
|
|
|
if(next_item->FollowPrevious() == false)
|
|
{
|
|
qDebug() << "next_item" << next_item->Number();
|
|
break;
|
|
}
|
|
else {
|
|
continue;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}while(next_seq <= Point_Count);
|
|
|
|
if(next_item)
|
|
{
|
|
WPLineDelete(w,next_item);
|
|
}
|
|
|
|
if((front_item)&&(next_item))
|
|
{
|
|
WPLineCreate(front_item,next_item,Qt::green,false,2);
|
|
}
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
|
|
//找到前后两个不是跟随的点，将他们连接起来
|
|
WayPointItem *front_item;
|
|
int front_seq = w->Number()-1;
|
|
do{
|
|
front_item = WPFind(front_seq--);
|
|
|
|
if(front_item)
|
|
{
|
|
if(front_item->FollowPrevious() == false)
|
|
{
|
|
qDebug() << "front_item" << front_item->Number();
|
|
break;
|
|
}
|
|
else {
|
|
//如果上一点存在，那么就删除掉线
|
|
qDebug() << "Delete front" << front_item->Number();
|
|
WPLineDelete(front_item,w);
|
|
continue;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}while(front_seq > 0);
|
|
|
|
WayPointItem *next_item;
|
|
int next_seq = w->Number()+1;
|
|
do{
|
|
next_item = WPFind(next_seq++);
|
|
|
|
if(next_item)
|
|
{
|
|
if(next_item->FollowPrevious() == false)
|
|
{
|
|
qDebug() << "next_item" << next_item->Number();
|
|
break;
|
|
}
|
|
else {
|
|
continue;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
break;
|
|
}
|
|
}while(next_seq <= Point_Count);
|
|
|
|
if((front_item)&&(next_item))
|
|
{
|
|
WPLineDelete(front_item,next_item);
|
|
}
|
|
|
|
if(front_item)
|
|
{
|
|
WPLineCreate(front_item,w,Qt::green,false,2);
|
|
}
|
|
|
|
if(next_item)
|
|
{
|
|
WPLineCreate(w,next_item,Qt::green,false,2);
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
//先清除再读取
|
|
void OPMapWidget::WPLoad(QString path)//带文件目录参数
|
|
{
|
|
//清除所有
|
|
WPDeleteAll();
|
|
qDebug() << "WPLoad" << path;
|
|
//读取
|
|
QFile jsonFile(path);
|
|
if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
|
qWarning() << "Unable to open file" << path << jsonFile.errorString();
|
|
return;
|
|
}
|
|
|
|
QByteArray bytes = jsonFile.readAll();
|
|
|
|
jsonFile.close();
|
|
QJsonParseError jsonParseError;
|
|
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
|
|
if (jsonParseError.error != QJsonParseError::NoError) {
|
|
qWarning() << path << "Unable to open json document" << jsonParseError.errorString();
|
|
return;
|
|
}
|
|
|
|
QJsonObject json = doc.object();
|
|
|
|
//解码
|
|
QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
|
|
|
|
for(QJsonValue item: itemsArray) {
|
|
if (!item.isObject()) {
|
|
return;
|
|
}
|
|
|
|
uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
|
|
uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
|
|
uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
|
|
uint8_t autocontinue = item.toObject().find("autoContinue").value().toBool()?(1):(0);//bool
|
|
uint16_t command = item.toObject().find("command").value().toInt();
|
|
uint16_t seq = item.toObject().find("doJumpId").value().toInt();
|
|
uint8_t frame = item.toObject().find("frame").value().toInt();
|
|
QJsonArray params = item.toObject().find("params").value().toArray();//array
|
|
uint8_t mission_type = item.toObject().find("type").value().toInt();
|
|
|
|
float param1 = params.at(0).toDouble();
|
|
float param2 = params.at(1).toDouble();
|
|
float param3 = params.at(2).toDouble();
|
|
float param4 = params.at(3).toDouble();
|
|
int32_t x = params.at(4).toDouble() * 10e6;
|
|
int32_t y = params.at(5).toDouble() * 10e6;;
|
|
float z = params.at(6).toDouble();
|
|
|
|
internals::PointLatLng LatLng;
|
|
LatLng.SetLat(x * 10e-8);
|
|
LatLng.SetLng(y * 10e-8);
|
|
|
|
qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
|
|
|
|
WayPointItem *Item = WPCreate(LatLng,z);
|
|
|
|
Item->SetNumber(seq);
|
|
|
|
if(command > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
//WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
|
|
}
|
|
|
|
//Item->setParent(map);
|
|
|
|
qDebug() << "autocontinue" << autocontinue;
|
|
|
|
|
|
emit setWPProperty(param1,param2,param3,param4,
|
|
x,y,z,
|
|
seq,
|
|
0,
|
|
command,
|
|
0,
|
|
0,
|
|
frame,
|
|
0,
|
|
autocontinue,
|
|
mission_type);
|
|
|
|
|
|
Item->emitWPProperty();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
void OPMapWidget::WPSave(QString path)//带文件目录参数
|
|
{
|
|
qDebug() << "WPSave" << path;
|
|
//保存到文件 *.plan,使用qgc的协议 json读写
|
|
QJsonDocument *doc = new QJsonDocument();
|
|
QJsonObject root= doc->object();
|
|
|
|
QJsonObject geoFence;
|
|
QJsonObject mission;
|
|
QJsonObject rallyPoints;
|
|
|
|
|
|
//geoFence节点写入
|
|
{
|
|
QJsonArray circles;
|
|
QJsonArray polygons;
|
|
|
|
geoFence.insert("circles",circles);
|
|
geoFence.insert("polygons",polygons);
|
|
geoFence.insert("version",2);
|
|
}
|
|
|
|
//mission节点写入
|
|
{
|
|
QJsonArray items;
|
|
|
|
QJsonArray plannedHomePosition;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {//逐渐往下增加
|
|
|
|
if(w->Number()>0)
|
|
{
|
|
|
|
//存到items
|
|
QJsonArray params;
|
|
params.append(w->Param1());
|
|
params.append(w->Param2());
|
|
params.append(w->Param3());
|
|
params.append(w->Param4());
|
|
params.append(w->Coord().Lat());
|
|
params.append(w->Coord().Lng());
|
|
params.append(w->Alt());
|
|
|
|
//可能有点问题
|
|
QJsonObject item;
|
|
item.insert("AMSLAltAboveTerrain",0);
|
|
item.insert("Altitude",w->Alt());
|
|
item.insert("AltitudeMode",1);
|
|
item.insert("autoContinue",w->AutoContinue()?true:false);
|
|
item.insert("command",w->Command());
|
|
item.insert("doJumpId",w->Number());
|
|
item.insert("frame",w->Frame());
|
|
item.insert("params",params);
|
|
item.insert("type","SimpleItem");
|
|
|
|
//这里有问题
|
|
items.append(item);
|
|
}
|
|
|
|
if(w->Number() == 1)
|
|
{
|
|
plannedHomePosition.append(w->Coord().Lat());
|
|
plannedHomePosition.append(w->Coord().Lng());
|
|
plannedHomePosition.append(w->Alt());
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
mission.insert("cruiseSpeed",2);
|
|
mission.insert("firmwareType",2);
|
|
mission.insert("hoverSpeed",2);
|
|
mission.insert("items",items);
|
|
mission.insert("plannedHomePosition",plannedHomePosition);
|
|
mission.insert("vehicleType",20);
|
|
mission.insert("version",2);
|
|
}
|
|
|
|
//rallyPoints节点写入
|
|
{
|
|
QJsonArray points;
|
|
rallyPoints.insert("points",points);
|
|
rallyPoints.insert("version",2);
|
|
}
|
|
|
|
//根节点写入
|
|
root.insert("fileType","Plan");
|
|
root.insert("geoFence",geoFence);
|
|
root.insert("groundStation","GCS_nf");
|
|
root.insert("mission", mission);
|
|
root.insert("rallyPoints", rallyPoints);
|
|
root.insert("version", 1);
|
|
|
|
//设置文档
|
|
doc->setObject(root);
|
|
|
|
//如果没有后缀名，那就追加
|
|
if(path.right(5) != ".plan")
|
|
{
|
|
path.append(".plan");
|
|
}
|
|
|
|
QFile file(path);
|
|
if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
|
|
qDebug() << "File open error";
|
|
}
|
|
|
|
file.write(doc->toJson());
|
|
file.close();
|
|
}
|
|
|
|
void OPMapWidget::WPDownload(void)
|
|
{
|
|
//请求读取航点
|
|
qDebug() << "WPDownload";
|
|
|
|
WPDeleteAll();
|
|
|
|
int sysid = 0;
|
|
int compid = 0;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
|
|
if (u) {
|
|
if(u->Select() == true)
|
|
{
|
|
sysid = u->SysID();
|
|
compid = u->CompID();
|
|
|
|
emit signal_WPDownload(sysid,compid);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::WPUpload(void)
|
|
{
|
|
|
|
|
|
|
|
//发送第一个
|
|
QList<mapcontrol::WayPointItem *> list;
|
|
//先发送一个清空指令
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
list.append(w);
|
|
w->emitWPProperty();
|
|
|
|
//w->setVisible(false);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
|
|
if (l) {
|
|
l->setVisible(false);
|
|
}
|
|
}
|
|
*/
|
|
|
|
|
|
//qDebug() << "WPUpload" << list.size();
|
|
|
|
|
|
if(list.size() <= 0)
|
|
{
|
|
emit showMessage(tr("please create a plan"));
|
|
return;
|
|
}
|
|
|
|
|
|
emit showMessage(tr("start to send mossion %1").arg(list.size()));
|
|
|
|
//选择当前ID号
|
|
|
|
int sysid = 0;
|
|
int compid = 0;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
|
|
if (u) {
|
|
if(u->Select() == true)
|
|
{
|
|
sysid = u->SysID();
|
|
compid = u->CompID();
|
|
|
|
//如果有选中，那么就发送，选中几个就发几个
|
|
emit signal_WPUpload(sysid,compid,list.size());//直接发送全部航点到
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void OPMapWidget::WPSendItemOK(uint16_t seq, bool flag)
|
|
{
|
|
if(flag == true)
|
|
{
|
|
QString str;
|
|
|
|
str.append(tr("send way point %1").arg(seq));
|
|
emit showMessage(str);
|
|
}
|
|
else
|
|
{
|
|
QString str;
|
|
|
|
str.append(tr("fail to send %1").arg(seq));
|
|
emit showMessage(str);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
if(flag == true)
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
if(w->Number() == (seq))
|
|
{
|
|
w->setVisible(true);
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
|
|
if (l) {
|
|
if(l->WPLineTo() == w)
|
|
l->setVisible(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
*/
|
|
|
|
/*
|
|
if(flag == true)
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) {
|
|
if(w->Number() == (seq))
|
|
{
|
|
w->setVisible(true);
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
|
|
if (l) {
|
|
if(l->WPLineTo() == w)
|
|
l->setVisible(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w) w->setVisible(true);
|
|
}
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
|
|
if (l) l->setVisible(true);
|
|
}
|
|
}
|
|
*/
|
|
|
|
}
|
|
|
|
//这个有可能是其他线程运行，导致生成的航点不对,下载得到
|
|
void OPMapWidget::receivedPoint(float param1,float param2,float param3,float param4,
|
|
int32_t x,int32_t y,float z,
|
|
uint16_t seq,
|
|
uint16_t group,
|
|
uint16_t command,
|
|
uint8_t target_system,
|
|
uint8_t target_component,
|
|
uint8_t frame,
|
|
uint8_t current,
|
|
uint8_t autocontinue,
|
|
uint8_t mission_type)
|
|
{
|
|
|
|
qDebug() << "receivers Point";
|
|
// << QThread::currentThreadId();
|
|
|
|
|
|
emit showMessage(tr("recieve way point %1").arg(seq + 1));
|
|
|
|
|
|
|
|
//qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;
|
|
|
|
internals::PointLatLng LatLng;
|
|
|
|
LatLng.SetLat(x * 10e-8);
|
|
LatLng.SetLng(y * 10e-8);
|
|
|
|
WayPointItem *Item = WPCreate(LatLng,z);
|
|
|
|
Item->SetNumber(seq+1);
|
|
|
|
emit setWPProperty(param1,param2,param3,param4,
|
|
x,y,z,
|
|
seq+1,
|
|
group,
|
|
command,
|
|
target_system,
|
|
target_component,
|
|
frame,
|
|
current,
|
|
autocontinue,
|
|
mission_type);
|
|
|
|
|
|
Item->emitWPProperty();
|
|
|
|
}
|
|
|
|
|
|
|
|
void OPMapWidget::getMapTypes(void)
|
|
{
|
|
emit MapTypes(Helper::MapTypes());
|
|
}
|
|
|
|
void OPMapWidget::setMapTypes(QVariant value)
|
|
{
|
|
this->SetMapType(Helper::MapTypeFromString(value.toString()));
|
|
}
|
|
|
|
|
|
|
|
|
|
void OPMapWidget::ElevationChanged(int seq,double value)
|
|
{
|
|
QMap<int,float> Info;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w)
|
|
{
|
|
if(!w->FollowPrevious())
|
|
Info.insert(w->Number(),w->getElevation());
|
|
}
|
|
}
|
|
if(altitudeitem)
|
|
{
|
|
altitudeitem->setElevation(Info);
|
|
}
|
|
}
|
|
|
|
void OPMapWidget::AltitudeChanged(int seq,double value)
|
|
{
|
|
QMap<int,float> Info;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w)
|
|
{
|
|
if(!w->FollowPrevious())
|
|
Info.insert(w->Number(),w->Alt());
|
|
}
|
|
}
|
|
|
|
if(altitudeitem)
|
|
{
|
|
altitudeitem->setAltitude(Info);
|
|
}
|
|
|
|
updateMessage();
|
|
|
|
}
|
|
|
|
void OPMapWidget::setCurrentPoint(int value)
|
|
{
|
|
if(altitudeitem)
|
|
{
|
|
altitudeitem->setCurrentPoint(value);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void OPMapWidget::updateMessage(void)
|
|
{
|
|
totalDistance = 0;
|
|
|
|
|
|
WayPointItem *Last = nullptr;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w)
|
|
{
|
|
if(Last != nullptr)
|
|
{
|
|
totalDistance += internals::PureProjection::DistanceBetweenLatLng(Last->Coord(),w->Coord()) * 10e2;
|
|
}
|
|
Last = w;
|
|
}
|
|
}
|
|
|
|
Last = nullptr;
|
|
delete Last;
|
|
|
|
emit TotalDistanceUpdate(totalDistance);
|
|
}
|
|
|
|
void OPMapWidget::find_PointNumber()
|
|
{
|
|
QList<int> nums;
|
|
nums.clear();
|
|
|
|
int number = 0;
|
|
|
|
foreach(QGraphicsItem * i, map->childItems()) {
|
|
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
|
if (w)
|
|
{
|
|
|
|
number = w->Number();
|
|
|
|
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
nums.append(number);
|
|
}
|
|
}
|
|
}
|
|
|
|
qDebug() << "nums" << nums;
|
|
|
|
emit PointNumber(nums);
|
|
}
|
|
|
|
|
|
}
|