593 lines
18 KiB
C++
593 lines
18 KiB
C++
#include "mainwindow.h"
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#include "QPushButton"
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#include "QAction"
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#include "QHBoxLayout"
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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{
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//检测qml文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
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QDir *qmlDir = new QDir;
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if(!qmlDir->exists("./qml"))
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qmlDir->mkdir("./qml");//如果文件夹不存在就新建
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setFocusPolicy(Qt::StrongFocus);
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setAttribute(Qt::WA_AcceptTouchEvents);
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//ui initial
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//menubar
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menuBarUI = new MenuBarUI(this);
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connect(menuBarUI,SIGNAL(IndexChanged(int)),
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this,SLOT(onTabIndexChanged(int)));
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//---------------
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//设置
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setting = new Setting(this);
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setting->hide();
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//自检
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checkUI = new CheckUI(this);
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checkUI->hide();
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//---
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inspectui = new InspectUI(this);
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inspectui->hide();
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//信息
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toolsui = new ToolsUI(this);
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toolsui->hide();
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//指令
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commandUI = new CommandUI(this);
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dlink = new DLink();
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map = new mapcontrol::OPMapWidget(this);
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map->SetShowHome(false);
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map->SetShowCompass(false);
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map->SetUseOpenGL(true);
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map->setAttribute(Qt::WA_AlwaysStackOnTop);
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//QString maptype = myinifile->ReadIni("GCS.ini","Map","Type");
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map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid"));
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map->setWPLock(true);
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map->setFocus();
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map->setMouseTracking(true);
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map->setGeometry(0,
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0,
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this->width(),
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this->height());
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qDebug() << "map start";
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copk = new Cockpit(this);
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copk->setGeometry(this->width() - copk->width(),0,340,340);
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missionUI = new propertyui(this);
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missionUI->hide();
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//tools ----- map
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connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
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toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);
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//setting ----- map
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connect(setting->index0->mapsetting,SIGNAL(getMapTypes()),
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map,SLOT(getMapTypes()));
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connect(map,SIGNAL(MapTypes(QStringList)),
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setting->index0->mapsetting,SLOT(MapTypes(QStringList)));
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connect(setting->index0->mapsetting,SIGNAL(setMapTypes(QVariant)),
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map,SLOT(setMapTypes(QVariant)));
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//command ----- dlink
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connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Commander,SIGNAL(commandAccepted(bool,uint16_t,uint8_t)),
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commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection);
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//check ----- dlink
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connect(checkUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
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checkUI,SLOT(RecieveMsg(mavlink_message_t)));
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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checkUI,SLOT(addVehicles(int,int)));
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//setting ----- dlink
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connect(dlink,SIGNAL(PortConnected(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
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setting->index0->link,SIGNAL(PortConnect(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));
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connect(dlink->mavlinknode,SIGNAL(state_updated()),
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this,SLOT(updateUI()));
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connect(setting->index0->link,SIGNAL(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
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dlink,SLOT(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));
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qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
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connect(dlink->mavlinknode->Parameter,SIGNAL(RecieveValue(mavlink_message_t)),
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setting->index1->paramInspect,SLOT(appendParameter(mavlink_message_t)));
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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setting->index1->paramInspect,SLOT(addVehicles(int,int)),Qt::DirectConnection);
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connect(setting->index1->paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
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dlink->mavlinknode->Parameter,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
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connect(setting->index1->paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
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dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
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//mision ----- map
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connect(map, 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)),
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missionUI,SLOT(setWayPointProperty(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)));
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connect(missionUI,SIGNAL(WayPointPropertyChanged(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)),
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map,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)));
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connect(missionUI,SIGNAL(WPotherPoint(int)),
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map,SLOT(WPotherPoint(int)));
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connect(missionUI,SIGNAL(WPDelete(int)),
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map,SLOT(WPDelete(int)));
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connect(missionUI,SIGNAL(WPInsert(int)),
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map,SLOT(WPInsert(int)));
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connect(missionUI,SIGNAL(WPUpload()),
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map,SLOT(WPUpload()));
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connect(missionUI,SIGNAL(WPDownload()),
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map,SLOT(WPDownload()));
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connect(missionUI,SIGNAL(WPSave(QString)),
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map,SLOT(WPSave(QString)));
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connect(missionUI,SIGNAL(WPLoad(QString)),
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map,SLOT(WPLoad(QString)));
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connect(map,SIGNAL(allPoint(QMap<int,int>)),
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missionUI,SLOT(setallPoint(QMap<int,int>)));
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connect(missionUI,SIGNAL(searchall()),
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map,SLOT(WPsearchall()));
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//dlink ----- map
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connect(map,SIGNAL(signal_WPDownload(uint8_t, uint8_t)),
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dlink->mavlinknode->Mission,SLOT(ReadCmd(uint8_t, uint8_t)),Qt::DirectConnection);
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connect(map,SIGNAL(signal_WPUpload(uint8_t,uint8_t,uint32_t)),
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dlink->mavlinknode->Mission,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);
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//生成航线必须在map线程完成，因此不能直接连接
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//停下来让ui、运行一下
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connect(dlink->mavlinknode->Mission,SIGNAL(receivedPoint(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)),
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map,SLOT(receivedPoint(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::BlockingQueuedConnection);
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connect(map,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)),
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dlink->mavlinknode->Mission,SLOT(transmitPoint(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);
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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map,SLOT(addUAV(int,int)));
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connect(map,SIGNAL(uav_selected(int,int)),
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dlink->mavlinknode,SLOT(setCurrentSelected(int,int)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)),
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map,SLOT(WPSendItemOK(uint16_t,bool)),Qt::DirectConnection);
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connect(map,SIGNAL(setCurrent(int)),
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dlink->mavlinknode->Mission,SLOT(SetCurrentPoint(int)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)),
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map,SLOT(WPSetCurrent(int)),Qt::DirectConnection);
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menuBarUI->showMessage(tr("存在bug，连接界面udp数字输入的.可以超过3个，不合理"));
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//==== showmessage=====
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connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(dlink,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(map,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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qDebug() << "main window start";
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}
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//对返回的数据进行处理
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void MainWindow::getData(QNetworkReply *reply)
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{
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//获得返回数据存在字节数组中
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QByteArray data=reply->readAll();
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//将字节数组转为字符串
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QString str=QString::fromUtf8(data);
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//将数据展示在textEdit中
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qDebug() << str;
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}
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MainWindow::~MainWindow()
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{
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map->close();
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delete map;
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copk->deleteLater();
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delete copk;
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QCoreApplication::quit();//退出所有窗口
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}
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void MainWindow::closeEvent(QCloseEvent *event)
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{
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event->accept();
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QCoreApplication::quit();//退出所有
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}
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void MainWindow::resizeEvent(QResizeEvent *event)
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{
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Q_UNUSED(event)
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menuBarUI->setGeometry(0,0,this->width(),100);
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setting->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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checkUI->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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map->setGeometry(0,menuBarUI->height(),
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this->width()- copk->width(),this->height() - menuBarUI->height());
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copk->setGeometry(this->width() - copk->width(),menuBarUI->height(),
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copk->width(),copk->height());
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missionUI->setGeometry(this->width() - copk->width(),menuBarUI->height(),
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copk->width(),this->height() - menuBarUI->height());
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commandUI->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height(),
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copk->width(),this->height() - menuBarUI->height() - copk->height());
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toolsui->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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update();
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}
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//这个是不必要的，因为每个部件都有自己相应的动作
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void MainWindow::mousePressEvent(QMouseEvent* event)
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{
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Q_UNUSED(event)
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}
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void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件
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{
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//qDebug() << event;
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switch(event->key())
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{
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case Qt::Key_Up:
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qDebug() << "Key_Up";
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break;
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case Qt::Key_Down:
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qDebug() << "Key_Down";
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break;
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case Qt::Key_Left:
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qDebug() << "Key_Left";
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break;
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case Qt::Key_Right:
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qDebug() << "Key_Right";
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break;
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case Qt::Key_D:
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if(event->modifiers() == Qt::AltModifier)
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{
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qInfo() << "alt + D";
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}
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break;
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case Qt::Key_U :
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{
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if(event->modifiers() == Qt::AltModifier)
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{
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qInfo() << "atl + U";
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}
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}break;
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case Qt::Key_P :
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{
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if(event->modifiers() == Qt::AltModifier)
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{//下载参数
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qInfo() << "atl + P";
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}
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}break;
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case Qt::Key_O :
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{
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if(event->modifiers() == Qt::AltModifier)
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{//上传参数
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qInfo() << "atl + O";
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}
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}break;
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case Qt::Key_S:
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break;
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case Qt::Key_W:
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break;
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case Qt::Key_K :
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{
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if(event->modifiers() == Qt::ControlModifier)
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{
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}
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}
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break;
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case Qt::Key_Space :
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{
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}
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break;
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case Qt::Key_Equal :
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{
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if(event->modifiers() == Qt::ShiftModifier)
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{
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}
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else
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{
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map->SetZoom(map->ZoomReal() + 1);
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}
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}
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break;
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case Qt::Key_Plus :
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{
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if(event->modifiers() == Qt::ShiftModifier)
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{
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}
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}
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break;
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case Qt::Key_Minus:
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{
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if(event->modifiers() == Qt::ShiftModifier)
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{
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}
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else
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{
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map->SetZoom(map->ZoomReal() - 1);
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}
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}
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break;
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case Qt::Key_C:
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{
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if(event->modifiers() == Qt::AltModifier)
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{
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}
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}
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break;
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}
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}
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bool MainWindow::event(QEvent *event)
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{
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switch (event->type()) {
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case QEvent::TouchBegin:
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case QEvent::TouchUpdate:
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case QEvent::TouchEnd:
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{
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qDebug() <<"CProjectionPicture::event";
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QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
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QList<QTouchEvent::TouchPoint> touchPoints = touchEvent->touchPoints();
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if (touchPoints.count() == 2) {
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//m_bIsTwoPoint = true;//两指时不让移动
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const QTouchEvent::TouchPoint &touchPoint0 = touchPoints.first();
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const QTouchEvent::TouchPoint &touchPoint1 = touchPoints.last();
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qreal currentScaleFactor =
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QLineF(touchPoint0.pos(), touchPoint1.pos()).length()
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/ QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length();
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if (touchEvent->touchPointStates() & Qt::TouchPointReleased) {
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if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() > QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
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map->SetZoom(map->ZoomReal() + currentScaleFactor);
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else if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() < QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
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map->SetZoom(map->ZoomReal() - currentScaleFactor);
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qDebug() << "currentScaleFactor" << currentScaleFactor;
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}
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update();
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}
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else if(touchPoints.count() == 1){
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//m_bIsTwoPoint = false;
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}
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return true;
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}
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default:
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break;
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}
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return QWidget::event(event);
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}
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void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
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{
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//设置
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if(index == 0) setting->show();
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else setting->hide();
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//自检
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if(index == 1) checkUI->show();
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else checkUI->hide();
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//任务
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if(index == 2)
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{
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map->setWPLock(false);
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map->setWPCreate(true);
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missionUI->show();
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}
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else
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{
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map->setWPLock(true);
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map->setWPCreate(false);
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missionUI->hide();
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}
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if((index == 2)||(index == 3)) map->show();
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else map->hide();
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//飞行
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if(index == 3)
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{
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copk->show();
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commandUI->show();
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}
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else
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{
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copk->hide();
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commandUI->hide();
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}
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//信息
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if(index == 4) toolsui->show();
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else toolsui->hide();
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}
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void MainWindow::showMessage(const QString &message, int TimeOut)
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{
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menuBarUI->showMessage(message,TimeOut);
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}
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void MainWindow::updateUI()//事件驱动式更新数据
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{
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copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,
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dlink->mavlinknode->vehicle.attitude.roll * 57.3,
|
|
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
|
|
|
|
copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
|
|
copk->setAltitudeTarget(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4
|
|
+dlink->mavlinknode->vehicle.nav_controller_output.alt_error);
|
|
|
|
copk->setAirSpeed(dlink->mavlinknode->vehicle.vfr_hud.airspeed,2);
|
|
copk->setAirSpeedTarget(dlink->mavlinknode->vehicle.vfr_hud.airspeed
|
|
+dlink->mavlinknode->vehicle.nav_controller_output.aspd_error,2);
|
|
|
|
|
|
copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3);
|
|
|
|
|
|
|
|
copk->setAlt_err(dlink->mavlinknode->vehicle.nav_controller_output.alt_error);
|
|
copk->setXTrack(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error);
|
|
|
|
copk->setRollTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll);
|
|
copk->setPitchTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch);
|
|
copk->setYawTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing);
|
|
|
|
|
|
QString gps_str;
|
|
gps_str.clear();
|
|
|
|
switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
gps_str.append(tr("%1D Fix").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type));
|
|
break;
|
|
case 4:
|
|
gps_str.append(tr("Fixed"));
|
|
break;
|
|
case 5:
|
|
gps_str.append(tr("Float"));
|
|
break;
|
|
default:
|
|
gps_str.append(tr("gps err"));
|
|
break;
|
|
}
|
|
|
|
copk->setGPS(gps_str);
|
|
|
|
|
|
|
|
QString arm_str;
|
|
arm_str.clear();
|
|
|
|
uint8_t state = 0;
|
|
|
|
state = (dlink->mavlinknode->vehicle.heartbeat.base_mode&MAV_MODE_FLAG::MAV_MODE_FLAG_SAFETY_ARMED);
|
|
|
|
switch (state) {
|
|
case MAV_MODE_FLAG_SAFETY_ARMED:
|
|
arm_str.append(tr("ARM"));
|
|
break;
|
|
case 0:
|
|
arm_str.append(tr("DISARM"));
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
copk->setState(arm_str);
|
|
|
|
|
|
|
|
map->setUAVPos(dlink->mavlinknode->vehicle.sysid,
|
|
dlink->mavlinknode->vehicle.compid,
|
|
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8),
|
|
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8),
|
|
(double)(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4));
|
|
|
|
map->setUAVHeading(dlink->mavlinknode->vehicle.sysid,
|
|
dlink->mavlinknode->vehicle.compid,
|
|
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|