401 lines
9.7 KiB
C++
401 lines
9.7 KiB
C++
/**
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******************************************************************************
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*
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* @file waypointitem.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief A graphicsItem representing a WayPoint
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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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#ifndef WAYPOINTITEM_H
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#define WAYPOINTITEM_H
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#include <QGraphicsItem>
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#include <QPainter>
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#include <QLabel>
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#include "pointlatlng.h"
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#include "mapgraphicitem.h"
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#include <QObject>
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#include <QPoint>
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#include "QDebug"
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#include "mavlink.h"
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//#include "propertyui.h"
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namespace mapcontrol {
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struct distBearingAltitude {
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double distance;
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double bearing;
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float altitudeRelative;
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double bearingToDegrees()
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{
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return bearing * 180 / M_PI;
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}
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void setBearingFromDegrees(double degrees)
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{
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bearing = degrees * M_PI / 180;
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}
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};
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT HomeItem;
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#else
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class HomeItem;
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#endif
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/**
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* @brief A QGraphicsItem representing a WayPoint
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*
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* @class WayPointItem waypointitem.h "waypointitem.h"
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*/
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT WayPointItem : public QObject, public QGraphicsItem {
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#else
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class WayPointItem : public QObject, public QGraphicsItem {
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#endif
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Q_OBJECT Q_INTERFACES(QGraphicsItem)
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public:
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enum { Type = UserType + 1 };
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enum wptype { absolute, relative };
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typedef struct{
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float param1;
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float param2;
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float param3;
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float param4;
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int32_t x;
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int32_t y;
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float z;
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uint16_t seq;
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uint16_t group;
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uint16_t command;
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uint8_t target_system;
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uint8_t target_component;
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uint8_t frame;
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uint8_t current;
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uint8_t autocontinue;
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uint8_t mission_type;
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}_property;
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WayPointItem(internals::PointLatLng const & coord, int const & altitude, MapGraphicItem *map, wptype type = absolute);
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WayPointItem(MapGraphicItem *map, bool magicwaypoint);
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WayPointItem(internals::PointLatLng const & coord, int const & altitude, QString const & description, MapGraphicItem *map, wptype type = absolute);
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WayPointItem(distBearingAltitude const & relativeCoord, QString const & description, MapGraphicItem *map);
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QString Description()
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{
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return description;
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}
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void SetDescription(QString const & value);
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bool Reached()
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{
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return reached;
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}
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void SetReached(bool const & value);
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int Number()
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{
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return property.seq;
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}
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int numberAdjusted()
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{
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return property.seq + 1;
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}
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void SetNumber(int const & value);
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internals::PointLatLng Coord()
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{
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return coord;
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}
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void SetCoord(internals::PointLatLng const & value);
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bool ShowNumber()
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{
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return shownumber;
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}
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void SetShowNumber(bool const & value);
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float Altitude()
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{
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return altitude;
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}
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void SetAltitude(const float &value);
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void setRelativeCoord(distBearingAltitude value);
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distBearingAltitude getRelativeCoord()
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{
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return relativeCoord;
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}
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int type() const;
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QRectF boundingRect() const;
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void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
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QWidget *widget);
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QPixmap picture;
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QString customString()
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{
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return myCustomString;
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}
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void setCustomString(QString arg)
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{
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myCustomString = arg;
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}
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void setFlag(GraphicsItemFlag flag, bool enabled);
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~WayPointItem();
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static int snumber;
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void setWPType(wptype type);
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wptype WPType()
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{
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return myType;
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}
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//=============属性=================
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void SetDefault(double lat, double lng, float alt, uint16_t seq);//默认属性
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void SetParam1(float value);
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void SetParam2(float value);
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void SetParam3(float value);
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void SetParam4(float value);
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void SetLat(double value);
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void SetLng(double value);
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void SetAlt(float value);
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void SetSeq(uint16_t value);
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void SetCommand(uint16_t value);
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void SetGroup(uint16_t value);
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float Param1(void)
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{
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return property.param1;
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}
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float Param2(void)
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{
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return property.param2;
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}
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float Param3(void)
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{
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return property.param3;
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}
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float Param4(void)
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{
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return property.param4;
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}
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int32_t Lat(void)
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{
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return property.x;
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}
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int32_t Lng(void)
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{
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return property.y;
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}
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float Alt(void)
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{
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return property.z;
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}
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uint16_t Seq(void)
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{
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return property.seq;
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}
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uint16_t Command(void)
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{
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return property.command;
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}
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uint8_t Frame(void)
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{
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return property.frame;
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}
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uint8_t AutoContinue(void)
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{
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return property.autocontinue;
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}
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uint16_t Group(void)
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{
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return property.group;
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}
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bool FollowPrevious(void)
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{
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return isFollowPrevious;
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}
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double getElevation(void)
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{
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return Elevation;
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}
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protected:
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void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
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void mousePressEvent(QGraphicsSceneMouseEvent *event);
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void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
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void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
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private:
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_property property;
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bool isSimple = false;
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bool isEdit = false;
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bool isFollowPrevious = false;
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bool isCurrent = false;
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internals::PointLatLng coord; // coordinates of this WayPoint
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distBearingAltitude relativeCoord;
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bool reached;
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QString description;
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bool shownumber;
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bool isDragging;
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float altitude;
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MapGraphicItem *map;
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int number;
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bool isMagic;
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QGraphicsSimpleTextItem *numberI;
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QTransform transf;
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HomeItem *myHome;
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wptype myType;
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QString myCustomString;
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double Elevation = 0;
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bool isElevationRequest = false;
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bool isElevationLock = false;
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public slots:
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//这个地方还需要好好思考
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void WPSetEdit(bool value)
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{
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this->setFlag(QGraphicsItem::ItemIsMovable, value);
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isEdit = value;
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}
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void WPSetCurrent(bool value)
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{
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if(isEdit == false)
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{
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if(isCurrent != value)
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{
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isCurrent = value;
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update();
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}
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}
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//update();
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}
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void setPosition(QPointF p);
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void WPDeleted(int const & number, WayPointItem *waypoint);
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void WPRenumbered(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
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void WPInserted(int const & number, WayPointItem *waypoint);
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void onHomePositionChanged(internals::PointLatLng, float altitude);
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void RefreshPos();
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void setOpacitySlot(qreal opacity);
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void emitWPProperty(void);
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void setWPProperty(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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void ElevationTrig(void);
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void ElevationUpdate(QNetworkReply *reply);
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signals:
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void SetCurrent(int seq);
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void WPFollowPrevious(bool flag,WayPointItem *waypoint);
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void WPProperty(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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void WPChanged(int Number,double Lat,double Lng);
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void WPNumberChanged(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
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void WPValuesChanged(WayPointItem *waypoint);
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void waypointdoubleclick(WayPointItem *waypoint);
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void localPositionChanged(QPointF point, WayPointItem *waypoint);
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void manualCoordChange(WayPointItem *);
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void aboutToBeDeleted(WayPointItem *);
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void ElevationChanged(int seq,double value);
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void AltitudeChanged(int seq,double value);
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void setCurrentPoint(int value);
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friend class propertyui;
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};
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}
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#endif // WAYPOINTITEM_H
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