Merge branch 'experimental' of pixhawk.ethz.ch:qgroundcontrol into experimental

images/earth.html

@@ -13,12 +13,13 @@ google.load("earth", "1", { 'language': 'en'});
 
 var ge = null;
 var initialized = false;
+
+var aircraft = new Array();
 var currAircraft = 220;
-var followEnabled = false;
+var followAircraft = false;
 var currLat = 47.3769;
 var currLon = 8.549444;
 var currAlt = 470;
-var currFollowHeading = 0.0;
 
 var homeLat = 0;
 var homeLon = 0;
@@ -32,17 +33,11 @@ var currTilt = 40.0;		///<< The tilt angle (in degrees)
 var currFollowTilt = 40.0;
 var currView = null;
 
-var M_PI = 3.14159265;
-
 
 
 var planeOrient;
 var planeLoc;
 
-var aircraft = [];
-var attitudes = [];
-var locations = [];
-var trails = [];
 var trail;
 var lineStringPlacemark;
 var lineStyle;
@@ -62,10 +57,7 @@ function init() {
 
 
 
-function setCurrAircraft(id)
-{
-	currAircraft = id;
-}
+
 
 function setGCSHome(lat, lon, alt)
 {
@@ -98,6 +90,13 @@ function setGCSHome(lat, lon, alt)
 	    {
 		    homeGroundLevel = alt;
 	    }
+	
+	
+	
+	
+	
+	
+	goHome();
 }
 
 function createAircraft(id, type, color)
@@ -205,13 +204,11 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 		currLat = lat;
 		currLon = lon;
 		currAlt = alt;
-		currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
 	}
 	
-	// FIXME Currently invalid conversion from right-handed z-down to z-up frame
-	planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
-	planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
-	planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
+	planeOrient.setRoll(roll); 
+	planeOrient.setTilt(pitch); 
+	        planeOrient.setHeading(yaw);
         
         
                 
@@ -249,17 +246,25 @@ function setCurrentAircraft(id)
 	currAircraft = id;
 }
 
+function enableFollowing(follow)
+{
+	followEnabled = follow;
+}
+
+
 function updateFollowAircraft()
 {
+	if (followEnabled)
+	{
 	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
 	currView.setLatitude(currLat);
 	currView.setLongitude(currLon);
 	currView.setAltitude(currAlt);
 	currView.setRange(currViewRange);
 	currView.setTilt(currFollowTilt);
-	currView.setHeading(currFollowHeading-90.0);
 	ge.getView().setAbstractView(currView);
 	}
+}
 
 function failureCallback(object)
 {

qgroundcontrol.pri

@@ -300,8 +300,9 @@ win32-msvc2008 {
         DEFINES += QT_NO_DEBUG
     }
 
-    # Special settings for debug
-    #CONFIG += CONSOLE
+    debug {
+		CONFIG += console
+	}
 
     INCLUDEPATH += $$BASEDIR/lib/sdl/msvc/include \
                    $$BASEDIR/lib/opal/include \
@@ -379,6 +380,7 @@ win32-g++ {
 
     debug {
         #DESTDIR = $$BUILDDIR/debug
+		CONFIG += console
     }
 
     release {

src/ui/map3D/QGCGoogleEarthView.cc

@@ -2,8 +2,12 @@
 #include <QDir>
 #include <QShowEvent>
 #include <QSettings>
+#include <QAxObject>
+#include <QUuid>
 
 #include <QDebug>
+#include <QFile>
+#include <QTextStream>
 #include "UASManager.h"
 
 #ifdef Q_OS_MAC
@@ -41,6 +45,19 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
 {
 #ifdef _MSC_VER
     // Create layout and attach webViewWin
+
+	/*
+	QFile file("doc.html");
+     if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+		 qDebug() << __FILE__ << __LINE__ << "Could not open log file";
+
+     QTextStream out(&file);
+     out << webViewWin->generateDocumentation();
+	 out.flush();
+	 file.flush();
+	 file.close();*/
+
+
 #else
 #endif
 
@@ -154,7 +171,7 @@ void QGCGoogleEarthView::goHome()
     webViewMac->page()->currentFrame()->evaluateJavaScript("goHome();");
 #endif
 #ifdef _MSC_VER
-    webViewWin.dynamicCall("InvokeScript(\"goHome\");");
+	webViewWin->dynamicCall("InvokeScript(\"goHome\");");
 #endif
 }
 
@@ -164,7 +181,7 @@ void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
     webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
 #endif
 #ifdef _MSC_VER
-    webViewWin.dynamicCall(QString("InvokeScript(\"setGCSHome\", %1, %2, %3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
+	webViewWin->dynamicCall((QString("InvokeScript(\"setGCSHome\", %1, %2, %3)").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15)).toStdString().c_str());
 #endif
 }
 
@@ -191,6 +208,31 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
 #ifdef _MSC_VER
                 //webViewWin->dynamicCall("GoHome()");
                 webViewWin->dynamicCall("Navigate(const QString&)", QApplication::applicationDirPath() + "/earth.html");
+				/*
+				
+				Sleep(4000);
+					
+				
+				QAxObject* doc = webViewWin->querySubObject("Document()");
+				IUnknown* winDoc = NULL;
+				doc->queryInterface(QUuid("{25336920-03F9-11CF-8FD0-00AA00686F13}"), (void**)(&winDoc));
+				//if (winDoc)
+				{
+					doc = new QAxObject(winDoc, webViewWin);
+				}
+
+		QFile file("ie-doc.html");
+     if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+		 qDebug() << __FILE__ << __LINE__ << "Could not open log file";
+
+     QTextStream out(&file);
+     out << doc->generateDocumentation();
+	 out.flush();
+	 file.flush();
+	 file.close();
+	 while(1);
+	 */
+
 #endif
 
                 webViewInitialized = true;
@@ -211,7 +253,7 @@ void QGCGoogleEarthView::initializeGoogleEarth()
         if (!webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
 #endif
 #ifdef _MSC_VER
-            //if (!webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
+		if (!webViewWin->dynamicCall("InvokeScript(const QString&)", QString("isInitialized")).toBool())
 #endif
         {
             QTimer::singleShot(200, this, SLOT(initializeGoogleEarth()));
@@ -281,7 +323,14 @@ void QGCGoogleEarthView::updateState()
                                                                    .arg(yaw));
 #endif
 #ifdef _MSC_VER
-
+webViewWin->dynamicCall((QString("InvokeScript(\"setAircraftPositionAttitude\", %1, %2, %3, %4, %6, %7, %8);")
+                                                                   .arg(uasId)
+                                                                   .arg(lat)
+                                                                   .arg(lon)
+                                                                   .arg(alt+500)
+                                                                   .arg(roll)
+                                                                   .arg(pitch)
+																   .arg(yaw)).toStdString().c_str());
 #endif
         }
 
@@ -291,6 +340,7 @@ void QGCGoogleEarthView::updateState()
             webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
 #endif
 #ifdef _MSC_VER
+			webViewWin->dynamicCall("InvokeScript(\"updateFollowAircraft\");");
 #endif
         }
     }

src/ui/map3D/QGCGoogleEarthView.h

@@ -11,19 +11,36 @@
 
 #ifdef _MSC_VER
 #include <ActiveQt/QAxWidget>
+#include <ActiveQt/QAxObject>
 #include "windows.h"
 
 class QGCWebAxWidget : public QAxWidget
 {
 public:
-
+	//Q_OBJECT
     QGCWebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0)
-        : QAxWidget(parent, f)
+        : QAxWidget(parent, f),
+		_document(NULL)
     {
 		// Set web browser control
 		setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
+		//QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
+
+		
+    }
+	
+	QAxObject* document()
+	{
+		return _document;
+	}
+
+	protected:
+	void setDocument(IDispatch* dispatch, QVariant& variant)
+	{
+		_document = this->querySubObject("Document()");
 	}
 protected:
+	QAxObject* _document;
     virtual bool translateKeyEvent(int message, int keycode) const
     {
         if (message >= WM_KEYFIRST && message <= WM_KEYLAST)