Don Gagne
5 years ago
committed by
GitHub
30 changed files with 300 additions and 238 deletions
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "KML.h" |
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#include <QDomDocument> |
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#include <QStringList> |
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const QString Kml::_version("version=\"1.0\""); |
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const QString Kml::_encoding("encoding=\"UTF-8\""); |
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const QString Kml::_opengis("http://www.opengis.net/kml/2.2"); |
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const QString Kml::_qgckml("QGC KML"); |
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Kml::Kml() |
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{ |
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//create header
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createHeader(); |
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//name
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createTextElement(_docEle, "name", _qgckml); |
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//open
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createTextElement(_docEle, "open", "1"); |
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//create style
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createStyles(); |
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} |
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void Kml::points(const QStringList& points) |
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{ |
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//create placemark
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QDomElement placemark = _domDocument.createElement("Placemark"); |
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_docEle.appendChild(placemark); |
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createTextElement(placemark, "styleUrl", "yellowLineGreenPoly"); |
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createTextElement(placemark, "name", "Absolute"); |
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createTextElement(placemark, "visibility", "0"); |
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createTextElement(placemark, "description", "Transparent purple line"); |
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QStringList latLonAlt = points[0].split(","); |
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QStringList lookAtList({latLonAlt[0], latLonAlt[1], "0" \
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, "-100", "45", "2500"}); |
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createLookAt(placemark, lookAtList); |
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//Add linestring
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QDomElement lineString = _domDocument.createElement("LineString"); |
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placemark.appendChild(lineString); |
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//extruder
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createTextElement(lineString, "extruder", "1"); |
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createTextElement(lineString, "tessellate", "1"); |
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createTextElement(lineString, "altitudeMode", "absolute"); |
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QString coordinates; |
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for(const auto& point : points) { |
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coordinates += point + "\n"; |
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} |
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createTextElement(lineString, "coordinates", coordinates); |
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} |
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void Kml::save(QDomDocument& document) |
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{ |
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document = _domDocument; |
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} |
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void Kml::createHeader() |
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{ |
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QDomProcessingInstruction header = _domDocument.createProcessingInstruction("xml", _version + " " + _encoding); |
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_domDocument.appendChild(header); |
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QDomElement kml = _domDocument.createElement("kml"); |
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kml.setAttribute("xmlns", _opengis); |
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_docEle = _domDocument.createElement("Document"); |
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kml.appendChild(_docEle); |
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_domDocument.appendChild(kml); |
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} |
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void Kml::createStyles() |
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{ |
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QDomElement style = _domDocument.createElement("Style"); |
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style.setAttribute("id", "yellowLineGreenPoly"); |
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createStyleLine(style, "7f00ffff", "4", "7f00ff00"); |
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_docEle.appendChild(style); |
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} |
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void Kml::createLookAt(QDomElement& placemark, const QStringList &lookAtList) |
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{ |
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QDomElement lookAt = _domDocument.createElement("LookAt"); |
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placemark.appendChild(lookAt); |
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createTextElement(lookAt, "longitude", lookAtList[0]); |
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createTextElement(lookAt, "latitude", lookAtList[1]); |
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createTextElement(lookAt, "altitude", lookAtList[2]); |
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createTextElement(lookAt, "heading", lookAtList[3]); |
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createTextElement(lookAt, "tilt", lookAtList[4]); |
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createTextElement(lookAt, "range", lookAtList[5]); |
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} |
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void Kml::createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement) |
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{ |
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// <elementName>textElement</elementName>
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auto element = _domDocument.createElement(elementName); |
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element.appendChild(_domDocument.createTextNode(textElement)); |
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domEle.appendChild(element); |
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} |
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void Kml::createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor) |
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{ |
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/*
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<LineStyle> |
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<color>7f00ffff</color> |
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<width>4</width> |
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</LineStyle> |
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<PolyStyle> |
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<color>7f00ff00</color> |
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</PolyStyle> |
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*/ |
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auto lineStyle = _domDocument.createElement("LineStyle"); |
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auto polyStyle = _domDocument.createElement("PolyStyle"); |
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domEle.appendChild(lineStyle); |
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domEle.appendChild(polyStyle); |
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createTextElement(lineStyle, "color", lineColor); |
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createTextElement(lineStyle, "width", lineWidth); |
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createTextElement(polyStyle, "color", polyColor); |
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} |
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Kml::~Kml() |
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{ |
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} |
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#ifndef KML_H |
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#define KML_H |
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#include <QDomDocument> |
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#include <QDomElement> |
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class Kml |
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{ |
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public: |
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Kml(); |
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~Kml(); |
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void points(const QStringList& points); |
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void polygon(const QStringList& points); |
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void save(QDomDocument& document); |
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private: |
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void createHeader(); |
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void createLookAt(QDomElement& placemark, const QStringList &lookAtList); |
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void createStyles(); |
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void createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor); |
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void createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement); |
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QDomDocument _domDocument; |
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QDomElement _docEle; |
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static const QString _encoding; |
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static const QString _opengis; |
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static const QString _qgckml; |
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static const QString _version; |
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}; |
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#endif |
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "KMLPlanDomDocument.h" |
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#include "QGCPalette.h" |
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#include "QGCApplication.h" |
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#include "MissionCommandTree.h" |
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#include "MissionCommandUIInfo.h" |
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#include "FactMetaData.h" |
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#include <QDomDocument> |
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#include <QStringList> |
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const char* KMLPlanDomDocument::_missionLineStyleName = "MissionLineStyle"; |
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const char* KMLPlanDomDocument::_ballonStyleName = "BalloonStyle"; |
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KMLPlanDomDocument::KMLPlanDomDocument() |
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{ |
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QDomProcessingInstruction header = createProcessingInstruction(QStringLiteral("xml"), QStringLiteral("version=\"1.0\" encoding=\"UTF-8\"")); |
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appendChild(header); |
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QDomElement kmlElement = createElement(QStringLiteral("kml")); |
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kmlElement.setAttribute(QStringLiteral("xmlns"), "http://www.opengis.net/kml/2.2"); |
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_documentElement = createElement(QStringLiteral("Document")); |
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kmlElement.appendChild(_documentElement); |
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appendChild(kmlElement); |
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_addTextElement(_documentElement, "name", QStringLiteral("%1 Plan KML").arg(qgcApp()->applicationName())); |
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_addTextElement(_documentElement, "open", "1"); |
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_addStyles(); |
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} |
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QString KMLPlanDomDocument::_kmlCoordString(const QGeoCoordinate& coord) |
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{ |
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return QStringLiteral("%1,%2,%3").arg(QString::number(coord.longitude(), 'f', 7)).arg(QString::number(coord.latitude(), 'f', 7)).arg(QString::number(coord.altitude(), 'f', 2)); |
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} |
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void KMLPlanDomDocument::addMissionItems(Vehicle* vehicle, QList<MissionItem*> rgMissionItems) |
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{ |
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if (rgMissionItems.count() == 0) { |
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return; |
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} |
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QDomElement itemFolderElement = createElement("Folder"); |
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_documentElement.appendChild(itemFolderElement); |
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_addTextElement(itemFolderElement, "name", "Items"); |
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QDomElement flightPathElement = createElement("Placemark"); |
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_documentElement.appendChild(flightPathElement); |
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_addTextElement(flightPathElement, "styleUrl", QStringLiteral("#%1").arg(_missionLineStyleName)); |
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_addTextElement(flightPathElement, "name", "Flight Path"); |
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_addTextElement(flightPathElement, "visibility", "1"); |
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_addLookAt(flightPathElement, rgMissionItems[0]->coordinate()); |
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// Build up the mission trajectory line coords
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QList<QGeoCoordinate> rgFlightCoords; |
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QGeoCoordinate homeCoord = rgMissionItems[0]->coordinate(); |
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for (const MissionItem* item : rgMissionItems) { |
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const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, item->command()); |
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if (uiInfo) { |
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double altAdjustment = item->frame() == MAV_FRAME_GLOBAL ? 0 : homeCoord.altitude(); // Used to convert to amsl
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if (uiInfo->isTakeoffCommand() && !vehicle->fixedWing()) { |
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// These takeoff items go straight up from home position to specified altitude
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QGeoCoordinate coord = homeCoord; |
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coord.setAltitude(item->param7() + altAdjustment); |
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rgFlightCoords += coord; |
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} |
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if (uiInfo->specifiesCoordinate()) { |
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QGeoCoordinate coord = item->coordinate(); |
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coord.setAltitude(coord.altitude() + altAdjustment); // convert to amsl
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if (!uiInfo->isStandaloneCoordinate()) { |
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// Flight path goes through this item
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rgFlightCoords += coord; |
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} |
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// Add a place mark for each WP
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QDomElement wpPlacemarkElement = createElement("Placemark"); |
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_addTextElement(wpPlacemarkElement, "name", QStringLiteral("%1 %2").arg(QString::number(item->sequenceNumber())).arg(item->command() == MAV_CMD_NAV_WAYPOINT ? "" : uiInfo->friendlyName())); |
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_addTextElement(wpPlacemarkElement, "styleUrl", QStringLiteral("#%1").arg(_ballonStyleName)); |
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QDomElement wpPointElement = createElement("Point"); |
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_addTextElement(wpPointElement, "altitudeMode", "absolute"); |
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_addTextElement(wpPointElement, "coordinates", _kmlCoordString(coord)); |
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_addTextElement(wpPointElement, "extrude", "1"); |
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QDomElement descriptionElement = createElement("description"); |
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QString htmlString; |
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htmlString += QStringLiteral("Index: %1\n").arg(item->sequenceNumber()); |
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htmlString += uiInfo->friendlyName() + "\n"; |
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htmlString += QStringLiteral("Alt AMSL: %1 %2\n").arg(QString::number(FactMetaData::metersToAppSettingsDistanceUnits(coord.altitude()).toDouble(), 'f', 2)).arg(FactMetaData::appSettingsDistanceUnitsString()); |
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htmlString += QStringLiteral("Alt Rel: %1 %2\n").arg(QString::number(FactMetaData::metersToAppSettingsDistanceUnits(coord.altitude() - homeCoord.altitude()).toDouble(), 'f', 2)).arg(FactMetaData::appSettingsDistanceUnitsString()); |
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htmlString += QStringLiteral("Lat: %1\n").arg(QString::number(coord.latitude(), 'f', 7)); |
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htmlString += QStringLiteral("Lon: %1\n").arg(QString::number(coord.longitude(), 'f', 7)); |
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QDomCDATASection cdataSection = createCDATASection(htmlString); |
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descriptionElement.appendChild(cdataSection); |
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wpPlacemarkElement.appendChild(descriptionElement); |
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wpPlacemarkElement.appendChild(wpPointElement); |
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itemFolderElement.appendChild(wpPlacemarkElement); |
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} |
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} |
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} |
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// Create a LineString element from the coords
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QDomElement lineStringElement = createElement("LineString"); |
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flightPathElement.appendChild(lineStringElement); |
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_addTextElement(lineStringElement, "extruder", "1"); |
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_addTextElement(lineStringElement, "tessellate", "1"); |
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_addTextElement(lineStringElement, "altitudeMode", "absolute"); |
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QString coordString; |
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for (const QGeoCoordinate& coord : rgFlightCoords) { |
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coordString += QStringLiteral("%1\n").arg(_kmlCoordString(coord)); |
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} |
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_addTextElement(lineStringElement, "coordinates", coordString); |
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} |
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QString KMLPlanDomDocument::_kmlColorString (const QColor& color) |
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{ |
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return QStringLiteral("ff%1%2%3").arg(color.blue(), 2, 16, QChar('0')).arg(color.green(), 2, 16, QChar('0')).arg(color.red(), 2, 16, QChar('0')); |
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} |
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void KMLPlanDomDocument::_addStyles(void) |
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{ |
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QGCPalette palette; |
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QDomElement styleElement1 = createElement("Style"); |
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styleElement1.setAttribute("id", _missionLineStyleName); |
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QDomElement lineStyleElement = createElement("LineStyle"); |
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_addTextElement(lineStyleElement, "color", _kmlColorString(palette.mapMissionTrajectory())); |
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_addTextElement(lineStyleElement, "width", "4"); |
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styleElement1.appendChild(lineStyleElement); |
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QDomElement styleElement2 = createElement("Style"); |
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styleElement2.setAttribute("id", _ballonStyleName); |
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QDomElement balloonStyleElement = createElement("BalloonStyle"); |
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_addTextElement(balloonStyleElement, "text", "$[description]"); |
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styleElement2.appendChild(balloonStyleElement); |
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_documentElement.appendChild(styleElement1); |
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_documentElement.appendChild(styleElement2); |
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} |
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void KMLPlanDomDocument::_addTextElement(QDomElement &element, const QString &name, const QString &value) |
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{ |
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QDomElement textElement = createElement(name); |
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textElement.appendChild(createTextNode(value)); |
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element.appendChild(textElement); |
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} |
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void KMLPlanDomDocument::_addLookAt(QDomElement& element, const QGeoCoordinate& coord) |
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{ |
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QDomElement lookAtElement = createElement("LookAt"); |
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_addTextElement(lookAtElement, "latitude", QString::number(coord.latitude(), 'f', 7)); |
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_addTextElement(lookAtElement, "longitude", QString::number(coord.longitude(), 'f', 7)); |
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_addTextElement(lookAtElement, "altitude", QString::number(coord.longitude(), 'f', 2)); |
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_addTextElement(lookAtElement, "heading", "-100"); |
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_addTextElement(lookAtElement, "tilt", "45"); |
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_addTextElement(lookAtElement, "range", "2500"); |
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element.appendChild(lookAtElement); |
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} |
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@ -0,0 +1,39 @@
@@ -0,0 +1,39 @@
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <QDomDocument> |
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#include <QDomElement> |
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#include <QGeoCoordinate> |
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class MissionItem; |
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class Vehicle; |
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/// Used to convert a Plan to a KML document
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class KMLPlanDomDocument : public QDomDocument |
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{ |
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public: |
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KMLPlanDomDocument(); |
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void addMissionItems(Vehicle* vehicle, QList<MissionItem*> rgMissionItems); |
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private: |
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void _addStyles (void); |
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QString _kmlColorString (const QColor& color); |
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void _addTextElement (QDomElement& element, const QString& name, const QString& value); |
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QString _kmlCoordString (const QGeoCoordinate& coord); |
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void _addLookAt(QDomElement& element, const QGeoCoordinate& coord); |
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QDomElement _documentElement; |
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static const char* _missionLineStyleName; |
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static const char* _ballonStyleName; |
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}; |
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