DonLakeFlyer
6 years ago
8 changed files with 161 additions and 86 deletions
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/****************************************************************************
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* |
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* (c) 2009-2016 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 "TrajectoryPoints.h" |
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#include "Vehicle.h" |
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TrajectoryPoints::TrajectoryPoints(Vehicle* vehicle, QObject* parent) |
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: QObject (parent) |
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, _vehicle (vehicle) |
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, _lastAzimuth (qQNaN()) |
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{ |
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} |
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void TrajectoryPoints::_vehicleCoordinateChanged(QGeoCoordinate coordinate) |
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{ |
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if (_lastPoint.isValid()) { |
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if (_lastPoint.distanceTo(coordinate) > _distanceTolerance) { |
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double newAzimuth = _lastPoint.azimuthTo(coordinate); |
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if (qIsNaN(_lastAzimuth) || qAbs(newAzimuth - _lastAzimuth) > _azimuthTolerance) { |
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_lastAzimuth = _lastPoint.azimuthTo(coordinate); |
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_lastPoint = coordinate; |
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_points.append(QVariant::fromValue(coordinate)); |
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emit pointAdded(coordinate); |
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} else { |
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_lastPoint = coordinate; |
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_points[_points.count() - 1] = QVariant::fromValue(coordinate); |
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emit updateLastPoint(coordinate); |
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} |
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} |
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} else { |
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_lastAzimuth = _lastPoint.azimuthTo(coordinate); |
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_lastPoint = coordinate; |
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_points.append(QVariant::fromValue(coordinate)); |
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emit pointAdded(coordinate); |
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} |
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} |
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void TrajectoryPoints::start(void) |
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{ |
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clear(); |
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connect(_vehicle, &Vehicle::coordinateChanged, this, &TrajectoryPoints::_vehicleCoordinateChanged); |
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} |
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void TrajectoryPoints::stop(void) |
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{ |
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qDebug() << "Stop" << _points.count(); |
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disconnect(_vehicle, &Vehicle::coordinateChanged, this, &TrajectoryPoints::_vehicleCoordinateChanged); |
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} |
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void TrajectoryPoints::clear(void) |
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{ |
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_points.clear(); |
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emit pointsCleared(); |
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} |
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@ -0,0 +1,49 @@
@@ -0,0 +1,49 @@
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/****************************************************************************
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* |
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* (c) 2009-2016 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 "QmlObjectListModel.h" |
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#include <QGeoCoordinate> |
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class Vehicle; |
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class TrajectoryPoints : public QObject |
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{ |
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Q_OBJECT |
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public: |
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TrajectoryPoints(Vehicle* vehicle, QObject* parent = nullptr); |
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Q_INVOKABLE QVariantList list(void) const { return _points; } |
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void start (void); |
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void stop (void); |
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public slots: |
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void clear (void); |
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signals: |
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void pointAdded (QGeoCoordinate coordinate); |
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void updateLastPoint(QGeoCoordinate coordinate); |
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void pointsCleared (void); |
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private slots: |
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void _vehicleCoordinateChanged(QGeoCoordinate coordinate); |
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private: |
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Vehicle* _vehicle; |
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QVariantList _points; |
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QGeoCoordinate _lastPoint; |
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double _lastAzimuth; |
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static constexpr double _distanceTolerance = 1.0; |
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static constexpr double _azimuthTolerance = 1.5; |
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}; |
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