lm
15 years ago
11 changed files with 312 additions and 118 deletions
@ -1,27 +1,83 @@
@@ -1,27 +1,83 @@
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#include "MAV2DIcon.h" |
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#include <QPainter> |
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MAV2DIcon::MAV2DIcon(QGraphicsItem* parent) : |
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QGC2DIcon(parent) |
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MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen) |
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: Point(x, y, name, alignment), |
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yaw(0.0f) |
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{ |
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size = QSize(radius, radius); |
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drawIcon(pen); |
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} |
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/**
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* @return the bounding rectangle of the icon |
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*/ |
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QRectF MAV2DIcon::boundingRect() const |
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MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen) |
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: Point(x, y, name, alignment) |
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{ |
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int radius = 10; |
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size = QSize(radius, radius); |
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drawIcon(pen); |
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} |
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MAV2DIcon::~MAV2DIcon() |
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{ |
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delete mypixmap; |
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} |
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void MAV2DIcon::setPen(QPen* pen) |
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{ |
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qreal penWidth = 1; |
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return QRectF(-10 - penWidth / 2, -10 - penWidth / 2, |
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20 + penWidth, 20 + penWidth); |
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mypen = pen; |
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drawIcon(pen); |
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} |
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/**
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* @param painter QPainter to draw with |
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* @param option Visual style |
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* @param widget Parent widget |
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* @param yaw in radians, 0 = north, positive = clockwise |
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*/ |
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void MAV2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget) |
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void MAV2DIcon::setYaw(float yaw) |
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{ |
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painter->drawRoundedRect(-10, -10, 20, 20, 5, 5); |
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this->yaw = yaw; |
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} |
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void MAV2DIcon::drawIcon(QPen* pen) |
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{ |
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mypixmap = new QPixmap(radius+1, radius+1); |
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mypixmap->fill(Qt::transparent); |
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QPainter painter(mypixmap); |
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// DRAW MICRO AIR VEHICLE
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QPointF p(radius/2, radius/2); |
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float waypointSize = radius; |
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QPolygonF poly(3); |
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// Top point
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poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f)); |
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// Right point
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poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f)); |
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// Left point
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poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f)); |
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// // Select color based on if this is the current waypoint
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// if (list.at(i)->getCurrent())
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// {
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// color = QGC::colorCyan;//uas->getColor();
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// pen.setWidthF(refLineWidthToPen(0.8f));
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// }
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// else
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// {
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// color = uas->getColor();
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// pen.setWidthF(refLineWidthToPen(0.4f));
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// }
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//pen.setColor(color);
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if (pen) |
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{ |
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pen->setWidthF(2); |
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painter.setPen(*pen); |
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} |
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else |
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{ |
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QPen pen2(Qt::yellow); |
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pen2.setWidth(2); |
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painter.setPen(pen2); |
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} |
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painter.setBrush(Qt::NoBrush); |
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painter.drawPolygon(poly); |
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} |
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@ -1,31 +1,88 @@
@@ -1,31 +1,88 @@
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#include "Waypoint2DIcon.h" |
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#include <QPainter> |
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#include <QDebug> |
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Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen) |
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: Point(x, y, name, alignment), |
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yaw(0.0f), |
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radius(radius) |
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{ |
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size = QSize(radius, radius); |
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drawIcon(pen); |
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} |
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Waypoint2DIcon::Waypoint2DIcon(QGraphicsItem* parent) : |
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QGC2DIcon(parent) |
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Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen) |
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: Point(x, y, name, alignment) |
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{ |
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int radius = 10; |
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size = QSize(radius, radius); |
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drawIcon(pen); |
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} |
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/**
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* @return the bounding rectangle of the icon |
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*/ |
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QRectF Waypoint2DIcon::boundingRect() const |
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Waypoint2DIcon::~Waypoint2DIcon() |
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{ |
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qreal penWidth = 1; |
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return QRectF(-10 - penWidth / 2, -10 - penWidth / 2, |
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20 + penWidth, 20 + penWidth); |
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delete mypixmap; |
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} |
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void Waypoint2DIcon::setPen(QPen* pen) |
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{ |
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mypen = pen; |
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drawIcon(pen); |
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} |
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/**
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* @param painter QPainter to draw with |
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* @param option Visual style |
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* @param widget Parent widget |
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* @param yaw in radians, 0 = north, positive = clockwise |
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*/ |
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void Waypoint2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget) |
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void Waypoint2DIcon::setYaw(float yaw) |
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{ |
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qDebug() << __FILE__ << __LINE__ << "DRAWING"; |
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painter->setPen(QPen(Qt::red)); |
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painter->drawRoundedRect(-10, -10, 20, 20, 5, 5); |
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this->yaw = yaw; |
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} |
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void Waypoint2DIcon::drawIcon(QPen* pen) |
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{ |
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mypixmap = new QPixmap(radius+1, radius+1); |
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mypixmap->fill(Qt::transparent); |
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QPainter painter(mypixmap); |
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// DRAW WAYPOINT
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QPointF p(radius/2, radius/2); |
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float waypointSize = radius; |
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QPolygonF poly(4); |
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// Top point
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poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f)); |
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// Right point
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poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y())); |
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// Bottom point
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poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f)); |
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poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y())); |
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// // Select color based on if this is the current waypoint
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// if (list.at(i)->getCurrent())
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// {
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// color = QGC::colorCyan;//uas->getColor();
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// pen.setWidthF(refLineWidthToPen(0.8f));
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// }
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// else
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// {
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// color = uas->getColor();
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// pen.setWidthF(refLineWidthToPen(0.4f));
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// }
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//pen.setColor(color);
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if (pen) |
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{ |
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pen->setWidthF(2); |
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painter.setPen(*pen); |
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} |
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else |
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{ |
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QPen pen2(Qt::red); |
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pen2.setWidth(2); |
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painter.setPen(pen2); |
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} |
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painter.setBrush(Qt::NoBrush); |
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float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f)); |
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painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad); |
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painter.drawPolygon(poly); |
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} |
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