zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Added parameter dialog to modify terrain offset parameters.

QGC4.4
hengli 13 years ago
parent
cd49ed036b
commit
4e84790959
7 changed files with 241 additions and 6 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      qgroundcontrol.pro
  2. 12
      src/ui/map3D/GlobalViewParams.cc
  3. 6
      src/ui/map3D/GlobalViewParams.h
  4. 85
      src/ui/map3D/Pixhawk3DWidget.cc
  5. 4
      src/ui/map3D/Pixhawk3DWidget.h
  6. 102
      src/ui/map3D/TerrainParamDialog.cc
  7. 32
      src/ui/map3D/TerrainParamDialog.h

6
qgroundcontrol.pro
Unescape View File

@ -358,7 +358,8 @@ HEADERS += src/MG.h \ @@ -358,7 +358,8 @@ HEADERS += src/MG.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/map3D/TerrainParamDialog.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@ -498,7 +499,8 @@ SOURCES += src/main.cc \ @@ -498,7 +499,8 @@ SOURCES += src/main.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/map3D/TerrainParamDialog.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

12
src/ui/map3D/GlobalViewParams.cc
Unescape View File

@ -72,6 +72,18 @@ GlobalViewParams::frame(void) const @@ -72,6 +72,18 @@ GlobalViewParams::frame(void) const
return mFrame;
}
QVector4D&
GlobalViewParams::terrainOffset(void)
{
return mTerrainOffset;
}
QVector4D
GlobalViewParams::terrainOffset(void) const
{
return mTerrainOffset;
}
void
GlobalViewParams::followCameraChanged(const QString& text)
{

6
src/ui/map3D/GlobalViewParams.h
Unescape View File

@ -3,7 +3,7 @@ @@ -3,7 +3,7 @@
#include <QObject>
#include <QString>
#include <QVector>
#include <QVector4D>
#include "QGCMAVLink.h"
#include "Imagery.h"
@ -30,6 +30,9 @@ public: @@ -30,6 +30,9 @@ public:
MAV_FRAME& frame(void);
MAV_FRAME frame(void) const;
QVector4D& terrainOffset(void);
QVector4D terrainOffset(void) const;
public slots:
void followCameraChanged(const QString& text);
void frameChanged(const QString &text);
@ -46,6 +49,7 @@ private: @@ -46,6 +49,7 @@ private:
Imagery::Type mImageryType;
int mFollowCameraId;
MAV_FRAME mFrame;
QVector4D mTerrainOffset;
};
typedef QSharedPointer<GlobalViewParams> GlobalViewParamsPtr;

85
src/ui/map3D/Pixhawk3DWidget.cc
Unescape View File

@ -41,6 +41,7 @@ @@ -41,6 +41,7 @@
#include "../MainWindow.h"
#include "PixhawkCheetahGeode.h"
#include "TerrainParamDialog.h"
#include "UASManager.h"
#include "QGC.h"
@ -73,6 +74,9 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) @@ -73,6 +74,9 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
mWorldGridNode = createWorldGrid();
m3DWidget->worldMap()->addChild(mWorldGridNode, false);
mTerrainPAT = new osg::PositionAttitudeTransform;
m3DWidget->worldMap()->addChild(mTerrainPAT);
// generate map model
mImageryNode = createImagery();
m3DWidget->worldMap()->addChild(mImageryNode, false);
@ -404,6 +408,19 @@ Pixhawk3DWidget::clearData(void) @@ -404,6 +408,19 @@ Pixhawk3DWidget::clearData(void)
}
void
Pixhawk3DWidget::showTerrainParamWindow(void)
{
TerrainParamDialog::getTerrainParams(mGlobalViewParams);
const QVector4D& terrainOffset = mGlobalViewParams->terrainOffset();
mTerrainPAT->setPosition(osg::Vec3d(terrainOffset.y(), terrainOffset.x(), -terrainOffset.z()));
mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - terrainOffset.w(), osg::Vec3d(0.0f, 0.0f, 1.0f),
0.0, osg::Vec3d(1.0f, 0.0f, 0.0f),
0.0, osg::Vec3d(0.0f, 1.0f, 0.0f)));
}
void
Pixhawk3DWidget::showViewParamWindow(void)
{
if (mViewParamWidget->isVisible())
@ -507,10 +524,18 @@ Pixhawk3DWidget::loadTerrainModel(void) @@ -507,10 +524,18 @@ Pixhawk3DWidget::loadTerrainModel(void)
{
if (mTerrainNode.get())
{
m3DWidget->worldMap()->removeChild(mTerrainNode);
mTerrainPAT->removeChild(mTerrainNode);
}
mTerrainNode = node;
m3DWidget->worldMap()->addChild(mTerrainNode);
mTerrainNode->setName("terrain");
mTerrainPAT->addChild(mTerrainNode);
mGlobalViewParams->terrainOffset() = QVector4D();
mTerrainPAT->setPosition(osg::Vec3d(0.0, 0.0, 0.0));
mTerrainPAT->setAttitude(osg::Quat(M_PI_2, osg::Vec3d(0.0f, 0.0f, 1.0f),
0.0, osg::Vec3d(1.0f, 0.0f, 0.0f),
0.0, osg::Vec3d(0.0f, 1.0f, 0.0f)));
}
else
{
@ -835,7 +860,7 @@ Pixhawk3DWidget::update(void) @@ -835,7 +860,7 @@ Pixhawk3DWidget::update(void)
MAV_FRAME frame = mGlobalViewParams->frame();
// set node visibility
m3DWidget->worldMap()->setChildValue(mTerrainNode,
m3DWidget->worldMap()->setChildValue(mTerrainPAT,
mGlobalViewParams->displayTerrain());
m3DWidget->worldMap()->setChildValue(mWorldGridNode,
mGlobalViewParams->displayWorldGrid());
@ -1169,6 +1194,16 @@ Pixhawk3DWidget::mousePressEvent(QMouseEvent* event) @@ -1169,6 +1194,16 @@ Pixhawk3DWidget::mousePressEvent(QMouseEvent* event)
return;
}
}
else if (event->button() == Qt::RightButton)
{
if (findTerrain(event->pos()))
{
showTerrainMenu(event->globalPos());
event->accept();
}
}
m3DWidget->handleMousePressEvent(event);
}
@ -2261,6 +2296,7 @@ Pixhawk3DWidget::findWaypoint(const QPoint& mousePos) @@ -2261,6 +2296,7 @@ Pixhawk3DWidget::findWaypoint(const QPoint& mousePos)
return -1;
}
bool
Pixhawk3DWidget::findTarget(int mouseX, int mouseY)
{
@ -2288,6 +2324,41 @@ Pixhawk3DWidget::findTarget(int mouseX, int mouseY) @@ -2288,6 +2324,41 @@ Pixhawk3DWidget::findTarget(int mouseX, int mouseY)
return false;
}
bool
Pixhawk3DWidget::findTerrain(const QPoint& mousePos)
{
if (!m3DWidget->getSceneData() || !mActiveUAS)
{
return -1;
}
osgUtil::LineSegmentIntersector::Intersections intersections;
QPoint widgetMousePos = m3DWidget->mapFromParent(mousePos);
if (m3DWidget->computeIntersections(widgetMousePos.x(),
m3DWidget->height() - widgetMousePos.y(),
intersections))
{
for (osgUtil::LineSegmentIntersector::Intersections::iterator
it = intersections.begin(); it != intersections.end(); it++)
{
for (uint i = 0 ; i < it->nodePath.size(); ++i)
{
osg::Node* node = it->nodePath[i];
std::string nodeName = node->getName();
if (nodeName.compare("terrain") == 0)
{
return true;
}
}
}
}
return false;
}
void
Pixhawk3DWidget::showInsertWaypointMenu(const QPoint &cursorPos)
{
@ -2319,3 +2390,11 @@ Pixhawk3DWidget::showEditWaypointMenu(const QPoint &cursorPos) @@ -2319,3 +2390,11 @@ Pixhawk3DWidget::showEditWaypointMenu(const QPoint &cursorPos)
menu.addAction("Clear all waypoints", this, SLOT(clearAllWaypoints()));
menu.exec(cursorPos);
}
void
Pixhawk3DWidget::showTerrainMenu(const QPoint &cursorPos)
{
QMenu menu;
menu.addAction("Edit terrain parameters", this, SLOT(showTerrainParamWindow()));
menu.exec(cursorPos);
}

4
src/ui/map3D/Pixhawk3DWidget.h
Unescape View File

@ -67,6 +67,7 @@ signals: @@ -67,6 +67,7 @@ signals:
private slots:
void clearData(void);
void showTerrainParamWindow(void);
void showViewParamWindow(void);
void followCameraChanged(int systemId);
void recenterActiveCamera(void);
@ -168,8 +169,10 @@ private: @@ -168,8 +169,10 @@ private:
int findWaypoint(const QPoint& mousePos);
bool findTarget(int mouseX, int mouseY);
bool findTerrain(const QPoint& mousePos);
void showInsertWaypointMenu(const QPoint& cursorPos);
void showEditWaypointMenu(const QPoint& cursorPos);
void showTerrainMenu(const QPoint& cursorPos);
const qreal kMessageTimeout; // message timeout in seconds
@ -198,6 +201,7 @@ private: @@ -198,6 +201,7 @@ private:
osg::ref_ptr<HUDScaleGeode> mScaleGeode;
osg::ref_ptr<osgText::Text> mStatusText;
osg::ref_ptr<osg::Node> mTerrainNode;
osg::ref_ptr<osg::PositionAttitudeTransform> mTerrainPAT;
osg::ref_ptr<osg::Geode> mWorldGridNode;
QPoint mCachedMousePos;

102
src/ui/map3D/TerrainParamDialog.cc
Unescape View File

@ -0,0 +1,102 @@ @@ -0,0 +1,102 @@
#include "TerrainParamDialog.h"
#include <QFormLayout>
#include <QGroupBox>
#include <QPushButton>
TerrainParamDialog::TerrainParamDialog(QWidget* parent)
: QDialog(parent)
{
QVBoxLayout* layout = new QVBoxLayout;
setLayout(layout);
setWindowTitle(tr("Terrain Parameters"));
setModal(true);
buildLayout(layout);
}
void
TerrainParamDialog::getTerrainParams(GlobalViewParamsPtr &globalViewParams)
{
QVector4D& terrainOffset = globalViewParams->terrainOffset();
TerrainParamDialog dialog;
dialog.mXOffsetSpinBox->setValue(terrainOffset.x());
dialog.mYOffsetSpinBox->setValue(terrainOffset.y());
dialog.mZOffsetSpinBox->setValue(terrainOffset.z());
dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(terrainOffset.w()));
if (dialog.exec() == QDialog::Accepted)
{
terrainOffset.setX(dialog.mXOffsetSpinBox->value());
terrainOffset.setY(dialog.mYOffsetSpinBox->value());
terrainOffset.setZ(dialog.mZOffsetSpinBox->value());
terrainOffset.setW(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value()));
}
}
void
TerrainParamDialog::closeWithSaving(void)
{
done(QDialog::Accepted);
}
void
TerrainParamDialog::closeWithoutSaving(void)
{
done(QDialog::Rejected);
}
void
TerrainParamDialog::buildLayout(QVBoxLayout* layout)
{
QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this);
mXOffsetSpinBox = new QDoubleSpinBox(this);
mXOffsetSpinBox->setDecimals(1);
mXOffsetSpinBox->setRange(-100.0, 100.0);
mXOffsetSpinBox->setValue(0.0);
mYOffsetSpinBox = new QDoubleSpinBox(this);
mYOffsetSpinBox->setDecimals(1);
mYOffsetSpinBox->setRange(-100.0, 100.0);
mYOffsetSpinBox->setValue(0.0);
mZOffsetSpinBox = new QDoubleSpinBox(this);
mZOffsetSpinBox->setDecimals(1);
mZOffsetSpinBox->setRange(-100.0, 100.0);
mZOffsetSpinBox->setValue(0.0);
mYawOffsetSpinBox = new QDoubleSpinBox(this);
mYawOffsetSpinBox->setDecimals(0);
mYawOffsetSpinBox->setRange(-180.0, 180.0);
mYawOffsetSpinBox->setValue(0.0);
QFormLayout* formLayout = new QFormLayout;
formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
formLayout->addRow(tr("Yaw (deg)"), mYawOffsetSpinBox);
offsetGroupBox->setLayout(formLayout);
layout->addWidget(offsetGroupBox);
layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
QPushButton* cancelButton = new QPushButton(this);
cancelButton->setText("Cancel");
QPushButton* saveButton = new QPushButton(this);
saveButton->setText("Save");
QHBoxLayout* buttonLayout = new QHBoxLayout;
buttonLayout->addWidget(cancelButton);
buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
buttonLayout->addWidget(saveButton);
layout->addLayout(buttonLayout);
connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving()));
connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving()));
}

32
src/ui/map3D/TerrainParamDialog.h
Unescape View File

@ -0,0 +1,32 @@ @@ -0,0 +1,32 @@
#ifndef TERRAINPARAMDIALOG_H
#define TERRAINPARAMDIALOG_H
#include <QDoubleSpinBox>
#include <QDialog>
#include <QVBoxLayout>
#include "GlobalViewParams.h"
class TerrainParamDialog : public QDialog
{
Q_OBJECT
public:
TerrainParamDialog(QWidget* parent = 0);
static void getTerrainParams(GlobalViewParamsPtr& globalViewParams);
private slots:
void closeWithSaving(void);
void closeWithoutSaving(void);
private:
void buildLayout(QVBoxLayout* layout);
QDoubleSpinBox* mXOffsetSpinBox;
QDoubleSpinBox* mYOffsetSpinBox;
QDoubleSpinBox* mZOffsetSpinBox;
QDoubleSpinBox* mYawOffsetSpinBox;
};
#endif // TERRAINPARAMDIALOG_H
Write Preview
Loading…
Cancel
Save