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@ -81,19 +81,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
@@ -81,19 +81,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
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ui->webViewLayout->addWidget(webViewWin); |
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#endif |
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connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); |
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connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState())); |
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// Follow checkbox
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ui->followAirplaneCheckbox->setChecked(followCamera); |
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connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool))); |
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// Trail checkbox
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ui->trailCheckbox->setChecked(trailEnabled); |
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connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool))); |
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// Go home
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connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome())); |
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} |
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QGCGoogleEarthView::~QGCGoogleEarthView() |
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@ -102,13 +90,45 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -102,13 +90,45 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
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settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera); |
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settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled); |
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settings.sync(); |
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#if (defined Q_OS_MAC) |
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delete webViewMac; |
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#endif |
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#ifdef _MSC_VER |
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delete webViewWin; |
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#endif |
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delete ui; |
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} |
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/**
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* @param range in centimeters |
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*/ |
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void QGCGoogleEarthView::setViewRangeScaledInt(int range) |
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{ |
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setViewRange(range/100.0f); |
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} |
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/**
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* @param range in meters (SI-units) |
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*/ |
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void QGCGoogleEarthView::setViewRange(float range) |
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{ |
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javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5)); |
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} |
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void QGCGoogleEarthView::addUAS(UASInterface* uas) |
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{ |
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// uasid, type, color (in aarrbbgg format)
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javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50"))); |
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// uasid, type, color (in #rrbbgg format)
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QString uasColor = uas->getColor().name().remove(0, 1); |
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// Convert to bbggrr format
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QString rChannel = uasColor.mid(0, 2); |
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uasColor.remove(0, 2); |
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uasColor.prepend(rChannel); |
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// Set alpha value to 0x66, append JavaScript quotes ('')
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uasColor.prepend("'66").append("'"); |
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javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor)); |
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if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID())); |
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//javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg("0"));
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// Automatically receive further position updates
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connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); |
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@ -123,7 +143,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
@@ -123,7 +143,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
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} |
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} |
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void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec) |
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void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec) |
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{ |
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Q_UNUSED(usec); |
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javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15)); |
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@ -133,6 +153,26 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
@@ -133,6 +153,26 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
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void QGCGoogleEarthView::showTrail(bool state) |
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{ |
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// Check if the current trail has to be hidden
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if (trailEnabled && !state) |
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{ |
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QList<UASInterface*> mavs = UASManager::instance()->getUASList(); |
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foreach (UASInterface* currMav, mavs) |
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{ |
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javaScript(QString("hideTrail(%1);").arg(currMav->getUASID())); |
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} |
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} |
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// Check if the current trail has to be shown
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if (!trailEnabled && state) |
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{ |
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QList<UASInterface*> mavs = UASManager::instance()->getUASList(); |
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foreach (UASInterface* currMav, mavs) |
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{ |
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javaScript(QString("showTrail(%1);").arg(currMav->getUASID())); |
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} |
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} |
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trailEnabled = state; |
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ui->trailCheckbox->setChecked(state); |
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} |
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@ -173,7 +213,9 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
@@ -173,7 +213,9 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
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Q_UNUSED(event) |
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{ |
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// Enable widget, initialize on first run
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if (!webViewInitialized) |
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// FIXME Re-inits now on every visibility change
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//if (!webViewInitialized)
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{ |
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#if (defined Q_OS_MAC) |
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webViewMac->setPage(new QGCWebPage(webViewMac)); |
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@ -276,18 +318,36 @@ void QGCGoogleEarthView::initializeGoogleEarth()
@@ -276,18 +318,36 @@ void QGCGoogleEarthView::initializeGoogleEarth()
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// Move to home location
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goHome(); |
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// Set current UAS
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setActiveUAS(mav); |
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// Add all MAVs
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QList<UASInterface*> mavs = UASManager::instance()->getUASList(); |
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foreach (UASInterface* mav, mavs) |
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foreach (UASInterface* currMav, mavs) |
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{ |
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addUAS(mav); |
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addUAS(currMav); |
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} |
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// Set current UAS
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setActiveUAS(UASManager::instance()->getActiveUAS()); |
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// Add any further MAV automatically
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connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); |
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connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); |
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// Connect UI signals/slots
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// Follow checkbox
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ui->followAirplaneCheckbox->setChecked(followCamera); |
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connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool))); |
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// Trail checkbox
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ui->trailCheckbox->setChecked(trailEnabled); |
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connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool))); |
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// Go home
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connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome())); |
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// Cam distance slider
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connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int))); |
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setViewRangeScaledInt(ui->camDistanceSlider->value()); |
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gEarthInitialized = true; |
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} |
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@ -312,15 +372,15 @@ void QGCGoogleEarthView::updateState()
@@ -312,15 +372,15 @@ void QGCGoogleEarthView::updateState()
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// Update all MAVs
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QList<UASInterface*> mavs = UASManager::instance()->getUASList(); |
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foreach (UASInterface* mav, mavs) |
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foreach (UASInterface* currMav, mavs) |
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{ |
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uasId = mav->getUASID(); |
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lat = mav->getLatitude(); |
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lon = mav->getLongitude(); |
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alt = mav->getAltitude(); |
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roll = mav->getRoll(); |
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pitch = mav->getPitch(); |
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yaw = mav->getYaw(); |
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uasId = currMav->getUASID(); |
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lat = currMav->getLatitude(); |
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lon = currMav->getLongitude(); |
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alt = currMav->getAltitude(); |
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roll = currMav->getRoll(); |
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pitch = currMav->getPitch(); |
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yaw = currMav->getYaw(); |
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javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);") |
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.arg(uasId) |
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pixhawk
15 years ago