WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, const QString &description, MapGraphicItem *map) :
map(map),
autoreachedEnabled(true),
text(NULL),
textBG(NULL),
numberI(NULL),
numberIBG(NULL),
coord(coord),
reached(false),
description(description),
shownumber(true),
isDragging(false),
altitude(altitude), // sets a 10m default just in case
heading(0),
number(0)
{
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
//transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, MapGraphicItem *map) :
AbstractBaseItem(map),
map(map),
autoreachedEnabled(true),
coord(coord),
reached(false),
description(""),
shownumber(true),
isDragging(false),
altitude(altitude),
heading(0)
{
text=0;
numberI=0;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
this->setZValue(4);
// transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
}
WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(false),description(""),shownumber(true),isDragging(false),altitude(0),map(map)
{
relativeCoord.bearing=0;
relativeCoord.distance=0;
relativeCoord.altitudeRelative=0;
myType=relative;
if(magicwaypoint)
{
isMagic=true;
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
number=-1;
}
else
{
isMagic=false;
number=WayPointItem::snumber;
++WayPointItem::snumber;
}
text=0;
numberI=0;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
GPSItem::GPSItem(MapGraphicItem *map, TLMapWidget *parent, QString uavPic) :
mapwidget(parent),
showtrail(true),
showtrailline(true),
trailtime(5),
traildistance(50),
autosetreached(true),
autosetdistance(100)
{
this->map = map;
altitude = 0;
pic.load(uavPic);
// Don't scale but trust the image we are given
// pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup(this);
trail->setParentItem(map);
trailLine=new QGraphicsItemGroup(this);
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
void WayPointItem::SetCoord(const internals::PointLatLng &value)
{
coord=value;
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
this->update();
}
inline void Messager_cls::RefreshEnvInfo()
{
uint8_t i;
EnvRobotInfoRec_stru *pRobotInfo = NULL;
RefreshPos( InfoManager.ObstacleInfo );
pRobotInfo = InfoManager.RobotInfo;
for ( i = 0; i < ENVROBOT_INFOTBL_NUM; ++i )
{
if ( 0 < pRobotInfo->TTLCnt )
{
RefreshPos( pRobotInfo->Position );
}
pRobotInfo++;
}
}
void GPSItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
{
if(coord.IsEmpty())
lastcoord=coord;
if(coord!=position)
{
if(trailtype==UAVTrailType::ByTimeElapsed)
{
if(timer.elapsed()>trailtime*1000)
{
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
timer.restart();
}
}
else if(trailtype==UAVTrailType::ByDistance)
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
lastcoord=position;
}
}
coord=position;
this->altitude=altitude;
RefreshPos();
}
}
