QgsDecorationNorthArrowDialog::QgsDecorationNorthArrowDialog( QgsDecorationNorthArrow& deco, QWidget* parent )
: QDialog( parent ), mDeco( deco )
{
setupUi( this );
QSettings settings;
restoreGeometry( settings.value( "/Windows/DecorationNorthArrow/geometry" ).toByteArray() );
// rotation
rotatePixmap( mDeco.mRotationInt );
// signal/slot connection defined in 'designer' causes the slider to
// be moved to reflect the change in the spinbox.
spinAngle->setValue( mDeco.mRotationInt );
// placement
cboPlacement->clear();
cboPlacement->addItems( mDeco.mPlacementLabels );
cboPlacement->setCurrentIndex( mDeco.mPlacementIndex );
// enabled
cboxShow->setChecked( mDeco.enabled() );
// automatic
cboxAutomatic->setChecked( mDeco.mAutomatic );
}
QgsDecorationNorthArrowDialog::QgsDecorationNorthArrowDialog( QgsDecorationNorthArrow& deco, QWidget* parent )
: QDialog( parent )
, mDeco( deco )
{
setupUi( this );
QSettings settings;
restoreGeometry( settings.value( "/Windows/DecorationNorthArrow/geometry" ).toByteArray() );
QPushButton* applyButton = buttonBox->button( QDialogButtonBox::Apply );
connect( applyButton, SIGNAL( clicked() ), this, SLOT( apply() ) );
// rotation
rotatePixmap( mDeco.mRotationInt );
// signal/slot connection defined in 'designer' causes the slider to
// be moved to reflect the change in the spinbox.
spinAngle->setValue( mDeco.mRotationInt );
// placement
cboPlacement->addItem( tr( "Top left" ), QgsDecorationItem::TopLeft );
cboPlacement->addItem( tr( "Top right" ), QgsDecorationItem::TopRight );
cboPlacement->addItem( tr( "Bottom left" ), QgsDecorationItem::BottomLeft );
cboPlacement->addItem( tr( "Bottom right" ), QgsDecorationItem::BottomRight );
cboPlacement->setCurrentIndex( cboPlacement->findData( mDeco.placement() ) );
spinHorizontal->setValue( mDeco.mMarginHorizontal );
spinVertical->setValue( mDeco.mMarginVertical );
wgtUnitSelection->setUnits( QgsUnitTypes::RenderUnitList() << QgsUnitTypes::RenderMillimeters << QgsUnitTypes::RenderPercentage << QgsUnitTypes::RenderPixels );
wgtUnitSelection->setUnit( mDeco.mMarginUnit );
// enabled
grpEnable->setChecked( mDeco.enabled() );
// automatic
cboxAutomatic->setChecked( mDeco.mAutomatic );
}
void girarder::rotarplayer(tam grados)
{
QPixmap sourceImage(*player->pixmap());
QPixmap rotatePixmap(sourceImage.size());
rotatePixmap.fill(Qt::transparent);
QTransform transform;
transform.translate(sourceImage.size().width() / 2, sourceImage.size().height() / 2);
transform.rotate(grados);
transform.translate(-sourceImage.size().width() / 2, -sourceImage.size().height() / 2);
QPainter p;
p.begin(&rotatePixmap);
p.setTransform(transform);
p.drawPixmap(0, 0, sourceImage);
p.end();
rotatePixmap.save(":/temp.png");
player->setPixmap(rotatePixmap);
player->giro = player->giro + grados;
}
QRectF UBGraphicsRuler::rotateButtonRect() const
{
QPixmap rotatePixmap(":/images/closeTool.svg");
QSizeF rotateRectSize(
rotatePixmap.width() * mAntiScaleRatio,
rotatePixmap.height() * mAntiScaleRatio);
int centimeters = (int)(rect().width() - sLeftEdgeMargin - resizeButtonRect().width()) / (int)(10 * sPixelsPerMillimeter);
QPointF rotateRectCenter(
rect().left() + sLeftEdgeMargin + (centimeters - 0.5) * 10 * sPixelsPerMillimeter,
rect().center().y());
QPointF rotateRectTopLeft(
rotateRectCenter.x() - rotateRectSize.width() / 2,
rotateRectCenter.y() - rotateRectSize.height() / 2);
return QRectF(rotateRectTopLeft, rotateRectSize);
}
void GPS::update(){
double dx,dy;
int pix_por_km=500;
if(velocidad>0){
x=ui->mapa->pos().x();
y=ui->mapa->pos().y();
if(lastYaw!=yaw){
ui->avion->setPixmap(rotatePixmap(360-yaw));
lastYaw=yaw;
}
dy = (double) cos((yaw)*Pi/180)*cos((pitch)*Pi/180)*(velocidad/3600)*0.2*pix_por_km;
dx = (double)sin((yaw)*Pi/180)*cos((pitch)*Pi/180)*(velocidad/3600)*0.2*pix_por_km;
y+=dy;
x+=dx;
if((y<33 && x<33) && (y>-5502 && x>-10165) ){
ui->mapa->move(x,y);
}else{
if(y>=33){
y=-5500;
}
if(x>=33){
x=-10160;
}
if(y<=-5502){
y=30;
}
if(x<=-10165){
x=30;
}
ui->mapa->move(x,y);
}
}
}
void QgsCompassPluginGui::handleAzimuth( const QVariant &azimuth, const QVariant &calLevel )
{
this->mAzimutDisplay->setText( QString( "%1" ).arg( azimuth.toInt() ) + QString::fromUtf8( "°" ) );
//TODO check when https://sourceforge.net/p/necessitas/tickets/153/ is fixed
qreal calibrationLevel = calLevel.toReal() / 3;
if ( calibrationLevel == 1 )
{
this->mCalibrationLabel->setStyleSheet( "Background-color:green" );
}
else if ( calibrationLevel <= 1 / 3 )
{
this->mCalibrationLabel->setStyleSheet( "Background-color:red" );
this->mWarningLabel->setText( "<font color='red'><a href='http://www.youtube.com/watch?v=oNJJPeoG8lQ'>Compass calibration</a> needed</font>" );
}
else
{
this->mCalibrationLabel->setStyleSheet( "Background-color:yellow" );
}
rotatePixmap( this->mArrowPixmapLabel, QString( ":/images/north_arrows/default.png" ), -azimuth.toInt() );
}
void Tank::hrotate() // поворот башни
{
if (alive == true)
{
QPixmap shipPixels(headImage);
QPixmap rotatePixmap(shipPixels.size());
rotatePixmap.fill(Qt::transparent);
QPainter p(&rotatePixmap);
p.setRenderHint(QPainter::Antialiasing); // сглаживание
p.setRenderHint(QPainter::SmoothPixmapTransform);
p.setRenderHint(QPainter::HighQualityAntialiasing);
p.translate(rotatePixmap.size().width() / 2, rotatePixmap.size().height() / 2);
p.rotate(hdegree); // градус
p.translate(-rotatePixmap.size().width() / 2, -rotatePixmap.size().height() / 2);
p.drawPixmap(0, 0, shipPixels);
p.end();
shipPixels = rotatePixmap;
head->setPixmap(shipPixels.scaled(pixsize,pixsize));
}
}
void QgsDecorationNorthArrowDialog::on_sliderRotation_valueChanged( int theInt )
{
rotatePixmap( theInt );
}
void QgsDecorationNorthArrowDialog::resizeEvent( QResizeEvent *theResizeEvent )
{
Q_UNUSED( theResizeEvent );
rotatePixmap( sliderRotation->value() );
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow), sentBytes(NULL)
{
ui->setupUi(this);
//---- Menu Configuration ----
machineGroup = new QActionGroup(this);
machineGroup->addAction(ui->actionScorpio);
machineGroup->addAction(ui->actionQuadcopter);
ui->actionScorpio->setChecked(true);
viewGroup = new QActionGroup(this);
viewGroup->addAction(ui->actionTracking);
viewGroup->addAction(ui->actionTracking);
viewGroup->addAction(ui->actionManual_Control);
viewGroup->addAction(ui->actionCommand_Center);
ui->actionCommand_Center->setChecked(true);
//---- ----
//---- Statusbar ----
serialConnected=false;
gpsFix=false;
joystickConnected=false;
gpsFooterStat = new QLabel(this);
connectedFooterStat = new QLabel(this);
joystickFooterStat = new QLabel(this);
aliveFooterState = new QLabel(this);
connectedGPSFooterStat = new QLabel(this);
ui->statusBar->addPermanentWidget(gpsFooterStat);
ui->statusBar->addPermanentWidget(connectedFooterStat);
ui->statusBar->addPermanentWidget(aliveFooterState);
ui->statusBar->addPermanentWidget(joystickFooterStat);
ui->statusBar->addPermanentWidget(connectedGPSFooterStat);
//---- ----
//---- Compass Graphics View ----
compassPixmap = new QPixmap(":/img/CompassSquare150.png");
ui->compassViewLabel->setPixmap(rotatePixmap(compassPixmap,0));
//---- ----
//---- Speedometer Graphics View ----
ui->speedometerViewLabel->setPixmap(updateSpeedIndicator(0));
//---- ----
//---- Steer Graphics View ----
ui->steerGraphicsView->setStyleSheet("background: transparent");
steerGraphicsScene = new QGraphicsScene(this);
QBrush brush(QColor::fromRgb(59,174,227));
steerRailIndicator = steerGraphicsScene->addRect(0,22.5,148,15,Qt::NoPen,brush);
brush.setColor(Qt::red);
QPen pen(Qt::black);
pen.setWidth(2);
steerIndicator = steerGraphicsScene->addRect(67.5,5,15,50,Qt::NoPen,brush);
updateSteerIndicator(-100);
ui->steerGraphicsView->setScene(steerGraphicsScene);
//---- ----
//---- Tracker View ----
ui->trackerGraphicsView->
setBackgroundBrush(QBrush(QColor::fromRgb(237,200,90),Qt::Dense4Pattern));
trackerScene = new QGraphicsScene(this);
ui->trackerGraphicsView->setScene(trackerScene);
QPolygonF NorthArrow;
NorthArrow.append(QPointF(-5.,0)); NorthArrow.append(QPointF(0.,-20)); NorthArrow.append(QPointF(5.,0));
NorthArrow.append(QPointF(0.,-5.)); NorthArrow.append(QPointF(-5.,0));
brush.setColor(Qt::black);
northArrowGraphicsItem = trackerScene->addPolygon(NorthArrow,Qt::NoPen,brush);
northArrowGraphicsItem->setPos(800,10);
northArrowGraphicsItem->setFlag(QGraphicsItem::ItemIgnoresTransformations);
//Scorpio Graphics Item
scorpio2DGraphicsItem = new GraphicsItemScorpio;
trackerScene->addItem(scorpio2DGraphicsItem);
scorpio2DGraphicsItem->setPos(500,150);
wgs2utm(BASE_LATITUDE, BASE_LONGITUDE,&baseEasting,&baseNorthing, &baseUTMZone);
lastPoKnown=false;
//---- ----
brush.setColor(QColor(255, 0, 0, 180));
targetMarker = trackerScene->addEllipse(400,100,10,10,pen,brush);
brush.setColor(QColor(255, 255, 0, 180));
baseMarker = trackerScene->addRect(0,0,10,10,pen,brush);
//---- ----
connect(&timerTracker,SIGNAL(timeout()),this,SLOT(updateTrackerGraphics()));
//TODO: another sig-slot for updating scene to zoom to fit
timerTracker.start(100);
//---- ---- ---- ----
//---- Joystick Initialization ----
myJoystick = new RR_SDLJoystick;
myJoystickData = new RR_SDLJoystickData_t;
QString *joystickInitError;
if(!myJoystick->initJoystick(myJoystickData, joystickInitError)){
ui->plainTextEdit->insertPlainText("Error Connecting Joystick");
//TODO: Fix so that the insertPlainText takes the error code from Joystick Object.
}
else{
ui->plainTextEdit->insertPlainText("Joystick Connected!");
joystickConnected=true;
connect(&timerJoystick,SIGNAL(timeout()),myJoystick ,SLOT(pollJoystick()));
timerJoystick.start(150);
}
connect(myJoystick,SIGNAL(gotJoystick()),this,SLOT(updateGaugeIndicators()));
connect(myJoystick,SIGNAL(gotJoystick()),this,SLOT(updateJoystickTelemetry()));
//---- ----
//---- Serial ----
serialPort = new RR_QtSerial(57600,"COM26");
connect(&timerSerial,SIGNAL(timeout()), serialPort,SLOT(receiveBytes()));
connect(ui->actionConnect,SIGNAL(triggered(bool)),serialPort,SLOT(switchSerial(bool)));
connect(serialPort,SIGNAL(gotConnected(bool)),this,SLOT(updateSerialStatusBar(bool)));
connect(serialPort,SIGNAL(gotConnected(bool)),ui->actionConnect,SLOT(setChecked(bool)));
timerSerial.start(150);
//----- GPS ------
serialGPSPort = new RR_QtSerial(57600,"COM19");
connect(&timerGPSSerial, SIGNAL(timeout()),serialGPSPort, SLOT(receiveBytes()));
connect(ui->actionConnect_GPS, SIGNAL(triggered(bool)), serialGPSPort, SLOT(switchSerial(bool)));
connect(serialGPSPort,SIGNAL(gotConnected(bool)),this,SLOT(updateGPSSerialStatusBar(bool)));
connect(serialGPSPort,SIGNAL(gotConnected(bool)),ui->actionConnect_GPS,SLOT(setChecked(bool)));
timerGPSSerial.start(150);
//-------
//---- GPS Data Serialization ----
receivedGPSData = new RR_QtTelemetryReceivedData_t;
sentGPSData = new RR_QtTelemetrySentData_t;
gps = new RR_QtTelemetry(receivedGPSData,sentGPSData);
receivedGPSData->fix=false;
connect(serialGPSPort,SIGNAL(gotBytes(QByteArray*)),gps,SLOT(decodeBytes(QByteArray*)));
connect(gps,SIGNAL(gotDecodedMessage()),this,SLOT(updateGPSData()));
//---- ----
//---- Telemetry ----
receivedTelemetryData = new RR_QtTelemetryReceivedData_t;
sentTelemetryData = new RR_QtTelemetrySentData_t;
telemetry = new RR_QtTelemetry(receivedTelemetryData,sentTelemetryData);
receivedTelemetryData->fix=false;
connect(this,SIGNAL(gotJoystickMessage()),telemetry,SLOT(sendMessage()));
connect(telemetry,SIGNAL(gotEncodedBytes(QByteArray*)),serialPort,SLOT(sendBytes(QByteArray*)));
connect(serialPort,SIGNAL(gotBytes(QByteArray*)),telemetry,SLOT(decodeBytes(QByteArray*)));
connect(telemetry,SIGNAL(gotDecodedMessage()),this,SLOT(updateTelemetryGraphics()));
//---- ----
//---- Text Display ----
connect(&timerSerialPrint,SIGNAL(timeout()),this, SLOT(printStuff()));
timerSerialPrint.start(ui->printfreSlider->value());
connect(ui->printfreSlider, SIGNAL(sliderMoved(int)),&timerSerialPrint,SLOT(start(int)));
connect(ui->clearPushButton,SIGNAL(clicked()),ui->plainTextEdit,SLOT(clear()));
connect(ui->printfreSlider,SIGNAL(sliderMoved(int)),this,SLOT(setPrintFrequencyText()));
setPrintFrequencyText();
//---- ----
//---- Test and Debug ----
connect(&timerTestDebug,SIGNAL(timeout()),this,SLOT(testdebug()));
timerTestDebug.start(1000);
//---- ----
connect(&timerStatusBarUpdate, SIGNAL(timeout()), this, SLOT(updateGPSStatbar()));
timerStatusBarUpdate.start(500);
//Pulse Check
connect(&timerPulseCheck,SIGNAL(timeout()), this, SLOT(checkPulse()));
pulseSamplingTime = 5000;
timerPulseCheck.start(pulseSamplingTime);
}
void MainWindow::updateTelemetryGraphics()
{
newPulse=true;
ui->labelElapsedTime->setText( QString("%1:%2").arg(int(receivedTelemetryData->ellapsedm/60)).arg(
int(receivedTelemetryData->ellapsedm%60)));
if(receivedTelemetryData->fix){
wgs2utm(receivedTelemetryData->Latitude,
receivedTelemetryData->Longitude,
&robotEasting, &robotNorthing, &robotUTMZone);
}
wgs2utm(receivedTelemetryData->targetLatidude,
receivedTelemetryData->targetLongitude,
&targetEasting, &targetNorthing, &targetUTMZone);
//Offset UTM to fit graphics view using min easting and max northing
//Since grid starts top left and UTM starts bottom left
offset_easting = qMin(baseEasting,targetEasting);
if(receivedTelemetryData->fix){offset_easting = qMin((float)offset_easting,robotEasting);}
offset_easting-=10;
offset_northing=qMax(baseNorthing,targetNorthing);
if(receivedTelemetryData->fix){offset_northing=qMax((float)offset_northing,robotNorthing);}
offset_northing+=10;
qint16 h = receivedTelemetryData->Heading;
ui->compassViewLabel->setPixmap(rotatePixmap(compassPixmap,(-h)));
ui->headingLcdNumber->display(h);
ui->plainTextEdit->moveCursor(QTextCursor::End);
int scale=1;
int scaleR=1;
QPointF poTarget= QPointF(targetEasting/scaleR-offset_easting,
offset_northing-targetNorthing/scale);
targetMarker->setPos(poTarget);
QPointF poBase= QPointF(baseEasting/scaleR-offset_easting,
offset_northing-baseNorthing/scale);
qDebug()<<"Target Easting/Northing: "<<targetEasting<<" "<<targetNorthing;
qDebug()<<"Target Mapping: "<<targetEasting/scaleR-offset_easting<<" "<<offset_northing-targetNorthing/scale;
qDebug()<<"Base Easting/Northing: "<<baseEasting<<" "<<baseNorthing;
qDebug()<<"Target Mapping: "<<baseEasting/scaleR-offset_easting<<" "<<offset_northing-baseNorthing/scale;
if(!lastPoKnown)
{
poRobotLastKnown = poBase;
}
if(receivedTelemetryData->fix){
poRobotLastKnown = QPointF(robotEasting/scaleR-offset_easting,
offset_northing-robotNorthing/scale);
lastPoKnown=true;
ui->distanceTravelledLcdNumber->display(receivedTelemetryData->DistanceTravelled);
ui->distanceToTargetLcdNumber->display(receivedTelemetryData->DistanceToTarget);
ui->bearingLcdNumber->display(receivedTelemetryData->Bearing);
qDebug()<<"Robot Easting/Northing: "<<robotEasting<<" "<<robotNorthing;
qDebug()<<"Robot Mapping: "<<robotEasting/scale-offset_easting<<" "<<offset_northing-robotNorthing/scale;
ui->labelRobotLocation->setText(QString("%1 %2, %3 %4").arg(float(int(receivedTelemetryData->Latitude/100))).arg(
QString::number(fmod(fabs(receivedTelemetryData->Latitude), 100.0),'f',4)).arg(
float(int(receivedTelemetryData->Longitude/100))).arg(
QString::number(fmod(fabs(receivedTelemetryData->Longitude), 100.0),'f',4)));
if(receivedTelemetryData->isMoving == 1){
ui->labelMovingStatus->setText("Moving");
}
else{
ui->labelMovingStatus->setText("Not Moving");
}
}
baseMarker->setPos(poBase);
scorpio2DGraphicsItem->updatePose(poRobotLastKnown,-h);
updateLaunchStatus();
ui->labelBaseAlt->setText( QString("%1").arg(receivedTelemetryData->baseAltitude));
ui->labelMaxAlt->setText( QString("%1").arg(receivedTelemetryData->maxAltitude));
ui->labelAltitude->setText( QString("%1").arg(receivedTelemetryData->Altitude));
ui->labelleftcurrent->setText( QString("%1").arg(receivedTelemetryData->Motors.leftCurrent));
ui->labelrightcurrent->setText( QString("%1").arg(receivedTelemetryData->Motors.rightCurrent));
ui->labelleftspeed->setText( QString("%1").arg(receivedTelemetryData->Motors.leftSpeed));
ui->labelrightspeed->setText( QString("%1").arg(receivedTelemetryData->Motors.rightSpeed));
}
