int NavigationView::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QGraphicsView::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: mouseAtGeoPos((*reinterpret_cast< const QPointF(*)>(_a[1]))); break;
case 1: newPointAdded((*reinterpret_cast< const QPointF(*)>(_a[1]))); break;
case 2: newLineAdded((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< QPointF(*)>(_a[2]))); break;
case 3: newLandmarkAdded((*reinterpret_cast< const QPointF(*)>(_a[1]))); break;
case 4: setRoverPosAndHeading((*reinterpret_cast< const QPointF(*)>(_a[1])),(*reinterpret_cast< qreal(*)>(_a[2]))); break;
case 5: setRoverPosition((*reinterpret_cast< const QPointF(*)>(_a[1]))); break;
case 6: setRoverHeading((*reinterpret_cast< qreal(*)>(_a[1]))); break;
case 7: updateConfiguration(); break;
case 8: plotLineForSelected(); break;
case 9: plotLineForPoints((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< QPointF(*)>(_a[2]))); break;
case 10: plotLineIntersection(); break;
case 11: selectPoint((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 12: selectPoint((*reinterpret_cast< QPointF(*)>(_a[1]))); break;
case 13: clearSelectedPoints(); break;
case 14: selectLines((*reinterpret_cast< QList<QPair<QPointF,QPointF> >(*)>(_a[1]))); break;
case 15: clearSelectedLines(); break;
case 16: deleteSelectedPoints(); break;
case 17: deleteSelectedLines(); break;
default: ;
}
_id -= 18;
}
return _id;
}
NavigationWidget::NavigationWidget(QWidget *parent) :
QWidget(parent)
{
setupUi(this);
//navView = new NavigationView(this);
//verticalLayout->insertWidget(0, navView);
connect(navView, SIGNAL(mouseAtGeoPos(QPointF)), this, SLOT(displayCoordinates(QPointF)));
triangulationWidget = new TriangulationWidget();
connect(triangulationButton, SIGNAL(clicked()), triangulationWidget, SLOT(show()));
connect(connectLineButton, SIGNAL(clicked()), navView, SLOT(plotLineForSelected()));
connect(markIsectButton, SIGNAL(clicked()), navView, SLOT(plotLineIntersection()));
connect(requestGPSButton, SIGNAL(clicked()), this, SLOT(sendGPSRequest()));
connect(RobotController::gpsController(), SIGNAL(gotPositionUpdate(GPSPositionData)), this, SLOT(gotGPSUpdate(GPSPositionData)));
connect(navView, SIGNAL(newPointAdded(QPointF)), triangulationSidebar, SLOT(addPoint(QPointF)));
connect(navView, SIGNAL(newLineAdded(QPointF,QPointF)), triangulationSidebar, SLOT(addLine(QPointF,QPointF)));
connect(navView, SIGNAL(newLandmarkAdded(QPointF)), triangulationSidebar, SLOT(addLandmark(QPointF)));
connect(triangulationSidebar, SIGNAL(selectPoint(QPointF, bool)), navView, SLOT(selectPoint(QPointF, bool)));
connect(triangulationSidebar, SIGNAL(clearSelectedPoints()), navView, SLOT(clearSelectedPoints()));
connect(triangulationSidebar, SIGNAL(drawLine(QPointF,QPointF)), navView, SLOT(plotLineForPoints(QPointF,QPointF)));
connect(triangulationSidebar, SIGNAL(selectLines(QList<QPair<QPointF,QPointF> >)), navView, SLOT(selectLines(QList<QPair<QPointF,QPointF> >)));
connect(triangulationSidebar, SIGNAL(clearSelectedLines()), navView, SLOT(clearSelectedLines()));
connect(triangulationSidebar, SIGNAL(intersectLines()), navView, SLOT(plotLineIntersection()));
connect(triangulationSidebar, SIGNAL(deleteLines()), navView, SLOT(deleteSelectedLines()));
connect(triangulationSidebar, SIGNAL(deletePoints()), navView, SLOT(deleteSelectedPoints()));
// Test rover slots
/*navView->setRoverPosition(QPointF(-110.791497, 38.406392));
navView->setRoverPosition(QPointF(-110.790889, 38.406158));
navView->setRoverPosition(QPointF(-110.790469, 38.405850));
navView->setRoverPosition(QPointF(-110.790257, 38.405575));
navView->setRoverPosition(QPointF(-110.790161, 38.405359));
navView->setRoverPosition(QPointF(-110.790177, 38.405195));
navView->setRoverPosition(QPointF(-110.790037, 38.404941));
navView->setRoverPosition(QPointF(-110.789840, 38.404890));
navView->setRoverPosition(QPointF(-110.789420, 38.404986));
navView->setRoverPosition(QPointF(-110.789219, 38.404973));
navView->setRoverHeading(92.334915);*/
//navView->setRoverPosition(QPointF(-123.212968,44.674917)); // adair
//navView->setRoverPosition(QPointF(-123.274951,44.567328)); // covell parking lot
}
void NavigationView::plotLineForSelected() {
if (scene()->selectedItems().count()<2)
return;
QLineF vectorLine(scene()->selectedItems().at(0)->pos(), scene()->selectedItems().at(1)->pos());
QLineF sides[4] = {
QLineF(0, 0, 0, scene()->height()),
QLineF(scene()->width(), 0, scene()->width(), scene()->height()),
QLineF(0, 0, scene()->width(), 0),
QLineF(0, scene()->height(), scene()->width(), scene()->height())
};
QPointF yStart;
QPointF xStart;
int i=0;
while(yStart.isNull()) {
if (vectorLine.intersect(sides[i++], &yStart)!=QLineF::BoundedIntersection) {
qDebug("could not intersect y");
}
i++;
}
i=1;
while(xStart.isNull()) {
if (vectorLine.intersect(sides[i++], &xStart)!=QLineF::BoundedIntersection) {
qDebug("could not intersect x");
}
}
//IntersectionLineItem lineItem(QLineF(yStart, xStart);
QPen linePen(Qt::black);
linePen.setWidth(3);
QGraphicsLineItem * line = scene()->addLine(QLineF(yStart, xStart));
line->setPen(linePen);
line->setFlag(QGraphicsItem::ItemIsSelectable, true);
emit newLineAdded(mapSceneToGeo(scene()->selectedItems().at(0)->pos()), mapSceneToGeo(scene()->selectedItems().at(1)->pos()));
}
void GameSceneController::addVertex(int xNew, int yNew) {
emit newLineAdded(mVertexOne, mVertexTwo, mPoints, QPoint(xNew, yNew));
}
