ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaywidget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gpsdisplaywidget.cpp
   5  * @author     Edouard Lafargue Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
   9  * @{
  10  * @brief A gadget that displays GPS status and enables basic configuration
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include "gpsdisplaywidget.h"
  29 #include "extensionsystem/pluginmanager.h"
  30 #include "uavobjectmanager.h"
  31
  32
  33 #include <iostream>
  34
  35 // The following is needed to workaround the problem here:
  36 // https://bugreports.qt-project.org/browse/QTBUG-26000
  37 #undef B0
  38
  39 #include <QtGui>
  40 #include <QDebug>
  41
  42 /*
  43  * Initialize the widget
  44  */
  45 GpsDisplayWidget::GpsDisplayWidget(QWidget *parent) : QWidget(parent)
  46 {
  47     setupUi(this);
  48
  49     // Not elegant, just load the image for now
  50     QGraphicsScene *fescene = new QGraphicsScene(this);
  51     QPixmap earthpix(":/gpsgadget/images/flatEarth.png");
  52     fescene->addPixmap(earthpix);
  53     flatEarth->setScene(fescene);
  54     marker = new QGraphicsSvgItem();
  55     QSvgRenderer *renderer = new QSvgRenderer();
  56     renderer->load(QString(":/gpsgadget/images/marker.svg"));
  57     marker->setSharedRenderer(renderer);
  58     fescene->addItem(marker);
  59     double scale = earthpix.width() / (marker->boundingRect().width() * 20);
  60     marker->setScale(scale);
  61 }
  62
  63 GpsDisplayWidget::~GpsDisplayWidget()
  64 {}
  65
  66 void GpsDisplayWidget::setSpeedHeading(double speed, double heading)
  67 {
  68     QString str;
  69
  70     speed_value->setText(str.sprintf("%.02f m/s", speed));
  71     bear_value->setText(str.sprintf("%.02f deg", heading));
  72 }
  73
  74 void GpsDisplayWidget::setDateTime(double date, double time)
  75 {
  76     QString dstring1, dstring2;
  77
  78     dstring1.sprintf("%06.0f", date);
  79     dstring1.insert(dstring1.length() - 2, ".");
  80     dstring1.insert(dstring1.length() - 5, ".");
  81     dstring2.sprintf("%06.0f", time);
  82     dstring2.insert(dstring2.length() - 2, ":");
  83     dstring2.insert(dstring2.length() - 5, ":");
  84     time_value->setText(dstring1 + "    " + dstring2 + " GMT");
  85 }
  86
  87 void GpsDisplayWidget::setFixType(const QString &fixtype)
  88 {
  89     if (fixtype == "NoGPS") {
  90         fix_value->setText("No GPS");
  91     } else if (fixtype == "NoFix") {
  92         fix_value->setText("Fix not available");
  93     } else if (fixtype == "Fix2D") {
  94         fix_value->setText("2D");
  95     } else if (fixtype == "Fix3D") {
  96         fix_value->setText("3D");
  97     } else {
  98         fix_value->setText("Unknown");
  99     }
 100 }
 101
 102 void GpsDisplayWidget::dumpPacket(const QString &packet)
 103 {
 104     textBrowser->append(packet);
 105     if (textBrowser->document()->lineCount() > 200) {
 106         QTextCursor tc = textBrowser->textCursor();
 107         tc.movePosition(QTextCursor::Start);
 108         tc.movePosition(QTextCursor::Down, QTextCursor::KeepAnchor);
 109         tc.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor);
 110         tc.removeSelectedText();
 111     }
 112 }
 113
 114 void GpsDisplayWidget::setSVs(int sv)
 115 {
 116     QString temp;
 117
 118     temp.append(QString::number(sv));
 119     status_value->setText(temp);
 120     status_value->adjustSize();
 121 }
 122
 123 void GpsDisplayWidget::setDOP(double hdop, double vdop, double pdop)
 124 {
 125     QString str;
 126
 127     str.sprintf("%.2f / %.2f / %.2f", hdop, vdop, pdop);
 128     dop_value->setText(str);
 129 }
 130
 131 void GpsDisplayWidget::setPosition(double lat, double lon, double alt)
 132 {
 133     // lat *= 1E-7;
 134     // lon *= 1E-7;
 135     double deg = floor(fabs(lat));
 136     double min = (fabs(lat) - deg) * 60;
 137     QString str1;
 138
 139     str1.sprintf("%.0f%c%.3f' ", deg, 0x00b0, min);
 140     if (lat > 0) {
 141         str1.append("N");
 142     } else {
 143         str1.append("S");
 144     }
 145     coord_value->setText(str1);
 146     deg = floor(fabs(lon));
 147     min = (fabs(lon) - deg) * 60;
 148     QString str2;
 149     str2.sprintf("%.0f%c%.3f' ", deg, 0x00b0, min);
 150     if (lon > 0) {
 151         str2.append("E");
 152     } else {
 153         str2.append("W");
 154     }
 155     coord_value_2->setText(str2);
 156     QString str3;
 157     str3.sprintf("%.2f m", alt);
 158     coord_value_3->setText(str3);
 159
 160     // Now place the marker:
 161     double wscale = flatEarth->sceneRect().width() / 360;
 162     double hscale = flatEarth->sceneRect().height() / 180;
 163     QPointF opd   = QPointF((lon + 180) * wscale - marker->boundingRect().width() * marker->scale() / 2,
 164                             (90 - lat) * hscale - marker->boundingRect().height() * marker->scale() / 2);
 165     marker->setTransform(QTransform::fromTranslate(opd.x(), opd.y()), false);
 166 }