ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       opmapgadgetwidget.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup OPMapPlugin OpenPilot Map Plugin
   9  * @{
  10  * @brief The OpenPilot Map plugin
  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 #ifndef OPMAP_GADGETWIDGET_H_
  29 #define OPMAP_GADGETWIDGET_H_
  30
  31 // ******************************************************
  32
  33
  34 #include "flightdatamodel.h"
  35 #include "pathplanner.h"
  36 #include "modelmapproxy.h"
  37 #include "modeluavoproxy.h"
  38
  39 #include <QWidget>
  40 #include <QMenu>
  41 #include <QStringList>
  42 #include <QStandardItemModel>
  43 #include <QList>
  44 #include <QMutex>
  45 #include <QMutexLocker>
  46 #include <QPointF>
  47
  48 #include "opmapcontrol/opmapcontrol.h"
  49
  50 #include "opmap_zoom_slider_widget.h"
  51 #include "opmap_statusbar_widget.h"
  52
  53 #include "utils/coordinateconversions.h"
  54
  55 #include "extensionsystem/pluginmanager.h"
  56 #include "uavobjectutilmanager.h"
  57 #include "uavobjectmanager.h"
  58 #include "uavobject.h"
  59 #include "objectpersistence.h"
  60 #include <QItemSelectionModel>
  61 #include "opmap_edit_waypoint_dialog.h"
  62
  63 #include "homeeditor.h"
  64
  65 // ******************************************************
  66
  67 namespace Ui {
  68 class OPMap_Widget;
  69 }
  70
  71 using namespace mapcontrol;
  72
  73 // ******************************************************
  74
  75 typedef struct t_home {
  76     internals::PointLatLng coord;
  77     double altitude;
  78     bool locked;
  79 } t_home;
  80
  81 // ******************************************************
  82
  83 enum opMapModeType { Normal_MapMode = 0,
  84                      MagicWaypoint_MapMode = 1 };
  85
  86 // ******************************************************
  87
  88 class OPMapGadgetWidget : public QWidget {
  89     Q_OBJECT
  90
  91 public:
  92     OPMapGadgetWidget(QWidget *parent = 0);
  93     ~OPMapGadgetWidget();
  94
  95     /**
  96      * @brief public functions
  97      *
  98      * @param
  99      */
 100     void setHome(QPointF pos);
 101     void setHome(internals::PointLatLng pos_lat_lon, double altitude);
 102     void goHome();
 103     void setZoom(int zoom);
 104     void setPosition(QPointF pos);
 105     void setMapProvider(QString provider);
 106     void setUseOpenGL(bool useOpenGL);
 107     void setShowTileGridLines(bool showTileGridLines);
 108     void setAccessMode(QString accessMode);
 109     void setUseMemoryCache(bool useMemoryCache);
 110     void setCacheLocation(QString cacheLocation);
 111     void setMapMode(opMapModeType mode);
 112     void SetUavPic(QString UAVPic);
 113     void setMaxUpdateRate(int update_rate);
 114     void setHomePosition(QPointF pos);
 115     void setOverlayOpacity(qreal value);
 116     bool getGPSPositionSensor(double &latitude, double &longitude, double &altitude);
 117 signals:
 118     void defaultLocationAndZoomChanged(double lng, double lat, double zoom);
 119     void overlayOpacityChanged(qreal);
 120
 121 public slots:
 122     void homePositionUpdated(UAVObject *);
 123     void onTelemetryConnect();
 124     void onTelemetryDisconnect();
 125
 126 protected:
 127     void resizeEvent(QResizeEvent *event);
 128     void mouseMoveEvent(QMouseEvent *event);
 129     void contextMenuEvent(QContextMenuEvent *event);
 130     void closeEvent(QCloseEvent *);
 131 private slots:
 132     void wpDoubleClickEvent(WayPointItem *wp);
 133     void updatePosition();
 134
 135     void updateMousePos();
 136
 137     void zoomIn();
 138     void zoomOut();
 139
 140     /**
 141      * @brief signals received from the various map plug-in widget user controls
 142      *
 143      * Some are currently disabled for the v1.0 plugin version.
 144      */
 145     void on_toolButtonZoomM_clicked();
 146     void on_toolButtonZoomP_clicked();
 147     void on_toolButtonMapHome_clicked();
 148     void on_toolButtonMapUAV_clicked();
 149     void on_toolButtonMapUAVheading_clicked();
 150     void on_horizontalSliderZoom_sliderMoved(int position);
 151     void on_toolButtonMagicWaypointMapMode_clicked();
 152     void on_toolButtonNormalMapMode_clicked();
 153     void on_toolButtonHomeWaypoint_clicked();
 154     void on_toolButtonMoveToWP_clicked();
 155
 156     /**
 157      * @brief signals received from the map object
 158      */
 159     void zoomChanged(double zoomt, double zoom, double zoomd);
 160     void OnCurrentPositionChanged(internals::PointLatLng point);
 161     void OnTileLoadComplete();
 162     void OnTileLoadStart();
 163     void OnTilesStillToLoad(int number);
 164
 165     /**
 166      * @brief mouse right click context menu signals
 167      */
 168     void onReloadAct_triggered();
 169     void onRipAct_triggered();
 170     void onCopyMouseLatLonToClipAct_triggered();
 171     void onCopyMouseLatToClipAct_triggered();
 172     void onCopyMouseLonToClipAct_triggered();
 173     void onShowCompassAct_toggled(bool show);
 174     void onShowDiagnostics_toggled(bool show);
 175     void onShowUAVInfo_toggled(bool show);
 176     void onShowUAVAct_toggled(bool show);
 177     void onShowHomeAct_toggled(bool show);
 178     void onShowTrailLineAct_toggled(bool show);
 179     void onShowTrailAct_toggled(bool show);
 180     void onGoZoomInAct_triggered();
 181     void onGoZoomOutAct_triggered();
 182     void onGoMouseClickAct_triggered();
 183     void onSetHomeAct_triggered();
 184     void onGoHomeAct_triggered();
 185     void onGoUAVAct_triggered();
 186     void onFollowUAVpositionAct_toggled(bool checked);
 187     void onFollowUAVheadingAct_toggled(bool checked);
 188
 189     void onOpenWayPointEditorAct_triggered();
 190     void onAddWayPointAct_triggeredFromContextMenu();
 191     void onAddWayPointAct_triggeredFromThis();
 192     void onAddWayPointAct_triggered(internals::PointLatLng coord);
 193     void onEditWayPointAct_triggered();
 194     void onLockWayPointAct_triggered();
 195     void onDeleteWayPointAct_triggered();
 196     void onClearWayPointsAct_triggered();
 197
 198     void onMapModeActGroup_triggered(QAction *action);
 199     void onZoomActGroup_triggered(QAction *action);
 200     void onHomeMagicWaypointAct_triggered();
 201     void onShowSafeAreaAct_toggled(bool show);
 202     void onSafeAreaActGroup_triggered(QAction *action);
 203     void onUAVTrailTypeActGroup_triggered(QAction *action);
 204     void onClearUAVtrailAct_triggered();
 205     void onUAVTrailTimeActGroup_triggered(QAction *action);
 206     void onUAVTrailDistanceActGroup_triggered(QAction *action);
 207     void onMaxUpdateRateActGroup_triggered(QAction *action);
 208     void onChangeDefaultLocalAndZoom();
 209     void on_tbFind_clicked();
 210     void onHomeDoubleClick(HomeItem *);
 211     void onOverlayOpacityActGroup_triggered(QAction *action);
 212     void on_leFind_returnPressed();
 213
 214 private:
 215     int m_min_zoom;
 216     int m_max_zoom;
 217     double m_heading; // uav heading
 218     internals::PointLatLng m_mouse_lat_lon;
 219     internals::PointLatLng m_context_menu_lat_lon;
 220     int m_prev_tile_number;
 221     opMapModeType m_map_mode;
 222     int m_maxUpdateRate;
 223     t_home m_home_position;
 224     QStringList findPlaceWordList;
 225     QCompleter *findPlaceCompleter;
 226     QTimer *m_updateTimer;
 227     QTimer *m_statusUpdateTimer;
 228     Ui::OPMap_Widget *m_widget;
 229     mapcontrol::OPMapWidget *m_map;
 230     ExtensionSystem::PluginManager *pm;
 231     UAVObjectManager *obm;
 232     UAVObjectUtilManager *obum;
 233     QPointer<opmap_edit_waypoint_dialog> waypoint_edit_dialog;
 234     QStandardItemModel wayPoint_treeView_model;
 235     mapcontrol::WayPointItem *m_mouse_waypoint;
 236     QPointer<ModelUavoProxy> UAVProxy;
 237     QMutex m_map_mutex;
 238     bool m_telemetry_connected;
 239     QAction *reloadAct;
 240     QAction *ripAct;
 241     QAction *copyMouseLatLonToClipAct;
 242     QAction *copyMouseLatToClipAct;
 243     QAction *copyMouseLonToClipAct;
 244     QAction *showCompassAct;
 245     QAction *showDiagnostics;
 246     QAction *showUAVInfo;
 247     QAction *showHomeAct;
 248     QAction *showUAVAct;
 249     QAction *zoomInAct;
 250     QAction *zoomOutAct;
 251     QAction *goMouseClickAct;
 252     QAction *setHomeAct;
 253     QAction *goHomeAct;
 254     QAction *goUAVAct;
 255     QAction *followUAVpositionAct;
 256     QAction *followUAVheadingAct;
 257
 258     QAction *wayPointEditorAct;
 259     QAction *addWayPointActFromThis;
 260     QAction *addWayPointActFromContextMenu;
 261     QAction *editWayPointAct;
 262     QAction *lockWayPointAct;
 263     QAction *deleteWayPointAct;
 264     QAction *clearWayPointsAct;
 265
 266     QAction *homeMagicWaypointAct;
 267
 268     QAction *showSafeAreaAct;
 269     QAction *changeDefaultLocalAndZoom;
 270     QActionGroup *safeAreaActGroup;
 271     QList<QAction *> safeAreaAct;
 272
 273     QActionGroup *uavTrailTypeActGroup;
 274     QList<QAction *> uavTrailTypeAct;
 275     QAction *clearUAVtrailAct;
 276     QActionGroup *uavTrailTimeActGroup;
 277     QAction *showTrailLineAct;
 278     QAction *showTrailAct;
 279     QList<QAction *> uavTrailTimeAct;
 280     QActionGroup *uavTrailDistanceActGroup;
 281     QList<QAction *> uavTrailDistanceAct;
 282
 283     QActionGroup *mapModeActGroup;
 284     QList<QAction *> mapModeAct;
 285
 286     QActionGroup *zoomActGroup;
 287     QActionGroup *overlayOpacityActGroup;
 288     QList<QAction *> zoomAct;
 289     QList<QAction *> overlayOpacityAct;
 290
 291     QActionGroup *maxUpdateRateActGroup;
 292     QList<QAction *> maxUpdateRateAct;
 293
 294     void createActions();
 295     void homeMagicWaypoint();
 296     void moveToMagicWaypointPosition();
 297     void hideMagicWaypointControls();
 298     void showMagicWaypointControls();
 299     void keepMagicWaypointWithInSafeArea();
 300
 301     double distance(internals::PointLatLng from, internals::PointLatLng to);
 302     double bearing(internals::PointLatLng from, internals::PointLatLng to);
 303     internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
 304
 305     bool getUAVPosition(double &latitude, double &longitude, double &altitude);
 306     double getUAV_Yaw();
 307
 308     void setMapFollowingMode();
 309
 310     bool setHomeLocationObject();
 311     internals::PointLatLng lastLatLngMouse;
 312     WayPointItem *magicWayPoint;
 313
 314     QPointer<flightDataModel> model;
 315     QPointer<pathPlanner> table;
 316     QPointer<modelMapProxy> mapProxy;
 317     QPointer<QItemSelectionModel> selectionModel;
 318 };
 319
 320 #endif /* OPMAP_GADGETWIDGET_H_ */