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Commit 2f306d9a authored by Boulongne Corentin's avatar Boulongne Corentin
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Updated gnssMarker class and fixed multiple point tracking

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rqt_gps_map_view/CMakeLists.txt
+ 4
− 0
View file @ 2f306d9a
...@@ -33,6 +33,7 @@ set(rqt_gps_map_view_HDRS ...@@ -33,6 +33,7 @@ set(rqt_gps_map_view_HDRS
set(rqt_gps_map_view_moc_HDRS set(rqt_gps_map_view_moc_HDRS
include/rqt_gps_map_view/rqt_gps_map_view_widget.h include/rqt_gps_map_view/rqt_gps_map_view_widget.h
include/rqt_gps_map_view/gnssMarker.h
) )
set(rqt_gps_map_view_UIS set(rqt_gps_map_view_UIS
...@@ -198,6 +199,9 @@ include_directories( ...@@ -198,6 +199,9 @@ include_directories(
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
#set_target_properties(${PROJECT_NAME} PROPERTIES AUTOMOC TRUE)
## Add cmake target dependencies of the executable ## Add cmake target dependencies of the executable
## same as for the library above ## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
......
rqt_gps_map_view/CMakeLists.txt.user 0 → 100644
+ 345
− 0
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rqt_gps_map_view/include/rqt_gps_map_view/gnssMarker.h
+ 30
− 11
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/*
Created on 04 April 2022
Author : Boulongne Corentin
Brief : class to subscribe to ROS GPS data and track markers with QML.
LICENCE : to define
*/
#ifndef GNSSMARKER_H #ifndef GNSSMARKER_H
#define GNSSMARKER_H #define GNSSMARKER_H
...@@ -6,34 +18,42 @@ ...@@ -6,34 +18,42 @@
#include <std_msgs/String.h> #include <std_msgs/String.h>
#include <ros/master.h> #include <ros/master.h>
#include <string> #include <string>
#include <boost/bind.hpp>
#include <qt5/QtCore/QList> #include <qt5/QtCore/QList>
#include <qt5/QtCore/QTimer> #include <qt5/QtCore/QTimer>
#include <QQuickItem>
#include <QString>
class gnssMarker class GnssMarker: public QObject
{ {
Q_OBJECT
public: public:
gnssMarker(); GnssMarker();
GnssMarker(std::string topicToSub);
void subScribeTo(std::string topicName); void subScribeTo(std::string topicName);
void getData(const sensor_msgs::NavSatFix& data); void getData(const sensor_msgs::NavSatFix& data);
void addTimerToList(); QString getName();
void sendObjects(QQuickItem* itm, QString markerName_);
double getLongitude(); double getLongitude();
double getLatitude(); double getLatitude();
~GnssMarker();
QTimer* getAvailableTimer(); public slots:
~gnssMarker(); void track();
private: private:
ros::NodeHandle nh_; ros::NodeHandle nh_;
ros::Subscriber subNavSatFix; ros::Subscriber subNavSatFix;
QQuickItem* item;
private slots: QString marker_name;
QTimer * timer;
void track();
...@@ -41,7 +61,6 @@ protected: ...@@ -41,7 +61,6 @@ protected:
double longitude; double longitude;
double latitude; double latitude;
QList<QTimer*> timerList;
}; };
......
rqt_gps_map_view/include/rqt_gps_map_view/rqt_gps_map_view_widget.h
+ 17
− 18
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/*
Created on 04 April 2022
Author : Boulongne Corentin
Brief : User Interface to display GPS sources on a map and track them.
LICENCE : to define
*/
#ifndef RQT_GPS_MAP_VIEW_WIDGET #ifndef RQT_GPS_MAP_VIEW_WIDGET
#define RQT_GPS_MAP_VIEW_WIDGET #define RQT_GPS_MAP_VIEW_WIDGET
...@@ -30,17 +42,15 @@ public: ...@@ -30,17 +42,15 @@ public:
~GpsMapViewWidget(); ~GpsMapViewWidget();
public slots: public slots:
void aller();
void poseublx();
void updateTopicList(); void updateTopicList();
void afficherPosition(QString latitude, QString longitude); void afficherPosition(QString latitude, QString longitude);
void afficherInformations(QString adresse, QString coordonnee); void afficherInformations(QString adresse, QString coordonnee);
void getNovatelData(const sensor_msgs::NavSatFix& novateldata);
void getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix>& event); void getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix>& event);
void getUbloxData(const sensor_msgs::NavSatFix& ubloxdata);
private slots: private slots:
void on_refreshButton_clicked(); void on_refreshButton_clicked();
...@@ -51,25 +61,16 @@ private slots: ...@@ -51,25 +61,16 @@ private slots:
void on_pushButton_2_clicked(); void on_pushButton_2_clicked();
void trackMarker();
private: private:
Ui::GpsMapViewWidget *ui; Ui::GpsMapViewWidget *ui;
gnssMarker * gnssMarkerObj; QList<GnssMarker *> gnssMarkerList;
QTimer *gpsDataTimer;
QVector<QCheckBox*> checkBoxes; QVector<QCheckBox*> checkBoxes;
QList<QTimer*> timerList;
ros::NodeHandle nh;
ros::Subscriber subNovatelData; int mID = -1;
ros::Subscriber subUbloxData;
ros::Subscriber subInfoData;
ros::Subscriber testSub;
int mID;
QString markerName_ = ""; QString markerName_ = "";
double longi = 0.0; double longi = 0.0;
...@@ -78,8 +79,6 @@ private: ...@@ -78,8 +79,6 @@ private:
double ulongi = 0.0; double ulongi = 0.0;
double ulati = 0.0; double ulati = 0.0;
}; };
#endif // RQT_GPS_MAP_VIEW_WIDGET #endif // RQT_GPS_MAP_VIEW_WIDGET
rqt_gps_map_view/mapview.qml
+ 5
− 5
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...@@ -10,13 +10,13 @@ Item { ...@@ -10,13 +10,13 @@ Item {
ListModel{ ListModel{
id: locationModel id: locationModel
objectName: "locationList" objectName: "locationList"
ListElement {mID: 0; Mname: "marker0"; lat: 36.688089; lon: 3.034564; color: "orange"; radius:600} //ListElement {mID: 0; Mname: "marker0"; lat: 36.688089; lon: 3.034564; color: "orange"; radius:600}
ListElement {mID: 1; Mname: "marker1"; lat: 36.692111; lon: 3.028278; color: "green"; radius:400} /*ListElement {mID: 1; Mname: "marker1"; lat: 36.692111; lon: 3.028278; color: "green"; radius:400}
ListElement {mID: 2; Mname: "marker2"; lat: 36.693239; lon: 3.029731; color: "orange"; radius:500} ListElement {mID: 2; Mname: "marker2"; lat: 36.693239; lon: 3.029731; color: "orange"; radius:500}
ListElement {mID: 3; Mname: "marker3"; lat: 36.693444; lon: 3.029972; color: "red"; radius:300} ListElement {mID: 3; Mname: "marker3"; lat: 36.693444; lon: 3.029972; color: "red"; radius:300}
ListElement {mID: 4; Mname: "marker4"; lat: 36.693472; lon: 3.042250; color: "green"; radius:200} ListElement {mID: 4; Mname: "marker4"; lat: 36.693472; lon: 3.042250; color: "green"; radius:200}
ListElement {mID: 5; Mname: "marker5"; lat: 36.691561; lon: 3.043039; color: "orange"; radius:450} ListElement {mID: 5; Mname: "marker5"; lat: 36.691561; lon: 3.043039; color: "orange"; radius:450}
ListElement {mID: 6; Mname: "marker6"; lat: 36.691250; lon: 3.042861; color: "red"; radius:200} ListElement {mID: 6; Mname: "marker6"; lat: 36.691250; lon: 3.042861; color: "red"; radius:200}*/
function addMarker(markerID, markerName, lati, longi) function addMarker(markerID, markerName, lati, longi)
{ {
...@@ -50,7 +50,7 @@ Item { ...@@ -50,7 +50,7 @@ Item {
minimumZoomLevel: 5 minimumZoomLevel: 5
zoomLevel: 15 zoomLevel: 15
gesture.enabled: true gesture.enabled: true
MapQuickItem /*MapQuickItem
{ {
id: indicateurPosition id: indicateurPosition
objectName: "indicateurPosition" objectName: "indicateurPosition"
...@@ -65,7 +65,7 @@ Item { ...@@ -65,7 +65,7 @@ Item {
map.addMapItem(indicateurPosition); map.addMapItem(indicateurPosition);
map.update(); map.update();
} }
} }*/
/*MapQuickItem /*MapQuickItem
{ {
......
rqt_gps_map_view/rqt_gps_map_view.creator.user
+ 1
− 1
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<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.11.0, 2022-05-03T10:31:32. --> <!-- Written by QtCreator 4.11.0, 2022-05-05T17:23:21. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>
......
rqt_gps_map_view/src/rqt_gps_map_view/gnssMarker.cpp
+ 67
− 33
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/*
Created on 04 April 2022
Author : Boulongne Corentin
Brief : class to subscribe to ROS GPS data and track markers with QML.
LICENCE : to define
*/
#include "gnssMarker.h" #include "gnssMarker.h"
#include <iostream> #include <iostream>
gnssMarker::gnssMarker() GnssMarker::GnssMarker()
{
}
GnssMarker::GnssMarker(std::string topicToSub)
{ {
// ros::init(argc, argv, "GNSS-MARKER Node"); // ros::init(argc, argv, "GNSS-MARKER Node");
//subNavSatFix = nh_.subscribe("/ublox/fix", 100, &gnssMarker::getData, this); this->timer = new QTimer();
QTimer * timer = new QTimer(); timer->setInterval(20);
QTimer * timer2 = new QTimer(); // Timers ajoutés en durs pour TEST. timer->start();
subNavSatFix = nh_.subscribe(topicToSub, 100, &GnssMarker::getData, this);
ROS_INFO(" %s", topicToSub.c_str());
timerList << timer << timer2;
//ros::spin(); //ros::spin();
} }
void gnssMarker::subScribeTo(std::string topicName)
void GnssMarker::subScribeTo(std::string topicName)
{ {
subNavSatFix = nh_.subscribe(topicName, 100, &gnssMarker::getData, this); subNavSatFix = nh_.subscribe(topicName, 100, &GnssMarker::getData, this);
ROS_INFO(" %s", topicName.c_str()); ROS_INFO(" %s", topicName.c_str());
} }
void gnssMarker::getData(const sensor_msgs::NavSatFix& data) void GnssMarker::getData(const sensor_msgs::NavSatFix& data)
{ {
longitude = data.longitude; longitude = data.longitude;
latitude = data.latitude; latitude = data.latitude;
std::cout << data.header.frame_id << std::endl << data.longitude << std::endl << data.latitude << std::endl; // std::cout << data.header.frame_id << std::endl << data.longitude << std::endl << data.latitude << std::endl;
} }
double gnssMarker::getLatitude() double GnssMarker::getLatitude()
{ {
return latitude; return latitude;
} }
double gnssMarker::getLongitude() double GnssMarker::getLongitude()
{ {
return longitude; return longitude;
} }
QString GnssMarker::getName()
void gnssMarker::addTimerToList()
{ {
return marker_name;
}
QTimer * timer = new QTimer(); void GnssMarker::sendObjects(QQuickItem* itm, QString markerNames)
{
item = itm;
timerList << timer; marker_name = markerNames;
QTimer::connect(timer, SIGNAL(timeout()), this, SLOT(track()));
} }
QTimer* gnssMarker::getAvailableTimer()
void GnssMarker::track()
{ {
QObject *obj = item->findChild<QObject *>("locationList");
for(int i = 0; i < sizeof(timerList); i++) QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
{ auto test_2 = mapItem.at(0);
if(timerList.at(i)->isActive() == false) auto mapItemChild = test_2->childItems();
{
timerList.at(i)->setInterval(20);
timerList.at(i)->start();
return timerList.at(i);
}
int nb_markers = mapItemChild.count(); //return nb of markers
QStringList listOfMarkers;
for(int j = 0; j < nb_markers; j++)
{
listOfMarkers << mapItemChild.at(j)->objectName();
} }
int idx = listOfMarkers.indexOf(marker_name);
auto marker_id = mapItemChild.at(idx); // throw error if index is out of range -> app crash.
QVariant latitude_ = latitude;
QVariant longitude_ = longitude;
/* if(timerList.at(index)->isActive() == false){ if(marker_id != nullptr)
{
timerList.at(index)->setInterval(20); QMetaObject::invokeMethod(marker_id, "track", Q_ARG(QVariant, latitude_), Q_ARG(QVariant, longitude_));
timerList.at(index)->start(); // std::cout << "track function called!" << std::endl;
return timerList.at(index); }
}else{ }
return timerList.at(index+1); GnssMarker::~GnssMarker()
{
}*/ QTimer::disconnect(timer, SIGNAL(timeout()), this, SLOT(track()));
delete timer;
} }
\ No newline at end of file
rqt_gps_map_view/src/rqt_gps_map_view/rqt_gps_map_view.cpp
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− 0
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// License
// Date
// Author
// Description
#include <rqt_gps_map_view/rqt_gps_map_view.h> #include <rqt_gps_map_view/rqt_gps_map_view.h>
#include <pluginlib/class_list_macros.h> #include <pluginlib/class_list_macros.h>
...@@ -6,6 +12,7 @@ ...@@ -6,6 +12,7 @@
namespace rqt_gps_map_view { namespace rqt_gps_map_view {
// constructor
GpsMapView::GpsMapView() : GpsMapView::GpsMapView() :
rqt_gui_cpp::Plugin() rqt_gui_cpp::Plugin()
{ {
......
rqt_gps_map_view/src/rqt_gps_map_view/rqt_gps_map_view_widget.cpp
+ 45
− 253
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/*
Created on 04 April 2022
Author : Boulongne Corentin
Brief : User Interface to display GPS sources on a map and track them.
LICENCE : to define
*/
#include <rqt_gps_map_view/rqt_gps_map_view_widget.h> #include <rqt_gps_map_view/rqt_gps_map_view_widget.h>
#include "ui_rqt_gps_map_view_widget.h" #include "ui_rqt_gps_map_view_widget.h"
...@@ -12,22 +24,14 @@ ...@@ -12,22 +24,14 @@
#include <QVector> #include <QVector>
GpsMapViewWidget::GpsMapViewWidget(QWidget *parent) : GpsMapViewWidget::GpsMapViewWidget(QWidget *parent) :
QWidget(parent), QWidget(parent),
ui(new Ui::GpsMapViewWidget) ui(new Ui::GpsMapViewWidget)
{ {
ui->setupUi(this); ui->setupUi(this);
this->gpsDataTimer = new QTimer(this);
gpsDataTimer->setInterval(20);
connect(ui->boutonAller, SIGNAL(clicked(bool)), this, SLOT(aller()));
QTimer::connect(gpsDataTimer, SIGNAL(timeout()), this, SLOT(aller()));
//QTimer::connect(gpsDataTimer, SIGNAL(timeout()), this, SLOT(poseublx()));
this->gnssMarkerObj = new gnssMarker();
gpsDataTimer->start();
QQuickItem *item = ui->quickWidget->rootObject(); QQuickItem *item = ui->quickWidget->rootObject();
QObject *objectMouseArea = item->findChild<QObject *>("mouseArea"); QObject *objectMouseArea = item->findChild<QObject *>("mouseArea");
...@@ -46,14 +50,21 @@ GpsMapViewWidget::GpsMapViewWidget(QWidget *parent) : ...@@ -46,14 +50,21 @@ GpsMapViewWidget::GpsMapViewWidget(QWidget *parent) :
updateTopicList(); updateTopicList();
subNovatelData = nh.subscribe("/gps/fix", 100, &GpsMapViewWidget::getNovatelData, this);
subInfoData = nh.subscribe("/gps/fix", 100, &GpsMapViewWidget::getInfo, this);
// subUbloxData = nh.subscribe("/ublox/fix", 100, &GpsMapViewWidget::getUbloxData, this); // topic a changer.
} }
GpsMapViewWidget::~GpsMapViewWidget() GpsMapViewWidget::~GpsMapViewWidget()
{ {
foreach(QCheckBox* cb, checkBoxes)
{
cb->setChecked(false);
}
for (int idx = 0 ; idx < gnssMarkerList.count(); ++idx)
{
delete gnssMarkerList.at(idx);
gnssMarkerList.removeAt(idx);
}
delete ui; delete ui;
} }
...@@ -88,7 +99,7 @@ void GpsMapViewWidget::updateTopicList() ...@@ -88,7 +99,7 @@ void GpsMapViewWidget::updateTopicList()
} }
QVBoxLayout *vbox = new QVBoxLayout; QVBoxLayout *vbox = new QVBoxLayout(this);
foreach(QString filt, topicsNames){ foreach(QString filt, topicsNames){
QCheckBox *checkbox = new QCheckBox(filt, this); QCheckBox *checkbox = new QCheckBox(filt, this);
...@@ -96,46 +107,45 @@ void GpsMapViewWidget::updateTopicList() ...@@ -96,46 +107,45 @@ void GpsMapViewWidget::updateTopicList()
checkbox->setChecked(false); checkbox->setChecked(false);
vbox->addWidget(checkbox); vbox->addWidget(checkbox);
connect(checkbox, &QCheckBox::stateChanged, this, &GpsMapViewWidget::on_checkBoxClicked); connect(checkbox, &QCheckBox::stateChanged, this, &GpsMapViewWidget::on_checkBoxClicked);
}
}
ui->dataSourcesGB->setLayout(vbox); ui->dataSourcesGB->setLayout(vbox);
} }
// slot
void GpsMapViewWidget::on_checkBoxClicked(int state) void GpsMapViewWidget::on_checkBoxClicked(int state)
{ {
auto cb = qobject_cast<QCheckBox*>(sender()); auto cb = qobject_cast<QCheckBox*>(sender());
QQuickItem *item = ui->quickWidget->rootObject(); QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList"); QObject *obj = item->findChild<QObject *>("locationList");
QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView"); /*QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
auto test_2 = mapItem.at(0); auto test_2 = mapItem.at(0);
auto mapItemChild = test_2->childItems(); // list of markers 0 to N -> name is markerX / X is the id auto mapItemChild = test_2->childItems(); // list of markers 0 to N -> name is markerX / X is the id
*/
int nb_markers = mapItemChild.count(); //return nb of markers // int nb_markers = mapItemChild.count(); //return nb of markers
QStringList list; QStringList list;
for(int j = 0; j < nb_markers; j++) for(int j = 0; j < gnssMarkerList.count(); j++)
{ {
list << mapItemChild.at(j)->objectName(); // list << mapItemChild.at(j)->objectName();
list << gnssMarkerList.at(j)->getName();
} }
if(state == 2) // -> checkbox is checked if(state == 2) // -> checkbox is checked
{ {
QString chboxName = cb->text(); QString chboxName = cb->text();
gnssMarkerObj->subScribeTo(chboxName.toStdString()); int mID = gnssMarkerList.count();
gnssMarkerList << new GnssMarker(chboxName.toStdString());
chboxName.replace(QString("/"), QString("_")); chboxName.replace(QString("/"), QString("_"));
...@@ -143,148 +153,38 @@ void GpsMapViewWidget::on_checkBoxClicked(int state) ...@@ -143,148 +153,38 @@ void GpsMapViewWidget::on_checkBoxClicked(int state)
QVariant longitude = ulongi; QVariant longitude = ulongi;
QVariant markerName = chboxName; QVariant markerName = chboxName;
mID = (nb_markers-1)+1; // id qui s'incremente
markerName_ = "marker"+chboxName; markerName_ = "marker"+chboxName;
//std::cout << markerName_.toStdString() << std::endl; //std::cout << markerName_.toStdString() << std::endl;
QMetaObject::invokeMethod(obj, "addMarker", Q_ARG(QVariant, mID), Q_ARG(QVariant, markerName), Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude)); QMetaObject::invokeMethod(obj, "addMarker", Q_ARG(QVariant, mID), Q_ARG(QVariant, markerName), Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude));
gnssMarkerList.at(mID)->sendObjects(item, markerName_);
// QTimer::connect(gpsDataTimer, SIGNAL(timeout()), this, SLOT(trackMarker() )) ;
QTimer::connect(gnssMarkerObj->getAvailableTimer(), SIGNAL(timeout()), this, SLOT(trackMarker() )) ;
// std::cout << "this checkbox (" << cb->text().toStdString() << ") checked." << std::endl; // std::cout << "this checkbox (" << cb->text().toStdString() << ") checked." << std::endl;
} }
else if(state != 2) else if(state != 2)
{ {
// std::cout << "marker" << mID << std::endl; // probleme, prend le dernier id créé au dessus
QString chboxName = cb->text(); QString chboxName = cb->text();
chboxName.replace(QString("/"), QString("_")); chboxName.replace(QString("/"), QString("_"));
int idx = list.indexOf("marker"+chboxName); int idx = list.indexOf("marker"+chboxName);
printf("index %d\n", idx);
QVariant indexToRemove = idx;
QVariant indexToRemove = idx; // change this -> find marker QMetaObject::invokeMethod(obj, "removeMarker", Q_ARG(QVariant, indexToRemove)); // removing correstponding marker with the topic name
delete gnssMarkerList.at(idx);
QMetaObject::invokeMethod(obj, "removeMarker", Q_ARG(QVariant, indexToRemove)); // will remove last marker gnssMarkerList.removeAt(idx);
// QTimer::disconnect(gpsDataTimer, nullptr, this , SLOT(trackMarker()) ); // disconnect timer to avoid crash due to out of index bounds
std::cout << "this checkbox (" << cb->text().toStdString() << ") unchecked." << std::endl; std::cout << "this checkbox (" << cb->text().toStdString() << ") unchecked." << std::endl;
}
//std::cout << "checkbox " << cb->text().toStdString() << " state is : " << state << std::endl;
}
void GpsMapViewWidget::aller()
{
QQuickItem *item = ui->quickWidget->rootObject();
QObject *object = item->findChild<QObject *>("indicateurPosition");
QVariant latitude = QString::number(lati);
QVariant longitude = QString::number(longi);
if(object != nullptr)
{
QMetaObject::invokeMethod(object, "aller", Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude));
}
GpsMapViewWidget::afficherPosition(QString::number(lati), QString::number(longi));
}
void GpsMapViewWidget::trackMarker()
{
QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList");
QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
auto test_2 = mapItem.at(0);
auto mapItemChild = test_2->childItems();
int nb_markers = mapItemChild.count(); //return nb of markers
QStringList listOfMarkers;
for(int j = 0; j < nb_markers; j++)
{
listOfMarkers << mapItemChild.at(j)->objectName();
}
int idx = listOfMarkers.indexOf(markerName_);
auto marker_id = mapItemChild.at(idx); // throw error if index is out of range -> app crash.
QVariant latitude = gnssMarkerObj->getLatitude();//QString::number(ulati);
QVariant longitude = gnssMarkerObj->getLongitude();//QString::number(ulongi);
if(marker_id != nullptr)
{
QMetaObject::invokeMethod(marker_id, "track", Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude));
// std::cout << "track function called!" << std::endl;
}
GpsMapViewWidget::afficherPosition(QString::number(lati), QString::number(longi));
} }
// function to delete -> replaced by trackMarker //std::cout << "checkbox " << cb->text().toStdString() << " state is : " << state << std::endl;
void GpsMapViewWidget::poseublx()
{
QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList");
QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
auto test_2 = mapItem.at(0);
auto mapItemChild = test_2->childItems();
auto marker_id = mapItemChild.at(7); // throw error if index is out of range -> app crash.
QVariant latitude = QString::number(ulati);
QVariant longitude = QString::number(ulongi);
if(marker_id != nullptr)
{
QMetaObject::invokeMethod(marker_id, "track", Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude));
// std::cout << "track function called!" << std::endl;
}
GpsMapViewWidget::afficherPosition(QString::number(lati), QString::number(longi));
} }
...@@ -293,8 +193,8 @@ void GpsMapViewWidget::afficherPosition(QString latitude, QString longitude) ...@@ -293,8 +193,8 @@ void GpsMapViewWidget::afficherPosition(QString latitude, QString longitude)
ui->positionLatitude->setText(QString::fromUtf8("%1").arg(latitude.toDouble(), 0, 'f', 5)); ui->positionLatitude->setText(QString::fromUtf8("%1").arg(latitude.toDouble(), 0, 'f', 5));
ui->positionLongitude->setText(QString::fromUtf8("%1").arg(longitude.toDouble(), 0, 'f', 5)); ui->positionLongitude->setText(QString::fromUtf8("%1").arg(longitude.toDouble(), 0, 'f', 5));
ui->editLatitude->setText(QString::fromUtf8("%1").arg(latitude.toDouble(), 0, 'f', 5)); //ui->editLatitude->setText(QString::fromUtf8("%1").arg(latitude.toDouble(), 0, 'f', 5));
ui->editLongitude->setText(QString::fromUtf8("%1").arg(longitude.toDouble(), 0, 'f', 5)); //ui->editLongitude->setText(QString::fromUtf8("%1").arg(longitude.toDouble(), 0, 'f', 5));
} }
void GpsMapViewWidget::afficherInformations(QString adresse, QString coordonnee) void GpsMapViewWidget::afficherInformations(QString adresse, QString coordonnee)
...@@ -302,13 +202,6 @@ void GpsMapViewWidget::afficherInformations(QString adresse, QString coordonnee) ...@@ -302,13 +202,6 @@ void GpsMapViewWidget::afficherInformations(QString adresse, QString coordonnee)
ui->labelInformations->setText("Informations : " + adresse); ui->labelInformations->setText("Informations : " + adresse);
} }
void GpsMapViewWidget::getNovatelData(const sensor_msgs::NavSatFix& novateldata)
{
longi = novateldata.longitude;
lati = novateldata.latitude;
}
void GpsMapViewWidget::getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix> &event) void GpsMapViewWidget::getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix> &event)
{ {
...@@ -322,108 +215,7 @@ void GpsMapViewWidget::getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix> & ...@@ -322,108 +215,7 @@ void GpsMapViewWidget::getInfo(const ros::MessageEvent<sensor_msgs::NavSatFix> &
} }
void GpsMapViewWidget::getUbloxData(const sensor_msgs::NavSatFix& ubloxdata)
{
ulongi = ubloxdata.longitude;
ulati = ubloxdata.latitude;
}
void GpsMapViewWidget::on_refreshButton_clicked() void GpsMapViewWidget::on_refreshButton_clicked()
{ {
updateTopicList(); updateTopicList();
} }
/*void GpsMapViewWidget::on_listWidget_itemDoubleClicked(QListWidgetItem *item)
{
QMessageBox msgBox;
msgBox.setWindowTitle("Adding a GPS source");
msgBox.setText("Do you want to add this GPS source to the map ?");
msgBox.setInformativeText(item->text());
QPushButton *connectButton = msgBox.addButton(tr("Yes"), QMessageBox::ActionRole);
QPushButton *abortButton = msgBox.addButton(tr("No"), QMessageBox::ActionRole);
msgBox.exec();
if (msgBox.clickedButton() == connectButton)
{
//ui->label->setText("Yes clicked!");
QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList");
QVariant latitude = ulati;
QVariant longitude = ulongi;
QVariant markerName = "marker";
QVariant mID = ui->doubleSpinBox_2->value();
QMetaObject::invokeMethod(obj, "addMarker", Q_ARG(QVariant, mID), Q_ARG(QVariant, markerName), Q_ARG(QVariant, latitude), Q_ARG(QVariant, longitude));
}
else if (msgBox.clickedButton() == abortButton)
{
//ui->label->setText("No clicked!");
}
}*/
void GpsMapViewWidget::on_pushButton_clicked()
{
QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList");
QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
auto test_2 = mapItem.at(0);
auto mapItemChild = test_2->childItems(); // list of markers 0 to N -> name is markerX / X is the id
auto nb_markers = mapItemChild.count(); //return nb of markers
auto marker_id = mapItemChild.at(1);
if(marker_id != nullptr)
{
QMetaObject::invokeMethod(marker_id, "track", Q_ARG(QVariant, ui->doubleSpinBox->value()), Q_ARG(QVariant, ui->doubleSpinBox_2->value()));
std::cout << "track function called!" << std::endl;
}
std::cout << "[DEBUG] Marker object address : " << marker_id << " object name : " << marker_id->objectName().toStdString() << std::endl;
}
void GpsMapViewWidget::on_pushButton_2_clicked()
{
QQuickItem *item = ui->quickWidget->rootObject();
QObject *obj = item->findChild<QObject *>("locationList");
QList<QQuickItem*> mapItem = item->findChildren<QQuickItem*>("mapItemView");
auto test_2 = mapItem.at(0);
auto mapItemChild = test_2->childItems(); // list of markers 0 to N -> name is markerX / X is the id
int nb_markers = mapItemChild.count(); //return nb of markers
QStringList list;
for(int j = 0; j < nb_markers; j++)
{
list << mapItemChild.at(j)->objectName();
}
//list.indexOf("marker"+ui->doubleSpinBox->value());
int idx = list.indexOf("marker"+QString::number(ui->doubleSpinBox->value()));
QVariant indexToRemove = idx; // change this -> find marker
QMetaObject::invokeMethod(obj, "removeMarker", Q_ARG(QVariant, indexToRemove)); // will remove last marker
QTimer::disconnect(gpsDataTimer, nullptr, this ,SLOT(poseublx())); // disconnect timer to avoid crash due to out of index bounds
}
rqt_gps_map_view/ui/rqt_gps_map_view/rqt_gps_map_view_widget.ui
+ 0
− 99
View file @ 2f306d9a
...@@ -52,59 +52,6 @@ ...@@ -52,59 +52,6 @@
<property name="spacing"> <property name="spacing">
<number>4</number> <number>4</number>
</property> </property>
<item>
<widget class="QLabel" name="labelLatitude">
<property name="text">
<string>Latitude :</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="editLatitude"/>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="labelLongitude">
<property name="text">
<string>Longitude :</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="editLongitude"/>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="boutonAller">
<property name="text">
<string>Aller !</string>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
...@@ -243,52 +190,6 @@ ...@@ -243,52 +190,6 @@
<bool>true</bool> <bool>true</bool>
</property> </property>
</widget> </widget>
<widget class="QDoubleSpinBox" name="doubleSpinBox">
<property name="geometry">
<rect>
<x>1420</x>
<y>950</y>
<width>69</width>
<height>27</height>
</rect>
</property>
</widget>
<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
<property name="geometry">
<rect>
<x>1420</x>
<y>1000</y>
<width>69</width>
<height>27</height>
</rect>
</property>
</widget>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>1520</x>
<y>1030</y>
<width>99</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>find objects</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>1520</x>
<y>990</y>
<width>99</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>remove point</string>
</property>
</widget>
</widget> </widget>
<layoutdefault spacing="6" margin="11"/> <layoutdefault spacing="6" margin="11"/>
<customwidgets> <customwidgets>
......
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