qtgps1.0.gz

#include "gps.h" #include <errno.h> #include <unistd.h> #include <math.h> #include <fcntl.h> #include <termios.h> #include <time.h> // Defining instances GPS *Gps; list_of<highlight> highlightlist; void Mapwindow::mousePressEvent(QMouseEvent *mep){ // Mouse clicked somewhere. Get the coords ... // If a map is showing, move within it if(mymapinfo){ // Position to this location, using mostly the positioning logic Position pos(mappos.latit - (mep->pos().y()-height()/2)/mymapinfo->pixperdegheight, mappos.longit + (mep->pos().x()-width()/2)/mymapinfo->pixperdegwidth); positionto(pos); updateGPSpos(pos); }else{ // This probably highly bogus - need to think through what it // means if we have no visible map picoffset.setX(picoffset.x()+mep->pos().x()-width()/2); picoffset.setY(picoffset.y()+mep->pos().y()-height()/2); update(); } } void Mapwindow::load(const char *cp){ if(currentmapname != cp){ if(mymap.load(cp)){ if(verbose) printf("Just loaded map %s\n", cp); currentmapname = cp; }else{ if(verbose) printf("No map loaded\n", cp); currentmapname = String::NULLSTRING; } } } // Return a heading in degrees, given x/y lengths travelled double Mapwindow::yxheading(double northdiff, double eastdiff){ double heading; if(fabs(eastdiff) < 1e-9) heading = northdiff >= 0 ? 0 : 180; else{ heading = (atan2(eastdiff,northdiff)/deg2rad+0.5); if(heading < 0) heading = 360+heading; } return heading; } // Given Lat/Long & time differences, maintain a smoothed velocity (speed/heading) int Mapwindow::plotspeed(const Position &cpr, double utctime){ // approximation to speed over ground. Uses rough-and-ready // adjustment for longitude based on cos of current latitude // which seems to work OK in the UK double milesperNdegree; double milesperEdegree; // How many metres is one degree of latitude (should be the same over // whole globe near enough, so pick one that works in the OSGB range) capm(49, 50, &milesperNdegree); const double coslat = cos(cpr.latit*deg2rad); milesperNdegree *= metres2miles; milesperEdegree = milesperNdegree*coslat; // printf("plotspeed, utctime %f\n", utctime); if(!firstplot){ double tdiff = utctime-lastplottime; if(tdiff == 0) return 0; if(tdiff < 0) tdiff += 24L*60*60; double latdiffrate = (cpr.latit-lastplotpos.latit)/tdiff; double longdiffrate = (cpr.longit-lastplotpos.longit)/tdiff; double heading = 0; // printf("In plotspeed, time difference is %f, latdiffrate %f, longdiffrate %f\n", tdiff, latdiffrate, longdiffrate); for(int i = 0; i < npoles; i++){ xvfilter[i] += fconst * (latdiffrate-xvfilter[i]); latdiffrate = xvfilter[i]; yvfilter[i] += fconst * (longdiffrate-yvfilter[i]); longdiffrate = yvfilter[i]; if(!finite(latdiffrate) || !finite(longdiffrate)){ printf("Gone non-finite!\n"); exit(0); } } heading = yxheading(latdiffrate, longdiffrate*coslat); double ymps = latdiffrate * milesperNdegree; double xmps = longdiffrate * milesperEdegree; double mps = sqrt(ymps*ymps + xmps*xmps); int mph = int(mps*60*60 + 0.5); // printf("Smoothed: latdiffrate %f, longdiffrate %f, heading %f, speed %d\n", latdiffrate, longdiffrate, heading, mph); String s; s.sprintf("%d MPH", mph); Gps->speed->setText(s.cstring()); s.sprintf("%.0f deg", heading); Gps->hdng->setText(s.cstring()); } lastplotpos = cpr; lastplottime = utctime; firstplot = false; return 0; } void Mapwindow::updateGPSpos(const Position &cpr){ Gps->mymousey->setText(dmsLat(cpr.latit).cstring()); Gps->mymousex->setText(dmsLong(cpr.longit).cstring()); String oslocation; double e, n; if(mymapinfo->osproj && cvtongr(cpr.latit, cpr.longit, oslocation, e, n)){ Gps->altpos->setText(oslocation.cstring()); Gps->altpos->show(); }else{ Gps->altpos->setText(""); Gps->altpos->hide(); } } void Mapwindow::mouseMoveEvent(QMouseEvent *mev){ QPoint p = mev->pos(); char buff[512]; // If no map showing, just show x,y else show lat/long if(mymapinfo == 0){ p.setX(p.x()+picoffset.x()-width()/2); p.setY(p.y()+picoffset.y()-height()/2); sprintf(buff, "x%d", p.x()); Gps->mymousex->setText(buff); sprintf(buff, "y%d", p.y()); Gps->mymousey->setText(buff); }else{ Position pos( mappos.latit - (p.y()-height()/2)/mymapinfo->pixperdegheight, mappos.longit + (p.x()-width()/2)/mymapinfo->pixperdegwidth ); updateGPSpos(pos); // DEBUGGING // double e, n; // current east & north // String dummy; // if(cvtongr(latit, longit, dummy, e, n)){ // printf("Mousemove for lat %f long %f gives %s\n", latit, longit, dummy.cstring()); // } } } void Mapwindow::drawoffsetmap(){ int xoffset = -picoffset.x() + width()/2; int yoffset = -picoffset.y() + height()/2; bitBlt(this, xoffset, yoffset, &mymap); } void Mapwindow::paintEvent(QPaintEvent *){ // If we haven't got a real map visible, don't draw it if(mymapinfo != &mydummymapinfo){ // Put the map at the right place drawoffsetmap(); } QPainter qp(this); QPen wblackpen(black, 3); QPen nblackpen(black, 1); //qp.begin(this); // Draw the crosshairs qp.setPen(wblackpen); const midx = width()/2; const midy = height()/2; const crosslen = max(width(), height()) / 10; qp.drawLine(midx-crosslen*2, midy, midx-crosslen/3, midy); qp.drawLine(midx+crosslen*2, midy, midx+crosslen/3, midy); qp.drawLine(midx, midy-crosslen*2, midx, midy-crosslen/3); qp.drawLine(midx, midy+crosslen*2, midx, midy+crosslen/3); qp.setPen(nblackpen); qp.drawLine(midx-crosslen*2, midy, midx+crosslen*2, midy); qp.drawLine(midx, midy-crosslen*2, midx, midy+crosslen*2); // Any highlights to show? QPen redpen(red, 2); qp.setPen(redpen); qp.setRasterOp(NotXorROP); qp.setBackgroundMode(OpaqueMode); if(mymapinfo && llvalid){ double minlat, maxlat, minlong, maxlong; minlat = mappos.latit - height()/2/mymapinfo->pixperdegheight; maxlat = mappos.latit + height()/2/mymapinfo->pixperdegheight; minlong = mappos.longit - width()/2/mymapinfo->pixperdegwidth; maxlong = mappos.longit + width()/2/mymapinfo->pixperdegwidth; // printf("minlong %s maxlong %s minlat %s maxlat %s\n", dmsLong(minlong).cstring(), dmsLong(maxlong).cstring(), dmsLat(minlat).cstring(), dmsLat(maxlat).cstring()); // Scan the list of highlights for those positioned on the current map for(int i = 0; i < highlightlist.element_count(); i++){ const highlight &chp = highlightlist[i]; if(chp.pos.latit > minlat && chp.pos.latit < maxlat && chp.pos.longit > minlong && chp.pos.longit < maxlong){ QPoint centre = mappixel_to_displaypixels(pos_to_mappixels(chp.pos)); const esize = 8; // should be divisble by 2 qp.drawEllipse(centre.x()-esize/2, centre.y()-esize/2, esize, esize); qp.drawText(centre.x()+esize/2+2, centre.y()+esize/2, chp.description.cstring(), chp.description.nchars()); if(verbose)printf("Found highlight in range, name %s, x %d y %d\n", chp.description.cstring(), centre.x(), centre.y()); } } } // Redraw the track, ensuring that lasttrackpoint is correctly set QPen bluepen(blue, 2); qp.setPen(bluepen); for(int i = 0; i < track.element_count(); i++){ QPoint thismappoint = pos_to_mappixels(track[i]); if(i > 0){ qp.drawLine(mappixel_to_displaypixels(lasttrackpoint), mappixel_to_displaypixels(thismappoint)); } lasttrackpoint = thismappoint; } qp.setRasterOp(CopyROP); drawFrame(&qp); qp.end(); } Mapwindow::Mapwindow(GPS *gpsp): QFrame(gpsp), myGpsp(gpsp), picoffset(0,0), llvalid(false), mymapinfo(0), usemapscale(1e6){ setCursor(crossCursor); setMouseTracking(true); cleartrack(); firstplot = true; } void Mapwindow::cleartrack(){ track.clear(); for(int i = 0; i < npoles; i++){ xvfilter[i] = yvfilter[i] = 0; } } void Mapwindow::trackto(double latit, double longit, double utctime, int offcentrerange){ // printf("Trackto %f %f\n", latit, longit); if(track.element_count() >= maxtrack){ // Too big. Throw away first item track.delete_this_element(0)