397 lines
12 KiB
QML
397 lines
12 KiB
QML
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import QtQuick 2.6
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import QtQuick.Window 2.2
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import QtQuick.Layouts 1.2
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import QGroundControl 1.0
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Item {
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width: 400
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height: parent
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property double _pressedX: 0
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property double _pressedY: 0
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property int gimbalMaxValue: 255
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//外圆环和控制器的半径
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property double outRingRadius: 0
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property double controlBtnRadius: 0
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//外圆环的最大边界值
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property double maxX: 0
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property double maxY: 0
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//----------------------------------四象限常量---------------------------------------
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property int firstQuadrant : 1
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property int secondQuadrant: 2
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property int thirdQuadrant: 3
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property int fourthQuadrant: 4
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//当前所选择需要调整的方向
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property int selectIndex: 0
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//---------------------------------角度调整------------------------------------------
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property int pitchValue: 0
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property string pitchStrValue: pitchValue + "°"
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property int rollValue: 0
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property string angle: pitchStrValue
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property GduHolderManager _gduHolderManager: QGroundControl.gduDroneManager.gduHolderManager
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Rectangle {
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id:backgroud
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color: "black"
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width: 400
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height: parent.height
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x: parent.width - 400
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Column {
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width: 400
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height: parent.height
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padding: 10
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spacing: 30
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Text {
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text: qsTr("云台俯仰方位角调整")
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color: "white"
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}
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Rectangle {
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width: parent.width
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height: 200
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color:"transparent"
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Image {
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width: 200
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height: 200
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id: cOuterRing
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anchors.horizontalCenter: parent.horizontalCenter
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source: "/qmlimages/gimball_direction.png"
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Image {
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x: (200 - 50) /2
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y: (200 - 50) /2
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width: 50
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height: 50
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id: controlBtn
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source: "/qmlimages/button_default_gimbal.png"
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}
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}
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MouseArea{
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anchors.fill: parent
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acceptedButtons: Qt.LeftButton
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onPressed: {
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if(mouse.button === Qt.LeftButton){
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mouseLeftPressed(mouse.x,mouse.y)
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}
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}
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onPositionChanged: {
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onMouseMove(mouseX,mouseY)
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}
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onReleased: {
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if(mouse.button === Qt.LeftButton){
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onMouseUp()
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}
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}
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}
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}
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Row {
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id:tabView
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width: parent.width
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height: tAdjustPitch.height
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Text {
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horizontalAlignment: Text.AlignHCenter
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width: parent.width/2
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id: tAdjustPitch
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text: qsTr("云台俯仰角微调")
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color: "yellow"
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MouseArea {
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anchors.fill: parent
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onClicked: {
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changeTextStatus(0)
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angle = pitchStrValue
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}
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}
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}
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Text {
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horizontalAlignment: Text.AlignHCenter
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width: parent.width/2
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id: tAdjustRoll
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text: qsTr("云台横滚角调整")
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color: "white"
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MouseArea {
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anchors.fill: parent
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onClicked: {
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changeTextStatus(1)
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angle = rollValue + ""
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}
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}
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}
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}
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Row {
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width: parent.width
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height: imgSubtract.height
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Image {
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fillMode: Image.PreserveAspectFit
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width: parent.width / 3
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height: 40
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id: imgSubtract
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source: "/qmlimages/main_camera_setting_gimball_minus.png"
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MouseArea {
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anchors.fill: parent
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onClicked: {
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if(selectIndex === 0){
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setHolderPitch(false)
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}else {
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setHolderRoll(false)
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}
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}
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}
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}
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Text {
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width: parent.width / 3
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id: tAngle
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text: angle
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color: "white"
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font.pixelSize: 40
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horizontalAlignment: Text.AlignHCenter
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}
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Image {
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fillMode: Image.PreserveAspectFit
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width: parent.width / 3
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height: 40
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id: imgAdd
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source: "/qmlimages/main_camera_setting_gimball_plus.png"
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MouseArea {
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anchors.fill: parent
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onClicked: {
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if(selectIndex === 0){
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setHolderPitch(true)
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}else {
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setHolderRoll(true)
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}
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}
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}
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}
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}
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RowLayout {
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width: parent.width
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height: btnVertical.height
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GduHolderControlButton {
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anchors.left: parent.left
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id:btnVertical
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width: parent.width /2
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text: qsTr("下视")
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onClicked: {
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console.log("下视")
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//云台下视
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_gduHolderManager.setHolderPitchAngle(-90,function(resources){
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//TODO 回调信息
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console.log("setHolderPitchAngle",resources)
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})
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}
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}
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GduHolderControlButton {
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id:btnBackHolder
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anchors.right: parent.right
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width: parent.width /2
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text: qsTr("回中")
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onClicked: {
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console.log("回中")
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//云台回中
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_gduHolderManager.holderBack2Center(function(resources){
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//TODO 回调信息
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console.log("setHolderPitchAngle",resources)
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})
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}
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}
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}
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}
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}
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//处理鼠标右键按下事件
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function mouseLeftPressed(mouseX,mouseY){
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console.log("mouseRightPressed==mouseX,mouseY===="+mouseX+","+mouseY)
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_pressedX = mouseX
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_pressedY = mouseY
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outRingRadius = cOuterRing.width/2
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controlBtnRadius = controlBtn.width/2
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}
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//鼠标按下滑动时
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function onMouseMove(mouseX,mouseY){
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const xDelta = mouseX - _pressedX
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const yDelta = mouseY - _pressedY
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const angle = computingAngle(xDelta, yDelta)
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const maxX = (outRingRadius - controlBtnRadius) * Math.cos(angle / 180 * Math.PI)
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const maxY = (outRingRadius - controlBtnRadius) * Math.sin(angle / 180 * Math.PI)
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if(Math.abs(xDelta) > Math.abs(maxX)){
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xDelta = maxX
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}
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if(Math.abs(yDelta) > Math.abs(maxY)){
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yDelta = maxY
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}
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controlBtn.x = xDelta + (outRingRadius - controlBtnRadius)
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controlBtn.y = yDelta + (outRingRadius - controlBtnRadius)
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//计算 XY轴的运动总量
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const wRange = outRingRadius - controlBtnRadius
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const hRange = outRingRadius - controlBtnRadius
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const gimbalPitch = yDelta / hRange * gimbalMaxValue / 2 + gimbalMaxValue / 2
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const gimbalDirect = xDelta/ wRange * gimbalMaxValue / 2 + gimbalMaxValue / 2
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if(gimbalDirect > 128 || gimbalDirect < 128){
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gimbalDirect = 255 - gimbalDirect;
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}
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//控制云台
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_gduHolderManager.beginControlHolder(128, gimbalPitch, gimbalDirect)
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}
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//松开鼠标按钮时
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function onMouseUp(){
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console.log("onReleased======")
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//控制器复位
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controlBtn.x = (200 - 50) /2
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controlBtn.y = (200 - 50) /2
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//停止云台控制
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_gduHolderManager.stopControlHolder();
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}
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//根据 坐标获取 相应的角度
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function computingAngle(x,y){
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const maxX = Math.abs(0 - x)
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const maxY = Math.abs(0 - y)
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const z = Math.sqrt(x * x + y * y)
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var angle = Math.abs(Math.round(Math.asin(y/z)/Math.PI * 180))
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switch(getQuadrant(x,y)){
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case firstQuadrant:
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break;
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case secondQuadrant:
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angle = 90 * 2 - angle
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break;
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case thirdQuadrant:
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angle = 90 * 2 + angle
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break;
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case fourthQuadrant:
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angle = 90 * 4 - angle
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break;
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}
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return angle
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}
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//根据坐标判断所处的象限
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function getQuadrant(x, y){
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if (x >= 0 && y >= 0) {
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return firstQuadrant;
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} else if (x < 0 && y >= 0) {
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return secondQuadrant;
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} else if (x < 0 && y < 0) {
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return thirdQuadrant;
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} else {
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return fourthQuadrant;
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}
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}
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//改变当前需要修改角度的文字颜色
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function changeTextStatus(index){
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if(selectIndex === index) return
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const children = tabView.children
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for(var i = 0; i < children.length; i++){
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const child = children[i]
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if(i === index){
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child.color = "yellow"
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} else {
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child.color = "white"
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}
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}
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selectIndex = index
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}
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//设置云台的俯仰的角度
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function setHolderPitch(isAdd){
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//TODO 此处应该读取实时的云台的角度，暂时获取本地角度
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const pitchMin = -120
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const pitchMax = 30
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if(isAdd){
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pitchValue++
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}else {
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pitchValue--
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}
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if(pitchValue < pitchMin){
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pitchValue = pitchMin
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}else if (pitchValue > pitchMax){
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pitchValue = pitchMax
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}
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angle = pitchStrValue
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//调整云台俯仰角度
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_gduHolderManager.setHolderPitchAngle(pitchValue, function(resources){
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//TODO 回调信息
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console.log("setHolderPitchAngle",resources)
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})
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}
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//设置云台的横滚角度
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function setHolderRoll(isAdd){
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const rollMin = -20
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const rollMax = 20
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if(isAdd){
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rollValue ++
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}else {
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rollValue --
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}
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//控制最大角度
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if(rollValue < rollMin){
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rollValue = rollMin
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}else if(rollValue > rollMax){
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rollValue = rollMax
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}
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angle = rollValue
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//调整云台横滚角
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_gduHolderManager.setHolderRoll(rollValue, function(resources){
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//TODO 回调信息
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console.log("setHolderPitchAngle",resources)
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})
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}
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}
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