Heading and Speed Dialog

The DtSetSpeedAndHeadingDialog is a Qt Widget-derived object that defines a dialog box. This dialog box allows the user to enter in the heading and speed of the selected objects.

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Header file:

/******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/

//\file DtSetSpeedAndHeadingDialog.h
//\brief Contains DtSetSpeedAndHeadingDialog class.

#pragma once

#include <vrfGuiTaskSetQt/baseTaskSetDialogInterface.h>

class QGridLayout;

namespace makVrf
{
   class DtRateEntryWidget;
   class DtAngleEntryWidget;
}

namespace vrfAddSetExample
{
   class DtSetSpeedAndHeadingDialog : public makVrf::DtBaseTaskSetDialogInterface
   {
      public:
         //CTOR
         DtSetSpeedAndHeadingDialog(makVrv::DtDe& de, QWidget* parent, const Qt::WindowFlags& flags = 0);

         //DTOR
         virtual ~DtSetSpeedAndHeadingDialog();

      //\brief Returns value in degrees
         virtual double heading() const;

      //\brief Expects value in degrees
         virtual void setHeading(double);

      //\brief Returns value in meters / second
         virtual double speed() const;

      //\brief Expects value in meters / second
         virtual void setSpeed(double);

      protected:
         virtual QWidget* contents(const std::vector<makVrv::DtSimEntry*>& data);

      virtual void sendRequest();

   protected:
      virtual void setupGui(const std::vector<makVrv::DtSimEntry*>& data);

   protected:
      virtual void setupStatement(const DtSimStatement*);

      public:
         QWidget*       myCanvas;
         QGridLayout*   myContentLayout;

         makVrf::DtRateEntryWidget*   myOrderedSpeed;

         makVrf::DtAngleEntryWidget* myHeading;
   };

   class DtSetSpeedAndHeadingDialogCreator : public makVrf::DtVrfSetDialogCreator
      {
      public:
      //Creates a TaskSetDialogInterface; called by DtVrfTaskSetDialogManager when set item is selected by user
      virtual makVrf::DtTaskSetDialogInterface* create(makVrv::DtDe&, QWidget* parent);
         bool supportsType(makVrv::DtDe&, const DtSetMessageType&, const DtSimStatement*) const;
      };
}

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Implementation:

/******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/

//\file DtSetSpeedAndHeadingDialog.cxx
//\brief Contains DtSetSpeedAndHeadingDialog set

#include "DtSetSpeedAndHeadingDialog.h"
#include <vrfGuiCore/vrfStateViewCollectionManager.h>
#include <vrfGuiCoreQt/vrfTaskSetVariableWidgetManager.h>
#include <vrfGuiDataEntryWidgets/angleEntryWidget.h>
#include <vrfGuiDataEntryWidgets/rateEntryWidget.h>

#include <QtWidgets/QLineEdit>
#include <QtWidgets/QLabel>
#include <QtWidgets/QLayout>
#include <QtGui/QValidator>

#include <vrvCore/DtDe.h>
#include <vrvCore/DtEntityState.h>

#include <matrix/vlMath.h>
#include <matrix/topoCoord.h>

//VR-Forces includes
#include "../addSetSim/setSpeedAndHeading.h"
#include <vrfplan/setDataRequestStmt.h>
#include <vrfplan/simStatementTypes.h>
#include <vrftasks/setDataRequest.h>

#include <boost/bind.hpp>

using namespace makVrf;

namespace vrfAddSetExample
{
   DtSetSpeedAndHeadingDialog::DtSetSpeedAndHeadingDialog(makVrv::DtDe& de, QWidget* parent, const Qt::WindowFlags& flags)
   : DtBaseTaskSetDialogInterface(de, parent, flags)
   {
      setWindowTitle(tr("Speed And Heading"));
   }

   DtSetSpeedAndHeadingDialog::~DtSetSpeedAndHeadingDialog()
   {
   }

   QWidget* DtSetSpeedAndHeadingDialog::contents(const std::vector<makVrv::DtSimEntry*>& data)
   {
      myCanvas = new QWidget(this);
      myContentLayout = new QGridLayout(myCanvas);

      myOrderedSpeed = dynamic_cast<DtRateEntryWidget*>
         (DtVrfTaskSetVariableWidgetManager::instance(myDe).create(DtScriptedTaskRateVariable, myCanvas));

      setSpeed(0.);

      myContentLayout->addWidget(myOrderedSpeed->myLabel, 0, 0);
      myContentLayout->addWidget(myOrderedSpeed->myValueCanvas, 0, 1, 1, 2);

      myHeading = dynamic_cast<DtAngleEntryWidget*>
         (DtVrfTaskSetVariableWidgetManager::instance(myDe).create(DtScriptedTaskHeadingVariable, myCanvas));

      setHeading(0.);

      myContentLayout->addWidget(myHeading->myLabel, 1, 0);
      myContentLayout->addWidget(myHeading->myValueCanvas, 1, 1, 1, 2);

      return myCanvas;
   }

   void DtSetSpeedAndHeadingDialog::setHeading(double d)
   {
      myHeading->setAngle(d);
   }

   double DtSetSpeedAndHeadingDialog::heading() const
   {
      return myHeading->angle();
   }

   void DtSetSpeedAndHeadingDialog::setSpeed(double d)
   {
      myOrderedSpeed->setRate(d);
   }

   double DtSetSpeedAndHeadingDialog::speed() const
   {
      return myOrderedSpeed->rate();
   }

   DtTaskSetDialogInterface* DtSetSpeedAndHeadingDialogCreator::create(makVrv::DtDe& de, QWidget* parent)
   {
      return new DtSetSpeedAndHeadingDialog(de, parent, theTaskSetCreationFlags);
   }

   bool DtSetSpeedAndHeadingDialogCreator::supportsType(makVrv::DtDe&, const DtSetMessageType& t, const DtSimStatement*) const
   {
      return (DtSetSpeedAndHeadingRequest().type() == t);
   }

   void DtSetSpeedAndHeadingDialog::sendRequest()
   {
      DtSetSpeedAndHeadingRequest set;

      set.init();
      set.setHeading(heading());
      set.setSpeed(speed());

      sendSetRequest(set);

      close();
   }

   void DtSetSpeedAndHeadingDialog::setupGui(const std::vector<makVrv::DtSimEntry*>& data)
   {
      DtBaseTaskSetDialogInterface::setupGui(data);

      if (data.size() == 1)
      {
         makVrv::DtVrlinkSimulatedEntityState* state = findStateFor<makVrv::DtVrlinkSimulatedEntityState*>(data[0]);

         if (state)
         {
            DtGeodeticCoord geodetic;

            geodetic.setGeocentric(state->myLocation);

            DtCoordTransform geocToTopo;

            DtGeocToTopoTransform(geodetic.lat(), geodetic.lon(), &geocToTopo);

            //Compute heading, pitch, and roll.

            DtTaitBryan topoEuler;

            geocToTopo.eulerTrans(state->myOrientation, &topoEuler);

            setHeading(topoEuler.psi());
         }
      }
   }

   void DtSetSpeedAndHeadingDialog::setupStatement(const DtSimStatement* stmt)
   {
      if (stmt->type() == DtSetDataStatementType)
      {
         const DtSetDataRequestStmt* setStmt = dynamic_cast<const DtSetDataRequestStmt*>(stmt);

         if (setStmt && setStmt->setDataRequest())
         {
            DtSetSpeedAndHeadingRequest* col = dynamic_cast<DtSetSpeedAndHeadingRequest*>(setStmt->setDataRequest());

            if (col)
            {
               setHeading(col->heading());
               setSpeed(col->speed());
            }
         }
      }
   }
}