caperren/osurc_mars_rover_2017_2018
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Mapping dragging working correctly now. Still choppy.

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Corwin Perren
2018-07-28 15:20:51 -07:00
parent 6ff6068759
commit ba07b6da02
1 changed files with 14 additions and 5 deletions
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19
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
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@@ -94,6 +94,9 @@ class RoverMapCoordinator(QtCore.QThread):
self.x_drag_start = -1 self.x_drag_start = -1
self.y_drag_start = -1 self.y_drag_start = -1
self.x_drag_end = -1
self.y_drag_end = -1
def run(self): def run(self):
self.logger.debug("Starting Map Coordinator Thread") self.logger.debug("Starting Map Coordinator Thread")
self.pixmap_ready_signal.emit() # This gets us the loading map self.pixmap_ready_signal.emit() # This gets us the loading map
@@ -145,10 +148,10 @@ class RoverMapCoordinator(QtCore.QThread):
if self.zoom_subtraction: if self.zoom_subtraction:
self.zoom_subtraction = self.constrain(self.zoom_subtraction, 0, 520) self.zoom_subtraction = self.constrain(self.zoom_subtraction, 0, 520)
crop_x_start = ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2) - self.x_drag crop_x_start = ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2) - self.x_drag - self.x_drag_end
crop_y_start = (self.zoom_subtraction / 2) - self.y_drag crop_y_start = (self.zoom_subtraction / 2) - self.y_drag - self.y_drag_end
crop_x_end = (MAP_WIDGET_WIDTH - ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2)) - self.x_drag crop_x_end = (MAP_WIDGET_WIDTH - ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2)) - self.x_drag - self.x_drag_end
crop_y_end = (MAP_WIDGET_HEIGHT - (self.zoom_subtraction / 2)) - self.y_drag crop_y_end = (MAP_WIDGET_HEIGHT - (self.zoom_subtraction / 2)) - self.y_drag - self.y_drag_end
crop_box = (int(crop_x_start), int(crop_y_start), int(crop_x_end), int(crop_y_end)) crop_box = (int(crop_x_start), int(crop_y_start), int(crop_x_end), int(crop_y_end))
self.map_image = self.map_image.crop(crop_box) self.map_image = self.map_image.crop(crop_box)
@@ -243,10 +246,16 @@ class RoverMapCoordinator(QtCore.QThread):
self.roll, self.pitch, self.yaw = transformations.euler_from_quaternion(quat) self.roll, self.pitch, self.yaw = transformations.euler_from_quaternion(quat)
self.last_heading = (self.euler_interpolator(self.yaw) + MappingSettings.DECLINATION_OFFSET) % 360 self.last_heading = (self.euler_interpolator(self.yaw) + MappingSettings.DECLINATION_OFFSET) % 360
def __mouse_released_event(self, event): def __mouse_released_event(self, _):
self.x_drag_start = -1 self.x_drag_start = -1
self.y_drag_start = -1 self.y_drag_start = -1
self.x_drag_end += self.x_drag
self.y_drag_end += self.y_drag
self.x_drag = 0
self.x_drag = 0
def __mouse_wheel_event(self, event): def __mouse_wheel_event(self, event):
# print "wheel:", event.angleDelta() # print "wheel:", event.angleDelta()