WimaController.cc

#include "WimaController.h"
#include "utilities.h"

#include "time.h"
#include "assert.h"


const char* WimaController::wimaFileExtension           = "wima";
const char* WimaController::areaItemsName               = "AreaItems";
const char* WimaController::missionItemsName            = "MissionItems";
const char* WimaController::settingsGroup               = "WimaController";
const char* WimaController::enableWimaControllerName    = "EnableWimaController";
const char* WimaController::overlapWaypointsName        = "OverlapWaypoints";
const char* WimaController::maxWaypointsPerPhaseName    = "MaxWaypointsPerPhase";
const char* WimaController::startWaypointIndexName      = "StartWaypointIndex";
const char* WimaController::showAllMissionItemsName     = "ShowAllMissionItems";
const char* WimaController::showCurrentMissionItemsName = "ShowCurrentMissionItems";
const char* WimaController::flightSpeedName             = "FlightSpeed";
const char* WimaController::arrivalReturnSpeedName      = "ArrivalReturnSpeed";
const char* WimaController::altitudeName                = "Altitude";
const char* WimaController::reverseName                 = "Reverse";
const char* WimaController::snakeTileWidthName          = "SnakeTileWidth";
const char* WimaController::snakeTileHeightName         = "SnakeTileHeight";
const char* WimaController::snakeMinTileAreaName        = "SnakeMinTileArea";
const char* WimaController::snakeLineDistanceName       = "SnakeLineDistance";
const char* WimaController::snakeMinTransectLengthName  = "SnakeMinTransectLength";

using namespace snake;
using namespace snake_geometry;

WimaController::WimaController(QObject *parent)
    : QObject                   (parent)
    , _container                (nullptr)
    , _joinedArea               (this)
    , _measurementArea          (this)
    , _serviceArea              (this)
    , _corridor                 (this)
    , _localPlanDataValid       (false)
    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/WimaController.SettingsGroup.json"), this))
    , _enableWimaController     (settingsGroup, _metaDataMap[enableWimaControllerName])
    , _overlapWaypoints         (settingsGroup, _metaDataMap[overlapWaypointsName])
    , _maxWaypointsPerPhase     (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
    , _nextPhaseStartWaypointIndex       (settingsGroup, _metaDataMap[startWaypointIndexName])
    , _showAllMissionItems      (settingsGroup, _metaDataMap[showAllMissionItemsName])
    , _showCurrentMissionItems  (settingsGroup, _metaDataMap[showCurrentMissionItemsName])    
    , _flightSpeed              (settingsGroup, _metaDataMap[flightSpeedName])
    , _arrivalReturnSpeed       (settingsGroup, _metaDataMap[arrivalReturnSpeedName])
    , _altitude                 (settingsGroup, _metaDataMap[altitudeName])
    , _reverse                  (settingsGroup, _metaDataMap[reverseName])
    , _endWaypointIndex         (0)
    , _startWaypointIndex       (0)
    , _uploadOverrideRequired   (false)
    , _measurementPathLength    (-1)
    , _arrivalPathLength        (-1)
    , _returnPathLength         (-1)
    , _phaseDistance            (-1)
    , _phaseDuration            (-1)
    , _phaseDistanceBuffer      (-1)
    , _phaseDurationBuffer      (-1)
    , _vehicleHasLowBattery         (false)
    , _lowBatteryHandlingTriggered  (false)
    , _executingSmartRTL            (false)
    , _snakeConnectionStatus    (SnakeConnectionStatus::Connected) // TODO: implement automatic connection
    , _snakeCalcInProgress      (false)
    , _scenarioDefinedBool      (false)
    , _snakeTileWidth           (settingsGroup, _metaDataMap[snakeTileWidthName])
    , _snakeTileHeight          (settingsGroup, _metaDataMap[snakeTileHeightName])
    , _snakeMinTileArea         (settingsGroup, _metaDataMap[snakeMinTileAreaName])
    , _snakeLineDistance        (settingsGroup, _metaDataMap[snakeLineDistanceName])
    , _snakeMinTransectLength   (settingsGroup, _metaDataMap[snakeMinTransectLengthName])
{
    _showAllMissionItems.setRawValue(true);
    _showCurrentMissionItems.setRawValue(true);
    connect(&_overlapWaypoints,             &Fact::rawValueChanged, this, &WimaController::_updateNextWaypoint);
    connect(&_maxWaypointsPerPhase,         &Fact::rawValueChanged, this, &WimaController::_recalcCurrentPhase);
    connect(&_nextPhaseStartWaypointIndex,  &Fact::rawValueChanged, this, &WimaController::_calcNextPhase);
    connect(&_flightSpeed,                  &Fact::rawValueChanged, this, &WimaController::_updateflightSpeed);
    connect(&_arrivalReturnSpeed,           &Fact::rawValueChanged, this, &WimaController::_updateArrivalReturnSpeed);
    connect(&_altitude,                     &Fact::rawValueChanged, this, &WimaController::_updateAltitude);
    connect(&_reverse,                      &Fact::rawValueChanged, this, &WimaController::_reverseChangedHandler);

    // setup low battery handling
    connect(&_eventTimer, &QTimer::timeout, this, &WimaController::_eventTimerHandler);
    _eventTimer.setInterval(EVENT_TIMER_INTERVAL);

    Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
    connect(enableLowBatteryHandling, &Fact::rawValueChanged, this, &WimaController::_enableDisableLowBatteryHandling);
    _enableDisableLowBatteryHandling(enableLowBatteryHandling->rawValue());

    // Snake Worker Thread.
    connect(&_snakeWorker, &SnakeWorker::resultReady, this, &WimaController::_snakeStoreWorkerResults);
}

QmlObjectListModel* WimaController::visualItems()
{
    return &_visualItems;
}

QStringList WimaController::loadNameFilters() const
{
    QStringList filters;

    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension) <<
               tr("All Files (*.*)");
    return filters;
}

QStringList WimaController::saveNameFilters() const
{
    QStringList filters;

    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension);
    return filters;
}

WimaDataContainer *WimaController::dataContainer()
{
    return _container;
}

QmlObjectListModel *WimaController::missionItems()
{
    return &_missionItems;
}

QmlObjectListModel *WimaController::currentMissionItems()
{
    return &_currentMissionItems;
}

QVariantList WimaController::waypointPath()
{
    return  _waypointPath;
}

QVariantList WimaController::currentWaypointPath()
{
    return _currentWaypointPath;
}

Fact *WimaController::enableWimaController()
{
    return &_enableWimaController;
}

Fact *WimaController::overlapWaypoints()
{
    return &_overlapWaypoints;
}

Fact *WimaController::maxWaypointsPerPhase()
{
    return &_maxWaypointsPerPhase;
}

Fact *WimaController::showAllMissionItems()
{
    return &_showAllMissionItems;
}

Fact *WimaController::showCurrentMissionItems()
{
    return &_showCurrentMissionItems;
}

Fact *WimaController::flightSpeed()
{
    return &_flightSpeed;
}

Fact *WimaController::arrivalReturnSpeed()
{
    return &_arrivalReturnSpeed;
}

Fact *WimaController::altitude()
{
    return &_altitude;
}

Fact *WimaController::reverse()
{
    return &_reverse;
}

Fact *WimaController::enableSnake()
{
    return &_enableSnake;
}

bool WimaController::uploadOverrideRequired() const
{
    return _uploadOverrideRequired;
}

double WimaController::phaseDistance() const
{
    return _phaseDistance;
}