From 46adaf3673ec34bfa0b98f1471234e1106305d5e Mon Sep 17 00:00:00 2001
From: Valentin Platzgummer <valentin.platzgummer@ymail.com>
Date: Fri, 25 Sep 2020 14:25:39 +0200
Subject: [PATCH] wima planer, wima controller edited
---
src/PlanView/CircularSurveyItemEditor.qml | 17 ++-
src/Wima/CSWorker.cpp | 22 ++--
src/Wima/CircularSurvey.h | 2 +-
src/Wima/Geometry/WimaServiceArea.cc | 14 ++-
src/Wima/Geometry/WimaServiceArea.h | 2 +-
src/Wima/Geometry/WimaServiceAreaData.cc | 122 +++++++--------------
src/Wima/Geometry/WimaServiceAreaData.h | 46 ++++----
src/Wima/WimaBridge.cc | 59 ++++------
src/Wima/WimaBridge.h | 44 ++++----
src/Wima/WimaController.cc | 8 +-
src/Wima/WimaController.h | 2 +-
src/Wima/WimaPlanData.cc | 127 ++++++++++------------
src/Wima/WimaPlanData.h | 59 +++++-----
src/Wima/WimaPlaner.cc | 49 ++++-----
src/Wima/WimaPlaner.h | 5 +-
src/WimaView/DragCoordinate.qml | 19 ++--
src/WimaView/WimaMapPolygonVisuals.qml | 54 ++++++---
src/WimaView/WimaServiceAreaMapVisual.qml | 60 ++++++----
src/WimaView/WimaToolBar.qml | 6 +-
src/WimaView/WimaView.qml | 2 +-
20 files changed, 348 insertions(+), 371 deletions(-)
diff --git a/src/PlanView/CircularSurveyItemEditor.qml b/src/PlanView/CircularSurveyItemEditor.qml
index f0c28fbdd8..3f238c1d70 100644
--- a/src/PlanView/CircularSurveyItemEditor.qml
+++ b/src/PlanView/CircularSurveyItemEditor.qml
@@ -174,23 +174,30 @@ Rectangle {
BusyIndicator{
id: indicator
anchors.horizontalCenter: parent.horizontalCenter
- running: missionItem.calculating
+ property bool calculating: missionItem.calculating
+ running: calculating
- onRunningChanged: {
- if(running){
+ onCalculatingChanged: {
+ if(calculating){
visible = true
} else {
timer.restart()
}
}
+ Component.onCompleted: {
+ if (calculating){
+ visible = true
+ }
+ }
+
Timer{
id: timer
- interval: 2000
+ interval: 1000
repeat: false
onTriggered: {
- if (indicator.running == false){
+ if (indicator.calculating == false){
indicator.visible = false
}
}
diff --git a/src/Wima/CSWorker.cpp b/src/Wima/CSWorker.cpp
index 69bcfe7e57..c0f416b0db 100644
--- a/src/Wima/CSWorker.cpp
+++ b/src/Wima/CSWorker.cpp
@@ -64,6 +64,9 @@ void CSWorker::update(const QGeoCoordinate &depot,
Lock lk(this->_mutex);
this->_depot = depot;
this->_safeArea = safeArea;
+ for (auto &v : this->_safeArea) {
+ v.setAltitude(0);
+ }
this->_polygon = polygon;
for (auto &v : this->_polygon) {
v.setAltitude(0);
@@ -96,6 +99,7 @@ void CSWorker::run() {
depot = this->_depot;
safeArea = this->_safeArea;
} else {
+ depot = this->_origin;
safeArea = this->_polygon;
}
const auto polygon = this->_polygon;
@@ -379,11 +383,11 @@ void CSWorker::run() {
} else {
// Find index of first waypoint.
std::size_t idxFirst = 0;
- const auto &info1 =
- this->_useDepotSafeArea ? transectsInfo[1] : transectsInfo[0];
- const auto &firstTransect = transectsENU[info1.index];
- const auto &firstWaypoint =
- info1.reversed ? firstTransect.back() : firstTransect.front();
+ const auto &infoFirst = transectsInfo.front();
+ const auto &firstTransect = transectsENU[infoFirst.index];
+ const auto &firstWaypoint = infoFirst.reversed
+ ? firstTransect.back()
+ : firstTransect.front();
double th = 0.001;
for (std::size_t i = 0; i < route.size(); ++i) {
auto dist = bg::distance(route[i], firstWaypoint);
@@ -393,11 +397,11 @@ void CSWorker::run() {
}
}
// Find index of last waypoint.
- std::size_t idxLast = 0;
- const auto &info = transectsInfo.back();
- const auto &lastTransect = transectsENU[info.index];
+ std::size_t idxLast = route.size() - 1;
+ const auto &infoLast = transectsInfo.back();
+ const auto &lastTransect = transectsENU[infoLast.index];
const auto &lastWaypoint =
- info.reversed ? lastTransect.front() : lastTransect.back();
+ infoLast.reversed ? lastTransect.front() : lastTransect.back();
for (long i = route.size() - 1; i >= 0; --i) {
auto dist = bg::distance(route[i], lastWaypoint);
if (dist < th) {
diff --git a/src/Wima/CircularSurvey.h b/src/Wima/CircularSurvey.h
index a092371878..8f5c5b41fa 100644
--- a/src/Wima/CircularSurvey.h
+++ b/src/Wima/CircularSurvey.h
@@ -29,7 +29,7 @@ public:
Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
- Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygon)
+ Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygonChanged)
Q_INVOKABLE void resetReference(void);
Q_INVOKABLE void reverse(void);
diff --git a/src/Wima/Geometry/WimaServiceArea.cc b/src/Wima/Geometry/WimaServiceArea.cc
index 0b72afeb1e..81ea30023c 100644
--- a/src/Wima/Geometry/WimaServiceArea.cc
+++ b/src/Wima/Geometry/WimaServiceArea.cc
@@ -20,11 +20,15 @@ WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
return *this;
}
-void WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
+bool WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
if (_depot != coordinate) {
- _depot = coordinate;
- emit depotChanged();
+ if (this->containsCoordinate(coordinate)) {
+ _depot = coordinate;
+ emit depotChanged();
+ return true;
+ }
}
+ return false;
}
void WimaServiceArea::saveToJson(QJsonObject &json) {
@@ -58,8 +62,8 @@ void print(const WimaServiceArea &area, QString &outputStr) {
void WimaServiceArea::init() {
this->setObjectName(wimaServiceAreaName);
- connect(this, &WimaServiceArea::centerChanged, [this] {
- if (!this->_depot.isValid()) {
+ connect(this, &WimaArea::pathChanged, [this] {
+ if (!this->_depot.isValid() || !this->containsCoordinate(this->_depot)) {
this->setDepot(this->center());
}
});
diff --git a/src/Wima/Geometry/WimaServiceArea.h b/src/Wima/Geometry/WimaServiceArea.h
index 76aae295f8..90358361f6 100644
--- a/src/Wima/Geometry/WimaServiceArea.h
+++ b/src/Wima/Geometry/WimaServiceArea.h
@@ -34,7 +34,7 @@ signals:
void depotChanged(void);
public slots:
- void setDepot(const QGeoCoordinate &coordinate);
+ bool setDepot(const QGeoCoordinate &coordinate);
private:
// Member Methodes
diff --git a/src/Wima/Geometry/WimaServiceAreaData.cc b/src/Wima/Geometry/WimaServiceAreaData.cc
index 70fc0dc489..718a4b095b 100644
--- a/src/Wima/Geometry/WimaServiceAreaData.cc
+++ b/src/Wima/Geometry/WimaServiceAreaData.cc
@@ -2,37 +2,33 @@
const char *WimaServiceAreaData::typeString = "WimaServiceAreaData";
-
WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
- : WimaAreaData(parent)
-{
+ : WimaAreaData(parent) {}
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other,
+ QObject *parent)
+ : WimaAreaData(parent) {
+ *this = other;
}
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other, QObject *parent)
- : WimaAreaData (parent)
-{
- *this = other;
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other,
+ QObject *parent)
+ : WimaAreaData(parent) {
+ *this = other;
}
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other, QObject *parent)
- : WimaAreaData (parent)
-{
- *this = other;
+WimaServiceAreaData &WimaServiceAreaData::
+operator=(const WimaServiceAreaData &otherData) {
+ this->assign(otherData);
+ this->setDepot(otherData.depot());
+ return *this;
}
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceAreaData &otherData)
-{
- this->assign(otherData);
-
- return *this;
-}
-
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &otherArea)
-{
- this->assign(otherArea);
-
- return *this;
+WimaServiceAreaData &WimaServiceAreaData::
+operator=(const WimaServiceArea &otherArea) {
+ this->assign(otherArea);
+ this->setDepot(otherArea.depot());
+ return *this;
}
/*!
@@ -40,77 +36,41 @@ WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &other
* Returns a constant reference to the takeOffPosition.
*
*/
-const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const
-{
- return _takeOffPosition;
-}
-
-/*!
- * \fn const QGeoCoordinate &WimaServiceAreaData::landOffPosition() const
- * Returns a constant reference to the landOffPosition.
- *
- */
-const QGeoCoordinate &WimaServiceAreaData::landPosition() const
-{
- return _landPosition;
-}
-
-QString WimaServiceAreaData::type() const
-{
- return this->typeString;
-}
-/*!
- * \fn void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate &newCoordinate)
- * Sets the takeoff position to the \a newCoordinate and emits the takeOffPositionChanged() signal,
- * if newCoordinate differs from the member value.
- *
- */
-void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate &newCoordinate)
-{
- if (_takeOffPosition != newCoordinate) {
- _takeOffPosition = newCoordinate;
-
- emit takeOffPositionChanged(_takeOffPosition);
- }
-}
+const QGeoCoordinate &WimaServiceAreaData::depot() const { return _depot; }
+QString WimaServiceAreaData::type() const { return this->typeString; }
/*!
- * \fn void WimaServiceAreaData::setLandOffPosition(const QGeoCoordinate &newCoordinate)
- * Sets the land position to the \a newCoordinate and emits the landOffPositionChanged() signal,
- * if newCoordinate differs from the member value.
+ * \fn void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate
+ * &newCoordinate) Sets the takeoff position to the \a newCoordinate and emits
+ * the takeOffPositionChanged() signal, if newCoordinate differs from the member
+ * value.
*
*/
-void WimaServiceAreaData::setLandPosition(const QGeoCoordinate &newCoordinate)
-{
- if (_landPosition != newCoordinate) {
- _landPosition = newCoordinate;
-
- emit landPositionChanged(_landPosition);
- }
+void WimaServiceAreaData::setDepot(const QGeoCoordinate &newCoordinate) {
+ if (_depot != newCoordinate) {
+ _depot = newCoordinate;
+ emit depotChanged(_depot);
+ }
}
-void WimaServiceAreaData::assign(const WimaServiceAreaData &other)
-{
- WimaAreaData::assign(other);
- setLandPosition(other.landPosition());
- setTakeOffPosition(other.takeOffPosition());
+void WimaServiceAreaData::assign(const WimaServiceAreaData &other) {
+ WimaAreaData::assign(other);
+ setDepot(other.depot());
}
-void WimaServiceAreaData::assign(const WimaServiceArea &other)
-{
- WimaAreaData::assign(other);
- setLandPosition(other.landPosition());
- setTakeOffPosition(other.depot());
+void WimaServiceAreaData::assign(const WimaServiceArea &other) {
+ WimaAreaData::assign(other);
+ setDepot(other.depot());
}
-
/*!
* \class WimaAreaData::WimaServiceAreaData
* \brief Class to store and exchange data of a \c WimaServiceArea Object.
- * Class to store and exchange data of a \c WimaServiceArea Object. In contrast to \c WimaServiceArea this class
- * does not provied any interface to a grafical user interface, neiter it uses the QGC Fact System.
- * It is designed to exchange data between the \c WimaPlaner and the \c WimaController class. And it
- * is the derived from WimaAreaData.
+ * Class to store and exchange data of a \c WimaServiceArea Object. In contrast
+ * to \c WimaServiceArea this class does not provied any interface to a grafical
+ * user interface, neiter it uses the QGC Fact System. It is designed to
+ * exchange data between the \c WimaPlaner and the \c WimaController class. And
+ * it is the derived from WimaAreaData.
*
* \sa WimaServiceArea, WimaAreaData
*/
diff --git a/src/Wima/Geometry/WimaServiceAreaData.h b/src/Wima/Geometry/WimaServiceAreaData.h
index 8bc06a14d1..7792bfb27e 100644
--- a/src/Wima/Geometry/WimaServiceAreaData.h
+++ b/src/Wima/Geometry/WimaServiceAreaData.h
@@ -1,45 +1,39 @@
#pragma once
-#include <QObject>
#include "QGeoCoordinate"
+#include <QObject>
#include "WimaAreaData.h"
#include "WimaServiceArea.h"
-
-
-class WimaServiceAreaData : public WimaAreaData
-{
- Q_OBJECT
+class WimaServiceAreaData : public WimaAreaData {
+ Q_OBJECT
public:
- WimaServiceAreaData(QObject *parent = nullptr);
- WimaServiceAreaData(const WimaServiceAreaData &other, QObject *parent = nullptr);
- WimaServiceAreaData(const WimaServiceArea &other, QObject *parent = nullptr);
- WimaServiceAreaData& operator=(const WimaServiceAreaData &otherData);
- WimaServiceAreaData& operator=(const WimaServiceArea &otherArea);
+ WimaServiceAreaData(QObject *parent = nullptr);
+ WimaServiceAreaData(const WimaServiceAreaData &other,
+ QObject *parent = nullptr);
+ WimaServiceAreaData(const WimaServiceArea &other, QObject *parent = nullptr);
+ WimaServiceAreaData &operator=(const WimaServiceAreaData &otherData);
+ WimaServiceAreaData &operator=(const WimaServiceArea &otherArea);
- const QGeoCoordinate &takeOffPosition() const;
- const QGeoCoordinate &landPosition() const;
+ const QGeoCoordinate &depot() const;
- QString type() const;
- WimaServiceAreaData *Clone() const {return new WimaServiceAreaData();}
- static const char* typeString;
+ QString type() const;
+ WimaServiceAreaData *Clone() const { return new WimaServiceAreaData(); }
+ static const char *typeString;
signals:
- void takeOffPositionChanged(const QGeoCoordinate& other);
- void landPositionChanged(const QGeoCoordinate& other);
+ void depotChanged(const QGeoCoordinate &other);
public slots:
- void setTakeOffPosition(const QGeoCoordinate& newCoordinate);
- void setLandPosition(const QGeoCoordinate& newCoordinate);
+ void setDepot(const QGeoCoordinate &newCoordinate);
protected:
- void assign(const WimaServiceAreaData &other);
- void assign(const WimaServiceArea &other);
+ void assign(const WimaServiceAreaData &other);
+ void assign(const WimaServiceArea &other);
+
private:
- // see WimaServieArea.h for explanation
- QGeoCoordinate _takeOffPosition;
- QGeoCoordinate _landPosition;
+ // see WimaServieArea.h for explanation
+ QGeoCoordinate _depot;
};
-
diff --git a/src/Wima/WimaBridge.cc b/src/Wima/WimaBridge.cc
index efc886f548..ef2be81335 100644
--- a/src/Wima/WimaBridge.cc
+++ b/src/Wima/WimaBridge.cc
@@ -1,54 +1,33 @@
#include "WimaBridge.h"
#include "WimaController.h"
-WimaBridge::WimaBridge(QObject *parent)
- : QObject (parent)
-{
+WimaBridge::WimaBridge(QObject *parent) : QObject(parent) {}
-}
+WimaController *WimaBridge::wimaController() { return _wimaController; }
-WimaController *WimaBridge::wimaController()
-{
- return _wimaController;
-}
+WimaPlaner *WimaBridge::wimaPlaner() { return _wimaPlaner; }
-WimaPlaner *WimaBridge::wimaPlaner()
-{
- return _wimaPlaner;
-}
-
-WimaBridge *WimaBridge::thisPointer()
-{
- return this;
-}
+WimaBridge *WimaBridge::thisPointer() { return this; }
-void WimaBridge::setWimaController(WimaController *controller)
-{
- if (_wimaController != controller){
- _wimaController = controller;
+void WimaBridge::setWimaController(WimaController *controller) {
+ if (_wimaController != controller) {
+ _wimaController = controller;
- emit wimaControllerChanged(_wimaController);
- }
+ emit wimaControllerChanged(_wimaController);
+ }
}
-void WimaBridge::setWimaPlaner(WimaPlaner *planer)
-{
- if (_wimaPlaner != planer){
- _wimaPlaner = planer;
-
- emit wimaPlanerChanged(_wimaPlaner);
- }
+void WimaBridge::setWimaPlaner(WimaPlaner *planer) {
+ if (_wimaPlaner != planer) {
+ _wimaPlaner = planer;
+ emit wimaPlanerChanged(_wimaPlaner);
+ }
}
-bool WimaBridge::setWimaPlanData(const WimaPlanData &planData)
-{
- if ( _wimaController != nullptr) {
- return _wimaController->setWimaPlanData(planData);
- }
- return false;
+bool WimaBridge::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
+ if (_wimaController != nullptr) {
+ return _wimaController->setWimaPlanData(planData);
+ }
+ return false;
}
-
-
-
-
diff --git a/src/Wima/WimaBridge.h b/src/Wima/WimaBridge.h
index 1615f1b716..1d411989f4 100644
--- a/src/Wima/WimaBridge.h
+++ b/src/Wima/WimaBridge.h
@@ -1,6 +1,7 @@
#pragma once
#include <QObject>
+#include <QSharedPointer>
#include "WimaPlanData.h"
@@ -11,38 +12,33 @@ class WimaPlaner;
//! \brief The WimaBridge class
//!
//! A bridge establishing a link between WimaController and WimaPlaner
-class WimaBridge : public QObject
-{
- Q_OBJECT
+class WimaBridge : public QObject {
+ Q_OBJECT
public:
- WimaBridge(QObject *parent = nullptr);
- WimaBridge(WimaBridge &other) = delete;
+ WimaBridge(QObject *parent = nullptr);
+ WimaBridge(WimaBridge &other) = delete;
- Q_PROPERTY(WimaPlaner *wimaPlaner
- READ wimaPlaner
- WRITE setWimaPlaner
- NOTIFY wimaPlanerChanged)
- Q_PROPERTY(WimaController *wimaController
- READ wimaController
- WRITE setWimaController
- NOTIFY wimaControllerChanged)
+ Q_PROPERTY(WimaPlaner *wimaPlaner READ wimaPlaner WRITE setWimaPlaner NOTIFY
+ wimaPlanerChanged)
+ Q_PROPERTY(WimaController *wimaController READ wimaController WRITE
+ setWimaController NOTIFY wimaControllerChanged)
- WimaController *wimaController();
- WimaPlaner *wimaPlaner();
+ WimaController *wimaController();
+ WimaPlaner *wimaPlaner();
- Q_INVOKABLE WimaBridge *thisPointer();
+ Q_INVOKABLE WimaBridge *thisPointer();
- void setWimaController (WimaController *controller);
- void setWimaPlaner (WimaPlaner *planer);
+ void setWimaController(WimaController *controller);
+ void setWimaPlaner(WimaPlaner *planer);
signals:
- void wimaControllerChanged (WimaController *controller);
- void wimaPlanerChanged (WimaPlaner *planer);
+ void wimaControllerChanged(WimaController *controller);
+ void wimaPlanerChanged(WimaPlaner *planer);
public slots:
- bool setWimaPlanData(const WimaPlanData &planData);
+ bool setWimaPlanData(QSharedPointer<WimaPlanData> planData);
+
private:
- WimaController *_wimaController;
- WimaPlaner *_wimaPlaner;
+ WimaController *_wimaController;
+ WimaPlaner *_wimaPlaner;
};
-
diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc
index d37041a33d..40fb142af2 100644
--- a/src/Wima/WimaController.cc
+++ b/src/Wima/WimaController.cc
@@ -353,7 +353,7 @@ bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
return retVal;
}
-bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
+bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
// reset visual items
_areas.clear();
_defaultWM.clear();
@@ -368,7 +368,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
_localPlanDataValid = false;
// extract list with WimaAreas
- QList<const WimaAreaData *> areaList = planData.areaList();
+ QList<const WimaAreaData *> areaList = planData->areaList();
int areaCounter = 0;
const int numAreas = 4; // extract only numAreas Areas, if there are more they
@@ -424,7 +424,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
emit visualItemsChanged();
// extract mission items
- QList<MissionItem> tempMissionItems = planData.missionItems();
+ QList<MissionItem> tempMissionItems = planData->missionItems();
if (tempMissionItems.size() < 1) {
qWarning("WimaController: Mission items from WimaPlaner empty!");
return false;
@@ -435,7 +435,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
}
_WMSettings.setHomePosition(QGeoCoordinate(
- _serviceArea.center().latitude(), _serviceArea.center().longitude(), 0));
+ _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
if (!_defaultWM.reset()) {
Q_ASSERT(false);
diff --git a/src/Wima/WimaController.h b/src/Wima/WimaController.h
index 35be27e6ac..0d71f70284 100644
--- a/src/Wima/WimaController.h
+++ b/src/Wima/WimaController.h
@@ -148,7 +148,7 @@ public:
// Property setters
void setMasterController(PlanMasterController *masterController);
void setMissionController(MissionController *missionController);
- bool setWimaPlanData(const WimaPlanData &planData);
+ bool setWimaPlanData(QSharedPointer<WimaPlanData> planData);
// Member Methodes
Q_INVOKABLE WimaController *thisPointer();
diff --git a/src/Wima/WimaPlanData.cc b/src/Wima/WimaPlanData.cc
index ab15fa6387..394c53c25c 100644
--- a/src/Wima/WimaPlanData.cc
+++ b/src/Wima/WimaPlanData.cc
@@ -1,15 +1,10 @@
#include "WimaPlanData.h"
-WimaPlanData::WimaPlanData(QObject *parent)
- : QObject (parent)
-{
-
-}
+WimaPlanData::WimaPlanData(QObject *parent) : QObject(parent) {}
WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
- : QObject (parent)
-{
- *this = other;
+ : QObject(parent) {
+ *this = other;
}
/*!
@@ -18,44 +13,41 @@ WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
* Copies the data area list of \a other to the calling \c WimaPlanData object.
* Returns a reference to the calling \c WimaPlanData object.
*/
-WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
-{
- // copy wima areas
- QList<const WimaAreaData*> areaList = other.areaList();
- _areaList.clear();
- for (int i = 0; i < areaList.size(); i++) {
- const WimaAreaData *areaData = areaList[i];
- // determine area type and append
- if (areaData->type() == WimaJoinedAreaData::typeString) {
- this->append(*qobject_cast<const WimaJoinedAreaData*>(areaData));
- }else if (areaData->type() == WimaServiceAreaData::typeString) {
- this->append(*qobject_cast<const WimaServiceAreaData*>(areaData));
- }else if (areaData->type() == WimaMeasurementAreaData::typeString) {
- this->append(*qobject_cast<const WimaMeasurementAreaData*>(areaData));
- }else if (areaData->type() == WimaCorridorData::typeString) {
- this->append(*qobject_cast<const WimaCorridorData*>(areaData));
- }
+WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
+ // copy wima areas
+ QList<const WimaAreaData *> areaList = other.areaList();
+ _areaList.clear();
+ for (int i = 0; i < areaList.size(); i++) {
+ const WimaAreaData *areaData = areaList[i];
+ // determine area type and append
+ if (areaData->type() == WimaJoinedAreaData::typeString) {
+ this->append(*qobject_cast<const WimaJoinedAreaData *>(areaData));
+ } else if (areaData->type() == WimaServiceAreaData::typeString) {
+ this->append(*qobject_cast<const WimaServiceAreaData *>(areaData));
+ } else if (areaData->type() == WimaMeasurementAreaData::typeString) {
+ this->append(*qobject_cast<const WimaMeasurementAreaData *>(areaData));
+ } else if (areaData->type() == WimaCorridorData::typeString) {
+ this->append(*qobject_cast<const WimaCorridorData *>(areaData));
}
+ }
- // copy mission items
- _missionItems = other.missionItems();
+ // copy mission items
+ _missionItems = other.missionItems();
- return *this;
+ return *this;
}
-
/*!
* \fn void WimaPlanData::append(const WimaAreaData &areaData)
*
* Adds a WimaAreaData item.
*/
-void WimaPlanData::append(const WimaJoinedAreaData &areaData)
-{
- _joinedArea = areaData;
+void WimaPlanData::append(const WimaJoinedAreaData &areaData) {
+ _joinedArea = areaData;
- if( !_areaList.contains(&_joinedArea) ) {
- _areaList.append(&_joinedArea);
- }
+ if (!_areaList.contains(&_joinedArea)) {
+ _areaList.append(&_joinedArea);
+ }
}
/*!
@@ -63,13 +55,12 @@ void WimaPlanData::append(const WimaJoinedAreaData &areaData)
*
* Adds a WimaServiceAreaData item.
*/
-void WimaPlanData::append(const WimaServiceAreaData &areaData)
-{
- _serviceArea = areaData;
+void WimaPlanData::append(const WimaServiceAreaData &areaData) {
+ _serviceArea = areaData;
- if( !_areaList.contains(&_serviceArea) ) {
- _areaList.append(&_serviceArea);
- }
+ if (!_areaList.contains(&_serviceArea)) {
+ _areaList.append(&_serviceArea);
+ }
}
/*!
@@ -77,13 +68,12 @@ void WimaPlanData::append(const WimaServiceAreaData &areaData)
*
* Adds a WimaCorridorData item.
*/
-void WimaPlanData::append(const WimaCorridorData &areaData)
-{
- _corridor = areaData;
+void WimaPlanData::append(const WimaCorridorData &areaData) {
+ _corridor = areaData;
- if( !_areaList.contains(&_corridor) ) {
- _areaList.append(&_corridor);
- }
+ if (!_areaList.contains(&_corridor)) {
+ _areaList.append(&_corridor);
+ }
}
/*!
@@ -91,21 +81,19 @@ void WimaPlanData::append(const WimaCorridorData &areaData)
*
* Adds a WimaMeasurementAreaData item.
*/
-void WimaPlanData::append(const WimaMeasurementAreaData &areaData)
-{
- _measurementArea = areaData;
+void WimaPlanData::append(const WimaMeasurementAreaData &areaData) {
+ _measurementArea = areaData;
- if( !_areaList.contains(&_measurementArea) ) {
- _areaList.append(&_measurementArea);
- }
+ if (!_areaList.contains(&_measurementArea)) {
+ _areaList.append(&_measurementArea);
+ }
}
-void WimaPlanData::append(const QList<MissionItem *> &missionItems)
-{
- for (MissionItem *item : missionItems) {
- MissionItem copy = MissionItem(*item, this);
- _missionItems.append(copy);
- }
+void WimaPlanData::append(const QList<MissionItem *> &missionItems) {
+ for (auto *item : missionItems) {
+ item->setParent(this);
+ _missionItems.append(item);
+ }
}
/*!
@@ -113,20 +101,17 @@ void WimaPlanData::append(const QList<MissionItem *> &missionItems)
*
* Clears all stored objects
*/
-void WimaPlanData::clear()
-{
- _areaList.clear();
- _missionItems.clear();
+void WimaPlanData::clear() {
+ _areaList.clear();
+ _missionItems.clear();
}
-QList<const WimaAreaData *> WimaPlanData::areaList() const
-{
- return _areaList;
+const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
+ return _areaList;
}
-QList<MissionItem> WimaPlanData::missionItems() const
-{
- return _missionItems;
+const QList<MissionItem> &WimaPlanData::missionItems() const {
+ return _missionItems;
}
/*!
@@ -135,8 +120,8 @@ QList<MissionItem> WimaPlanData::missionItems() const
*
* This class is designed to store data generated by the \c WimaPlaner class and
* meant for data exchange between the \c WimaController and the \c WimaPlanner.
- * It stores a QList of \c WimaAreaData objects, called area data list, containing the data of serveral \c WimaAreas
- * generated by the \c WimaPlaner.
+ * It stores a QList of \c WimaAreaData objects, called area data list,
+ * containing the data of serveral \c WimaAreas generated by the \c WimaPlaner.
*
* \sa QList
*/
diff --git a/src/Wima/WimaPlanData.h b/src/Wima/WimaPlanData.h
index 0f98ca2c1f..221267e034 100644
--- a/src/Wima/WimaPlanData.h
+++ b/src/Wima/WimaPlanData.h
@@ -3,45 +3,46 @@
#include <QObject>
#include "Geometry/WimaAreaData.h"
-#include "Geometry/WimaServiceAreaData.h"
#include "Geometry/WimaCorridorData.h"
-#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaJoinedAreaData.h"
+#include "Geometry/WimaMeasurementAreaData.h"
+#include "Geometry/WimaServiceAreaData.h"
#include "MissionItem.h"
-class WimaPlanData : QObject
-{
- Q_OBJECT
+class WimaPlanData : public QObject {
+ Q_OBJECT
public:
- WimaPlanData(QObject *parent = nullptr);
- WimaPlanData(const WimaPlanData &other, QObject *parent = nullptr);
- WimaPlanData& operator=(const WimaPlanData &other);
-
- // Member Methodes
- void append(const WimaJoinedAreaData &areaData);
- void append(const WimaServiceAreaData &areaData);
- void append(const WimaCorridorData &areaData);
- void append(const WimaMeasurementAreaData &areaData);
- void append(const QList<MissionItem *> &missionItems);
- void clear();
-
- QList<const WimaAreaData *> areaList() const;
- QList<MissionItem> missionItems() const;
-
-
+ WimaPlanData(QObject *parent = nullptr);
+ WimaPlanData(const WimaPlanData &other, QObject *parent = nullptr);
+ WimaPlanData &operator=(const WimaPlanData &other);
+
+ // Member Methodes
+ void append(const WimaJoinedAreaData &areaData);
+ void append(const WimaServiceAreaData &areaData);
+ void append(const WimaCorridorData &areaData);
+ void append(const WimaMeasurementAreaData &areaData);
+ //!
+ //! \brief append
+ //! \param missionItems
+ //! \note Takes owenership of MissionItems*
+ void append(const QList<MissionItem *> &missionItems);
+ void clear();
+
+ const QList<const WimaAreaData *> &areaList() const;
+ const QList<MissionItem> &missionItems() const;
signals:
- void areaListChanged();
+ void areaListChanged();
private:
- void _clearAndDeleteMissionItems();
+ void _clearAndDeleteMissionItems();
private:
- WimaJoinedAreaData _joinedArea;
- WimaServiceAreaData _serviceArea;
- WimaCorridorData _corridor;
- WimaMeasurementAreaData _measurementArea;
- QList<const WimaAreaData*> _areaList;
+ WimaJoinedAreaData _joinedArea;
+ WimaServiceAreaData _serviceArea;
+ WimaCorridorData _corridor;
+ WimaMeasurementAreaData _measurementArea;
+ QList<const WimaAreaData *> _areaList;
- QList<MissionItem> _missionItems;
+ QList<MissionItem> _missionItems;
};
diff --git a/src/Wima/WimaPlaner.cc b/src/Wima/WimaPlaner.cc
index 1eb94b3783..e0a5cbe789 100644
--- a/src/Wima/WimaPlaner.cc
+++ b/src/Wima/WimaPlaner.cc
@@ -25,7 +25,7 @@ WimaPlaner::WimaPlaner(QObject *parent)
_currentAreaIndex(-1), _wimaBridge(nullptr), _mAreaChanged(true),
_sAreaChanged(true), _corridorChanged(true), _joinedArea(this),
_arrivalPathLength(0), _returnPathLength(0), _TSComplexItem(nullptr),
- _surveyChanged(true), _synchronized(false) {
+ _surveyChanged(true), _synchronized(false), _needsUpdate(true) {
connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
&WimaPlaner::updatePolygonInteractivity);
@@ -37,6 +37,10 @@ WimaPlaner::WimaPlaner(QObject *parent)
this->_sAreaChanged = true;
this->setNeedsUpdate(true);
});
+ connect(&this->_serviceArea, &WimaServiceArea::depotChanged, [this] {
+ this->_sAreaChanged = true;
+ this->setNeedsUpdate(true);
+ });
connect(&this->_corridor, &WimaArea::pathChanged, [this] {
this->_corridorChanged = true;
this->setNeedsUpdate(true);
@@ -255,6 +259,11 @@ bool WimaPlaner::update() {
return false;
}
+ if (!_serviceArea.containsCoordinate(_serviceArea.depot())) {
+ qgcApp()->showMessage(tr("Depot not inside service area."));
+ return false;
+ }
+
// Join areas.
bool jAreaChanged =
this->_mAreaChanged || this->_sAreaChanged || this->_corridorChanged;
@@ -426,9 +435,9 @@ bool WimaPlaner::update() {
return false;
}
this->_surveyChanged = false;
+ setNeedsUpdate(false);
}
- setNeedsUpdate(false);
return true;
}
void WimaPlaner::saveToCurrent() { saveToFile(_currentFile); }
@@ -655,11 +664,11 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
}
}
-void WimaPlaner::pushToWimaController() {
+void WimaPlaner::synchronize() {
if (_wimaBridge != nullptr) {
- if (!_needsUpdate)
+ if (_needsUpdate)
return;
- WimaPlanData planData = toPlanData();
+ auto planData = toPlanData();
(void)_wimaBridge->setWimaPlanData(planData);
this->_synchronized = true;
emit synchronizedChanged();
@@ -718,30 +727,20 @@ void WimaPlaner::setInteractive() {
*
* \sa WimaController, WimaPlanData
*/
-WimaPlanData WimaPlaner::toPlanData() {
- WimaPlanData planData;
+QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
+ QSharedPointer<WimaPlanData> planData(new WimaPlanData());
// store areas
- planData.append(WimaMeasurementAreaData(_measurementArea));
- planData.append(WimaServiceAreaData(_serviceArea));
- planData.append(WimaCorridorData(_corridor));
- planData.append(WimaJoinedAreaData(_joinedArea));
+ planData->append(WimaMeasurementAreaData(_measurementArea));
+ planData->append(WimaServiceAreaData(_serviceArea));
+ planData->append(WimaCorridorData(_corridor));
+ planData->append(WimaJoinedAreaData(_joinedArea));
// convert mission items to mavlink commands
- QObject deleteObject; // used to automatically delete content of
- // rgMissionItems after this function call
- QList<MissionItem *> rgMissionItems;
- QmlObjectListModel *visualItems = _missionController->visualItems();
- QmlObjectListModel visualItemsToCopy;
- for (unsigned long i = _arrivalPathLength + 1;
- i < visualItems->count() - _returnPathLength; i++)
- visualItemsToCopy.append(visualItems->get(i));
- MissionController::convertToMissionItems(&visualItemsToCopy, rgMissionItems,
- &deleteObject);
-
+ QList<MissionItem *> missionItems;
+ _TSComplexItem->appendMissionItems(missionItems, nullptr);
// store mavlink commands
- planData.append(rgMissionItems);
-
+ planData->append(missionItems);
return planData;
}
@@ -749,7 +748,7 @@ WimaPlanData WimaPlaner::toPlanData() {
void WimaPlaner::autoLoadMission() {
loadFromFile("/home/valentin/Desktop/drones/qgroundcontrol/Paths/"
"KlingenbachTest.wima");
- pushToWimaController();
+ synchronize();
}
#endif
diff --git a/src/Wima/WimaPlaner.h b/src/Wima/WimaPlaner.h
index 871479bbbb..7a1f2226e9 100644
--- a/src/Wima/WimaPlaner.h
+++ b/src/Wima/WimaPlaner.h
@@ -2,6 +2,7 @@
#include "QmlObjectListModel.h"
#include <QObject>
+#include <QSharedPointer>
#include "Geometry/WimaCorridor.h"
#include "Geometry/WimaCorridorData.h"
@@ -82,7 +83,7 @@ public:
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool update();
/// Pushes the generated mission data to the wimaController.
- Q_INVOKABLE void pushToWimaController();
+ Q_INVOKABLE void synchronize();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString &filename);
Q_INVOKABLE bool loadFromCurrent();
@@ -118,7 +119,7 @@ signals:
private:
// Member Functions
- WimaPlanData toPlanData();
+ QSharedPointer<WimaPlanData> toPlanData();
bool shortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
diff --git a/src/WimaView/DragCoordinate.qml b/src/WimaView/DragCoordinate.qml
index 7d64617831..0d9b95694f 100644
--- a/src/WimaView/DragCoordinate.qml
+++ b/src/WimaView/DragCoordinate.qml
@@ -27,16 +27,17 @@ Item {
property var coordinate
property int sequenceNumber
property bool checked
+ property string label: "Reference"
property var _itemVisual
property bool _itemVisualShowing: false
property var _dragArea
property bool _dragAreaShowing: false
- signal clicked(int sequenceNumber)
- signal released(int sequenceNumber)
- signal entered(int sequenceNumber)
- signal exited(int sequenceNumber)
+ signal clicked()
+ signal released()
+ signal entered()
+ signal exited()
signal dragStart()
signal dragStop()
@@ -114,16 +115,16 @@ Item {
id: indicatorComponent
CoordinateIndicator {
- label: "Reference"
+ label: _root.label
checked: _root.checked
z: QGroundControl.zOrderMapItems
sequenceNumber: _root.sequenceNumber
coordinate: _root.coordinate
- onClicked: _root.clicked(_missionItem.sequenceNumber)
- onReleased: _root.released(_missionItem.sequenceNumber)
- onEntered: _root.entered(_missionItem.sequenceNumber)
- onExited: _root.exited(_missionItem.sequenceNumber)
+ onClicked: _root.clicked()
+ onReleased: _root.released()
+ onEntered: _root.entered()
+ onExited: _root.exited()
}
}
}
diff --git a/src/WimaView/WimaMapPolygonVisuals.qml b/src/WimaView/WimaMapPolygonVisuals.qml
index 8ef4264f8f..6003de122a 100644
--- a/src/WimaView/WimaMapPolygonVisuals.qml
+++ b/src/WimaView/WimaMapPolygonVisuals.qml
@@ -42,6 +42,8 @@ Item {
property bool _circle: false
property real _circleRadius
property bool _editCircleRadius: false
+ property bool _handelsVisible: false // state tracker
+ property bool _polygonVisible: false // state tracker
property real _zorderDragHandle: QGroundControl.zOrderMapItems + 3 // Highest to prevent splitting when items overlap
property real _zorderSplitHandle: QGroundControl.zOrderMapItems + 2
@@ -49,19 +51,28 @@ Item {
signal dragStop // triggered if node or center handle was stopped dragging
- function addVisuals() {
- _polygonComponent = polygonComponent.createObject(mapControl)
- mapControl.addMapItem(_polygonComponent)
+ function addPolygon() {
+ if (!_polygonComponent){
+ _polygonComponent = polygonComponent.createObject(mapControl)
+ mapControl.addMapItem(_polygonComponent)
+ }
}
- function removeVisuals() {
- _polygonComponent.destroy()
+ function removePolygon() {
+ if (_polygonComponent){
+ _polygonComponent.destroy()
+ _polygonComponent = undefined
+ }
}
function addHandles() {
if (!_dragHandlesComponent) {
_dragHandlesComponent = dragHandlesComponent.createObject(mapControl)
+ }
+ if (!_splitHandlesComponent) {
_splitHandlesComponent = splitHandlesComponent.createObject(mapControl)
+ }
+ if (!_centerDragHandleComponent) {
_centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
}
}
@@ -153,27 +164,38 @@ Item {
setCircleRadius(center, radius)
}
+
+ function updateVisibility(){
+ if (visible){
+ addPolygon()
+ if(interactive){
+ addHandles()
+ }else{
+ removeHandles()
+ }
+ } else {
+ removeHandles()
+ removePolygon()
+ }
+ }
+
onInteractiveChanged: {
- if (interactive) {
- addHandles()
- } else {
- removeHandles()
- }
+ updateVisibility()
+ }
+
+ onVisibleChanged: {
+ updateVisibility()
}
Component.onCompleted: {
if(initPolygon){
addInitialPolygon()
}
-
- addVisuals()
- if (interactive) {
- addHandles()
- }
+ updateVisibility()
}
Component.onDestruction: {
- removeVisuals()
+ removePolygon()
removeHandles()
}
diff --git a/src/WimaView/WimaServiceAreaMapVisual.qml b/src/WimaView/WimaServiceAreaMapVisual.qml
index 2751a63a4c..d0a3f27562 100644
--- a/src/WimaView/WimaServiceAreaMapVisual.qml
+++ b/src/WimaView/WimaServiceAreaMapVisual.qml
@@ -18,7 +18,6 @@ import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
-/// Wima Global Measurement Area visuals
Item {
id: _root
@@ -27,9 +26,37 @@ Item {
property var areaItem: object
property var _polygon: areaItem
+ property var _depot
+ property bool showDepot: areaItem.interactive || areaItem.borderPolygon.interactive
+ property bool _depotVisible: false
+
+ onShowDepotChanged: {
+ if (showDepot){
+ if (!_depotVisible){
+ _addDepot()
+ }
+ } else {
+ if (_depotVisible){
+ _destroyDepot()
+ }
+ }
+ }
signal clicked(int sequenceNumber)
+ function _addDepot() {
+ _depot = depotPointComponent.createObject(map)
+ map.addMapItem(_depot)
+ _depotVisible = true
+ }
+
+ function _destroyDepot() {
+ if (_depot){
+ _depot.destroy()
+ }
+ _depotVisible = false
+ }
+
/// Add an initial 4 sided polygon if there is none
function _addInitialPolygon() {
@@ -73,18 +100,17 @@ Item {
_polygon.appendVertex(bottomLeftCoord)
}
}
-
-
}
-
-
Component.onCompleted: {
_addInitialPolygon()
- //_addInitialPolyline()
+ if (interactive){
+ _addDepot()
+ }
}
Component.onDestruction: {
+ _destroyDepot()
}
WimaMapPolygonVisuals {
@@ -107,28 +133,24 @@ Item {
interiorOpacity: 1
}
-
// Depot Point.
Component {
id: depotPointComponent
-
DragCoordinate {
+ property var depot: areaItem.depot
+
map: _root.map
qgcView: _root.qgcView
z: QGroundControl.zOrderMapItems
- checked: areaItem.interactive
- coordinate: areaItem.depot
-
- property var point: areaItem.depot
-
- onRefPointChanged: {
- if (point !== coordinate) {
- coordinate = point
- }
- }
+ checked: showDepot
+ coordinate: depot
+ label: "Depot"
onDragReleased: {
- areaItem.depot = coordinate
+ if (areaItem.containsCoordinate(coordinate)){
+ areaItem.depot = coordinate
+ }
+ coordinate = Qt.binding(function() { return areaItem.depot; })
}
}
}
diff --git a/src/WimaView/WimaToolBar.qml b/src/WimaView/WimaToolBar.qml
index deef9318e7..e6b2602ed3 100644
--- a/src/WimaView/WimaToolBar.qml
+++ b/src/WimaView/WimaToolBar.qml
@@ -290,7 +290,7 @@ Rectangle {
onClicked: {
if (wimaPlaner){
if (!wimaPlaner.needsUpdate) {
- wimaPlaner.pushToWimaController()
+ wimaPlaner.synchronize()
} else {
wimaPlaner.update()
}
@@ -302,7 +302,9 @@ Rectangle {
from: 0.5
to: 1
loops: Animation.Infinite
- running: wimaPlaner ? wimaPlaner.needsUpdate : false
+ running: wimaPlaner ? wimaPlaner.needsUpdate ||
+ (!wimaPlaner.needsUpdate && !wimaPlaner.synchronized)
+ : false
alwaysRunToEnd: true
duration: 2000
}
diff --git a/src/WimaView/WimaView.qml b/src/WimaView/WimaView.qml
index 67cfd86a49..2e68abb4c2 100644
--- a/src/WimaView/WimaView.qml
+++ b/src/WimaView/WimaView.qml
@@ -592,7 +592,7 @@ QGCView {
// Add lines between waypoints
MissionLineView {
- model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
+ model: _editingLayer == _layerMission ? _missionController.waypointLines : []
}
//Add Wima Visuals
--
GitLab