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Commit 748f1dd9 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1853 from DonLakeFlyer/MissionEdit 

More mission editing work
parents c6aff9f4 2ca5bd84
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src/FactSystem/Fact.h
View file @ 748f1dd9
......@@ -92,6 +92,9 @@ public:
void _containerSetValue(const QVariant& value);
/// Generally you should not change the name of a fact. But if you know what you are doing, you can.
void _setName(const QString& name) { _name = name; }
signals:
/// QObject Property System signal for value property changes
///
......
src/MissionItem.cc
View file @ 748f1dd9
......@@ -38,7 +38,7 @@ const MissionItem::MavCmd2Name_t MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
{ MAV_CMD_NAV_WAYPOINT, "Waypoint" },
{ MAV_CMD_NAV_LOITER_UNLIM, "Loiter" },
{ MAV_CMD_NAV_LOITER_TURNS, "Loiter (turns)" },
{ MAV_CMD_NAV_LOITER_TIME, "Loiter (unlimited)" },
{ MAV_CMD_NAV_LOITER_TIME, "Loiter (seconds)" },
{ MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" },
{ MAV_CMD_NAV_LAND, "Land" },
{ MAV_CMD_NAV_TAKEOFF, "Takeoff" },
......@@ -60,7 +60,7 @@ MissionItem::MissionItem(QObject* parent,
: QObject(parent)
, _sequenceNumber(sequenceNumber)
, _coordinate(coordinate)
, _yaw(param4)
, _yawRadians(param4)
, _frame(frame)
, _action(action)
, _autocontinue(autocontinue)
......@@ -69,8 +69,50 @@ MissionItem::MissionItem(QObject* parent,
, _param1(param1)
, _param2(param2)
, _reachedTime(0)
, _yawFact(NULL)
{
_yawFact = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
_pitchFact = new Fact(0, "Pitch:", FactMetaData::valueTypeDouble, this);
_loiterRadiusFact = new Fact(0, "Radius:", FactMetaData::valueTypeDouble, this);
_param1Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_param2Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
// FIXME: Need to fill out more meta data
_yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_yawMetaData->setUnits("degrees");
_pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_pitchMetaData->setUnits("degrees");
_acceptanceRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_acceptanceRadiusMetaData->setUnits("meters");
_holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_holdTimeMetaData->setUnits("seconds");
_loiterRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_loiterRadiusMetaData->setUnits("meters");
_loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_loiterTurnsMetaData->setUnits("count");
_loiterSecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_loiterSecondsMetaData->setUnits("seconds");
_delaySecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_delaySecondsMetaData->setUnits("seconds");
_jumpSequenceMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpSequenceMetaData->setUnits("#");
_jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpRepeatMetaData->setUnits("count");
_yawFact->setMetaData(_yawMetaData);
_pitchFact->setMetaData(_pitchMetaData);
_loiterRadiusFact->setMetaData(_loiterRadiusMetaData);
}
MissionItem::MissionItem(const MissionItem& other)
......@@ -88,7 +130,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
_sequenceNumber = other._sequenceNumber;
_isCurrentItem = other._isCurrentItem;
_coordinate = other._coordinate;
_yaw = other._yaw;
_yawRadians = other._yawRadians;
_frame = other._frame;
_action = other._action;
_autocontinue = other._autocontinue;
......@@ -112,7 +154,7 @@ void MissionItem::save(QTextStream &saveStream)
position = position.arg(y(), 0, 'g', 18);
position = position.arg(z(), 0, 'g', 18);
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yaw, 0, 'g', 18);
parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yawRadians, 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
......@@ -129,7 +171,7 @@ bool MissionItem::load(QTextStream &loadStream)
_param1 = wpParams[4].toDouble();
_param2 = wpParams[5].toDouble();
_orbit = wpParams[6].toDouble();
setYaw(wpParams[7].toDouble());
setYawRadians(wpParams[7].toDouble());
setLatitude(wpParams[8].toDouble());
setLongitude(wpParams[9].toDouble());
setAltitude(wpParams[10].toDouble());
......@@ -202,17 +244,6 @@ void MissionItem::setAltitude(double altitude)
}
}
void MissionItem::setYaw(double yaw)
{
if (_yaw != yaw)
{
_yaw = yaw;
emit yawChanged(yaw);
emit changed(this);
emit valueStringsChanged(valueStrings());
}
}
void MissionItem::setAction(int /*MAV_CMD*/ action)
{
if (_action != action) {
......@@ -301,8 +332,8 @@ void MissionItem::setParam3(double param3)
void MissionItem::setParam4(double param4)
{
if (_yaw != param4) {
_yaw = param4;
if (_yawRadians != param4) {
_yawRadians = param4;
emit changed(this);
emit valueStringsChanged(valueStrings());
}
......@@ -362,15 +393,6 @@ void MissionItem::setHoldTime(double holdTime)
}
}
void MissionItem::setTurns(int turns)
{
if (_param1 != turns) {
_param1 = turns;
emit changed(this);
emit valueStringsChanged(valueStrings());
}
}
bool MissionItem::specifiesCoordinate(void) const
{
switch (_action) {
......@@ -486,24 +508,24 @@ QStringList MissionItem::valueStrings(void)
switch (_action) {
case MAV_CMD_NAV_WAYPOINT:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
break;
case MAV_CMD_NAV_LOITER_UNLIM:
list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit);
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit);
break;
case MAV_CMD_NAV_LOITER_TURNS:
list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_turns);
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
break;
case MAV_CMD_NAV_LOITER_TIME:
list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI));
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI));
break;
case MAV_CMD_NAV_TAKEOFF:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1);
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param1);
break;
case MAV_CMD_CONDITION_DELAY:
list << _oneDecimalString(_param1);
......@@ -555,3 +577,90 @@ void MissionItem::setCommandByIndex(int index)
setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
}
QmlObjectListModel* MissionItem::facts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
switch (_action) {
case MAV_CMD_NAV_WAYPOINT:
_param2Fact->_setName("Radius:");
_param2Fact->setMetaData(_acceptanceRadiusMetaData);
_param1Fact->_setName("Hold:");
_param1Fact->setMetaData(_holdTimeMetaData);
model->append(_yawFact);
model->append(_param2Fact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_yawFact);
model->append(_loiterRadiusFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
_param1Fact->_setName("Turns:");
_param1Fact->setMetaData(_loiterTurnsMetaData);
model->append(_yawFact);
model->append(_loiterRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_TIME:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_loiterSecondsMetaData);
model->append(_yawFact);
model->append(_loiterRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
model->append(_yawFact);
break;
case MAV_CMD_NAV_TAKEOFF:
model->append(_yawFact);
model->append(_pitchFact);
break;
case MAV_CMD_CONDITION_DELAY:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_delaySecondsMetaData);
model->append(_param1Fact);
break;
case MAV_CMD_DO_JUMP:
_param1Fact->_setName("Seq #:");
_param1Fact->setMetaData(_jumpSequenceMetaData);
_param2Fact->_setName("Repeat:");
_param2Fact->setMetaData(_jumpRepeatMetaData);
model->append(_param1Fact);
model->append(_param2Fact);
break;
}
return model;
}
double MissionItem::yawRadians(void) const
{
return _yawRadians;
}
void MissionItem::setYawRadians(double yaw)
{
if (_yawRadians != yaw)
{
_yawRadians = yaw;
emit yawChanged(yaw);
emit changed(this);
emit valueStringsChanged(valueStrings());
}
}
double MissionItem::yawDegrees(void) const
{
return _yawRadians * (180.0 / M_PI);
}
void MissionItem::setYawDegrees(double yaw)
{
setYawRadians(yaw * (M_PI / 180.0));
}
src/MissionItem.h
View file @ 748f1dd9
......@@ -33,6 +33,8 @@
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MavlinkQmlSingleton.h"
#include "QmlObjectListModel.h"
#include "Fact.h"
class MissionItem : public QObject
{
......@@ -56,17 +58,18 @@ public:
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(double yaw READ yaw WRITE setYaw NOTIFY yawChanged)
Q_PROPERTY(QStringList commandNames READ commandNames CONSTANT)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
Q_PROPERTY(int commandByIndex READ commandByIndex WRITE setCommandByIndex NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(double yaw READ yawDegrees WRITE setYawDegrees NOTIFY yawChanged)
Q_PROPERTY(QStringList commandNames READ commandNames CONSTANT)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
Q_PROPERTY(int commandByIndex READ commandByIndex WRITE setCommandByIndex NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* facts READ facts NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
// Property accesors
......@@ -93,6 +96,11 @@ public:
QStringList valueLabels(void);
QStringList valueStrings(void);
QmlObjectListModel* facts(void);
double yawDegrees(void) const;
void setYawDegrees(double yaw);
// C++ only methods
double latitude(void) const { return _coordinate.latitude(); }
......@@ -111,8 +119,8 @@ public:
void setY(double y);
void setZ(double z);
double yaw(void) const { return _yaw; }
void setYaw(double yaw);
double yawRadians(void) const;
void setYawRadians(double yaw);
bool getAutoContinue() const {
return _autocontinue;
......@@ -136,7 +144,7 @@ public:
return _orbit;
}
double getParam4() const {
return yaw();
return yawRadians();
}
double getParam5() const {
return latitude();
......@@ -147,9 +155,6 @@ public:
double getParam7() const {
return altitude();
}
int getTurns() const {
return _param1;
}
// MAV_FRAME
int getFrame() const {
return _frame;
......@@ -201,8 +206,6 @@ public:
void setAcceptanceRadius(double radius);
void setHoldTime (int holdTime);
void setHoldTime (double holdTime);
/** @brief Number of turns for loiter waypoints */
void setTurns (int _turns);
/** @brief Set waypoint as reached */
void setReached () { _reachedTime = QGC::groundTimeMilliseconds(); }
/** @brief Wether this waypoint has been reached yet */
......@@ -223,7 +226,7 @@ private:
int _sequenceNumber;
QGeoCoordinate _coordinate;
double _yaw;
double _yawRadians;
int _frame;
int _action;
bool _autocontinue;
......@@ -231,9 +234,25 @@ private:
double _orbit;
double _param1;
double _param2;
int _turns;
quint64 _reachedTime;
Fact* _yawFact;
Fact* _pitchFact;
Fact* _loiterRadiusFact;
Fact* _param1Fact;
Fact* _param2Fact;
FactMetaData* _yawMetaData;
FactMetaData* _pitchMetaData;
FactMetaData* _acceptanceRadiusMetaData;
FactMetaData* _holdTimeMetaData;
FactMetaData* _loiterRadiusMetaData;
FactMetaData* _loiterTurnsMetaData;
FactMetaData* _loiterSecondsMetaData;
FactMetaData* _delaySecondsMetaData;
FactMetaData* _jumpSequenceMetaData;
FactMetaData* _jumpRepeatMetaData;
static const int _cMavCmd2Name = 9;
static const MavCmd2Name_t _rgMavCmd2Name[_cMavCmd2Name];
};
......
src/QmlControls/MissionItemEditor.qml
View file @ 748f1dd9
......@@ -4,6 +4,8 @@ import QtQuick.Controls.Styles 1.2
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
/// Mission item edit control
Rectangle {
......@@ -117,32 +119,29 @@ Rectangle {
anchors.left: parent.left
anchors.right: parent.right
anchors.top: missionItem.specifiesCoordinate ? _altitudeField.bottom : _commandCombo.bottom
spacing: parent.radius / 2
Repeater {
model: missionItem.valueLabels
QGCLabel {
color: "black"
text: modelData
model: missionItem.facts
Item {
width: _valueColumn.width
height: textField.height
QGCLabel {
anchors.baseline: textField.baseline
color: "black"
text: object.name
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: object
}
}
}
}
Column {
anchors.margins: parent.radius / 2
anchors.left: parent.left
anchors.right: parent.right
anchors.top: _valueColumn.top
Repeater {
model: missionItem.valueStrings
QGCLabel {
width: _valueColumn.width
color: "black"
text: modelData
horizontalAlignment: Text.AlignRight
}
}
}
}
} // Column - Values column
} // Rectangle
src/ui/HSIDisplay.cc
View file @ 748f1dd9
......@@ -1313,7 +1313,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt
float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
float acceptRadius = w->getAcceptanceRadius();
double yawDiff = w->yaw()/180.0*M_PI-yaw;
double yawDiff = w->yawRadians()/180.0*M_PI-yaw;
// Draw background
pen.setColor(Qt::black);
......
src/ui/map/QGCMapWidget.cc
View file @ 748f1dd9
......@@ -750,7 +750,7 @@ void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp)
// Use safe standard interfaces for non MissionItem-class based wps
icon->SetCoord(internals::PointLatLng(wp->latitude(), wp->longitude()));
icon->SetAltitude(wp->altitude());
icon->SetHeading(wp->yaw());
icon->SetHeading(wp->yawRadians());
icon->SetNumber(wpindex);
}
// Re-enable signals again
......
src/ui/map/Waypoint2DIcon.cc
View file @ 748f1dd9
......@@ -33,7 +33,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
showOrbit(false),
color(color)
{
SetHeading(wp->yaw());
SetHeading(wp->yawRadians());
SetNumber(listindex);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
picture = QPixmap(radius+1, radius+1);
......@@ -59,7 +59,7 @@ void Waypoint2DIcon::updateWaypoint()
// Store old size
static QRectF oldSize;
SetHeading(waypoint->yaw());
SetHeading(waypoint->yawRadians());
SetCoord(internals::PointLatLng(waypoint->latitude(), waypoint->longitude()));
// qDebug() << "UPDATING WP:" << waypoint->sequenceNumber() << "LAT:" << waypoint->latitude() << "LON:" << waypoint->longitude();
......
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