Skip to content
GitLab
Commit a0e0f804 authored by Valentin Platzgummer's avatar Valentin Platzgummer
Browse files

wima planer update improved, wima flight view menu edited.

parent 65210eff
Hide whitespace changes
Inline Side-by-side
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ a0e0f804
......@@ -46,8 +46,6 @@ Item {
// Use Settings to store menu appearance through different sessions.
Settings {
property alias missionHeaderChecker: missionHeader.checked
property alias navigateHeaderChecker: navigateHeader.checked
property alias vehicleHeaderChecker: vehicleHeader.checked
property alias statsHeaderChecker: statsHeader.checked
}
......@@ -173,124 +171,11 @@ Item {
id: mainColumn
spacing: ScreenTools.defaultFontPixelHeight * 0.3
SectionHeader{
id: missionHeader
text: qsTr("Phase Settings")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
visible: missionHeader.checked
QGCLabel {
text: qsTr("Next Waypoint")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.startWaypointIndex
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Max Waypoints")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.maxWaypointsPerPhase
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Overlap")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.overlapWaypoints
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Measurement Speed")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.flightSpeed
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("AaR Speed")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.arrivalReturnSpeed
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Altitude")
Layout.fillWidth: true
}
FactTextField {
fact: wimaController.altitude
Layout.fillWidth: true
}
FactCheckBox {
text: qsTr("Show Mission")
fact: wimaController.showAllMissionItems
Layout.fillWidth: true
}
FactCheckBox {
text: qsTr("Show Phase")
fact: wimaController.showCurrentMissionItems
Layout.fillWidth: true
}
}
SectionHeader{
id: navigateHeader
text: qsTr("Navigate")
}
GridLayout {// Buttons
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
visible: navigateHeader.checked
width: missionHeader.width
QGCButton {
id: buttonPreviousMissionPhase
text: qsTr("Go Reverse")
onClicked: wimaController.previousPhase()
Layout.fillWidth: true
}
QGCButton {
id: buttonNextMissionPhase
text: qsTr("Go Forward")
onClicked: wimaController.nextPhase()
Layout.fillWidth: true
}
QGCButton {
id: buttonResetPhase
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.columnSpan: 2
Layout.fillWidth: true
}
} // Grid Buttons
SectionHeader{
id: vehicleHeader
text: qsTr("Vehicle")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
......@@ -298,17 +183,6 @@ Item {
visible: vehicleHeader.checked
width: parent.width
QGCButton {
id: buttonUpload
text: qsTr("Upload")
onClicked: {
if (!planMasterController.offline) {
wimaController.upload()
}
}
Layout.fillWidth: true
}
QGCButton {
id: buttonRemoveFromVehicle
text: qsTr("Remove")
......@@ -320,7 +194,6 @@ Item {
id: buttonSmartRTL
text: qsTr("Smart RTL")
onClicked: wimaController.requestSmartRTL();
Layout.columnSpan: 2
Layout.fillWidth: true
}
......@@ -350,7 +223,7 @@ Item {
Layout.columnSpan: 2
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: "Done"
text: "Upload Complete"
visible: false
Layout.fillWidth: true
}
......@@ -360,6 +233,7 @@ Item {
id: statsHeader
text: qsTr("Statistics")
}
GridLayout {
columns: 3
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
......@@ -374,24 +248,6 @@ Item {
height: 0
}
SmallValue {
property var phaseDistance: wimaController.phaseDistance
shortDescription: qsTr("Phase Length")
value: phaseDistance >= 0 ? phaseDistance.toFixed(2): "-.-"
unit: "m"
//width: widthItem.width*0.49
}
SmallValue {
property var phaseDuration: wimaController.phaseDuration
shortDescription: qsTr("Phase Duration")
value: phaseDuration >= 0 ? getTime(phaseDuration) : "-.-"
//unit: "m"
//width: widthItem.width*0.49
}
SmallValue {
property var currentMissionIndex: missionController.currentMissionIndex
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ a0e0f804
......@@ -154,44 +154,6 @@ Rectangle {
}
}
}
QGCLabel {
text: qsTr("Runs")
}
FactTextField {
fact: missionItem.numRuns
}
GridLayout{
Layout.columnSpan: 2
columnSpacing: _margin
rowSpacing: _margin
columns: 6
Repeater{
id: runRepeater
property var fact: missionItem.run
property int run: fact.value
property var names: missionItem.runNames
property int len: missionItem.runNames.length
model: len > 1 ? len : 0
QGCRadioButton {
checked: index === runRepeater.run
text: runRepeater.names[index]
onCheckedChanged: {
if (checked){
missionItem.run.value = index
}
checked = Qt.binding(function(){ return index === runRepeater.run})
}
}
}
}
}
SectionHeader {
......@@ -273,31 +235,20 @@ Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
property bool calculating: missionItem.calculating
running: calculating
visible: calculating || timer.running
onCalculatingChanged: {
if(calculating){
visible = true
} else {
if(!calculating){
// defer hideing
timer.restart()
}
}
Component.onCompleted: {
if (calculating){
visible = true
}
}
Timer{
id: timer
interval: 1000
repeat: false
onTriggered: {
if (indicator.calculating == false){
indicator.visible = false
}
}
running: false
}
}
}
......
src/Wima/CircularSurvey.cc
View file @ a0e0f804
......@@ -109,6 +109,12 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
connect(this->_pWorker.get(), &RoutingThread::calculatingChanged, this,
&CircularSurvey::calculatingChanged);
this->_transectsDirty = true;
// Altitude
connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this,
&CircularSurvey::coordinateHasRelativeAltitudeChanged);
connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this,
&CircularSurvey::exitCoordinateHasRelativeAltitudeChanged);
}
CircularSurvey::~CircularSurvey() {}
......
src/Wima/StateMachine.cpp
View file @ a0e0f804
......@@ -26,6 +26,8 @@ void StateMachine::updateState(EVENT e) {
case EVENT::INIT_DONE:
setState(STATE::NEEDS_J_AREA_UPDATE);
break;
case EVENT::M_AREA_NOT_READY:
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -34,20 +36,52 @@ void StateMachine::updateState(EVENT e) {
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
case EVENT::SURVEY_UPDATE_TRIGGERED:
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
case EVENT::PATH_UPDATED:
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
}
break; // STATE::NEEDS_INIT
case STATE::WAITING_FOR_TILE_UPDATE:
switch (e) {
case EVENT::INIT_DONE:
case EVENT::M_AREA_NOT_READY:
break;
case EVENT::M_AREA_READY:
setState(STATE::NEEDS_J_AREA_UPDATE);
break;
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
case EVENT::M_AREA_TILES_CHANGED:
case EVENT::M_AREA_PROGRESS_CHANGED:
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
case EVENT::SURVEY_UPDATE_TRIGGERED:
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
case EVENT::PATH_UPDATED:
break;
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
}
break; // STATE::NEEDS_INIT
case STATE::NEEDS_J_AREA_UPDATE:
switch (e) {
case EVENT::INIT_DONE:
break;
case EVENT::M_AREA_NOT_READY:
setState(STATE::WAITING_FOR_TILE_UPDATE);
break;
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -58,20 +92,24 @@ void StateMachine::updateState(EVENT e) {
setState(STATE::NEEDS_SURVEY_UPDATE);
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
case EVENT::SURVEY_UPDATE_TRIGGERED:
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
case EVENT::PATH_UPDATED:
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
break;
}
break; // STATE::NEEDS_J_AREA_UPDATE
case STATE::NEEDS_SURVEY_UPDATE:
switch (e) {
case EVENT::INIT_DONE:
case EVENT::M_AREA_NOT_READY:
setState(STATE::WAITING_FOR_TILE_UPDATE);
break;
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -82,23 +120,27 @@ void StateMachine::updateState(EVENT e) {
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
break;
case EVENT::SURVEY_UPDATE_TRIGGERED:
setState(STATE::WAITING_FOR_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
case EVENT::PATH_UPDATED:
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
break;
}
break; // STATE::NEEDS_SURVEY_UPDATE
case STATE::WAITING_FOR_SURVEY_UPDATE:
switch (e) {
case EVENT::INIT_DONE:
case EVENT::M_AREA_NOT_READY:
setState(STATE::WAITING_FOR_TILE_UPDATE);
break;
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -109,24 +151,28 @@ void StateMachine::updateState(EVENT e) {
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
setState(STATE::NEEDS_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATE_TRIGGERED:
break;
case EVENT::SURVEY_UPDATED:
setState(STATE::NEEDS_PATH_UPDATE);
case EVENT::PATH_CHANGED:
case EVENT::PATH_UPDATED:
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
break;
}
break; // STATE::WAYTING_FOR_SURVEY_UPDATE
case STATE::NEEDS_PATH_UPDATE:
switch (e) {
case EVENT::INIT_DONE:
case EVENT::M_AREA_NOT_READY:
setState(STATE::WAITING_FOR_TILE_UPDATE);
break;
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -137,26 +183,30 @@ void StateMachine::updateState(EVENT e) {
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
setState(STATE::NEEDS_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATE_TRIGGERED:
setState(STATE::WAITING_FOR_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
break;
case EVENT::PATH_UPDATED:
setState(STATE::UP_TO_DATE);
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
break;
}
break; // STATE::NEEDS_PATH_UPDATE
case STATE::UP_TO_DATE:
switch (e) {
case EVENT::INIT_DONE:
case EVENT::M_AREA_NOT_READY:
setState(STATE::WAITING_FOR_TILE_UPDATE);
break;
case EVENT::M_AREA_READY:
case EVENT::M_AREA_PATH_CHANGED:
case EVENT::S_AREA_PATH_CHANGED:
case EVENT::CORRIDOR_PATH_CHANGED:
......@@ -167,52 +217,93 @@ void StateMachine::updateState(EVENT e) {
case EVENT::J_AREA_UPDATED:
case EVENT::DEPOT_CHANGED:
case EVENT::SURVEY_DESTROYED:
case EVENT::MISSION_ITEMS_DESTROYED:
setState(STATE::NEEDS_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATE_TRIGGERED:
setState(STATE::WAITING_FOR_SURVEY_UPDATE);
break;
case EVENT::SURVEY_UPDATED:
case EVENT::PATH_CHANGED:
setState(STATE::NEEDS_PATH_UPDATE);
break;
case EVENT::PATH_UPDATED:
break;
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown event: " << e;
Q_ASSERT(false);
break;
}
break; // STATE::UP_TO_DATE
default:
qCCritical(WimaPlanerLog)
<< "StateMachine::updateState: Unknown state: " << this->_state;
Q_ASSERT(false);
break;
}
}
bool StateMachine::upToDate() { return this->_state == STATE::UP_TO_DATE; }
bool StateMachine::upToDate() { return upToDate(this->_state); }
bool StateMachine::surveyReady() { return surveyReady(this->_state); }
void StateMachine::setState(STATE s) {
if (this->_state != s) {
auto oldState = this->_state;
this->_state = s;
emit stateChanged();
if (oldState == STATE::UP_TO_DATE || s == STATE::UP_TO_DATE) {
if (upToDate(oldState) != upToDate(s)) {
emit upToDateChanged();
}
if (surveyReady(oldState) != surveyReady(s)) {
emit surveyReady();
}
qCDebug(WimaPlanerLog) << "StateMachine::setState():" << oldState << "->"
<< s;
}
}
QDebug &operator<<(QDebug &ds, STATE s) {
bool StateMachine::surveyReady(STATE s) {
// Using a switch to enable compiler checking of used states.
bool value = false;
switch (s) {
case STATE::NEEDS_INIT:
case STATE::WAITING_FOR_TILE_UPDATE:
case STATE::NEEDS_J_AREA_UPDATE:
case STATE::NEEDS_SURVEY_UPDATE:
case STATE::WAITING_FOR_SURVEY_UPDATE:
break;
case STATE::NEEDS_PATH_UPDATE:
case STATE::UP_TO_DATE:
value = true;
break;
}
return value;
}
bool StateMachine::upToDate(STATE s) {
// Using a switch to enable compiler checking of used states.
bool value = false;
switch (s) {
case STATE::NEEDS_INIT:
case STATE::WAITING_FOR_TILE_UPDATE:
case STATE::NEEDS_J_AREA_UPDATE:
case STATE::NEEDS_SURVEY_UPDATE:
case STATE::WAITING_FOR_SURVEY_UPDATE:
case STATE::NEEDS_PATH_UPDATE:
break;
case STATE::UP_TO_DATE:
value = true;
break;
}
return value;
}
QDebug &operator<<(QDebug &ds, STATE s) {
switch (s) {
case STATE::NEEDS_INIT:
ds << "NEEDS_INIT";
break;
case STATE::WAITING_FOR_TILE_UPDATE:
ds << "WAITING_FOR_TILE_UPDATE";
break;
case STATE::NEEDS_J_AREA_UPDATE:
ds << "NEEDS_J_AREA_UPDATE";
break;
......@@ -237,6 +328,12 @@ QDebug &operator<<(QDebug &ds, EVENT s) {
case EVENT::INIT_DONE:
ds << "INIT_DONE";
break;
case EVENT::M_AREA_NOT_READY:
ds << "M_AREA_NOT_READY";
break;
case EVENT::M_AREA_READY:
ds << "M_AREA_READY";
break;
case EVENT::M_AREA_PATH_CHANGED:
ds << "M_AREA_PATH_CHANGED";
break;
......@@ -261,12 +358,18 @@ QDebug &operator<<(QDebug &ds, EVENT s) {
case EVENT::SURVEY_DESTROYED:
ds << "SURVEY_DESTROYED";
break;
case EVENT::MISSION_ITEMS_DESTROYED:
ds << "MISSION_ITEMS_DESTROYED";
break;
case EVENT::SURVEY_UPDATE_TRIGGERED:
ds << "SURVEY_UPDATE_TRIGGERED";
break;
case EVENT::SURVEY_UPDATED:
ds << "SURVEY_UPDATED";
break;
case EVENT::PATH_CHANGED:
ds << "PATH_CHANGED";
break;
case EVENT::PATH_UPDATED:
ds << "PATH_UPDATED";
break;
......
src/Wima/StateMachine.h
View file @ a0e0f804
......@@ -7,6 +7,7 @@ namespace wima_planer_detail {
enum class STATE {
NEEDS_INIT,
WAITING_FOR_TILE_UPDATE,
NEEDS_J_AREA_UPDATE,
NEEDS_SURVEY_UPDATE,
WAITING_FOR_SURVEY_UPDATE,
......@@ -18,6 +19,8 @@ QDebug &operator<<(QDebug &ds, STATE s);
enum class EVENT {
INIT_DONE,
M_AREA_NOT_READY,
M_AREA_READY,
M_AREA_PATH_CHANGED,
S_AREA_PATH_CHANGED,
CORRIDOR_PATH_CHANGED,
......@@ -26,9 +29,11 @@ enum class EVENT {
J_AREA_UPDATED,
DEPOT_CHANGED,
SURVEY_DESTROYED,
MISSION_ITEMS_DESTROYED,
SURVEY_UPDATE_TRIGGERED,
SURVEY_UPDATED,
PATH_UPDATED,
PATH_CHANGED,
PATH_UPDATED
};
QDebug &operator<<(QDebug &ds, EVENT s);
......@@ -41,13 +46,17 @@ public:
STATE state();
void updateState(EVENT e);
bool upToDate();
bool surveyReady();
signals:
void stateChanged();
void upToDateChanged();
void surveyReadyChanged();
private:
void setState(STATE s);
bool surveyReady(STATE s);
bool upToDate(STATE s);
STATE _state;
};
......
src/Wima/WimaPlaner.cc
View file @ a0e0f804
......@@ -42,13 +42,15 @@ WimaPlaner::WimaPlaner(QObject *parent)
_copySAreaToSurvey(true), _corridorChanged(true), _joinedArea(this),
_arrivalPathLength(0), _returnPathLength(0), _survey(nullptr),
_surveyChanged(true), _synchronized(false), _nemoInterface(this),
_stateMachine(new StateMachine) {
_stateMachine(new StateMachine), _areasMonitored(false),
_missionControllerMonitored(false) {
connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
&WimaPlaner::updatePolygonInteractivity);
// Enable monitoring (state update)
enableMonitoring();
// Monitoring.
enableAreaMonitoring();
// Mission controller not set at this point. Not enabling monitoring.
#ifndef NDEBUG
// for debugging and testing purpose, remove if not needed anymore
......@@ -67,6 +69,8 @@ WimaPlaner::WimaPlaner(QObject *parent)
// StateMachine
connect(this->_stateMachine.get(), &StateMachine::upToDateChanged, this,
&WimaPlaner::needsUpdateChanged);
connect(this->_stateMachine.get(), &StateMachine::surveyReadyChanged, this,
&WimaPlaner::readyForSynchronizationChanged);
}
WimaPlaner::~WimaPlaner() {}
......@@ -115,13 +119,19 @@ WimaBridge *WimaPlaner::wimaBridge() { return _wimaBridge; }
NemoInterface *WimaPlaner::nemoInterface() { return &_nemoInterface; }
void WimaPlaner::setMasterController(PlanMasterController *masterC) {
_masterController = masterC;
emit masterControllerChanged();
if (_masterController != masterC) {
_masterController = masterC;
emit masterControllerChanged();
}
}
void WimaPlaner::setMissionController(MissionController *missionC) {
_missionController = missionC;
emit missionControllerChanged();
if (_missionController != missionC) {
disableMissionControllerMonitoring();
_missionController = missionC;
enableMissionControllerMonitoring();
emit missionControllerChanged();
}
}
void WimaPlaner::setCurrentPolygonIndex(int index) {
......@@ -144,6 +154,10 @@ bool WimaPlaner::synchronized() { return _synchronized; }
bool WimaPlaner::needsUpdate() { return !this->_stateMachine->upToDate(); }
bool WimaPlaner::readyForSynchronization() {
return this->_stateMachine->surveyReady();
}
WimaPlaner *WimaPlaner::thisPointer() { return this; }
void WimaPlaner::removeArea(int index) {
......@@ -246,8 +260,15 @@ void WimaPlaner::_update() {
switch (this->_stateMachine->state()) {
case STATE::NEEDS_INIT: {
this->_stateMachine->updateState(EVENT::INIT_DONE);
this->_update();
if (this->_measurementArea.ready()) {
this->_stateMachine->updateState(EVENT::INIT_DONE);
this->_update();
} else {
this->_stateMachine->updateState(EVENT::M_AREA_NOT_READY);
}
} break;
case STATE::WAITING_FOR_TILE_UPDATE: {
} break;
case STATE::NEEDS_J_AREA_UPDATE: {
......@@ -415,11 +436,9 @@ void WimaPlaner::_update() {
return;
}
_arrivalPathLength = path.size() - 1;
int sequenceNumber = 0;
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
(void)_missionController->insertSimpleMissionItem(
path[i], missionItems->count() - 1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// calculate return path
......@@ -437,15 +456,16 @@ void WimaPlaner::_update() {
_returnPathLength =
path.size() - 1; // -1: fist item is last measurement point
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
(void)_missionController->insertSimpleMissionItem(
path[i], missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// Add waypoint (rover ignores land command).
(void)_missionController->insertSimpleMissionItem(depot,
missionItems->count());
// create land position item
sequenceNumber = _missionController->insertSimpleMissionItem(
depot, missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
(void)_missionController->insertSimpleMissionItem(depot,
missionItems->count());
SimpleMissionItem *landItem = qobject_cast<SimpleMissionItem *>(
missionItems->get(missionItems->count() - 1));
if (landItem == nullptr) {
......@@ -495,6 +515,14 @@ void WimaPlaner::mAreaProgressChangedHandler() {
void WimaPlaner::mAreaProgressAcceptedHandler() { this->_update(); }
void WimaPlaner::mAreaReadyChangedHandler() {
if (this->_measurementArea.ready()) {
this->_stateMachine->updateState(EVENT::M_AREA_READY);
} else {
this->_stateMachine->updateState(EVENT::M_AREA_NOT_READY);
}
}
void WimaPlaner::sAreaPathChangedHandler() {
this->_stateMachine->updateState(EVENT::S_AREA_PATH_CHANGED);
}
......@@ -507,6 +535,29 @@ void WimaPlaner::depotChangedHandler() {
this->_stateMachine->updateState(EVENT::DEPOT_CHANGED);
}
void WimaPlaner::missionControllerVisualItemsChangedHandler() {
// Search for survey.
auto surveyIndex = _missionController->visualItems()->indexOf(_survey);
if (surveyIndex < 0) {
// survey not found.
this->_stateMachine->updateState(EVENT::SURVEY_DESTROYED);
} else {
this->_stateMachine->updateState(EVENT::PATH_CHANGED);
}
}
void WimaPlaner::missionControllerWaypointPathChangedHandler() {
missionControllerVisualItemsChangedHandler();
}
void WimaPlaner::missionControllerNewItemsFromVehicleHandler() {
this->_stateMachine->updateState(EVENT::MISSION_ITEMS_DESTROYED);
}
void WimaPlaner::missionControllerMissionItemCountChangedHandler() {
missionControllerVisualItemsChangedHandler();
}
void WimaPlaner::saveToCurrent() { saveToFile(_currentFile); }
void WimaPlaner::saveToFile(const QString &filename) {
......@@ -554,8 +605,13 @@ bool WimaPlaner::loadFromCurrent() { return loadFromFile(_currentFile); }
bool WimaPlaner::loadFromFile(const QString &filename) {
// Remove obsolete connections.
disableMonitoring();
CommandRAII onExit([this] { this->enableMonitoring(); });
disableAreaMonitoring();
disableMissionControllerMonitoring();
CommandRAII onExit([this] {
this->enableAreaMonitoring();
this->enableMissionControllerMonitoring();
});
// disconnect old survey
if (_survey != nullptr) {
disconnect(_survey, &CircularSurvey::calculatingChanged, this,
......@@ -734,7 +790,7 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
void WimaPlaner::synchronize() {
if (_wimaBridge != nullptr) {
if (!needsUpdate()) {
if (readyForSynchronization()) {
auto planData = toPlanData();
if (planData) {
(void)_wimaBridge->setWimaPlanData(planData);
......@@ -773,36 +829,87 @@ void WimaPlaner::setSynchronized(bool s) {
}
}
void WimaPlaner::enableMonitoring() {
connect(&this->_measurementArea, &WimaArea::pathChanged, this,
&WimaPlaner::mAreaPathChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged, this,
&WimaPlaner::mAreaTilesChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::progressChanged, this,
&WimaPlaner::mAreaProgressChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::progressAccepted, this,
&WimaPlaner::mAreaProgressAcceptedHandler);
connect(&this->_serviceArea, &WimaArea::pathChanged, this,
&WimaPlaner::sAreaPathChangedHandler);
connect(&this->_serviceArea, &WimaServiceArea::depotChanged, this,
&WimaPlaner::depotChangedHandler);
connect(&this->_corridor, &WimaArea::pathChanged, this,
&WimaPlaner::corridorPathChangedHandler);
}
void WimaPlaner::disableMonitoring() {
disconnect(&this->_measurementArea, &WimaArea::pathChanged, this,
&WimaPlaner::mAreaPathChangedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged, this,
&WimaPlaner::mAreaTilesChangedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::progressChanged,
this, &WimaPlaner::mAreaProgressChangedHandler);
disconnect(&this->_serviceArea, &WimaArea::pathChanged, this,
&WimaPlaner::sAreaPathChangedHandler);
disconnect(&this->_serviceArea, &WimaServiceArea::depotChanged, this,
&WimaPlaner::depotChangedHandler);
disconnect(&this->_corridor, &WimaArea::pathChanged, this,
&WimaPlaner::corridorPathChangedHandler);
void WimaPlaner::enableAreaMonitoring() {
if (!areasMonitored()) {
connect(&this->_measurementArea, &WimaArea::pathChanged, this,
&WimaPlaner::mAreaPathChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged, this,
&WimaPlaner::mAreaTilesChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::progressChanged,
this, &WimaPlaner::mAreaProgressChangedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::progressAccepted,
this, &WimaPlaner::mAreaProgressAcceptedHandler);
connect(&this->_measurementArea, &WimaMeasurementArea::readyChanged, this,
&WimaPlaner::mAreaReadyChangedHandler);
connect(&this->_serviceArea, &WimaArea::pathChanged, this,
&WimaPlaner::sAreaPathChangedHandler);
connect(&this->_serviceArea, &WimaServiceArea::depotChanged, this,
&WimaPlaner::depotChangedHandler);
connect(&this->_corridor, &WimaArea::pathChanged, this,
&WimaPlaner::corridorPathChangedHandler);
this->_areasMonitored = true;
}
}
void WimaPlaner::disableAreaMonitoring() {
if (areasMonitored()) {
disconnect(&this->_measurementArea, &WimaArea::pathChanged, this,
&WimaPlaner::mAreaPathChangedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged,
this, &WimaPlaner::mAreaTilesChangedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::progressChanged,
this, &WimaPlaner::mAreaProgressChangedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::progressAccepted,
this, &WimaPlaner::mAreaProgressAcceptedHandler);
disconnect(&this->_measurementArea, &WimaMeasurementArea::readyChanged,
this, &WimaPlaner::mAreaReadyChangedHandler);
disconnect(&this->_serviceArea, &WimaArea::pathChanged, this,
&WimaPlaner::sAreaPathChangedHandler);
disconnect(&this->_serviceArea, &WimaServiceArea::depotChanged, this,
&WimaPlaner::depotChangedHandler);
disconnect(&this->_corridor, &WimaArea::pathChanged, this,
&WimaPlaner::corridorPathChangedHandler);
this->_areasMonitored = false;
}
}
void WimaPlaner::enableMissionControllerMonitoring() {
if (!missionControllerMonitored() && this->missionController() != nullptr) {
connect(this->missionController(), &MissionController::visualItemsChanged,
this, &WimaPlaner::missionControllerVisualItemsChangedHandler);
connect(this->missionController(), &MissionController::waypointPathChanged,
this, &WimaPlaner::missionControllerWaypointPathChangedHandler);
connect(this->missionController(), &MissionController::newItemsFromVehicle,
this, &WimaPlaner::missionControllerNewItemsFromVehicleHandler);
connect(this->missionController(),
&MissionController::missionItemCountChanged, this,
&WimaPlaner::missionControllerMissionItemCountChangedHandler);
this->_missionControllerMonitored = true;
}
}
void WimaPlaner::disableMissionControllerMonitoring() {
if (missionControllerMonitored() && this->missionController() != nullptr) {
disconnect(this->missionController(),
&MissionController::visualItemsChanged, this,
&WimaPlaner::missionControllerVisualItemsChangedHandler);
disconnect(this->missionController(),
&MissionController::waypointPathChanged, this,
&WimaPlaner::missionControllerWaypointPathChangedHandler);
disconnect(this->missionController(),
&MissionController::newItemsFromVehicle, this,
&WimaPlaner::missionControllerNewItemsFromVehicleHandler);
disconnect(this->missionController(),
&MissionController::missionItemCountChanged, this,
&WimaPlaner::missionControllerMissionItemCountChangedHandler);
this->_missionControllerMonitored = false;
}
}
bool WimaPlaner::areasMonitored() { return this->_areasMonitored; }
bool WimaPlaner::missionControllerMonitored() {
return this->_missionControllerMonitored;
}
void WimaPlaner::resetAllInteractive() {
......
src/Wima/WimaPlaner.h
View file @ a0e0f804
......@@ -56,6 +56,8 @@ public:
Q_PROPERTY(NemoInterface *nemoInterface READ nemoInterface CONSTANT)
Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
Q_PROPERTY(bool readyForSynchronization READ readyForSynchronization NOTIFY
readyForSynchronizationChanged)
// Property accessors
PlanMasterController *masterController(void);
......@@ -71,6 +73,7 @@ public:
NemoInterface *nemoInterface(void);
bool synchronized();
bool needsUpdate();
bool readyForSynchronization();
// Property setters
void setMasterController(PlanMasterController *masterController);
......@@ -116,6 +119,7 @@ signals:
void wimaBridgeChanged();
void synchronizedChanged(void);
void needsUpdateChanged(void);
void readyForSynchronizationChanged(void);
private slots:
void updatePolygonInteractivity(int index);
......@@ -127,9 +131,14 @@ private slots:
void mAreaTilesChangedHandler();
void mAreaProgressChangedHandler();
void mAreaProgressAcceptedHandler();
void mAreaReadyChangedHandler();
void sAreaPathChangedHandler();
void corridorPathChangedHandler();
void depotChangedHandler();
void missionControllerVisualItemsChangedHandler();
void missionControllerWaypointPathChangedHandler();
void missionControllerNewItemsFromVehicleHandler();
void missionControllerMissionItemCountChangedHandler();
#ifndef NDEBUG
void autoLoadMission(void);
......@@ -147,8 +156,12 @@ private:
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
void setSynchronized(bool s);
void enableMonitoring();
void disableMonitoring();
void enableAreaMonitoring();
void disableAreaMonitoring();
void enableMissionControllerMonitoring();
void disableMissionControllerMonitoring();
bool areasMonitored();
bool missionControllerMonitored();
// Member Variables
PlanMasterController *_masterController;
......@@ -189,4 +202,6 @@ private:
// State
QScopedPointer<wima_planer_detail::StateMachine> _stateMachine;
bool _areasMonitored;
bool _missionControllerMonitored;
};
src/WimaView/WimaToolBar.qml
View file @ a0e0f804
......@@ -138,7 +138,7 @@ Rectangle {
anchors.top: parent.top
anchors.bottom: parent.bottom
anchors.left: logoRow.right
anchors.right: uploadButton.left
anchors.right: buttonsRow.left
font.pointSize: ScreenTools.largeFontPointSize
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
......@@ -153,7 +153,7 @@ Rectangle {
anchors.leftMargin: _margins
anchors.rightMargin: _margins
anchors.left: logoRow.right
anchors.right: uploadButton.visible ? uploadButton.left : parent.right
anchors.right: buttonsRow.left
columnSpacing: 0
columns: 4
......@@ -346,35 +346,50 @@ Rectangle {
}
}
QGCButton {
id: uploadButton
Row {
id:buttonsRow
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
text: wimaPlaner && wimaPlaner.needsUpdate ? qsTr("Update") : qsTr("Sync.")
enabled: true
onClicked: {
if (wimaPlaner){
if (!wimaPlaner.needsUpdate) {
wimaPlaner.synchronize()
} else {
wimaPlaner.update()
spacing: _margins
QGCButton {
id: uploadButton
text: qsTr("Upload")
enabled: true
onClicked: {
if (wimaPlaner){
if (wimaPlaner.readyForSynchronization) {
wimaPlaner.synchronize()
planMasterController.sendToVehicle()
}
}
}
}
PropertyAnimation on opacity {
easing.type: Easing.OutQuart
from: 0.5
to: 1
loops: Animation.Infinite
running: wimaPlaner ? wimaPlaner.needsUpdate ||
(!wimaPlaner.needsUpdate && !wimaPlaner.synchronized)
: false
alwaysRunToEnd: true
duration: 2000
}
}
PropertyAnimation on opacity {
easing.type: Easing.OutQuart
from: 0.5
to: 1
loops: Animation.Infinite
running: wimaPlaner ? (wimaPlaner.readyForSynchronization
&& !wimaPlaner.synchronized)
: false
alwaysRunToEnd: true
duration: 2000
}
} // uploadButton
QGCButton {
id: updateButton
text: qsTr("Update")
enabled: true
onClicked: {
if (wimaPlaner){
wimaPlaner.update()
}
}
} // updateButton
} // buttonRow
// Small mission download progress bar
Rectangle {
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment