diff --git a/Paths/airstrip.wima b/Paths/airstrip.wima
new file mode 100644
index 0000000000000000000000000000000000000000..bf5d1f8fd694718a6d9b1c7f516baa628e13c28c
--- /dev/null
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+ 149.16523460902775,
+ 0
+ ],
+ "type": "SimpleItem"
+ }
+ ],
+ "plannedHomePosition": [
+ -35.36331664831048,
+ 149.16523460902775,
+ 585
+ ],
+ "vehicleType": 2,
+ "version": 2
+ },
+ "rallyPoints": {
+ "points": [
+ ],
+ "version": 2
+ },
+ "version": 1
+ }
+}
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index ec8585e921d10aa3a2a78d929020aedda80e8a2a..ca99402fd7eaa3dbd0f87ae72c67fbd5b88a3eb0 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -528,26 +528,6 @@ QGCView {
FlightDisplayViewWidgets {
id: flightDisplayViewWidgets
z: _panel.z + 4
-<<<<<<< HEAD
- height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0) - wimaMenu.height
- anchors.left: parent.left
- anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
- anchors.top: singleMultiSelector.bottom
- qgcView: root
- useLightColors: isBackgroundDark
- missionController: _missionController
- visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
- }
-
- FlightDisplayWimaMenu {
- id: wimaMenu
- z: 1000 //_panel.z + 4
- anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
- anchors.top: flightDisplayViewWidgets.bottom
- visible: true
- height: 300
- width: 200
-=======
height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
@@ -568,7 +548,6 @@ QGCView {
wimaController: wimaController
->>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
//-------------------------------------------------------------------------
diff --git a/src/FlightDisplay/FlightDisplayWimaMenu.qml b/src/FlightDisplay/FlightDisplayWimaMenu.qml
index dc34789042dda69b4a87d337a1cdaa10a03812db..cfe31ede424c1d8f7f37382f07d392048ba72acb 100644
--- a/src/FlightDisplay/FlightDisplayWimaMenu.qml
+++ b/src/FlightDisplay/FlightDisplayWimaMenu.qml
@@ -19,15 +19,9 @@ import QGroundControl.FactControls 1.0
Item {
id: _root
- height: 400
- width: 250
-
-<<<<<<< HEAD
- Text {
- id: enableWima
- text: qsTr("WiMA")
- font.pointSize: 40
-=======
+ height: 500
+ width: 300
+
property var wimaController // must be provided by the user
// box containing all items
@@ -161,8 +155,5 @@ Item {
}
}
}
-
-
->>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
}
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 7c7291d4c77a6dce1661d0d8df55aa7d621db21b..e4b8496c4d0ff0980996531c7c858df98215a888 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1053,6 +1053,31 @@ bool MissionController::readyForSaveSend(void) const
return true;
}
+bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
+{
+ if (vehicle.fixedWing() || vehicle.vtol() || vehicle.multiRotor()) {
+ MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
+ if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
+ missionItem.setCommand(takeoffCmd);
+ }
+ }
+ else
+ return false;
+
+ return true;
+}
+
+bool MissionController::setLandCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
+{
+ MAV_CMD landCmd = vehicle.vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
+ if (vehicle.firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
+ missionItem.setCommand(landCmd);
+ } else
+ return false;
+
+ return true;
+}
+
void MissionController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _missionFileVersion;
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 461bfaf595eff38f154684ee8f47894d30f364dc..0ed16524d2ae17965082e8043bd0854bdfebfd71 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -150,12 +150,18 @@ public:
/// would return false is when it is still waiting on terrain data to determine correct altitudes.
bool readyForSaveSend(void) const;
+ /// sets the command in missionItem to a land command
+ bool setLandCommand (SimpleMissionItem &missionItem, Vehicle &vehicle);
+ /// sets the command in missionItem to a takeoff command
+ bool setTakeoffCommand (SimpleMissionItem &missionItem, Vehicle &vehicle);
+
/// Sends the mission items to the specified vehicle
static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
static bool convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
+
bool loadJsonFile(QFile& file, QString& errorString);
bool loadTextFile(QFile& file, QString& errorString);
diff --git a/src/Wima/WimaAreaData.cc b/src/Wima/WimaAreaData.cc
index cdf2fbc73e866df194312b49750a50bf55ab8932..1f586f408ad871cdc78e8d52ee09e64dfcc17c44 100644
--- a/src/Wima/WimaAreaData.cc
+++ b/src/Wima/WimaAreaData.cc
@@ -26,6 +26,11 @@ QVariantList WimaAreaData::path() const
return _path;
}
+QGeoCoordinate WimaAreaData::center() const
+{
+ return _center;
+}
+
QList<QGeoCoordinate> WimaAreaData::coordinateList() const
{
QList<QGeoCoordinate> coordinateList;
@@ -57,6 +62,15 @@ void WimaAreaData::setPath(const QVariantList &coordinateList)
_path.append(coordinateList);
}
+void WimaAreaData::setCenter(const QGeoCoordinate ¢er)
+{
+ if (_center != center) {
+ _center = center;
+
+ emit centerChanged();
+ }
+}
+
/*!
* \fn void WimaAreaData::assign(const WimaAreaData &other)
*
@@ -66,12 +80,14 @@ void WimaAreaData::assign(const WimaAreaData &other)
{
setMaxAltitude(other.maxAltitude());
setPath(other.path());
+ setCenter(other.center());
}
void WimaAreaData::assign(const WimaArea &other)
{
setMaxAltitude(other.maxAltitude());
- setPath(other.path());
+ setPath(other.path());
+ setCenter(other.center());
}
diff --git a/src/Wima/WimaAreaData.h b/src/Wima/WimaAreaData.h
index f3774a73ceae68f2785d83c8eb8bf52487006488..7ef8ad14c5ed325b3beb76814aa9d8fe5b353eb9 100644
--- a/src/Wima/WimaAreaData.h
+++ b/src/Wima/WimaAreaData.h
@@ -19,9 +19,10 @@ public:
//WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing
- double maxAltitude() const;
- QVariantList path() const;
- QList<QGeoCoordinate> coordinateList() const;
+ double maxAltitude() const;
+ QVariantList path() const;
+ QGeoCoordinate center() const;
+ QList<QGeoCoordinate> coordinateList() const;
virtual QString type() const = 0;
@@ -29,11 +30,13 @@ public:
signals:
void maxAltitudeChanged (double maxAltitude);
void pathChanged (const QVariantList& coordinateList);
+ void centerChanged (void);
public slots:
void setMaxAltitude(double maxAltitude);
void setPath(const QList<QGeoCoordinate> &coordinateList);
- void setPath(const QVariantList &coordinateList);
+ void setPath(const QVariantList &coordinateList);
+ void setCenter(const QGeoCoordinate ¢er);
protected:
void assign(const WimaAreaData &other);
@@ -46,5 +49,6 @@ private:
// see WimaArea.h for explanation
double _maxAltitude;
QVariantList _path;
+ QGeoCoordinate _center;
};
diff --git a/src/Wima/WimaController.SettingsGroup.json b/src/Wima/WimaController.SettingsGroup.json
index c9b11b3484b82b27c51bc2bcaac43db351341f7d..34bb8620199c059f85bdcc3a8dda82030e5170ba 100644
--- a/src/Wima/WimaController.SettingsGroup.json
+++ b/src/Wima/WimaController.SettingsGroup.json
@@ -13,14 +13,16 @@
},
{
"name": "MaxWaypointsPerPhase",
- "shortDescription": "Determines the maximum number of waypoints per phase.",
+ "shortDescription": "Determines the maximum number of waypoints per phase. This number does not include the arrival and return path.",
"type": "uint32",
+ "min" : 1,
"defaultValue": 30
},
{
"name": "StartWaypointIndex",
"shortDescription": "The index of the start waypoint for the next mission phase.",
- "type": "uint32",
+ "type": "uint32",
+ "min" : 1,
"defaultValue": 1
},
{
diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc
index 044f6964f874272572d087c8c004a06fc2e2edf3..3e48f46c9e3cfeeb9d73637e6551fa2e08678a71 100644
--- a/src/Wima/WimaController.cc
+++ b/src/Wima/WimaController.cc
@@ -23,16 +23,17 @@ WimaController::WimaController(QObject *parent)
, _enableWimaController (settingsGroup, _metaDataMap[enableWimaControllerName])
, _overlapWaypoints (settingsGroup, _metaDataMap[overlapWaypointsName])
, _maxWaypointsPerPhase (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
- , _nestPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
+ , _nextPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
, _showAllMissionItems (settingsGroup, _metaDataMap[showAllMissionItemsName])
, _showCurrentMissionItems (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
+ , _lastMissionPhaseReached (false)
{
- _nestPhaseStartWaypointIndex.setRawValue(int(1));
+ _nextPhaseStartWaypointIndex.setRawValue(int(1));
_showAllMissionItems.setRawValue(true);
_showCurrentMissionItems.setRawValue(true);
connect(&_overlapWaypoints, &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
- connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
QmlObjectListModel* WimaController::visualItems()
@@ -109,7 +110,7 @@ Fact *WimaController::showCurrentMissionItems()
Fact *WimaController::startWaypointIndex()
{
- return &_nestPhaseStartWaypointIndex;
+ return &_nextPhaseStartWaypointIndex;
}
void WimaController::setMasterController(PlanMasterController *masterC)
@@ -134,11 +135,11 @@ void WimaController::setDataContainer(WimaDataContainer *container)
{
if (container != nullptr) {
if (_container != nullptr) {
- disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
+ disconnect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::fetchContainerData);
}
_container = container;
- connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
+ connect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::fetchContainerData);
emit dataContainerChanged();
}
@@ -151,8 +152,9 @@ void WimaController::nextPhase()
void WimaController::previousPhase()
{
- if (_nestPhaseStartWaypointIndex.rawValue().toInt() > 0) {
- _nestPhaseStartWaypointIndex.setRawValue( 1 + std::max(_startWaypointIndex
+ if (_nextPhaseStartWaypointIndex.rawValue().toInt() > 0) {
+ _lastMissionPhaseReached = false;
+ _nextPhaseStartWaypointIndex.setRawValue( 1 + std::max(_startWaypointIndex
- _maxWaypointsPerPhase.rawValue().toInt()
+ _overlapWaypoints.rawValue().toInt(), 0));
}
@@ -160,13 +162,14 @@ void WimaController::previousPhase()
void WimaController::resetPhase()
{
- _nestPhaseStartWaypointIndex.setRawValue(int(1));
+ _lastMissionPhaseReached = false;
+ _nextPhaseStartWaypointIndex.setRawValue(int(1));
}
-void WimaController::uploadToVehicle()
+bool WimaController::uploadToVehicle()
{
if (_currentMissionItems.count() < 1)
- return;
+ return false;
_missionController->removeAll();
// set homeposition of settingsItem
@@ -174,7 +177,7 @@ void WimaController::uploadToVehicle()
MissionSettingsItem* settingsItem = visuals->value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): nullptr");
- return;
+ return false;
}
settingsItem->setCoordinate(_takeoffLandPostion);
@@ -216,6 +219,8 @@ void WimaController::uploadToVehicle()
qWarning(" ");
}
_masterController->sendToVehicle();
+
+ return true;
}
void WimaController::removeFromVehicle()
@@ -223,28 +228,9 @@ void WimaController::removeFromVehicle()
_masterController->removeAllFromVehicle();
}
-void WimaController::startMission()
-{
-
-}
-
-void WimaController::abortMission()
-{
-
-}
-
-void WimaController::pauseMission()
-{
-
-}
-
-void WimaController::resumeMission()
-{
-
-}
-
void WimaController::saveToCurrent()
{
+
}
void WimaController::saveToFile(const QString& filename)
@@ -349,175 +335,173 @@ bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVa
*
* \sa WimaDataContainer, WimaPlaner, WimaPlanData
*/
-void WimaController::fetchContainerData(bool valid)
+bool WimaController::fetchContainerData()
{
- if ( valid ) {
- if (_container == nullptr) {
- qWarning("WimaController::containerDataValidChanged(): No container assigned!");
- }
- _localPlanDataValid = false;
- _visualItems.clear();
- _missionItems.clear();
- WimaPlanData planData = _container->pull();
+ // fetch only if valid, return true on sucess
- // extract list with WimaAreas
- QList<const WimaAreaData*> areaList = planData.areaList();
+ // reset visual items
+ _visualItems.clear();
+ _missionItems.clear();
+ _currentMissionItems.clear();
+ _waypointPath.clear();
+ _currentWaypointPath.clear();
- int areaCounter = 0;
- int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
- for (int i = 0; i < areaList.size(); i++) {
- const WimaAreaData *areaData = areaList[i];
+ emit visualItemsChanged();
+ emit missionItemsChanged();
+ emit currentMissionItemsChanged();
+ emit currentWaypointPathChanged();
- if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
- _serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData);
- areaCounter++;
- _visualItems.append(&_serviceArea);
+ _localPlanDataValid = false;
+ _lastMissionPhaseReached = false;
- continue;
- }
+ if (_container == nullptr) {
+ qWarning("WimaController::fetchContainerData(): No container assigned!");
+ return false;
+ }
- if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
- _measurementArea = *qobject_cast<const WimaMeasurementAreaData*>(areaData);
- areaCounter++;
- _visualItems.append(&_measurementArea);
+ WimaPlanData planData = _container->pull();
- continue;
- }
+ // extract list with WimaAreas
+ QList<const WimaAreaData*> areaList = planData.areaList();
- if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
- _corridor = *qobject_cast<const WimaCorridorData*>(areaData);
- areaCounter++;
- //_visualItems.append(&_corridor); // not needed
+ int areaCounter = 0;
+ int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
+ for (int i = 0; i < areaList.size(); i++) {
+ const WimaAreaData *areaData = areaList[i];
- continue;
- }
+ if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
+ _serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData);
+ areaCounter++;
+ _visualItems.append(&_serviceArea);
- if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor?
- _joinedArea = *qobject_cast<const WimaJoinedAreaData*>(areaData);
- areaCounter++;
- _visualItems.append(&_joinedArea);
+ continue;
+ }
- continue;
- }
+ if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
+ _measurementArea = *qobject_cast<const WimaMeasurementAreaData*>(areaData);
+ areaCounter++;
+ _visualItems.append(&_measurementArea);
- if (areaCounter >= numAreas)
- break;
+ continue;
}
- QList<const MissionItem*> tempMissionItems = planData.missionItems();
- // create mission items
- _missionController->removeAll();
- QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
+ if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
+ _corridor = *qobject_cast<const WimaCorridorData*>(areaData);
+ areaCounter++;
+ //_visualItems.append(&_corridor); // not needed
+ continue;
+ }
- // find takeoff command
- int begin = -1;
- for (int i = 0; i < tempMissionItems.size(); i++) {
- const MissionItem *missionItem = tempMissionItems[i];
- if ( missionItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF
- || missionItem->command() == MAV_CMD_NAV_TAKEOFF) {
+ if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor?
+ _joinedArea = *qobject_cast<const WimaJoinedAreaData*>(areaData);
+ areaCounter++;
+ _visualItems.append(&_joinedArea);
- _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
+ continue;
+ }
- QGeoCoordinate coordinate = missionItem->coordinate();
- _takeoffLandPostion.setAltitude(coordinate.altitude());
- _takeoffLandPostion.setLatitude(coordinate.latitude());
- _takeoffLandPostion.setLongitude(coordinate.longitude());
+ if (areaCounter >= numAreas)
+ break;
+ }
- begin = i + 1;
- break;
- }
- }
+ // extract mission items
+ QList<const MissionItem*> tempMissionItems = planData.missionItems();
+ if (tempMissionItems.size() < 1)
+ return false;
- // check if takeoff command found
- if (begin < 0) {
- qWarning("WimaController::containerDataValidChanged(): No takeoff found.");
- return;
+ // create mission items
+ _missionController->removeAll();
+ QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
+
+ // create SimpleMissionItem by using _missionController
+ for ( int i = 0; i < tempMissionItems.size(); i++) {
+ const MissionItem *missionItem = tempMissionItems[i];
+ _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
+ }
+ // copy mission items from _missionController to _missionItems
+ for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
+ SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
+ if (visualItem == nullptr) {
+ qWarning("WimaController::fetchContainerData(): Nullptr at SimpleMissionItem!");
+ return false;
}
+ SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
+ _missionItems.append(visualItemCopy);
+ }
+ if (areaCounter != numAreas)
+ return false;
- // copy mission items and create SimpleMissionItem by using _missionController
- for ( int i = begin; i < tempMissionItems.size(); i++) {
- const MissionItem *missionItem = tempMissionItems[i];
- _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
+ if (!setTakeoffLandPosition())
+ return false;
- if ( missionItem->command() == MAV_CMD_NAV_VTOL_LAND
- || missionItem->command() == MAV_CMD_NAV_LAND)
- break;
- }
+ updateWaypointPath();
- for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
- SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
- if (visualItem == nullptr) {
- qWarning("WimaController::containerDataValidChanged(): Nullptr at SimpleMissionItem!");
- return;
- }
- SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
- _missionItems.append(visualItemCopy);
- }
+ // set _nextPhaseStartWaypointIndex to 1
+ disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ _nextPhaseStartWaypointIndex.setRawValue(int(1));
+ connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
- if (areaCounter == numAreas)
- _localPlanDataValid = true;
+ if(!calcNextPhase())
+ return false;
- updateWaypointPath();
- _nestPhaseStartWaypointIndex.setRawValue(int(1));
- calcNextPhase();
- } else {
- _localPlanDataValid = false;
- _visualItems.clear();
- _missionItems.clear();
- }
emit visualItemsChanged();
emit missionItemsChanged();
-#ifdef QT_DEBUG
- //qWarning("Mission Items count: ");
- //qWarning() << _missionItems.count();
-#endif
+
+ _localPlanDataValid = true;
+ return true;
}
-void WimaController::calcNextPhase()
+bool WimaController::calcNextPhase()
{
- _startWaypointIndex = _nestPhaseStartWaypointIndex.rawValue().toInt()-1;
- // check if data was fetched and mission end is not reached yet
- if (_missionItems.count() < 1 || !_localPlanDataValid || _startWaypointIndex >= _missionItems.count()-2)
- return;
+ if (_missionItems.count() < 1 || _lastMissionPhaseReached)
+ return false;
+
+ _currentMissionItems.clear();
+ _currentWaypointPath.clear();
+ emit currentMissionItemsChanged();
+ emit currentWaypointPathChanged();
+
+ _startWaypointIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
+ if (_startWaypointIndex > _missionItems.count()-1)
+ return false;
+
int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
// determine end waypoint index
- _endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-2); // -2 -> last item is land item
+ _endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-1);
+ if (_endWaypointIndex == _missionItems.count() - 1)
+ _lastMissionPhaseReached = true;
// extract waypoints
QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
- qWarning("WimaController::updateCurrentMissionItems(): error on waypoint extraction.");
- _currentMissionItems.clear();
- return;
+ qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
+ return false;
}
// set start waypoint index for next phase
- if (_endWaypointIndex < _missionItems.count()-2) {
- _startWaypointIndexList.append(_nestPhaseStartWaypointIndex.rawValue().toInt());
-
- disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
- int temp = 1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
- _nestPhaseStartWaypointIndex.setRawValue(std::min(temp , _missionItems.count()-1));
- connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
- }
- else {
- disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
- _nestPhaseStartWaypointIndex.setRawValue(_missionItems.count()-1); // marks that end of mission is reached
- connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ if (!_lastMissionPhaseReached) {
+ disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ int untruncated = std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
+ int truncated = std::min(untruncated , _missionItems.count()-1);
+ _nextPhaseStartWaypointIndex.setRawValue(truncated + 1);
+ connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
// calculate path from home to first waypoint
QList<QGeoCoordinate> path;
+ if (!_takeoffLandPostion.isValid()){
+ qWarning("WimaController::calcNextPhase(): _takeoffLandPostion not valid.");
+ return false;
+ }
if ( !calcShortestPath(_takeoffLandPostion, geoCoordinateList[0], path) ) {
- qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
- _currentMissionItems.clear();
- return;
+ qWarning("WimaController::calcNextPhase(): Not able to calc path from home to first waypoint.");
+ return false;
}
// prepend to geoCoordinateList
for (int i = path.size()-2; i >= 0; i--) // i = path.size()-2 : last coordinate already in geoCoordinateList
@@ -526,9 +510,8 @@ void WimaController::calcNextPhase()
// calculate path from last waypoint to home
path.clear();
if ( !calcShortestPath(geoCoordinateList.last(), _takeoffLandPostion, path) ) {
- qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
- _currentMissionItems.clear();
- return;
+ qWarning("WimaController::calcNextPhase(): Not able to calc path from home to first waypoint.");
+ return false;
}
path.removeFirst(); // first coordinate already in geoCoordinateList
geoCoordinateList.append(path);
@@ -541,9 +524,8 @@ void WimaController::calcNextPhase()
// set homeposition of settingsItem
MissionSettingsItem* settingsItem = missionControllerVisuals->value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
- qWarning("WimaController::updateCurrentMissionItems(): nullptr");
- _currentMissionItems.clear();
- return;
+ qWarning("WimaController::calcNextPhase(): nullptr");
+ return false;
}
settingsItem->setCoordinate(_takeoffLandPostion);
@@ -551,44 +533,38 @@ void WimaController::calcNextPhase()
_missionController->insertSimpleMissionItem(coordinate, missionControllerVisuals->count());
}
- // set homeposition for take off item (somehow not working with insertSimpleMissionItem)
- SimpleMissionItem* takeoff = missionControllerVisuals->value<SimpleMissionItem *>(1);
- if (takeoff == nullptr) {
- qWarning("WimaController::updateCurrentMissionItems(): nullptr");
- _currentMissionItems.clear();
- return;
+ // set takeoff position for first mission item (bug)
+ SimpleMissionItem *takeoffItem = missionControllerVisuals->value<SimpleMissionItem*>(1);
+ if (takeoffItem == nullptr) {
+ qWarning("WimaController::calcNextPhase(): nullptr");
+ return false;
}
- takeoff->setCoordinate(_takeoffLandPostion);
+ takeoffItem->setCoordinate(_takeoffLandPostion);
// set land command for last mission item
SimpleMissionItem *landItem = missionControllerVisuals->value<SimpleMissionItem*>(missionControllerVisuals->count()-1);
if (landItem == nullptr) {
- qWarning("WimaController::updateCurrentMissionItems(): nullptr");
- _currentMissionItems.clear();
- return;
- }
- // check vehicle type, before setting land command
- Vehicle* controllerVehicle = _masterController->controllerVehicle();
- MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
- if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
- landItem->setCommand(landCmd);
- } else {
- _currentMissionItems.clear();
- return;
+ qWarning("WimaController::calcNextPhase(): nullptr");
+ return false;
}
+ _missionController->setLandCommand(*landItem, *_masterController->controllerVehicle());
// copy to _currentMissionItems
- _currentMissionItems.clear();
for ( int i = 1; i < missionControllerVisuals->count(); i++) {
SimpleMissionItem *visualItem = missionControllerVisuals->value<SimpleMissionItem*>(i);
if (visualItem == nullptr) {
- qWarning("WimaController::updateCurrentMissionItems(): Nullptr at SimpleMissionItem!");
+ qWarning("WimaController::calcNextPhase(): Nullptr at SimpleMissionItem!");
_currentMissionItems.clear();
- return;
+ return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
+ qWarning() << visualItem->command();
+ qWarning() << visualItem->coordinate();
+ qWarning() << visualItemCopy->command();
+ qWarning() << visualItemCopy->command();
+ qWarning(" ");
_currentMissionItems.append(visualItemCopy);
}
@@ -596,6 +572,8 @@ void WimaController::calcNextPhase()
updateCurrentPath();
emit currentMissionItemsChanged();
+
+ return true;
}
void WimaController::updateWaypointPath()
@@ -616,15 +594,25 @@ void WimaController::updateCurrentPath()
void WimaController::updateNextWaypoint()
{
if (_endWaypointIndex < _missionItems.count()-2) {
- disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
- _nestPhaseStartWaypointIndex.setRawValue(1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0));
- connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+ _nextPhaseStartWaypointIndex.setRawValue(1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0));
+ connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
}
void WimaController::recalcCurrentPhase()
{
- _nestPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
+ _lastMissionPhaseReached = false;
+ _nextPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
+}
+
+bool WimaController::setTakeoffLandPosition()
+{
+ _takeoffLandPostion.setAltitude(0);
+ _takeoffLandPostion.setLongitude(_serviceArea.center().longitude());
+ _takeoffLandPostion.setLatitude(_serviceArea.center().latitude());
+
+ return true;
}
diff --git a/src/Wima/WimaController.h b/src/Wima/WimaController.h
index febd6081af7837bd1e0a5cbe4a4480dabbbad5f5..70ed8720e97cadf964e3ddcf482a0520d3a6f5ae 100644
--- a/src/Wima/WimaController.h
+++ b/src/Wima/WimaController.h
@@ -85,12 +85,8 @@ public:
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
- Q_INVOKABLE void uploadToVehicle();
+ Q_INVOKABLE bool uploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
- Q_INVOKABLE void startMission();
- Q_INVOKABLE void abortMission();
- Q_INVOKABLE void pauseMission();
- Q_INVOKABLE void resumeMission();
Q_INVOKABLE void saveToCurrent ();
Q_INVOKABLE void saveToFile (const QString& filename);
@@ -137,12 +133,13 @@ signals:
void currentWaypointPathChanged (void);
private slots:
- void fetchContainerData (bool valid);
- void calcNextPhase (void);
+ bool fetchContainerData();
+ bool calcNextPhase(void);
void updateWaypointPath (void);
void updateCurrentPath (void);
void updateNextWaypoint (void);
void recalcCurrentPhase (void);
+ bool setTakeoffLandPosition(void);
private:
@@ -161,8 +158,6 @@ private:
// _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
QVariantList _waypointPath; // path connecting the items in _missionItems
QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems
- QList<int> _startWaypointIndexList; // list containing the last start waypoint indices, used by previosPhase
-
QGeoCoordinate _takeoffLandPostion;
@@ -170,7 +165,7 @@ private:
SettingsFact _enableWimaController; // enables or disables the wimaControler
SettingsFact _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases
SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints per phase
- SettingsFact _nestPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
+ SettingsFact _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
// defining the first element of the next phase
SettingsFact _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
SettingsFact _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
@@ -179,4 +174,5 @@ private:
// (which is not part of the return path) of _currentMissionItem
int _startWaypointIndex; // indes of the mission item stored in _missionItems defining the first element
// (which is not part of the arrival path) of _currentMissionItem
+ bool _lastMissionPhaseReached;
};
diff --git a/src/Wima/WimaDataContainer.cc b/src/Wima/WimaDataContainer.cc
index 0190d333a9c5e68dc3ef1707271afc9230ea2b5d..b5447007d29e43aceac9a6bd280135d73408d9bb 100644
--- a/src/Wima/WimaDataContainer.cc
+++ b/src/Wima/WimaDataContainer.cc
@@ -3,29 +3,10 @@
WimaDataContainer::WimaDataContainer(QObject *parent)
: QObject (parent)
, _planData (this /* parent */)
- , _dataValid (false)
{
}
-/*!
- * \fn bool WimaDataContainer::dataValid() const
- * Returns \c true if the data is valid, \c false else.
- */
-bool WimaDataContainer::dataValid() const/*!
- * \fn bool dijkstraAlgorithm(int startIndex, int endIndex, const QList<T> elements, QList<T> &elementPath, double(*distance)(const T &t1, const T &t2))
- * Calculates the shortest path between the elements stored in \a elements.
- * The \l {Dijkstra Algorithm} is used to find the shorest path.
- * Stores the result inside \a elementPath when sucessfull.
- * The function handle \a distance is used to calculate the distance between two elements. The distance must be positive.
- * Returns \c true if successful, \c false else.
- *
- * \sa QList
- */
-{
- return _dataValid;
-}
-
/*!
* \fn void WimaDataContainer::push(const WimaPlanData &planData)
*
@@ -36,9 +17,9 @@ bool WimaDataContainer::dataValid() const/*!
*/
void WimaDataContainer::push(const WimaPlanData &planData)
{
- setDataValid(false);
_planData = planData;
- setDataValid(true);
+
+ emit newDataAvailable();
}
/*!
@@ -53,23 +34,6 @@ const WimaPlanData &WimaDataContainer::pull() const
return _planData;
}
-/*!
- * \fn void WimaDataContainer::setDataValid(bool valid)
- *
- * Sets the validity of the data to \a valid.
- * Mainly for internal usage. Should be invoked from \c WimaPlaner only.
- *
- * \sa WimaPlanData
- */
-void WimaDataContainer::setDataValid(bool valid)
-{
- if ( _dataValid != valid ) {
- _dataValid = valid;
-
- emit dataValidChanged(_dataValid);
- }
-}
-
/*!
* \class WimaDataContainer
* \brief Data container designed for data exchange between \c WimaPlaner and \c WimaController.
diff --git a/src/Wima/WimaDataContainer.h b/src/Wima/WimaDataContainer.h
index 4ba9cb48319398ef14625b9fcc1d48b63896b807..a7d680e349a859ed21d50f95940a8bea3dd9504f 100644
--- a/src/Wima/WimaDataContainer.h
+++ b/src/Wima/WimaDataContainer.h
@@ -17,16 +17,14 @@ public:
bool dataValid() const;
signals:
- void dataValidChanged (bool valid);
+ void newDataAvailable(void);
public slots:
void push(const WimaPlanData &planData);
const WimaPlanData &pull() const;
- void setDataValid(bool valid);
private:
WimaPlanData _planData;
- bool _dataValid;
};
diff --git a/src/Wima/WimaPlaner.cc b/src/Wima/WimaPlaner.cc
index f1f7f19824973619641d849a05e9da89a8dfff28..872dabe78efbae1e314a42454ed01f31ccb5ca7f 100644
--- a/src/Wima/WimaPlaner.cc
+++ b/src/Wima/WimaPlaner.cc
@@ -73,11 +73,11 @@ void WimaPlaner::setDataContainer(WimaDataContainer *container)
{
if (container != nullptr) {
if (_container != nullptr) {
- disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
+ disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::newDataAvailable);
}
_container = container;
- connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
+ connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::newDataAvailable);
emit dataContainerChanged();
}
@@ -178,32 +178,9 @@ void WimaPlaner::removeAll()
emit visualItemsChanged();
}
-void WimaPlaner::startMission()
-{
-
-}
-
-void WimaPlaner::abortMission()
-{
-
-}
-
-void WimaPlaner::pauseMission()
-{
-
-}
-
-void WimaPlaner::resumeMission()
-{
-
-}
-
bool WimaPlaner::updateMission()
{
-#if TEST_FUN
- TestPlanimetryCalculus::test();
- TestPolygonCalculus::test();
-#endif
+
QString errorString;
setMissionReady(false);
#define debug 0
@@ -306,11 +283,7 @@ bool WimaPlaner::updateMission()
qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
return false;
}
-// path.clear();
-// path.append(end);
-// path.append(start);
-// path.append(end);
-// path.append(end);
+ _arrivalPathLength = path.size()-1; // -1: last item is first measurement point
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
@@ -324,7 +297,7 @@ bool WimaPlaner::updateMission()
qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
return false;
}
-
+ _returnPathLength = path.size()-1; // -1: fist item is last measurement point
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
@@ -338,13 +311,8 @@ bool WimaPlaner::updateMission()
qWarning("WimaPlaner::updateMission(): landItem == nullptr");
return false;
} else {
- Vehicle* controllerVehicle = _masterController->controllerVehicle();
- MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
- if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
- landItem->setCommand(landCmd);
- } else {
+ if (!_missionController->setLandCommand(*landItem, *_masterController->controllerVehicle()))
return false;
- }
}
pushToContainer(); // exchange plan data with the WimaController via the _container
@@ -662,23 +630,12 @@ WimaPlanData WimaPlaner::toPlanData()
QList<MissionItem*> rgMissionItems;
MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, this);
- // remove warnings if you read this
-// qWarning("WimaPlaner::toPlanData(): rgMissionItems");
-// for (auto item : rgMissionItems) {
-// qWarning() << item->command();
-// qWarning() << item->param1();
-// qWarning() << item->param2();
-// qWarning() << item->param3();
-// qWarning() << item->param4();
-// qWarning() << item->param5();
-// qWarning() << item->param6();
-// qWarning() << item->param7();
-// qWarning(" ");
-// }
-
+ // add const qualifier...
QList<const MissionItem*> rgMissionItemsConst;
- for (auto missionItem : rgMissionItems)
- rgMissionItemsConst.append(missionItem);
+ for (int i = _arrivalPathLength + 1; i < rgMissionItems.size() - _returnPathLength; i++) { // i = _arrivalPathLength + 1: + 1 = MissionSettingsItem ...
+ rgMissionItemsConst.append(rgMissionItems.value(i));
+ }
+
// store mavlink commands
planData.append(rgMissionItemsConst);
diff --git a/src/Wima/WimaPlaner.h b/src/Wima/WimaPlaner.h
index e06625d084f2bf41fdc6ca41572415da91a475aa..dbc3fe04f1ac1cdf7280b4c5a93d99e7d590a26a 100644
--- a/src/Wima/WimaPlaner.h
+++ b/src/Wima/WimaPlaner.h
@@ -91,11 +91,6 @@ public:
Q_INVOKABLE bool addCorridor();
/// Remove all areas from WimaPlaner and all mission items from MissionController
Q_INVOKABLE void removeAll();
-
- Q_INVOKABLE void startMission();
- Q_INVOKABLE void abortMission();
- Q_INVOKABLE void pauseMission();
- Q_INVOKABLE void resumeMission();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
@@ -147,4 +142,6 @@ private:
WimaMeasurementArea _measurementArea; // measurement area
WimaServiceArea _serviceArea; // area for supplying
WimaCorridor _corridor; // corridor connecting _measurementArea and _serviceArea
+ int _arrivalPathLength; // the number waypoints the arrival path consists of (path from takeoff to first measurement point)
+ int _returnPathLength; // the number waypoints the return path consists of (path from last measurement point to land)
};