UASWaypointManager.h 9.48 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31

======================================================================*/

/**
 * @file
 *   @brief Definition of the waypoint protocol handler
 *
 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
 *
 */

32 33 34 35
#ifndef UASWAYPOINTMANAGER_H
#define UASWAYPOINTMANAGER_H

#include <QObject>
36
#include <QVector>
pixhawk's avatar
pixhawk committed
37
#include <QTimer>
38
#include "Waypoint.h"
pixhawk's avatar
pixhawk committed
39
#include "QGCMAVLink.h"
40 41
class UAS;

42 43 44 45 46 47 48 49 50
/**
 * @brief Implementation of the MAVLINK waypoint protocol
 *
 * This class handles the communication with a waypoint manager on the MAV.
 * All waypoints are stored in the QVector waypoints, modifications can be done with the WaypointList widget.
 * Notice that currently the access to the internal waypoint storage is not guarded nor thread-safe. This works as long as no other widget alters the data.
 *
 * See http://qgroundcontrol.org/waypoint_protocol for more information about the protocol and the states.
 */
51 52
class UASWaypointManager : public QObject
{
53
    Q_OBJECT
54 55
private:
    enum WaypointState {
56 57 58 59 60
        WP_IDLE = 0,        ///< Waiting for commands
        WP_SENDLIST,        ///< Initial state for sending waypoints to the MAV
        WP_SENDLIST_SENDWPS,///< Sending waypoints
        WP_GETLIST,         ///< Initial state for retrieving wayppoints from the MAV
        WP_GETLIST_GETWPS,  ///< Receiving waypoints
61 62
        WP_CLEARLIST,       ///< Clearing waypoint list on the MAV
        WP_SETCURRENT       ///< Setting new current waypoint on the MAV
63 64 65
    }; ///< The possible states for the waypoint protocol

public:
66
    UASWaypointManager(UAS&);   ///< Standard constructor.
67

pixhawk's avatar
pixhawk committed
68
    /** @name Received message handlers */
69 70 71 72 73 74
    /*@{*/
    void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);                            ///< Handles received waypoint count messages
    void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);                        ///< Handles received waypoint messages
    void handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa);                ///< Handles received waypoint ack messages
    void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);        ///< Handles received waypoint request messages
    void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);        ///< Handles received waypoint reached messages
75
    void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc);        ///< Handles received set current waypoint messages
76
    /*@}*/
77

78 79 80 81
    /** @name Remote operations */
    /*@{*/
    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
    void readWaypoints();                           ///< Requests the MAV's current waypoint list
82
    void writeWaypoints();                          ///< Sends the waypoint list to the MAV
83 84 85
    int setCurrentWaypoint(quint16 seq);            ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
    /*@}*/

86
    /** @name Waypoint list operations */
87
    /*@{*/
88 89 90
    const QVector<Waypoint *> &getWaypointList(void) {
        return waypoints;    ///< Returns a const reference to the waypoint list.
    }
91
    const QVector<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
lm's avatar
lm committed
92
    const QVector<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
LM's avatar
LM committed
93
    const QVector<Waypoint *> getNavTypeWaypointList(); ///< Returns a waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
94 95
    int getIndexOf(Waypoint* wp);                   ///< Get the index of a waypoint in the list
    int getGlobalFrameIndexOf(Waypoint* wp);    ///< Get the index of a waypoint in the list, counting only global waypoints
lm's avatar
lm committed
96
    int getGlobalFrameAndNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only global AND navigation mode waypoints
LM's avatar
LM committed
97
    int getNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only navigation mode waypoints
98 99 100
    int getLocalFrameIndexOf(Waypoint* wp);     ///< Get the index of a waypoint in the list, counting only local waypoints
    int getMissionFrameIndexOf(Waypoint* wp);   ///< Get the index of a waypoint in the list, counting only mission waypoints
    int getGlobalFrameCount(); ///< Get the count of global waypoints in the list
lm's avatar
lm committed
101
    int getGlobalFrameAndNavTypeCount(); ///< Get the count of global waypoints in navigation mode in the list
LM's avatar
LM committed
102
    int getNavTypeCount(); ///< Get the count of global waypoints in navigation mode in the list
103
    int getLocalFrameCount();   ///< Get the count of local waypoints in the list
104
    /*@}*/
105

106 107 108
    UAS& getUAS() {
        return this->uas;    ///< Returns the owning UAS
    }
109

110 111 112 113 114 115
//    /** @name Global waypoint list operations */
//    /*@{*/
//    const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; }  ///< Returns a const reference to the global waypoint list.
//    void globalAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
//    int globalRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
//    /*@}*/
pixhawk's avatar
pixhawk committed
116

117
private:
pixhawk's avatar
pixhawk committed
118 119
    /** @name Message send functions */
    /*@{*/
120 121 122 123
    void sendWaypointClearAll();
    void sendWaypointSetCurrent(quint16 seq);
    void sendWaypointCount();
    void sendWaypointRequestList();
124 125 126
    void sendWaypointRequest(quint16 seq);          ///< Requests a waypoint with sequence number seq
    void sendWaypoint(quint16 seq);                 ///< Sends a waypoint with sequence number seq
    void sendWaypointAck(quint8 type);              ///< Sends a waypoint ack
pixhawk's avatar
pixhawk committed
127
    /*@}*/
128 129

public slots:
130
    void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
131 132
    /** @name Waypoint list operations */
    /*@{*/
pixhawk's avatar
pixhawk committed
133
    void addWaypoint(Waypoint *wp, bool enforceFirstActive=true);                 ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
134
    Waypoint* createWaypoint(bool enforceFirstActive=true);     ///< Creates a waypoint
135 136 137 138 139 140
    int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
    void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
    void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
    void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
    void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
    /*@}*/
141

pixhawk's avatar
pixhawk committed
142
signals:
143 144 145
    void waypointListChanged(void);                 ///< emits signal that the waypoint list has been changed
    void waypointListChanged(int uasid);            ///< Emits signal that list has been changed
    void waypointChanged(int uasid, Waypoint* wp);  ///< emits signal that waypoint has been changed
146 147
    void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
    void updateStatusString(const QString &);       ///< emits the current status string
pixhawk's avatar
pixhawk committed
148

149 150
    void loadWPFile();                              ///< emits signal that a file wp has been load
    void readGlobalWPFromUAS(bool value);           ///< emits signal when finish to read Global WP from UAS
151

152
private:
153
    UAS &uas;                                       ///< Reference to the corresponding UAS
154
    quint32 current_retries;                        ///< The current number of retries left
155 156 157 158 159 160
    quint16 current_wp_id;                          ///< The last used waypoint ID in the current protocol transaction
    quint16 current_count;                          ///< The number of waypoints in the current protocol transaction
    WaypointState current_state;                    ///< The current protocol state
    quint8 current_partner_systemid;                ///< The current protocol communication target system
    quint8 current_partner_compid;                  ///< The current protocol communication target component

pixhawk's avatar
pixhawk committed
161 162
    QVector<Waypoint *> waypoints;                  ///< local waypoint list (main storage)
    QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< buffer for waypoints during communication
pixhawk's avatar
pixhawk committed
163
    QTimer protocol_timer;                          ///< Timer to catch timeouts
164 165 166
};

#endif // UASWAYPOINTMANAGER_H