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#pragma once
#include <QObject>
#include <QScopedPointer>
#include "QGCMapPolygon.h"
#include "QmlObjectListModel.h"
#include "Geometry/WimaArea.h"
#include "Geometry/WimaMeasurementArea.h"
#include "Geometry/WimaServiceArea.h"
#include "Geometry/WimaCorridor.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaCorridorData.h"
#include "Geometry/WimaServiceAreaData.h"
#include "WimaPlanData.h"
#include "PlanMasterController.h"
#include "MissionController.h"
#include "SurveyComplexItem.h"
#include "SimpleMissionItem.h"
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "SettingsFact.h"
#include "WimaSettings.h"
#include "SettingsManager.h"
#include "snake.h"
#include "Snake/SnakeWorker.h"
#include "Snake/GeoPolygonArray.h"
#include "Snake/PolygonArray.h"
#include "Geometry/GeoPoint3D.h"
#include "Snake/QNemoProgress.h"
#include "Snake/QNemoHeartbeat.h"
#include "ros_bridge/include/ROSBridge.h"
#include "WaypointManager/DefaultManager.h"
#include "WaypointManager/RTLManager.h"
#include <map>
#define CHECK_BATTERY_INTERVAL 1000 // ms
#define SMART_RTL_MAX_ATTEMPTS 3 // times
#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
#define EVENT_TIMER_INTERVAL 50 // ms
#define SNAKE_EVENT_LOOP_INTERVAL 1000 // ms
using namespace snake;
typedef std::unique_ptr<rapidjson::Document> JsonDocUPtr;
class WimaController : public QObject
{
Q_OBJECT
enum FileType {WimaFile, PlanFile};
typedef QScopedPointer<ROSBridge::ROSBridge> ROSBridgePtr;
public:
WimaController(QObject *parent = nullptr);
// Controllers.
Q_PROPERTY(PlanMasterController* masterController
READ masterController
WRITE setMasterController
NOTIFY masterControllerChanged
)
Q_PROPERTY(MissionController* missionController
READ missionController
WRITE setMissionController
NOTIFY missionControllerChanged
)
// Wima Data.
Q_PROPERTY(QmlObjectListModel* visualItems
READ visualItems
NOTIFY visualItemsChanged
)
Q_PROPERTY(QmlObjectListModel* missionItems
READ missionItems
NOTIFY missionItemsChanged
)
Q_PROPERTY(QmlObjectListModel* currentMissionItems
READ currentMissionItems
NOTIFY currentMissionItemsChanged
)
Q_PROPERTY(QVariantList waypointPath
READ waypointPath
NOTIFY waypointPathChanged
)
Q_PROPERTY(QVariantList currentWaypointPath
READ currentWaypointPath
NOTIFY currentWaypointPathChanged
)
Q_PROPERTY(Fact* enableWimaController
READ enableWimaController
CONSTANT)
// Waypoint navigaton.
Q_PROPERTY(Fact* overlapWaypoints
READ overlapWaypoints
CONSTANT
)
Q_PROPERTY(Fact* maxWaypointsPerPhase
READ maxWaypointsPerPhase
CONSTANT
)
Q_PROPERTY(Fact* startWaypointIndex
READ startWaypointIndex
CONSTANT
)
Q_PROPERTY(Fact* showAllMissionItems
READ showAllMissionItems
CONSTANT
)
Q_PROPERTY(Fact* showCurrentMissionItems
READ showCurrentMissionItems
CONSTANT
)
// Waypoint settings.
Q_PROPERTY(Fact* flightSpeed
READ flightSpeed
CONSTANT
)
Q_PROPERTY(Fact* altitude
READ altitude
CONSTANT
)
Q_PROPERTY(Fact* arrivalReturnSpeed
READ arrivalReturnSpeed
CONSTANT
)
// Waypoint statistics.
Q_PROPERTY(double phaseDistance
READ phaseDistance
NOTIFY phaseDistanceChanged
)
Q_PROPERTY(double phaseDuration
READ phaseDuration
NOTIFY phaseDurationChanged
)
// Snake
Q_PROPERTY(Fact* enableSnake
READ enableSnake
CONSTANT
)
Q_PROPERTY(int nemoStatus
READ nemoStatus
NOTIFY nemoStatusChanged
)
Q_PROPERTY(QString nemoStatusString
READ nemoStatusString
NOTIFY nemoStatusStringChanged
)
Q_PROPERTY(bool snakeCalcInProgress
READ snakeCalcInProgress
NOTIFY snakeCalcInProgressChanged
)
Q_PROPERTY(Fact* snakeTileWidth
READ snakeTileWidth
CONSTANT
)
Q_PROPERTY(Fact* snakeTileHeight
READ snakeTileHeight
CONSTANT
)
Q_PROPERTY(Fact* snakeMinTileArea
READ snakeMinTileArea
CONSTANT
)
Q_PROPERTY(Fact* snakeLineDistance
READ snakeLineDistance
CONSTANT
)
Q_PROPERTY(Fact* snakeMinTransectLength
READ snakeMinTransectLength
CONSTANT
)
Q_PROPERTY(QmlObjectListModel* snakeTiles
READ snakeTiles
NOTIFY snakeTilesChanged
)
Q_PROPERTY(QVariantList snakeTileCenterPoints
READ snakeTileCenterPoints
NOTIFY snakeTileCenterPointsChanged
)
Q_PROPERTY(QVector<int> nemoProgress
READ nemoProgress
NOTIFY nemoProgressChanged
)
// Property accessors
// Controllers.
PlanMasterController* masterController (void);
MissionController* missionController (void);
// Wima Data
QmlObjectListModel* visualItems (void);
QGCMapPolygon joinedArea (void) const;
// Waypoints.
QmlObjectListModel* missionItems (void);
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
// Settings facts.
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems(void);
Fact* flightSpeed (void);
Fact* arrivalReturnSpeed (void);
Fact* altitude (void);
// Snake settings facts.
Fact* enableSnake (void) { return &_enableSnake; }
Fact* snakeTileWidth (void) { return &_snakeTileWidth;}
Fact* snakeTileHeight (void) { return &_snakeTileHeight;}
Fact* snakeMinTileArea (void) { return &_snakeMinTileArea;}
Fact* snakeLineDistance (void) { return &_snakeLineDistance;}
Fact* snakeMinTransectLength (void) { return &_snakeMinTransectLength;}
// Snake data.
QmlObjectListModel* snakeTiles (void) { return _snakeTiles.QmlObjectListModel();}
QVariantList snakeTileCenterPoints (void) { return _snakeTileCenterPoints;}
QVector<int> nemoProgress (void);
int nemoStatus (void) const;
QString nemoStatusString (void) const;
bool snakeCalcInProgress (void) const;
// Smart RTL.
bool uploadOverrideRequired (void) const;
bool vehicleHasLowBattery (void) const;
// Waypoint statistics.
double phaseDistance (void) const;
double phaseDuration (void) const;
// Property setters
void setMasterController (PlanMasterController* masterController);
void setMissionController (MissionController* missionController);
bool setWimaPlanData (const WimaPlanData &planData);
// Member Methodes
Q_INVOKABLE WimaController *thisPointer();
// Waypoint navigation.
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
// Smart RTL.
Q_INVOKABLE void requestSmartRTL();
Q_INVOKABLE void initSmartRTL();
Q_INVOKABLE void executeSmartRTL();
// Other.
Q_INVOKABLE void removeVehicleTrajectoryHistory();
Q_INVOKABLE bool upload();
Q_INVOKABLE bool forceUpload();
Q_INVOKABLE void removeFromVehicle();
// static Members
static const char* areaItemsName;
static const char* missionItemsName;
static const char* settingsGroup;
static const char* endWaypointIndexName;
static const char* enableWimaControllerName;
static const char* overlapWaypointsName;
static const char* maxWaypointsPerPhaseName;
static const char* startWaypointIndexName;
static const char* showAllMissionItemsName;
static const char* showCurrentMissionItemsName;
static const char* flightSpeedName;
static const char* arrivalReturnSpeedName;
static const char* altitudeName;
static const char* snakeTileWidthName;
static const char* snakeTileHeightName;
static const char* snakeMinTileAreaName;
static const char* snakeLineDistanceName;
static const char* snakeMinTransectLengthName;
signals:
// Controllers.
void masterControllerChanged (void);
void missionControllerChanged (void);
// Wima data.
void visualItemsChanged (void);
// Waypoints.
void missionItemsChanged (void);
void currentMissionItemsChanged (void);
void waypointPathChanged (void);
void currentWaypointPathChanged (void);
// Smart RTL.
void smartRTLRequestConfirm (void);
void smartRTLPathConfirm (void);
// Upload.
void forceUploadConfirm (void);
// Waypoint statistics.
void phaseDistanceChanged (void);
void phaseDurationChanged (void);
// Snake.
void snakeConnectionStatusChanged (void);
void snakeCalcInProgressChanged (void);
void snakeTilesChanged (void);
void snakeTileCenterPointsChanged (void);
void nemoProgressChanged (void);
void nemoStatusChanged (void);
void nemoStatusStringChanged (void);
private slots:
// Waypoint navigation / helper.
bool _calcNextPhase (void);
void _recalcCurrentPhase (void);
bool _calcShortestPath (const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
// Slicing parameters
bool _setStartIndex (void);
void _updateOverlap (void);
void _updateMaxWaypoints (void);
// Waypoint settings.
void _updateflightSpeed (void);
void _updateArrivalReturnSpeed (void);
void _updateAltitude (void);
// Waypoint Statistics.
void _setPhaseDistance (double distance);
void _setPhaseDuration (double duration);
// SMART RTL
void _checkBatteryLevel (void);
bool _checkSmartRTLPreCondition (QString &errorString);
void _initSmartRTL ();
void _smartRTLCleanUp (bool flying);
// Snake.
void _setSnakeCalcInProgress (bool inProgress);
void _updateSnakeData ();
void _initStartSnakeWorker ();
void _switchSnakeManager (QVariant variant);
// Periodic tasks.
void _eventTimerHandler (void);
// Waypoint manager handling.
void _switchWaypointManager(WaypointManager::ManagerBase &manager);
private:
using StatusMap = std::map<int, QString>;
// Controllers.
PlanMasterController *_masterController;
MissionController *_missionController;
// Wima Data.
QmlObjectListModel _areas; // contains all visible areas
WimaJoinedAreaData _joinedArea; // joined area fromed by opArea, serArea, _corridor
WimaMeasurementAreaData _measurementArea; // measurement area
WimaServiceAreaData _serviceArea; // area for supplying
WimaCorridorData _corridor; // corridor connecting opArea and serArea
bool _localPlanDataValid;
// Waypoint Managers.
WaypointManager::AreaInterface _areaInterface;
WaypointManager::Settings _managerSettings;
WaypointManager::DefaultManager _defaultManager;
WaypointManager::DefaultManager _snakeManager;
WaypointManager::RTLManager _rtlManager;
WaypointManager::ManagerBase *_currentManager;
using ManagerList = QList<WaypointManager::ManagerBase*>;
ManagerList _managerList;
// Settings Facts.
QMap<QString, FactMetaData*> _metaDataMap;
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 _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.
SettingsFact _flightSpeed; // mission flight speed
SettingsFact _arrivalReturnSpeed; // arrival and return path speed
SettingsFact _altitude; // mission altitude
SettingsFact _enableSnake; // Enable Snake (see snake.h)
SettingsFact _snakeTileWidth;
SettingsFact _snakeTileHeight;
SettingsFact _snakeMinTileArea;
SettingsFact _snakeLineDistance;
SettingsFact _snakeMinTransectLength;
// Smart RTL.
QTimer _smartRTLTimer;
bool _lowBatteryHandlingTriggered;
// Waypoint statistics.
double _measurementPathLength; // the lenght of the phase in meters
// double _phaseDistance; // the lenth in meters of the current phase
// double _phaseDuration; // the phase duration in seconds
// Snake
bool _snakeCalcInProgress;
SnakeDataManager _snakeWorker;
GeoPoint _snakeOrigin;
GeoPolygonArray _snakeTiles; // tiles
PolygonArray _snakeTilesLocal; // tiles local coordinate system
QVariantList _snakeTileCenterPoints;
QNemoProgress _nemoProgress; // measurement progress
QNemoHeartbeat _nemoHeartbeat; // measurement progress
int _fallbackStatus;
ROSBridgePtr _pRosBridge;
bool _bridgeSetupDone;
static StatusMap _nemoStatusMap;
// Periodic tasks.
QTimer _eventTimer;
};