UASManager.cc 13.2 KB
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/*==================================================================
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======================================================================*/

/**
 * @file
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 *   @brief Implementation of class UASManager
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 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QApplication>
#include <QMessageBox>
#include <QTimer>
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#include <QSettings>
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#include "UAS.h"
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#include "UASInterface.h"
#include "UASManager.h"
#include "QGC.h"
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#define PI 3.1415926535897932384626433832795
#define MEAN_EARTH_DIAMETER	12756274.0
#define UMR	0.017453292519943295769236907684886

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UASManager* UASManager::instance()
{
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    static UASManager* _instance = 0;
    if(_instance == 0) {
        _instance = new UASManager();

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        // Set the application as parent to ensure that this object
        // will be destroyed when the main application exits
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        _instance->setParent(qApp);
    }
    return _instance;
}

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void UASManager::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_UASMANAGER");
    settings.setValue("HOMELAT", homeLat);
    settings.setValue("HOMELON", homeLon);
    settings.setValue("HOMEALT", homeAlt);
    settings.endGroup();
    settings.sync();
}

void UASManager::loadSettings()
{
    QSettings settings;
    settings.sync();
    settings.beginGroup("QGC_UASMANAGER");
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    bool changed =  setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
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                                    settings.value("HOMELON", homeLon).toDouble(),
                                    settings.value("HOMEALT", homeAlt).toDouble());
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    // Make sure to fire the change - this will
    // make sure widgets get the signal once
    if (!changed)
    {
        emit homePositionChanged(homeLat, homeLon, homeAlt);
    }

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    settings.endGroup();
}

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bool UASManager::setHomePosition(double lat, double lon, double alt)
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{
    // Checking for NaN and infitiny
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    // and checking for borders
    bool changed = false;
    if (!isnan(lat) && !isnan(lon) && !isnan(alt)
        && !isinf(lat) && !isinf(lon) && !isinf(alt)
        && lat <= 90.0 && lat >= -90.0 && lon <= 180.0 && lon >= -180.0)
        {
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        if (fabs(homeLat - lat) > 1e-7) changed = true;
        if (fabs(homeLon - lon) > 1e-7) changed = true;
        if (fabs(homeAlt - alt) > 0.5f) changed = true;
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        // Initialize conversion reference in any case
        initReference(lat, lon, alt);

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        if (changed)
        {
            homeLat = lat;
            homeLon = lon;
            homeAlt = alt;
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            emit homePositionChanged(homeLat, homeLon, homeAlt);
        }
    }
    return changed;
}
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bool UASManager::setHomePositionAndNotify(double lat, double lon, double alt)
{
    // Checking for NaN and infitiny
    // and checking for borders
    bool changed = setHomePosition(lat, lon, alt);

    if (changed)
    {
        // Update all UAVs
        foreach (UASInterface* mav, systems)
        {
            mav->setHomePosition(homeLat, homeLon, homeAlt);
        }
    }
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	return changed;
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}

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/**
 * @param x1 Point 1 coordinate in x dimension
 * @param y1 Point 1 coordinate in y dimension
 * @param z1 Point 1 coordinate in z dimension
 *
 * @param x2 Point 2 coordinate in x dimension
 * @param y2 Point 2 coordinate in y dimension
 * @param z2 Point 2 coordinate in z dimension
 */
void UASManager::setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2)
{
    nedSafetyLimitPosition1.x() = x1;
    nedSafetyLimitPosition1.y() = y1;
    nedSafetyLimitPosition1.z() = z1;

    nedSafetyLimitPosition2.x() = x2;
    nedSafetyLimitPosition2.y() = y2;
    nedSafetyLimitPosition2.z() = z2;
}

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void UASManager::initReference(const double & latitude, const double & longitude, const double & altitude)
{
    Eigen::Matrix3d R;
    double s_long, s_lat, c_long, c_lat;
    sincos(latitude * DEG2RAD, &s_lat, &c_lat);
    sincos(longitude * DEG2RAD, &s_long, &c_long);
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    R(0, 0) = -s_long;
    R(0, 1) = c_long;
    R(0, 2) = 0;
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    R(1, 0) = -s_lat * c_long;
    R(1, 1) = -s_lat * s_long;
    R(1, 2) = c_lat;
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    R(2, 0) = c_lat * c_long;
    R(2, 1) = c_lat * s_long;
    R(2, 2) = s_lat;
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    ecef_ref_orientation_ = Eigen::Quaterniond(R);
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    ecef_ref_point_ = wgs84ToEcef(latitude, longitude, altitude);
}
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Eigen::Vector3d UASManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
{
    const double a = 6378137.0; // semi-major axis
    const double e_sq = 6.69437999014e-3; // first eccentricity squared
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    double s_long, s_lat, c_long, c_lat;
    sincos(latitude * DEG2RAD, &s_lat, &c_lat);
    sincos(longitude * DEG2RAD, &s_long, &c_long);
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    const double N = a / sqrt(1 - e_sq * s_lat * s_lat);
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    Eigen::Vector3d ecef;
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    ecef[0] = (N + altitude) * c_lat * c_long;
    ecef[1] = (N + altitude) * c_lat * s_long;
    ecef[2] = (N * (1 - e_sq) + altitude) * s_lat;
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    return ecef;
}

Eigen::Vector3d UASManager::ecefToEnu(const Eigen::Vector3d & ecef)
{
    return ecef_ref_orientation_ * (ecef - ecef_ref_point_);
}

void UASManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
{
    Eigen::Vector3d ecef = wgs84ToEcef(lat, lon, alt);
    Eigen::Vector3d enu = ecefToEnu(ecef);
    *east = enu.x();
    *north = enu.y();
    *up = enu.z();
}
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//void UASManager::wgs84ToNed(const double& lat, const double& lon, const double& alt, double* north, double* east, double* down)
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//{
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//}


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void UASManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{
    *lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI;
    *lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
    *alt=homeAlt+z;
}

void UASManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{
    *lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI;
    *lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
    *alt=homeAlt-z;
}


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/**
 * This function will change QGC's home position on a number of conditions only
 */
void UASManager::uavChangedHomePosition(int uav, double lat, double lon, double alt)
{
    // FIXME: Accept any home position change for now from the active UAS
    // this means that the currently select UAS can change the home location
    // of the whole swarm. This makes sense, but more control might be needed
    if (uav == activeUAS->getUASID())
    {
        if (setHomePosition(lat, lon, alt))
        {
            foreach (UASInterface* mav, systems)
            {
                // Only update the other systems, not the original source
                if (mav->getUASID() != uav)
                {
                    mav->setHomePosition(homeLat, homeLon, homeAlt);
                }
            }
        }
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    }
}

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/**
 * @brief Private singleton constructor
 *
 * This class implements the singleton design pattern and has therefore only a private constructor.
 **/
UASManager::UASManager() :
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        activeUAS(NULL),
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        offlineUASWaypointManager(NULL),
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        homeLat(47.3769),
        homeLon(8.549444),
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        homeAlt(470.0),
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        homeFrame(MAV_FRAME_GLOBAL)
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{
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    loadSettings();
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    setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
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}

UASManager::~UASManager()
{
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    storeSettings();
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    // Delete all systems
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    foreach (UASInterface* mav, systems) {
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        delete mav;
    }
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}

void UASManager::addUAS(UASInterface* uas)
{
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    // WARNING: The active uas is set here
    // and then announced below. This is necessary
    // to make sure the getActiveUAS() function
    // returns the UAS once the UASCreated() signal
    // is emitted. The code is thus NOT redundant.
    bool firstUAS = false;
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    if (activeUAS == NULL)
    {
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        firstUAS = true;
        activeUAS = uas;
    }

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    // Only execute if there is no UAS at this index
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    if (!systems.contains(uas))
    {
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        systems.append(uas);
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        // Set home position on UAV if set in UI
        // - this is done on a per-UAV basis
        // Set home position in UI if UAV chooses a new one (caution! if multiple UAVs are connected, take care!)
        connect(uas, SIGNAL(homePositionChanged(int,double,double,double)), this, SLOT(uavChangedHomePosition(int,double,double,double)));
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        emit UASCreated(uas);
    }

    // If there is no active UAS yet, set the first one as the active UAS
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    if (firstUAS)
    {
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        setActiveUAS(uas);
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        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
        {
            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
            {
                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
                for (int i=0;i<offlineUASWaypointManager->getWaypointEditableList().size();i++)
                {
                    Waypoint *wp = uas->getWaypointManager()->createWaypoint();
                    wp->setLatitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLatitude());
                    wp->setLongitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLongitude());
                    wp->setAltitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getAltitude());
                }
            }
            offlineUASWaypointManager->deleteLater();
            offlineUASWaypointManager = 0;
        }
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    }
}

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/**
 * @brief The function that should be used when removing UASes from QGC. emits UASDeletect(UASInterface*) when triggered
 *        so that UI elements can update accordingly.
 * @param uas The UAS to remove
 */
void UASManager::removeUAS(UASInterface* uas)
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{
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    if (uas)
    {
        int listindex = systems.indexOf(uas);
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        // Remove this system from local data store.
        systems.removeAt(listindex);

        // If this is the active UAS, select a new one if one exists otherwise
        // indicate that there are no active UASes.
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        if (uas == activeUAS)
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        {
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            if (systems.count())
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            {
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                setActiveUAS(systems.first());
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            }
            else
            {
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                setActiveUAS(NULL);
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            }
        }
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        // Notify other UI elements that a UAS is being deleted before finally deleting it.
        qDebug() << "Deleting UAS object: " << uas->getUASName();
        emit UASDeleted(uas);
        uas->deleteLater();
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    }
}

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QList<UASInterface*> UASManager::getUASList()
{
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    return systems;
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}

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UASInterface* UASManager::getActiveUAS()
{
    return activeUAS; ///< Return zero pointer if no UAS has been loaded
}

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UASInterface* UASManager::silentGetActiveUAS()
{
    return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
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UASWaypointManager *UASManager::getActiveUASWaypointManager()
{
    if (activeUAS)
    {
        return activeUAS->getWaypointManager();
    }
    if (!offlineUASWaypointManager)
    {
        offlineUASWaypointManager = new UASWaypointManager(NULL);
    }
    return offlineUASWaypointManager;


}
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bool UASManager::launchActiveUAS()
{
    // If the active UAS is set, execute command
    if (getActiveUAS()) activeUAS->launch();
    return (activeUAS); ///< Returns true if the UAS exists, false else
}

bool UASManager::haltActiveUAS()
{
    // If the active UAS is set, execute command
    if (getActiveUAS()) activeUAS->halt();
    return (activeUAS); ///< Returns true if the UAS exists, false else
}

bool UASManager::continueActiveUAS()
{
    // If the active UAS is set, execute command
    if (getActiveUAS()) activeUAS->go();
    return (activeUAS); ///< Returns true if the UAS exists, false else
}

bool UASManager::returnActiveUAS()
{
    // If the active UAS is set, execute command
    if (getActiveUAS()) activeUAS->home();
    return (activeUAS); ///< Returns true if the UAS exists, false else
}

bool UASManager::stopActiveUAS()
{
    // If the active UAS is set, execute command
    if (getActiveUAS()) activeUAS->emergencySTOP();
    return (activeUAS); ///< Returns true if the UAS exists, false else
}

bool UASManager::killActiveUAS()
{
    if (getActiveUAS()) activeUAS->emergencyKILL();
    return (activeUAS);
}

bool UASManager::shutdownActiveUAS()
{
    if (getActiveUAS()) activeUAS->shutdown();
    return (activeUAS);
}

void UASManager::configureActiveUAS()
{
    UASInterface* actUAS = getActiveUAS();
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    if(actUAS) {
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        // Do something
    }
}

UASInterface* UASManager::getUASForId(int id)
{
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    UASInterface* system = NULL;

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    foreach(UASInterface* sys, systems) {
        if (sys->getUASID() == id) {
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            system = sys;
        }
    }

    // Return NULL if not found
    return system;
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}

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void UASManager::setActiveUAS(UASInterface* uas)
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{
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    // Signal components that the last UAS is no longer active.
    activeUASMutex.lock();
    if (activeUAS != NULL) {
        emit activeUASStatusChanged(activeUAS, false);
        emit activeUASStatusChanged(activeUAS->getUASID(), false);
    }
    activeUAS = uas;
    activeUASMutex.unlock();
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    // And signal that a new UAS is.
    emit activeUASSet(activeUAS);
    if (activeUAS)
    {
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        activeUAS->setSelected();
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        emit activeUASSet(activeUAS->getUASID());
        emit activeUASSetListIndex(systems.indexOf(activeUAS));
        emit activeUASStatusChanged(activeUAS, true);
        emit activeUASStatusChanged(activeUAS->getUASID(), true);
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    }
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}