new classes edited

qgroundcontrol.pro

@@ -413,7 +413,8 @@ HEADERS += \
     src/MissionManager/WimaServicePolygon.h \
     src/MissionManager/WimaVehicleCorridor.h \
     src/MissionManager/WimaVehicleMeasurementPolygon.h \
-    src/MissionManager/WimaGlobalMeasurementPolygon.h
+    src/MissionManager/WimaGlobalMeasurementPolygon.h \
+    src/MissionManager/WimaPolygonContainer.h
 
 SOURCES += \
     src/api/QGCCorePlugin.cc \
@@ -427,7 +428,8 @@ SOURCES += \
     src/MissionManager/WimaServicePolygon.cc \
     src/MissionManager/WimaVehicleCorridor.cc \
     src/MissionManager/WimaVehicleMeasurementPolygon.cc \
-    src/MissionManager/WimaGlobalMeasurementPolygon.cc
+    src/MissionManager/WimaGlobalMeasurementPolygon.cc \
+    src/MissionManager/WimaPolygonContainer.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/MissionManager/MissionController.h

@@ -45,6 +45,7 @@ public:
 
     typedef struct _MissionFlightStatus_t {
         double  maxTelemetryDistance;
+        void dirtyChanged();
         double  totalDistance;
         double  totalTime;
         double  hoverDistance;

src/MissionManager/WimaController.cc

 #include "WimaController.h"
 #include "MissionController.h"
 
-WimaController::WimaController(QObject *parent) : QObject(parent)
-{
-    this->_flyArea = new WimaFlyArea(parent);
-}
+WimaController::WimaController(QObject *parent) :
+    QObject(parent)
+  ,_planView(true)
 
-void WimaController::start()
 {
-    _flyArea->_init();
+
 }
 
-void WimaController::recalcMission()
-{
 
-}
 
 void WimaController::setMasterController(PlanMasterController *masterC)
 {
     _masterController = masterC;
-    emit masterControllerChanged(_masterController);
+    emit masterControllerChanged();
 }
 
 void WimaController::setMissionController(MissionController *missionC)
 {
     _missionController = missionC;
-    emit missionControllerChanged(_missionController);
+    emit missionControllerChanged();
+}
+
+void WimaController::addGlobalMeasurementArea()
+{
+    WimaGlobalMeasurementPolygon* poly = new WimaGlobalMeasurementPolygon(this);
+
 }
 
 

src/MissionManager/WimaController.h

@@ -3,48 +3,68 @@
 
 #include <QObject>
 #include "QGCMapPolygon.h"
-#include "QmlObjectListModel.h"
-#include "WimaFlyArea.h"
+#include "WimaPolygon.h"
+#include "WimaGlobalMeasurementPolygon.h"
+#include "WimaServicePolygon.h"
+#include "WimaPolygonContainer.h"
+
 #include "PlanMasterController.h"
 #include "MissionController.h"
 
+
 class WimaController : public QObject
 {
     Q_OBJECT
 public:
-    explicit WimaController(QObject *parent = nullptr);
+    WimaController(QObject *parent = nullptr);
 
-    Q_PROPERTY(WimaFlyArea* flyArea                         READ flyArea                                                    CONSTANT)
-    Q_PROPERTY(PlanMasterController* masterController       READ masterController       WRITE  setMasterController          NOTIFY   masterControllerChanged)
-    Q_PROPERTY(MissionController* missionController         READ missionController      WRITE  setMissionController         NOTIFY   missionControllerChanged)
 
+    Q_PROPERTY(PlanMasterController*    masterController        READ masterController           WRITE setMasterController           NOTIFY masterControllerChanged)
+    Q_PROPERTY(MissionController*       missionController       READ missionController          WRITE setMissionController          NOTIFY missionControllerChanged)
+    Q_PROPERTY(QList<WimaPolygon*>      visualItems             READ visualItems                                                    NOTIFY visualItemsChanged)
 
+    // Property accessors
+    PlanMasterController*       masterController       (void) const    { return _masterController;}
+    MissionController*          missionController      (void) const    { return _missionController;}
+    QList<WimaPolygon*>&         visualItems           (void) const    { return }
 
 
-    //Property Accessors
-    WimaFlyArea *flyArea                            (void) { return _flyArea; }
-    PlanMasterController* masterController          (void) { return _masterController; }
-    MissionController* missionController            (void) { return _missionController; }
 
-    Q_INVOKABLE void start(void);
-    Q_INVOKABLE void recalcMission();
 
+    // Property setters
+    void setMasterController        (PlanMasterController* masterController);
+    void setMissionController       (MissionController* missionController);
 
-    void setMasterController(PlanMasterController* masterC);
-    void setMissionController(MissionController* missionC);
+    Q_INVOKABLE void addGlobalMeasurementArea();
+    Q_INVOKABLE void removeGlobalMeasurementArea(int index);
+    Q_INVOKABLE void addServiceArea();
+    Q_INVOKABLE void removeServiceArea(int index);
 
-signals:
-    void masterControllerChanged(PlanMasterController* masterController);
-    void missionControllerChanged(MissionController* missionController);
+    Q_INVOKABLE void recalcVehicleCorridor();
+    Q_INVOKABLE void recalcVehicleMeasurementArea();
+
+    Q_INVOKABLE void startMission();
+    Q_INVOKABLE void abortMission();
+    Q_INVOKABLE void pauseMission();
+    Q_INVOKABLE void resumeMission();
+
+    Q_INVOKABLE void saveMission();
+    Q_INVOKABLE void loadMission();
 
 
-public slots:
+
+signals:
+    void masterControllerChanged        (void);
+    void missionControllerChanged       (void);
+    void visualItemsChanged             (void);
+
 
 private:
-    //QmlObjectListModel* _visualItems;
-    WimaFlyArea *               _flyArea;
+    bool                        _planView;
+    WimaPolygonContainer        _visualItemsContainer;
     PlanMasterController*       _masterController;
     MissionController*          _missionController;
+
 };
 
 #endif // WIMACONTROLLER_H

src/MissionManager/WimaGlobalMeasurementPolygon.cc

@@ -8,28 +8,34 @@ WimaGlobalMeasurementPolygon::WimaGlobalMeasurementPolygon(QObject *parent):
 
 }
 
+WimaGlobalMeasurementPolygon::WimaGlobalMeasurementPolygon(QGCMapPolygon *other, QObject *parent):
+    WimaPolygon (other, parent)
+{
+
+}
+
 void WimaGlobalMeasurementPolygon::addVehicle(Vehicle *vehicle)
 {
     if(vehicle != nullptr){
-        _vehicleList->append(vehicle);
+        _vehicleList.append(vehicle);
         emit vehicleListChanged(_vehicleList);
     }
 }
 
 void WimaGlobalMeasurementPolygon::removeVehicle(int vehicleIndex)
 {
-    if(vehicleIndex >= 0 && vehicleIndex < _vehicleList->count()){
-        _vehicleList->removeAt(vehicleIndex);
+    if(vehicleIndex >= 0 && vehicleIndex < _vehicleList.count()){
+        _vehicleList.removeAt(vehicleIndex);
         emit vehicleListChanged(_vehicleList);
     }
 }
 
-void WimaGlobalMeasurementPolygon::recalculateVehiclePolygons()
+void WimaGlobalMeasurementPolygon::recalculatesubPolygons()
 {
     int vehicleCount = _vehicleList->count();
     WimaVehicleMeasurementPolygon* newPolygon = new WimaVehicleMeasurementPolygon(this);
 
-    _vehiclePolygons = this->splitPolygonArea(vehicleCount);
+    _subPolygons = this->splitPolygonArea(vehicleCount);
 }
 
 void WimaGlobalMeasurementPolygon::removeAllVehicles()

src/MissionManager/WimaGlobalMeasurementPolygon.h

@@ -4,6 +4,7 @@
 #include <QObject>
 #include "WimaPolygon.h"
 #include "QGCMapPolyline.h"
+#include "QGCMapPolygon.h"
 #include "WimaVehicleMeasurementPolygon.h"
 
 class WimaGlobalMeasurementPolygon : public WimaPolygon
@@ -11,17 +12,18 @@ class WimaGlobalMeasurementPolygon : public WimaPolygon
     Q_OBJECT
 public:
     WimaGlobalMeasurementPolygon(QObject* parent);
+    WimaGlobalMeasurementPolygon(QGCMapPolygon* other, QObject* parent);
 
     Q_PROPERTY(double                   bottomLayerAltitude         READ bottomLayerAltitude        WRITE setBottomLayerAltitude        NOTIFY bottomLayerAltitudeChanged)
     Q_PROPERTY(int                      numberOfLayers              READ numberOfLayers             WRITE setNumberOfLayers             NOTIFY numberOfLayersChanged)
     Q_PROPERTY(double                   layerDistance               READ layerDistance              WRITE setLayerDistance              NOTIFY layerDistanceChanged)
-    Q_PROPERTY(QmlObjectListModel*      vehicleList                 READ vehicleList                                                    NOTIFY vehicleListChanged)
+    Q_PROPERTY(QList<Vehicle*>          vehicleList                 READ vehicleList                                                    NOTIFY vehicleListChanged)
     Q_PROPERTY(QGCMapPolyline*          entryPolyline               READ entryPolyline                                                  NOTIFY entryPolylineChanged)
-    Q_PROPERTY(QmlObjectListModel*      vehiclePolygons             READ vehiclePolygons                                                NOTIFY vehiclePolygonsChanged)
+    Q_PROPERTY( QList<WimaPolygon*>     subPolygons                 READ subPolygons                                                    NOTIFY subPolygonsChanged)
 
     Q_INVOKABLE void addVehicle(Vehicle *vehicle);
     Q_INVOKABLE void removeVehicle(int vehicleIndex);
-    Q_INVOKABLE void recalculateVehiclePolygons();
+    Q_INVOKABLE void recalculatesubPolygons();
     Q_INVOKABLE void removeAllVehicles();
 
 
@@ -30,35 +32,33 @@ public:
     QString         editorQML       (void) const { return "WimaGlobalMeasurementPolygonEditor.qml";}
 
     // Property accessors
-    double                  bottomLayerAltitude     (void) const { return _bottomLayerAltitude;}
-    int           numberOfLayers          (void) const { return _numberOfLayers;}
-    double                  layerDistance           (void) const { return _layerDistance;}
-    QmlObjectListModel*     vehicleList             (void) const { return _vehicleList;}
-    QGCMapPolyline*         entryPolyline           (void) const { return _entryPolyline;}
-    QmlObjectListModel*     vehiclePolygons         (void) const { return _vehiclePolygons;}
+    double                                      bottomLayerAltitude     (void) const { return _bottomLayerAltitude;}
+    int                                         numberOfLayers          (void) const { return _numberOfLayers;}
+    double                                      layerDistance           (void) const { return _layerDistance;}
+    QList<Vehicle*>                             vehicleList             (void) const { return _vehicleList;}
+    QGCMapPolyline*                             entryPolyline           (void) const { return _entryPolyline;}
 
     // Property setters
 
-    void setBottomLayerAltitude(double altitude);
-    void setNumberOfLayers(int numberOfLayers);
-    void setLayerDistance(double distance);
+    void setBottomLayerAltitude     (double altitude);
+    void setNumberOfLayers          (int numberOfLayers);
+    void setLayerDistance           (double distance);
 
 signals:
-    void bottomLayerAltitudeChanged(double altitude);
-    void numberOfLayersChanged(int numberOfLayers);
-    void layerDistanceChanged(double distance);
-    void vehicleListChanged(QmlObjectListModel* vehicleList);
-    void entryPolylineChanged(QGCMapPolyline* polyline);
-    void vehiclePolygonsChanged(QmlObjectListModel* vehiclePolygons);
+    void bottomLayerAltitudeChanged     (double altitude);
+    void numberOfLayersChanged          (int numberOfLayers);
+    void layerDistanceChanged           (double distance);
+    void vehicleListChanged             (QList<Vehicle*> vehicleList);
+    void entryPolylineChanged           (QGCMapPolyline* polyline);
+    void subPolygonsChanged             (QList<WimaPolygon*> subPolygons);
 
 
 private:
     double                  _bottomLayerAltitude;
-    int           _numberOfLayers;
+    int                     _numberOfLayers;
     double                  _layerDistance;
-    QmlObjectListModel*     _vehicleList;
+    QList<Vehicle*>         _vehicleList;
     QGCMapPolyline*         _entryPolyline;
-    QmlObjectListModel*     _vehiclePolygons;
 
 };
 

src/MissionManager/WimaPolygon.cc

 #include "WimaPolygon.h"
 
 WimaPolygon::WimaPolygon(QObject *parent) :
-    QGCMapPolygon           (parent)
+    QObject                 (parent)
   ,_maxAltitude             (30)
   ,_vehicle                 (nullptr)
-  ,_polygonFractions        (new QmlObjectListModel(this))
+  ,_polygon                 (new QGCMapPolygon(this))
 {
 }
 
+WimaPolygon::WimaPolygon(QGCMapPolygon *other, QObject *parent):
+    WimaPolygon(parent)
+{
+    *_polygon = *other;
+}
+
+
 void WimaPolygon::setMaxAltitude(double alt)
 {
     if(alt > 0 && alt != _maxAltitude){
@@ -36,8 +43,4 @@ QmlObjectListModel* WimaPolygon::splitPolygonArea(int numberOfFractions)
     return nullptr;
 }
 
-QGCMapPolygon *WimaPolygon::extractQGCPolygon()
-{
-    QGCMapPolygon* newPolygon = new QGCMapPolygon(this->parent());
 
-}

src/MissionManager/WimaPolygon.h

@@ -3,14 +3,16 @@
 
 #include "QGCMapPolygon.h"
 #include "Vehicle.h"
+#include "qobject.h"
 
 
 
-class WimaPolygon : public QGCMapPolygon //abstract base class for all WimaPolygons
+class WimaPolygon : public QObject //abstract base class for all WimaPolygons
 {
     Q_OBJECT
 public:
     WimaPolygon(QObject* parent = nullptr);
+    WimaPolygon(QGCMapPolygon* other, QObject* parent = nullptr);
 
 
 
@@ -18,14 +20,17 @@ public:
     Q_PROPERTY(QString              mapVisualQML                READ mapVisualQML                                                   CONSTANT)
     Q_PROPERTY(QString              editorQML                   READ editorQML                                                      CONSTANT)
     Q_PROPERTY(Vehicle*             vehicle                     READ vehicle                    WRITE setVehicle                    NOTIFY vehicleChanged)
-    Q_PROPERTY(QmlObjectListModel*  polygonFractions            READ polygonFractions                                               NOTIFY polygonFractionsChanged)
+    Q_PROPERTY(QGCMapPolygon*       polygon                     READ polygon                                                        NOTIFY polygonChanged)
 
     //Property accessors
-    double      maxAltitude     (void) const     { return _maxAltitude;}
-    Vehicle*    vehicle         (void) const     { return _vehicle;}
+    double                  maxAltitude         (void) const    { return _maxAltitude;}
+    Vehicle*                vehicle             (void) const    { return _vehicle;}
+    QGCMapPolygon*          polygon             (void) const    { return _polygon;}
 
-    virtual QString         mapVisualQML    (void) const = 0;
-    virtual QString         editorQML       (void) const = 0;
+
+    virtual QString                     mapVisualQML    (void) const = 0;
+    virtual QString                     editorQML       (void) const = 0;
+    virtual QList<WimaPolygon*>&        subPolygons     (void) { return _subPolygons;}
 
     //Property setters
     void        setMaxAltitude     (double alt);
@@ -38,11 +43,9 @@ public:
     Q_INVOKABLE QmlObjectListModel* splitPolygonArea(int numberOfFractions);
 
 
-
 signals:
     void    maxAltitudeChanged      (double alt);
     void    vehicleChanged          (Vehicle* vehicle);
-    void    polygonFractionsChanged (QmlObjectListModel* pfrac);
 
 protected:
     QGCMapPolygon* extractQGCPolygon(void);
@@ -52,7 +55,8 @@ private:
 
     double                  _maxAltitude;
     Vehicle*                _vehicle;
-    QmlObjectListModel*     _polygonFractions;
+    QGCMapPolygon*          _polygon;
+    QList<WimaPolygon*>     _subPolygons;
 };
 
 #endif // WIMAPOLYGON_H

src/MissionManager/WimaPolygonContainer.cc

+#include "WimaPolygonContainer.h"
+
+WimaPolygonContainer::WimaPolygonContainer(QObject *parent) :
+    QObject             (parent)
+    ,_flatListDirty     (true)
+{
+    connect(this, &WimaPolygonContainer::itemListChanged, this, &WimaPolygonContainer::setFlatListDirty);
+}
+
+QList<WimaPolygon *> &WimaPolygonContainer::returnItems()
+{
+    return _itemList;
+}
+
+void WimaPolygonContainer::addItem(WimaPolygon *polygon)
+{
+    if(polygon != nullptr){
+        _itemList.append(polygon);
+
+        emit itemListChanged();
+    }
+    else {
+        qWarning("Not a valid WimaPolygon!");
+    }
+}
+
+void WimaPolygonContainer::removeItem(int itemIndex)
+{
+    if(itemIndex >= 0 && itemIndex < _itemList.count()){
+        _itemList.removeAt(itemIndex);
+
+        emit itemListChanged();
+    }else {
+        qWarning("Invalid item Index. Index must be in 0..%i.", _itemList.count()-1);
+    }
+}
+
+void WimaPolygonContainer::removeItem(WimaPolygon *polygon)
+{
+    if(polygon != nullptr){
+        _itemList.removeOne(polygon);
+
+        emit itemListChanged();
+    }
+    else {
+        qWarning("Not a valid WimaPolygon!");
+    }
+}
+
+QList<WimaPolygon*>& WimaPolygonContainer::returnFlatList()
+{
+    if(_flatListDirty){
+        _flatList.clear();
+
+        int count = _itemList.count();
+        for(int i = 0; i < count; i++){
+            WimaPolygon* poly = _itemList.takeAt(i);
+            _flatList.append(poly);
+            _flatList.append(poly->subPolygons()); // returns an emptey list, if no sub polygons exist
+        }
+        _flatListDirty = false;
+    }
+
+    return _flatList;
+}
+
+void WimaPolygonContainer::setFlatListDirty(void)
+{
+    _flatListDirty = true;
+}

src/MissionManager/WimaPolygonContainer.h

+#ifndef WIMAPOLYGONCONTAINER_H
+#define WIMAPOLYGONCONTAINER_H
+
+#include <QObject>
+#include "WimaPolygon.h"
+
+class WimaPolygonContainer : public QObject
+{
+    Q_OBJECT
+public:
+    WimaPolygonContainer(QObject *parent = nullptr);
+
+
+    QList<WimaPolygon*>& returnItems();
+
+    void addItem(WimaPolygon* polygon);
+    void removeItem(int itemIndex);
+    void removeItem(WimaPolygon* polygon);
+    QList<WimaPolygon*>& returnFlatList();
+
+signals:
+    void itemListChanged(void);
+
+private slots:
+    void setFlatListDirty(void);
+
+private:
+    QList<WimaPolygon*> _itemList;
+    QList<WimaPolygon*> _flatList;
+    bool                _flatListDirty;
+};
+
+#endif // WIMAPOLYGONCONTAINER_H

src/MissionManager/WimaServicePolygon.cc

@@ -6,6 +6,12 @@ WimaServicePolygon::WimaServicePolygon(QObject *parent):
 
 }
 
+WimaServicePolygon::WimaServicePolygon(QGCMapPolygon *other, QObject *parent):
+    WimaPolygon (other, parent)
+{
+
+}
+
 void WimaServicePolygon::setTakeOffPosition(QGeoCoordinate coordinate)
 {
     if(_takeOffPosition != coordinate){

src/MissionManager/WimaServicePolygon.h

@@ -8,7 +8,9 @@ class WimaServicePolygon : public WimaPolygon
 {
     Q_OBJECT
 public:
-    WimaServicePolygon(QObject* parent);
+    WimaServicePolygon(QObject* parent = nullptr);
+    WimaServicePolygon(QGCMapPolygon* other, QObject* parent = nullptr);
+
     Q_PROPERTY(QGeoCoordiante takeOffPosition           READ takeOffPosition                    WRITE setTakeOffPosition            NOTIFY takeOffPositionChanged)
     Q_PROPERTY(QGeoCoordinate landPosition              READ landPosition                       WRITE setLandPosition               NOTIFY landPositionChanged)
     Q_PROPERTY(Vehicle* vehicle                         READ vehicle                            WRITE setVehicle                    NOTIFY vehicleChanged)

src/MissionManager/WimaVehicleCorridor.cc

@@ -5,3 +5,9 @@ WimaVehicleCorridor::WimaVehicleCorridor(QObject *parent):
 {
 
 }
+
+WimaVehicleCorridor::WimaVehicleCorridor(QGCMapPolygon *other, QObject *parent):
+    WimaPolygon (other, parent)
+{
+
+}

src/MissionManager/WimaVehicleCorridor.h

@@ -9,6 +9,7 @@ class WimaVehicleCorridor : public WimaPolygon
     Q_OBJECT
 public:
     WimaVehicleCorridor(QObject* parent);
+    WimaVehicleCorridor(QGCMapPolygon* other, QObject* parent);
 
     // Overrides from WimaPolygon
     QString         mapVisualQML    (void) const { return "WimaVehicleCorridorMapVisal.qml";}

src/MissionManager/WimaVehicleMeasurementPolygon.cc

@@ -6,3 +6,9 @@ WimaVehicleMeasurementPolygon::WimaVehicleMeasurementPolygon(QObject *parent):
 {
 
 }
+
+WimaVehicleMeasurementPolygon::WimaVehicleMeasurementPolygon(QGCMapPolygon *other, QObject *parent):
+    WimaPolygon (other, parent)
+{
+
+}

src/MissionManager/WimaVehicleMeasurementPolygon.h

@@ -9,6 +9,8 @@ class WimaVehicleMeasurementPolygon : public WimaPolygon
     Q_OBJECT
 public:
     WimaVehicleMeasurementPolygon(QObject* parent);
+    WimaVehicleMeasurementPolygon(QGCMapPolygon* other, QObject* parent);
+
     // Overrides from WimaPolygon
     QString         mapVisualQML    (void) const { return "WimaVehicleMeasurementPolygonMapVisal.qml";}
     QString         editorQML       (void) const { return "WimaVehicleMeasurementPolygonEditor.qml";}