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qgroundcontrol
Commit 175e7c28 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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merge with remote/master

parents dc158d8f bf3b5ebe
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Showing with 662 additions and 189 deletions
qgroundcontrol.pro
View file @ 175e7c28
......@@ -1345,4 +1345,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
}
DISTFILES += \
src/WimaView/WimaMeasurementAreaEditor.qml
src/WimaView/WimaMeasurementAreaEditor.qml \
qgroundcontrol.qrc
View file @ 175e7c28
......@@ -277,6 +277,7 @@
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
<file alias="WimaArea.SettingsGroup.json">src/Wima/WimaArea.SettingsGroup.json</file>
<file alias="WimaController.SettingsGroup.json">src/Wima/WimaController.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/FlightDisplay/FlightDisplayView.qml
View file @ 175e7c28
......@@ -402,7 +402,8 @@ QGCView {
script: {
// Stop video, restart it again with Timer
// Avoiding crashs if ParentChange is not yet done
QGroundControl.videoManager.stopVideo()
QGroundControl.video
visible: _splitConcave.visibleManager.stopVideo()
videoPopUpTimer.running = true
}
}
......@@ -527,6 +528,7 @@ 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
......@@ -545,6 +547,28 @@ QGCView {
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
anchors.bottom: parent.bottom
qgcView: root
useLightColors: isBackgroundDark
missionController: _missionController
visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
}
FlightDisplayWimaMenu {
id: wimaMenu
z: _panel.z + 4
anchors.left: parent.left
anchors.bottom: parent.bottom
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.25
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 0.25
wimaController: wimaController
>>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
//-------------------------------------------------------------------------
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 175e7c28
......@@ -193,9 +193,18 @@ FlightMap {
property real leftToolWidth: toolStrip.x + toolStrip.width
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
wimaController: flightMap.wimaController
}
// Add wima Areas to the Map
MapItemView {
model: wimaController.visualItems
property bool _enableWima: wimaController.enableWimaController.value
model: _enableWima ? wimaController.visualItems : 0
delegate: MapPolygon{
path: object.path;
......@@ -205,18 +214,10 @@ FlightMap {
: object.type === "WimaMeasurementAreaData" ? "green"
: "transparent"
opacity: 0.25
z: QGroundControl.zOrderTrajectoryLines-2
z: QGroundControl.zOrderWaypointLines-2
}
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
wimaController: flightMap.wimaController
z: QGroundControl.zOrderTrajectoryLines-1
}
// Add trajectory points to the map
MapItemView {
model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ 175e7c28
......@@ -14,13 +14,155 @@ import QGroundControl.Vehicle 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.Airspace 1.0
import QGroundControl.Airmap 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
id: _root
id: _root
height: 400
width: 250
<<<<<<< HEAD
Text {
id: enableWima
text: qsTr("WiMA")
font.pointSize: 40
=======
property var wimaController // must be provided by the user
// box containing all items
Rectangle {
anchors.left: parent.left
anchors.bottom: parent.bottom
height: enableWima.enableWimaBoolean ? parent.height : enableWima.height
width: enableWima.enableWimaBoolean ? parent.width : enableWima.width
color: enableWima.enableWimaBoolean ? qgcPal.window : "transparent"
radius: ScreenTools.defaultFontPixelHeight / 4
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.rightMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.5
// checkbox to enable/ disable wima
SliderSwitch {
id: enableWima
anchors.horizontalCenter: parent.horizontalCenter
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
anchors.top: parent.top
confirmText: enableWimaBoolean ? qsTr("disable WiMA") : qsTr("enable WiMA")
property var enableWimaFact: wimaController.enableWimaController
property bool enableWimaBoolean: enableWimaFact.value
onAccept: {
if (enableWimaBoolean) {
enableWimaFact.value = false
} else {
enableWimaFact.value = true
}
}
}
Column {
id: mainColumn
anchors.top: enableWima.bottom
anchors.left: parent.left
anchors.right: parent.right
anchors.bottom: parent.bottom
anchors.margins: ScreenTools.defaultFontPixelHeight * 0.4
spacing: ScreenTools.defaultFontPixelHeight * 0.25
SectionHeader {
id: settingsHeader
text: qsTr("Settings")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
visible: settingsHeader.checked
// Settings
QGCLabel { text: qsTr("Next Waypoint") }
FactTextField {
fact: wimaController.startWaypointIndex
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Waypoints") }
FactTextField {
fact: wimaController.maxWaypointsPerPhase
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Overlap") }
FactTextField {
fact: wimaController.overlapWaypoints
Layout.fillWidth: true
}
FactCheckBox {
text: qsTr("Show All")
fact: wimaController.showAllMissionItems
}
FactCheckBox {
text: qsTr("Show Current")
fact: wimaController.showCurrentMissionItems
}
}
SectionHeader{
id: commandHeader
text: qsTr("Commands")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
visible: commandHeader.checked
// Buttons
QGCButton {
id: buttonPreviousMissionPhase
text: qsTr("Reverse")
onClicked: wimaController.previousPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonNextMissionPhase
text: qsTr("Forward")
onClicked: wimaController.nextPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonResetPhase
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonUpload
text: qsTr("Upload")
onClicked: wimaController.uploadToVehicle();
Layout.fillWidth: true
}
QGCButton {
id: buttonRemoveFromVehicle
text: qsTr("Remove")
onClicked: wimaController.removeFromVehicle();
Layout.fillWidth: true
}
}
}
>>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
}
src/FlightMap/MapItems/WimaPlanMapItems.qml
View file @ 175e7c28
......@@ -31,9 +31,14 @@ Item {
property var _missionLineViewComponent
property var _currentMissionLineViewComponent
property bool _showAllItems: wimaController.showAllMissionItems.value
property bool _showCurrentItems: wimaController.showCurrentMissionItems.value
property bool _wimaEnabled: wimaController.enableWimaController.value
// Add the mission item visuals to the map
Repeater {
model: largeMapView ? wimaController.missionItems : 0
Repeater {
model: largeMapView ? (_showAllItems ? (_wimaEnabled ? wimaController.missionItems : 0) : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-2
delegate: WimaMissionItemMapVisual {
map: _map
......@@ -45,19 +50,12 @@ Item {
// }
// }
}
/*onItemAdded: {
console.log(wimaController.missionItems.count)
}
onItemRemoved: {
console.log(wimaController.missionItems.count)
}*/
}
// Add the current mission item visuals to the map
Repeater {
model: largeMapView ? wimaController.currentMissionItems : 0
model: largeMapView ? (_showCurrentItems ? (_wimaEnabled ? wimaController.currentMissionItems :0 ) : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-1
delegate: WimaMissionItemMapVisual {
map: _map
......@@ -88,8 +86,8 @@ Item {
MapPolyline {
line.width: 3
line.color: mIlineColor
z: QGroundControl.zOrderWaypointLines
line.color: _showAllItems ? (_wimaEnabled ? mIlineColor : "transparent"): "transparent"
z: QGroundControl.zOrderWaypointLines-2
path: wimaController.waypointPath
}
}
......@@ -99,8 +97,8 @@ Item {
MapPolyline {
line.width: 3
line.color: cMIlineColor
z: QGroundControl.zOrderWaypointLines
line.color: _showCurrentItems ? (_wimaEnabled ? cMIlineColor : "transparent") : "transparent"
z: QGroundControl.zOrderWaypointLines-1
path: wimaController.currentWaypointPath
}
}
......
src/MissionManager/MissionController.cc
View file @ 175e7c28
......@@ -391,24 +391,38 @@ int MissionController::insertSimpleMissionItem(const MissionItem &missionItem, i
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, missionItem, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
if (newItem->command() == takeoffCmd) {
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
return -1; // can not add this takeoff command for this vehicle
}
}
if (newItem->specifiesAltitude()) {
double prevAltitude;
int prevAltitudeMode;
if (newItem->specifiesAltitude()) {
newItem->altitude()->setRawValue(missionItem.relativeAltitude());
newItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeMode::AltitudeModeRelative);
}
newItem->setMissionFlightStatus(_missionFlightStatus);
_visualItems->insert(i, newItem);
if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
return newItem->sequenceNumber();
}
int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(missionItem, _flyView, this);
newItem->setSequenceNumber(sequenceNumber);
_initVisualItem(newItem);
MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
if (newItem->command() == takeoffCmd) {
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
return -1; // can not add this takeoff command for this vehicle
}
}
newItem->setMissionFlightStatus(_missionFlightStatus);
//newItem->setMissionFlightStatus(_missionFlightStatus);
_visualItems->insert(i, newItem);
return newItem->sequenceNumber();
......
src/MissionManager/MissionController.h
View file @ 175e7c28
......@@ -113,6 +113,11 @@ public:
/// @return Sequence number for new item
int insertSimpleMissionItem(const MissionItem &missionItem, int i);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
int insertSimpleMissionItem(SimpleMissionItem &missionItem, int i);
/// Add a new ROI mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
......
src/MissionManager/SimpleMissionItem.cc
View file @ 175e7c28
......@@ -168,7 +168,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, bool flyVie
_editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
_altitudeFact.setRawValue(other._altitudeFact.rawValue());
_amslAltAboveTerrainFact.setRawValue(other._amslAltAboveTerrainFact.rawValue());
_amslAltAboveTerrainFact.setRawValue(other._amslAltAboveTerrainFact.rawValue());
_setupMetaData();
_connectSignals();
......@@ -954,7 +954,7 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude)
}
}
void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
void SimpleMissionItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t& missionFlightStatus)
{
// If user has not already set speed/gimbal, set defaults from previous items.
VisualMissionItem::setMissionFlightStatus(missionFlightStatus);
......
src/MissionManager/SimpleMissionItem.h
View file @ 175e7c28
......@@ -112,7 +112,7 @@ public:
QString mapVisualQML (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void setMissionFlightStatus (const MissionController::MissionFlightStatus_t &missionFlightStatus) final;
bool readyForSave (void) const final;
double additionalTimeDelay (void) const final;
......
src/MissionManager/StructureScanComplexItem.cc
View file @ 175e7c28
......@@ -441,7 +441,7 @@ int StructureScanComplexItem::cameraShots(void) const
return _cameraShots;
}
void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
void StructureScanComplexItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus)
{
ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
......
src/MissionManager/StructureScanComplexItem.h
View file @ 175e7c28
......@@ -86,7 +86,7 @@ public:
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void setMissionFlightStatus (const MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
......
src/MissionManager/TransectStyleComplexItem.cc
View file @ 175e7c28
......@@ -291,7 +291,7 @@ double TransectStyleComplexItem::greatestDistanceTo(const QGeoCoordinate &other)
return greatestDistance;
}
void TransectStyleComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
void TransectStyleComplexItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus)
{
ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
......
src/MissionManager/TransectStyleComplexItem.h
View file @ 175e7c28
......@@ -98,7 +98,7 @@ public:
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void setMissionFlightStatus (const MissionController::MissionFlightStatus_t& missionFlightStatus) final;
bool readyForSave (void) const override;
QString commandDescription (void) const override { return tr("Transect"); }
QString commandName (void) const override { return tr("Transect"); }
......
src/MissionManager/VisualMissionItem.cc
View file @ 175e7c28
......@@ -85,8 +85,14 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
setAltDifference(other._altDifference);
setAltPercent(other._altPercent);
setTerrainPercent(other._terrainPercent);
setTerrainCollision(other._terrainCollision);
setAzimuth(other._azimuth);
setDistance(other._distance);
_missionGimbalYaw = other._missionGimbalYaw;
_missionVehicleYaw = other._missionVehicleYaw;
_setBoundingCube(other._boundingCube);
setMissionFlightStatus(other._missionFlightStatus);
// _childItems // necessary here?
return *this;
}
......@@ -151,7 +157,7 @@ void VisualMissionItem::setAzimuth(double azimuth)
}
}
void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
void VisualMissionItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t& missionFlightStatus)
{
_missionFlightStatus = missionFlightStatus;
if (qIsNaN(_missionFlightStatus.gimbalYaw) && qIsNaN(_missionGimbalYaw)) {
......
src/MissionManager/VisualMissionItem.h
View file @ 175e7c28
......@@ -128,7 +128,7 @@ public:
/// Update item to mission flight status at point where this item appears in mission.
/// IMPORTANT: Overrides must call base class implementation
virtual void setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus);
virtual void setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus);
virtual bool coordinateHasRelativeAltitude (void) const = 0;
virtual bool exitCoordinateHasRelativeAltitude (void) const = 0;
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ 175e7c28
......@@ -129,20 +129,6 @@ Rectangle {
Layout.fillWidth: true
//onUpdated: angleSlider.value = missionItem.deltaAlpha.value
}
/*QGCSlider {
id: angleSlider
minimumValue: 0.3
maximumValue: 10
stepSize: 0.1
tickmarksEnabled: false
Layout.fillWidth: true
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
Component.onCompleted: value = missionItem.deltaAlpha.value
onValueChanged: missionItem.deltaAlpha.value = value
updateValueWhileDragging: false
}*/
}
ColumnLayout {
......@@ -151,21 +137,10 @@ Rectangle {
spacing: _margin
visible: transectsHeader.checked
QGCButton {
text: qsTr("Rotate Entry Point")
onClicked: missionItem.rotateEntryPoint();
}
/*
Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
FactCheckBox {
text: qsTr("Split concave polygons")
fact: _splitConcave
visible: _splitConcave.visible
property Fact _splitConcave: missionItem.splitConcavePolygons
text: qsTr("Snake Path")
fact: missionItem.isSnakePath
}
*/
QGCCheckBox {
id: relAlt
......@@ -181,6 +156,28 @@ Rectangle {
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
QGCButton {
text: qsTr("Reset Reference")
onClicked: missionItem.resetReference();
Layout.fillWidth: true
}
QGCButton {
text: qsTr("Rotate Entry Point")
onClicked: missionItem.rotateEntryPoint();
Layout.fillWidth: true
}
/*
Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
FactCheckBox {
text: qsTr("Split concave polygons")
fact: _splitConcave
visible: _splitConcave.visible
property Fact _splitConcave: missionItem.splitConcavePolygons
}
*/
}
SectionHeader {
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ 175e7c28
......@@ -173,10 +173,10 @@ public:
qreal zOrderTopMost () { return 1000; }
qreal zOrderWidgets () { return 100; }
qreal zOrderMapItems () { return 50; }
qreal zOrderWaypointIndicators () { return 50; }
qreal zOrderVehicles () { return 49; }
qreal zOrderTrajectoryLines () { return 48; }
qreal zOrderWaypointLines () { return 47; }
qreal zOrderWaypointIndicators () { return 40; }
qreal zOrderVehicles () { return 30; }
qreal zOrderTrajectoryLines () { return 20; }
qreal zOrderWaypointLines () { return 10; }
bool isVersionCheckEnabled () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); }
......
src/Wima/CircularSurvey.SettingsGroup.json
View file @ 175e7c28
......@@ -26,5 +26,11 @@
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 5.0
},
{
"name": "IsSnakePath",
"shortDescription": "Determines whether the transects are arranged in a snake or a zig-zag manner.",
"type": "bool",
"defaultValue": 1
}
]
src/Wima/CircularSurveyComplexItem.cc
View file @ 175e7c28
......@@ -7,12 +7,14 @@ const char* CircularSurveyComplexItem::settingsGroup = "CircularSur
const char* CircularSurveyComplexItem::deltaRName = "DeltaR";
const char* CircularSurveyComplexItem::deltaAlphaName = "DeltaAlpha";
const char* CircularSurveyComplexItem::transectMinLengthName = "TransectMinLength";
const char* CircularSurveyComplexItem::isSnakePathName = "IsSnakePath";
const char* CircularSurveyComplexItem::jsonComplexItemTypeValue = "circularSurvey";
const char* CircularSurveyComplexItem::jsonDeltaRKey = "deltaR";
const char* CircularSurveyComplexItem::jsonDeltaAlphaKey = "deltaAlpha";
const char* CircularSurveyComplexItem::jsonTransectMinLengthKey = "transectMinLength";
const char* CircularSurveyComplexItem::jsonIsSnakePathKey = "isSnakePath";
const char* CircularSurveyComplexItem::jsonReferencePointLatKey = "referencePointLat";
const char* CircularSurveyComplexItem::jsonReferencePointLongKey = "referencePointLong";
const char* CircularSurveyComplexItem::jsonReferencePointAltKey = "referencePointAlt";
......@@ -24,23 +26,29 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
, _deltaR (settingsGroup, _metaDataMap[deltaRName])
, _deltaAlpha (settingsGroup, _metaDataMap[deltaAlphaName])
, _transectMinLength (settingsGroup, _metaDataMap[transectMinLengthName])
, _isSnakePath (settingsGroup, _metaDataMap[isSnakePathName])
, _autoGenerated (false)
{
_editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
connect(&_deltaR, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_deltaAlpha, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_transectMinLength, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_isSnakePath, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(this, &CircularSurveyComplexItem::refPointChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
}
void CircularSurveyComplexItem::resetReference()
{
setRefPoint(_surveyAreaPolygon.center());
}
void CircularSurveyComplexItem::setRefPoint(const QGeoCoordinate &refPt)
{
if (refPt != _referencePoint){
_referencePoint = refPt;
emit refPointChanged();
//qDebug() << _referencePoint.toString();
}
}
......@@ -95,12 +103,12 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
{ jsonDeltaRKey, QJsonValue::Double, true },
{ jsonDeltaAlphaKey, QJsonValue::Double, true },
{ jsonTransectMinLengthKey, QJsonValue::Double, true },
{ jsonIsSnakePathKey, QJsonValue::Bool, true },
{ jsonReferencePointLatKey, QJsonValue::Double, true },
{ jsonReferencePointLongKey, QJsonValue::Double, true },
{ jsonReferencePointAltKey, QJsonValue::Double, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
}
......@@ -132,6 +140,7 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
_referencePoint.setLongitude (complexObject[jsonReferencePointLongKey].toDouble());
_referencePoint.setLatitude (complexObject[jsonReferencePointLatKey].toDouble());
_referencePoint.setAltitude (complexObject[jsonReferencePointAltKey].toDouble());
_isSnakePath.setRawValue (complexObject[jsonIsSnakePathKey].toBool());
_autoGenerated = true;
_ignoreRecalc = false;
......@@ -156,8 +165,9 @@ void CircularSurveyComplexItem::save(QJsonArray &planItems)
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[jsonDeltaRKey] = _deltaR.rawValue().toDouble();
saveObject[jsonDeltaAlphaKey] = _deltaAlpha.rawValue().toDouble();
saveObject[jsonDeltaAlphaKey] = _deltaAlpha.rawValue().toDouble();
saveObject[jsonTransectMinLengthKey] = _transectMinLength.rawValue().toDouble();
saveObject[jsonIsSnakePathKey] = _isSnakePath.rawValue().toBool();
saveObject[jsonReferencePointLongKey] = _referencePoint.longitude();
saveObject[jsonReferencePointLatKey] = _referencePoint.latitude();
saveObject[jsonReferencePointAltKey] = _referencePoint.altitude();
......@@ -506,7 +516,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
return;
// optimize path to lawn pattern
// optimize path to snake or zig-zag pattern
bool isSnakePattern = _isSnakePath.rawValue().toBool();
QList<QPointF> currentSection = fullPath.takeFirst();
if ( currentSection.isEmpty() )
return;
......@@ -535,7 +546,7 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
}
}
currentSection = fullPath.takeAt(index);
if (reversePath) {
if (reversePath && isSnakePattern) {
PolygonCalculus::reversePath(currentSection);
}
}
......@@ -578,6 +589,11 @@ Fact *CircularSurveyComplexItem::transectMinLength()
return &_transectMinLength;
}
Fact *CircularSurveyComplexItem::isSnakePath()
{
return &_isSnakePath;
}
......
src/Wima/CircularSurveyComplexItem.h
View file @ 175e7c28
......@@ -18,11 +18,14 @@ public:
/// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact* transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(bool autoGenerated READ autoGenerated NOTIFY autoGeneratedChanged)
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact* transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(Fact* isSnakePath READ isSnakePath CONSTANT)
Q_PROPERTY(bool autoGenerated READ autoGenerated NOTIFY autoGeneratedChanged)
Q_INVOKABLE void resetReference(void);
// Property setters
void setRefPoint(const QGeoCoordinate &refPt);
......@@ -32,8 +35,9 @@ public:
// Property getters
QGeoCoordinate refPoint() const;
Fact *deltaR();
Fact *deltaAlpha();
Fact *deltaAlpha();
Fact *transectMinLength();
Fact *isSnakePath();
// Is true if survey was automatically generated, prevents initialisation from gui.
bool autoGenerated();
......@@ -59,11 +63,13 @@ public:
static const char* deltaRName;
static const char* deltaAlphaName;
static const char* transectMinLengthName;
static const char* isSnakePathName;
static const char* jsonComplexItemTypeValue;
static const char* jsonDeltaRKey;
static const char* jsonDeltaAlphaKey;
static const char* jsonTransectMinLengthKey;
static const char* jsonTransectMinLengthKey;
static const char* jsonIsSnakePathKey;
static const char* jsonReferencePointLongKey;
static const char* jsonReferencePointLatKey;
static const char* jsonReferencePointAltKey;
......@@ -90,9 +96,10 @@ private:
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _deltaR;
SettingsFact _deltaAlpha;
SettingsFact _transectMinLength;
SettingsFact _deltaR; // distance between two neighbour circles
SettingsFact _deltaAlpha; // angle discretisation of the circles
SettingsFact _transectMinLength; // minimal transect lenght, transects are rejected if they are shorter than this value
SettingsFact _isSnakePath; // bool value, determining if transects are connected in a snake like or zig zag like manner
QTimer _updateTimer;
......
src/Wima/WimaController.SettingsGroup.json 0 → 100644
View file @ 175e7c28
[
{
"name": "EnableWimaController",
"shortDescription": "Enables or disables the WimaController, which performes different tasks inside the flight view window.",
"type": "bool",
"defaultValue": 1
},
{
"name": "OverlapWaypoints",
"shortDescription": "Determines the number of overlapping waypoints between two consecutive mission phases.",
"type": "uint32",
"defaultValue": 2
},
{
"name": "MaxWaypointsPerPhase",
"shortDescription": "Determines the maximum number of waypoints per phase.",
"type": "uint32",
"defaultValue": 30
},
{
"name": "StartWaypointIndex",
"shortDescription": "The index of the start waypoint for the next mission phase.",
"type": "uint32",
"defaultValue": 1
},
{
"name": "ShowAllMissionItems",
"shortDescription": "Determines whether the mission items of the overall mission are displayed or not.",
"type": "bool",
"defaultValue": 1
},
{
"name": "ShowCurrentMissionItems",
"shortDescription": "Determines whether the mission items of the current mission phase are displayed or not.",
"type": "bool",
"defaultValue": 1
}
]
src/Wima/WimaController.cc
View file @ 175e7c28
This diff is collapsed.
src/Wima/WimaController.h
View file @ 175e7c28
......@@ -20,6 +20,7 @@
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "SettingsFact.h"
class WimaController : public QObject
......@@ -32,18 +33,25 @@ public:
WimaController(QObject *parent = nullptr);
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
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(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
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)
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)
// Property accessors
......@@ -60,6 +68,12 @@ public:
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems (void);
// Property setters
......@@ -69,6 +83,10 @@ public:
// Member Methodes
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
Q_INVOKABLE void uploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
......@@ -83,7 +101,15 @@ public:
// static Members
static const char* wimaFileExtension;
static const char* areaItemsName;
static const char* missionItemsName;
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;
// Member Methodes
QJsonDocument saveToJson(FileType fileType);
......@@ -111,10 +137,12 @@ signals:
void currentWaypointPathChanged (void);
private slots:
void containerDataValidChanged (bool valid);
void updateCurrentMissionItems (void);
void fetchContainerData (bool valid);
void calcNextPhase (void);
void updateWaypointPath (void);
void updateCurrentPath (void);
void updateNextWaypoint (void);
void recalcCurrentPhase (void);
private:
......@@ -133,7 +161,22 @@ 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
int _startWaypointIndex; // index to the mission item stored in _missionItems defining the first element of _currentMissionItems
int _endWaypointIndex; // index to the mission item stored in _missionItems defining the last element of _currentMissionItems
};
QList<int> _startWaypointIndexList; // list containing the last start waypoint indices, used by previosPhase
QGeoCoordinate _takeoffLandPostion;
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 _nestPhaseStartWaypointIndex; // 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.
int _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
// (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
};
src/Wima/WimaPlaner.cc
View file @ 175e7c28
......@@ -100,6 +100,7 @@ void WimaPlaner::removeArea(int index)
if (_visualItems.count() == 0) {
// this branch is reached if all items are removed
// to guarentee proper behavior, _currentAreaIndex must be set to a invalid value, as on constructor init.
resetAllInteractive();
_currentAreaIndex = -1;
return;
}
......@@ -323,11 +324,7 @@ bool WimaPlaner::updateMission()
qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
return false;
}
// path.clear();
// path.append(end);
// path.append(start);
// path.append(end);
// path.append(end);
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
......
src/WimaView/SphericalSurveyMapVisual.qml
View file @ 175e7c28
......@@ -86,7 +86,7 @@ Item {
}
function _setRefPoint() {
_missionItem.refPoint = map.toCoordinate(map.centerViewport.x, map.centerViewport.y, false /* clipToViewPort */)
_missionItem.resetReference();
}
Component.onCompleted: {
......@@ -172,11 +172,19 @@ Item {
DragCoordinate {
map: _root.map
qgcView: _root.qgcView
z: QGroundControl.zOrderMapItems
z: QGroundControl.zOrderMapItems
checked: _missionItem.isCurrentItem
coordinate: _missionItem.refPoint
onCoordinateChanged: _missionItem.refPoint = coordinate
property var refPoint: _missionItem.refPoint
onCoordinateChanged: _missionItem.refPoint = coordinate
onRefPointChanged: {
if (refPoint !== coordinate) {
coordinate = refPoint
}
}
onClicked: _root.clicked(_missionItem.sequenceNumber)
}
}
......
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