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Commit 22be1d1a authored by Valentin Platzgummer's avatar Valentin Platzgummer
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adding areas to flyView, WimaPlanData restructured, WimaController and WimaPlaner edited

parent 05c2790f
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Showing with 990 additions and 739 deletions
master.qdocconf
View file @ 22be1d1a
......@@ -6,6 +6,7 @@ sourcedirs = ./src/Wima
headers = ./src/Wima/WimaArea.h
sources = ./src/Wima/WimaArea.cc
sources.fileextensions = "*.cpp *.cc *.qdoc *.mm *.qml"
headers.fileextensions = "*.h *.ch *.h++ *.hh *.hpp *.hxx"
......
qgroundcontrol.pro
View file @ 22be1d1a
......@@ -420,7 +420,8 @@ HEADERS += \
src/Wima/WimaAreaData.h \
src/Wima/WimaServiceAreaData.h \
src/Wima/WimaCorridorData.h \
src/Wima/WimaMeasurementAreaData.h
src/Wima/WimaMeasurementAreaData.h \
src/Wima/WimaPlanData.h
SOURCES += \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
......@@ -439,7 +440,8 @@ SOURCES += \
src/Wima/WimaAreaData.cc \
src/Wima/WimaServiceAreaData.cc \
src/Wima/WimaCorridorData.cpp \
src/Wima/WimaMeasurementAreaDataareadata.cc
src/Wima/WimaPlanData.cc \
src/Wima/WimaMeasurementAreaData.cc
#
# Unit Test specific configuration goes here (requires full debug build with all plugins)
......@@ -1321,4 +1323,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
}
DISTFILES += \
src/Wima/WimaGOperationArea.SettingsGroup.json
src/WimaView/WimaMeasurementAreaEditor.qml
qgroundcontrol.qrc
View file @ 22be1d1a
......@@ -211,16 +211,15 @@
<file alias="QGroundControl/Controls/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
<file alias="WimaView.qml">src/WimaView/WimaView.qml</file>
<file alias="QGroundControl/Controls/WimaMapVisual.qml">src/WimaView/WimaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaServicePolygonMapVisual.qml">src/WimaView/WimaServicePolygonMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaItemEditor.qml">src/WimaView/WimaItemEditor.qml</file>
<file alias="QGroundControl/Controls/WimaMapPolylineVisuals.qml">src/WimaView/WimaMapPolylineVisuals.qml</file>
<file alias="QGroundControl/Controls/WimaMapPolygonVisuals.qml">src/WimaView/WimaMapPolygonVisuals.qml</file>
<file alias="QGroundControl/Controls/WimaGOperationAreaMapVisual.qml">src/WimaView/WimaGOperationAreaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaGOperationAreaEditor.qml">src/WimaView/WimaGOperationAreaEditor.qml</file>
<file alias="QGroundControl/Controls/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
<file alias="QGroundControl/Controls/WimaVCorridorMapVisual.qml">src/WimaView/WimaVCorridorMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaAreaMapVisual.qml">src/WimaView/WimaAreaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
......@@ -265,7 +264,7 @@
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
<file alias="WimaGOperationArea.SettingsGroup.json">src/Wima/WimaGOperationArea.SettingsGroup.json</file>
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/FlightDisplay/FlightDisplayView.qml
View file @ 22be1d1a
......@@ -117,7 +117,7 @@ QGCView {
WimaController {
id: wimaController
Component.onCompleted: {
startWimaController(true /* flyView */)
wimaController.dataContainer = Qt.binding(function() { return dataContainerPointer })
}
}
......@@ -136,9 +136,8 @@ QGCView {
flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
}
wimaController.masterController = masterController
wimaController.missionController = masterController.missionController
wimaController.dataContainer = dataContainer
wimaController.masterController = Qt.binding(function() { return masterController; })
wimaController.missionController = Qt.binding(function() { return masterController.missionController; })
}
// The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 22be1d1a
......@@ -194,13 +194,16 @@ FlightMap {
}
// Add wima Areas to the Map
WimaMapPolygonVisuals {
mapControl: flightMap
mapPolygon: wimaController.joinedArea
borderWidth: 1
borderColor: "transparent"
interiorColor: "gray"
interiorOpacity: 0.25
MapItemView {
model: wimaController.visualItems
delegate: MapPolygon{
path: object.path;
border.color: "black"
color: "green"
opacity: 0.25
z: QGroundControl.zOrderTrajectoryLines-1
}
}
// Add trajectory points to the map
......
src/MissionManager/QGCMapPolygon.cc
View file @ 22be1d1a
......@@ -369,11 +369,6 @@ void QGCMapPolygon::setInteractive(bool interactive)
}
}
void QGCMapPolygon::update(const QGCMapPolygon &poly)
{
this->setPath(poly.path());
}
void print(const QGCMapPolygon &poly)
{
QString message;
......@@ -384,18 +379,18 @@ void print(const QGCMapPolygon &poly)
void print(const QGCMapPolygon &poly, QString &outputString)
{
outputString.append(QString("Coordinates:\n"));
outputString.append(QString("Coordinates:\r\n"));
for (int i = 0; i < poly.count(); i++) {
QGeoCoordinate coordinate = poly.vertexCoordinate(i);
outputString.append(QString("%s\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
outputString.append(QString("%1\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
}
outputString.append(QString("Dirty: %s\n").arg(QVariant(poly._dirty).toString()));
outputString.append(QString("Center: %s\n").arg(poly._center.toString(QGeoCoordinate::Degrees)));
outputString.append(QString("Center Drag: %s\n").arg(QVariant(poly._centerDrag).toString()));
outputString.append(QString("Ignore Center Updates: %s\n").arg(QVariant(poly._centerDrag).toString()));
outputString.append(QString("Interactive: %s\n").arg(QVariant(poly._interactive).toString()));
outputString.append(QString("Dirty: %1\n").arg(QVariant(poly._dirty).toString()));
outputString.append(QString("Center: %1\n").arg(poly._center.toString(QGeoCoordinate::Degrees)));
outputString.append(QString("Center Drag: %1\n").arg(QVariant(poly._centerDrag).toString()));
outputString.append(QString("Ignore Center Updates: %1\n").arg(QVariant(poly._centerDrag).toString()));
outputString.append(QString("Interactive: %1\n").arg(QVariant(poly._interactive).toString()));
}
QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
......
src/MissionManager/QGCMapPolygon.h
View file @ 22be1d1a
......@@ -99,9 +99,6 @@ public:
QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
QmlObjectListModel& pathModel (void) { return _polygonModel; }
/// Updates this with data from poly
void update(const QGCMapPolygon &poly);
// Friends
friend void print(const QGCMapPolygon& poly, QString& outputString);
friend void print(const QGCMapPolygon& poly);
......
src/QGCApplication.cc
View file @ 22be1d1a
......@@ -67,8 +67,9 @@
#include "FlightMapSettings.h"
#include "CoordinateVector.h"
#include "PlanMasterController.h"
#include "Wima/WimaController.h" //custom
#include "Wima/WimaDataContainer.h" //custom
#include "Wima/WimaController.h"
#include "Wima/WimaDataContainer.h"
#include "Wima/WimaPlaner.h"
#include "VideoManager.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
......@@ -465,8 +466,9 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<MavlinkConsoleController> (kQGCControllers, 1, 0, "MavlinkConsoleController");
#endif
// Wima
qmlRegisterType<WimaController> ("Wima", 1, 0, "WimaController"); //custom
qmlRegisterType<WimaDataContainer> ("Wima", 1, 0, "WimaDataContainer"); //custom
qmlRegisterType<WimaController> ("Wima", 1, 0, "WimaController");
qmlRegisterType<WimaPlaner> ("Wima", 1, 0, "WimaPlaner");
qmlRegisterType<WimaDataContainer> ("Wima", 1, 0, "WimaDataContainer");
// Register Qml Singletons
......
src/QmlControls/QGroundControl.Controls.qmldir
View file @ 22be1d1a
......@@ -86,12 +86,12 @@ ViewWidget 1.0 ViewWidget.qml
FlyAreaItemEditor 1.0 FlyAreaItemEditor.qml
WimaMapVisual 1.0 WimaMapVisual.qml
WimaGOperationAreaMapVisual 1.0 WimaGOperationAreaMapVisual.qml
WimaGOperationAreaEditor 1.0 WimaGOperationAreaEditor.qml
WimaMeasurementAreaMapVisual 1.0 WimaMeasurementAreaMapVisual.qml
WimaMeasurementAreaEditor 1.0 WimaMeasurementAreaEditor.qml
WimaServiceAreaMapVisual 1.0 WimaServiceAreaMapVisual.qml
WimaAreaMapVisual 1.0 WimaAreaMapVisual.qml
WimaServiceAreaEditor 1.0 WimaServiceAreaEditor.qml
WimaVCorridorMapVisual 1.0 WimaVCorridorMapVisual.qml
WimaCorridorMapVisual 1.0 WimaCorridorMapVisual.qml
WimaItemEditor 1.0 WimaItemEditor.qml
WimaMapPolygonVisuals 1.0 WimaMapPolygonVisuals.qml
WimaMapPolylineVisuals 1.0 WimaMapPolylineVisuals.qml
......
src/Wima/WimaArea.cc
View file @ 22be1d1a
This diff is collapsed.
src/Wima/WimaArea.h
View file @ 22be1d1a
......@@ -17,6 +17,7 @@ class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
public:
WimaArea(QObject* parent = nullptr);
WimaArea(const WimaArea& other, QObject* parent = nullptr);
WimaArea &operator=(const WimaArea &other);
Q_PROPERTY(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY maxAltitudeChanged)
......@@ -31,20 +32,12 @@ public:
virtual QString editorQML (void) const { return "WimaAreaEditor.qml";}
// Member Methodes
//iterates over all vertices in _polygon and returns the index of that one closest to coordinate
int getClosestVertexIndex (const QGeoCoordinate& coordinate) const;
//iterates over all vertices in _polygon and returns that one closest to coordinate
QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const;
QGCMapPolygon toQGCPolygon () const;
void join (QList<WimaArea*>* polyList, WimaArea* joinedPoly);// change to & notation
bool join (WimaArea &area);
bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary
bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
/// calculates the next polygon vertex index
/// @return index + 1 if index < poly->count()-1 && index >= 0, or 0 if index == poly->count()-1, -1 else
bool join (WimaArea &area, QString &errorString);
int nextVertexIndex (int index) const;
/// calculates the previous polygon vertex index
/// @return index - 1 if index < poly->count() && index > 0, or poly->count()-1 if index == 0, -1 else
int previousVertexIndex (int index) const;
......@@ -53,45 +46,26 @@ public:
// static Methodes
static QGCMapPolygon toQGCPolygon (const WimaArea& area);
/// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
/// see https://en.wikipedia.org/wiki/Simple_polygon
/// @return true if polygons have been joined, false else
static bool join (WimaArea &area1, WimaArea &area2, WimaArea& joinedArea, QString &errorString);
static bool join (WimaArea &area1, WimaArea &area2, WimaArea& joinedArea);
/// checks if line1 and line2 intersect with each other, takes latitude and longitute into account only (height neglected)
/// @param line1 line containing two coordinates, height not taken into account
/// @param line2 line containing two coordinates, height not taken into account
/// @param intersectionPt Coordinate item to store intersection pt. in.
/// @return false on error or no intersection, true else
static bool intersects (const QGCMapPolyline& line1, const QGCMapPolyline& line2,
QGeoCoordinate& intersectionPt);
/// checks if line1 and poly intersect with each other, takes latitude and longitute into account only (height neglected)
/// @param line line containing two coordinates, height not taken into account
/// @param intersectionList Empty list to store intersection points in.
/// @param neighbourList Empty list to store the indices of the neighbours (the two Vertices of poly with the smallest distance to the intersection pt.)
/// @return false on error or no intersection, true else
static bool intersects (const QGCMapPolyline& line, const WimaArea& area,
QList<QGeoCoordinate>& intersectionList,
QList<QPair<int, int>>& neighbourList);
/// calculates the distance between to geo coordinates, returns the distance if the path lies within the polygon and inf. else.
/// @return the distance if the path lies within the polygon and inf. else.
static double distInsidePoly (const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea area);
/// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
/// @return true if path was found, false else
static bool dijkstraPath (const QGeoCoordinate& c1, const QGeoCoordinate& c2,
const WimaArea& area, QList<QGeoCoordinate>& dijkstraPath);
/// @return true if the polygon is self intersecting
static bool isSelfIntersectin contrast to \c WimaAreaing (const WimaArea& area);
const WimaArea& area, QList<QGeoCoordinate>& dijkstraPath, QString &errorstring);
static bool isSelfIntersecting (const WimaArea& area);
bool isSelfIntersecting ();
// Friends
/// prints the member values of area to the outputString
friend void print(const WimaArea& area, QString& outputString);
/// prints the member values of area to the console
friend void print(const WimaArea& area);
// static Members
// Accurracy used to compute isDisjunct
static const double numericalAccuracy;
static const double epsilonMeter;
static const char* maxAltitudeName;
static const char* wimaAreaName;
static const char* areaTypeName;
......@@ -101,8 +75,6 @@ signals:
public slots:
void setMaxAltitude (double altitude);
/// Updates this with data from area
void update(const WimaArea& area);
private:
double _maxAltitude;
......
src/Wima/WimaAreaData.cc
View file @ 22be1d1a
#include "WimaAreaData.h"
#include "WimaAreaData.h"
const char *WimaAreaData::typeString = "WimaAreaData";
WimaAreaData::WimaAreaData(QObject *parent) : QObject(parent)
{
_maxAltitude = 0;
}
WimaAreaData::WimaAreaData(WimaAreaData &other, QObject *parent)
WimaAreaData::WimaAreaData(const WimaAreaData &other, QObject *parent)
: QObject (parent)
{
*this = other;
}
WimaAreaData::WimaAreaData(const WimaArea &other, QObject *parent)
: QObject (parent)
, _maxAltitude(other.maxAltitude())
{
setPath(other.path());
*this = other;
}
/*!
* \fn WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData)
*
* Copies the maximum altitude and the path of the \c WimaAreaData \a otherData to the calling object.
* Returns a reference to the calling object.
*/
WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData)
{
setMaxAltitude(otherData.maxAltitude());
setPath(otherData.path());
return *this;
}
/*!
* \overload operator=()
*
* Copies the maximum altitude and the path of \c WimaArea \a otherArea to the calling object.
* Returns a reference to the calling object.
*/
WimaAreaData &WimaAreaData::operator=(const WimaArea &otherArea)
{
setMaxAltitude(otherArea.maxAltitude());
setPath(otherArea.coordinateList());
return *this;
}
/*!
......@@ -27,11 +62,21 @@ double WimaAreaData::maxAltitude() const
*
* Returns the path (vertex list defining the \l {Simple Polygon}).
*/
const QList<QGeoCoordinate> &WimaAreaData::path() const
QVariantList WimaAreaData::path() const
{
return _path;
}
/*!
* \fn QString WimaAreaData::type()
*
* Returns the type name of the object. Used to destinguish between derived objects.
*/
QString WimaAreaData::type() const
{
return typeString;
}
/*!
* \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
*
......@@ -47,6 +92,13 @@ void WimaAreaData::setMaxAltitude(double maxAltitude)
}
}
void WimaAreaData::setPath(const QVariantList &coordinateList)
{
_path.clear();
_path.append(coordinateList);
}
/*!
* \fn void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
*
......@@ -59,7 +111,7 @@ void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
// copy all coordinates to _path
for(int i = 0; i < coordinateList.size(); i++) {
_path.append(coordinateList.value(i));
_path.append(QVariant::fromValue(coordinateList.value(i)));
}
emit pathChanged(_path);
......@@ -69,9 +121,8 @@ void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
* \class WimaArea::WimaAreaData
* \brief Class to store and exchange data of a \c WimaArea Object.
* Class to store and exchange data of a \c WimaArea Object. In contrast to \c WimaArea this class
* does not provied any interface to a grafical user interface, neiter it uses the QGC Fact System.
* It is designed to exchange data between the \c WimaPlaner and the \c WimaController class. And it
* is the base class for any derived data objects
* does not uses the QGC Fact System. It is designed to exchange data between the \c WimaPlaner and
* the \c WimaController class. And it is the base class for any derived data objects
*
* \sa WimaArea
*/
src/Wima/WimaAreaData.h
View file @ 22be1d1a
......@@ -4,29 +4,42 @@
#include "QGeoCoordinate"
#include "WimaArea.h"
class WimaAreaData : public QObject
{
Q_OBJECT
public:
explicit WimaAreaData(QObject *parent = nullptr);
explicit WimaAreaData(WimaAreaData &other, QObject *parent = nullptr);
Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
double maxAltitude() const;
const QList<QGeoCoordinate>& path() const;
WimaAreaData(QObject *parent = nullptr);
WimaAreaData(const WimaAreaData &other, QObject *parent = nullptr);
WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
WimaAreaData& operator=(const WimaAreaData& otherData);
WimaAreaData& operator=(const WimaArea& otherArea);
signals:
void maxAltitudeChanged(double maxAltitude);
void pathChanged(const QList<QGeoCoordinate>& coordinateList);
double maxAltitude() const;
QVariantList path() const;
QString type() const;
static const char *typeString;
signals:
void maxAltitudeChanged (double maxAltitude);
void pathChanged (const QVariantList& coordinateList);
public slots:
void setMaxAltitude(double maxAltitude);
void setPath(const QList<QGeoCoordinate>& coordinateList);
void setPath(const QList<QGeoCoordinate> &coordinateList);
void setPath(const QVariantList &coordinateList);
private:
// Member Functions
// Member Variables
// see WimaArea.h for explanation
double _maxAltitude;
QList<QGeoCoordinate> _path;
double _maxAltitude;
QVariantList _path;
};
src/Wima/WimaController.cc
View file @ 22be1d1a
......@@ -6,12 +6,12 @@ const char* WimaController::missionItemsName = "MissionItems";
WimaController::WimaController(QObject *parent)
: QObject (parent)
, _readyForSaveSend (false)
, _container (nullptr)
, _joinedArea (this)
, _opArea (this)
, _serArea (this)
, _measurementArea (this)
, _serviceArea (this)
, _corridor (this)
, _localPlanDataValid (false)
{
}
......@@ -38,9 +38,9 @@ QStringList WimaController::saveNameFilters() const
return filters;
}
QGeoCoordinate WimaController::joinedAreaCenter() const
WimaDataContainer *WimaController::dataContainer() const
{
return _joinedArea.center();
return _container;
}
void WimaController::setMasterController(PlanMasterController *masterC)
......@@ -55,21 +55,26 @@ void WimaController::setMissionController(MissionController *missionC)
emit missionControllerChanged();
}
/*!
* \fn void WimaController::setDataContainer(WimaDataContainer *container)
* Sets the pointer to the \c WimaDataContainer, which is meant to exchange data between the \c WimaController and the \c WimaPlaner.
*
* \sa WimaPlaner, WimaDataContainer, WimaPlanData
*/
void WimaController::setDataContainer(WimaDataContainer *container)
{
if (_container == nullptr && container != nullptr) {
if (container != nullptr) {
if (_container != nullptr) {
disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
}
_container = container;
pullFromContainer();
connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
emit dataContainerChanged();
}
}
void WimaController::startWimaController(bool flyView)
{
}
void WimaController::startMission()
{
......@@ -118,14 +123,88 @@ bool WimaController::loadFromFile(const QString &filename)
QJsonDocument WimaController::saveToJson(FileType fileType)
{
return QJsonDocument();
}
void WimaController::setReadyForSaveSend(bool ready)
/*!
* \fn void WimaController::containerDataValidChanged(bool valid)
* Pulls plan data generated by \c WimaPlaner from the \c _container if the data is valid (\a valid equals true).
* Is connected to the dataValidChanged() signal of the \c WimaDataContainer.
*
* \sa WimaDataContainer, WimaPlaner, WimaPlanData
*/
void WimaController::containerDataValidChanged(bool valid)
{
if (ready != _readyForSaveSend) {
_readyForSaveSend = ready;
emit readyForSaveSendChanged(ready);
if ( valid ) {
if (_container == nullptr) {
qWarning("WimaController::containerDataValidChanged(): No container assigned!");
}
_localPlanDataValid = false;
WimaPlanData planData = _container->pull();
// extract list with WimaAreas
QList<const WimaAreaData*> areaList = planData.areaList();
int areaCounter = 0;
int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
bool joinedAreaAssigned = false;
for (int i = 0; i < areaList.size(); i++) {
const WimaAreaData *areaData = areaList[i];
if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
_serviceArea = *qobject_cast<WimaServiceAreaData*>(areaData);
qWarning("Service area, wuhuuu!");
areaCounter++;
continue;
}
WimaMeasurementAreaData *measurementAreaData = qobject_cast<WimaMeasurementAreaData*>(areaData);
if (measurementAreaData != nullptr) { // is it a measurement area?
_measurementArea = *measurementAreaData;
qWarning("Measurement area, wuhuuu!");
areaCounter++;
continue;
}
WimaCorridorData *corridorAreaData = qobject_cast<WimaCorridorData*>(areaData);
if (corridorAreaData != nullptr) { // is it a corridor?
_corridor = *corridorAreaData;
qWarning("Corridor, wuhuuu!");
areaCounter++;
continue;
}
if (!joinedAreaAssigned) { // first WimaAreaData object is assumed to be the joined Area
_joinedArea = *areaData;
qWarning("Joined area, wuhuuu!");
areaCounter++;
joinedAreaAssigned = true;
continue;
}
if (areaCounter >= numAreas)
break;
}
// append areas to _visualItems, don't append _corridor, it's not necessary to display it in flyView
_visualItems.clear();
//_visualItems.append(&_measurementArea);
//_visualItems.append(&_serviceArea);
_visualItems.append(&_joinedArea);
emit visualItemsChanged();
_localPlanDataValid = true;
} else {
_localPlanDataValid = false;
_visualItems.clear();
emit visualItemsChanged();
}
}
......@@ -133,3 +212,5 @@ void WimaController::setReadyForSaveSend(bool ready)
src/Wima/WimaController.h
View file @ 22be1d1a
......@@ -9,6 +9,9 @@
#include "WimaServiceArea.h"
#include "WimaCorridor.h"
#include "WimaDataContainer.h"
#include "WimaMeasurementAreaData.h"
#include "WimaCorridorData.h"
#include "WimaServiceAreaData.h"
#include "PlanMasterController.h"
#include "MissionController.h"
......@@ -36,24 +39,19 @@ public:
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(QGCMapPolygon joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
// Property accessors
PlanMasterController* masterController (void) const { return _masterController; }
MissionController* missionController (void) const { return _missionController; }
PlanMasterController* masterController (void) { return _masterController; }
MissionController* missionController (void) { return _missionController; }
QmlObjectListModel* visualItems (void) ;
QString currentFile (void) const { return _currentFile; }
QStringList loadNameFilters (void) const;
QStringList saveNameFilters (void) const;
QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const;
QGCMapPolygon joinedArea (void) const;
WimaDataContainer* dataContainer (void) const;
bool readyForSaveSend (void) const { return _readyForSaveSend; }
......@@ -63,7 +61,6 @@ public:
void setDataContainer (WimaDataContainer* container);
// Member Methodes
Q_INVOKABLE void startWimaController(bool flyView);
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
......@@ -83,8 +80,6 @@ public:
// Member Methodes
QJsonDocument saveToJson(FileType fileType);
void setReadyForSaveSend(bool ready);
signals:
void masterControllerChanged (void);
......@@ -93,21 +88,20 @@ signals:
void currentFileChanged ();
void dataContainerChanged ();
void readyForSaveSendChanged (bool ready);
void joinedAreaChanged ();
private slots:
void pullFromContainer ();
void containerDataValidChanged (bool valid);
private:
bool _readyForSaveSend; // basically true if updateMission() was sucessful
PlanMasterController *_masterController;
MissionController *_missionController;
QString _currentFile; // file for saveing
WimaDataContainer *_container; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
// The following areas are of type QGCMapPolygon (only path information is required, as they are used for visualisation)
QGCMapPolygon _joinedArea; // joined area fromed by opArea, serArea, _corridor
QGCMapPolygon _opArea; // measurement area
QGCMapPolygon _serArea; // area for supplying
QGCMapPolygon _corridor; // corridor connecting opArea and serArea
WimaAreaData _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;
};
src/Wima/WimaCorridor.cc
View file @ 22be1d1a
......@@ -16,6 +16,18 @@ WimaCorridor::WimaCorridor(const WimaCorridor &other, QObject *parent)
init();
}
/*!
* \overload operator=()
*
* Calls the inherited operator WimaArea::operator=().
*/
WimaCorridor &WimaCorridor::operator=(const WimaCorridor &other)
{
WimaArea::operator=(other);
return *this;
}
void WimaCorridor::saveToJson(QJsonObject &json)
{
this->WimaArea::saveToJson(json);
......@@ -34,11 +46,6 @@ bool WimaCorridor::loadFromJson(const QJsonObject &json, QString &errorString)