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Valentin Platzgummer
qgroundcontrol
Commits
22c1b55e
Commit
22c1b55e
authored
Jan 19, 2021
by
Valentin Platzgummer
Browse files
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temp
parent
5beee98a
Changes
25
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25 changed files
with
1534 additions
and
337 deletions
+1534
-337
qgroundcontrol.pro
qgroundcontrol.pro
+8
-3
MeasurementComplexItem.cc
src/MeasurementComplexItem/MeasurementComplexItem.cc
+73
-0
MeasurementComplexItem.h
src/MeasurementComplexItem/MeasurementComplexItem.h
+3
-0
NemoInterface.cpp
src/MeasurementComplexItem/NemoInterface.cpp
+932
-208
NemoInterface.h
src/MeasurementComplexItem/NemoInterface.h
+25
-4
GeoArea.cc
src/MeasurementComplexItem/geometry/GeoArea.cc
+1
-14
MeasurementArea.cc
src/MeasurementComplexItem/geometry/MeasurementArea.cc
+79
-50
MeasurementArea.h
src/MeasurementComplexItem/geometry/MeasurementArea.h
+3
-3
ProgressArray.h
src/MeasurementComplexItem/geometry/ProgressArray.h
+5
-2
CommandDispatcher.h
...MeasurementComplexItem/nemo_interface/CommandDispatcher.h
+0
-31
FutureWatcher.h
src/MeasurementComplexItem/nemo_interface/FutureWatcher.h
+74
-0
FutureWatcherInterface.cpp
...mentComplexItem/nemo_interface/FutureWatcherInterface.cpp
+5
-0
FutureWatcherInterface.h
...rementComplexItem/nemo_interface/FutureWatcherInterface.h
+23
-0
MeasurementTile.cpp
...MeasurementComplexItem/nemo_interface/MeasurementTile.cpp
+6
-1
MeasurementTile.h
src/MeasurementComplexItem/nemo_interface/MeasurementTile.h
+5
-1
Task.cpp
src/MeasurementComplexItem/nemo_interface/Task.cpp
+8
-4
Task.h
src/MeasurementComplexItem/nemo_interface/Task.h
+4
-10
TaskDispatcher.cpp
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
+111
-0
TaskDispatcher.h
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
+70
-0
RosBridgeClient.cpp
src/comm/ros_bridge/include/RosBridgeClient.cpp
+2
-1
heartbeat.h
src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h
+0
-1
labeled_progress.h
.../ros_bridge/include/messages/nemo_msgs/labeled_progress.h
+3
-3
progress_array.cpp
.../ros_bridge/include/messages/nemo_msgs/progress_array.cpp
+5
-0
progress_array.h
...mm/ros_bridge/include/messages/nemo_msgs/progress_array.h
+88
-0
tile.h
src/comm/ros_bridge/include/messages/nemo_msgs/tile.h
+1
-1
No files found.
qgroundcontrol.pro
View file @
22c1b55e
...
@@ -35,7 +35,7 @@ DebugBuild {
...
@@ -35,7 +35,7 @@ DebugBuild {
#
DEFINES
+=
SNAKE_SHOW_TIME
#
DEFINES
+=
SNAKE_SHOW_TIME
#
DEFINES
+=
SNAKE_DEBUG
#
DEFINES
+=
SNAKE_DEBUG
#
DEFINES
+=
SNAKE_SHOW_TIME
#
DEFINES
+=
SNAKE_SHOW_TIME
DEFINES
+=
ROS_BRIDGE_DEBUG
#
DEFINES
+=
ROS_BRIDGE_DEBUG
}
}
else
{
else
{
DESTDIR
=
$$
{
OUT_PWD
}
/
release
DESTDIR
=
$$
{
OUT_PWD
}
/
release
...
@@ -453,10 +453,12 @@ HEADERS += \
...
@@ -453,10 +453,12 @@ HEADERS += \
src
/
MeasurementComplexItem
/
geometry
/
TileDiff
.
h
\
src
/
MeasurementComplexItem
/
geometry
/
TileDiff
.
h
\
src
/
MeasurementComplexItem
/
geometry
/
geometry
.
h
\
src
/
MeasurementComplexItem
/
geometry
/
geometry
.
h
\
src
/
MeasurementComplexItem
/
HashFunctions
.
h
\
src
/
MeasurementComplexItem
/
HashFunctions
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
FutureWatcher
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
FutureWatcherInterface
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
Task
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
Task
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
TaskDispatcher
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
tileHelper
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
tileHelper
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
labeled_progress
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
labeled_progress
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
CommandDispatcher
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
MeasurementTile
.
h
\
src
/
MeasurementComplexItem
/
nemo_interface
/
MeasurementTile
.
h
\
src
/
QmlControls
/
QmlUnitsConversion
.
h
\
src
/
QmlControls
/
QmlUnitsConversion
.
h
\
src
/
MeasurementComplexItem
/
geometry
/
GeoArea
.
h
\
src
/
MeasurementComplexItem
/
geometry
/
GeoArea
.
h
\
...
@@ -510,6 +512,7 @@ HEADERS += \
...
@@ -510,6 +512,7 @@ HEADERS += \
src
/
comm
/
ros_bridge
/
include
/
message_traits
.
h
\
src
/
comm
/
ros_bridge
/
include
/
message_traits
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
geographic_msgs
/
geopoint
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
geographic_msgs
/
geopoint
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
heartbeat
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
heartbeat
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
progress_array
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
h
\
src
/
comm
/
ros_bridge
/
include
/
server
.
h
\
src
/
comm
/
ros_bridge
/
include
/
server
.
h
\
...
@@ -529,9 +532,10 @@ SOURCES += \
...
@@ -529,9 +532,10 @@ SOURCES += \
src
/
MeasurementComplexItem
/
geometry
/
SafeArea
.
cc
\
src
/
MeasurementComplexItem
/
geometry
/
SafeArea
.
cc
\
src
/
MeasurementComplexItem
/
geometry
/
geometry
.
cpp
\
src
/
MeasurementComplexItem
/
geometry
/
geometry
.
cpp
\
src
/
MeasurementComplexItem
/
HashFunctions
.
cpp
\
src
/
MeasurementComplexItem
/
HashFunctions
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
CommandDispatcher
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
FutureWatcherInterface
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
MeasurementTile
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
MeasurementTile
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
Task
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
Task
.
cpp
\
src
/
MeasurementComplexItem
/
nemo_interface
/
TaskDispatcher
.
cpp
\
src
/
Vehicle
/
VehicleEscStatusFactGroup
.
cc
\
src
/
Vehicle
/
VehicleEscStatusFactGroup
.
cc
\
src
/
MeasurementComplexItem
/
AreaData
.
cc
\
src
/
MeasurementComplexItem
/
AreaData
.
cc
\
src
/
api
/
QGCCorePlugin
.
cc
\
src
/
api
/
QGCCorePlugin
.
cc
\
...
@@ -553,6 +557,7 @@ SOURCES += \
...
@@ -553,6 +557,7 @@ SOURCES += \
src
/
comm
/
ros_bridge
/
include
/
messages
/
geographic_msgs
/
geopoint
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
geographic_msgs
/
geopoint
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
heartbeat
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
heartbeat
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
labeled_progress
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
labeled_progress
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
progress_array
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
time
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
time
.
cpp
\
...
...
src/MeasurementComplexItem/MeasurementComplexItem.cc
View file @
22c1b55e
...
@@ -2,6 +2,7 @@
...
@@ -2,6 +2,7 @@
#include "CircularGenerator.h"
#include "CircularGenerator.h"
#include "LinearGenerator.h"
#include "LinearGenerator.h"
#include "NemoInterface.h"
#include "RoutingThread.h"
#include "RoutingThread.h"
#include "geometry/GenericCircle.h"
#include "geometry/GenericCircle.h"
#include "geometry/MeasurementArea.h"
#include "geometry/MeasurementArea.h"
...
@@ -128,6 +129,10 @@ MeasurementComplexItem::MeasurementComplexItem(
...
@@ -128,6 +129,10 @@ MeasurementComplexItem::MeasurementComplexItem(
resetGenerators
();
resetGenerators
();
startEditing
();
startEditing
();
// connect to nemo interface
connect
(
pNemoInterface
,
&
NemoInterface
::
progressChanged
,
this
,
&
MeasurementComplexItem
::
_onNewProgress
);
}
}
MeasurementComplexItem
::~
MeasurementComplexItem
()
{}
MeasurementComplexItem
::~
MeasurementComplexItem
()
{}
...
@@ -919,6 +924,69 @@ void MeasurementComplexItem::_reverseRoute() {
...
@@ -919,6 +924,69 @@ void MeasurementComplexItem::_reverseRoute() {
}
}
}
}
void
MeasurementComplexItem
::
_syncTiles
()
{
auto
areaArray
=
_pAreaData
->
measurementAreaArray
();
bool
clear
=
false
;
if
(
areaArray
.
size
()
>
0
)
{
// create tile ptr array
TilePtrArray
tilePtrArray
;
auto
*
pMeasurementArea
=
areaArray
[
0
];
auto
pTiles
=
pMeasurementArea
->
tiles
();
for
(
int
i
=
0
;
i
<
pTiles
->
count
();
++
i
)
{
auto
*
tile
=
pTiles
->
value
<
MeasurementTile
*>
(
i
);
Q_ASSERT
(
tile
!=
nullptr
);
tilePtrArray
.
push_back
(
tile
);
}
if
(
tilePtrArray
.
size
()
>
0
)
{
// create id array
IDArray
idArray
;
for
(
const
auto
*
pTile
:
tilePtrArray
)
{
idArray
.
push_back
(
pTile
->
id
());
}
// sync. necessary?
bool
doSync
=
false
;
auto
contains
=
pNemoInterface
->
containsTiles
(
idArray
);
for
(
auto
&&
logical
:
contains
)
{
if
(
logical
==
false
)
{
doSync
=
true
;
break
;
}
}
if
(
doSync
)
{
if
(
!
pNemoInterface
->
empty
())
{
(
void
)
pNemoInterface
->
clearTiles
();
}
(
void
)
pNemoInterface
->
addTiles
(
tilePtrArray
);
return
;
}
}
else
{
clear
=
true
;
}
}
else
{
clear
=
true
;
}
if
(
clear
)
{
if
(
!
pNemoInterface
->
empty
())
{
(
void
)
pNemoInterface
->
clearTiles
();
}
}
}
void
MeasurementComplexItem
::
_onNewProgress
(
const
ProgressArray
&
array
)
{
auto
areaArray
=
this
->
_pAreaData
->
measurementAreaArray
();
if
(
areaArray
.
size
()
>
0
)
{
for
(
auto
&
area
:
areaArray
)
{
area
->
updateProgress
(
array
);
}
}
}
ComplexMissionItem
::
ReadyForSaveState
ComplexMissionItem
::
ReadyForSaveState
MeasurementComplexItem
::
readyForSaveState
()
const
{
MeasurementComplexItem
::
readyForSaveState
()
const
{
if
(
idle
())
{
if
(
idle
())
{
...
@@ -1145,6 +1213,10 @@ bool MeasurementComplexItem::stopEditing(bool doUpdate) {
...
@@ -1145,6 +1213,10 @@ bool MeasurementComplexItem::stopEditing(bool doUpdate) {
_updateRoute
();
_updateRoute
();
}
}
if
(
correct
&&
isDifferent
)
{
_syncTiles
();
}
return
updated
;
return
updated
;
}
}
return
false
;
return
false
;
...
@@ -1153,6 +1225,7 @@ bool MeasurementComplexItem::stopEditing(bool doUpdate) {
...
@@ -1153,6 +1225,7 @@ bool MeasurementComplexItem::stopEditing(bool doUpdate) {
void
MeasurementComplexItem
::
abortEditing
()
{
void
MeasurementComplexItem
::
abortEditing
()
{
if
(
editing
())
{
if
(
editing
())
{
_setAreaData
(
_pAreaData
);
_setAreaData
(
_pAreaData
);
_syncTiles
();
_setState
(
STATE
::
IDLE
);
_setState
(
STATE
::
IDLE
);
}
}
}
}
...
...
src/MeasurementComplexItem/MeasurementComplexItem.h
View file @
22c1b55e
...
@@ -10,6 +10,7 @@
...
@@ -10,6 +10,7 @@
#include "SettingsFact.h"
#include "SettingsFact.h"
#include "AreaData.h"
#include "AreaData.h"
#include "ProgressArray.h"
class
RoutingThread
;
class
RoutingThread
;
class
RoutingResult
;
class
RoutingResult
;
...
@@ -238,6 +239,8 @@ private slots:
...
@@ -238,6 +239,8 @@ private slots:
void
_updateRoute
();
void
_updateRoute
();
void
_changeVariantIndex
();
void
_changeVariantIndex
();
void
_reverseRoute
();
void
_reverseRoute
();
void
_syncTiles
();
void
_onNewProgress
(
const
ProgressArray
&
array
);
private:
private:
bool
_setGenerator
(
PtrGenerator
newG
);
bool
_setGenerator
(
PtrGenerator
newG
);
...
...
src/MeasurementComplexItem/NemoInterface.cpp
View file @
22c1b55e
This diff is collapsed.
Click to expand it.
src/MeasurementComplexItem/NemoInterface.h
View file @
22c1b55e
...
@@ -2,7 +2,9 @@
...
@@ -2,7 +2,9 @@
#include <QGeoCoordinate>
#include <QGeoCoordinate>
#include <QObject>
#include <QObject>
#include <QVariant>
#include <future>
#include <memory>
#include <memory>
#include "IDArray.h"
#include "IDArray.h"
...
@@ -28,10 +30,10 @@ public:
...
@@ -28,10 +30,10 @@ public:
enum
class
STATUS
{
enum
class
STATUS
{
NOT_CONNECTED
,
NOT_CONNECTED
,
SYNC
,
READY
,
READY
,
WEBSOCKET_DETECTED
,
WEBSOCKET_DETECTED
,
TIMEOUT
,
TIMEOUT
,
INVALID_HEARTBEAT
};
};
Q_ENUM
(
STATUS
)
Q_ENUM
(
STATUS
)
...
@@ -49,9 +51,28 @@ public:
...
@@ -49,9 +51,28 @@ public:
Q_INVOKABLE
void
stop
();
Q_INVOKABLE
void
stop
();
// Tile editing.
// Tile editing.
void
addTiles
(
const
TileArray
&
tileArray
);
//!
void
removeTiles
(
const
IDArray
&
idArray
);
//! \brief addTiles
void
clearTiles
();
//! \param tileArray
//! \return Returns a QVariant containing a boolean value, indicating if the
//! requested operation was successfull.
//!
std
::
shared_future
<
QVariant
>
addTiles
(
const
TileArray
&
tileArray
);
std
::
shared_future
<
QVariant
>
addTiles
(
const
TilePtrArray
&
tileArray
);
//!
//! \brief removeTiles
//! \param idArray
//! \return Returns a QVariant containing a boolean value, indicating if the
//! requested operation was successfull.
//!
std
::
shared_future
<
QVariant
>
removeTiles
(
const
IDArray
&
idArray
);
//!
//! \brief clearTiles
//! \return Returns a QVariant containing a boolean value, indicating if the
//! requested operation was successfull.
//!
std
::
shared_future
<
QVariant
>
clearTiles
();
TileArray
getTiles
(
const
IDArray
&
idArray
);
TileArray
getTiles
(
const
IDArray
&
idArray
);
TileArray
getAllTiles
();
TileArray
getAllTiles
();
LogicalArray
containsTiles
(
const
IDArray
&
idArray
);
LogicalArray
containsTiles
(
const
IDArray
&
idArray
);
...
...
src/MeasurementComplexItem/geometry/GeoArea.cc
View file @
22c1b55e
...
@@ -82,20 +82,7 @@ bool GeoArea::covers(const QGeoCoordinate &c) {
...
@@ -82,20 +82,7 @@ bool GeoArea::covers(const QGeoCoordinate &c) {
}
}
}
}
void
GeoArea
::
init
()
{
void
GeoArea
::
init
()
{
this
->
setObjectName
(
nameString
);
}
this
->
setObjectName
(
nameString
);
// connect(this, &GeoArea::pathChanged, [this] {
// if (this->objectName() != "Tile") {
// qDebug() << this->objectName() << " path: " << this->path() << "\n";
// }
// });
// connect(this, &GeoArea::centerChanged, [this] {
// if (this->objectName() != "Tile") {
// qDebug() << this->objectName() << " center: " << this->center() <<
// "\n";
// }
// });
}
void
GeoArea
::
setErrorString
(
const
QString
&
str
)
{
void
GeoArea
::
setErrorString
(
const
QString
&
str
)
{
this
->
_errorString
=
str
;
this
->
_errorString
=
str
;
...
...
src/MeasurementComplexItem/geometry/MeasurementArea.cc
View file @
22c1b55e
...
@@ -33,23 +33,6 @@ namespace {
...
@@ -33,23 +33,6 @@ namespace {
const
char
*
tileArrayKey
=
"TileArray"
;
const
char
*
tileArrayKey
=
"TileArray"
;
}
// namespace
}
// namespace
TileData
::
TileData
()
{}
TileData
::~
TileData
()
{}
TileData
&
TileData
::
operator
=
(
const
TileData
&
other
)
{
return
*
this
;
}
bool
TileData
::
operator
==
(
const
TileData
&
other
)
const
{
return
false
;
}
bool
TileData
::
operator
!=
(
const
TileData
&
other
)
const
{
return
operator
==
(
other
);
}
void
TileData
::
saveToJson
(
QJsonObject
&
json
)
{}
bool
TileData
::
loadFromJson
(
const
QJsonObject
&
json
,
QString
&
errorString
)
{
return
false
;
}
void
TileData
::
clear
()
{}
std
::
size_t
TileData
::
size
()
const
{
return
0
;
}
const
char
*
MeasurementArea
::
settingsGroup
=
"MeasurementArea"
;
const
char
*
MeasurementArea
::
settingsGroup
=
"MeasurementArea"
;
const
char
*
tileHeightKey
=
"TileHeight"
;
const
char
*
tileHeightKey
=
"TileHeight"
;
const
char
*
tileWidthName
=
"TileWidth"
;
const
char
*
tileWidthName
=
"TileWidth"
;
...
@@ -107,7 +90,7 @@ MeasurementArea::MeasurementArea(const MeasurementArea &other, QObject *parent)
...
@@ -107,7 +90,7 @@ MeasurementArea::MeasurementArea(const MeasurementArea &other, QObject *parent)
qobject_cast
<
const
MeasurementTile
*>
(
other
.
_tiles
->
operator
[](
i
))
qobject_cast
<
const
MeasurementTile
*>
(
other
.
_tiles
->
operator
[](
i
))
->
clone
(
_tiles
.
get
()));
->
clone
(
_tiles
.
get
()));
}
}
_
tileMap
=
other
.
_tile
Map
;
_
indexMap
=
other
.
_index
Map
;
enableUpdate
();
enableUpdate
();
}
else
{
}
else
{
enableUpdate
();
enableUpdate
();
...
@@ -131,7 +114,7 @@ MeasurementArea &MeasurementArea::operator=(const MeasurementArea &other) {
...
@@ -131,7 +114,7 @@ MeasurementArea &MeasurementArea::operator=(const MeasurementArea &other) {
qobject_cast
<
const
MeasurementTile
*>
(
other
.
_tiles
->
operator
[](
i
))
qobject_cast
<
const
MeasurementTile
*>
(
other
.
_tiles
->
operator
[](
i
))
->
clone
(
_tiles
.
get
()));
->
clone
(
_tiles
.
get
()));
}
}
_
tileMap
=
other
.
_tile
Map
;
_
indexMap
=
other
.
_index
Map
;
enableUpdate
();
enableUpdate
();
}
else
{
}
else
{
enableUpdate
();
enableUpdate
();
...
@@ -270,6 +253,41 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
...
@@ -270,6 +253,41 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
break
;
break
;
}
}
}
}
if
(
!
tileError
)
{
this
->
_indexMap
.
clear
();
for
(
int
i
=
0
;
i
<
_tiles
->
count
();
++
i
)
{
auto
tile
=
qobject_cast
<
MeasurementTile
*>
(
_tiles
->
get
(
i
));
auto
it
=
_indexMap
.
find
(
tile
->
id
());
// find unique id
if
(
it
!=
_indexMap
.
end
())
{
auto
newId
=
tile
->
id
()
+
1
;
constexpr
long
counterMax
=
1e6
;
unsigned
long
counter
=
0
;
for
(;
counter
<=
counterMax
;
++
counter
)
{
it
=
_indexMap
.
find
(
newId
);
if
(
it
==
_indexMap
.
end
())
{
break
;
}
else
{
++
newId
;
}
}
if
(
counter
!=
counterMax
)
{
tile
->
setId
(
newId
);
tile
->
setProgress
(
0.0
);
}
else
{
qCritical
()
<<
"MeasurementArea::storeTiles(): not able to find "
"unique id!"
;
continue
;
}
}
_indexMap
.
insert
(
std
::
make_pair
(
tile
->
id
(),
i
));
}
}
}
else
{
}
else
{
qCWarning
(
MeasurementAreaLog
)
qCWarning
(
MeasurementAreaLog
)
<<
"Not able to load tiles. tileArrayKey missing or wrong type."
;
<<
"Not able to load tiles. tileArrayKey missing or wrong type."
;
...
@@ -307,15 +325,22 @@ bool MeasurementArea::isCorrect() {
...
@@ -307,15 +325,22 @@ bool MeasurementArea::isCorrect() {
void
MeasurementArea
::
updateProgress
(
const
ProgressArray
&
array
)
{
void
MeasurementArea
::
updateProgress
(
const
ProgressArray
&
array
)
{
if
(
ready
()
&&
!
_holdProgress
&&
array
.
size
()
>
0
)
{
if
(
ready
()
&&
!
_holdProgress
&&
array
.
size
()
>
0
)
{
bool
anyChanges
=
false
;
bool
anyChanges
=
false
;
for
(
const
auto
&
pair
:
array
)
{
long
counter
=
0
;
const
auto
&
id
=
pair
.
first
;
for
(
const
auto
&
lp
:
array
)
{
const
auto
&
progress
=
pair
.
second
;
qDebug
()
<<
"MeasurementArea::updateProgress: counter = "
<<
counter
++
;
auto
it
=
_tileMap
.
find
(
id
);
if
(
it
!=
_tileMap
.
end
())
{
auto
it
=
_indexMap
.
find
(
lp
.
id
());
if
(
!
qFuzzyCompare
(
progress
,
it
->
second
->
progress
()))
{
if
(
it
!=
_indexMap
.
end
())
{
it
->
second
->
setProgress
(
progress
);
int
tileIndex
=
it
->
second
;
auto
*
tile
=
_tiles
->
value
<
MeasurementTile
*>
(
tileIndex
);
qDebug
()
<<
"MeasurementArea::updateProgress: progress before = "
<<
tile
->
progress
();
if
(
!
qFuzzyCompare
(
lp
.
progress
(),
tile
->
progress
()))
{
tile
->
setProgress
(
lp
.
progress
());
anyChanges
=
true
;
anyChanges
=
true
;
}
}
qDebug
()
<<
"MeasurementArea::updateProgress: progress after = "
<<
tile
->
progress
();
}
}
}
}
...
@@ -330,6 +355,8 @@ void MeasurementArea::randomProgress() {
...
@@ -330,6 +355,8 @@ void MeasurementArea::randomProgress() {
std
::
srand
(
std
::
time
(
nullptr
));
std
::
srand
(
std
::
time
(
nullptr
));
ProgressArray
progressArray
;
for
(
int
i
=
0
;
i
<
_tiles
->
count
();
++
i
)
{
for
(
int
i
=
0
;
i
<
_tiles
->
count
();
++
i
)
{
auto
tile
=
_tiles
->
value
<
MeasurementTile
*>
(
i
);
auto
tile
=
_tiles
->
value
<
MeasurementTile
*>
(
i
);
...
@@ -341,10 +368,10 @@ void MeasurementArea::randomProgress() {
...
@@ -341,10 +368,10 @@ void MeasurementArea::randomProgress() {
p
=
100
;
p
=
100
;
}
}
tile
->
setProgress
(
p
);
progressArray
.
append
(
LabeledProgress
(
p
,
tile
->
id
())
);
}
}
emit
progressChanged
(
);
updateProgress
(
progressArray
);
}
}
}
}
...
@@ -421,7 +448,7 @@ void MeasurementArea::doUpdate() {
...
@@ -421,7 +448,7 @@ void MeasurementArea::doUpdate() {
geoTile
->
push_back
(
geoVertex
);
geoTile
->
push_back
(
geoVertex
);
hashValue
^=
hashFun
(
geoVertex
);
hashValue
^=
hashFun
(
geoVertex
);
}
}
geoTile
->
setId
(
long
(
hashValue
));
geoTile
->
setId
(
std
::
int64_t
(
hashValue
));
pData
->
append
(
geoTile
);
pData
->
append
(
geoTile
);
}
}
}
}
...
@@ -452,7 +479,7 @@ void MeasurementArea::deferUpdate() {
...
@@ -452,7 +479,7 @@ void MeasurementArea::deferUpdate() {
if
(
this
->
_state
==
STATE
::
IDLE
||
this
->
_state
==
STATE
::
DEFERED
)
{
if
(
this
->
_state
==
STATE
::
IDLE
||
this
->
_state
==
STATE
::
DEFERED
)
{
qCDebug
(
MeasurementAreaLog
)
<<
"defereUpdate(): defer update."
;
qCDebug
(
MeasurementAreaLog
)
<<
"defereUpdate(): defer update."
;
if
(
this
->
_state
==
STATE
::
IDLE
)
{
if
(
this
->
_state
==
STATE
::
IDLE
)
{
this
->
_
tile
Map
.
clear
();
this
->
_
index
Map
.
clear
();
this
->
_tiles
->
clearAndDeleteContents
();
this
->
_tiles
->
clearAndDeleteContents
();
emit
tilesChanged
();
emit
tilesChanged
();
emit
progressChanged
();
emit
progressChanged
();
...
@@ -478,20 +505,20 @@ void MeasurementArea::storeTiles() {
...
@@ -478,20 +505,20 @@ void MeasurementArea::storeTiles() {
QQmlEngine
::
CppOwnership
);
QQmlEngine
::
CppOwnership
);
// update tileMap
// update tileMap
this
->
_
tile
Map
.
clear
();
this
->
_
index
Map
.
clear
();
for
(
int
i
=
0
;
i
<
_tiles
->
count
();
++
i
)
{
for
(
int
i
=
0
;
i
<
_tiles
->
count
();
++
i
)
{
auto
tile
=
qobject_cast
<
MeasurementTile
*>
(
_tiles
->
get
(
i
));
auto
tile
=
qobject_cast
<
MeasurementTile
*>
(
_tiles
->
get
(
i
));
auto
it
=
_
tile
Map
.
find
(
tile
->
id
());
auto
it
=
_
index
Map
.
find
(
tile
->
id
());
// find unique id
// find unique id
if
(
it
!=
_
tile
Map
.
end
())
{
if
(
it
!=
_
index
Map
.
end
())
{
long
newId
=
tile
->
id
()
+
1
;
auto
newId
=
tile
->
id
()
+
1
;
constexpr
long
counterMax
=
1e6
;
constexpr
long
counterMax
=
1e6
;
unsigned
long
counter
=
0
;
unsigned
long
counter
=
0
;
for
(;
counter
<=
counterMax
;
++
counter
)
{
for
(;
counter
<=
counterMax
;
++
counter
)
{
it
=
_
tile
Map
.
find
(
newId
);
it
=
_
index
Map
.
find
(
newId
);
if
(
it
==
_
tile
Map
.
end
())
{
if
(
it
==
_
index
Map
.
end
())
{
break
;
break
;
}
else
{
}
else
{
++
newId
;
++
newId
;
...
@@ -508,7 +535,7 @@ void MeasurementArea::storeTiles() {
...
@@ -508,7 +535,7 @@ void MeasurementArea::storeTiles() {
}
}
}
}
_
tileMap
.
insert
(
std
::
make_pair
(
tile
->
id
(),
tile
));
_
indexMap
.
insert
(
std
::
make_pair
(
tile
->
id
(),
i
));
}
}
// This is expensive. Drawing tiles is expensive too.
// This is expensive. Drawing tiles is expensive too.
...
@@ -581,18 +608,20 @@ void MeasurementArea::setHoldProgress(bool holdProgress) {
...
@@ -581,18 +608,20 @@ void MeasurementArea::setHoldProgress(bool holdProgress) {
void
MeasurementArea
::
updateIds
(
const
QList
<
TileDiff
>
&
array
)
{
void
MeasurementArea
::
updateIds
(
const
QList
<
TileDiff
>
&
array
)
{
for
(
const
auto
&
diff
:
array
)
{
for
(
const
auto
&
diff
:
array
)
{
auto
it
=
_tileMap
.
find
(
diff
.
oldTile
.
id
());
auto
it
=
_indexMap
.
find
(
diff
.
oldTile
.
id
());
if
(
it
!=
_tileMap
.
end
()
&&
if
(
it
!=
_indexMap
.
end
())
{
diff
.
oldTile
.
coordinateList
()
==
it
->
second
->
coordinateList
())
{
int
tileIndex
=
it
->
second
;
// Change id and update _tileMap.
auto
*
tile
=
_tiles
->
value
<
MeasurementTile
*>
(
tileIndex
);
const
auto
newId
=
diff
.
newTile
.
id
();
if
(
diff
.
oldTile
.
coordinateList
()
==
tile
->
coordinateList
())
{
auto
tile
=
it
->
second
;
// Change id and update _tileMap.
tile
->
setId
(
newId
);
const
auto
newId
=
diff
.
newTile
.
id
();
_tileMap
.
erase
(
it
);
tile
->
setId
(
newId
);
auto
ret
=
_tileMap
.
insert
(
std
::
make_pair
(
newId
,
tile
));
_indexMap
.
erase
(
it
);
Q_ASSERT
(
ret
.
second
==
true
/*insert success?*/
);
auto
ret
=
_indexMap
.
insert
(
std
::
make_pair
(
newId
,
tileIndex
));
Q_UNUSED
(
ret
);
Q_ASSERT
(
ret
.
second
==
true
/*insert success?*/
);
Q_UNUSED
(
ret
);
}
}
}
}
}
}
}
...
@@ -673,7 +702,7 @@ bool getTiles(const FPolygon &area, Length tileHeight, Length tileWidth,
...
@@ -673,7 +702,7 @@ bool getTiles(const FPolygon &area, Length tileHeight, Length tileWidth,
boost_tiles
))
boost_tiles
))
continue
;
continue
;
for
(
FPolygon
t
:
boost_tiles
)
{
for
(
FPolygon
&
t
:
boost_tiles
)
{
if
(
bg
::
area
(
t
)
>
minTileArea
.
value
())
{
if
(
bg
::
area
(
t
)
>
minTileArea
.
value
())
{
// Transform boost_tile to world coordinate system.
// Transform boost_tile to world coordinate system.
FPolygon
rotated_tile
;
FPolygon
rotated_tile
;
...
...
src/MeasurementComplexItem/geometry/MeasurementArea.h
View file @
22c1b55e
...
@@ -54,10 +54,10 @@ public:
...
@@ -54,10 +54,10 @@ public:
// Overrides from GeoArea
// Overrides from GeoArea
QString
mapVisualQML
(
void
)
const
override
;
QString
mapVisualQML
(
void
)
const
override
;
QString
editorQML
(
void
)
const
override
;
QString
editorQML
(
void
)
const
override
;
MeasurementArea
*
clone
(
QObject
*
parent
=
nullptr
)
const
;
MeasurementArea
*
clone
(
QObject
*
parent
=
nullptr
)
const
override
;
bool
saveToJson
(
QJsonObject
&
json
)
override
;
bool
saveToJson
(
QJsonObject
&
json
)
override
;
bool
loadFromJson
(
const
QJsonObject
&
json
,
QString
&
errorString
)
override
;
bool
loadFromJson
(
const
QJsonObject
&
json
,
QString
&
errorString
)
override
;
Q_INVOKABLE
virtual
bool
isCorrect
();
Q_INVOKABLE
virtual
bool
isCorrect
()
override
;
// Property getters.
// Property getters.
Fact
*
tileHeight
();
Fact
*
tileHeight
();
...
@@ -122,7 +122,7 @@ private:
...
@@ -122,7 +122,7 @@ private:
// Tile stuff.
// Tile stuff.
TilePtr
_tiles
;
TilePtr
_tiles
;
std
::
map
<
long
/*id*/
,
MeasurementTile
*>
_tile
Map
;
std
::
map
<
std
::
int64_t
/*id*/
,
int
>
_index
Map
;
bool
_holdProgress
;
bool
_holdProgress
;
QTimer
_timer
;
QTimer
_timer
;
STATE
_state
;
STATE
_state
;
...
...
src/MeasurementComplexItem/geometry/ProgressArray.h
View file @
22c1b55e
...
@@ -4,7 +4,10 @@
...
@@ -4,7 +4,10 @@
#include <QVector>
#include <QVector>
#include <tuple>
#include <tuple>
typedef
std
::
pair
<
long
/*id*/
,
double
/*progress*/
>
TaggedProgress
;
#include "comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.h"
typedef
QVector
<
TaggedProgress
>
ProgressArray
;
typedef
ros_bridge
::
messages
::
nemo_msgs
::
labeled_progress
::
LabeledProgress
LabeledProgress
;
typedef
QVector
<
LabeledProgress
>
ProgressArray
;
#endif // PROGRESSARRAY_H
#endif // PROGRESSARRAY_H
src/MeasurementComplexItem/nemo_interface/CommandDispatcher.h
deleted
100644 → 0
View file @
5beee98a
#ifndef COMMANDDISPATCHER_H
#define COMMANDDISPATCHER_H
#include <QThread>
#include <QVariant>
#include "Task.h"
namespace
nemo_interface
{
class
CommandDispatcher
:
public
QThread
{
public:
CommandDispatcher
();
bool
interruptionPoint
();
// thread safe
std
::
future
<
QVariant
>
dispatch
(
const
Task
&
c
);
// thread safe
std
::
future
<
QVariant
>
dispatchNext
(
const
Task
&
c
);
// thread safe
void
clear
();
// thread safe
void
stop
();
// thread safe
bool
running
();
// thread safe
private:
std
::
atomic_bool
_running
;
std
::
condition_variable
_condVar
;
QList
<
Task
>
_queue
;
std
::
mutex
_queueMutex
;
};
}
// namespace nemo_interface
#endif // COMMANDDISPATCHER_H
src/MeasurementComplexItem/nemo_interface/FutureWatcher.h
0 → 100644
View file @
22c1b55e
#ifndef FUTUREWATCHER_H
#define FUTUREWATCHER_H
#include "FutureWatcherInterface.h"
#include <QTimer>
#include <future>
namespace
nemo_interface
{
//!
//! class similar to QFutureWatcher suitable for a std::future or
//! std::shared_future. \note For single thread use only.
//!
template
<
class
T
,
template
<
class
>
class
Future
=
std
::
future
>
class
FutureWatcher
:
public
FutureWatcherInterface
{
enum
class
STATE
{
EMPTY
,
STARTED
,
FINISHED
};
public:
typedef
Future
<
T
>
FutureType
;
explicit
FutureWatcher
(
QObject
*
parent
=
nullptr
)
:
FutureWatcherInterface
(
parent
),
_state
(
STATE
::
EMPTY
)
{
_init
();
}
FutureWatcher
(
const
FutureType
&
f
,
QObject
*
parent
=
nullptr
)
:
FutureWatcherInterface
(
parent
),
_future
(
f
),
_state
(
STATE
::
STARTED
)
{
_init
();
}
FutureType
future
()
const
{
return
_future
;
}
void
setFuture
(
const
FutureType
&
future
)
{
_future
=
future
;
_state
=
STATE
::
STARTED
;
_timer
.
start
(
1
);
emit
started
();
}
T
result
()
{
return
_future
.
get
();
}
virtual
void
waitForFinished
()
override
{
if
(
_state
==
STATE
::
STARTED
)
{
_timer
.
stop
();
_future
.
wait
();
_state
=
STATE
::
FINISHED
;
}
}
virtual
bool
isStarted
()
override
{
return
_state
==
STATE
::
STARTED
;
}
virtual
bool
isFinished
()
override
{
return
_state
==
STATE
::
FINISHED
;
}
private:
void
_onTimeout
()
{
if
(
_state
==
STATE
::
STARTED
)
{
auto
status
=
_future
.
wait_for
(
std
::
chrono
::
seconds
(
0
));
if
(
status
==
std
::
future_status
::
ready
)
{
_state
=
STATE
::
FINISHED
;
emit
finished
();
}
}
}
void
_init
()
{
connect
(
&
_timer
,
&
QTimer
::
timeout
,
[
this
]
{
this
->
_onTimeout
();
});
}
FutureType
_future
;
QTimer
_timer
;
STATE
_state
;
};
}
// namespace nemo_interface
#endif // FUTUREWATCHER_H
src/MeasurementComplexItem/nemo_interface/
CommandDispatcher
.cpp
→
src/MeasurementComplexItem/nemo_interface/
FutureWatcherInterface
.cpp
View file @
22c1b55e
#include "CommandDispatcher.h"
#include "FutureWatcherInterface.h"
namespace
nemo_interface
{
namespace
nemo_interface
{
FutureWatcherInterface
::
FutureWatcherInterface
(
QObject
*
parent
)
CommandDispatcher
::
CommandDispatcher
()
{}
:
QObject
(
parent
)
{}
}
// namespace nemo_interface
}
// namespace nemo_interface
src/MeasurementComplexItem/nemo_interface/FutureWatcherInterface.h
0 → 100644
View file @
22c1b55e
#ifndef FUTUREWATCHERINTERFACE_H
#define FUTUREWATCHERINTERFACE_H
#include <QObject>
namespace
nemo_interface
{
class
FutureWatcherInterface
:
public
QObject
{
Q_OBJECT
public:
FutureWatcherInterface
(
QObject
*
parent
=
nullptr
);
virtual
void
waitForFinished
()
=
0
;
virtual
bool
isStarted
()
=
0
;
virtual
bool
isFinished
()
=
0
;
signals:
void
finished
();
void
started
();
};
}
// namespace nemo_interface
#endif // FUTUREWATCHERINTERFACE_H
src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp
View file @
22c1b55e
#
include
"MeasurementTile.h"
#
include
"MeasurementTile.h"
#include <QDebug>
const
char
*
MeasurementTile
::
settingsGroup
=
"MeasurementTile"
;
const
char
*
MeasurementTile
::
nameString
=
"MeasurementTile"
;
MeasurementTile
::
MeasurementTile
(
QObject
*
parent
)
MeasurementTile
::
MeasurementTile
(
QObject
*
parent
)
:
GeoArea
(
parent
),
_progress
(
0
),
_id
(
0
)
{
:
GeoArea
(
parent
),
_progress
(
0
),
_id
(
0
)
{
init
();
init
();
...
@@ -31,7 +36,7 @@ void MeasurementTile::push_back(const QGeoCoordinate &c) {
...
@@ -31,7 +36,7 @@ void MeasurementTile::push_back(const QGeoCoordinate &c) {
this
->
appendVertex
(
c
);
this
->
appendVertex
(
c
);
}
}
void
MeasurementTile
::
init
()
{
this
->
setObjectName
(
"Tile"
);
}
void
MeasurementTile
::
init
()
{
this
->
setObjectName
(
nameString
);
}
int64_t
MeasurementTile
::
id
()
const
{
return
_id
;
}
int64_t
MeasurementTile
::
id
()
const
{
return
_id
;
}
...
...
src/MeasurementComplexItem/nemo_interface/MeasurementTile.h
View file @
22c1b55e
...
@@ -17,7 +17,7 @@ public:
...
@@ -17,7 +17,7 @@ public:
virtual
QString
mapVisualQML
()
const
override
;
virtual
QString
mapVisualQML
()
const
override
;
virtual
QString
editorQML
()
const
override
;
virtual
QString
editorQML
()
const
override
;
virtual
MeasurementTile
*
clone
(
QObject
*
parent
)
const
;
virtual
MeasurementTile
*
clone
(
QObject
*
parent
)
const
override
;
void
push_back
(
const
QGeoCoordinate
&
c
);
void
push_back
(
const
QGeoCoordinate
&
c
);
...
@@ -29,6 +29,10 @@ public:
...
@@ -29,6 +29,10 @@ public:
QList
<
QGeoCoordinate
>
tile
()
const
;
QList
<
QGeoCoordinate
>
tile
()
const
;
// Static Variables
static
const
char
*
settingsGroup
;
static
const
char
*
nameString
;
signals:
signals:
void
progressChanged
();
void
progressChanged
();
void
idChanged
();
void
idChanged
();
...
...
src/MeasurementComplexItem/nemo_interface/Task.cpp
View file @
22c1b55e
...
@@ -2,10 +2,14 @@
...
@@ -2,10 +2,14 @@
namespace
nemo_interface
{
namespace
nemo_interface
{
Task
::
Task
(
const
Task
::
Functor
&
onExec
)
Task
::
Task
(
const
Task
::
Functor
&
onExec
)
:
_onExec
(
onExec
)
{}
:
_onExec
(
onExec
),
_isExpired
([]
{
return
false
;
}),
_isReady
([]
{
return
true
;
})
{}
void
Task
::
exec
(
std
::
promise
<
QVariant
>
p
)
{
this
->
_onExec
(
std
::
move
(
p
));
}
Task
::
Task
(
Task
::
Functor
&&
onExec
)
:
_onExec
(
std
::
move
(
onExec
))
{}
QVariant
Task
::
exec
()
{
return
this
->
_onExec
();
}
void
Task
::
setOnExec
(
const
Task
::
Functor
&
onExec
)
{
_onExec
=
onExec
;
}
void
Task
::
setOnExec
(
Task
::
Functor
&&
onExec
)
{
_onExec
=
std
::
move
(
onExec
);
}
}
// namespace nemo_interface
}
// namespace nemo_interface
src/MeasurementComplexItem/nemo_interface/Task.h
View file @
22c1b55e
...
@@ -10,23 +10,17 @@ namespace nemo_interface {
...
@@ -10,23 +10,17 @@ namespace nemo_interface {
class
Task
{
class
Task
{
public:
public:
typedef
std
::
function
<
void
(
std
::
promise
<
QVariant
>
p
)
>
Functor
;
typedef
std
::
function
<
QVariant
(
void
)
>
Functor
;
typedef
std
::
function
<
bool
()
>
BooleanFunctor
;
Task
(
const
Functor
&
onExec
);
Task
(
const
Functor
&
onExec
);
Task
(
Functor
&&
onExec
);
void
exec
(
std
::
promise
<
QVariant
>
p
);
QVariant
exec
();
bool
isReady
();
// default == true
bool
isExpired
();
// default == false
void
setOnExec
(
const
Functor
&
onExec
);
void
setOnExec
(
const
Functor
&
onExec
);
void
setIsReady
(
const
BooleanFunctor
&
isReady
);
void
setOnExec
(
Functor
&&
onExec
);
void
setIsExpired
(
const
BooleanFunctor
&
isExpired
);
private:
private:
Functor
_onExec
;
Functor
_onExec
;
BooleanFunctor
_isExpired
;
BooleanFunctor
_isReady
;
};
};
}
// namespace nemo_interface
}
// namespace nemo_interface
...
...
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
0 → 100644
View file @
22c1b55e
#include "TaskDispatcher.h"
#include "QtConcurrent"
typedef
std
::
unique_lock
<
std
::
mutex
>
ULock
;
namespace
nemo_interface
{
TaskDispatcher
::
TaskDispatcher
()
:
_running
(
false
)
{}
TaskDispatcher
::~
TaskDispatcher
()
{
stop
();
}
std
::
future
<
QVariant
>
TaskDispatcher
::
dispatch
(
std
::
unique_ptr
<
Task
>
c
)
{
ULock
lk1
(
this
->
_mutex
);
this
->
_taskQueue
.
push_back
(
std
::
move
(
c
));
std
::
promise
<
QVariant
>
promise
;
auto
future
=
promise
.
get_future
();
this
->
_promiseQueue
.
push_back
(
std
::
move
(
promise
));
if
(
!
this
->
_running
)
{
lk1
.
unlock
();
this
->
start
();
}
return
future
;
}
std
::
future
<
QVariant
>
TaskDispatcher
::
dispatchNext
(
std
::
unique_ptr
<
Task
>
c
)
{
ULock
lk1
(
this
->
_mutex
);
this
->
_taskQueue
.
push_front
(
std
::
move
(
c
));
std
::
promise
<
QVariant
>
promise
;
auto
future
=
promise
.
get_future
();
this
->
_promiseQueue
.
push_front
(
std
::
move
(
promise
));
if
(
!
this
->
_running
)
{
lk1
.
unlock
();
this
->
start
();
}
return
future
;
}
void
TaskDispatcher
::
clear
()
{
ULock
lk
(
this
->
_mutex
);
this
->
_taskQueue
.
clear
();
this
->
_promiseQueue
.
clear
();
}
void
TaskDispatcher
::
start
()
{
ULock
lk1
(
this
->
_mutex
);
if
(
!
_running
)
{
this
->
_running
=
true
;
lk1
.
unlock
();
_future
=
QtConcurrent
::
run
([
this
]()
mutable
{
return
this
->
run
();
});
}
}
void
TaskDispatcher
::
stop
()
{
ULock
lk1
(
this
->
_mutex
);
if
(
_running
)
{
this
->
_running
=
false
;
lk1
.
unlock
();
this
->
_future
.
waitForFinished
();
}
}
void
TaskDispatcher
::
reset
()
{
clear
();
stop
();
}
bool
TaskDispatcher
::
isInterruptionRequested
()
{
ULock
lk1
(
this
->
_mutex
);
return
!
_running
;
}
bool
TaskDispatcher
::
isRunning
()
{
ULock
lk1
(
this
->
_mutex
);
return
_running
;
}
std
::
size_t
TaskDispatcher
::
pendingTasks
()
{
ULock
lk1
(
this
->
_mutex
);
return
this
->
_taskQueue
.
size
()
+
(
_running
?
1
:
0
);
}
void
TaskDispatcher
::
run
()
{
while
(
true
)
{
ULock
lk1
(
this
->
_mutex
);
if
(
this
->
_taskQueue
.
size
()
>
0
&&
this
->
_running
)
{
// pop task and promise
auto
pTask
=
std
::
move
(
this
->
_taskQueue
.
front
());
auto
promise
=
std
::
move
(
this
->
_promiseQueue
.
front
());
this
->
_taskQueue
.
pop_front
();
this
->
_promiseQueue
.
pop_front
();
lk1
.
unlock
();
// exec task
promise
.
set_value
(
pTask
->
exec
());
}
else
{
this
->
_running
=
false
;
lk1
.
unlock
();
break
;
}
}
}
}
// namespace nemo_interface
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
0 → 100644
View file @
22c1b55e
#ifndef COMMANDDISPATCHER_H
#define COMMANDDISPATCHER_H
#include <QFuture>
#include <QVariant>
#include <deque>
#include "Task.h"
namespace
nemo_interface
{
class
TaskDispatcher
:
QObject
{
public:
TaskDispatcher
();
~
TaskDispatcher
();
//!
//! \brief dispatch Dispatches a task.
//! \param c The task to dispatch.
//! \return Returns a future containing the QVariant which the task c
//! returned.
//!
std
::
future
<
QVariant
>
dispatch
(
std
::
unique_ptr
<
Task
>
c
);
//!
//! \brief dispatchNext Dispatches the task c as the next task.
//! \param c The task to dispatch.
//! \return Returns a future containing the QVariant which the task c
//! returned.
//!
std
::
future
<
QVariant
>
dispatchNext
(
std
::
unique_ptr
<
Task
>
c
);
//!
//! \brief clear Clears the task list.
//!
void
clear
();
//!
//! \brief start Starts task dispatching. This function can be called after
//! dispatching has been stopped, e.g. by stop() or reset().
//!
void
start
();
//!
//! \brief stop Stops task dispatching.
//!
//! Stops taks dispatching. The dispatcher will wait for the current task to
//! complete and than terminate the dispatcher thread. After stop() has been
//! called isInterruptionRequested will return true. This can be used to
//! permaturely terminate a task.
//!
void
stop
();
//!
//! \brief reset Clears the task list and stops dispatching.
//!
void
reset
();
bool
isInterruptionRequested
();
bool
isRunning
();
std
::
size_t
pendingTasks
();
protected:
void
run
();
private:
QFuture
<
void
>
_future
;
std
::
deque
<
std
::
unique_ptr
<
Task
>>
_taskQueue
;
std
::
deque
<
std
::
promise
<
QVariant
>>
_promiseQueue
;
bool
_running
;
std
::
mutex
_mutex
;
};
}
// namespace nemo_interface
#endif // COMMANDDISPATCHER_H
src/comm/ros_bridge/include/RosBridgeClient.cpp
View file @
22c1b55e
...
@@ -74,7 +74,8 @@ void RosbridgeWsClient::start(const std::__cxx11::string &client_name,
...
@@ -74,7 +74,8 @@ void RosbridgeWsClient::start(const std::__cxx11::string &client_name,
#ifdef ROS_BRIDGE_DEBUG
#ifdef ROS_BRIDGE_DEBUG
std
::
thread
client_thread
([
client_name
,
client
]()
{
std
::
thread
client_thread
([
client_name
,
client
]()
{
#else
#else
std
::
thread
client_thread
([
client
]()
{
std
::
thread
client_thread
([
client_name
,
client
]()
{
// std::thread client_thread([client]() {
#endif
#endif
client
->
start
();
client
->
start
();
...
...
src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h
View file @
22c1b55e
...
@@ -41,7 +41,6 @@ bool toJson(const HeartbeatType &heartbeat, rapidjson::Value &value,
...
@@ -41,7 +41,6 @@ bool toJson(const HeartbeatType &heartbeat, rapidjson::Value &value,
template
<
class
HeartbeatType
>
template
<
class
HeartbeatType
>
bool
fromJson
(
const
rapidjson
::
Value
&
value
,
HeartbeatType
&
heartbeat
)
{
bool
fromJson
(
const
rapidjson
::
Value
&
value
,
HeartbeatType
&
heartbeat
)
{
if
(
!
value
.
HasMember
(
"status"
)
||
!
value
[
"status"
].
IsInt
())
{
if
(
!
value
.
HasMember
(
"status"
)
||
!
value
[
"status"
].
IsInt
())
{
assert
(
false
);
return
false
;
return
false
;
}
}
...
...
src/comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.h
View file @
22c1b55e
...
@@ -24,7 +24,7 @@ const char *idKey = "id";
...
@@ -24,7 +24,7 @@ const char *idKey = "id";
//! @brief C++ representation of nemo_msgs/labeled_progress message
//! @brief C++ representation of nemo_msgs/labeled_progress message
class
LabeledProgress
{
class
LabeledProgress
{
public:
public:
LabeledProgress
()
{}
LabeledProgress
()
:
_id
(
0
),
_progress
(
0
)
{}
LabeledProgress
(
double
progress
,
long
id
)
:
_id
(
id
),
_progress
(
progress
)
{}
LabeledProgress
(
double
progress
,
long
id
)
:
_id
(
id
),
_progress
(
progress
)
{}
long
id
()
const
{
return
_id
;
}
long
id
()
const
{
return
_id
;
}
...
@@ -52,11 +52,11 @@ bool fromJson(const rapidjson::Value &value, ProgressType &p) {
...
@@ -52,11 +52,11 @@ bool fromJson(const rapidjson::Value &value, ProgressType &p) {
return
false
;
return
false
;
}
}
if
(
!
value
.
HasMember
(
idKey
)
||
!
value
[
idKey
].
IsInt
())
{
if
(
!
value
.
HasMember
(
idKey
)
||
!
value
[
idKey
].
IsInt
64
())
{
return
false
;
return
false
;
}
}
p
.
setId
(
value
[
idKey
].
GetInt
());
p
.
setId
(
value
[
idKey
].
GetInt
64
());
p
.
setProgress
(
value
[
progressKey
].
GetDouble
());
p
.
setProgress
(
value
[
progressKey
].
GetDouble
());
return
true
;
return
true
;
...
...
src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.cpp
0 → 100644
View file @
22c1b55e
#include "progress_array.h"
std
::
string
ros_bridge
::
messages
::
nemo_msgs
::
progress_array
::
messageType
()
{
return
"/nemo_msgs/ProgressArray"
;
}
src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.h
0 → 100644
View file @
22c1b55e
#ifndef PROGRESS_ARRAY_H
#define PROGRESS_ARRAY_H
#pragma once
#include "labeled_progress.h"
#include "ros_bridge/rapidjson/include/rapidjson/document.h"
#include <QVector>
namespace
ros_bridge
{
//! @brief Namespace containing classes and methodes ros message generation.
namespace
messages
{
//! @brief Namespace containing classes and methodes for geometry_msgs
//! generation.
namespace
nemo_msgs
{
//! @brief Namespace containing methodes for nemo_msgs/progress_array message
//! generation.
namespace
progress_array
{
std
::
string
messageType
();
namespace
{
const
char
*
progressArrayKey
=
"progress_array"
;
}
// namespace
//! @brief C++ representation of nemo_msgs/progress_array message
template
<
template
<
class
,
class
...
>
class
Container
=
QVector
>
class
GenericProgressArray
{
public:
typedef
Container
<
labeled_progress
::
LabeledProgress
>
ContainerType
;
GenericProgressArray
()
{}
ContainerType
&
progress_array
()
{
return
_progres_array
;
}
const
ContainerType
&
progress_array
()
const
{
return
_progres_array
;
}
void
setProgressArray
(
const
ContainerType
&
c
)
{
_progres_array
=
c
;
}
protected:
Container
<
labeled_progress
::
LabeledProgress
>
_progres_array
;
};
typedef
GenericProgressArray
<>
ProgressArray
;
template
<
class
Array
>
bool
toJson
(
const
Array
&
array
,
rapidjson
::
Value
&
value
,
rapidjson
::
Document
::
AllocatorType
&
allocator
)
{
rapidjson
::
Value
jsonArray
(
rapidjson
::
kArrayType
);
for
(
const
auto
&
lp
:
array
.
progress_array
())
{
rapidjson
::
Value
jsonLp
;
if
(
labeled_progress
::
toJson
(
lp
,
jsonLp
,
allocator
))
{
jsonArray
.
PushBack
(
jsonLp
,
allocator
);
}
else
{
return
false
;
}
}
value
.
AddMember
(
rapidjson
::
Value
(
progressArrayKey
),
jsonArray
,
allocator
);
return
true
;
}
template
<
class
Array
>
bool
fromJson
(
const
rapidjson
::
Value
&
value
,
Array
&
p
)
{
if
(
!
value
.
HasMember
(
progressArrayKey
)
||
!
value
[
progressArrayKey
].
IsArray
())
{
return
false
;
}
const
auto
&
jsonArray
=
value
[
progressArrayKey
].
GetArray
();
p
.
progress_array
().
clear
();
p
.
progress_array
().
reserve
(
jsonArray
.
Size
());
for
(
long
i
=
0
;
i
<
jsonArray
.
Size
();
++
i
)
{
labeled_progress
::
LabeledProgress
lp
;
if
(
!
labeled_progress
::
fromJson
(
jsonArray
[
i
],
lp
))
{
return
false
;
}
else
{
p
.
progress_array
().
push_back
(
lp
);
}
}
return
true
;
}
}
// namespace progress_array
}
// namespace nemo_msgs
}
// namespace messages
}
// namespace ros_bridge
#endif // PROGRESS_ARRAY_H
src/comm/ros_bridge/include/messages/nemo_msgs/tile.h
View file @
22c1b55e
...
@@ -44,9 +44,9 @@ public:
...
@@ -44,9 +44,9 @@ public:
void
setTile
(
const
GeoContainer
&
tile
)
{
_tile
=
tile
;
}
void
setTile
(
const
GeoContainer
&
tile
)
{
_tile
=
tile
;
}
protected:
protected:
GeoContainer
_tile
;
long
_id
;
long
_id
;
double
_progress
;
double
_progress
;
GeoContainer
_tile
;
};
};
typedef
GenericTile
<>
Tile
;
typedef
GenericTile
<>
Tile
;
...
...
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