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Commit 243a826b authored by Valentin Platzgummer's avatar Valentin Platzgummer
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auto update in wima planer, after load imporved

parent 071506a9
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Showing with 91 additions and 74 deletions
src/Wima/WimaController.cc
View file @ 243a826b
......@@ -204,20 +204,6 @@ bool WimaController::uploadToVehicle()
// _missionController->removeAll();
// return;
// }
for (int i = 1; i < visuals->count(); i++) {
SimpleMissionItem* item = visuals->value<SimpleMissionItem *>(i);
qWarning() << item->coordinate();
qWarning() << item->command();
qWarning() << item->missionItem().param1();
qWarning() << item->missionItem().param2();
qWarning() << item->missionItem().param3();
qWarning() << item->missionItem().param4();
qWarning() << item->missionItem().param5();
qWarning() << item->missionItem().param6();
qWarning() << item->missionItem().param7();
qWarning(" ");
}
_masterController->sendToVehicle();
return true;
......@@ -560,11 +546,6 @@ bool WimaController::calcNextPhase()
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
qWarning() << visualItem->command();
qWarning() << visualItem->coordinate();
qWarning() << visualItemCopy->command();
qWarning() << visualItemCopy->command();
qWarning(" ");
_currentMissionItems.append(visualItemCopy);
}
......
src/Wima/WimaDataContainer.h
View file @ 243a826b
......@@ -12,9 +12,7 @@ public:
WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
WimaDataContainer(WimaDataContainer &other) = delete;
Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}
bool dataValid() const;
Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}
signals:
void newDataAvailable(void);
......
src/Wima/WimaPlaner.cc
View file @ 243a826b
......@@ -9,20 +9,20 @@ const char* WimaPlaner::areaItemsName = "AreaItems";
const char* WimaPlaner::missionItemsName = "MissionItems";
WimaPlaner::WimaPlaner(QObject *parent)
: QObject (parent)
, _dirty (false)
, _currentAreaIndex (-1)
, _container (nullptr)
, _joinedArea (this)
, _measurementArea (this)
, _serviceArea (this)
, _corridor (this)
, _circularSurvey (nullptr)
, _surveyRefChanging (false)
: QObject (parent)
, _currentAreaIndex (-1)
, _container (nullptr)
, _joinedArea (this)
, _measurementArea (this)
, _serviceArea (this)
, _corridor (this)
, _circularSurvey (nullptr)
, _surveyRefChanging (false)
, _syncronizedWithController (false)
{
connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
connect(&_updateTimer, &QTimer::timeout, this, &WimaPlaner::updateTimerSlot);
_updateTimer.setInterval(250); // 250 ms means: max update time 2*250 ms
_updateTimer.setInterval(500); // 250 ms means: max update time 2*250 ms
_updateTimer.start();
}
......@@ -77,17 +77,16 @@ void WimaPlaner::setCurrentPolygonIndex(int index)
void WimaPlaner::setDataContainer(WimaDataContainer *container)
{
if (container != nullptr) {
if (_container != nullptr) {
disconnect(this, &WimaPlaner::dirtyChanged, _container, &WimaDataContainer::newDataAvailable);
}
_container = container;
connect(this, &WimaPlaner::dirtyChanged, _container, &WimaDataContainer::newDataAvailable);
emit dataContainerChanged();
}
}
bool WimaPlaner::syncronizedWithController()
{
return _syncronizedWithController;
}
void WimaPlaner::removeArea(int index)
{
if(index >= 0 && index < _visualItems.count()){
......@@ -178,6 +177,10 @@ void WimaPlaner::removeAll()
_currentFile = "";
_circularSurvey = nullptr;
_surveyRefChanging = false;
emit currentFileChanged();
if ( changesApplied )
emit visualItemsChanged();
......@@ -213,8 +216,11 @@ bool WimaPlaner::updateMission()
return false;
}
// establish connections
_circularSurvey->setRefPoint(_measurementArea.center());
_lastSurveyRefPoint = _measurementArea.center();
_surveyRefChanging = false;
_circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
connect(_circularSurvey->deltaR(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
connect(_circularSurvey->deltaAlpha(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
......@@ -228,8 +234,6 @@ bool WimaPlaner::updateMission()
calcArrivalAndReturnPath();
pushToContainer(); // exchange plan data with the WimaController via the _container
setDirty(false);
return true;
}
......@@ -414,6 +418,32 @@ bool WimaPlaner::loadFromFile(const QString &filename)
// load from temporary file
_masterController->loadFromFile(temporaryFileName);
QmlObjectListModel *missionItems = _missionController->visualItems();
_circularSurvey = nullptr;
for (int i = 0; i < missionItems->count(); i++) {
_circularSurvey = missionItems->value<CircularSurveyComplexItem *>(i);
if (_circularSurvey != nullptr) {
if ( !recalcJoinedArea(errorString)) {
qgcApp()->showMessage(tr(errorString.toLocal8Bit().data()));
return false;
}
_lastSurveyRefPoint = _circularSurvey->refPoint();
_surveyRefChanging = false;
_circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
connect(_circularSurvey->deltaR(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
connect(_circularSurvey->deltaAlpha(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
connect(_circularSurvey->isSnakePath(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
connect(_circularSurvey->transectMinLength(), &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
break;
}
}
if (_circularSurvey == nullptr)
updateMission();
// remove temporary file
if ( !temporaryFile.remove() ){
qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file.");
......@@ -454,6 +484,10 @@ bool WimaPlaner::calcArrivalAndReturnPath()
return false;
}
bool restorePlanViewIndex = false;
if (surveyIndex == _missionController->currentPlanViewIndex())
restorePlanViewIndex = true;
// remove old arrival and return path
int size = missionItems->count();
for (int i = surveyIndex+1; i < size; i++)
......@@ -548,7 +582,9 @@ bool WimaPlaner::calcArrivalAndReturnPath()
return false;
}
if (restorePlanViewIndex)
_missionController->setCurrentPlanViewIndex(missionItems->indexOf(_circularSurvey), false);
setSyncronizedWithControllerFalse();
return true;
}
......@@ -593,6 +629,7 @@ void WimaPlaner::pushToContainer()
if (_container != nullptr) {
WimaPlanData planData = toPlanData();
_container->push(planData);
setSyncronizedWithController(true);
} else {
qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
}
......@@ -665,21 +702,14 @@ WimaPlanData WimaPlaner::toPlanData()
return planData;
}
void WimaPlaner::setDirty(bool dirty)
void WimaPlaner::setSyncronizedWithController(bool sync)
{
if(_dirty != dirty)
{
_dirty = dirty;
emit dirtyChanged(_dirty);
if (_syncronizedWithController != sync) {
_syncronizedWithController = sync;
emit syncronizedWithControllerChanged();
}
}
void WimaPlaner::setDirtyTrue()
{
setDirty(true);
}
void WimaPlaner::updateTimerSlot()
{
// General operation of this function:
......@@ -704,6 +734,11 @@ void WimaPlaner::updateTimerSlot()
_lastSurveyRefPoint = _circularSurvey->refPoint() ;
}
void WimaPlaner::setSyncronizedWithControllerFalse()
{
setSyncronizedWithController(false);
}
QJsonDocument WimaPlaner::saveToJson(FileType fileType)
{
/// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument
......
src/Wima/WimaPlaner.h
View file @ 243a826b
......@@ -59,8 +59,7 @@ public:
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool dirty READ dirty NOTIFY dirtyChanged)
Q_PROPERTY(bool syncronized READ syncronizedWithController NOTIFY syncronizedWithControllerChanged)
// Property accessors
PlanMasterController* masterController (void) { return _masterController; }
......@@ -72,7 +71,6 @@ public:
QStringList saveNameFilters (void) const;
QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const;
bool dirty (void) const { return _dirty; }
WimaDataContainer* dataContainer (void) { return _container;}
// Property setters
......@@ -82,6 +80,9 @@ public:
void setCurrentPolygonIndex (int index);
void setDataContainer (WimaDataContainer* container);
// Property acessors
bool syncronizedWithController ();
// Member Methodes
Q_INVOKABLE bool addMeasurementArea();
/// Removes an area from _visualItems
......@@ -93,6 +94,8 @@ public:
Q_INVOKABLE void removeAll();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
/// Pushes the generated mission data to the container, for exchange with wimaController
Q_INVOKABLE void pushToContainer();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString& filename);
......@@ -112,29 +115,27 @@ public:
static const char* missionItemsName;
signals:
void masterControllerChanged (void);
void missionControllerChanged (void);
void visualItemsChanged (void);
void currentPolygonIndexChanged (int index);
void currentFileChanged ();
void dataContainerChanged ();
void dirtyChanged (bool dirty);
void masterControllerChanged (void);
void missionControllerChanged (void);
void visualItemsChanged (void);
void currentPolygonIndexChanged (int index);
void currentFileChanged ();
void dataContainerChanged ();
void syncronizedWithControllerChanged (void);
private slots:
void recalcPolygonInteractivity (int index);
bool calcArrivalAndReturnPath (void);
bool recalcJoinedArea (QString &errorString);
void pushToContainer ();
void setDirtyTrue ();
void recalcPolygonInteractivity (int index);
bool calcArrivalAndReturnPath (void);
bool recalcJoinedArea (QString &errorString);
// called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed
void updateTimerSlot ();
void updateTimerSlot ();
void setSyncronizedWithControllerFalse (void);
private:
// Member Functions
WimaPlanData toPlanData();
void setDirty(bool ready);
void setSyncronizedWithController(bool sync);
// Member Variables
bool _dirty; // set to true if updateMission() was sucessful, set to false if different parameters change
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentAreaIndex;
......@@ -153,4 +154,6 @@ private:
QTimer _updateTimer; // on this timers timeout different mission parts will be updated, if parameters (e.g. survey or areas) have changed
QGeoCoordinate _lastSurveyRefPoint;
bool _surveyRefChanging;
bool _syncronizedWithController; // true if planData is syncronized with wimaController
};
src/WimaView/WimaToolBar.qml
View file @ 243a826b
......@@ -285,17 +285,17 @@ Rectangle {
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
text: qsTr("Calculate")
text: qsTr("Sync WiMA")
enabled: true
visible: true
onClicked: wimaPlaner.updateMission()
onClicked: wimaPlaner.pushToContainer()
PropertyAnimation on opacity {
easing.type: Easing.OutQuart
from: 0.5
to: 1
loops: Animation.Infinite
running: wimaPlaner.dirty
running: !wimaPlaner.syncronized
alwaysRunToEnd: true
duration: 2000
}
......
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