Skip to content

Q
qgroundcontrol
Commit 245a9ea7 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #4049 from DonLakeFlyer/MoreGeoFence 

GeoFence: More work on load/save send/receive semantics
parents 1a9e6289 6e896092
Hide whitespace changes
Inline Side-by-side
Showing with 159 additions and 175 deletions
src/FirmwarePlugin/APM/APMGeoFenceManager.cc
View file @ 245a9ea7
...@@ -29,8 +29,8 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle) ...@@ -29,8 +29,8 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
, _fenceEnableFact(NULL) , _fenceEnableFact(NULL)
, _fenceTypeFact(NULL) , _fenceTypeFact(NULL)
{ {
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &APMGeoFenceManager::_mavlinkMessageReceived); connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &APMGeoFenceManager::_mavlinkMessageReceived);
connect(_vehicle->getParameterManager(), &ParameterManager::parametersReady, this, &APMGeoFenceManager::_parametersReady); connect(_vehicle->getParameterManager(), &ParameterManager::parametersReady, this, &APMGeoFenceManager::_parametersReady);
if (_vehicle->getParameterManager()->parametersAreReady()) { if (_vehicle->getParameterManager()->parametersAreReady()) {
_parametersReady(); _parametersReady();
...@@ -42,7 +42,7 @@ APMGeoFenceManager::~APMGeoFenceManager() ...@@ -42,7 +42,7 @@ APMGeoFenceManager::~APMGeoFenceManager()
} }
void APMGeoFenceManager::sendToVehicle(void) void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon)
{ {
if (_vehicle->isOfflineEditingVehicle()) { if (_vehicle->isOfflineEditingVehicle()) {
return; return;
...@@ -58,17 +58,20 @@ void APMGeoFenceManager::sendToVehicle(void) ...@@ -58,17 +58,20 @@ void APMGeoFenceManager::sendToVehicle(void)
} }
// Validate // Validate
int validatedPolygonCount = polygon.count();
if (polygonSupported()) { if (polygonSupported()) {
if (_polygon.count() < 3) { if (polygon.count() < 3) {
_sendError(TooFewPoints, QStringLiteral("Geo-Fence polygon must contain at least 3 points.")); validatedPolygonCount = 0;
return;
} }
if (_polygon.count() > std::numeric_limits<uint8_t>::max()) { if (polygon.count() > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence polygon has too many points: %1.").arg(_polygon.count())); _sendError(TooManyPoints, QStringLiteral("Geo-Fence polygon has too many points: %1.").arg(_polygon.count()));
return; validatedPolygonCount = 0;
} }
} }
_breachReturnPoint = breachReturn;
_polygon = polygon;
// First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air. // First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air.
// Unfortunately the param to do this with differs between plane and copter. // Unfortunately the param to do this with differs between plane and copter.
const char* enableParam = _vehicle->fixedWing() ? _fenceActionParam : _fenceEnableParam; const char* enableParam = _vehicle->fixedWing() ? _fenceActionParam : _fenceEnableParam;
...@@ -77,7 +80,7 @@ void APMGeoFenceManager::sendToVehicle(void) ...@@ -77,7 +80,7 @@ void APMGeoFenceManager::sendToVehicle(void)
fenceEnableFact->setRawValue(0); fenceEnableFact->setRawValue(0);
// Total point count, +1 polygon close in last index, +1 for breach in index 0 // Total point count, +1 polygon close in last index, +1 for breach in index 0
_cWriteFencePoints = _polygon.count() + 1 + 1 ; _cWriteFencePoints = (validatedPolygonCount ? (validatedPolygonCount + 1) : 0) + 1 ;
_vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints); _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints);
// FIXME: No validation of correct fence received // FIXME: No validation of correct fence received
...@@ -86,11 +89,13 @@ void APMGeoFenceManager::sendToVehicle(void) ...@@ -86,11 +89,13 @@ void APMGeoFenceManager::sendToVehicle(void)
} }
fenceEnableFact->setRawValue(savedEnableState); fenceEnableFact->setRawValue(savedEnableState);
emit loadComplete(_breachReturnPoint, _polygon);
} }
void APMGeoFenceManager::loadFromVehicle(void) void APMGeoFenceManager::loadFromVehicle(void)
{ {
if (_vehicle->isOfflineEditingVehicle()) { if (_vehicle->isOfflineEditingVehicle() || _readTransactionInProgress) {
return; return;
} }
...@@ -142,7 +147,7 @@ void APMGeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& messag ...@@ -142,7 +147,7 @@ void APMGeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& messag
} }
if (fencePoint.idx == 0) { if (fencePoint.idx == 0) {
setBreachReturnPoint(QGeoCoordinate(fencePoint.lat, fencePoint.lng)); _breachReturnPoint = QGeoCoordinate(fencePoint.lat, fencePoint.lng);
qCDebug(GeoFenceManagerLog) << "From vehicle: breach return point" << _breachReturnPoint; qCDebug(GeoFenceManagerLog) << "From vehicle: breach return point" << _breachReturnPoint;
_requestFencePoint(++_currentFencePoint); _requestFencePoint(++_currentFencePoint);
} else if (fencePoint.idx < _cReadFencePoints - 1) { } else if (fencePoint.idx < _cReadFencePoints - 1) {
...@@ -155,7 +160,7 @@ void APMGeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& messag ...@@ -155,7 +160,7 @@ void APMGeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& messag
} else { } else {
// We've finished collecting fence points // We've finished collecting fence points
_readTransactionInProgress = false; _readTransactionInProgress = false;
emit polygonChanged(_polygon); emit loadComplete(_breachReturnPoint, _polygon);
} }
} }
} }
......
src/FirmwarePlugin/APM/APMGeoFenceManager.h
View file @ 245a9ea7
...@@ -25,7 +25,7 @@ public: ...@@ -25,7 +25,7 @@ public:
// Overrides from GeoFenceManager // Overrides from GeoFenceManager
bool inProgress (void) const final; bool inProgress (void) const final;
void loadFromVehicle (void) final; void loadFromVehicle (void) final;
void sendToVehicle (void) final; void sendToVehicle (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon) final;
bool fenceSupported (void) const final { return _fenceSupported; } bool fenceSupported (void) const final { return _fenceSupported; }
bool circleSupported (void) const final; bool circleSupported (void) const final;
bool polygonSupported (void) const final; bool polygonSupported (void) const final;
......
src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml
View file @ 245a9ea7
...@@ -78,7 +78,5 @@ Column { ...@@ -78,7 +78,5 @@ Column {
polygon: geoFenceController.polygon polygon: geoFenceController.polygon
sectionLabel: qsTr("Fence Polygon:") sectionLabel: qsTr("Fence Polygon:")
visible: geoFenceController.polygonSupported visible: geoFenceController.polygonSupported
onPolygonEditCompleted: geoFenceController.sendToVehicle()
} }
} }
src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml
View file @ 245a9ea7
import QtQuick 2.2 import QtQuick 2.2
import QtQuick.Controls 1.2 import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0 import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0 import QGroundControl.ScreenTools 1.0
...@@ -31,17 +32,6 @@ Column { ...@@ -31,17 +32,6 @@ Column {
factPanel: qgcView.viewPanel factPanel: qgcView.viewPanel
} }
Connections {
target: fenceAction
onValueChanged: actionCombo.recalcSelection()
}
Connections {
target: fenceRetRally
onValueChanged: actionCombo.recalcSelection()
}
QGCLabel { text: qsTr("Fence Settings:") } QGCLabel { text: qsTr("Fence Settings:") }
Rectangle { Rectangle {
...@@ -60,100 +50,91 @@ Column { ...@@ -60,100 +50,91 @@ Column {
anchors.right: parent.right anchors.right: parent.right
model: ListModel { model: ListModel {
id: actionModel id: actionModel
ListElement { text: qsTr("None"); actionValue: 0; retRallyValue: 0 } ListElement { text: qsTr("None"); actionValue: 0 }
ListElement { text: qsTr("Report only"); actionValue: 2; retRallyValue: 0 } ListElement { text: qsTr("Report only"); actionValue: 2 }
ListElement { text: qsTr("Fly to breach return point"); actionValue: 1; retRallyValue: 0 } ListElement { text: qsTr("Fly to return point"); actionValue: 1 }
ListElement { text: qsTr("Fly to breach return point (throttle control)"); actionValue: 3; retRallyValue: 0 } ListElement { text: qsTr("Fly to return point (throttle control)"); actionValue: 3 }
ListElement { text: qsTr("Fly to nearest rally point"); actionValue: 4; retRallyValue: 1 }
} }
onActivated: { onActivated: fenceAction.rawValue = actionModel.get(index).actionValue
fenceAction.value = actionModel.get(index).actionValue Component.onCompleted: recalcSelection()
fenceRetRally.value = actionModel.get(index).retRallyValue
Connections {
target: fenceAction
onValueChanged: actionCombo.recalcSelection()
} }
function recalcSelection() { function recalcSelection() {
if (fenceAction.value != 0 && fenceRetRally.value == 1) { for (var i=0; i<actionModel.count; i++) {
actionCombo.currentIndex = 4 if (actionModel.get(i).actionValue == fenceAction.rawValue) {
} else { actionCombo.currentIndex = i
switch (fenceAction.value) { return
case 0:
actionCombo.currentIndex = 0
break
case 1:
actionCombo.currentIndex = 2
break
case 2:
actionCombo.currentIndex = 1
break
case 3:
actionCombo.currentIndex = 3
break
case 4:
actionCombo.currentIndex = 4
break
case 0:
default:
actionCombo.currentIndex = 0
break
} }
} }
actionCombo.currentIndex = 0
} }
} }
Item { width: 1; height: 1 } ExclusiveGroup { id: returnLocationRadioGroup }
QGCCheckBox { property bool _returnPointUsed: fenceAction.rawValue == 1 || fenceAction.rawValue == 3
id: minAltFenceCheckBox
text: qsTr("Minimum altitude fence") QGCRadioButton {
checked: fenceMinAlt.value > 0 anchors.leftMargin: ScreenTools.defaultFontPixelWidth
onClicked: fenceMinAlt.value = checked ? 10 : 0 anchors.left: parent.left
text: qsTr("Fly to breach return point")
checked: fenceRetRally.rawValue != 1
enabled: _returnPointUsed
exclusiveGroup: returnLocationRadioGroup
onClicked: fenceRetRally.rawValue = 0
} }
Row { QGCRadioButton {
anchors.margins: ScreenTools.defaultFontPixelWidth anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left anchors.left: parent.left
spacing: _margin text: qsTr("Fly to nearest rally point")
checked: fenceRetRally.rawValue == 1
enabled: _returnPointUsed
exclusiveGroup: returnLocationRadioGroup
onClicked: fenceRetRally.rawValue = 1
}
QGCLabel { Item { width: 1; height: 1 }
anchors.baseline: fenceAltMinField.baseline
text: qsTr("Min Altitude:") GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth
columns: 2
QGCCheckBox {
id: minAltFenceCheckBox
text: qsTr("Min altitude:")
checked: fenceMinAlt.value > 0
onClicked: fenceMinAlt.value = checked ? 10 : 0
} }
FactTextField { FactTextField {
id: fenceAltMinField id: fenceAltMinField
Layout.fillWidth: true
showUnits: true showUnits: true
fact: fenceMinAlt fact: fenceMinAlt
enabled: minAltFenceCheckBox.checked enabled: minAltFenceCheckBox.checked
width: _editFieldWidth
} }
}
Item { width: 1; height: 1 }
QGCCheckBox {
id: maxAltFenceCheckBox
text: qsTr("Maximum altitude fence")
checked: fenceMaxAlt.value > 0
onClicked: fenceMaxAlt.value = checked ? 100 : 0
}
Row { QGCCheckBox {
anchors.margins: ScreenTools.defaultFontPixelWidth id: maxAltFenceCheckBox
anchors.left: parent.left text: qsTr("Max altitude:")
spacing: _margin checked: fenceMaxAlt.value > 0
onClicked: fenceMaxAlt.value = checked ? 100 : 0
QGCLabel {
anchors.baseline: fenceAltMaxField.baseline
text: qsTr("Max Altitude:")
} }
FactTextField { FactTextField {
id: fenceAltMaxField id: fenceAltMaxField
Layout.fillWidth: true
showUnits: true showUnits: true
fact: fenceMaxAlt fact: fenceMaxAlt
enabled: maxAltFenceCheckBox.checked enabled: maxAltFenceCheckBox.checked
width: _editFieldWidth
} }
} }
...@@ -167,6 +148,7 @@ Column { ...@@ -167,6 +148,7 @@ Column {
anchors.right: parent.right anchors.right: parent.right
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
text: qsTr("Click in map to set breach return location.") text: qsTr("Click in map to set breach return location.")
font.pointSize: ScreenTools.smallFontPointSize
} }
Row { Row {
...@@ -220,7 +202,5 @@ Column { ...@@ -220,7 +202,5 @@ Column {
flightMap: editorMap flightMap: editorMap
polygon: geoFenceController.polygon polygon: geoFenceController.polygon
sectionLabel: qsTr("Fence Polygon:") sectionLabel: qsTr("Fence Polygon:")
onPolygonEditCompleted: geoFenceController.sendToVehicle()
} }
} }
src/MissionEditor/MissionEditor.qml
View file @ 245a9ea7
...@@ -175,12 +175,6 @@ QGCView { ...@@ -175,12 +175,6 @@ QGCView {
_editingLayer = _layerMission _editingLayer = _layerMission
} }
} }
onBreachReturnPointChanged: {
if (polygon.count() > 3) {
sendToVehicle()
}
}
} }
QGCPalette { id: qgcPal; colorGroupEnabled: enabled } QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
...@@ -321,7 +315,6 @@ QGCView { ...@@ -321,7 +315,6 @@ QGCView {
} }
break break
case _layerGeoFence: case _layerGeoFence:
console.log("Updating breach return point", coordinate)
geoFenceController.breachReturnPoint = coordinate geoFenceController.breachReturnPoint = coordinate
break break
} }
...@@ -628,13 +621,6 @@ QGCView { ...@@ -628,13 +621,6 @@ QGCView {
visible: geoFenceController.breachReturnSupported visible: geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" } sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems z: QGroundControl.zOrderMapItems
Connections {
target: geoFenceController
onBreachReturnPointChanged: console.log("breachreturn changed inside", geoFenceController.breachReturnPoint)
}
onCoordinateChanged: console.log("MqpQuickItem coodinateChanged", coordinate)
} }
//-- Dismiss Drop Down (if any) //-- Dismiss Drop Down (if any)
......
src/MissionManager/GeoFenceController.cc
View file @ 245a9ea7
...@@ -27,7 +27,8 @@ ...@@ -27,7 +27,8 @@
QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog") QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
const char* GeoFenceController::_jsonFileTypeValue = "GeoFence"; const char* GeoFenceController::_jsonFileTypeValue = "GeoFence";
const char* GeoFenceController::_jsonBreachReturnKey = "breachReturn";
GeoFenceController::GeoFenceController(QObject* parent) GeoFenceController::GeoFenceController(QObject* parent)
: PlanElementController(parent) : PlanElementController(parent)
...@@ -53,7 +54,6 @@ void GeoFenceController::start(bool editMode) ...@@ -53,7 +54,6 @@ void GeoFenceController::start(bool editMode)
void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint) void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint)
{ {
if (_breachReturnPoint != breachReturnPoint) { if (_breachReturnPoint != breachReturnPoint) {
qDebug() << "GeoFenceController::setBreachReturnPoint" << breachReturnPoint;
_breachReturnPoint = breachReturnPoint; _breachReturnPoint = breachReturnPoint;
setDirty(true); setDirty(true);
emit breachReturnPointChanged(breachReturnPoint); emit breachReturnPointChanged(breachReturnPoint);
...@@ -71,12 +71,11 @@ void GeoFenceController::_signalAll(void) ...@@ -71,12 +71,11 @@ void GeoFenceController::_signalAll(void)
emit paramsChanged(params()); emit paramsChanged(params());
emit paramLabelsChanged(paramLabels()); emit paramLabelsChanged(paramLabels());
emit editorQmlChanged(editorQml()); emit editorQmlChanged(editorQml());
emit dirtyChanged(dirty());
} }
void GeoFenceController::_activeVehicleBeingRemoved(void) void GeoFenceController::_activeVehicleBeingRemoved(void)
{ {
_clearGeoFence();
_signalAll();
_activeVehicle->geoFenceManager()->disconnect(this); _activeVehicle->geoFenceManager()->disconnect(this);
} }
...@@ -90,13 +89,13 @@ void GeoFenceController::_activeVehicleSet(void) ...@@ -90,13 +89,13 @@ void GeoFenceController::_activeVehicleSet(void)
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged); connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged); connect(geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::circleRadiusChanged, this, &GeoFenceController::circleRadiusChanged); connect(geoFenceManager, &GeoFenceManager::circleRadiusChanged, this, &GeoFenceController::circleRadiusChanged);
connect(geoFenceManager, &GeoFenceManager::polygonChanged, this, &GeoFenceController::_setPolygon);
connect(geoFenceManager, &GeoFenceManager::breachReturnPointChanged, this, &GeoFenceController::setBreachReturnPoint);
connect(geoFenceManager, &GeoFenceManager::paramsChanged, this, &GeoFenceController::paramsChanged); connect(geoFenceManager, &GeoFenceManager::paramsChanged, this, &GeoFenceController::paramsChanged);
connect(geoFenceManager, &GeoFenceManager::paramLabelsChanged, this, &GeoFenceController::paramLabelsChanged); connect(geoFenceManager, &GeoFenceManager::paramLabelsChanged, this, &GeoFenceController::paramLabelsChanged);
connect(geoFenceManager, &GeoFenceManager::loadComplete, this, &GeoFenceController::_loadComplete);
_setPolygon(geoFenceManager->polygon()); if (!geoFenceManager->inProgress()) {
setBreachReturnPoint(geoFenceManager->breachReturnPoint()); _loadComplete(geoFenceManager->breachReturnPoint(), geoFenceManager->polygon());
}
_signalAll(); _signalAll();
} }
...@@ -133,9 +132,23 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr ...@@ -133,9 +132,23 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr
return false; return false;
} }
if (!_polygon.loadFromJson(json, false /* reauired */, errorString)) { if (breachReturnSupported()) {
return false; if (json.contains(_jsonBreachReturnKey)
&& !JsonHelper::toQGeoCoordinate(json[_jsonBreachReturnKey], _breachReturnPoint, false /* altitudeRequired */, errorString)) {
return false;
}
} else {
_breachReturnPoint = QGeoCoordinate();
}
if (polygonSupported()) {
if (!_polygon.loadFromJson(json, false /* reauired */, errorString)) {
return false;
}
} else {
_polygon.clear();
} }
_polygon.setDirty(false);
return true; return true;
} }
...@@ -222,7 +235,8 @@ void GeoFenceController::loadFromFile(const QString& filename) ...@@ -222,7 +235,8 @@ void GeoFenceController::loadFromFile(const QString& filename)
qgcApp()->showMessage(errorString); qgcApp()->showMessage(errorString);
} }
setDirty(false); _signalAll();
setDirty(true);
} }
void GeoFenceController::loadFromFilePicker(void) void GeoFenceController::loadFromFilePicker(void)
...@@ -239,8 +253,6 @@ void GeoFenceController::loadFromFilePicker(void) ...@@ -239,8 +253,6 @@ void GeoFenceController::loadFromFilePicker(void)
void GeoFenceController::saveToFile(const QString& filename) void GeoFenceController::saveToFile(const QString& filename)
{ {
qDebug() << filename;
if (filename.isEmpty()) { if (filename.isEmpty()) {
return; return;
} }
...@@ -273,7 +285,15 @@ void GeoFenceController::saveToFile(const QString& filename) ...@@ -273,7 +285,15 @@ void GeoFenceController::saveToFile(const QString& filename)
paramMgr->saveToJson(paramMgr->defaultComponentId(), paramNames, fenceFileObject); paramMgr->saveToJson(paramMgr->defaultComponentId(), paramNames, fenceFileObject);
} }
_polygon.saveToJson(fenceFileObject); if (breachReturnSupported()) {
QJsonValue jsonBreachReturn;
JsonHelper::writeQGeoCoordinate(jsonBreachReturn, _breachReturnPoint, false /* writeAltitude */);
fenceFileObject[_jsonBreachReturnKey] = jsonBreachReturn;
}
if (polygonSupported()) {
_polygon.saveToJson(fenceFileObject);
}
QJsonDocument saveDoc(fenceFileObject); QJsonDocument saveDoc(fenceFileObject);
file.write(saveDoc.toJson()); file.write(saveDoc.toJson());
...@@ -296,7 +316,8 @@ void GeoFenceController::saveToFilePicker(void) ...@@ -296,7 +316,8 @@ void GeoFenceController::saveToFilePicker(void)
void GeoFenceController::removeAll(void) void GeoFenceController::removeAll(void)
{ {
_clearGeoFence(); setBreachReturnPoint(QGeoCoordinate());
_polygon.clear();
} }
void GeoFenceController::loadFromVehicle(void) void GeoFenceController::loadFromVehicle(void)
...@@ -311,22 +332,14 @@ void GeoFenceController::loadFromVehicle(void) ...@@ -311,22 +332,14 @@ void GeoFenceController::loadFromVehicle(void)
void GeoFenceController::sendToVehicle(void) void GeoFenceController::sendToVehicle(void)
{ {
if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) { if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) {
_activeVehicle->geoFenceManager()->setPolygon(polygon());
_activeVehicle->geoFenceManager()->setBreachReturnPoint(breachReturnPoint());
setDirty(false); setDirty(false);
_polygon.setDirty(false); _polygon.setDirty(false);
_activeVehicle->geoFenceManager()->sendToVehicle(); _activeVehicle->geoFenceManager()->sendToVehicle(_breachReturnPoint, _polygon.coordinateList());
} else { } else {
qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterManager()->parametersAreReady() << syncInProgress(); qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterManager()->parametersAreReady() << syncInProgress();
} }
} }
void GeoFenceController::_clearGeoFence(void)
{
setBreachReturnPoint(QGeoCoordinate());
_polygon.clear();
}
bool GeoFenceController::syncInProgress(void) const bool GeoFenceController::syncInProgress(void) const
{ {
return _activeVehicle->geoFenceManager()->inProgress(); return _activeVehicle->geoFenceManager()->inProgress();
...@@ -381,11 +394,17 @@ void GeoFenceController::_setDirty(void) ...@@ -381,11 +394,17 @@ void GeoFenceController::_setDirty(void)
setDirty(true); setDirty(true);
} }
void GeoFenceController::_setPolygon(const QList<QGeoCoordinate>& polygon) void GeoFenceController::_setPolygonFromManager(const QList<QGeoCoordinate>& polygon)
{ {
_polygon.setPath(polygon); _polygon.setPath(polygon);
// This is coming from a GeoFenceManager::loadFromVehicle call _polygon.setDirty(false);
setDirty(false); emit polygonPathChanged(_polygon.path());
}
void GeoFenceController::_setReturnPointFromManager(QGeoCoordinate breachReturnPoint)
{
_breachReturnPoint = breachReturnPoint;
emit breachReturnPointChanged(_breachReturnPoint);
} }
float GeoFenceController::circleRadius(void) const float GeoFenceController::circleRadius(void) const
...@@ -407,3 +426,10 @@ QString GeoFenceController::editorQml(void) const ...@@ -407,3 +426,10 @@ QString GeoFenceController::editorQml(void) const
{ {
return _activeVehicle->geoFenceManager()->editorQml(); return _activeVehicle->geoFenceManager()->editorQml();
} }
void GeoFenceController::_loadComplete(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon)
{
_setReturnPointFromManager(breachReturn);
_setPolygonFromManager(polygon);
setDirty(false);
}
src/MissionManager/GeoFenceController.h
View file @ 245a9ea7
...@@ -63,7 +63,6 @@ public: ...@@ -63,7 +63,6 @@ public:
QStringList paramLabels (void) const; QStringList paramLabels (void) const;
QString editorQml (void) const; QString editorQml (void) const;
public slots:
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint); void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
signals: signals:
...@@ -81,10 +80,11 @@ signals: ...@@ -81,10 +80,11 @@ signals:
private slots: private slots:
void _polygonDirtyChanged(bool dirty); void _polygonDirtyChanged(bool dirty);
void _setDirty(void); void _setDirty(void);
void _setPolygon(const QList<QGeoCoordinate>& polygon); void _setPolygonFromManager(const QList<QGeoCoordinate>& polygon);
void _setReturnPointFromManager(QGeoCoordinate breachReturnPoint);
void _loadComplete(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
private: private:
void _clearGeoFence(void);
void _signalAll(void); void _signalAll(void);
bool _loadJsonFile(QJsonDocument& jsonDoc, QString& errorString); bool _loadJsonFile(QJsonDocument& jsonDoc, QString& errorString);
...@@ -97,6 +97,7 @@ private: ...@@ -97,6 +97,7 @@ private:
QVariantList _params; QVariantList _params;
static const char* _jsonFileTypeValue; static const char* _jsonFileTypeValue;
static const char* _jsonBreachReturnKey;
}; };
#endif #endif
src/MissionManager/GeoFenceManager.cc
View file @ 245a9ea7
...@@ -34,26 +34,13 @@ void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg) ...@@ -34,26 +34,13 @@ void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
void GeoFenceManager::loadFromVehicle(void) void GeoFenceManager::loadFromVehicle(void)
{ {
// No geofence support in unknown vehicle // No geofence support in unknown vehicle
loadComplete(QGeoCoordinate(), QList<QGeoCoordinate>());
} }
void GeoFenceManager::sendToVehicle(void) void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon)
{ {
// No geofence support in unknown vehicle Q_UNUSED(breachReturn);
} Q_UNUSED(polygon);
void GeoFenceManager::setPolygon(QGCMapPolygon* polygon) // No geofence support in unknown vehicle
{
_polygon.clear();
for (int index=0; index<polygon->count(); index++) {
_polygon.append((*polygon)[index]);
}
emit polygonChanged(_polygon);
}
void GeoFenceManager::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint)
{
if (breachReturnPoint != _breachReturnPoint) {
_breachReturnPoint = breachReturnPoint;
emit breachReturnPointChanged(breachReturnPoint);
}
} }
src/MissionManager/GeoFenceManager.h
View file @ 245a9ea7
...@@ -14,7 +14,6 @@ ...@@ -14,7 +14,6 @@
#include <QGeoCoordinate> #include <QGeoCoordinate>
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "QGCMapPolygon.h"
class Vehicle; class Vehicle;
...@@ -33,11 +32,11 @@ public: ...@@ -33,11 +32,11 @@ public:
/// Returns true if the manager is currently communicating with the vehicle /// Returns true if the manager is currently communicating with the vehicle
virtual bool inProgress(void) const { return false; } virtual bool inProgress(void) const { return false; }
/// Load the current settings from teh vehicle /// Load the current settings from the vehicle
virtual void loadFromVehicle(void); virtual void loadFromVehicle(void);
/// Send the current settings to the vehicle /// Send the current settings to the vehicle
virtual void sendToVehicle(void); virtual void sendToVehicle(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
// Support flags // Support flags
virtual bool fenceSupported (void) const { return false; } virtual bool fenceSupported (void) const { return false; }
...@@ -54,9 +53,6 @@ public: ...@@ -54,9 +53,6 @@ public:
virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/GeoFenceEditor.qml"); } virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/GeoFenceEditor.qml"); }
void setPolygon(QGCMapPolygon* polygon);
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
/// Error codes returned in error signal /// Error codes returned in error signal
typedef enum { typedef enum {
InternalError, InternalError,
...@@ -66,13 +62,12 @@ public: ...@@ -66,13 +62,12 @@ public:
} ErrorCode_t; } ErrorCode_t;
signals: signals:
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void fenceSupportedChanged (bool fenceSupported); void fenceSupportedChanged (bool fenceSupported);
void circleSupportedChanged (bool circleSupported); void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported); void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool fenceSupported); void breachReturnSupportedChanged (bool fenceSupported);
void circleRadiusChanged (float circleRadius); void circleRadiusChanged (float circleRadius);
void polygonChanged (QList<QGeoCoordinate> polygon);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void inProgressChanged (bool inProgress); void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg); void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params); void paramsChanged (QVariantList params);
......
src/MissionManager/QGCMapPolygon.cc
View file @ 245a9ea7
...@@ -52,13 +52,6 @@ void QGCMapPolygon::clear(void) ...@@ -52,13 +52,6 @@ void QGCMapPolygon::clear(void)
setDirty(true); setDirty(true);
} }
void QGCMapPolygon::addCoordinate(const QGeoCoordinate coordinate)
{
_polygonPath << QVariant::fromValue(coordinate);
emit pathChanged();
setDirty(true);
}
void QGCMapPolygon::adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate) void QGCMapPolygon::adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate)
{ {
_polygonPath[vertexIndex] = QVariant::fromValue(coordinate); _polygonPath[vertexIndex] = QVariant::fromValue(coordinate);
...@@ -148,18 +141,30 @@ bool QGCMapPolygon::loadFromJson(const QJsonObject& json, bool required, QString ...@@ -148,18 +141,30 @@ bool QGCMapPolygon::loadFromJson(const QJsonObject& json, bool required, QString
return false; return false;
} }
QJsonArray rgPoints = json[_jsonPolygonKey].toArray(); QList<QGeoCoordinate> rgPoints;
for (int i=0; i<rgPoints.count(); i++) { QJsonArray jsonPoints = json[_jsonPolygonKey].toArray();
for (int i=0; i<jsonPoints.count(); i++) {
QGeoCoordinate coordinate; QGeoCoordinate coordinate;
if (!JsonHelper::toQGeoCoordinate(rgPoints[i], coordinate, false /* altitudeRequired */, errorString)) { if (!JsonHelper::toQGeoCoordinate(jsonPoints[i], coordinate, false /* altitudeRequired */, errorString)) {
return false; return false;
} }
addCoordinate(coordinate); rgPoints.append(coordinate);
} }
setPath(rgPoints);
setDirty(false); setDirty(false);
return true; return true;
} }
QList<QGeoCoordinate> QGCMapPolygon::coordinateList(void) const
{
QList<QGeoCoordinate> coords;
for (int i=0; i<count(); i++) {
coords.append((*this)[i]);
}
return coords;
}
src/MissionManager/QGCMapPolygon.h
View file @ 245a9ea7
...@@ -27,16 +27,17 @@ public: ...@@ -27,16 +27,17 @@ public:
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_INVOKABLE void clear(void); Q_INVOKABLE void clear(void);
Q_INVOKABLE void addCoordinate(const QGeoCoordinate coordinate);
Q_INVOKABLE void adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate); Q_INVOKABLE void adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate);
Q_INVOKABLE QGeoCoordinate center(void) const; Q_INVOKABLE QGeoCoordinate center(void) const;
Q_INVOKABLE int count(void) const { return _polygonPath.count(); } Q_INVOKABLE int count(void) const { return _polygonPath.count(); }
const QVariantList path(void) const { return _polygonPath; } QVariantList path(void) const { return _polygonPath; }
void setPath(const QList<QGeoCoordinate>& path); void setPath(const QList<QGeoCoordinate>& path);
void setPath(const QVariantList& path); void setPath(const QVariantList& path);
const QGeoCoordinate operator[](int index) { return _polygonPath[index].value<QGeoCoordinate>(); } QList<QGeoCoordinate> coordinateList(void) const;
QGeoCoordinate operator[](int index) const { return _polygonPath[index].value<QGeoCoordinate>(); }
bool dirty(void) const { return _dirty; } bool dirty(void) const { return _dirty; }
void setDirty(bool dirty); void setDirty(bool dirty);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment