Skip to content

Q
qgroundcontrol
Commit 27216843 authored by Don Gagne's avatar Don Gagne
Browse files
Options

Merge pull request #2899 from DonLakeFlyer/ExitCoordinate 

Add complex mission item exit coordinate support
parents 2fcdda7f b4efe205
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 193 additions and 100 deletions
src/FlightMap/MapItems/MissionItemIndicator.qml
View file @ 27216843
......@@ -33,6 +33,7 @@ MapQuickItem {
id: _item
property var missionItem
property int sequenceNumber
signal clicked
......@@ -43,10 +44,9 @@ MapQuickItem {
MissionItemIndexLabel {
id: _label
isCurrentItem: _isCurrentItem
label: _sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
label: sequenceNumber == 0 ? "H" : sequenceNumber
onClicked: _item.clicked()
property bool _isCurrentItem: missionItem ? missionItem.isCurrentItem : false
property bool _sequenceNumber: missionItem ? missionItem.sequenceNumber : 0
}
}
src/FlightMap/MapItems/MissionItemView.qml
View file @ 27216843
......@@ -41,6 +41,7 @@ MapItemView {
visible: object.specifiesCoordinate && (index != 0 || object.showHomePosition)
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.sequenceNumber
// These are the non-coordinate child mission items attached to this item
Row {
......
src/FlightMap/Widgets/VibrationWidget.qml
View file @ 27216843
......@@ -134,8 +134,6 @@ QGCFlickable {
width: barRow.width
height: 1
color: "red"
Component.onCompleted: console.log(anchors.topMargin, xBar.height, _barBadValue, _barMaximum, _barMinimum)
}
QGCLabel {
......
src/MissionEditor/MissionEditor.qml
View file @ 27216843
......@@ -366,8 +366,42 @@ QGCView {
// Add the simple mission items to the map
MapItemView {
model: controller.visualItems
delegate: missionItemComponent
model: controller.visualItems
delegate: missionItemComponent
}
// Add the complex mission items to the map
MapItemView {
model: controller.complexVisualItems
delegate: polygonItemComponent
}
Component {
id: polygonItemComponent
MapPolygon {
color: 'green'
path: object.polygonPath
opacity: 0.5
}
}
// Add the complex mission item exit coordinates
MapItemView {
model: controller.complexVisualItems
delegate: exitCoordinateComponent
}
Component {
id: exitCoordinateComponent
MissionItemIndicator {
coordinate: object.exitCoordinate
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.lastSequenceNumber
visible: object.specifiesCoordinate
}
}
Component {
......@@ -379,18 +413,18 @@ QGCView {
visible: object.specifiesCoordinate
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.sequenceNumber
onClicked: setCurrentItem(object.sequenceNumber)
function updateItemIndicator()
{
if (object.isCurrentItem && itemIndicator.visible) {
if (object.specifiesCoordinate) {
// Setup our drag item
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
}
if (object.isCurrentItem && itemIndicator.visible &&
object.specifiesCoordinate && object.isSimpleItem) {
// Setup our drag item
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
}
}
......@@ -421,22 +455,6 @@ QGCView {
}
}
// Add the complex mission items to the map
MapItemView {
model: controller.complexVisualItems
delegate: polygonItemComponent
}
Component {
id: polygonItemComponent
MapPolygon {
color: 'green'
path: object.polygonPath
opacity: 0.5
}
}
// Add lines between waypoints
MissionLineView {
model: controller.waypointLines
......
src/MissionManager/ComplexMissionItem.cc
View file @ 27216843
......@@ -33,6 +33,7 @@ const char* ComplexMissionItem::_complexType = "survey";
ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
: VisualMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
{
MissionItem missionItem;
......@@ -44,6 +45,7 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
: VisualMissionItem(other, parent)
, _sequenceNumber(other.sequenceNumber())
, _dirty(false)
{
......@@ -51,8 +53,18 @@ ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject*
void ComplexMissionItem::clearPolygon(void)
{
_polygonPath.clear();
// Bug workaround, see below
while (_polygonPath.count() > 1) {
_polygonPath.takeLast();
}
emit polygonPathChanged();
// Although this code should remove the polygon from the map it doesn't. There appears
// to be a bug in MapPolygon which causes it to not be redrawn if the list is empty. So
// we work around it by using the code above to remove all bu the last point which in turn
// will cause the polygon to go away.
_polygonPath.clear();
emit specifiesCoordinateChanged();
}
void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
......@@ -60,15 +72,18 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
_polygonPath << QVariant::fromValue(coordinate);
emit polygonPathChanged();
// FIXME: Hack, first polygon point sets entry coordinate
if (_polygonPath.count() == 1) {
int pointCount = _polygonPath.count();
if (pointCount == 1) {
setCoordinate(coordinate);
} else if (pointCount == 3) {
emit specifiesCoordinateChanged();
}
_setExitCoordinate(coordinate);
}
int ComplexMissionItem::nextSequenceNumber(void) const
int ComplexMissionItem::lastSequenceNumber(void) const
{
return _sequenceNumber + _missionItems.count();
return _sequenceNumber + _missionItems.count() - 1;
}
void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
......@@ -126,11 +141,15 @@ void ComplexMissionItem::save(QJsonObject& saveObject) const
void ComplexMissionItem::setSequenceNumber(int sequenceNumber)
{
VisualMissionItem::setSequenceNumber(sequenceNumber);
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
// Update internal mission items to new numbering
for (int i=0; i<_missionItems.count(); i++) {
_missionItems[i]->setSequenceNumber(sequenceNumber++);
// Update internal mission items to new numbering
for (int i=0; i<_missionItems.count(); i++) {
_missionItems[i]->setSequenceNumber(sequenceNumber++);
}
emit sequenceNumberChanged(sequenceNumber);
}
}
......@@ -217,10 +236,12 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
int itemCount = _missionItems.count();
if (itemCount > 0) {
setCoordinate(_missionItems[0]->coordinate());
_setExitCoordinate(_missionItems[itemCount - 1]->coordinate());
_coordinate = _missionItems[0]->coordinate();
_exitCoordinate = _missionItems[itemCount - 1]->coordinate();
}
qDebug() << coordinate() << exitCoordinate() << _missionItems[0]->coordinate() << _missionItems[1]->coordinate();
return true;
}
......@@ -236,3 +257,8 @@ void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
}
}
}
bool ComplexMissionItem::specifiesCoordinate(void) const
{
return _polygonPath.count() > 2;
}
src/MissionManager/ComplexMissionItem.h
View file @ 27216843
......@@ -35,7 +35,8 @@ public:
ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_PROPERTY(int lastSequenceNumber READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
Q_INVOKABLE void clearPolygon(void);
Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
......@@ -44,8 +45,8 @@ public:
QList<MissionItem*>& missionItems(void) { return _missionItems; }
/// @return The next sequence number to use after this item. Takes into account child items of the complex item
int nextSequenceNumber(void) const;
/// @return The last sequence number used by this item. Takes into account child items of the complex item
int lastSequenceNumber(void) const;
/// Load the complex mission item from Json
/// @param complexObject Complex mission item json object
......@@ -58,11 +59,12 @@ public:
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final { return true; }
bool specifiesCoordinate (void) const final;
QString commandDescription (void) const final { return "Survey"; }
QString commandName (void) const final { return "Survey"; }
QGeoCoordinate coordinate (void) const final { return _coordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
bool coordinateHasRelativeAltitude (void) const final { return true; }
bool exitCoordinateHasRelativeAltitude (void) const final { return true; }
......@@ -75,11 +77,13 @@ public:
signals:
void polygonPathChanged(void);
void lastSequenceNumberChanged(int lastSequenceNumber);
private:
void _clear(void);
void _setExitCoordinate(const QGeoCoordinate& coordinate);
int _sequenceNumber;
bool _dirty;
QVariantList _polygonPath;
QList<MissionItem*> _missionItems;
......
src/MissionManager/MissionController.cc
View file @ 27216843
This diff is collapsed.
src/MissionManager/MissionController.h
View file @ 27216843
......@@ -113,10 +113,11 @@ private:
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat);
double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
void _loadMissionFromFile(const QString& file);
void _saveMissionToFile(const QString& file);
int _nextSequenceNumber(void);
private:
bool _editMode;
......
src/MissionManager/SimpleMissionItem.cc
View file @ 27216843
......@@ -190,6 +190,9 @@ void SimpleMissionItem::_connectSignals(void)
// These fact signals must alway signal out through SimpleMissionItem signals
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
connect(&_missionItem._frameFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendFrameChanged);
// Sequence number is kept in mission iteem, so we need to propogate signal up as well
connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::sequenceNumberChanged);
}
void SimpleMissionItem::_setupMetaData(void)
......@@ -574,7 +577,6 @@ void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_missionItem.coordinate() != coordinate) {
qDebug() << _missionItem.coordinate() << coordinate;
_missionItem.setCoordinate(coordinate);
}
}
......@@ -582,5 +584,4 @@ void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
{
_missionItem.setSequenceNumber(sequenceNumber);
VisualMissionItem::setSequenceNumber(sequenceNumber);
}
src/MissionManager/SimpleMissionItem.h
View file @ 27216843
......@@ -101,6 +101,7 @@ public:
QString commandName (void) const final;
QGeoCoordinate coordinate (void) const final { return _missionItem.coordinate(); }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
int sequenceNumber (void) const final { return _missionItem.sequenceNumber(); }
bool coordinateHasRelativeAltitude (void) const final { return _missionItem.relativeAltitude(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return coordinateHasRelativeAltitude(); }
......
src/MissionManager/VisualMissionItem.cc
View file @ 27216843
......@@ -31,7 +31,6 @@ This file is part of the QGROUNDCONTROL project
VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _dirty(false)
, _altDifference(0.0)
......@@ -45,7 +44,6 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
: QObject(parent)
, _vehicle(NULL)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _dirty(false)
, _altDifference(0.0)
......@@ -60,7 +58,6 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
{
_vehicle = other._vehicle;
setSequenceNumber(other._sequenceNumber);
setIsCurrentItem(other._isCurrentItem);
setDirty(other._dirty);
setAltDifference(other._altDifference);
......@@ -106,11 +103,3 @@ void VisualMissionItem::setAzimuth(double azimuth)
_azimuth = azimuth;
emit azimuthChanged(_azimuth);
}
void VisualMissionItem::setSequenceNumber (int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
}
}
src/MissionManager/VisualMissionItem.h
View file @ 27216843
......@@ -99,7 +99,6 @@ public:
double azimuth (void) const { return _azimuth; }
double distance (void) const { return _distance; }
bool isCurrentItem (void) const { return _isCurrentItem; }
int sequenceNumber (void) const { return _sequenceNumber; }
QmlObjectListModel* childItems(void) { return &_childItems; }
......@@ -111,10 +110,6 @@ public:
Vehicle* vehicle(void) { return _vehicle; }
// Virtuals which may be overriden by derived classes
virtual void setSequenceNumber(int sequenceNumber);
// Pure virtuals which must be provides by derived classes
virtual bool dirty (void) const = 0;
......@@ -125,6 +120,7 @@ public:
virtual QString commandName (void) const = 0;
virtual QGeoCoordinate coordinate (void) const = 0;
virtual QGeoCoordinate exitCoordinate (void) const = 0;
virtual int sequenceNumber (void) const = 0;
virtual bool coordinateHasRelativeAltitude (void) const = 0;
virtual bool exitCoordinateHasRelativeAltitude (void) const = 0;
......@@ -132,6 +128,7 @@ public:
virtual void setDirty (bool dirty) = 0;
virtual void setCoordinate (const QGeoCoordinate& coordinate) = 0;
virtual void setSequenceNumber (int sequenceNumber) = 0;
/// Save the item(s) in Json format
/// @param saveObject Save the item to this json object
......@@ -159,7 +156,6 @@ signals:
protected:
Vehicle* _vehicle;
int _sequenceNumber;
bool _isCurrentItem;
bool _dirty;
double _altDifference; ///< Difference in altitude from previous waypoint
......
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