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Commit 32146c9e authored by Valentin Platzgummer's avatar Valentin Platzgummer
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_currentItems removed from WimaController

parent c8c80fb1
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Showing with 92265 additions and 126 deletions
profiling/callgrind/callgrind.SyncWimaFetchCurrentItemsRemoved 0 → 100644
View file @ 32146c9e
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profiling/callgrind/callgrind.SyncWimaFetchDirtyMoved 0 → 100644
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src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 32146c9e
......@@ -228,7 +228,7 @@ FlightMap {
color: "gray"
}
// current Items
WimaPlanMapItems {
/*WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
missionItems: wimaController.currentMissionItems
......@@ -237,7 +237,7 @@ FlightMap {
zOrderWP: QGroundControl.zOrderWaypointIndicators-1
zOrderLines: QGroundControl.zOrderWaypointIndicators-2
color: "green" // gray with alpha 0.7
}
}*/
// Add trajectory points to the map
MapItemView {
......
src/FlightMap/MapItems/PlanMapItems.qml
View file @ 32146c9e
......@@ -34,7 +34,6 @@ Item {
// Add the mission item visuals to the map
Repeater {
property bool show: largeMapView
property var wimaController
model: show ? _missionController.visualItems : 0
delegate: MissionItemMapVisual {
......
src/MissionManager/MissionController.cc
View file @ 32146c9e
......@@ -331,6 +331,27 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
kml.save(document);
}
//QList<QObject *> MissionController::takeVisualItems()
//{
// QList<QObject *> objectList;
// if (_visualItems) {
// _deinitAllVisualItems();
// QList<QObject *> *objectListPt = _visualItems->objectList();
// for (auto object : *objectListPt)
// objectList.append(object);
// _visualItems->clear();
// _visualItems->deleteLater();
// _settingsItem = nullptr;
// _visualItems = new QmlObjectListModel(this);
// _addMissionSettings(_visualItems, false /* addToCenter */);
// _initAllVisualItems();
// setDirty(true);
// _resetMissionFlightStatus();
// }
// return objectList;
//}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
......@@ -438,7 +459,7 @@ int MissionController::insertSimpleMissionItem(const QList<const MissionItem *>
return (newItem != nullptr) ? newItem->sequenceNumber(): -1;
}
int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, int i)
/*int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(missionItem, _flyView, this);
......@@ -455,7 +476,7 @@ int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, i
_visualItems->insert(i, newItem);
return newItem->sequenceNumber();
}
}*/
int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
{
......
src/MissionManager/MissionController.h
View file @ 32146c9e
......@@ -122,7 +122,7 @@ public:
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
int insertSimpleMissionItem(SimpleMissionItem &missionItem, int i);
//int insertSimpleMissionItem(SimpleMissionItem &missionItem, int i);
/// Add a new ROI mission item to the list
/// @param i: index to insert at
......@@ -196,6 +196,7 @@ public:
// Property accessors
QmlObjectListModel* visualItems (void) { return _visualItems; }
//QList<QObject *> takeVisualItems (void);
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
QVariantList waypointPath (void) { return _waypointPath; }
QStringList complexMissionItemNames (void) const;
......
src/Wima/WimaController.cc
View file @ 32146c9e
......@@ -97,21 +97,11 @@ QmlObjectListModel *WimaController::missionItems()
return &_missionItems;
}
QmlObjectListModel *WimaController::currentMissionItems()
{
return &_currentMissionItems;
}
QVariantList WimaController::waypointPath()
{
return _waypointPath;
}
QVariantList WimaController::currentWaypointPath()
{
return _currentWaypointPath;
}
Fact *WimaController::enableWimaController()
{
return &_enableWimaController;
......@@ -263,7 +253,7 @@ void WimaController::resetPhase()
bool WimaController::uploadToVehicle()
{
if ( !_serviceArea.containsCoordinate(_masterController->managerVehicle()->coordinate())
&& _currentMissionItems.count() > 0) {
&& _missionController->visualItems()->count() > 0) {
setUploadOverrideRequired(true);
return false;
}
......@@ -274,10 +264,9 @@ bool WimaController::uploadToVehicle()
bool WimaController::forceUploadToVehicle()
{
setUploadOverrideRequired(false);
if (_currentMissionItems.count() < 1)
if (_missionController->visualItems()->count() < 1)
return false;
_missionController->removeAll();
// set homeposition of settingsItem
QmlObjectListModel* visuals = _missionController->visualItems();
MissionSettingsItem* settingsItem = visuals->value<MissionSettingsItem *>(0);
......@@ -287,12 +276,6 @@ bool WimaController::forceUploadToVehicle()
}
settingsItem->setCoordinate(_takeoffLandPostion);
// copy mission items from _currentMissionItems to _missionController
for (int i = 0; i < _currentMissionItems.count(); i++){
SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
_missionController->insertSimpleMissionItem(*item, visuals->count());
}
_masterController->sendToVehicle();
return true;
......@@ -301,7 +284,6 @@ bool WimaController::forceUploadToVehicle()
void WimaController::removeFromVehicle()
{
_masterController->removeAllFromVehicle();
_missionController->removeAll();
}
bool WimaController::checkSmartRTLPreCondition()
......@@ -468,8 +450,7 @@ bool WimaController::fetchContainerData()
// reset visual items
_visualItems.clear();
_missionItems.clearAndDeleteContents();
_currentMissionItems.clearAndDeleteContents();
_currentWaypointPath.clear();
_missionController->removeAll();
_localPlanDataValid = false;
......@@ -536,26 +517,10 @@ bool WimaController::fetchContainerData()
return false;
}
// create mission items
_missionController->removeAll();
QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
// create SimpleMissionItem by using _missionController
QList<const MissionItem*> missionItems;
missionItems.reserve(tempMissionItems.size());
// create SimpleMissionItems
for (auto item : tempMissionItems)
missionItems.append(item.data());
_missionController->insertSimpleMissionItem(missionItems, missionControllerVisualItems->count());
// copy mission items from _missionController to _missionItems
for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
if (visualItem == nullptr) {
qWarning("WimaController::fetchContainerData(): Nullptr at SimpleMissionItem!");
return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
_missionItems.append(visualItemCopy);
}
_missionItems.append(new SimpleMissionItem(_masterController->managerVehicle(), true /* flyView*/, *item, this));
setTakeoffLandPosition();
updateWaypointPath();
......@@ -587,9 +552,6 @@ bool WimaController::calcNextPhase()
return false;
}
_currentMissionItems.clearAndDeleteContents();
_currentWaypointPath.clear();
bool reverse = _reverse.rawValue().toBool(); // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
int startIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
if (!reverse) {
......@@ -679,7 +641,6 @@ bool WimaController::calcNextPhase()
_arrivalPathLength += arrivalPath[i].distanceTo(arrivalPath[i+1]);
arrivalPath.removeFirst();
//arrivalPath.removeLast();
// calculate path from last waypoint to home
QVector<QGeoCoordinate> returnPath;
......@@ -776,29 +737,12 @@ bool WimaController::calcNextPhase()
}
_missionController->setLandCommand(*landItem);
// copy to _currentMissionItems
for ( int i = 1; i < missionControllerVisuals->count(); i++) {
SimpleMissionItem *visualItem = missionControllerVisuals->value<SimpleMissionItem*>(i);
if (visualItem == nullptr) {
qWarning("WimaController::calcNextPhase(): Nullptr at SimpleMissionItem!");
_currentMissionItems.clear();
return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
_currentMissionItems.append(visualItemCopy);
}
_setPhaseDistance(_measurementPathLength + _arrivalPathLength + _returnPathLength);
_setPhaseDuration(_measurementPathLength/_flightSpeed.rawValue().toDouble()
+ (_arrivalPathLength + _returnPathLength)
/ _arrivalReturnSpeed.rawValue().toDouble());
_missionController->removeAll(); // remove items from _missionController, will be added on upload
updateAltitude();
updateCurrentPath();
emit currentMissionItemsChanged();
qWarning() << "WimaController::calcNextPhase() exec time: "
<< std::chrono::duration_cast<std::chrono::microseconds>(
std::chrono::high_resolution_clock::now() - start).count() << " us";
......@@ -812,13 +756,6 @@ void WimaController::updateWaypointPath()
emit waypointPathChanged();
}
void WimaController::updateCurrentPath()
{
_currentWaypointPath.clear();
extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
emit currentWaypointPathChanged();
}
void WimaController::updateNextWaypoint()
{
......@@ -849,8 +786,9 @@ bool WimaController::setTakeoffLandPosition()
void WimaController::updateflightSpeed()
{
int speedItemCounter = 0;
for (int i = 0; i < _currentMissionItems.count(); i++) {
SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
QmlObjectListModel *visualMissionItems = _missionController->visualItems();
for (int i = 0; i < visualMissionItems->count(); i++) {
SimpleMissionItem *item = visualMissionItems->value<SimpleMissionItem *>(i);
if (item != nullptr && item->command() == MAV_CMD_DO_CHANGE_SPEED) {
speedItemCounter++;
if (speedItemCounter == 2) {
......@@ -870,8 +808,9 @@ void WimaController::updateflightSpeed()
void WimaController::updateArrivalReturnSpeed()
{
int speedItemCounter = 0;
for (int i = 0; i < _currentMissionItems.count(); i++) {
SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
QmlObjectListModel *visualMissionItems = _missionController->visualItems();
for (int i = 0; i < visualMissionItems->count(); i++) {
SimpleMissionItem *item = visualMissionItems->value<SimpleMissionItem *>(i);
if (item != nullptr && item->command() == MAV_CMD_DO_CHANGE_SPEED) {
speedItemCounter++;
if (speedItemCounter != 2) {
......@@ -891,8 +830,9 @@ void WimaController::updateArrivalReturnSpeed()
void WimaController::updateAltitude()
{
for (int i = 0; i < _currentMissionItems.count(); i++) {
SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
QmlObjectListModel *visualMissionItems = _missionController->visualItems();
for (int i = 0; i < visualMissionItems->count(); i++) {
SimpleMissionItem *item = visualMissionItems->value<SimpleMissionItem *>(i);
if (item == nullptr) {
qWarning("WimaController::updateAltitude(): nullptr");
return;
......@@ -1083,33 +1023,12 @@ bool WimaController::_calcReturnPath(QString &errorSring)
}
_missionController->setLandCommand(*landItem);
// copy to _currentMissionItems
//qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
for ( int i = 1; i < missionControllerVisuals->count(); i++) {
SimpleMissionItem *visualItem = missionControllerVisuals->value<SimpleMissionItem*>(i);
if (visualItem == nullptr) {
qWarning("WimaController: Nullptr at SimpleMissionItem!");
_currentMissionItems.clear();
return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
_currentMissionItems.append(visualItemCopy);
}
//qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
_setPhaseDistance(_phaseDistance + _arrivalPathLength + _returnPathLength);
_setPhaseDuration(_phaseDistance/_flightSpeed.rawValue().toDouble()
+ (_arrivalPathLength + _returnPathLength)
/ _arrivalReturnSpeed.rawValue().toDouble());
_missionController->removeAll(); // remove items from _missionController, will be added on upload
updateAltitude();
updateCurrentPath();
emit currentMissionItemsChanged();
//qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
_showAllMissionItems.setRawValue(false);
managerVehicle->trajectoryPoints()->clear();
......@@ -1139,21 +1058,34 @@ bool WimaController::_executeSmartRTL(QString &errorSring)
void WimaController::_loadCurrentMissionItemsFromBuffer()
{
_currentMissionItems.clear();
_missionController->removeAll();
int numItems = _missionItemsBuffer.count();
for (int i = 0; i < numItems; i++)
_currentMissionItems.append(_missionItemsBuffer.removeAt(0));
updateCurrentPath();
for (int i = 0; i < numItems; i++) {
SimpleMissionItem *item = _missionItemsBuffer.value<SimpleMissionItem *>(i);
if (item != nullptr)
_missionController->insertSimpleMissionItem(item->missionItem(), i+1);
else {
qWarning("WimaController::_loadCurrentMissionItemsFromBuffer(): internal error");
return;
}
}
_missionItems.clearAndDeleteContents();
}
void WimaController::_saveCurrentMissionItemsToBuffer()
{
_missionItemsBuffer.clear();
int numCurrentMissionItems = _currentMissionItems.count();
for (int i = 0; i < numCurrentMissionItems; i++)
_missionItemsBuffer.append(_currentMissionItems.removeAt(0));
int numItems = _missionController->visualItems()->count();
for (int i = 0; i < numItems; i++) {
SimpleMissionItem *item = _missionController->visualItems()->value<SimpleMissionItem *>(i);
if (item != nullptr)
_missionItems.append(new SimpleMissionItem(*item, true /* flyView */, this));
else {
qWarning("WimaController::_loadCurrentMissionItemsFromBuffer(): internal error");
return;
}
}
}
......
src/Wima/WimaController.h
View file @ 32146c9e
......@@ -44,9 +44,7 @@ public:
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* currentMissionItems READ currentMissionItems NOTIFY currentMissionItemsChanged)
Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY currentWaypointPathChanged)
Q_PROPERTY(Fact* enableWimaController READ enableWimaController CONSTANT)
Q_PROPERTY(Fact* overlapWaypoints READ overlapWaypoints CONSTANT)
Q_PROPERTY(Fact* maxWaypointsPerPhase READ maxWaypointsPerPhase CONSTANT)
......@@ -75,9 +73,7 @@ public:
QGCMapPolygon joinedArea (void) const;
WimaDataContainer* dataContainer (void);
QmlObjectListModel* missionItems (void);
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
......@@ -157,9 +153,7 @@ signals:
void dataContainerChanged ();
void readyForSaveSendChanged (bool ready);
void missionItemsChanged (void);
void currentMissionItemsChanged (void);
void waypointPathChanged (void);
void currentWaypointPathChanged (void);
void uploadOverrideRequiredChanged (void);
void phaseDistanceChanged (void);
void phaseDurationChanged (void);
......@@ -171,7 +165,6 @@ private slots:
bool fetchContainerData();
bool calcNextPhase(void);
void updateWaypointPath (void);
void updateCurrentPath (void);
void updateNextWaypoint (void);
void recalcCurrentPhase (void);
bool setTakeoffLandPosition (void);
......@@ -205,11 +198,8 @@ private:
WimaCorridorData _corridor; // corridor connecting opArea and serArea
bool _localPlanDataValid;
QmlObjectListModel _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
QmlObjectListModel _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
// _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
QmlObjectListModel _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked
QmlObjectListModel _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _missionController->visualItems() when smartRTL() is invoked
QVariantList _waypointPath; // path connecting the items in _missionItems
QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems
QGeoCoordinate _takeoffLandPostion;
......@@ -227,9 +217,9 @@ private:
SettingsFact _reverse; // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
int _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element
// (which is not part of the return path) of _currentMissionItem
// (which is not part of the return path) of _missionController.visualItems()
int _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element
// (which is not part of the arrival path) of _currentMissionItem
// (which is not part of the arrival path) of _missionController.visualItems()
bool _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
// The user can override the upload lock with a slider, this will reset this variable to false.
double _measurementPathLength; // the lenght of the phase in meters
......@@ -269,9 +259,6 @@ private:
* 3+n+m+2+l Return Path Waypoint l-1
* 3+n+m+2+l+1 Land command
*
* _currentMissionItems is equal to
* _missionController.visualItems() except that it
* is missing the MissionSettingsItem
*/
src/Wima/WimaPlaner.cc
View file @ 32146c9e
......@@ -715,6 +715,10 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData()
QList<MissionItem*> rgMissionItems;
QmlObjectListModel *visualItems = _missionController->visualItems();
MissionController::convertToMissionItems(visualItems, rgMissionItems, nullptr);
for (int i = 0; i <= _arrivalPathLength; ++i)
rgMissionItems.removeFirst();
for (int i = 0; i < _returnPathLength; ++i)
rgMissionItems.removeLast();
// store mavlink commands
planData->append(rgMissionItems);
......
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