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Commit 32b8a549 authored by Don Gagne's avatar Don Gagne
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Simple/Complex item rearchitecture 

Plus new unit tests
parent e27ab01d
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Showing with 2493 additions and 1326 deletions
qgroundcontrol.pro
View file @ 32b8a549
......@@ -263,6 +263,7 @@ HEADERS += \
src/MissionManager/MissionManager.h \
src/MissionManager/ComplexMissionItem.h \
src/MissionManager/SimpleMissionItem.h \
src/MissionManager/VisualMissionItem.h \
src/QGC.h \
src/QGCApplication.h \
src/QGCComboBox.h \
......@@ -392,6 +393,7 @@ SOURCES += \
src/MissionManager/MissionManager.cc \
src/MissionManager/ComplexMissionItem.cc \
src/MissionManager/SimpleMissionItem.cc \
src/MissionManager/VisualMissionItem.cc \
src/QGC.cc \
src/QGCApplication.cc \
src/QGCComboBox.cc \
......@@ -508,6 +510,7 @@ HEADERS += \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/qgcunittest/GeoTest.h \
src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \
......@@ -531,6 +534,7 @@ SOURCES += \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/qgcunittest/GeoTest.cc \
src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 32b8a549
......@@ -89,7 +89,7 @@ FlightMap {
// Add the mission items to the map
MissionItemView {
model: _mainIsMap ? _missionController.missionItems : 0
model: _mainIsMap ? _missionController.visualItems : 0
}
// Add lines between waypoints
......
src/FlightMap/MapItems/MissionItemIndicator.qml
View file @ 32b8a549
......@@ -42,8 +42,11 @@ MapQuickItem {
sourceItem:
MissionItemIndexLabel {
id: _label
isCurrentItem: missionItem.isCurrentItem
label: missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
isCurrentItem: _isCurrentItem
label: _sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
onClicked: _item.clicked()
property bool _isCurrentItem: missionItem ? missionItem.isCurrentItem : false
property bool _sequenceNumber: missionItem ? missionItem.sequenceNumber : 0
}
}
src/MissionEditor/MissionEditor.qml
View file @ 32b8a549
......@@ -40,7 +40,7 @@ import QGroundControl.Controllers 1.0
QGCView {
id: _root
property bool syncNeeded: controller.missionItems.dirty // Unsaved changes, visible to parent container
property bool syncNeeded: controller.visualItems.dirty // Unsaved changes, visible to parent container
viewPanel: panel
topDialogMargin: height - mainWindow.availableHeight
......@@ -60,13 +60,11 @@ QGCView {
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems
property var _visualItems: controller.visualItems
property var _currentMissionItem
property bool _firstVehiclePosition: true
property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false
onActiveVehiclePositionChanged: updateMapToVehiclePosition()
Connections {
......@@ -119,19 +117,19 @@ QGCView {
/// Fix the map viewport to the current mission items.
function fitViewportToMissionItems() {
if (_missionItems.count == 1) {
editorMap.center = _missionItems.get(0).coordinate
if (_visualItems.count == 1) {
editorMap.center = _visualItems.get(0).coordinate
} else {
var missionItem = _missionItems.get(0)
var missionItem = _visualItems.get(0)
var north = normalizeLat(missionItem.coordinate.latitude)
var south = north
var east = normalizeLon(missionItem.coordinate.longitude)
var west = east
for (var i=1; i<_missionItems.count; i++) {
missionItem = _missionItems.get(i)
for (var i=1; i<_visualItems.count; i++) {
missionItem = _visualItems.get(i)
if (missionItem.specifiesCoordinate && !missionItem.standaloneCoordinate) {
if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
var lat = normalizeLat(missionItem.coordinate.latitude)
var lon = normalizeLon(missionItem.coordinate.longitude)
......@@ -161,7 +159,7 @@ QGCView {
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
*/
onMissionItemsChanged: itemDragger.clearItem()
onVisualItemsChanged: itemDragger.clearItem()
onNewItemsFromVehicle: fitViewportToMissionItems()
}
......@@ -177,12 +175,12 @@ QGCView {
function setCurrentItem(index) {
_currentMissionItem = undefined
for (var i=0; i<_missionItems.count; i++) {
for (var i=0; i<_visualItems.count; i++) {
if (i == index) {
_currentMissionItem = _missionItems.get(i)
_currentMissionItem = _visualItems.get(i)
_currentMissionItem.isCurrentItem = true
} else {
_missionItems.get(i).isCurrentItem = false
_visualItems.get(i).isCurrentItem = false
}
}
}
......@@ -266,7 +264,7 @@ QGCView {
QGCComboBox {
id: toCombo
model: _missionItems.count
model: _visualItems.count
currentIndex: _moveDialogMissionItemIndex
}
}
......@@ -308,7 +306,7 @@ QGCView {
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (addMissionItemsButton.checked) {
var index = controller.insertSimpleMissionItem(coordinate, controller.missionItems.count)
var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(index)
} else {
editorMap.mapClicked(coordinate)
......@@ -368,7 +366,7 @@ QGCView {
// Add the simple mission items to the map
MapItemView {
model: controller.missionItems
model: controller.visualItems
delegate: missionItemComponent
}
......@@ -399,8 +397,8 @@ QGCView {
Connections {
target: object
onIsCurrentItemChanged: updateItemIndicator()
onCommandChanged: updateItemIndicator()
onIsCurrentItemChanged: updateItemIndicator()
onSpecifiesCoordinateChanged: updateItemIndicator()
}
// These are the non-coordinate child mission items attached to this item
......@@ -425,7 +423,7 @@ QGCView {
// Add the complex mission items to the map
MapItemView {
model: controller.complexMissionItems
model: controller.complexVisualItems
delegate: polygonItemComponent
}
......@@ -480,10 +478,10 @@ QGCView {
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
height: Math.min(contentHeight, parent.height)
height: parent.height
spacing: _margin / 2
orientation: ListView.Vertical
model: controller.missionItems
model: controller.visualItems
cacheBuffer: height * 2
delegate: MissionItemEditor {
......@@ -504,7 +502,7 @@ QGCView {
setCurrentItem(i)
}
onMoveHomeToMapCenter: controller.missionItems.get(0).coordinate = editorMap.center
onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
}
} // ListView
} // Item - Mission Item editor
......@@ -551,7 +549,7 @@ QGCView {
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
var index = controller.insertComplexMissionItem(coordinate, controller.missionItems.count)
var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(index)
checked = false
}
......@@ -565,8 +563,8 @@ QGCView {
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: syncDropDownComponent
enabled: !_syncInProgress
rotateImage: _syncInProgress
enabled: !controller.syncInProgress
rotateImage: controller.syncInProgress
}
DropButton {
......@@ -589,7 +587,7 @@ QGCView {
onClicked: {
centerMapButton.hideDropDown()
editorMap.center = controller.missionItems.get(0).coordinate
editorMap.center = controller.visualItems.get(0).coordinate
}
}
......@@ -688,7 +686,7 @@ QGCView {
anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem
missionItems: controller.missionItems
missionItems: controller.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
}
} // FlightMap
......@@ -758,7 +756,7 @@ QGCView {
QGCButton {
text: "Send to vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
......@@ -768,7 +766,7 @@ QGCView {
QGCButton {
text: "Load from vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
......@@ -786,6 +784,7 @@ QGCView {
QGCButton {
text: "Save to file..."
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
......@@ -795,6 +794,7 @@ QGCView {
QGCButton {
text: "Load from file..."
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
......
src/MissionEditor/MissionItemStatus.qml
View file @ 32b8a549
......@@ -114,7 +114,7 @@ Rectangle {
Item {
height: graphRow.height
width: ScreenTools.smallFontPixelWidth * 2
visible: object.specifiesCoordinate && !object.standaloneCoordinate
visible: object.specifiesCoordinate && !object.isStandaloneCoordinate
property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height
......
src/MissionManager/ComplexMissionItem.cc
View file @ 32b8a549
......@@ -23,43 +23,19 @@ This file is part of the QGROUNDCONTROL project
#include "ComplexMissionItem.h"
ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
: MissionItem(vehicle, parent)
{
}
ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle,
int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent)
: MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent)
: VisualMissionItem(vehicle, parent)
, _dirty(false)
{
}
ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
: MissionItem(other, parent)
: VisualMissionItem(other, parent)
, _dirty(false)
{
}
const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem& other)
{
static_cast<MissionItem&>(*this) = other;
return *this;
}
QVariantList ComplexMissionItem::polygonPath(void)
{
return _polygonPath;
......@@ -85,3 +61,33 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
_polygonPath << QVariant::fromValue(coordinate);
emit polygonPathChanged();
}
int ComplexMissionItem::nextSequenceNumber(void) const
{
return _sequenceNumber + _missionItems.count();
}
void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_coordinate != coordinate) {
_coordinate = coordinate;
emit coordinateChanged(_coordinate);
}
}
void ComplexMissionItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
}
bool ComplexMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
{
Q_UNUSED(missionObject);
Q_UNUSED(missionItems);
errorString = "Complex save NYI";
return false;
}
src/MissionManager/ComplexMissionItem.h
View file @ 32b8a549
......@@ -24,34 +24,17 @@
#ifndef ComplexMissionItem_H
#define ComplexMissionItem_H
#include "VisualMissionItem.h"
#include "MissionItem.h"
class ComplexMissionItem : public MissionItem
class ComplexMissionItem : public VisualMissionItem
{
Q_OBJECT
public:
ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
ComplexMissionItem(Vehicle* vehicle,
int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent = NULL);
ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
const ComplexMissionItem& operator=(const ComplexMissionItem& other);
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_INVOKABLE void clearPolygon(void);
......@@ -59,15 +42,38 @@ public:
QVariantList polygonPath(void);
// Overrides from MissionItem base class
bool simpleItem (void) const final { return false; }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
const 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;
// Overrides from VisualMissionItem
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; }
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 _coordinate; }
bool coordinateHasRelativeAltitude (void) const final { return true; }
bool exitCoordinateHasRelativeAltitude (void) const final { return true; }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate);
bool save (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
signals:
void polygonPathChanged(void);
private:
QVariantList _polygonPath;
bool _dirty;
QVariantList _polygonPath;
QList<MissionItem*> _missionItems;
QGeoCoordinate _coordinate;
};
#endif
src/MissionManager/MissionCommandList.h
View file @ 32b8a549
......@@ -95,7 +95,7 @@ public:
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName CONSTANT)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate CONSTANT)
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
......@@ -106,7 +106,7 @@ public:
bool friendlyEdit (void) const { return _friendlyEdit; }
QString friendlyName (void) const { return _friendlyName; }
QString rawName (void) const { return _rawName; }
bool standaloneCoordinate(void) const { return _standaloneCoordinate; }
bool isStandaloneCoordinate(void) const { return _standaloneCoordinate; }
bool specifiesCoordinate (void) const { return _specifiesCoordinate; }
const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
......
src/MissionManager/MissionController.cc
View file @ 32b8a549
......@@ -46,8 +46,8 @@ const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosi
MissionController::MissionController(QObject *parent)
: QObject(parent)
, _editMode(false)
, _missionItems(NULL)
, _complexMissionItems(NULL)
, _visualItems(NULL)
, _complexItems(NULL)
, _activeVehicle(NULL)
, _autoSync(false)
, _firstItemsFromVehicle(false)
......@@ -74,9 +74,9 @@ void MissionController::start(bool editMode)
_activeVehicleChanged(multiVehicleMgr->activeVehicle());
// We start with an empty mission
_missionItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_missionItems, false /* addToCenter */);
_initAllMissionItems();
_visualItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_visualItems, false /* addToCenter */);
_initAllVisualItems();
}
// Called when new mission items have completed downloading from Vehicle
......@@ -84,25 +84,33 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void)
{
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle";
if (!_editMode || _missionItemsRequested || _missionItems->count() == 1) {
if (!_editMode || _missionItemsRequested || _visualItems->count() == 1) {
// Fly Mode:
// - Always accepts new items fromthe vehicle so Fly view is kept up to date
// Edit Mode:
// - Either a load from vehicle was manually requested or
// - The initial automatic load from a vehicle completed and the current editor it empty
_deinitAllMissionItems();
_missionItems->deleteLater();
_missionItems = _activeVehicle->missionManager()->copyMissionItems();
qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count();
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _activeVehicle->missionManager()->missionItems();
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _missionItems->count() == 0) {
_addPlannedHomePosition(_missionItems,true /* addToCenter */);
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< _visualItems->count();
foreach(const MissionItem* missionItem, newMissionItems) {
newControllerMissionItems->append(new SimpleMissionItem(_activeVehicle, *missionItem, this));
}
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
_visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addPlannedHomePosition(_visualItems,true /* addToCenter */);
}
_missionItemsRequested = false;
_initAllMissionItems();
_initAllVisualItems();
emit newItemsFromVehicle();
}
}
......@@ -119,22 +127,39 @@ void MissionController::getMissionItems(void)
void MissionController::sendMissionItems(void)
{
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (_activeVehicle) {
// Convert to MissionItems so we can send to vehicle
if (activeVehicle) {
activeVehicle->missionManager()->writeMissionItems(*_missionItems);
_missionItems->setDirty(false);
QList<MissionItem*> missionItems;
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->isSimpleItem()) {
MissionItem& missionItem = qobject_cast<SimpleMissionItem*>(visualItem)->missionItem();
missionItem.setSequenceNumber(sequenceNumber++);
missionItems.append(&missionItem);
} else {
foreach (MissionItem* missionItem, qobject_cast<ComplexMissionItem*>(visualItem)->missionItems()) {
missionItem->setSequenceNumber(sequenceNumber++);
missionItems.append(missionItem);
}
}
}
_activeVehicle->missionManager()->writeMissionItems(missionItems);
_visualItems->setDirty(false);
}
}
int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
{
MissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_missionItems->count());
SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_visualItems->count());
newItem->setCoordinate(coordinate);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
_initMissionItem(newItem);
if (_missionItems->count() == 1) {
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
if (_visualItems->count() == 1) {
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
}
newItem->setDefaultsForCommand();
......@@ -142,64 +167,71 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
double lastValue;
if (_findLastAcceptanceRadius(&lastValue)) {
newItem->setParam2(lastValue);
newItem->missionItem().setParam2(lastValue);
}
if (_findLastAltitude(&lastValue)) {
newItem->setParam7(lastValue);
newItem->missionItem().setParam7(lastValue);
}
}
_missionItems->insert(i, newItem);
_visualItems->insert(i, newItem);
_recalcAll();
return _missionItems->count() - 1;
return _visualItems->count() - 1;
}
int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
{
ComplexMissionItem * newItem = new ComplexMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_missionItems->count());
ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_visualItems->count());
newItem->setCoordinate(coordinate);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
_initMissionItem(newItem);
_initVisualItem(newItem);
_missionItems->insert(i, newItem);
_complexMissionItems->append(newItem);
_visualItems->insert(i, newItem);
_complexItems->append(newItem);
_recalcAll();
return _missionItems->count() - 1;
return _visualItems->count() - 1;
}
void MissionController::removeMissionItem(int index)
{
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index));
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
_deinitMissionItem(item);
_deinitVisualItem(item);
if (!item->isSimpleItem()) {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(_complexItems->removeOne(item));
if (complexItem) {
complexItem->deleteLater();
} else {
qWarning() << "Complex item missing";
}
}
item->deleteLater();
_recalcAll();
// Set the new current item
if (index >= _missionItems->count()) {
if (index >= _visualItems->count()) {
index--;
}
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=0; i<_visualItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(i == index);
}
_missionItems->setDirty(true);
_visualItems->setDirty(true);
}
void MissionController::removeAllMissionItems(void)
{
if (_missionItems) {
QmlObjectListModel* oldItems = _missionItems;
_missionItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_missionItems, false /* addToCenter */);
_initAllMissionItems();
oldItems->deleteLater();
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
_visualItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_visualItems, false /* addToCenter */);
_initAllVisualItems();
}
}
......@@ -237,7 +269,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
return false;
}
MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
if (item->load(itemValue.toObject(), errorString)) {
missionItems->append(item);
} else {
......@@ -247,7 +279,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
}
if (json.contains(_jsonPlannedHomePositionKey)) {
MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), errorString)) {
missionItems->insert(0, item);
......@@ -261,7 +293,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
return true;
}
bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString)
bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{
bool addPlannedHomePosition = false;
......@@ -282,10 +314,10 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
if (versionOk) {
while (!stream.atEnd()) {
MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
if (item->load(stream)) {
missionItems->append(item);
visualItems->append(item);
} else {
errorString = QStringLiteral("The mission file is corrupted.");
return false;
......@@ -296,15 +328,14 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
return false;
}
if (addPlannedHomePosition || missionItems->count() == 0) {
_addPlannedHomePosition(missionItems, true /* addToCenter */);
if (addPlannedHomePosition || visualItems->count() == 0) {
_addPlannedHomePosition(visualItems, true /* addToCenter */);
// Update sequence numbers in DO_JUMP commands to take into account added home position
for (int i=1; i<missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(i));
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
// Home is in position 0
item->setParam1((int)item->param1() + 1);
// Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
for (int i=1; i<visualItems->count(); i++) {
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
if (item && item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->missionItem().setParam1((int)item->missionItem().param1() + 1);
}
}
}
......@@ -345,16 +376,16 @@ void MissionController::_loadMissionFromFile(const QString& filename)
return;
}
if (_missionItems) {
_deinitAllMissionItems();
_missionItems->deleteLater();
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
}
_missionItems = newMissionItems;
if (_missionItems->count() == 0) {
_addPlannedHomePosition(_missionItems, true /* addToCenter */);
_visualItems = newMissionItems;
if (_visualItems->count() == 0) {
_addPlannedHomePosition(_visualItems, true /* addToCenter */);
}
_initAllMissionItems();
_initAllVisualItems();
}
void MissionController::loadMissionFromFile(void)
......@@ -387,7 +418,9 @@ void MissionController::_saveMissionToFile(const QString& filename)
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showMessage(file.errorString());
} else {
QJsonObject missionObject;
QJsonObject missionObject; // top level json object
QJsonArray missionItemArray; // array of mission items
QString errorString;
missionObject[_jsonVersionKey] = "1.0";
missionObject[_jsonGroundStationKey] = "QGroundControl";
......@@ -404,23 +437,32 @@ void MissionController::_saveMissionToFile(const QString& filename)
}
missionObject[_jsonMavAutopilotKey] = firmwareType;
// Save planned home position
QJsonObject homePositionObject;
qobject_cast<MissionItem*>(_missionItems->get(0))->save(homePositionObject);
missionObject["plannedHomePosition"] = homePositionObject;
QJsonArray itemArray;
for (int i=1; i<_missionItems->count(); i++) {
QJsonObject itemObject;
qobject_cast<MissionItem*>(_missionItems->get(i))->save(itemObject);
itemArray.append(itemObject);
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
if (homeItem) {
homeItem->missionItem().save(homePositionObject);
} else {
qgcApp()->showMessage(QStringLiteral("Internal error: VisualMissionItem at index 0 not SimpleMissionItem"));
return;
}
missionObject[_jsonPlannedHomePositionKey] = homePositionObject;
// Save the remainder of the visual items
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (!visualItem->save(missionObject, missionItemArray, errorString)) {
qgcApp()->showMessage(errorString);
return;
}
}
missionObject["items"] = itemArray;
missionObject["items"] = missionItemArray;
QJsonDocument saveDoc(missionObject);
file.write(saveDoc.toJson());
}
_missionItems->setDirty(false);
_visualItems->setDirty(false);
}
void MissionController::saveMissionToFile(void)
......@@ -456,23 +498,23 @@ void MissionController::loadMobileMissionFromFile(const QString& filename)
_loadMissionFromFile(docDirs.at(0) + QDir::separator() + filename);
}
void MissionController::_calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->coordinate();
QGeoCoordinate prevCoord = prevItem->exitCoordinate();
bool distanceOk = false;
// Convert to fixed altitudes
qCDebug(MissionControllerLog) << homeAlt
<< currentItem->relativeAltitude() << currentItem->coordinate().altitude()
<< prevItem->relativeAltitude() << prevItem->coordinate().altitude();
<< currentItem->coordinateHasRelativeAltitude() << currentItem->coordinate().altitude()
<< prevItem->exitCoordinateHasRelativeAltitude() << prevItem->exitCoordinate().altitude();
distanceOk = true;
if (currentItem->relativeAltitude()) {
if (currentItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude());
}
if (prevItem->relativeAltitude()) {
if (prevItem->exitCoordinateHasRelativeAltitude()) {
prevCoord.setAltitude(homeAlt + prevCoord.altitude());
}
......@@ -491,11 +533,17 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, MissionItem* cur
void MissionController::_recalcWaypointLines(void)
{
MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0));
MissionItem* homeItem = lastCoordinateItem;
bool firstCoordinateItem = true;
bool showHomePosition = homeItem->showHomePosition();
double homeAlt = homeItem->coordinate().altitude();
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(lastCoordinateItem);
if (!homeItem) {
qWarning() << "Home item is not SimpleMissionItem";
}
bool showHomePosition = homeItem->showHomePosition();
double homeAlt = homeItem->coordinate().altitude();
qCDebug(MissionControllerLog) << "_recalcWaypointLines";
......@@ -516,28 +564,42 @@ void MissionController::_recalcWaypointLines(void)
_waypointLines.clear();
bool linkBackToHome = false;
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(-1.0);
if (firstCoordinateItem && item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
// If we still haven't found the first coordinate item and we hit a a takeoff command link back to home
if (firstCoordinateItem &&
item->isSimpleItem() &&
qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
linkBackToHome = true;
}
if (item->specifiesCoordinate()) {
// Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
double absoluteAltitude = item->coordinate().altitude();
if (item->relativeAltitude()) {
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
if (!item->standaloneCoordinate()) {
if (!item->exitCoordinateSameAsEntry()) {
absoluteAltitude = item->exitCoordinate().altitude();
if (item->exitCoordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
}
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (!lastCoordinateItem->homePosition() || (showHomePosition && linkBackToHome)) {
if (lastCoordinateItem != homeItem || (showHomePosition && linkBackToHome)) {
double azimuth, distance, altDifference;
// Subsequent coordinate items link to last coordinate item. If the last coordinate item
......@@ -555,12 +617,12 @@ void MissionController::_recalcWaypointLines(void)
// Walk the list again calculating altitude percentages
double altRange = maxAltSeen - minAltSeen;
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate()) {
double absoluteAltitude = item->coordinate().altitude();
if (item->relativeAltitude()) {
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
if (altRange == 0.0) {
......@@ -577,23 +639,34 @@ void MissionController::_recalcWaypointLines(void)
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
// Setup ascending sequence numbers for all visual items
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setSequenceNumber(sequenceNumber++);
if (!item->isSimpleItem()) {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
// Setup ascending sequence numbers
item->setSequenceNumber(i);
if (complexItem) {
sequenceNumber = complexItem->nextSequenceNumber();
} else {
qWarning() << "isSimpleItem == false, yet not ComplexMissionItem";
}
}
}
}
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
VisualMissionItem* currentParentItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
currentParentItem->childItems()->clear();
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
......@@ -613,15 +686,22 @@ void MissionController::_recalcAll(void)
}
/// Initializes a new set of mission items
void MissionController::_initAllMissionItems(void)
void MissionController::_initAllVisualItems(void)
{
MissionItem* homeItem = NULL;
SimpleMissionItem* homeItem = NULL;
// Setup home position at index 0
homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
if (!homeItem) {
qWarning() << "homeItem not SimpleMissionItem";
return;
}
homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
homeItem->setHomePositionSpecialCase(true);
homeItem->setShowHomePosition(_editMode);
homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
homeItem->setFrame(MAV_FRAME_GLOBAL);
homeItem->missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
homeItem->missionItem().setFrame(MAV_FRAME_GLOBAL);
homeItem->setIsCurrentItem(true);
if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) {
......@@ -632,52 +712,70 @@ void MissionController::_initAllMissionItems(void)
qDebug() << "home item" << homeItem->coordinate();
QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
_initVisualItem(item);
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
// Set up complex item list
if (!item->isSimpleItem()) {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
if (!item->simpleItem()) {
newComplexItems->append(item);
if (complexItem) {
newComplexItems->append(item);
} else {
qWarning() << "isSimpleItem == false, but not ComplexMissionItem";
}
}
_initMissionItem(item);
}
delete _complexMissionItems;
_complexMissionItems = newComplexItems;
if (_complexItems) {
_complexItems->deleteLater();
}
_complexItems = newComplexItems;
_recalcAll();
emit missionItemsChanged();
emit complexMissionItemsChanged();
emit visualItemsChanged();
emit complexVisualItemsChanged();
_missionItems->setDirty(false);
_visualItems->setDirty(false);
connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
}
void MissionController::_deinitAllMissionItems(void)
void MissionController::_deinitAllVisualItems(void)
{
for (int i=0; i<_missionItems->count(); i++) {
_deinitMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
for (int i=0; i<_visualItems->count(); i++) {
_deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
}
connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
}
void MissionController::_initMissionItem(MissionItem* item)
void MissionController::_initVisualItem(VisualMissionItem* visualItem)
{
_missionItems->setDirty(false);
_visualItems->setDirty(false);
connect(visualItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_itemCoordinateChanged);
connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(item, &MissionItem::commandChanged, this, &MissionController::_itemCommandChanged);
connect(item, &MissionItem::coordinateChanged, this, &MissionController::_itemCoordinateChanged);
connect(item, &MissionItem::frameChanged, this, &MissionController::_itemFrameChanged);
if (visualItem->isSimpleItem()) {
// We need to track commandChanged on simple item since recalc has special handling for takeoff command
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
}
}
void MissionController::_deinitMissionItem(MissionItem* item)
void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
{
disconnect(item, &MissionItem::commandChanged, this, &MissionController::_itemCommandChanged);
disconnect(item, &MissionItem::coordinateChanged, this, &MissionController::_itemCoordinateChanged);
disconnect(item, &MissionItem::frameChanged, this, &MissionController::_itemFrameChanged);
// Disconnect all signals
disconnect(visualItem, 0, 0, 0);
}
void MissionController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
......@@ -686,15 +784,8 @@ void MissionController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
_recalcWaypointLines();
}
void MissionController::_itemFrameChanged(int frame)
void MissionController::_itemCommandChanged(void)
{
Q_UNUSED(frame);
_recalcWaypointLines();
}
void MissionController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
Q_UNUSED(command);;
_recalcChildItems();
_recalcWaypointLines();
}
......@@ -732,20 +823,29 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
}
// Whenever vehicle changes we need to update syncInProgress
emit syncInProgressChanged(syncInProgress());
}
void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{
if (!_editMode && _missionItems) {
qobject_cast<MissionItem*>(_missionItems->get(0))->setShowHomePosition(homePositionAvailable);
_recalcWaypointLines();
if (!_editMode && _visualItems) {
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
if (homeItem) {
homeItem->setShowHomePosition(homePositionAvailable);
_recalcWaypointLines();
} else {
qWarning() << "Unabled to cast home item to SimpleMissionItem";
}
}
}
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (!_editMode && _missionItems) {
qobject_cast<MissionItem*>(_missionItems->get(0))->setCoordinate(homePosition);
if (!_editMode && _visualItems) {
qobject_cast<VisualMissionItem*>(_visualItems->get(0))->setCoordinate(homePosition);
_recalcWaypointLines();
}
}
......@@ -784,9 +884,9 @@ void MissionController::_autoSyncSend(void)
{
qDebug() << "Auto-syncing with vehicle";
_queuedSend = false;
if (_missionItems) {
if (_visualItems) {
sendMissionItems();
_missionItems->setDirty(false);
_visualItems->setDirty(false);
}
}
......@@ -798,27 +898,17 @@ void MissionController::_inProgressChanged(bool inProgress)
}
}
QmlObjectListModel* MissionController::missionItems(void)
{
return _missionItems;
}
QmlObjectListModel* MissionController::complexMissionItems(void)
{
return _complexMissionItems;
}
bool MissionController::_findLastAltitude(double* lastAltitude)
{
bool found = false;
double foundAltitude;
// Don't use home position
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
foundAltitude = item->param7();
if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
foundAltitude = item->exitCoordinate().altitude();
found = true;
}
}
......@@ -835,12 +925,20 @@ bool MissionController::_findLastAcceptanceRadius(double* lastAcceptanceRadius)
bool found = false;
double foundAcceptanceRadius;
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if ((MAV_CMD)item->command() == MAV_CMD_NAV_WAYPOINT) {
foundAcceptanceRadius = item->param2();
found = true;
if (visualItem->isSimpleItem()) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
if ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_WAYPOINT) {
foundAcceptanceRadius = simpleItem->missionItem().param2();
found = true;
}
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
}
}
......@@ -864,21 +962,21 @@ double MissionController::_normalizeLon(double lon)
}
/// Add the home position item to the front of the list
void MissionController::_addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter)
void MissionController::_addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter)
{
MissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
missionItems->insert(0, homeItem);
SimpleMissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
visualItems->insert(0, homeItem);
if (missionItems->count() > 1 && addToCenter) {
MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
if (visualItems->count() > 1 && addToCenter) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(1));
double north = _normalizeLat(item->coordinate().latitude());
double south = north;
double east = _normalizeLon(item->coordinate().longitude());
double west = east;
for (int i=2; i<missionItems->count(); i++) {
item = qobject_cast<MissionItem*>(missionItems->get(i));
for (int i=2; i<visualItems->count(); i++) {
item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
......@@ -902,8 +1000,8 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber)
sequenceNumber++;
}
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
}
}
......@@ -931,6 +1029,9 @@ QStringList MissionController::getMobileMissionFiles(void)
bool MissionController::syncInProgress(void)
{
qDebug() << _activeVehicle->missionManager()->inProgress();
return _activeVehicle->missionManager()->inProgress();
if (_activeVehicle) {
return _activeVehicle->missionManager()->inProgress();
} else {
return false;
}
}
src/MissionManager/MissionController.h
View file @ 32b8a549
......@@ -30,7 +30,7 @@ This file is part of the QGROUNDCONTROL project
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
#include "MavlinkQmlSingleton.h"
#include "MissionItem.h"
#include "VisualMissionItem.h"
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
......@@ -42,11 +42,11 @@ public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexMissionItems READ complexMissionItems NOTIFY complexMissionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged)
Q_INVOKABLE void start(bool editMode);
Q_INVOKABLE void getMissionItems(void);
......@@ -67,16 +67,17 @@ public:
// Property accessors
QmlObjectListModel* missionItems(void);
QmlObjectListModel* complexMissionItems(void);
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
bool autoSync(void) { return _autoSync; }
void setAutoSync(bool autoSync);
bool syncInProgress(void);
signals:
void missionItemsChanged(void);
void complexMissionItemsChanged(void);
void visualItemsChanged(void);
void complexVisualItemsChanged(void);
void waypointLinesChanged(void);
void autoSyncChanged(bool autoSync);
void newItemsFromVehicle(void);
......@@ -85,41 +86,40 @@ signals:
private slots:
void _newMissionItemsAvailableFromVehicle();
void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
void _itemFrameChanged(int frame);
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void _itemCommandChanged(void);
void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _dirtyChanged(bool dirty);
void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
private:
void _recalcSequence(void);
void _recalcWaypointLines(void);
void _recalcChildItems(void);
void _recalcAll(void);
void _initAllMissionItems(void);
void _deinitAllMissionItems(void);
void _initMissionItem(MissionItem* item);
void _deinitMissionItem(MissionItem* item);
void _initAllVisualItems(void);
void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item);
void _deinitVisualItem(VisualMissionItem* item);
void _autoSyncSend(void);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
void _calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
bool _findLastAltitude(double* lastAltitude);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter);
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat);
double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
void _loadMissionFromFile(const QString& file);
void _saveMissionToFile(const QString& file);
private:
bool _editMode;
QmlObjectListModel* _missionItems;
QmlObjectListModel* _complexMissionItems;
QmlObjectListModel* _visualItems;
QmlObjectListModel* _complexItems;
QmlObjectListModel _waypointLines;
Vehicle* _activeVehicle;
bool _autoSync;
......
src/MissionManager/MissionControllerManagerTest.cc
View file @ 32b8a549
......@@ -63,7 +63,7 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
}
QVERIFY(!_missionManager->inProgress());
QCOMPARE(_missionManager->missionItems()->count(), 0);
QCOMPARE(_missionManager->missionItems().count(), 0);
_multiSpyMissionManager->clearAllSignals();
}
......
src/MissionManager/MissionControllerTest.cc
View file @ 32b8a549
......@@ -24,6 +24,7 @@
#include "MissionControllerTest.h"
#include "LinkManager.h"
#include "MultiVehicleManager.h"
#include "SimpleMissionItem.h"
MissionControllerTest::MissionControllerTest(void)
: _multiSpyMissionController(NULL)
......@@ -62,7 +63,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
_rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
// MissionController signals
_rgMissionControllerSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged());
_rgMissionControllerSignals[visualItemsChangedSignalIndex] = SIGNAL(visualItemsChanged());
_rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged());
if (!_missionController) {
......@@ -80,17 +81,17 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
}
// All signals should some through on start
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(visualItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
_multiSpyMissionController->clearAllSignals();
QmlObjectListModel* missionItems = _missionController->missionItems();
QVERIFY(missionItems);
QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(visualItems);
// Empty vehicle only has home position
QCOMPARE(missionItems->count(), 1);
QCOMPARE(visualItems->count(), 1);
// Home position should be in first slot, but not yet valid
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
QVERIFY(homeItem);
QCOMPARE(homeItem->homePosition(), true);
......@@ -113,9 +114,9 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
// FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
// sets up an empty vehicle
QmlObjectListModel* missionItems = _missionController->missionItems();
QVERIFY(missionItems);
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(visualItems);
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
QVERIFY(homeItem);
_setupMissionItemSignals(homeItem);
......@@ -137,17 +138,17 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
QGeoCoordinate coordinate(37.803784, -122.462276);
_missionController->insertSimpleMissionItem(coordinate, _missionController->missionItems()->count());
_missionController->insertSimpleMissionItem(coordinate, _missionController->visualItems()->count());
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
QmlObjectListModel* missionItems = _missionController->missionItems();
QVERIFY(missionItems);
QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(visualItems);
QCOMPARE(missionItems->count(), 2);
QCOMPARE(visualItems->count(), 2);
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(1));
QVERIFY(homeItem);
QVERIFY(item);
......@@ -182,13 +183,13 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp
_missionController = new MissionController();
Q_CHECK_PTR(_missionController);
_missionController->start(true /* editMode */);
_missionController->insertSimpleMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->missionItems()->count());
_missionController->insertSimpleMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->visualItems()->count());
// Go online to empty vehicle
MissionControllerManagerTest::_initForFirmwareType(firmwareType);
// Make sure our offline mission items are still there
QCOMPARE(_missionController->missionItems()->count(), 2);
QCOMPARE(_missionController->visualItems()->count(), 2);
}
void MissionControllerTest::_testOfflineToOnlineAPM(void)
......@@ -201,7 +202,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
_testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
}
void MissionControllerTest::_setupMissionItemSignals(MissionItem* item)
void MissionControllerTest::_setupMissionItemSignals(SimpleMissionItem* item)
{
delete _multiSpyMissionItem;
......
src/MissionManager/MissionControllerTest.h
View file @ 32b8a549
......@@ -30,6 +30,7 @@
#include "MultiSignalSpy.h"
#include "MissionControllerManagerTest.h"
#include "MissionController.h"
#include "SimpleMissionItem.h"
#include <QGeoCoordinate>
......@@ -55,7 +56,7 @@ private:
void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
void _setupMissionItemSignals(MissionItem* item);
void _setupMissionItemSignals(SimpleMissionItem* item);
// MissiomItems signals
......@@ -72,13 +73,13 @@ private:
// MissionController signals
enum {
missionItemsChangedSignalIndex = 0,
visualItemsChangedSignalIndex = 0,
waypointLinesChangedSignalIndex,
missionControllerMaxSignalIndex
};
enum {
missionItemsChangedSignalMask = 1 << missionItemsChangedSignalIndex,
visualItemsChangedSignalMask = 1 << visualItemsChangedSignalIndex,
waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex,
};
......
src/MissionManager/MissionItem.cc
View file @ 32b8a549
......@@ -28,15 +28,6 @@ This file is part of the QGROUNDCONTROL project
#include "QGCApplication.h"
#include "JsonHelper.h"
const double MissionItem::defaultAltitude = 25.0;
FactMetaData* MissionItem::_altitudeMetaData = NULL;
FactMetaData* MissionItem::_commandMetaData = NULL;
FactMetaData* MissionItem::_defaultParamMetaData = NULL;
FactMetaData* MissionItem::_frameMetaData = NULL;
FactMetaData* MissionItem::_latitudeMetaData = NULL;
FactMetaData* MissionItem::_longitudeMetaData = NULL;
const char* MissionItem::_itemType = "missionItem";
const char* MissionItem::_jsonTypeKey = "type";
const char* MissionItem::_jsonIdKey = "id";
......@@ -49,40 +40,10 @@ const char* MissionItem::_jsonParam4Key = "param4";
const char* MissionItem::_jsonAutoContinueKey = "autoContinue";
const char* MissionItem::_jsonCoordinateKey = "coordinate";
struct EnumInfo_s {
const char * label;
MAV_FRAME frame;
};
static const struct EnumInfo_s _rgMavFrameInfo[] = {
{ "MAV_FRAME_GLOBAL", MAV_FRAME_GLOBAL },
{ "MAV_FRAME_LOCAL_NED", MAV_FRAME_LOCAL_NED },
{ "MAV_FRAME_MISSION", MAV_FRAME_MISSION },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT", MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ "MAV_FRAME_LOCAL_ENU", MAV_FRAME_LOCAL_ENU },
{ "MAV_FRAME_GLOBAL_INT", MAV_FRAME_GLOBAL_INT },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
{ "MAV_FRAME_LOCAL_OFFSET_NED", MAV_FRAME_LOCAL_OFFSET_NED },
{ "MAV_FRAME_BODY_NED", MAV_FRAME_BODY_NED },
{ "MAV_FRAME_BODY_OFFSET_NED", MAV_FRAME_BODY_OFFSET_NED },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT", MAV_FRAME_GLOBAL_TERRAIN_ALT },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
};
MissionItem::MissionItem(Vehicle* vehicle, QObject* parent)
MissionItem::MissionItem(QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32)
, _commandFact (0, "", FactMetaData::valueTypeUint32)
, _frameFact (0, "", FactMetaData::valueTypeUint32)
......@@ -93,32 +54,15 @@ MissionItem::MissionItem(Vehicle* vehicle, QObject* parent)
, _param5Fact (0, "Latitude:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Longitude:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _param5MetaData(FactMetaData::valueTypeDouble)
, _param6MetaData(FactMetaData::valueTypeDouble)
, _param7MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
// Need a good command and frame before we start passing signals around
_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
_altitudeRelativeToHomeFact.setRawValue(true);
_setupMetaData();
_connectSignals();
setAutoContinue(true);
setDefaultsForCommand();
}
MissionItem::MissionItem(Vehicle* vehicle,
int sequenceNumber,
MissionItem::MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
......@@ -132,18 +76,8 @@ MissionItem::MissionItem(Vehicle* vehicle,
bool isCurrentItem,
QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(sequenceNumber)
, _isCurrentItem(isCurrentItem)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "", FactMetaData::valueTypeUint32)
, _frameFact (0, "", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
......@@ -153,32 +87,15 @@ MissionItem::MissionItem(Vehicle* vehicle,
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _param5MetaData(FactMetaData::valueTypeDouble)
, _param6MetaData(FactMetaData::valueTypeDouble)
, _param7MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
// Need a good command and frame before we start passing signals around
_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
_altitudeRelativeToHomeFact.setRawValue(true);
_setupMetaData();
_connectSignals();
setCommand(command);
setFrame(frame);
setAutoContinue(autoContinue);
_syncFrameToAltitudeRelativeToHome();
_param1Fact.setRawValue(param1);
_param2Fact.setRawValue(param2);
_param3Fact.setRawValue(param3);
......@@ -190,18 +107,8 @@ MissionItem::MissionItem(Vehicle* vehicle,
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
, _vehicle(NULL)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "", FactMetaData::valueTypeUint32)
, _frameFact (0, "", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
......@@ -211,45 +118,21 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
// Need a good command and frame before we start passing signals around
_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
_altitudeRelativeToHomeFact.setRawValue(true);
_setupMetaData();
_connectSignals();
*this = other;
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
{
_vehicle = other._vehicle;
setCommand(other.command());
setFrame(other.frame());
setRawEdit(other._rawEdit);
setDirty(other._dirty);
setSequenceNumber(other._sequenceNumber);
setAutoContinue(other.autoContinue());
setIsCurrentItem(other._isCurrentItem);
setAltDifference(other._altDifference);
setAltPercent(other._altPercent);
setAzimuth(other._azimuth);
setDistance(other._distance);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setShowHomePosition(other._showHomePosition);
_syncFrameToAltitudeRelativeToHome();
_param1Fact.setRawValue(other._param1Fact.rawValue());
_param2Fact.setRawValue(other._param2Fact.rawValue());
......@@ -261,96 +144,6 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
return *this;
}
void MissionItem::_connectSignals(void)
{
// Connect to change signals to track dirty state
connect(&_param1Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param2Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param3Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param4Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::sequenceNumberChanged, this, &MissionItem::_setDirtyFromSignal);
// Values from these facts must propogate back and forth between the real object storage
connect(&_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
connect(this, &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
// These are parameter coordinates, they must emit coordinateChanged signal
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
// The following changes may also change friendlyEditAllowed
connect(&_autoContinueFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
// When the command changes we need to set defaults. This must go out before the signals below so it must be registered first.
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand);
// Whenever these properties change the ui model changes as well
connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
// These fact signals must alway signal out through MissionItem signals
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
}
void MissionItem::_setupMetaData(void)
{
QStringList enumStrings;
QVariantList enumValues;
if (!_altitudeMetaData) {
_altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_altitudeMetaData->setRawUnits("meters");
_altitudeMetaData->setDecimalPlaces(2);
enumStrings.clear();
enumValues.clear();
foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
enumStrings.append(mavCmdInfo->rawName());
enumValues.append(QVariant(mavCmdInfo->command()));
}
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_commandMetaData->setEnumInfo(enumStrings, enumValues);
_defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_defaultParamMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
enumStrings.append(mavFrameInfo->label);
enumValues.append(QVariant(mavFrameInfo->frame));
}
_frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_frameMetaData->setEnumInfo(enumStrings, enumValues);
_latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_latitudeMetaData->setRawUnits("deg");
_latitudeMetaData->setDecimalPlaces(7);
_longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_longitudeMetaData->setRawUnits("deg");
_longitudeMetaData->setDecimalPlaces(7);
}
_commandFact.setMetaData(_commandMetaData);
_frameFact.setMetaData(_frameMetaData);
}
MissionItem::~MissionItem()
{
}
......@@ -414,7 +207,9 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
if (!JsonHelper::toQGeoCoordinate(json[_jsonCoordinateKey], coordinate, true /* altitudeRequired */, errorString)) {
return false;
}
setCoordinate(coordinate);
setParam5(coordinate.latitude());
setParam6(coordinate.longitude());
setParam7(coordinate.altitude());
setIsCurrentItem(false);
setSequenceNumber(json[_jsonIdKey].toInt());
......@@ -432,30 +227,23 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
void MissionItem::setSequenceNumber(int sequenceNumber)
{
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
}
}
void MissionItem::setCommand(MAV_CMD command)
{
if ((MAV_CMD)this->command() != command) {
_commandFact.setRawValue(command);
setDefaultsForCommand();
emit commandChanged(this->command());
}
}
void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
setCommand((MAV_CMD)command);
}
void MissionItem::setFrame(MAV_FRAME frame)
{
if (this->frame() != frame) {
_frameFact.setRawValue(frame);
frameChanged(frame);
}
}
......@@ -523,175 +311,6 @@ void MissionItem::setParam7(double param)
}
}
bool MissionItem::standaloneCoordinate(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->standaloneCoordinate();
} else {
return false;
}
}
bool MissionItem::specifiesCoordinate(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
} else {
return false;
}
}
QString MissionItem::commandDescription(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
} else {
qWarning() << "Should not ask for command description on unknown command";
return QString();
}
}
void MissionItem::_clearParamMetaData(void)
{
_param1MetaData.setRawUnits("");
_param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param2MetaData.setRawUnits("");
_param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param3MetaData.setRawUnits("");
_param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param4MetaData.setRawUnits("");
_param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
}
QmlObjectListModel* MissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
_param1Fact._setName("Param1:");
_param1Fact.setMetaData(_defaultParamMetaData);
model->append(&_param1Fact);
_param2Fact._setName("Param2:");
_param2Fact.setMetaData(_defaultParamMetaData);
model->append(&_param2Fact);
_param3Fact._setName("Param3:");
_param3Fact.setMetaData(_defaultParamMetaData);
model->append(&_param3Fact);
_param4Fact._setName("Param4:");
_param4Fact.setMetaData(_defaultParamMetaData);
model->append(&_param4Fact);
_param5Fact._setName("Lat/X:");
_param5Fact.setMetaData(_defaultParamMetaData);
model->append(&_param5Fact);
_param6Fact._setName("Lon/Y:");
_param6Fact.setMetaData(_defaultParamMetaData);
model->append(&_param6Fact);
_param7Fact._setName("Alt/Z:");
_param7Fact.setMetaData(_defaultParamMetaData);
model->append(&_param7Fact);
} else {
_clearParamMetaData();
MAV_CMD command;
if (_homePositionSpecialCase) {
command = MAV_CMD_NAV_LAST;
} else {
command = (MAV_CMD)this->command();
}
Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
bool altitudeAdded = false;
for (int i=1; i<=7; i++) {
const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
Fact* paramFact = rgParamFacts[i-1];
FactMetaData* paramMetaData = rgParamMetaData[i-1];
MavCmdParamInfo* paramInfo = paramInfoMap[i];
paramFact->_setName(paramInfo->label());
paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
paramMetaData->setRawUnits(paramInfo->units());
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
if (i == 7) {
altitudeAdded = true;
}
}
}
if (specifiesCoordinate() && !altitudeAdded) {
_param7Fact._setName("Altitude:");
_param7Fact.setMetaData(_altitudeMetaData);
model->append(&_param7Fact);
}
}
return model;
}
QmlObjectListModel* MissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_autoContinueFact);
} else if (specifiesCoordinate() && !_homePositionSpecialCase) {
model->append(&_altitudeRelativeToHomeFact);
}
return model;
}
QmlObjectListModel* MissionItem::comboboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_commandFact);
model->append(&_frameFact);
} else {
Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
MAV_CMD command;
if (_homePositionSpecialCase) {
command = MAV_CMD_NAV_LAST;
} else {
command = (MAV_CMD)this->command();
}
for (int i=1; i<=7; i++) {
const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
Fact* paramFact = rgParamFacts[i-1];
FactMetaData* paramMetaData = rgParamMetaData[i-1];
MavCmdParamInfo* paramInfo = paramInfoMap[i];
paramFact->_setName(paramInfo->label());
paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
paramMetaData->setRawUnits(paramInfo->units());
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
}
}
}
return model;
}
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(_param5Fact.rawValue().toDouble(), _param6Fact.rawValue().toDouble(), _param7Fact.rawValue().toDouble());
}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
setParam5(coordinate.latitude());
......@@ -699,166 +318,7 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
setParam7(coordinate.altitude());
}
bool MissionItem::friendlyEditAllowed(void) const
{
if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
if (!autoContinue()) {
return false;
}
if (specifiesCoordinate()) {
return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
return true;
}
return false;
}
bool MissionItem::rawEdit(void) const
{
return _rawEdit || !friendlyEditAllowed();
}
void MissionItem::setRawEdit(bool rawEdit)
{
if (this->rawEdit() != rawEdit) {
_rawEdit = rawEdit;
emit rawEditChanged(this->rawEdit());
}
}
void MissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || !dirty) {
// Home position never affects dirty bit
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
}
void MissionItem::_setDirtyFromSignal(void)
{
setDirty(true);
}
void MissionItem::setDistance(double distance)
{
_distance = distance;
emit distanceChanged(_distance);
}
void MissionItem::setAltDifference(double altDifference)
{
_altDifference = altDifference;
emit altDifferenceChanged(_altDifference);
}
void MissionItem::setAltPercent(double altPercent)
{
_altPercent = altPercent;
emit altPercentChanged(_altPercent);
}
void MissionItem::setAzimuth(double azimuth)
{
_azimuth = azimuth;
emit azimuthChanged(_azimuth);
}
void MissionItem::_sendCoordinateChanged(void)
{
emit coordinateChanged(coordinate());
}
void MissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::setDefaultsForCommand(void)
{
// We set these global defaults first, then if there are param defaults they will get reset
setParam7(defaultAltitude);
MAV_CMD command = (MAV_CMD)this->command();
if (_missionCommands->contains(command)) {
MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
}
}
if (command == MAV_CMD_NAV_WAYPOINT) {
// We default all acceptance radius to 0. This allows flight controller to be in control of
// accept radius.
setParam2(0);
}
setAutoContinue(true);
setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
setRawEdit(false);
}
void MissionItem::_sendUiModelChanged(void)
{
emit uiModelChanged();
}
void MissionItem::_sendFrameChanged(void)
{
emit frameChanged(frame());
}
void MissionItem::_sendCommandChanged(void)
{
emit commandChanged(command());
}
QString MissionItem::commandName(void) const
{
MAV_CMD command = (MAV_CMD)this->command();
if (_missionCommands->contains(command)) {
const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
} else {
return QString("Unknown: %1").arg(command);
}
}
void MissionItem::_sendFriendlyEditAllowedChanged(void)
{
emit friendlyEditAllowedChanged(friendlyEditAllowed());
}
QString MissionItem::category(void) const
{
return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
}
void MissionItem::setShowHomePosition(bool showHomePosition)
QGeoCoordinate MissionItem::coordinate(void) const
{
if (showHomePosition != _showHomePosition) {
_showHomePosition = showHomePosition;
emit showHomePositionChanged(_showHomePosition);
}
return QGeoCoordinate(param5(), param6(), param7());
}
src/MissionManager/MissionItem.h
View file @ 32b8a549
......@@ -40,16 +40,22 @@
#include "QmlObjectListModel.h"
#include "MissionCommands.h"
// Abstract base class for Simple and Complex MissionItem obejcts.
class ComplexMissionItem;
class SimpleMissionItem;
class MissionController;
#ifdef UNITTEST_BUILD
class MissionItemTest;
#endif
// Represents a Mavlink mission command.
class MissionItem : public QObject
{
Q_OBJECT
public:
MissionItem(Vehicle* vehicle, QObject* parent = NULL);
MissionItem(QObject* parent = NULL);
MissionItem(Vehicle* vehicle,
int sequenceNumber,
MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
......@@ -69,179 +75,48 @@ public:
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(bool relativeAltitude READ relativeAltitude NOTIFY frameChanged)
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate NOTIFY commandChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(bool showHomePosition READ showHomePosition WRITE setShowHomePosition NOTIFY showHomePositionChanged)
// Mission item has two coordinates associated with them:
// coordinate: This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
// exitCoordinate This is the exit point for a waypoint line coming out of the item. For a SimpleMissionItem this will be the same as
// coordinate. For a ComplexMissionItem it may be different than the entry coordinate.
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged)
/// @return true: SimpleMissionItem, false: ComplexMissionItem
Q_PROPERTY(bool simpleItem READ simpleItem NOTIFY simpleItemChanged)
// These properties are used to display the editing ui
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* comboboxFacts READ comboboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* textFieldFacts READ textFieldFacts NOTIFY uiModelChanged)
/// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
/// are shown next to the part item in the ui.
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
// Property accesors
double altDifference (void) const { return _altDifference; }
double altPercent (void) const { return _altPercent; }
double azimuth (void) const { return _azimuth; }
QString category (void) const;
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
QString commandDescription (void) const;
QString commandName (void) const;
QGeoCoordinate coordinate (void) const;
bool dirty (void) const { return _dirty; }
double distance (void) const { return _distance; }
bool friendlyEditAllowed (void) const;
bool homePosition (void) const { return _homePositionSpecialCase; }
bool isCurrentItem (void) const { return _isCurrentItem; }
bool rawEdit (void) const;
int sequenceNumber (void) const { return _sequenceNumber; }
bool standaloneCoordinate(void) const;
bool specifiesCoordinate (void) const;
bool showHomePosition (void) const { return _showHomePosition; }
QmlObjectListModel* textFieldFacts (void);
QmlObjectListModel* checkboxFacts (void);
QmlObjectListModel* comboboxFacts (void);
QmlObjectListModel* childItems (void) { return &_childItems; }
void setRawEdit(bool rawEdit);
void setDirty(bool dirty);
void setSequenceNumber(int sequenceNumber);
void setIsCurrentItem(bool isCurrentItem);
void setCoordinate(const QGeoCoordinate& coordinate);
void setCommandByIndex(int index);
void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setShowHomePosition(bool showHomePosition);
void setAltDifference (double altDifference);
void setAltPercent (double altPercent);
void setAzimuth (double azimuth);
void setDistance (double distance);
// C++ only methods
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
bool autoContinue(void) const { return _autoContinueFact.rawValue().toBool(); }
double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
double param4 (void) const { return _param4Fact.rawValue().toDouble(); }
double param5 (void) const { return _param5Fact.rawValue().toDouble(); }
double param6 (void) const { return _param6Fact.rawValue().toDouble(); }
double param7 (void) const { return _param7Fact.rawValue().toDouble(); }
void setCommand (MAV_CMD command);
void setFrame (MAV_FRAME frame);
void setAutoContinue(bool autoContinue);
void setParam1 (double param1);
void setParam2 (double param2);
void setParam3 (double param3);
void setParam4 (double param4);
void setParam5 (double param5);
void setParam6 (double param6);
void setParam7 (double param7);
// C++ only methods
MAV_CMD command (void) const { return (MAV_CMD)_commandFact.rawValue().toInt(); }
bool isCurrentItem (void) const { return _isCurrentItem; }
int sequenceNumber (void) const { return _sequenceNumber; }
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
bool autoContinue (void) const { return _autoContinueFact.rawValue().toBool(); }
double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
double param4 (void) const { return _param4Fact.rawValue().toDouble(); }
double param5 (void) const { return _param5Fact.rawValue().toDouble(); }
double param6 (void) const { return _param6Fact.rawValue().toDouble(); }
double param7 (void) const { return _param7Fact.rawValue().toDouble(); }
QGeoCoordinate coordinate (void) const;
void setCommand (MAV_CMD command);
void setSequenceNumber (int sequenceNumber);
void setIsCurrentItem (bool isCurrentItem);
void setFrame (MAV_FRAME frame);
void setAutoContinue (bool autoContinue);
void setParam1 (double param1);
void setParam2 (double param2);
void setParam3 (double param3);
void setParam4 (double param4);
void setParam5 (double param5);
void setParam6 (double param6);
void setParam7 (double param7);
void setCoordinate (const QGeoCoordinate& coordinate);
void save(QJsonObject& json);
bool load(QTextStream &loadStream);
bool load(const QJsonObject& json, QString& errorString);
bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
static const double defaultAltitude;
// Pure virtuals which must be provides by derived classes
virtual bool simpleItem(void) const = 0;
virtual QGeoCoordinate exitCoordinate(void) const = 0;
public slots:
void setDefaultsForCommand(void);
bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
signals:
void altDifferenceChanged (double altDifference);
void altPercentChanged (double altPercent);
void azimuthChanged (double azimuth);
void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command);
void coordinateChanged (const QGeoCoordinate& coordinate);
void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate);
void dirtyChanged (bool dirty);
void distanceChanged (double distance);
void frameChanged (int frame);
void friendlyEditAllowedChanged (bool friendlyEditAllowed);
void headingDegreesChanged (double heading);
void isCurrentItemChanged (bool isCurrentItem);
void rawEditChanged (bool rawEdit);
void sequenceNumberChanged (int sequenceNumber);
void uiModelChanged (void);
void showHomePositionChanged (bool showHomePosition);
void simpleItemChanged (bool simpleItem);
private slots:
void _setDirtyFromSignal(void);
void _sendCommandChanged(void);
void _sendCoordinateChanged(void);
void _sendFrameChanged(void);
void _sendFriendlyEditAllowedChanged(void);
void _sendUiModelChanged(void);
void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
void _syncFrameToAltitudeRelativeToHome(void);
private:
void _clearParamMetaData(void);
void _connectSignals(void);
void _setupMetaData(void);
private:
Vehicle* _vehicle; ///< Vehicle associated with this item, NULL for offline mode
bool _rawEdit;
bool _dirty;
int _sequenceNumber;
bool _isCurrentItem;
double _altDifference; ///< Difference in altitude from previous waypoint
double _altPercent; ///< Percent of total altitude change in mission
double _azimuth; ///< Azimuth to previous waypoint
double _distance; ///< Distance to previous waypoint
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
bool _showHomePosition;
Fact _altitudeRelativeToHomeFact;
Fact _autoContinueFact;
Fact _commandFact;
Fact _frameFact;
......@@ -252,31 +127,8 @@ private:
Fact _param5Fact;
Fact _param6Fact;
Fact _param7Fact;
Fact _supportedCommandFact;
static FactMetaData* _altitudeMetaData;
static FactMetaData* _commandMetaData;
static FactMetaData* _defaultParamMetaData;
static FactMetaData* _frameMetaData;
static FactMetaData* _latitudeMetaData;
static FactMetaData* _longitudeMetaData;
FactMetaData _param1MetaData;
FactMetaData _param2MetaData;
FactMetaData _param3MetaData;
FactMetaData _param4MetaData;
FactMetaData _param5MetaData;
FactMetaData _param6MetaData;
FactMetaData _param7MetaData;
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
bool _syncingAltitudeRelativeToHomeAndFrame; ///< true: already in a sync signal, prevents signal loop
bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop
const MissionCommands* _missionCommands;
// Keys for Json save
static const char* _itemType;
static const char* _jsonTypeKey;
static const char* _jsonIdKey;
......@@ -288,6 +140,13 @@ private:
static const char* _jsonParam4Key;
static const char* _jsonAutoContinueKey;
static const char* _jsonCoordinateKey;
friend class ComplexMissionItem;
friend class SimpleMissionItem;
friend class MissionController;
#ifdef UNITTEST_BUILD
friend class MissionItemTest;
#endif
};
#endif
src/MissionManager/MissionItemTest.cc
View file @ 32b8a549
......@@ -22,171 +22,658 @@
======================================================================*/
#include "MissionItemTest.h"
#include "SimpleMissionItem.h"
const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
{ MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_CONDITION_DELAY, MAV_FRAME_MISSION },
{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION },
};
#include "LinkManager.h"
#include "MultiVehicleManager.h"
#include "MissionItem.h"
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
{ "Altitude:", 70.1234567 },
{ "Hold:", 10.1234567 },
#if 0
const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
{ "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
};
const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
#endif
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
};
MissionItemTest::MissionItemTest(void)
{
}
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Turns:", 10.1234567 },
};
// Test property get/set
void MissionItemTest::_testSetGet(void)
{
MissionItem missionItem;
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Hold:", 10.1234567 },
};
missionItem.setSequenceNumber(1);
QCOMPARE(missionItem.sequenceNumber(), 1);
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Altitude:", 70.1234567 },
{ "Abort Alt:", 10.1234567 },
{ "Heading:", 40.1234567 },
};
missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
QCOMPARE(missionItem.command(), MAV_CMD_NAV_WAYPOINT);
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
{ "Altitude:", 70.1234567 },
{ "Heading:", 40.1234567 },
{ "Pitch:", 10.1234567 },
};
missionItem.setFrame(MAV_FRAME_LOCAL_NED);
QCOMPARE(missionItem.frame(), MAV_FRAME_LOCAL_NED);
QCOMPARE(missionItem.relativeAltitude(), false);
missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QCOMPARE(missionItem.relativeAltitude(), true);
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Hold:", 10.1234567 },
};
missionItem.setParam1(1.0);
QCOMPARE(missionItem.param1(), 1.0);
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
{ "Item #:", 10.1234567 },
{ "Repeat:", 20.1234567 },
};
missionItem.setParam2(2.0);
QCOMPARE(missionItem.param2(), 2.0);
const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
{ sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
};
missionItem.setParam3(3.0);
QCOMPARE(missionItem.param3(), 3.0);
MissionItemTest::MissionItemTest(void)
missionItem.setParam4(4.0);
QCOMPARE(missionItem.param4(), 4.0);
missionItem.setParam5(5.0);
QCOMPARE(missionItem.param5(), 5.0);
missionItem.setParam6(6.0);
QCOMPARE(missionItem.param6(), 6.0);
missionItem.setParam7(7.0);
QCOMPARE(missionItem.param7(), 7.0);
QCOMPARE(missionItem.coordinate(), QGeoCoordinate(5.0, 6.0, 7.0));
missionItem.setAutoContinue(false);
QCOMPARE(missionItem.autoContinue(), false);
missionItem.setIsCurrentItem(true);
QCOMPARE(missionItem.isCurrentItem(), true);
}
// Test basic signalling
void MissionItemTest::_testSignals(void)
{
MissionItem missionItem(1, // sequenceNumber
MAV_CMD_NAV_WAYPOINT, // command
MAV_FRAME_GLOBAL_RELATIVE_ALT, // MAV_FRAME
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, // params
true, // autoContinue
true); // isCurrentItem
enum {
isCurrentItemChangedIndex = 0,
sequenceNumberChangedIndex,
maxSignalIndex
};
enum {
isCurrentItemChangedMask = 1 << isCurrentItemChangedIndex,
sequenceNumberChangedIndexMask = 1 << sequenceNumberChangedIndex
};
static const size_t cMissionItemSignals = maxSignalIndex;
const char* rgMissionItemSignals[cMissionItemSignals];
rgMissionItemSignals[isCurrentItemChangedIndex] = SIGNAL(isCurrentItemChanged(bool));
rgMissionItemSignals[sequenceNumberChangedIndex] = SIGNAL(sequenceNumberChanged(int));
MultiSignalSpy* multiSpyMissionItem = new MultiSignalSpy();
Q_CHECK_PTR(multiSpyMissionItem);
QCOMPARE(multiSpyMissionItem->init(&missionItem, rgMissionItemSignals, cMissionItemSignals), true);
// Validate isCurrentItemChanged signalling
missionItem.setIsCurrentItem(true);
QVERIFY(multiSpyMissionItem->checkNoSignals());
missionItem.setIsCurrentItem(false);
QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(isCurrentItemChangedMask));
QSignalSpy* spy = multiSpyMissionItem->getSpyByIndex(isCurrentItemChangedIndex);
QList<QVariant> signalArgs = spy->takeFirst();
QCOMPARE(signalArgs.count(), 1);
QCOMPARE(signalArgs[0].toBool(), false);
multiSpyMissionItem->clearAllSignals();
// Validate sequenceNumberChanged signalling
missionItem.setSequenceNumber(1);
QVERIFY(multiSpyMissionItem->checkNoSignals());
missionItem.setSequenceNumber(2);
QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(sequenceNumberChangedIndexMask));
spy = multiSpyMissionItem->getSpyByIndex(sequenceNumberChangedIndex);
signalArgs = spy->takeFirst();
QCOMPARE(signalArgs.count(), 1);
QCOMPARE(signalArgs[0].toInt(), 2);
}
void MissionItemTest::_test(void)
// Test signalling associated with contained facts
void MissionItemTest::_testFactSignals(void)
{
MissionItem missionItem(1, // sequenceNumber
MAV_CMD_NAV_WAYPOINT, // command
MAV_FRAME_GLOBAL_RELATIVE_ALT, // MAV_FRAME
1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, // params
true, // autoContinue
true); // isCurrentItem
// command
QSignalSpy commandSpy(&missionItem._commandFact, SIGNAL(valueChanged(QVariant)));
missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
QCOMPARE(commandSpy.count(), 0);
missionItem.setCommand(MAV_CMD_NAV_ALTITUDE_WAIT);
QCOMPARE(commandSpy.count(), 1);
QList<QVariant> arguments = commandSpy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE((MAV_CMD)arguments.at(0).toInt(), MAV_CMD_NAV_ALTITUDE_WAIT);
// frame
QSignalSpy frameSpy(&missionItem._frameFact, SIGNAL(valueChanged(QVariant)));
missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QCOMPARE(frameSpy.count(), 0);
missionItem.setFrame(MAV_FRAME_BODY_NED);
QCOMPARE(frameSpy.count(), 1);
arguments = frameSpy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE((MAV_FRAME)arguments.at(0).toInt(), MAV_FRAME_BODY_NED);
// param1
QSignalSpy param1Spy(&missionItem._param1Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam1(1.0);
QCOMPARE(param1Spy.count(), 0);
missionItem.setParam1(2.0);
QCOMPARE(param1Spy.count(), 1);
arguments = param1Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 2.0);
// param2
QSignalSpy param2Spy(&missionItem._param2Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam2(2.0);
QCOMPARE(param2Spy.count(), 0);
missionItem.setParam2(3.0);
QCOMPARE(param2Spy.count(), 1);
arguments = param2Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 3.0);
// param3
QSignalSpy param3Spy(&missionItem._param3Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam3(3.0);
QCOMPARE(param3Spy.count(), 0);
missionItem.setParam3(4.0);
QCOMPARE(param3Spy.count(), 1);
arguments = param3Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 4.0);
// param4
QSignalSpy param4Spy(&missionItem._param4Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam4(4.0);
QCOMPARE(param4Spy.count(), 0);
missionItem.setParam4(5.0);
QCOMPARE(param4Spy.count(), 1);
arguments = param4Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 5.0);
// param6
QSignalSpy param6Spy(&missionItem._param6Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam6(6.0);
QCOMPARE(param6Spy.count(), 0);
missionItem.setParam6(7.0);
QCOMPARE(param6Spy.count(), 1);
arguments = param6Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 7.0);
// param7
QSignalSpy param7Spy(&missionItem._param7Fact, SIGNAL(valueChanged(QVariant)));
missionItem.setParam7(7.0);
QCOMPARE(param7Spy.count(), 0);
missionItem.setParam7(8.0);
QCOMPARE(param7Spy.count(), 1);
arguments = param7Spy.takeFirst();
QCOMPARE(arguments.count(), 1);
QCOMPARE(arguments.at(0).toDouble(), 8.0);
}
void MissionItemTest::_testLoadFromStream(void)
{
MissionItem missionItem;
QString testString("10\t1\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
QTextStream testStream(&testString, QIODevice::ReadOnly);
QVERIFY(missionItem.load(testStream));
QCOMPARE(missionItem.sequenceNumber(), 10);
QCOMPARE(missionItem.isCurrentItem(), true);
QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
QCOMPARE(missionItem.command(), (MAV_CMD)80);
QCOMPARE(missionItem.param1(), 10.0);
QCOMPARE(missionItem.param2(), 20.0);
QCOMPARE(missionItem.param3(), 30.0);
QCOMPARE(missionItem.param4(), 40.0);
QCOMPARE(missionItem.param5(), -10.0);
QCOMPARE(missionItem.param6(), -20.0);
QCOMPARE(missionItem.param7(), -30.0);
QCOMPARE(missionItem.autoContinue(), true);
}
void MissionItemTest::_testLoadFromJson(void)
{
MissionItem missionItem;
QString errorString;
QJsonArray coordinateArray = { -10.0, -20.0, -30.0 };
QJsonObject jsonObject
{
{ "autoContinue", true },
{ "command", 80 },
{ "frame", 3 },
{ "id", 10 },
{ "param1", 10 },
{ "param2", 20 },
{ "param3", 30 },
{ "param4", 40 },
{ "type", "missionItem" },
{ "coordinate", coordinateArray },
};
// Test missing key detection
QStringList removeKeys;
removeKeys << "autoContinue" << "command" << "frame" << "id" << "param1" << "param2" << "param3" << "param4" << "type" << "coordinate";
foreach(const QString& removeKey, removeKeys) {
QJsonObject badObject = jsonObject;
badObject.remove(removeKey);
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
}
// Test bad coordinate variations
QJsonObject badObject = jsonObject;
badObject.remove("coordinate");
badObject["coordinate"] = 10;
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
QJsonArray badCoordinateArray = { -10.0, -20.0 };
badObject = jsonObject;
badObject.remove("coordinate");
badObject["coordinate"] = badCoordinateArray;
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
badCoordinateArray = { -10.0, -20.0, true };
badObject = jsonObject;
badObject.remove("coordinate");
badObject["coordinate"] = badCoordinateArray;
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
QJsonArray badCoordinateArray2 = { 1, 2 };
badCoordinateArray = { -10.0, -20.0, badCoordinateArray2 };
badObject = jsonObject;
badObject.remove("coordinate");
badObject["coordinate"] = badCoordinateArray;
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
// Test bad type
badObject = jsonObject;
badObject.remove("type");
badObject["type"] = "foo";
QCOMPARE(missionItem.load(badObject, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
// Test good load
QVERIFY(missionItem.load(jsonObject, errorString));
QCOMPARE(missionItem.sequenceNumber(), 10);
QCOMPARE(missionItem.isCurrentItem(), false);
QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
QCOMPARE(missionItem.command(), (MAV_CMD)80);
QCOMPARE(missionItem.param1(), 10.0);
QCOMPARE(missionItem.param2(), 20.0);
QCOMPARE(missionItem.param3(), 30.0);
QCOMPARE(missionItem.param4(), 40.0);
QCOMPARE(missionItem.param5(), -10.0);
QCOMPARE(missionItem.param6(), -20.0);
QCOMPARE(missionItem.param7(), -30.0);
QCOMPARE(missionItem.autoContinue(), true);
}
void MissionItemTest::_testSaveToJson(void)
{
MissionItem missionItem;
missionItem.setSequenceNumber(10);
missionItem.setIsCurrentItem(true);
missionItem.setFrame((MAV_FRAME)3);
missionItem.setCommand((MAV_CMD)80);
missionItem.setParam1(10.1234567);
missionItem.setParam2(20.1234567);
missionItem.setParam3(30.1234567);
missionItem.setParam4(40.1234567);
missionItem.setParam5(-10.1234567);
missionItem.setParam6(-20.1234567);
missionItem.setParam7(-30.1234567);
missionItem.setAutoContinue(true);
// Round trip item
QJsonObject jsonObject;
QString errorString;
missionItem.save(jsonObject);
QVERIFY(missionItem.load(jsonObject, errorString));
QCOMPARE(missionItem.sequenceNumber(), 10);
QCOMPARE(missionItem.isCurrentItem(), false);
QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
QCOMPARE(missionItem.command(), (MAV_CMD)80);
QCOMPARE(missionItem.param1(), 10.1234567);
QCOMPARE(missionItem.param2(), 20.1234567);
QCOMPARE(missionItem.param3(), 30.1234567);
QCOMPARE(missionItem.param4(), 40.1234567);
QCOMPARE(missionItem.param5(), -10.1234567);
QCOMPARE(missionItem.param6(), -20.1234567);
QCOMPARE(missionItem.param7(), -30.1234567);
QCOMPARE(missionItem.autoContinue(), true);
}
#if 0
// FIXME: Update to json
void MissionItemTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode)
{
_mockLink->setMissionItemFailureMode(failureMode);
// Setup our test case data
QList<MissionItem*> missionItems;
// Editor has a home position item on the front, so we do the same
MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
homeItem->setSequenceNumber(0);
missionItems.append(homeItem);
for (size_t i=0; i<_cTestCases; i++) {
const TestCase_t* testCase = &_rgTestCases[i];
MissionItem* missionItem = new MissionItem(this);
QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
QVERIFY(missionItem->load(loadStream));
for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &_rgItemExpected[i];
// Mission Manager expects to get 1-base sequence numbers for write
missionItem->setSequenceNumber(missionItem->sequenceNumber() + 1);
qDebug() << "Command:" << info->command;
missionItems.append(missionItem);
}
// Send the items to the vehicle
_missionManager->writeMissionItems(missionItems);
// writeMissionItems should emit these signals before returning:
// inProgressChanged
// newMissionItemsAvailable
QVERIFY(_missionManager->inProgress());
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | newMissionItemsAvailableSignalMask), true);
_checkInProgressValues(true);
_multiSpyMissionManager->clearAllSignals();
if (failureMode == MockLinkMissionItemHandler::FailNone) {
// This should be clean run
MissionItem* item = new MissionItem(NULL, // Vehicle
1,
info->command,
info->frame,
10.1234567,
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true,
false);
// Validate the saving is working correctly
QString savedItemString;
QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
item->save(saveStream);
// Param floats to string with 18 digits or precision
QString paramStrings = "10.1234567000000002\t"
"20.1234566999999984\t"
"30.1234566999999984\t"
"40.1234566999999984\t"
"50.1234566999999984\t"
"60.1234566999999984\t"
"70.1234567000000055";
QString expectedItemString = QString("1\t0\t%1\t%2\t%3\t1\r\n").arg(info->frame).arg(info->command).arg(paramStrings);
QCOMPARE(savedItemString, expectedItemString);
// Wait for write sequence to complete. We should get:
// inProgressChanged(false) signal
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true);
// Validate that the fact values are correctly returned
size_t factCount = 0;
for (int i=0; i<item->textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (factValue->name == fact->name()) {
QCOMPARE(fact->rawValue().toDouble(), factValue->value);
factCount ++;
found = true;
break;
}
}
if (!found) {
qDebug() << fact->name();
}
QVERIFY(found);
// Validate inProgressChanged signal value
_checkInProgressValues(false);
// Validate item count in mission manager
int expectedCount = (int)_cTestCases;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// Home position at position 0 comes from vehicle
expectedCount++;
}
QCOMPARE(factCount, expected->cFactValues);
QCOMPARE(_missionManager->missionItems().count(), expectedCount);
} else {
// This should be a failed run
// Validate that loading is working correctly
MissionItem* loadedItem = new MissionItem(NULL /* Vehicle */);
QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
QVERIFY(loadedItem->load(loadStream));
QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude());
QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude());
QCOMPARE(loadedItem->command(), item->command());
QCOMPARE(loadedItem->param1(), item->param1());
QCOMPARE(loadedItem->param2(), item->param2());
QCOMPARE(loadedItem->param3(), item->param3());
QCOMPARE(loadedItem->param4(), item->param4());
QCOMPARE(loadedItem->autoContinue(), item->autoContinue());
QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem());
QCOMPARE(loadedItem->frame(), item->frame());
delete item;
delete loadedItem;
setExpectedMessageBox(QMessageBox::Ok);
// Wait for write sequence to complete. We should get:
// inProgressChanged(false) signal
// error(errorCode, QString) signal
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | errorSignalMask), true);
// Validate inProgressChanged signal value
_checkInProgressValues(false);
// Validate error signal values
QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex);
QList<QVariant> signalArgs = spy->takeFirst();
QCOMPARE(signalArgs.count(), 2);
qDebug() << signalArgs[1].toString();
checkExpectedMessageBox();
}
#endif
_multiSpyMissionManager->clearAllSignals();
}
void MissionItemTest::_testDefaultValues(void)
void MissionItemTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode)
{
SimpleMissionItem item(NULL /* Vehicle */);
_writeItems(MockLinkMissionItemHandler::FailNone);
_mockLink->setMissionItemFailureMode(failureMode);
// Read the items back from the vehicle
_missionManager->requestMissionItems();
// requestMissionItems should emit inProgressChanged signal before returning so no need to wait for it
QVERIFY(_missionManager->inProgress());
QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true);
_checkInProgressValues(true);
_multiSpyMissionManager->clearAllSignals();
if (failureMode == MockLinkMissionItemHandler::FailNone) {
// This should be clean run
// Now wait for read sequence to complete. We should get:
// inProgressChanged(false) signal to signal completion
// newMissionItemsAvailable signal
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
_checkInProgressValues(false);
} else {
// This should be a failed run
setExpectedMessageBox(QMessageBox::Ok);
// Wait for read sequence to complete. We should get:
// inProgressChanged(false) signal to signal completion
// error(errorCode, QString) signal
// newMissionItemsAvailable signal
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask | errorSignalMask), true);
// Validate inProgressChanged signal value
_checkInProgressValues(false);
// Validate error signal values
QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex);
QList<QVariant> signalArgs = spy->takeFirst();
QCOMPARE(signalArgs.count(), 2);
qDebug() << signalArgs[1].toString();
checkExpectedMessageBox();
}
_multiSpyMissionManager->clearAllSignals();
// Validate returned items
size_t cMissionItemsExpected;
if (failureMode == MockLinkMissionItemHandler::FailNone) {
cMissionItemsExpected = (int)_cTestCases;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// Home position at position 0 comes from vehicle
cMissionItemsExpected++;
}
} else {
cMissionItemsExpected = 0;
}
QCOMPARE(_missionManager->missionItems().count(), (int)cMissionItemsExpected);
size_t firstActualItem = 0;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// First item is home position, don't validate it
firstActualItem++;
}
item.setCommand(MAV_CMD_NAV_WAYPOINT);
item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QCOMPARE(item.param7(), MissionItem::defaultAltitude);
int testCaseIndex = 0;
for (size_t actualItemIndex=firstActualItem; actualItemIndex<cMissionItemsExpected; actualItemIndex++) {
const TestCase_t* testCase = &_rgTestCases[testCaseIndex];
int expectedSequenceNumber = testCase->expectedItem.sequenceNumber;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// Account for home position in first item
expectedSequenceNumber++;
}
MissionItem* actual = _missionManager->missionItems()[actualItemIndex];
qDebug() << "Test case" << testCaseIndex;
QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber);
QCOMPARE(actual->coordinate().latitude(), testCase->expectedItem.coordinate.latitude());
QCOMPARE(actual->coordinate().longitude(), testCase->expectedItem.coordinate.longitude());
QCOMPARE(actual->coordinate().altitude(), testCase->expectedItem.coordinate.altitude());
QCOMPARE((int)actual->command(), (int)testCase->expectedItem.command);
QCOMPARE(actual->param1(), testCase->expectedItem.param1);
QCOMPARE(actual->param2(), testCase->expectedItem.param2);
QCOMPARE(actual->param3(), testCase->expectedItem.param3);
QCOMPARE(actual->param4(), testCase->expectedItem.param4);
QCOMPARE(actual->autoContinue(), testCase->expectedItem.autocontinue);
QCOMPARE(actual->frame(), testCase->expectedItem.frame);
testCaseIndex++;
}
}
void MissionItemTest::_testWriteFailureHandlingWorker(void)
{
/*
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
*/
typedef struct {
const char* failureText;
MockLinkMissionItemHandler::FailureMode_t failureMode;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ "No Failure", MockLinkMissionItemHandler::FailNone },
{ "FailWriteRequest0NoResponse", MockLinkMissionItemHandler::FailWriteRequest0NoResponse },
{ "FailWriteRequest1NoResponse", MockLinkMissionItemHandler::FailWriteRequest1NoResponse },
{ "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence },
{ "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence },
{ "FailWriteRequest0ErrorAck", MockLinkMissionItemHandler::FailWriteRequest0ErrorAck },
{ "FailWriteRequest1ErrorAck", MockLinkMissionItemHandler::FailWriteRequest1ErrorAck },
{ "FailWriteFinalAckNoResponse", MockLinkMissionItemHandler::FailWriteFinalAckNoResponse },
{ "FailWriteFinalAckErrorAck", MockLinkMissionItemHandler::FailWriteFinalAckErrorAck },
{ "FailWriteFinalAckMissingRequests", MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
qDebug() << "TEST CASE " << rgTestCases[i].failureText;
_writeItems(rgTestCases[i].failureMode);
_mockLink->resetMissionItemHandler();
}
}
void MissionItemTest::_testReadFailureHandlingWorker(void)
{
/*
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
*/
typedef struct {
const char* failureText;
MockLinkMissionItemHandler::FailureMode_t failureMode;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ "No Failure", MockLinkMissionItemHandler::FailNone },
{ "FailReadRequestListNoResponse", MockLinkMissionItemHandler::FailReadRequestListNoResponse },
{ "FailReadRequest0NoResponse", MockLinkMissionItemHandler::FailReadRequest0NoResponse },
{ "FailReadRequest1NoResponse", MockLinkMissionItemHandler::FailReadRequest1NoResponse },
{ "FailReadRequest0IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence },
{ "FailReadRequest1IncorrectSequence", MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence },
{ "FailReadRequest0ErrorAck", MockLinkMissionItemHandler::FailReadRequest0ErrorAck },
{ "FailReadRequest1ErrorAck", MockLinkMissionItemHandler::FailReadRequest1ErrorAck },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
qDebug() << "TEST CASE " << rgTestCases[i].failureText;
_roundTripItems(rgTestCases[i].failureMode);
_mockLink->resetMissionItemHandler();
_multiSpyMissionManager->clearAllSignals();
}
}
void MissionItemTest::_testWriteFailureHandlingAPM(void)
{
_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
_testWriteFailureHandlingWorker();
}
void MissionItemTest::_testReadFailureHandlingAPM(void)
{
_initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
_testReadFailureHandlingWorker();
}
void MissionItemTest::_testWriteFailureHandlingPX4(void)
{
_initForFirmwareType(MAV_AUTOPILOT_PX4);
_testWriteFailureHandlingWorker();
}
void MissionItemTest::_testReadFailureHandlingPX4(void)
{
_initForFirmwareType(MAV_AUTOPILOT_PX4);
_testReadFailureHandlingWorker();
}
#endif
src/MissionManager/MissionItemTest.h
View file @ 32b8a549
......@@ -25,16 +25,9 @@
#define MissionItemTest_H
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include <QGeoCoordinate>
/// @file
/// @brief FlightGear HIL Simulation unit tests
///
/// @author Don Gagne <don@thegagnes.com>
/// Unit test for the MissionItem Object
class MissionItemTest : public UnitTest
{
Q_OBJECT
......@@ -43,36 +36,12 @@ public:
MissionItemTest(void);
private slots:
void _test(void);
void _testDefaultValues(void);
private:
typedef struct {
MAV_CMD command;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
const char* name;
double value;
} FactValue_t;
typedef struct {
size_t cFactValues;
const FactValue_t* rgFactValues;
} ItemExpected_t;
static const ItemInfo_t _rgItemInfo[];
static const ItemExpected_t _rgItemExpected[];
static const FactValue_t _rgFactValuesWaypoint[];
static const FactValue_t _rgFactValuesLoiterUnlim[];
static const FactValue_t _rgFactValuesLoiterTurns[];
static const FactValue_t _rgFactValuesLoiterTime[];
static const FactValue_t _rgFactValuesLand[];
static const FactValue_t _rgFactValuesTakeoff[];
static const FactValue_t _rgFactValuesConditionDelay[];
static const FactValue_t _rgFactValuesDoJump[];
void _testSetGet(void);
void _testSignals(void);
void _testFactSignals(void);
void _testLoadFromStream(void);
void _testLoadFromJson(void);
void _testSaveToJson(void);
};
#endif
src/MissionManager/MissionManager.cc
View file @ 32b8a549
......@@ -29,7 +29,6 @@
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
......@@ -56,7 +55,7 @@ MissionManager::~MissionManager()
}
void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
{
bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();
......@@ -65,12 +64,13 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
int firstIndex = skipFirstItem ? 1 : 0;
for (int i=firstIndex; i<missionItems.count(); i++) {
_missionItems.append(new SimpleMissionItem(*qobject_cast<const SimpleMissionItem*>(missionItems[i])));
MissionItem* item = new MissionItem(*missionItems[i]);
_missionItems.append(item);
MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
item->setIsCurrentItem(i == firstIndex);
if (skipFirstItem) {
// Home is in sequence 1, remainder of items start at sequence 1
// Home is in sequence 0, remainder of items start at sequence 1
item->setSequenceNumber(item->sequenceNumber() - 1);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->setParam1((int)item->param1() - 1);
......@@ -253,8 +253,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
_requestItemRetryCount = 0;
_itemIndicesToRead.removeOne(missionItem.seq);
MissionItem* item = new SimpleMissionItem(_vehicle,
missionItem.seq,
MissionItem* item = new MissionItem(missionItem.seq,
(MAV_CMD)missionItem.command,
(MAV_FRAME)missionItem.frame,
missionItem.param1,
......@@ -268,7 +267,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
missionItem.current,
this);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
if (item->command() == MAV_CMD_DO_JUMP) {
// Home is in position 0
item->setParam1((int)item->param1() + 1);
}
......@@ -323,19 +322,19 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
mavlink_message_t messageOut;
mavlink_mission_item_t missionItem;
MissionItem* item = (MissionItem*)_missionItems[missionRequest.seq];
MissionItem* item = _missionItems[missionRequest.seq];
missionItem.target_system = _vehicle->id();
missionItem.target_component = MAV_COMP_ID_MISSIONPLANNER;
missionItem.seq = missionRequest.seq;
missionItem.command = item->command();
missionItem.x = item->coordinate().latitude();
missionItem.y = item->coordinate().longitude();
missionItem.z = item->coordinate().altitude();
missionItem.param1 = item->param1();
missionItem.param2 = item->param2();
missionItem.param3 = item->param3();
missionItem.param4 = item->param4();
missionItem.x = item->param5();
missionItem.y = item->param6();
missionItem.z = item->param7();
missionItem.frame = item->frame();
missionItem.current = missionRequest.seq == 0;
missionItem.autocontinue = item->autoContinue();
......@@ -428,17 +427,6 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
}
}
QmlObjectListModel* MissionManager::copyMissionItems(void)
{
QmlObjectListModel* list = new QmlObjectListModel();
for (int i=0; i<_missionItems.count(); i++) {
list->append(new SimpleMissionItem(*qobject_cast<const SimpleMissionItem*>(_missionItems[i])));
}
return list;
}
void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
{
qCDebug(MissionManagerLog) << "Sending error" << errorCode << errorMsg;
......
src/MissionManager/MissionManager.h
View file @ 32b8a549
......@@ -30,7 +30,7 @@
#include <QMutex>
#include <QTimer>
#include "QmlObjectListModel.h"
#include "MissionItem.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "LinkInterface.h"
......@@ -48,27 +48,15 @@ public:
MissionManager(Vehicle* vehicle);
~MissionManager();
Q_PROPERTY(bool inProgress READ inProgress NOTIFY inProgressChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems CONSTANT)
Q_PROPERTY(int currentItem READ currentItem NOTIFY currentItemChanged)
// Property accessors
bool inProgress(void);
QmlObjectListModel* missionItems(void) { return &_missionItems; }
const QList<MissionItem*>& missionItems(void) { return _missionItems; }
int currentItem(void) { return _currentMissionItem; }
// C++ methods
void requestMissionItems(void);
/// Writes the specified set of mission items to the vehicle
/// @oaram missionItems Items to send to vehicle
void writeMissionItems(const QmlObjectListModel& missionItems);
/// Returns a copy of the current set of mission items. Caller is responsible for
/// freeing returned object.
QmlObjectListModel* copyMissionItems(void);
/// @param missionItems Items to send to vehicle
void writeMissionItems(const QList<MissionItem*>& missionItems);
/// Error codes returned in error signal
typedef enum {
......@@ -134,7 +122,7 @@ private:
QMutex _dataMutex;
QmlObjectListModel _missionItems;
QList<MissionItem*> _missionItems;
int _currentMissionItem;
};
......
src/MissionManager/MissionManagerTest.cc
View file @ 32b8a549
......@@ -24,7 +24,6 @@
#include "MissionManagerTest.h"
#include "LinkManager.h"
#include "MultiVehicleManager.h"
#include "SimpleMissionItem.h"
const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
{ "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
......@@ -46,32 +45,31 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
_mockLink->setMissionItemFailureMode(failureMode);
// Setup our test case data
QmlObjectListModel* list = new QmlObjectListModel();
QList<MissionItem*> missionItems;
// Editor has a home position item on the front, so we do the same
SimpleMissionItem* homeItem = new SimpleMissionItem(NULL /* Vehicle */, this);
homeItem->setHomePositionSpecialCase(true);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
homeItem->setSequenceNumber(0);
list->insert(0, homeItem);
missionItems.append(homeItem);
for (size_t i=0; i<_cTestCases; i++) {
const TestCase_t* testCase = &_rgTestCases[i];
SimpleMissionItem* item = new SimpleMissionItem(NULL /* Vehicle */, list);
MissionItem* missionItem = new MissionItem(this);
QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
QVERIFY(item->load(loadStream));
QVERIFY(missionItem->load(loadStream));
// Mission Manager expects to get 1-base sequence numbers for write
item->setSequenceNumber(item->sequenceNumber() + 1);
missionItem->setSequenceNumber(missionItem->sequenceNumber() + 1);
list->append(item);
missionItems.append(missionItem);
}
// Send the items to the vehicle
_missionManager->writeMissionItems(*list);
_missionManager->writeMissionItems(missionItems);
// writeMissionItems should emit these signals before returning:
// inProgressChanged
......@@ -101,7 +99,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
expectedCount++;
}
QCOMPARE(_missionManager->missionItems()->count(), expectedCount);
QCOMPARE(_missionManager->missionItems().count(), expectedCount);
} else {
// This should be a failed run
......@@ -125,8 +123,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
checkExpectedMessageBox();
}
delete list;
list = NULL;
_multiSpyMissionManager->clearAllSignals();
}
......@@ -196,7 +192,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
cMissionItemsExpected = 0;
}
QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected);
QCOMPARE(_missionManager->missionItems().count(), (int)cMissionItemsExpected);
size_t firstActualItem = 0;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
......@@ -214,7 +210,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
expectedSequenceNumber++;
}
MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex));
MissionItem* actual = _missionManager->missionItems()[actualItemIndex];
qDebug() << "Test case" << testCaseIndex;
QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber);
......
src/MissionManager/SimpleMissionItem.cc
View file @ 32b8a549
......@@ -20,42 +20,568 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#include <QStringList>
#include <QDebug>
#include "SimpleMissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
const double SimpleMissionItem::defaultAltitude = 25.0;
FactMetaData* SimpleMissionItem::_altitudeMetaData = NULL;
FactMetaData* SimpleMissionItem::_commandMetaData = NULL;
FactMetaData* SimpleMissionItem::_defaultParamMetaData = NULL;
FactMetaData* SimpleMissionItem::_frameMetaData = NULL;
FactMetaData* SimpleMissionItem::_latitudeMetaData = NULL;
FactMetaData* SimpleMissionItem::_longitudeMetaData = NULL;
struct EnumInfo_s {
const char * label;
MAV_FRAME frame;
};
static const struct EnumInfo_s _rgMavFrameInfo[] = {
{ "MAV_FRAME_GLOBAL", MAV_FRAME_GLOBAL },
{ "MAV_FRAME_LOCAL_NED", MAV_FRAME_LOCAL_NED },
{ "MAV_FRAME_MISSION", MAV_FRAME_MISSION },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT", MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ "MAV_FRAME_LOCAL_ENU", MAV_FRAME_LOCAL_ENU },
{ "MAV_FRAME_GLOBAL_INT", MAV_FRAME_GLOBAL_INT },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
{ "MAV_FRAME_LOCAL_OFFSET_NED", MAV_FRAME_LOCAL_OFFSET_NED },
{ "MAV_FRAME_BODY_NED", MAV_FRAME_BODY_NED },
{ "MAV_FRAME_BODY_OFFSET_NED", MAV_FRAME_BODY_OFFSET_NED },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT", MAV_FRAME_GLOBAL_TERRAIN_ALT },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
};
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
: MissionItem(vehicle, parent)
: VisualMissionItem(vehicle, parent)
, _rawEdit(false)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _param5MetaData(FactMetaData::valueTypeDouble)
, _param6MetaData(FactMetaData::valueTypeDouble)
, _param7MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
_altitudeRelativeToHomeFact.setRawValue(true);
_setupMetaData();
_connectSignals();
setDefaultsForCommand();
}
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle,
int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent)
: MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent)
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
: VisualMissionItem(vehicle, parent)
, _missionItem(missionItem)
, _rawEdit(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _param5MetaData(FactMetaData::valueTypeDouble)
, _param6MetaData(FactMetaData::valueTypeDouble)
, _param7MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
_altitudeRelativeToHomeFact.setRawValue(true);
_setupMetaData();
_connectSignals();
_syncFrameToAltitudeRelativeToHome();
}
SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
: MissionItem(other, parent)
: VisualMissionItem(other, parent)
, _missionItem(other._vehicle)
, _rawEdit(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _missionCommands(qgcApp()->toolbox()->missionCommands())
{
_setupMetaData();
_connectSignals();
*this = other;
}
const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& other)
{
static_cast<MissionItem&>(*this) = other;
static_cast<VisualMissionItem&>(*this) = other;
setRawEdit(other._rawEdit);
setDirty(other._dirty);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setShowHomePosition(other._showHomePosition);
_syncFrameToAltitudeRelativeToHome();
return *this;
}
void SimpleMissionItem::_connectSignals(void)
{
// Connect to change signals to track dirty state
connect(&_missionItem._param1Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param2Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param3Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param4Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param5Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param6Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._param7Fact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._frameFact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::_setDirtyFromSignal);
// Values from these facts must propogate back and forth between the real object storage
connect(&_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame);
connect(&_missionItem._frameFact, &Fact::valueChanged, this, &SimpleMissionItem::_syncFrameToAltitudeRelativeToHome);
// These are coordinate parameters, they must emit coordinateChanged signal
connect(&_missionItem._param5Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
connect(&_missionItem._param6Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
connect(&_missionItem._param7Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
// The following changes may also change friendlyEditAllowed
connect(&_missionItem._autoContinueFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
connect(&_missionItem._frameFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
// A command change triggers a number of other changes as well.
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
// Whenever these properties change the ui model changes as well
connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_sendUiModelChanged);
connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_sendUiModelChanged);
// 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);
}
void SimpleMissionItem::_setupMetaData(void)
{
QStringList enumStrings;
QVariantList enumValues;
if (!_altitudeMetaData) {
_altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_altitudeMetaData->setRawUnits("meters");
_altitudeMetaData->setDecimalPlaces(2);
enumStrings.clear();
enumValues.clear();
foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
enumStrings.append(mavCmdInfo->rawName());
enumValues.append(QVariant(mavCmdInfo->command()));
}
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_commandMetaData->setEnumInfo(enumStrings, enumValues);
_defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_defaultParamMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
enumStrings.append(mavFrameInfo->label);
enumValues.append(QVariant(mavFrameInfo->frame));
}
_frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_frameMetaData->setEnumInfo(enumStrings, enumValues);
_latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_latitudeMetaData->setRawUnits("deg");
_latitudeMetaData->setDecimalPlaces(7);
_longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_longitudeMetaData->setRawUnits("deg");
_longitudeMetaData->setDecimalPlaces(7);
}
_missionItem._commandFact.setMetaData(_commandMetaData);
_missionItem._frameFact.setMetaData(_frameMetaData);
}
SimpleMissionItem::~SimpleMissionItem()
{
}
bool SimpleMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
{
Q_UNUSED(missionObject);
Q_UNUSED(errorString);
QJsonObject itemObject;
_missionItem.save(itemObject);
missionItems.append(itemObject);
return true;
}
bool SimpleMissionItem::load(QTextStream &loadStream)
{
return _missionItem.load(loadStream);
}
bool SimpleMissionItem::load(const QJsonObject& json, QString& errorString)
{
return _missionItem.load(json, errorString);
}
bool SimpleMissionItem::isStandaloneCoordinate(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->isStandaloneCoordinate();
} else {
return false;
}
}
bool SimpleMissionItem::specifiesCoordinate(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
} else {
return false;
}
}
QString SimpleMissionItem::commandDescription(void) const
{
if (_missionCommands->contains((MAV_CMD)command())) {
return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
} else {
qWarning() << "Should not ask for command description on unknown command";
return commandName();
}
}
QString SimpleMissionItem::commandName(void) const
{
MAV_CMD command = (MAV_CMD)this->command();
if (_missionCommands->contains(command)) {
const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
} else {
qWarning() << "Request for command name on unknown command";
return QString("Unknown: %1").arg(command);
}
}
void SimpleMissionItem::_clearParamMetaData(void)
{
_param1MetaData.setRawUnits("");
_param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param2MetaData.setRawUnits("");
_param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param3MetaData.setRawUnits("");
_param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param4MetaData.setRawUnits("");
_param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
}
QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
_missionItem._param1Fact._setName("Param1:");
_missionItem._param1Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param1Fact);
_missionItem._param2Fact._setName("Param2:");
_missionItem._param2Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param2Fact);
_missionItem._param3Fact._setName("Param3:");
_missionItem._param3Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param3Fact);
_missionItem._param4Fact._setName("Param4:");
_missionItem._param4Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param4Fact);
_missionItem._param5Fact._setName("Lat/X:");
_missionItem._param5Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param5Fact);
_missionItem._param6Fact._setName("Lon/Y:");
_missionItem._param6Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param6Fact);
_missionItem._param7Fact._setName("Alt/Z:");
_missionItem._param7Fact.setMetaData(_defaultParamMetaData);
model->append(&_missionItem._param7Fact);
} else {
_clearParamMetaData();
MAV_CMD command;
if (_homePositionSpecialCase) {
command = MAV_CMD_NAV_LAST;
} else {
command = _missionItem.command();
}
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
bool altitudeAdded = false;
for (int i=1; i<=7; i++) {
const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
Fact* paramFact = rgParamFacts[i-1];
FactMetaData* paramMetaData = rgParamMetaData[i-1];
MavCmdParamInfo* paramInfo = paramInfoMap[i];
paramFact->_setName(paramInfo->label());
paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
paramMetaData->setRawUnits(paramInfo->units());
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
if (i == 7) {
altitudeAdded = true;
}
}
}
if (specifiesCoordinate() && !altitudeAdded) {
_missionItem._param7Fact._setName("Altitude:");
_missionItem._param7Fact.setMetaData(_altitudeMetaData);
model->append(&_missionItem._param7Fact);
}
}
return model;
}
QmlObjectListModel* SimpleMissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_missionItem._autoContinueFact);
} else if (specifiesCoordinate() && !_homePositionSpecialCase) {
model->append(&_altitudeRelativeToHomeFact);
}
return model;
}
QmlObjectListModel* SimpleMissionItem::comboboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_missionItem._commandFact);
model->append(&_missionItem._frameFact);
} else {
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
MAV_CMD command;
if (_homePositionSpecialCase) {
command = MAV_CMD_NAV_LAST;
} else {
command = (MAV_CMD)this->command();
}
for (int i=1; i<=7; i++) {
const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
Fact* paramFact = rgParamFacts[i-1];
FactMetaData* paramMetaData = rgParamMetaData[i-1];
MavCmdParamInfo* paramInfo = paramInfoMap[i];
paramFact->_setName(paramInfo->label());
paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
paramMetaData->setRawUnits(paramInfo->units());
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
}
}
}
return model;
}
bool SimpleMissionItem::friendlyEditAllowed(void) const
{
if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
if (!_missionItem.autoContinue()) {
return false;
}
if (specifiesCoordinate()) {
return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
return true;
}
return false;
}
bool SimpleMissionItem::rawEdit(void) const
{
return _rawEdit || !friendlyEditAllowed();
}
void SimpleMissionItem::setRawEdit(bool rawEdit)
{
if (this->rawEdit() != rawEdit) {
_rawEdit = rawEdit;
emit rawEditChanged(this->rawEdit());
}
}
void SimpleMissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || !dirty) {
// Home position never affects dirty bit
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
}
void SimpleMissionItem::_setDirtyFromSignal(void)
{
setDirty(true);
}
void SimpleMissionItem::_sendCoordinateChanged(void)
{
emit coordinateChanged(coordinate());
}
void SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_missionItem.setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void SimpleMissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void SimpleMissionItem::setDefaultsForCommand(void)
{
// We set these global defaults first, then if there are param defaults they will get reset
_missionItem.setParam7(defaultAltitude);
MAV_CMD command = (MAV_CMD)this->command();
if (_missionCommands->contains(command)) {
MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
}
}
if (command == MAV_CMD_NAV_WAYPOINT) {
// We default all acceptance radius to 0. This allows flight controller to be in control of
// accept radius.
_missionItem.setParam2(0);
}
_missionItem.setAutoContinue(true);
_missionItem.setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
setRawEdit(false);
}
void SimpleMissionItem::_sendUiModelChanged(void)
{
emit uiModelChanged();
}
void SimpleMissionItem::_sendFrameChanged(void)
{
emit frameChanged(_missionItem.frame());
}
void SimpleMissionItem::_sendCommandChanged(void)
{
emit commandChanged(command());
}
void SimpleMissionItem::_sendFriendlyEditAllowedChanged(void)
{
emit friendlyEditAllowedChanged(friendlyEditAllowed());
}
QString SimpleMissionItem::category(void) const
{
return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
}
void SimpleMissionItem::setShowHomePosition(bool showHomePosition)
{
if (showHomePosition != _showHomePosition) {
_showHomePosition = showHomePosition;
emit showHomePositionChanged(_showHomePosition);
}
}
void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
if ((MAV_CMD)command != _missionItem.command()) {
_missionItem.setCommand((MAV_CMD)command);
}
}
void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_missionItem.coordinate() != coordinate) {
qDebug() << _missionItem.coordinate() << coordinate;
_missionItem.setCoordinate(coordinate);
}
}
src/MissionManager/SimpleMissionItem.h
View file @ 32b8a549
......@@ -24,39 +24,151 @@
#ifndef SimpleMissionItem_H
#define SimpleMissionItem_H
#include "VisualMissionItem.h"
#include "MissionItem.h"
class SimpleMissionItem : public MissionItem
/// A SimpleMissionItem is used to represent a single MissionItem to the ui.
class SimpleMissionItem : public VisualMissionItem
{
Q_OBJECT
public:
SimpleMissionItem(Vehicle* vehicle, QObject* parent = NULL);
SimpleMissionItem(Vehicle* vehicle,
int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent = NULL);
SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent = NULL);
SimpleMissionItem(const SimpleMissionItem& other, QObject* parent = NULL);
~SimpleMissionItem();
const SimpleMissionItem& operator=(const SimpleMissionItem& other);
Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(bool relativeAltitude READ relativeAltitude NOTIFY frameChanged)
Q_PROPERTY(bool showHomePosition READ showHomePosition WRITE setShowHomePosition NOTIFY showHomePositionChanged)
// These properties are used to display the editing ui
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* comboboxFacts READ comboboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* textFieldFacts READ textFieldFacts NOTIFY uiModelChanged)
// Property accesors
QString category (void) const;
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_missionItem._commandFact.cookedValue().toInt(); };
bool friendlyEditAllowed (void) const;
bool homePosition (void) const { return _homePositionSpecialCase; }
bool rawEdit (void) const;
bool showHomePosition (void) const { return _showHomePosition; }
QmlObjectListModel* textFieldFacts (void);
QmlObjectListModel* checkboxFacts (void);
QmlObjectListModel* comboboxFacts (void);
void setRawEdit(bool rawEdit);
void setCommandByIndex(int index);
void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setShowHomePosition(bool showHomePosition);
void setAltDifference (double altDifference);
void setAltPercent (double altPercent);
void setAzimuth (double azimuth);
void setDistance (double distance);
bool load(QTextStream &loadStream);
bool load(const QJsonObject& json, QString& errorString);
bool relativeAltitude(void) { return _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
// Overrides from MissionItem base class
bool simpleItem (void) const final { return true; }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
static const double defaultAltitude;
MissionItem& missionItem(void) { return _missionItem; }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return true; }
bool isStandaloneCoordinate (void) const final;
bool specifiesCoordinate (void) const final;
QString commandDescription (void) const final;
QString commandName (void) const final;
QGeoCoordinate coordinate (void) const final { return _missionItem.coordinate(); }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
bool coordinateHasRelativeAltitude (void) const final { return _missionItem.relativeAltitude(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return coordinateHasRelativeAltitude(); }
bool exitCoordinateSameAsEntry (void) const final { return true; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate);
bool save (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
public slots:
void setDefaultsForCommand(void);
signals:
void commandChanged (int command);
void coordinateChanged (const QGeoCoordinate& coordinate);
void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate);
//void dirtyChanged (bool dirty);
void frameChanged (int frame);
void friendlyEditAllowedChanged (bool friendlyEditAllowed);
void headingDegreesChanged (double heading);
void rawEditChanged (bool rawEdit);
void uiModelChanged (void);
void showHomePositionChanged (bool showHomePosition);
private slots:
void _setDirtyFromSignal(void);
void _sendCommandChanged(void);
void _sendCoordinateChanged(void);
void _sendFrameChanged(void);
void _sendFriendlyEditAllowedChanged(void);
void _sendUiModelChanged(void);
void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
void _syncFrameToAltitudeRelativeToHome(void);
private:
void _clearParamMetaData(void);
void _connectSignals(void);
void _setupMetaData(void);
private:
MissionItem _missionItem;
bool _rawEdit;
bool _dirty;
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
bool _showHomePosition;
Fact _altitudeRelativeToHomeFact;
Fact _supportedCommandFact;
static FactMetaData* _altitudeMetaData;
static FactMetaData* _commandMetaData;
static FactMetaData* _defaultParamMetaData;
static FactMetaData* _frameMetaData;
static FactMetaData* _latitudeMetaData;
static FactMetaData* _longitudeMetaData;
FactMetaData _param1MetaData;
FactMetaData _param2MetaData;
FactMetaData _param3MetaData;
FactMetaData _param4MetaData;
FactMetaData _param5MetaData;
FactMetaData _param6MetaData;
FactMetaData _param7MetaData;
bool _syncingAltitudeRelativeToHomeAndFrame; ///< true: already in a sync signal, prevents signal loop
bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop
const MissionCommands* _missionCommands;
};
#endif
src/MissionManager/SimpleMissionItemTest.cc 0 → 100644
View file @ 32b8a549
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "SimpleMissionItemTest.h"
#include "SimpleMissionItem.h"
const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
{ MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_CONDITION_DELAY, MAV_FRAME_MISSION },
{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
{ "Altitude:", 70.1234567 },
{ "Hold:", 10.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Turns:", 10.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Altitude:", 70.1234567 },
{ "Radius:", 30.1234567 },
{ "Hold:", 10.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = {
{ "Altitude:", 70.1234567 },
{ "Abort Alt:", 10.1234567 },
{ "Heading:", 40.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
{ "Pitch:", 10.1234567 },
{ "Altitude:", 70.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Hold:", 10.1234567 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
{ "Item #:", 10.1234567 },
{ "Repeat:", 20.1234567 },
};
const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
{ sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]), SimpleMissionItemTest::_rgFactValuesWaypoint, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]), SimpleMissionItemTest::_rgFactValuesLoiterUnlim, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]), SimpleMissionItemTest::_rgFactValuesLoiterTurns, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]), SimpleMissionItemTest::_rgFactValuesLand, true },
{ sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, false },
{ sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay)/sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay[0]), SimpleMissionItemTest::_rgFactValuesConditionDelay, false },
{ sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, false },
};
SimpleMissionItemTest::SimpleMissionItemTest(void)
{
}
void SimpleMissionItemTest::_testEditorFacts(void)
{
for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &_rgItemExpected[i];
qDebug() << "Command:" << info->command;
MissionItem missionItem(1, // sequence number
info->command,
info->frame,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem simpleMissionItem(NULL /* Vehicle */, missionItem);
// Validate that the fact values are correctly returned
size_t factCount = 0;
for (int i=0; i<simpleMissionItem.textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(simpleMissionItem.textFieldFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (factValue->name == fact->name()) {
QCOMPARE(fact->rawValue().toDouble(), factValue->value);
factCount ++;
found = true;
break;
}
}
if (!found) {
qDebug() << fact->name();
}
QVERIFY(found);
}
QCOMPARE(factCount, expected->cFactValues);
int expectedCount = expected->relativeAltCheckbox ? 1 : 0;
QCOMPARE(simpleMissionItem.checkboxFacts()->count(), expectedCount);
}
}
void SimpleMissionItemTest::_testDefaultValues(void)
{
SimpleMissionItem item(NULL /* Vehicle */);
item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QCOMPARE(item.missionItem().param7(), SimpleMissionItem::defaultAltitude);
}
void SimpleMissionItemTest::_testSignals(void)
{
enum {
commandChangedIndex = 0,
coordinateChangedIndex,
exitCoordinateChangedIndex,
dirtyChangedIndex,
frameChangedIndex,
friendlyEditAllowedChangedIndex,
headingDegreesChangedIndex,
rawEditChangedIndex,
uiModelChangedIndex,
showHomePositionChangedIndex,
maxSignalIndex
};
enum {
commandChangedMask = 1 << commandChangedIndex,
coordinateChangedMask = 1 << coordinateChangedIndex,
exitCoordinateChangedMask = 1 << exitCoordinateChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
frameChangedMask = 1 << frameChangedIndex,
friendlyEditAllowedChangedMask = 1 << friendlyEditAllowedChangedIndex,
headingDegreesChangedMask = 1 << headingDegreesChangedIndex,
rawEditChangedMask = 1 << rawEditChangedIndex,
uiModelChangedMask = 1 << uiModelChangedIndex,
showHomePositionChangedMask = 1 << showHomePositionChangedIndex,
};
static const size_t cSimpleMissionItemSignals = maxSignalIndex;
const char* rgSimpleMissionItemSignals[cSimpleMissionItemSignals];
rgSimpleMissionItemSignals[commandChangedIndex] = SIGNAL(commandChanged(int));
rgSimpleMissionItemSignals[coordinateChangedIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
rgSimpleMissionItemSignals[exitCoordinateChangedIndex] = SIGNAL(exitCoordinateChanged(const QGeoCoordinate&));
rgSimpleMissionItemSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
rgSimpleMissionItemSignals[frameChangedIndex] = SIGNAL(frameChanged(int));
rgSimpleMissionItemSignals[friendlyEditAllowedChangedIndex] = SIGNAL(friendlyEditAllowedChanged(bool));
rgSimpleMissionItemSignals[headingDegreesChangedIndex] = SIGNAL(headingDegreesChanged(double));
rgSimpleMissionItemSignals[rawEditChangedIndex] = SIGNAL(rawEditChanged(bool));
rgSimpleMissionItemSignals[uiModelChangedIndex] = SIGNAL(uiModelChanged());
rgSimpleMissionItemSignals[showHomePositionChangedIndex] = SIGNAL(showHomePositionChanged(bool));
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem simpleMissionItem(NULL /* Vehicle */, missionItem);
// It's important top check that the right signals are emitted at the right time since that drives ui change.
// It's also important to check that things are not being over-signalled when they should not be, since that can lead
// to incorrect ui or perf impact of uneeded signals propogating ui change.
MultiSignalSpy* multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(multiSpy);
QCOMPARE(multiSpy->init(&simpleMissionItem, rgSimpleMissionItemSignals, cSimpleMissionItemSignals), true);
// Check commandChanged signalling. Call setCommand should trigger:
// commandChanged
// dirtyChanged
// uiModelChanged
// coordinateChanged - since altitude will be set back to default
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | uiModelChangedMask | coordinateChangedMask));
multiSpy->clearAllSignals();
// Check coordinateChanged signalling. Calling setCoordinate should trigger:
// coordinateChanged
// dirtyChanged
// Check that changing to the same coordinate does not signal
simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, SimpleMissionItem::defaultAltitude));
QVERIFY(multiSpy->checkNoSignals());
// Check that actually changing coordinate signals correctly
simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, 70.1234567));
QVERIFY(multiSpy->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
multiSpy->clearAllSignals();
// Check dirtyChanged signalling
// Reset param 1-5 for testing
simpleMissionItem.missionItem().setParam1(10.1234567);
simpleMissionItem.missionItem().setParam2(20.1234567);
simpleMissionItem.missionItem().setParam3(30.1234567);
simpleMissionItem.missionItem().setParam4(40.1234567);
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam1(10.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam1(20.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam2(20.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam2(30.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam3(30.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam3(40.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setParam4(40.1234567);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setParam4(50.1234567);
QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
multiSpy->clearAllSignals();
// Check frameChanged signalling. Calling setFrame should signal:
// frameChanged
// dirtyChanged
// friendlyEditAllowedChanged - this signal is not very smart on when it gets sent
simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
multiSpy->clearAllSignals();
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
QVERIFY(multiSpy->checkNoSignals());
simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL);
QVERIFY(multiSpy->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask));
multiSpy->clearAllSignals();
}
src/MissionManager/SimpleMissionItemTest.h 0 → 100644
View file @ 32b8a549
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef SimpleMissionItemTest_H
#define SimpleMissionItemTest_H
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include <QGeoCoordinate>
/// Unit test for SimpleMissionItem
class SimpleMissionItemTest : public UnitTest
{
Q_OBJECT
public:
SimpleMissionItemTest(void);
private slots:
void _testSignals(void);
void _testEditorFacts(void);
void _testDefaultValues(void);
private:
typedef struct {
MAV_CMD command;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
const char* name;
double value;
} FactValue_t;
typedef struct {
size_t cFactValues;
const FactValue_t* rgFactValues;
bool relativeAltCheckbox;
} ItemExpected_t;
static const ItemInfo_t _rgItemInfo[];
static const ItemExpected_t _rgItemExpected[];
static const FactValue_t _rgFactValuesWaypoint[];
static const FactValue_t _rgFactValuesLoiterUnlim[];
static const FactValue_t _rgFactValuesLoiterTurns[];
static const FactValue_t _rgFactValuesLoiterTime[];
static const FactValue_t _rgFactValuesLand[];
static const FactValue_t _rgFactValuesTakeoff[];
static const FactValue_t _rgFactValuesConditionDelay[];
static const FactValue_t _rgFactValuesDoJump[];
};
#endif
src/MissionManager/VisualMissionItem.cc 0 → 100644
View file @ 32b8a549
/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include <QStringList>
#include <QDebug>
#include "VisualMissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _dirty(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
{
}
VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
: QObject(parent)
, _vehicle(NULL)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _dirty(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
{
*this = other;
}
const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& other)
{
_vehicle = other._vehicle;
setSequenceNumber(other._sequenceNumber);
setIsCurrentItem(other._isCurrentItem);
setDirty(other._dirty);
setAltDifference(other._altDifference);
setAltPercent(other._altPercent);
setAzimuth(other._azimuth);
setDistance(other._distance);
return *this;
}
VisualMissionItem::~VisualMissionItem()
{
}
void VisualMissionItem::setIsCurrentItem(bool isCurrentItem)
{
if (_isCurrentItem != isCurrentItem) {
_isCurrentItem = isCurrentItem;
emit isCurrentItemChanged(isCurrentItem);
}
}
void VisualMissionItem::setDistance(double distance)
{
_distance = distance;
emit distanceChanged(_distance);
}
void VisualMissionItem::setAltDifference(double altDifference)
{
_altDifference = altDifference;
emit altDifferenceChanged(_altDifference);
}
void VisualMissionItem::setAltPercent(double altPercent)
{
_altPercent = altPercent;
emit altPercentChanged(_altPercent);
}
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 0 → 100644
View file @ 32b8a549
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef VisualMissionItem_H
#define VisualMissionItem_H
#include <QObject>
#include <QString>
#include <QtQml>
#include <QTextStream>
#include <QJsonObject>
#include <QGeoCoordinate>
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MavlinkQmlSingleton.h"
#include "QmlObjectListModel.h"
#include "Fact.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
#include "MissionCommands.h"
// Abstract base class for all Simple and Complex visual mission objects.
class VisualMissionItem : public QObject
{
Q_OBJECT
public:
VisualMissionItem(Vehicle* vehicle, QObject* parent = NULL);
VisualMissionItem(const VisualMissionItem& other, QObject* parent = NULL);
~VisualMissionItem();
const VisualMissionItem& operator=(const VisualMissionItem& other);
// The following properties are calulated/set by the MissionControll recalc methods
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
// Visual mission items have two coordinates associated with them:
/// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
/// @return true: coordinate.latitude is relative to home altitude
Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged)
/// This is the exit point for a waypoint line coming out of the item.
Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged)
/// @return true: coordinate.latitude is relative to home altitude
Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged)
/// @return true: exitCoordinate and coordinate are the same value
Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntry)
// General properties associated with all types of visual mission items
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandDescriptionChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< Item is dirty and requires save/send
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) ///< Item is associated with a coordinate position
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged) ///< Wayoint line does not go through item
Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem
/// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
/// are shown next to the exitCoordinate indidcator in the ui.
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
// Property accesors
double altDifference (void) const { return _altDifference; }
double altPercent (void) const { return _altPercent; }
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; }
void setIsCurrentItem (bool isCurrentItem);
void setAltDifference (double altDifference);
void setAltPercent (double altPercent);
void setAzimuth (double azimuth);
void setDistance (double distance);
void setSequenceNumber (int sequenceNumber);
Vehicle* vehicle(void) { return _vehicle; }
// Pure virtuals which must be provides by derived classes
virtual bool dirty (void) const = 0;
virtual bool isSimpleItem (void) const = 0;
virtual bool isStandaloneCoordinate (void) const = 0;
virtual bool specifiesCoordinate (void) const = 0;
virtual QString commandDescription (void) const = 0;
virtual QString commandName (void) const = 0;
virtual QGeoCoordinate coordinate (void) const = 0;
virtual QGeoCoordinate exitCoordinate (void) const = 0;
virtual bool coordinateHasRelativeAltitude (void) const = 0;
virtual bool exitCoordinateHasRelativeAltitude (void) const = 0;
virtual bool exitCoordinateSameAsEntry (void) const = 0;
virtual void setDirty (bool dirty) = 0;
virtual void setCoordinate (const QGeoCoordinate& coordinate) = 0;
/// Save the item in Json format
/// @param missionObject Top level object for entire mission file
/// @param missionItems Array of mission items
/// @return false: save failed, errorString set
virtual bool save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) = 0;
signals:
void altDifferenceChanged (double altDifference);
void altPercentChanged (double altPercent);
void azimuthChanged (double azimuth);
void commandDescriptionChanged (void);
void commandNameChanged (void);
void coordinateChanged (const QGeoCoordinate& coordinate);
void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate);
void dirtyChanged (bool dirty);
void distanceChanged (double distance);
void isCurrentItemChanged (bool isCurrentItem);
void sequenceNumberChanged (int sequenceNumber);
void isSimpleItemChanged (bool isSimpleItem);
void specifiesCoordinateChanged (void);
void isStandaloneCoordinateChanged (void);
void coordinateHasRelativeAltitudeChanged (bool coordinateHasRelativeAltitude);
void exitCoordinateHasRelativeAltitudeChanged (bool exitCoordinateHasRelativeAltitude);
void exitCoordinateSameAsEntry (bool exitCoordinateSameAsEntry);
protected:
Vehicle* _vehicle;
int _sequenceNumber;
bool _isCurrentItem;
bool _dirty;
double _altDifference; ///< Difference in altitude from previous waypoint
double _altPercent; ///< Percent of total altitude change in mission
double _azimuth; ///< Azimuth to previous waypoint
double _distance; ///< Distance to previous waypoint
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
};
#endif
src/QmlControls/MissionItemEditor.qml
View file @ 32b8a549
......@@ -82,14 +82,14 @@ Rectangle {
}
MenuSeparator {
visible: !missionItem.simpleItem
visible: missionItem.isSimpleItem
}
MenuItem {
text: "Show all values"
checkable: true
checked: missionItem.rawEdit
visible: !missionItem.simpleItem
visible: missionItem.isSimpleItem
onTriggered: {
if (missionItem.rawEdit) {
......@@ -114,7 +114,7 @@ Rectangle {
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.left: label.right
anchors.right: hamburger.left
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.simpleItem
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.isSimpleItem
text: missionItem.commandName
Component {
......@@ -130,9 +130,9 @@ Rectangle {
QGCLabel {
anchors.fill: commandPicker
visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.simpleItem
visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.isSimpleItem
verticalAlignment: Text.AlignVCenter
text: missionItem.sequenceNumber == 0 ? "Home Position" : (missionItem.simpleItem ? missionItem.commandName : "Survey")
text: missionItem.sequenceNumber == 0 ? "Home Position" : (missionItem.isSimpleItem ? missionItem.commandName : "Survey")
color: _outerTextColor
}
......@@ -142,7 +142,7 @@ Rectangle {
anchors.topMargin: _margin
anchors.left: parent.left
anchors.top: commandPicker.bottom
sourceComponent: missionItem.simpleItem ? simpleMissionItemEditor : complexMissionItemEditor
sourceComponent: missionItem.isSimpleItem ? simpleMissionItemEditor : complexMissionItemEditor
/// How wide the loaded component should be
property real availableWidth: _root.width - (_margin * 2)
......
src/qgcunittest/UnitTestList.cc
View file @ 32b8a549
......@@ -32,6 +32,7 @@
#include "LinkManagerTest.h"
#include "MessageBoxTest.h"
#include "MissionItemTest.h"
#include "SimpleMissionItemTest.h"
#include "MissionControllerTest.h"
#include "MissionManagerTest.h"
#include "RadioConfigTest.h"
......@@ -47,6 +48,7 @@ UT_REGISTER_TEST(LinkManagerTest)
UT_REGISTER_TEST(MavlinkLogTest)
UT_REGISTER_TEST(MessageBoxTest)
UT_REGISTER_TEST(MissionItemTest)
UT_REGISTER_TEST(SimpleMissionItemTest)
UT_REGISTER_TEST(MissionControllerTest)
UT_REGISTER_TEST(MissionManagerTest)
UT_REGISTER_TEST(RadioConfigTest)
......
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