Commit 32b8a549 authored by Don Gagne's avatar Don Gagne

Simple/Complex item rearchitecture

Plus new unit tests
parent e27ab01d
...@@ -263,6 +263,7 @@ HEADERS += \ ...@@ -263,6 +263,7 @@ HEADERS += \
src/MissionManager/MissionManager.h \ src/MissionManager/MissionManager.h \
src/MissionManager/ComplexMissionItem.h \ src/MissionManager/ComplexMissionItem.h \
src/MissionManager/SimpleMissionItem.h \ src/MissionManager/SimpleMissionItem.h \
src/MissionManager/VisualMissionItem.h \
src/QGC.h \ src/QGC.h \
src/QGCApplication.h \ src/QGCApplication.h \
src/QGCComboBox.h \ src/QGCComboBox.h \
...@@ -392,6 +393,7 @@ SOURCES += \ ...@@ -392,6 +393,7 @@ SOURCES += \
src/MissionManager/MissionManager.cc \ src/MissionManager/MissionManager.cc \
src/MissionManager/ComplexMissionItem.cc \ src/MissionManager/ComplexMissionItem.cc \
src/MissionManager/SimpleMissionItem.cc \ src/MissionManager/SimpleMissionItem.cc \
src/MissionManager/VisualMissionItem.cc \
src/QGC.cc \ src/QGC.cc \
src/QGCApplication.cc \ src/QGCApplication.cc \
src/QGCComboBox.cc \ src/QGCComboBox.cc \
...@@ -508,6 +510,7 @@ HEADERS += \ ...@@ -508,6 +510,7 @@ HEADERS += \
src/MissionManager/MissionControllerManagerTest.h \ src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionItemTest.h \ src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \ src/MissionManager/MissionManagerTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/qgcunittest/GeoTest.h \ src/qgcunittest/GeoTest.h \
src/qgcunittest/FileDialogTest.h \ src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \ src/qgcunittest/FileManagerTest.h \
...@@ -531,6 +534,7 @@ SOURCES += \ ...@@ -531,6 +534,7 @@ SOURCES += \
src/MissionManager/MissionControllerManagerTest.cc \ src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionItemTest.cc \ src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \ src/MissionManager/MissionManagerTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/qgcunittest/GeoTest.cc \ src/qgcunittest/GeoTest.cc \
src/qgcunittest/FileDialogTest.cc \ src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \ src/qgcunittest/FileManagerTest.cc \
......
...@@ -89,7 +89,7 @@ FlightMap { ...@@ -89,7 +89,7 @@ FlightMap {
// Add the mission items to the map // Add the mission items to the map
MissionItemView { MissionItemView {
model: _mainIsMap ? _missionController.missionItems : 0 model: _mainIsMap ? _missionController.visualItems : 0
} }
// Add lines between waypoints // Add lines between waypoints
......
...@@ -42,8 +42,11 @@ MapQuickItem { ...@@ -42,8 +42,11 @@ MapQuickItem {
sourceItem: sourceItem:
MissionItemIndexLabel { MissionItemIndexLabel {
id: _label id: _label
isCurrentItem: missionItem.isCurrentItem isCurrentItem: _isCurrentItem
label: missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber label: _sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
onClicked: _item.clicked() onClicked: _item.clicked()
property bool _isCurrentItem: missionItem ? missionItem.isCurrentItem : false
property bool _sequenceNumber: missionItem ? missionItem.sequenceNumber : 0
} }
} }
...@@ -40,7 +40,7 @@ import QGroundControl.Controllers 1.0 ...@@ -40,7 +40,7 @@ import QGroundControl.Controllers 1.0
QGCView { QGCView {
id: _root 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 viewPanel: panel
topDialogMargin: height - mainWindow.availableHeight topDialogMargin: height - mainWindow.availableHeight
...@@ -60,13 +60,11 @@ QGCView { ...@@ -60,13 +60,11 @@ QGCView {
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000 readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276) readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems property var _visualItems: controller.visualItems
property var _currentMissionItem property var _currentMissionItem
property bool _firstVehiclePosition: true property bool _firstVehiclePosition: true
property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate() property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false
onActiveVehiclePositionChanged: updateMapToVehiclePosition() onActiveVehiclePositionChanged: updateMapToVehiclePosition()
Connections { Connections {
...@@ -119,19 +117,19 @@ QGCView { ...@@ -119,19 +117,19 @@ QGCView {
/// Fix the map viewport to the current mission items. /// Fix the map viewport to the current mission items.
function fitViewportToMissionItems() { function fitViewportToMissionItems() {
if (_missionItems.count == 1) { if (_visualItems.count == 1) {
editorMap.center = _missionItems.get(0).coordinate editorMap.center = _visualItems.get(0).coordinate
} else { } else {
var missionItem = _missionItems.get(0) var missionItem = _visualItems.get(0)
var north = normalizeLat(missionItem.coordinate.latitude) var north = normalizeLat(missionItem.coordinate.latitude)
var south = north var south = north
var east = normalizeLon(missionItem.coordinate.longitude) var east = normalizeLon(missionItem.coordinate.longitude)
var west = east var west = east
for (var i=1; i<_missionItems.count; i++) { for (var i=1; i<_visualItems.count; i++) {
missionItem = _missionItems.get(i) missionItem = _visualItems.get(i)
if (missionItem.specifiesCoordinate && !missionItem.standaloneCoordinate) { if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
var lat = normalizeLat(missionItem.coordinate.latitude) var lat = normalizeLat(missionItem.coordinate.latitude)
var lon = normalizeLon(missionItem.coordinate.longitude) var lon = normalizeLon(missionItem.coordinate.longitude)
...@@ -161,7 +159,7 @@ QGCView { ...@@ -161,7 +159,7 @@ QGCView {
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync) onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
*/ */
onMissionItemsChanged: itemDragger.clearItem() onVisualItemsChanged: itemDragger.clearItem()
onNewItemsFromVehicle: fitViewportToMissionItems() onNewItemsFromVehicle: fitViewportToMissionItems()
} }
...@@ -177,12 +175,12 @@ QGCView { ...@@ -177,12 +175,12 @@ QGCView {
function setCurrentItem(index) { function setCurrentItem(index) {
_currentMissionItem = undefined _currentMissionItem = undefined
for (var i=0; i<_missionItems.count; i++) { for (var i=0; i<_visualItems.count; i++) {
if (i == index) { if (i == index) {
_currentMissionItem = _missionItems.get(i) _currentMissionItem = _visualItems.get(i)
_currentMissionItem.isCurrentItem = true _currentMissionItem.isCurrentItem = true
} else { } else {
_missionItems.get(i).isCurrentItem = false _visualItems.get(i).isCurrentItem = false
} }
} }
} }
...@@ -266,7 +264,7 @@ QGCView { ...@@ -266,7 +264,7 @@ QGCView {
QGCComboBox { QGCComboBox {
id: toCombo id: toCombo
model: _missionItems.count model: _visualItems.count
currentIndex: _moveDialogMissionItemIndex currentIndex: _moveDialogMissionItemIndex
} }
} }
...@@ -308,7 +306,7 @@ QGCView { ...@@ -308,7 +306,7 @@ QGCView {
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (addMissionItemsButton.checked) { if (addMissionItemsButton.checked) {
var index = controller.insertSimpleMissionItem(coordinate, controller.missionItems.count) var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(index) setCurrentItem(index)
} else { } else {
editorMap.mapClicked(coordinate) editorMap.mapClicked(coordinate)
...@@ -368,7 +366,7 @@ QGCView { ...@@ -368,7 +366,7 @@ QGCView {
// Add the simple mission items to the map // Add the simple mission items to the map
MapItemView { MapItemView {
model: controller.missionItems model: controller.visualItems
delegate: missionItemComponent delegate: missionItemComponent
} }
...@@ -399,8 +397,8 @@ QGCView { ...@@ -399,8 +397,8 @@ QGCView {
Connections { Connections {
target: object target: object
onIsCurrentItemChanged: updateItemIndicator() onIsCurrentItemChanged: updateItemIndicator()
onCommandChanged: updateItemIndicator() onSpecifiesCoordinateChanged: updateItemIndicator()
} }
// These are the non-coordinate child mission items attached to this item // These are the non-coordinate child mission items attached to this item
...@@ -425,7 +423,7 @@ QGCView { ...@@ -425,7 +423,7 @@ QGCView {
// Add the complex mission items to the map // Add the complex mission items to the map
MapItemView { MapItemView {
model: controller.complexMissionItems model: controller.complexVisualItems
delegate: polygonItemComponent delegate: polygonItemComponent
} }
...@@ -480,10 +478,10 @@ QGCView { ...@@ -480,10 +478,10 @@ QGCView {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
anchors.top: parent.top anchors.top: parent.top
height: Math.min(contentHeight, parent.height) height: parent.height
spacing: _margin / 2 spacing: _margin / 2
orientation: ListView.Vertical orientation: ListView.Vertical
model: controller.missionItems model: controller.visualItems
cacheBuffer: height * 2 cacheBuffer: height * 2
delegate: MissionItemEditor { delegate: MissionItemEditor {
...@@ -504,7 +502,7 @@ QGCView { ...@@ -504,7 +502,7 @@ QGCView {
setCurrentItem(i) setCurrentItem(i)
} }
onMoveHomeToMapCenter: controller.missionItems.get(0).coordinate = editorMap.center onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
} }
} // ListView } // ListView
} // Item - Mission Item editor } // Item - Mission Item editor
...@@ -551,7 +549,7 @@ QGCView { ...@@ -551,7 +549,7 @@ QGCView {
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.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) setCurrentItem(index)
checked = false checked = false
} }
...@@ -565,8 +563,8 @@ QGCView { ...@@ -565,8 +563,8 @@ QGCView {
exclusiveGroup: _dropButtonsExclusiveGroup exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets z: QGroundControl.zOrderWidgets
dropDownComponent: syncDropDownComponent dropDownComponent: syncDropDownComponent
enabled: !_syncInProgress enabled: !controller.syncInProgress
rotateImage: _syncInProgress rotateImage: controller.syncInProgress
} }
DropButton { DropButton {
...@@ -589,7 +587,7 @@ QGCView { ...@@ -589,7 +587,7 @@ QGCView {
onClicked: { onClicked: {
centerMapButton.hideDropDown() centerMapButton.hideDropDown()
editorMap.center = controller.missionItems.get(0).coordinate editorMap.center = controller.visualItems.get(0).coordinate
} }
} }
...@@ -688,7 +686,7 @@ QGCView { ...@@ -688,7 +686,7 @@ QGCView {
anchors.bottom: parent.bottom anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem currentMissionItem: _currentMissionItem
missionItems: controller.missionItems missionItems: controller.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2) expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
} }
} // FlightMap } // FlightMap
...@@ -758,7 +756,7 @@ QGCView { ...@@ -758,7 +756,7 @@ QGCView {
QGCButton { QGCButton {
text: "Send to vehicle" text: "Send to vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress enabled: !controller.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
...@@ -768,7 +766,7 @@ QGCView { ...@@ -768,7 +766,7 @@ QGCView {
QGCButton { QGCButton {
text: "Load from vehicle" text: "Load from vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress enabled: !controller.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
...@@ -786,6 +784,7 @@ QGCView { ...@@ -786,6 +784,7 @@ QGCView {
QGCButton { QGCButton {
text: "Save to file..." text: "Save to file..."
enabled: !controller.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
...@@ -795,6 +794,7 @@ QGCView { ...@@ -795,6 +794,7 @@ QGCView {
QGCButton { QGCButton {
text: "Load from file..." text: "Load from file..."
enabled: !controller.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
......
...@@ -114,7 +114,7 @@ Rectangle { ...@@ -114,7 +114,7 @@ Rectangle {
Item { Item {
height: graphRow.height height: graphRow.height
width: ScreenTools.smallFontPixelWidth * 2 width: ScreenTools.smallFontPixelWidth * 2
visible: object.specifiesCoordinate && !object.standaloneCoordinate visible: object.specifiesCoordinate && !object.isStandaloneCoordinate
property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height
......
...@@ -23,43 +23,19 @@ This file is part of the QGROUNDCONTROL project ...@@ -23,43 +23,19 @@ This file is part of the QGROUNDCONTROL project
#include "ComplexMissionItem.h" #include "ComplexMissionItem.h"
ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent) ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
: MissionItem(vehicle, parent) : VisualMissionItem(vehicle, parent)
{ , _dirty(false)
}
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)
{ {
} }
ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent) 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) QVariantList ComplexMissionItem::polygonPath(void)
{ {
return _polygonPath; return _polygonPath;
...@@ -85,3 +61,33 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate) ...@@ -85,3 +61,33 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
_polygonPath << QVariant::fromValue(coordinate); _polygonPath << QVariant::fromValue(coordinate);
emit polygonPathChanged(); 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;
}
...@@ -24,34 +24,17 @@ ...@@ -24,34 +24,17 @@
#ifndef ComplexMissionItem_H #ifndef ComplexMissionItem_H
#define ComplexMissionItem_H #define ComplexMissionItem_H
#include "VisualMissionItem.h"
#include "MissionItem.h" #include "MissionItem.h"
class ComplexMissionItem : public MissionItem class ComplexMissionItem : public VisualMissionItem
{ {
Q_OBJECT Q_OBJECT
public: public:
ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL); 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); ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
const ComplexMissionItem& operator=(const ComplexMissionItem& other);
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged) Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_INVOKABLE void clearPolygon(void); Q_INVOKABLE void clearPolygon(void);
...@@ -59,15 +42,38 @@ public: ...@@ -59,15 +42,38 @@ public:
QVariantList polygonPath(void); QVariantList polygonPath(void);
// Overrides from MissionItem base class const QList<MissionItem*>& missionItems(void) { return _missionItems; }
bool simpleItem (void) const final { return false; }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); } /// @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: signals:
void polygonPathChanged(void); void polygonPathChanged(void);
private: private:
QVariantList _polygonPath; bool _dirty;
QVariantList _polygonPath;
QList<MissionItem*> _missionItems;
QGeoCoordinate _coordinate;
}; };
#endif #endif
...@@ -95,7 +95,7 @@ public: ...@@ -95,7 +95,7 @@ public:
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT) Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT) Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName 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) Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; } MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
...@@ -106,7 +106,7 @@ public: ...@@ -106,7 +106,7 @@ public:
bool friendlyEdit (void) const { return _friendlyEdit; } bool friendlyEdit (void) const { return _friendlyEdit; }
QString friendlyName (void) const { return _friendlyName; } QString friendlyName (void) const { return _friendlyName; }
QString rawName (void) const { return _rawName; } QString rawName (void) const { return _rawName; }
bool standaloneCoordinate(void) const { return _standaloneCoordinate; } bool isStandaloneCoordinate(void) const { return _standaloneCoordinate; }
bool specifiesCoordinate (void) const { return _specifiesCoordinate; } bool specifiesCoordinate (void) const { return _specifiesCoordinate; }
const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; } const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
......
This diff is collapsed.
...@@ -30,7 +30,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -30,7 +30,7 @@ This file is part of the QGROUNDCONTROL project
#include "Vehicle.h" #include "Vehicle.h"
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "MavlinkQmlSingleton.h" #include "MavlinkQmlSingleton.h"
#include "MissionItem.h" #include "VisualMissionItem.h"
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
...@@ -42,11 +42,11 @@ public: ...@@ -42,11 +42,11 @@ public:
MissionController(QObject* parent = NULL); MissionController(QObject* parent = NULL);
~MissionController(); ~MissionController();
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged) Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexMissionItems READ complexMissionItems NOTIFY complexMissionItemsChanged) Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged) Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged)
Q_INVOKABLE void start(bool editMode); Q_INVOKABLE void start(bool editMode);
Q_INVOKABLE void getMissionItems(void); Q_INVOKABLE void getMissionItems(void);
...@@ -67,16 +67,17 @@ public: ...@@ -67,16 +67,17 @@ public:
// Property accessors // Property accessors
QmlObjectListModel* missionItems(void); QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexMissionItems(void); QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines(void) { return &_waypointLines; } QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
bool autoSync(void) { return _autoSync; } bool autoSync(void) { return _autoSync; }
void setAutoSync(bool autoSync); void setAutoSync(bool autoSync);
bool syncInProgress(void); bool syncInProgress(void);
signals: signals:
void missionItemsChanged(void); void visualItemsChanged(void);
void complexMissionItemsChanged(void); void complexVisualItemsChanged(void);
void waypointLinesChanged(void); void waypointLinesChanged(void);
void autoSyncChanged(bool autoSync); void autoSyncChanged(bool autoSync);
void newItemsFromVehicle(void); void newItemsFromVehicle(void);
...@@ -85,41 +86,40 @@ signals: ...@@ -85,41 +86,40 @@ signals:
private slots: private slots:
void _newMissionItemsAvailableFromVehicle(); void _newMissionItemsAvailableFromVehicle();
void _itemCoordinateChanged(const QGeoCoordinate& coordinate); void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
void _itemFrameChanged(int frame); void _itemCommandChanged(void);
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void _activeVehicleChanged(Vehicle* activeVehicle); void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable); void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _dirtyChanged(bool dirty); void _dirtyChanged(bool dirty);
void _inProgressChanged(bool inProgress); void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber); void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
private: private:
void _recalcSequence(void); void _recalcSequence(void);
void _recalcWaypointLines(void);
void _recalcChildItems(void); void _recalcChildItems(void);
void _recalcAll(void); void _recalcAll(void);
void _initAllMissionItems(void); void _initAllVisualItems(void);
void _deinitAllMissionItems(void); void _deinitAllVisualItems(void);
void _initMissionItem(MissionItem* item); void _initVisualItem(VisualMissionItem* item);
void _deinitMissionItem(MissionItem* item); void _deinitVisualItem(VisualMissionItem* item);
void _autoSyncSend(void); void _autoSyncSend(void);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle); 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 _findLastAltitude(double* lastAltitude);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius); bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter); void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat); double _normalizeLat(double lat);
double _normalizeLon(double lon); double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString); bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString); bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
void _loadMissionFromFile(const QString& file); void _loadMissionFromFile(const QString& file);
void _saveMissionToFile(const QString& file); void _saveMissionToFile(const QString& file);
private: private:
bool _editMode; bool _editMode;
QmlObjectListModel* _missionItems; QmlObjectListModel* _visualItems;
QmlObjectListModel* _complexMissionItems; QmlObjectListModel* _complexItems;
QmlObjectListModel _waypointLines; QmlObjectListModel _waypointLines;
Vehicle* _activeVehicle; Vehicle* _activeVehicle;
bool _autoSync; bool _autoSync;
......
...@@ -63,7 +63,7 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy ...@@ -63,7 +63,7 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
} }
QVERIFY(!_missionManager->inProgress()); QVERIFY(!_missionManager->inProgress());
QCOMPARE(_missionManager->missionItems()->count(), 0); QCOMPARE(_missionManager->missionItems().count(), 0);
_multiSpyMissionManager->clearAllSignals(); _multiSpyMissionManager->clearAllSignals();
} }
......
...@@ -24,6 +24,7 @@ ...@@ -24,6 +24,7 @@
#include "MissionControllerTest.h" #include "MissionControllerTest.h"
#include "LinkManager.h" #include "LinkManager.h"
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
#include "SimpleMissionItem.h"
MissionControllerTest::MissionControllerTest(void) MissionControllerTest::MissionControllerTest(void)
: _multiSpyMissionController(NULL) : _multiSpyMissionController(NULL)
...@@ -62,7 +63,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) ...@@ -62,7 +63,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
_rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&)); _rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
// MissionController signals // MissionController signals
_rgMissionControllerSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged()); _rgMissionControllerSignals[visualItemsChangedSignalIndex] = SIGNAL(visualItemsChanged());
_rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); _rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged());
if (!_missionController) { if (!_missionController) {
...@@ -80,17 +81,17 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) ...@@ -80,17 +81,17 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
} }
// All signals should some through on start // All signals should some through on start
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask), true); QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(visualItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
_multiSpyMissionController->clearAllSignals(); _multiSpyMissionController->clearAllSignals();
QmlObjectListModel* missionItems = _missionController->missionItems(); QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(missionItems); QVERIFY(visualItems);
// Empty vehicle only has home position // 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 // 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); QVERIFY(homeItem);
QCOMPARE(homeItem->homePosition(), true); QCOMPARE(homeItem->homePosition(), true);
...@@ -113,9 +114,9 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType) ...@@ -113,9 +114,9 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
// FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that // FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
// sets up an empty vehicle // sets up an empty vehicle
QmlObjectListModel* missionItems = _missionController->missionItems(); QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(missionItems); QVERIFY(visualItems);
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
QVERIFY(homeItem); QVERIFY(homeItem);
_setupMissionItemSignals(homeItem); _setupMissionItemSignals(homeItem);
...@@ -137,17 +138,17 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType) ...@@ -137,17 +138,17 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
QGeoCoordinate coordinate(37.803784, -122.462276); QGeoCoordinate coordinate(37.803784, -122.462276);
_missionController->insertSimpleMissionItem(coordinate, _missionController->missionItems()->count()); _missionController->insertSimpleMissionItem(coordinate, _missionController->visualItems()->count());
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true); QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
QmlObjectListModel* missionItems = _missionController->missionItems(); QmlObjectListModel* visualItems = _missionController->visualItems();
QVERIFY(missionItems); QVERIFY(visualItems);
QCOMPARE(missionItems->count(), 2); QCOMPARE(visualItems->count(), 2);
MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0)); SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1)); SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(1));
QVERIFY(homeItem); QVERIFY(homeItem);
QVERIFY(item); QVERIFY(item);
...@@ -182,13 +183,13 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp ...@@ -182,13 +183,13 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp
_missionController = new MissionController(); _missionController = new MissionController();
Q_CHECK_PTR(_missionController); Q_CHECK_PTR(_missionController);
_missionController->start(true /* editMode */); _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 // Go online to empty vehicle
MissionControllerManagerTest::_initForFirmwareType(firmwareType); MissionControllerManagerTest::_initForFirmwareType(firmwareType);
// Make sure our offline mission items are still there // Make sure our offline mission items are still there
QCOMPARE(_missionController->missionItems()->count(), 2); QCOMPARE(_missionController->visualItems()->count(), 2);
} }
void MissionControllerTest::_testOfflineToOnlineAPM(void) void MissionControllerTest::_testOfflineToOnlineAPM(void)
...@@ -201,7 +202,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void) ...@@ -201,7 +202,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
_testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4); _testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
} }
void MissionControllerTest::_setupMissionItemSignals(MissionItem* item) void MissionControllerTest::_setupMissionItemSignals(SimpleMissionItem* item)
{ {
delete _multiSpyMissionItem; delete _multiSpyMissionItem;
......
...@@ -30,6 +30,7 @@ ...@@ -30,6 +30,7 @@
#include "MultiSignalSpy.h" #include "MultiSignalSpy.h"
#include "MissionControllerManagerTest.h" #include "MissionControllerManagerTest.h"
#include "MissionController.h" #include "MissionController.h"
#include "SimpleMissionItem.h"
#include <QGeoCoordinate> #include <QGeoCoordinate>
...@@ -55,7 +56,7 @@ private: ...@@ -55,7 +56,7 @@ private:
void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType); void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType); void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType); void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
void _setupMissionItemSignals(MissionItem* item); void _setupMissionItemSignals(SimpleMissionItem* item);
// MissiomItems signals // MissiomItems signals
...@@ -72,13 +73,13 @@ private: ...@@ -72,13 +73,13 @@ private:
// MissionController signals // MissionController signals
enum { enum {
missionItemsChangedSignalIndex = 0, visualItemsChangedSignalIndex = 0,
waypointLinesChangedSignalIndex, waypointLinesChangedSignalIndex,
missionControllerMaxSignalIndex missionControllerMaxSignalIndex
}; };
enum { enum {
missionItemsChangedSignalMask = 1 << missionItemsChangedSignalIndex, visualItemsChangedSignalMask = 1 << visualItemsChangedSignalIndex,
waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex, waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex,
}; };
......
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This diff is collapsed.
...@@ -25,16 +25,9 @@ ...@@ -25,16 +25,9 @@
#define MissionItemTest_H #define MissionItemTest_H
#include "UnitTest.h" #include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h" #include "MultiSignalSpy.h"
#include <QGeoCoordinate> /// Unit test for the MissionItem Object
/// @file
/// @brief FlightGear HIL Simulation unit tests
///
/// @author Don Gagne <don@thegagnes.com>
class MissionItemTest : public UnitTest class MissionItemTest : public UnitTest
{ {
Q_OBJECT Q_OBJECT
...@@ -43,36 +36,12 @@ public: ...@@ -43,36 +36,12 @@ public:
MissionItemTest(void); MissionItemTest(void);
private slots: private slots:
void _test(void); void _testSetGet(void);
void _testDefaultValues(void); void _testSignals(void);
void _testFactSignals(void);
private: void _testLoadFromStream(void);
void _testLoadFromJson(void);
typedef struct { void _testSaveToJson(void);
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[];
}; };
#endif #endif
...@@ -29,7 +29,6 @@ ...@@ -29,7 +29,6 @@
#include "FirmwarePlugin.h" #include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h" #include "MAVLinkProtocol.h"
#include "QGCApplication.h" #include "QGCApplication.h"
#include "SimpleMissionItem.h"
QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog") QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
...@@ -56,7 +55,7 @@ MissionManager::~MissionManager() ...@@ -56,7 +55,7 @@ MissionManager::~MissionManager()
} }
void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems) void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
{ {
bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle(); bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();
...@@ -65,12 +64,13 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems) ...@@ -65,12 +64,13 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
int firstIndex = skipFirstItem ? 1 : 0; int firstIndex = skipFirstItem ? 1 : 0;
for (int i=firstIndex; i<missionItems.count(); i++) { 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) { 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); item->setSequenceNumber(item->sequenceNumber() - 1);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->setParam1((int)item->param1() - 1); item->setParam1((int)item->param1() - 1);
...@@ -253,8 +253,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message) ...@@ -253,8 +253,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
_requestItemRetryCount = 0; _requestItemRetryCount = 0;
_itemIndicesToRead.removeOne(missionItem.seq); _itemIndicesToRead.removeOne(missionItem.seq);
MissionItem* item = new SimpleMissionItem(_vehicle, MissionItem* item = new MissionItem(missionItem.seq,
missionItem.seq,
(MAV_CMD)missionItem.command, (MAV_CMD)missionItem.command,
(MAV_FRAME)missionItem.frame, (MAV_FRAME)missionItem.frame,
missionItem.param1, missionItem.param1,
...@@ -268,7 +267,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message) ...@@ -268,7 +267,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
missionItem.current, missionItem.current,
this); this);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { if (item->command() == MAV_CMD_DO_JUMP) {
// Home is in position 0 // Home is in position 0
item->setParam1((int)item->param1() + 1); item->setParam1((int)item->param1() + 1);
} }
...@@ -323,19 +322,19 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message) ...@@ -323,19 +322,19 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
mavlink_message_t messageOut; mavlink_message_t messageOut;
mavlink_mission_item_t missionItem; mavlink_mission_item_t missionItem;
MissionItem* item = (MissionItem*)_missionItems[missionRequest.seq]; MissionItem* item = _missionItems[missionRequest.seq];
missionItem.target_system = _vehicle->id(); missionItem.target_system = _vehicle->id();
missionItem.target_component = MAV_COMP_ID_MISSIONPLANNER; missionItem.target_component = MAV_COMP_ID_MISSIONPLANNER;
missionItem.seq = missionRequest.seq; missionItem.seq = missionRequest.seq;
missionItem.command = item->command(); missionItem.command = item->command();
missionItem.x = item->coordinate().latitude();
missionItem.y = item->coordinate().longitude();
missionItem.z = item->coordinate().altitude();
missionItem.param1 = item->param1(); missionItem.param1 = item->param1();
missionItem.param2 = item->param2(); missionItem.param2 = item->param2();
missionItem.param3 = item->param3(); missionItem.param3 = item->param3();
missionItem.param4 = item->param4(); missionItem.param4 = item->param4();
missionItem.x = item->param5();
missionItem.y = item->param6();
missionItem.z = item->param7();
missionItem.frame = item->frame(); missionItem.frame = item->frame();
missionItem.current = missionRequest.seq == 0; missionItem.current = missionRequest.seq == 0;
missionItem.autocontinue = item->autoContinue(); missionItem.autocontinue = item->autoContinue();
...@@ -428,17 +427,6 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message) ...@@ -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) void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
{ {
qCDebug(MissionManagerLog) << "Sending error" << errorCode << errorMsg; qCDebug(MissionManagerLog) << "Sending error" << errorCode << errorMsg;
......
...@@ -30,7 +30,7 @@ ...@@ -30,7 +30,7 @@
#include <QMutex> #include <QMutex>
#include <QTimer> #include <QTimer>
#include "QmlObjectListModel.h" #include "MissionItem.h"
#include "QGCMAVLink.h" #include "QGCMAVLink.h"
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "LinkInterface.h" #include "LinkInterface.h"
...@@ -48,27 +48,15 @@ public: ...@@ -48,27 +48,15 @@ public:
MissionManager(Vehicle* vehicle); MissionManager(Vehicle* vehicle);
~MissionManager(); ~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); bool inProgress(void);
QmlObjectListModel* missionItems(void) { return &_missionItems; } const QList<MissionItem*>& missionItems(void) { return _missionItems; }
int currentItem(void) { return _currentMissionItem; } int currentItem(void) { return _currentMissionItem; }
// C++ methods
void requestMissionItems(void); void requestMissionItems(void);
/// Writes the specified set of mission items to the vehicle /// Writes the specified set of mission items to the vehicle
/// @oaram missionItems Items to send to vehicle /// @param missionItems Items to send to vehicle
void writeMissionItems(const QmlObjectListModel& missionItems); void writeMissionItems(const QList<MissionItem*>& missionItems);
/// Returns a copy of the current set of mission items. Caller is responsible for
/// freeing returned object.
QmlObjectListModel* copyMissionItems(void);
/// Error codes returned in error signal /// Error codes returned in error signal
typedef enum { typedef enum {
...@@ -134,7 +122,7 @@ private: ...@@ -134,7 +122,7 @@ private:
QMutex _dataMutex; QMutex _dataMutex;
QmlObjectListModel _missionItems; QList<MissionItem*> _missionItems;
int _currentMissionItem; int _currentMissionItem;
}; };
......
...@@ -24,7 +24,6 @@ ...@@ -24,7 +24,6 @@
#include "MissionManagerTest.h" #include "MissionManagerTest.h"
#include "LinkManager.h" #include "LinkManager.h"
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
#include "SimpleMissionItem.h"
const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { 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 } }, { "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 ...@@ -46,32 +45,31 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
_mockLink->setMissionItemFailureMode(failureMode); _mockLink->setMissionItemFailureMode(failureMode);
// Setup our test case data // 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 // Editor has a home position item on the front, so we do the same
SimpleMissionItem* homeItem = new SimpleMissionItem(NULL /* Vehicle */, this); MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
homeItem->setHomePositionSpecialCase(true); homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0)); homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
homeItem->setSequenceNumber(0); homeItem->setSequenceNumber(0);
list->insert(0, homeItem); missionItems.append(homeItem);
for (size_t i=0; i<_cTestCases; i++) { for (size_t i=0; i<_cTestCases; i++) {
const TestCase_t* testCase = &_rgTestCases[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); 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 // 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 // Send the items to the vehicle
_missionManager->writeMissionItems(*list); _missionManager->writeMissionItems(missionItems);
// writeMissionItems should emit these signals before returning: // writeMissionItems should emit these signals before returning:
// inProgressChanged // inProgressChanged
...@@ -101,7 +99,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f ...@@ -101,7 +99,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
expectedCount++; expectedCount++;
} }
QCOMPARE(_missionManager->missionItems()->count(), expectedCount); QCOMPARE(_missionManager->missionItems().count(), expectedCount);
} else { } else {
// This should be a failed run // This should be a failed run
...@@ -125,8 +123,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f ...@@ -125,8 +123,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
checkExpectedMessageBox(); checkExpectedMessageBox();
} }
delete list;
list = NULL;
_multiSpyMissionManager->clearAllSignals(); _multiSpyMissionManager->clearAllSignals();
} }
...@@ -196,7 +192,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode ...@@ -196,7 +192,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
cMissionItemsExpected = 0; cMissionItemsExpected = 0;
} }
QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected); QCOMPARE(_missionManager->missionItems().count(), (int)cMissionItemsExpected);
size_t firstActualItem = 0; size_t firstActualItem = 0;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
...@@ -214,7 +210,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode ...@@ -214,7 +210,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
expectedSequenceNumber++; expectedSequenceNumber++;
} }
MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex)); MissionItem* actual = _missionManager->missionItems()[actualItemIndex];
qDebug() << "Test case" << testCaseIndex; qDebug() << "Test case" << testCaseIndex;
QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber); QCOMPARE(actual->sequenceNumber(), expectedSequenceNumber);
......
This diff is collapsed.
...@@ -24,39 +24,151 @@ ...@@ -24,39 +24,151 @@
#ifndef SimpleMissionItem_H #ifndef SimpleMissionItem_H
#define SimpleMissionItem_H #define SimpleMissionItem_H
#include "VisualMissionItem.h"
#include "MissionItem.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 Q_OBJECT
public: public:
SimpleMissionItem(Vehicle* vehicle, QObject* parent = NULL); SimpleMissionItem(Vehicle* vehicle, QObject* parent = NULL);
SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, 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(const SimpleMissionItem& other, QObject* parent = NULL); SimpleMissionItem(const SimpleMissionItem& other, QObject* parent = NULL);
~SimpleMissionItem();
const SimpleMissionItem& operator=(const SimpleMissionItem& other); 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 static const double defaultAltitude;
bool simpleItem (void) const final { return true; }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); } 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: 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 #endif
This diff is collapsed.
/*=====================================================================
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
/*===================================================================
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);
}
}
/*=====================================================================
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
...@@ -82,14 +82,14 @@ Rectangle { ...@@ -82,14 +82,14 @@ Rectangle {
} }
MenuSeparator { MenuSeparator {
visible: !missionItem.simpleItem visible: missionItem.isSimpleItem
} }
MenuItem { MenuItem {
text: "Show all values" text: "Show all values"
checkable: true checkable: true
checked: missionItem.rawEdit checked: missionItem.rawEdit
visible: !missionItem.simpleItem visible: missionItem.isSimpleItem
onTriggered: { onTriggered: {
if (missionItem.rawEdit) { if (missionItem.rawEdit) {
...@@ -114,7 +114,7 @@ Rectangle { ...@@ -114,7 +114,7 @@ Rectangle {
anchors.rightMargin: ScreenTools.defaultFontPixelWidth anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.left: label.right anchors.left: label.right
anchors.right: hamburger.left 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 text: missionItem.commandName
Component { Component {
...@@ -130,9 +130,9 @@ Rectangle { ...@@ -130,9 +130,9 @@ Rectangle {
QGCLabel { QGCLabel {
anchors.fill: commandPicker anchors.fill: commandPicker
visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.simpleItem visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.isSimpleItem
verticalAlignment: Text.AlignVCenter 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 color: _outerTextColor
} }
...@@ -142,7 +142,7 @@ Rectangle { ...@@ -142,7 +142,7 @@ Rectangle {
anchors.topMargin: _margin anchors.topMargin: _margin
anchors.left: parent.left anchors.left: parent.left
anchors.top: commandPicker.bottom anchors.top: commandPicker.bottom
sourceComponent: missionItem.simpleItem ? simpleMissionItemEditor : complexMissionItemEditor sourceComponent: missionItem.isSimpleItem ? simpleMissionItemEditor : complexMissionItemEditor
/// How wide the loaded component should be /// How wide the loaded component should be
property real availableWidth: _root.width - (_margin * 2) property real availableWidth: _root.width - (_margin * 2)
......
...@@ -32,6 +32,7 @@ ...@@ -32,6 +32,7 @@
#include "LinkManagerTest.h" #include "LinkManagerTest.h"
#include "MessageBoxTest.h" #include "MessageBoxTest.h"
#include "MissionItemTest.h" #include "MissionItemTest.h"
#include "SimpleMissionItemTest.h"
#include "MissionControllerTest.h" #include "MissionControllerTest.h"
#include "MissionManagerTest.h" #include "MissionManagerTest.h"
#include "RadioConfigTest.h" #include "RadioConfigTest.h"
...@@ -47,6 +48,7 @@ UT_REGISTER_TEST(LinkManagerTest) ...@@ -47,6 +48,7 @@ UT_REGISTER_TEST(LinkManagerTest)
UT_REGISTER_TEST(MavlinkLogTest) UT_REGISTER_TEST(MavlinkLogTest)
UT_REGISTER_TEST(MessageBoxTest) UT_REGISTER_TEST(MessageBoxTest)
UT_REGISTER_TEST(MissionItemTest) UT_REGISTER_TEST(MissionItemTest)
UT_REGISTER_TEST(SimpleMissionItemTest)
UT_REGISTER_TEST(MissionControllerTest) UT_REGISTER_TEST(MissionControllerTest)
UT_REGISTER_TEST(MissionManagerTest) UT_REGISTER_TEST(MissionManagerTest)
UT_REGISTER_TEST(RadioConfigTest) UT_REGISTER_TEST(RadioConfigTest)
......
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