From 3409524b58cc9fc1febda54145410e48cfceb348 Mon Sep 17 00:00:00 2001 From: Valentin Platzgummer Date: Tue, 7 Jul 2020 18:11:25 +0200 Subject: [PATCH] ROSJsonFactory running, not fully tested. --- Paths/#airstrip.wima | 1872 - Paths/#airstrip2.wima | 1305 - Paths/Klingenbach.plan | 3805 - Paths/KlingenbachSurvey.plan | 239 - Paths/airstrip.wima | 1128 - Paths/perfCirc.plan | 14123 - Paths/perfCircSurvey.plan | 202542 --------------- Paths/test.plan | 1842 - Paths/ttt.plan | 1182 - qgroundcontrol.pro | 23 +- src/Wima/GeoPoint3D.cpp | 15 + src/Wima/GeoPoint3D.h | 36 + src/Wima/Polygon2D.h | 30 + src/Wima/PolygonArray.cc | 4 + src/Wima/PolygonArray.h | 17 + src/Wima/QtROSJsonFactory.h | 4 + src/Wima/ROSCommunicator.cpp | 6 + src/Wima/ROSCommunicator.h | 24 + src/Wima/ROSJsonFactory.cpp | 2 + src/Wima/ROSJsonFactory.h | 204 + src/Wima/ROSMessageGroups.h | 45 + src/Wima/ROSMessageType.h | 25 + src/Wima/SnakeTiles.h | 4 + src/Wima/SnakeTilesLocal.h | 4 + src/Wima/WimaArea.h | 1 - src/Wima/WimaAreaData.cc | 2 +- src/Wima/WimaAreaData.h | 8 +- src/Wima/WimaController.cc | 274 +- src/Wima/WimaController.h | 14 +- src/Wima/WimaCorridorData.h | 1 + src/Wima/WimaJoinedAreaData.h | 1 + src/Wima/WimaMeasurementAreaData.h | 1 + src/Wima/WimaPolygonArray.h | 58 + src/Wima/WimaServiceAreaData.h | 2 +- src/Wima/snaketile.cpp | 23 + src/Wima/snaketile.h | 19 + .../ros_bridge/include/ROSMessageTraits.h | 102 + src/comm/ros_bridge/include/jsongenerator.h | 5 - src/comm/ros_bridge/include/messages.h | 523 +- src/comm/ros_bridge/src/messages.cpp | 0 src/comm/utilities.h | 11 + src/main.cc | 6 - test_rosbridge/rosbridge/.snake.cpp.kate-swp | Bin 125 -> 0 bytes 43 files changed, 1247 insertions(+), 228285 deletions(-) delete mode 100644 Paths/#airstrip.wima delete mode 100644 Paths/#airstrip2.wima delete mode 100644 Paths/Klingenbach.plan delete mode 100644 Paths/KlingenbachSurvey.plan delete mode 100644 Paths/airstrip.wima delete mode 100644 Paths/perfCirc.plan delete mode 100644 Paths/perfCircSurvey.plan delete mode 100644 Paths/test.plan delete mode 100644 Paths/ttt.plan create mode 100644 src/Wima/GeoPoint3D.cpp create mode 100644 src/Wima/GeoPoint3D.h create mode 100644 src/Wima/Polygon2D.h create mode 100644 src/Wima/PolygonArray.cc create mode 100644 src/Wima/PolygonArray.h create mode 100644 src/Wima/QtROSJsonFactory.h create mode 100644 src/Wima/ROSCommunicator.cpp create mode 100644 src/Wima/ROSCommunicator.h create mode 100644 src/Wima/ROSJsonFactory.cpp create mode 100644 src/Wima/ROSJsonFactory.h create mode 100644 src/Wima/ROSMessageGroups.h create mode 100644 src/Wima/ROSMessageType.h create mode 100644 src/Wima/SnakeTiles.h create mode 100644 src/Wima/SnakeTilesLocal.h create mode 100644 src/Wima/WimaPolygonArray.h create mode 100644 src/Wima/snaketile.cpp create mode 100644 src/Wima/snaketile.h create mode 100644 src/comm/ros_bridge/include/ROSMessageTraits.h delete mode 100644 src/comm/ros_bridge/include/jsongenerator.h delete mode 100644 src/comm/ros_bridge/src/messages.cpp delete mode 100644 test_rosbridge/rosbridge/.snake.cpp.kate-swp diff --git a/Paths/#airstrip.wima b/Paths/#airstrip.wima deleted file mode 100644 index 072f1d4d3..000000000 --- a/Paths/#airstrip.wima +++ /dev/null @@ -1,1872 +0,0 @@ -{ - "AreaItems": [ - { - "AreaType": "Measurement Area", - "BorderPolygonOffset": 5, - "BottomLayerAltitude": 5, - "LayerDistance": 1, - "NumberOfLayers": 1, - "ShowBorderPolygon": 0, - "maxAltitude": 30, - "polygon": [ - [ - -35.36245358940141, - 149.1646806473599 - ], - [ - -35.36245358940141, - 149.16578342801836 - ], - [ - -35.363352909990994, - 149.16578342801836 - ], - [ - -35.363352909990994, - 149.1646806473599 - ], - [ - -35.36312807984359, - 149.1646806473599 - ], - [ - -35.36296398653496, - 149.16502466400482 - ] - ] - }, - { - "AreaType": "Service Area", - "BorderPolygonOffset": 5, - "ShowBorderPolygon": 0, - "maxAltitude": 30, - "polygon": [ - [ - -35.36248285724683, - 149.1627701598158 - ], - [ - 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"points": [ - ], - "version": 2 - }, - "version": 1 -} diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index c2976b64f..31a7a020f 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -429,7 +429,19 @@ HEADERS += \ src/Snake/snake.h \ src/Snake/snake_geometry.h \ src/Snake/snake_global.h \ + src/Wima/GeoPoint3D.h \ + src/Wima/Polygon2D.h \ + src/Wima/PolygonArray.h \ + src/Wima/QtROSJsonFactory.h \ + src/Wima/ROSCommunicator.h \ + src/Wima/ROSJsonFactory.h \ + src/Wima/ROSMessageGroups.h \ + src/Wima/ROSMessageType.h \ + src/Wima/SnakeTiles.h \ + src/Wima/SnakeTilesLocal.h \ src/Wima/WimaControllerDetail.h \ + src/Wima/WimaPolygonArray.h \ + src/Wima/snaketile.h \ src/api/QGCCorePlugin.h \ src/api/QGCOptions.h \ src/api/QGCSettings.h \ @@ -443,7 +455,6 @@ HEADERS += \ src/Wima/WimaVehicle.h \ src/Wima/WimaDataContainer.h \ src/Wima/WimaPlaner.h \ - src/Wima/WimaPlaner.h \ src/Wima/WimaMeasurementArea.h \ src/Wima/WimaCorridor.h \ src/Wima/WimaAreaData.h \ @@ -464,14 +475,19 @@ HEADERS += \ src/Wima/testplanimetrycalculus.h \ src/Settings/WimaSettings.h \ src/QmlControls/QmlObjectVectorModel.h \ - src/comm/ros_bridge/include/jsongenerator.h \ + src/comm/ros_bridge/include/ROSMessageTraits.h \ src/comm/ros_bridge/include/messages.h \ src/comm/utilities.h SOURCES += \ src/Snake/clipper/clipper.cpp \ src/Snake/snake.cpp \ src/Snake/snake_geometry.cpp \ + src/Wima/GeoPoint3D.cpp \ + src/Wima/PolygonArray.cc \ + src/Wima/ROSCommunicator.cpp \ + src/Wima/ROSJsonFactory.cpp \ src/Wima/WimaControllerDetail.cc \ + src/Wima/snaketile.cpp \ src/api/QGCCorePlugin.cc \ src/api/QGCOptions.cc \ src/api/QGCSettings.cc \ @@ -503,8 +519,7 @@ SOURCES += \ src/Wima/TestPolygonCalculus.cpp \ src/Wima/testplanimetrycalculus.cpp \ src/Settings/WimaSettings.cc \ - src/QmlControls/QmlObjectVectorModel.cc \ - src/comm/ros_bridge/src/messages.cpp + src/QmlControls/QmlObjectVectorModel.cc # # Unit Test specific configuration goes here (requires full debug build with all plugins) diff --git a/src/Wima/GeoPoint3D.cpp b/src/Wima/GeoPoint3D.cpp new file mode 100644 index 000000000..8150b6fcb --- /dev/null +++ b/src/Wima/GeoPoint3D.cpp @@ -0,0 +1,15 @@ +#include "GeoPoint3D.h" + +GeoPoint3D *GeoPoint3D::Clone() const +{ + return new GeoPoint3D(*this); +} + +GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p) +{ + this->setLatitude(p.latitude()); + this->setLongitude(p.longitude()); + this->setAltitude(p.altitude()); + + return *this; +} diff --git a/src/Wima/GeoPoint3D.h b/src/Wima/GeoPoint3D.h new file mode 100644 index 000000000..d9a63aa08 --- /dev/null +++ b/src/Wima/GeoPoint3D.h @@ -0,0 +1,36 @@ +#pragma once + +#include "ros_bridge/include/messages.h" +#include "ROSMessageType.h" +#include "ROSMessageGroups.h" + +#include +typedef ROSMessageType ROSMsg; +typedef ros_bridge::GeoPoint::GeoPoint ROSGeoPoint; +class GeoPoint3D : public QObject, public ROSMsg, public ROSGeoPoint +{ + Q_OBJECT +public: + typedef GeoPointGroup Group; + + explicit GeoPoint3D(QObject *parent = nullptr) + : QObject(parent), ROSMsg(), ROSGeoPoint() {} + explicit GeoPoint3D(double latitude, + double longitude, + double altitude, + QObject *parent = nullptr) + : QObject(parent), ROSMsg(), ROSGeoPoint(latitude, longitude, altitude) + {} + explicit GeoPoint3D(const GeoPoint3D& p, + QObject *parent = nullptr) + : QObject(parent), ROSMsg(), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude()) + {} + explicit GeoPoint3D(const class ros_bridge::GeoPoint::GeoPoint& p, + QObject *parent = nullptr) + : QObject(parent), ROSMsg(), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude()) + {} + + virtual GeoPoint3D *Clone() const override; + GeoPoint3D &operator=(const GeoPoint3D&p); + +}; diff --git a/src/Wima/Polygon2D.h b/src/Wima/Polygon2D.h new file mode 100644 index 000000000..d6311c90d --- /dev/null +++ b/src/Wima/Polygon2D.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include + +#include "ROSMessageGroups.h" +#include "ROSMessageType.h" + +typedef ROSMessageType ROSMsg; + +class Polygon2D : public QPolygonF, public ROSMsg{ +public: + typedef PolygonGroup Group; + + Polygon2D(){} + Polygon2D(const Polygon2D &other) : QPolygonF(other) , ROSMsg(){} + + Polygon2D& operator=(const Polygon2D& other) { + QPolygonF::operator=(other); + return *this; + } + + virtual Polygon2D*Clone() const { // ROSMsg + return new Polygon2D(*this); + } + + const Polygon2D &points() const {return *this;} // ROSMsg + Polygon2D &points() {return *this;} // ROSMsg + +}; diff --git a/src/Wima/PolygonArray.cc b/src/Wima/PolygonArray.cc new file mode 100644 index 000000000..afc6951c1 --- /dev/null +++ b/src/Wima/PolygonArray.cc @@ -0,0 +1,4 @@ +#include "PolygonArray.h" + +template class ContainerType > +const char *PolygonArray::typeName = "PolygonArray"; diff --git a/src/Wima/PolygonArray.h b/src/Wima/PolygonArray.h new file mode 100644 index 000000000..17b607ef2 --- /dev/null +++ b/src/Wima/PolygonArray.h @@ -0,0 +1,17 @@ +#pragma once + +#include + +#include "ROSMessageType.h" + + +template class ContainerType > +class PolygonArray : public ROSMessageType, public ContainerType { +public: + explicit PolygonArray() : ROSMessageType(), ContainerType() {} + PolygonArray(const PolygonArray &other) : ContainerType(other) {} + + QString type() const override {return typeName;} + + static const char *typeName; +}; diff --git a/src/Wima/QtROSJsonFactory.h b/src/Wima/QtROSJsonFactory.h new file mode 100644 index 000000000..36692d281 --- /dev/null +++ b/src/Wima/QtROSJsonFactory.h @@ -0,0 +1,4 @@ +#pragma once +#include "ROSJsonFactory.h" + +typedef ROSJsonFactory<> QtROSJsonFactory; diff --git a/src/Wima/ROSCommunicator.cpp b/src/Wima/ROSCommunicator.cpp new file mode 100644 index 000000000..902fed2b0 --- /dev/null +++ b/src/Wima/ROSCommunicator.cpp @@ -0,0 +1,6 @@ +#include "ROSCommunicator.h" + +void ROSCommunicator::send(const ROSMsg *msg) +{ + +} diff --git a/src/Wima/ROSCommunicator.h b/src/Wima/ROSCommunicator.h new file mode 100644 index 000000000..945bce2a7 --- /dev/null +++ b/src/Wima/ROSCommunicator.h @@ -0,0 +1,24 @@ +#pragma once + +#include "WimaAreaData.h" +#include "ROSMessageType.h" + +typedef ROSMessageType ROSMsg; + +class ROSCommunicator : public QObject +{ + Q_OBJECT + +public: + explicit ROSCommunicator(QObject *parent = 0) : + QObject(parent) {} + + void send(const ROSMsg *msg); + + +public slots: + virtual void receive(ROSMsg *msg) = 0; + +signals: + void readAsynkPolledChanged(int value); +}; diff --git a/src/Wima/ROSJsonFactory.cpp b/src/Wima/ROSJsonFactory.cpp new file mode 100644 index 000000000..1e60276df --- /dev/null +++ b/src/Wima/ROSJsonFactory.cpp @@ -0,0 +1,2 @@ +#include "ROSJsonFactory.h" +#include "PolygonArray.h" diff --git a/src/Wima/ROSJsonFactory.h b/src/Wima/ROSJsonFactory.h new file mode 100644 index 000000000..81516367f --- /dev/null +++ b/src/Wima/ROSJsonFactory.h @@ -0,0 +1,204 @@ +#ifndef ROSJSONFACTORY_H +#define ROSJSONFACTORY_H + +#include "ros_bridge/rapidjson/include/rapidjson/document.h" +#include "ros_bridge/include/messages.h" +#include "ROSMessageType.h" +#include +#include "WimaAreaData.h" +#include "utilities.h" +#include "ros_bridge/include/ROSMessageTraits.h" + +#include "ROSMessageGroups.h" + +#include "boost/type_traits.hpp" +#include "boost/type_traits/is_base_of.hpp" + +class StdHeaderPolicy; + +//! +//! \brief The ROSJsonFactory class is used to create ROS messages. +//! +//! The ROSJsonFactory class is used to create \class rapidjson::Document documents containing ROS messages +//! from classes derived from \class ROSMessageType. Each class has a group mark (typedef ... Group) which allows the +//! ROSJsonFactory to determine the ROS message type it will create. +template +class ROSJsonFactory : public HeaderPolicy +{ + typedef QString StringType; + typedef ROSMessageType ROSMsg; +public: + + ROSJsonFactory(){} + + //! + //! \brief Creates a \class rapidjson::Document document containing a ROS mesage from \p msg. + //! + //! Creates a \class rapidjson::Document document containing a ROS message from \p msg. + //! A compile-time error will occur, if \p msg belongs to the \struct EmptyGroup or is + //! not derived from \class ROSMessageType. + //! \param msg Instance of a \class ROSMessageType subclass belonging to a ROSMessageGroup. + //! \return rapidjson::Document document containing a ROS message. + template + rapidjson::Document *create(const T &msg){ + static_assert(boost::is_base_of::value, "Type of msg must be derived from ROSMessageType."); + static_assert(!::boost::is_same::value, + "msg belongs to group EmptyGroup (not allowed). Please specify Group (typedef MessageGroup Group)"); + return _create(msg, Type2Type()); + } + +private: + + // =========================================================================== + // EmptyGroup and not implemented Groups + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + (void)msg; + assert(false); // Implementation missing for group U::Group! + } + + // =========================================================================== + // Point32Group + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + using namespace ros_bridge; + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = Point32::toJson<_Float32>(msg, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + } + + // =========================================================================== + // GeoPointGroup + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + using namespace ros_bridge; + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = GeoPoint::toJson(msg, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + } + + // =========================================================================== + // PolygonGroup + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + using namespace ros_bridge; + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = Polygon::toJson(msg, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + } + + // =========================================================================== + // PolygonStampedGroup + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + using namespace ros_bridge; + using namespace ros_bridge::traits; + typedef HasMemberHeader HasHeader; + + return _createPolygonStamped(msg, Int2Type()); + } + + template + rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type){ // U has member header(), use integraded header. + using namespace ros_bridge; + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = PolygonStamped::toJson(msg, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + + } + + template + rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly. + using namespace ros_bridge; + Header::Header header(HeaderPolicy::header(msg)); + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = PolygonStamped::toJson(msg, header, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + } + + // =========================================================================== + // PolygonArrayGroup + // =========================================================================== + template + rapidjson::Document *_create(const U &msg, Type2Type){ + using namespace ros_bridge; + using namespace ros_bridge::traits; + typedef HasMemberHeader HasHeader; + + return _createPolygonArray(msg, Int2Type()); + } + + template + rapidjson::Document *_createPolygonArray(const U &msg, Int2Type){ // U has member header(), use integraded header. + using namespace ros_bridge; + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = PolygonArray::toJson(msg, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + + } + + template + rapidjson::Document *_createPolygonArray(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly. + using namespace ros_bridge; + Header::Header header(HeaderPolicy::header(msg)); + rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType); + bool ret = PolygonArray::toJson(msg, header, *doc, doc->GetAllocator()); + assert(ret); + (void)ret; + + return doc; + } + + +}; + +class StdHeaderPolicy{ +public: + StdHeaderPolicy():_seq(-1){}; + + //! + //! \brief header Returns the header belonging to msg. + //! \return Returns the header belonging to msg. + //! + template + ros_bridge::Header::Header header(const T&msg) { + return ros_bridge::Header::Header(++_seq, time(msg), "/map"); + } + + + //! + //! \brief time Returns the current time. + //! \return Returns the current time. + template + ros_bridge::Time::Time time(const T&msg) { + (void)msg; + return ros_bridge::Time::Time(0,0); + } +private: + long _seq; +}; + +#endif // ROSJSONFACTORY_H diff --git a/src/Wima/ROSMessageGroups.h b/src/Wima/ROSMessageGroups.h new file mode 100644 index 000000000..2353b9d43 --- /dev/null +++ b/src/Wima/ROSMessageGroups.h @@ -0,0 +1,45 @@ +#pragma once + +namespace detail { +} + +//! +//! \note Each calls belonging to a ROS message group must derive from \class ROSMessageType. + +//! +//! \brief The EmptyGroup struct is used by the \class ROSMessageType base class. +//! +//! The EmptyGroup struct is used by the \class ROSMessageType base class. Passing a class using this +//! group will to the \class ROSJsonFactory will lead to a compile-time error. +struct EmptyGroup {}; + +//! +//! \brief The Point32Group struct is used the mark a class as a ROS Point32 message. +//! +//! The Point32Group struct is used the mark a class as a ROS Point32 message. +struct Point32Group {}; + +//! +//! \brief The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message. +//! +//! The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message. +struct GeoPointGroup {}; + +//! +//! \brief The PolygonGroup struct is used the mark a class as a ROS Polygon message. +//! +//! The PolygonGroup struct is used the mark a class as a ROS Polygon message. +struct PolygonGroup {}; + +//! +//! \brief The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message. +//! +//! The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message. +struct PolygonStampedGroup {}; + + +//! +//! \brief The PolygonArrayGroup struct is used the mark a class as a ROS PolygonArray message. +//! +//! The PolygonArrayGroup struct is used the mark a class as a ROS PolygonArray message. +struct PolygonArrayGroup {}; diff --git a/src/Wima/ROSMessageType.h b/src/Wima/ROSMessageType.h new file mode 100644 index 000000000..6064779ab --- /dev/null +++ b/src/Wima/ROSMessageType.h @@ -0,0 +1,25 @@ +#pragma once + +#include "ROSMessageGroups.h" + +//! @brief Abstract base class for all ROS Messages Types. +//! +//! Abstract base class for all ROS Messages Types. This class defines a basic interface +//! every class must fullfill if it takes advantages of the \class ROSJsonFactory. +//! Every class must define the public typedef Group, which associates it to a message Group (\see ROSMessageGroups). The Group type +//! is used by the \class ROSJsonFactory to determine the type of the message it creates. The +//! ROSMessageType belongs to the \struct EmptyGroup. Passing a class belonging to the \struct EmptyGroup to the +//! \class ROSJsonFactory will yield an error. +template +class ROSMessageType{ +public: + typedef EmptyGroup Group; + + ROSMessageType() {}; + ~ROSMessageType() {}; + // Avoid sliceing (copy with ROSMessage::Clone)! + ROSMessageType(const ROSMessageType &) = delete; + ROSMessageType& operator=(const ROSMessageType &) = delete; + + virtual ROSMessageType* Clone() const = 0; +}; diff --git a/src/Wima/SnakeTiles.h b/src/Wima/SnakeTiles.h new file mode 100644 index 000000000..fdfd4954f --- /dev/null +++ b/src/Wima/SnakeTiles.h @@ -0,0 +1,4 @@ +#ifndef SNAKETILES_H +#define SNAKETILES_H + +#endif // SNAKETILES_H diff --git a/src/Wima/SnakeTilesLocal.h b/src/Wima/SnakeTilesLocal.h new file mode 100644 index 000000000..03630c20c --- /dev/null +++ b/src/Wima/SnakeTilesLocal.h @@ -0,0 +1,4 @@ +#ifndef SNAKETILELOCAL_H +#define SNAKETILELOCAL_H + +#endif // SNAKETILELOCAL_H diff --git a/src/Wima/WimaArea.h b/src/Wima/WimaArea.h index 614e9b85e..15c4fa637 100644 --- a/src/Wima/WimaArea.h +++ b/src/Wima/WimaArea.h @@ -5,7 +5,6 @@ #include "Vehicle.h" #include "qobject.h" #include "WimaVehicle.h" -#include "WimaArea.h" #include #include #include "QGCGeo.h" diff --git a/src/Wima/WimaAreaData.cc b/src/Wima/WimaAreaData.cc index a2944ac7c..c8672aec0 100644 --- a/src/Wima/WimaAreaData.cc +++ b/src/Wima/WimaAreaData.cc @@ -100,7 +100,7 @@ void WimaAreaData::assign(const WimaAreaData &other) void WimaAreaData::assign(const WimaArea &other) { setMaxAltitude(other.maxAltitude()); - setPath(other.path()); + setPath(other.path()); setCenter(other.center()); } diff --git a/src/Wima/WimaAreaData.h b/src/Wima/WimaAreaData.h index 97295f5fb..3505ac507 100644 --- a/src/Wima/WimaAreaData.h +++ b/src/Wima/WimaAreaData.h @@ -6,7 +6,7 @@ #include "WimaArea.h" -class WimaAreaData : public QObject // Abstract class for all WimaAreaData derived objects +class WimaAreaData : public QObject// Abstract class for all WimaAreaData derived objects { Q_OBJECT @@ -15,6 +15,7 @@ public: Q_PROPERTY(QString type READ type CONSTANT) WimaAreaData(QObject *parent = nullptr); + WimaAreaData(const WimaAreaData& otherData) = delete; // avoid slicing WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing double maxAltitude() const; @@ -22,12 +23,11 @@ public: QGeoCoordinate center() const; QList coordinateList() const; bool containsCoordinate(const QGeoCoordinate &coordinate) const; + virtual QString type() const = 0; void append(const QGeoCoordinate &c) {_path.push_back(QVariant::fromValue(c));} void clear() {_path.clear();} - virtual QString type() const { return "Default";} - signals: void maxAltitudeChanged (double maxAltitude); void pathChanged (const QVariantList& coordinateList); @@ -36,7 +36,7 @@ signals: public slots: void setMaxAltitude(double maxAltitude); void setPath(const QList &coordinateList); - void setPath(const QVariantList &coordinateList); + void setPath(const QVariantList &coordinateList); void setCenter(const QGeoCoordinate ¢er); protected: diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc index 47ed4d10f..ec62373cb 100644 --- a/src/Wima/WimaController.cc +++ b/src/Wima/WimaController.cc @@ -5,10 +5,13 @@ #include "ros_bridge/rapidjson/include/rapidjson/writer.h" #include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h" +#include "QtROSJsonFactory.h" + #include "time.h" #include "assert.h" #include "QVector3D" +#include const char* WimaController::wimaFileExtension = "wima"; @@ -444,7 +447,8 @@ bool WimaController::_fetchContainerData() _currentMissionItems.clearAndDeleteContents(); _waypointPath.clear(); _currentWaypointPath.clear(); - _snakeTiles.clearAndDeleteContents(); + _snakeTiles.polygons().clear(); + _snakeTilesLocal.polygons().clear(); _snakeTileCenterPoints.clear(); emit visualItemsChanged(); @@ -577,21 +581,57 @@ bool WimaController::_fetchContainerData() if ( !_verifyScenarioDefinedWithErrorMessage() ) return false; - // Get tiles. - const auto &tiles = _scenario.getTiles(); - const auto &cps = _scenario.getTileCenterPoints(); - for ( int i=0; i < int(tiles.size()); ++i ) { - const auto &tile = tiles[i]; - WimaAreaData *QTile = new WimaAreaData(this); - for ( const auto &vertex : tile) { - QGeoCoordinate QVertex(vertex[0], vertex[1], vertex[2]); - QTile->append(QVertex); + { + // Get tiles. + const auto &tiles = _scenario.getTiles(); + const auto &cps = _scenario.getTileCenterPoints(); + for ( int i=0; i < int(tiles.size()); ++i ) { + const auto &tile = tiles[i]; + SnakeTile Tile; + for ( const auto &vertex : tile) { + QGeoCoordinate QVertex(vertex[0], vertex[1], vertex[2]); + Tile.append(QVertex); + } + const auto ¢erPoint = cps[i]; + QGeoCoordinate QCenterPoint(centerPoint[0], centerPoint[1], centerPoint[2]); + Tile.setCenter(QCenterPoint); + _snakeTiles.polygons().append(Tile); + _snakeTileCenterPoints.append(QVariant::fromValue(QCenterPoint)); } - const auto ¢erPoint = cps[i]; - QGeoCoordinate QCenterPoint(centerPoint[0], centerPoint[1], centerPoint[2]); - QTile->setCenter(QCenterPoint); - _snakeTiles.append(QTile); - _snakeTileCenterPoints.append(QVariant::fromValue(QCenterPoint)); + } + + { + // Get local tiles. + const auto &tiles = _scenario.getTilesENU(); + for ( int i=0; i < int(tiles.size()); ++i ) { + const auto &tile = tiles[i]; + Polygon2D Tile; + for ( const auto &vertex : tile.outer()) { + QPointF QVertex(vertex.get<0>(), vertex.get<1>()); + Tile.append(QVertex); + } + _snakeTilesLocal.polygons().append(Tile); + } + + QtROSJsonFactory factory; + QScopedPointer doc(factory.create(_snakeTilesLocal)); + + auto &temp = _scenario.getOrigin(); + ::GeoPoint3D origin(temp[0], temp[1], temp[2]); + QScopedPointer doc2(factory.create(origin)); + + cout << "Origin" << endl; + rapidjson::OStreamWrapper out(std::cout); + rapidjson::Writer writer(out); + doc2->Accept(writer); + std::cout << std::endl << std::endl; + + cout << "Snake Tiles" << endl; + rapidjson::Writer writer2(out); + doc->Accept(writer2); + std::cout << std::endl << std::endl; + + } @@ -996,97 +1036,112 @@ void WimaController::_eventTimerHandler() } if (rosBridgeTicker.ready()) { - using namespace ros_bridge; - - - // Time - class Time time(1, 2); - rapidjson::Document doc(rapidjson::kObjectType); - // Write to stdout - cout << "Time" << endl; - cout << "Return value : " << time.toJson(doc, doc.GetAllocator()) << std::endl; - rapidjson::OStreamWrapper out(std::cout); - rapidjson::Writer writer(out); - doc.Accept(writer); - std::cout << std::endl << std::endl; - - - // Header - Header header(1, &time, "/map"); - // Write to stdout - cout << "Header" << endl; - rapidjson::Document doc2(rapidjson::kObjectType); - cout << "Return value : " << header.toJson(doc2, doc2.GetAllocator()) << std::endl; - rapidjson::Writer writer2(out); - doc2.Accept(writer2); - std::cout << std::endl << std::endl; - - - // Point - QVector3D p1(1, 2, 3); - typedef Point32 PointWrapper; - PointWrapper pw1(&p1); - // Write to stdout - cout << "Point" << endl; - rapidjson::Document doc3(rapidjson::kObjectType); - cout << "Return value : " << pw1.toJson(doc3, doc3.GetAllocator()) << std::endl; - rapidjson::Writer writer3(out); - doc3.Accept(writer3); - std::cout << std::endl << std::endl; - - - // Polygon - QVector3D p2(4, 5, 6); - QVector3D p3(7, 8, 9); - PointWrapper pw2(&p2); - PointWrapper pw3(&p3); - QVector pointList; - pointList.append(pw1); - pointList.append(pw2); - pointList.append(pw3); - typedef Polygon Poly; - Poly polyW(&pointList); - // Write to stdout - cout << "Polygon" << endl; - rapidjson::Document doc4(rapidjson::kObjectType); - cout << "Return value : " << polyW.toJson(doc4, doc4.GetAllocator()) << std::endl; - rapidjson::Writer writer4(out); - doc4.Accept(writer4); - std::cout << std::endl << std::endl; - - - // PolygonStamped - typedef PolygonStamped PolyWrapper; - PolyWrapper polyStamped(&header, &polyW); - // Write to stdout - cout << "PolygonStamped" << endl; - rapidjson::Document doc5(rapidjson::kObjectType); - cout << "Return value : " << polyStamped.toJson(doc5, doc5.GetAllocator()) << std::endl; - rapidjson::Writer writer5(out); - doc5.Accept(writer5); - std::cout << std::endl << std::endl; - - - // PolygonArray - // Define second Polygon - QVector3D p4(10, 11, 12); - QVector3D p5(13, 14, 15); - QVector3D p6(16, 17, 18); - PointWrapper pw4(&p4); - PointWrapper pw5(&p5); - PointWrapper pw6(&p6); - QVector pointList2{pw4, pw5, pw6}; - Poly polyW2(&pointList2); - typedef PolygonArray PolyArray; - QVector polygons{&polyW, &polyW2}; - PolyArray polyArray{}; - // Write to stdout - cout << "PolygonStamped" << endl; - rapidjson::Document doc5(rapidjson::kObjectType); - cout << "Return value : " << polyStamped.toJson(doc5, doc5.GetAllocator()) << std::endl; - rapidjson::Writer writer5(out); - doc5.Accept(writer5); - std::cout << std::endl << std::endl; +// using namespace ros_bridge; + + +// // Time +// class Time time(1, 2); +// rapidjson::Document doc(rapidjson::kObjectType); +// // Write to stdout +// cout << "Time" << endl; +// cout << "Return value : " << time.toJson(doc, doc.GetAllocator()) << std::endl; +// rapidjson::OStreamWrapper out(std::cout); +// rapidjson::Writer writer(out); +// doc.Accept(writer); +// std::cout << std::endl << std::endl; + + +// // Header +// Header header(1, &time, "/map"); +// // Write to stdout +// cout << "Header" << endl; +// rapidjson::Document doc2(rapidjson::kObjectType); +// cout << "Return value : " << header.toJson(doc2, doc2.GetAllocator()) << std::endl; +// rapidjson::Writer writer2(out); +// doc2.Accept(writer2); +// std::cout << std::endl << std::endl; + + +// // Point 3D +// QVector3D p1(1, 2, 3); +// typedef Point32 PointWrapper; +// PointWrapper pw1(&p1); +// // Write to stdout +// cout << "Point 3D" << endl; +// rapidjson::Document doc3(rapidjson::kObjectType); +// cout << "Return value : " << pw1.toJson(doc3, doc3.GetAllocator()) << std::endl; +// rapidjson::Writer writer3(out); +// doc3.Accept(writer3); +// std::cout << std::endl << std::endl; + + +// // Point 2D +// QPoint p2D(1, 2); +// p2D.x(); +// Point32 pw2D(&p2D); +// // Write to stdout +// cout << "Point 2D" << endl; +// rapidjson::Document docI(rapidjson::kObjectType); +// cout << "Return value : " << pw2D.toJson(docI, docI.GetAllocator()) << std::endl; +// rapidjson::Writer writerI(out); +// docI.Accept(writerI); +// std::cout << std::endl << std::endl; + + +// // Polygon +// QVector3D p2(4, 5, 6); +// QVector3D p3(7, 8, 9); +// PointWrapper pw2(&p2); +// PointWrapper pw3(&p3); +// QVector pointList; +// pointList.append(pw1); +// pointList.append(pw2); +// pointList.append(pw3); +// typedef Polygon Poly; +// Poly polyW(&pointList); +// // Write to stdout +// cout << "Polygon" << endl; +// rapidjson::Document doc4(rapidjson::kObjectType); +// cout << "Return value : " << polyW.toJson(doc4, doc4.GetAllocator()) << std::endl; +// rapidjson::Writer writer4(out); +// doc4.Accept(writer4); +// std::cout << std::endl << std::endl; + + +// // PolygonStamped +// typedef PolygonStamped PolyWrapper; +// PolyWrapper polyStamped(&header, &polyW); +// // Write to stdout +// cout << "PolygonStamped" << endl; +// rapidjson::Document doc5(rapidjson::kObjectType); +// cout << "Return value : " << polyStamped.toJson(doc5, doc5.GetAllocator()) << std::endl; +// rapidjson::Writer writer5(out); +// doc5.Accept(writer5); +// std::cout << std::endl << std::endl; + + +// // PolygonArray +// // Define second Polygon +// QVector3D p4(10, 11, 12); +// QVector3D p5(13, 14, 15); +// QVector3D p6(16, 17, 18); +// PointWrapper pw4(&p4); +// PointWrapper pw5(&p5); +// PointWrapper pw6(&p6); +// QVector pointList2{pw4, pw5, pw6}; +// Poly polyW2(&pointList2); +// typedef PolygonArray PolyArray; +// QVector polygons{&polyW, &polyW2}; +// PolyArray polyArray{}; +// polyArray.setHeader(&header); +// polyArray.setPolygons(&polygons); +// // Write to stdout +// cout << "PolygonStamped" << endl; +// rapidjson::Document doc6(rapidjson::kObjectType); +// cout << "Return value : " << polyArray.toJson(doc6, doc6.GetAllocator()) << std::endl; +// rapidjson::Writer writer6(out); +// doc6.Accept(writer6); +// std::cout << std::endl << std::endl; } } @@ -1363,6 +1418,7 @@ bool WimaController::_verifyScenarioDefinedWithErrorMessage() void WimaController::_snakeStoreWorkerResults() { + auto start = std::chrono::high_resolution_clock::now(); _missionItems.clearAndDeleteContents(); const WorkerResult_t &r = _snakeWorker.getResult(); _setSnakeCalcInProgress(false); @@ -1403,7 +1459,6 @@ void WimaController::_snakeStoreWorkerResults() takeOffItem->setCoordinate(waypoints[0]); // copy mission items from _missionController to _missionItems - cout.precision(10); for ( int i = 1; i < missionControllerVisualItems->count(); i++) { SimpleMissionItem *visualItem = qobject_cast((*missionControllerVisualItems)[i]); if (visualItem == nullptr) { @@ -1424,6 +1479,11 @@ void WimaController::_snakeStoreWorkerResults() _calcNextPhase(); emit missionItemsChanged(); + + + auto end = std::chrono::high_resolution_clock::now(); + double duration = std::chrono::duration_cast(end-start).count(); + qWarning() << "WimaController::_snakeStoreWorkerResults execution time: " << duration << " ms."; } void WimaController::_loadCurrentMissionItemsFromBuffer() diff --git a/src/Wima/WimaController.h b/src/Wima/WimaController.h index e5875db1d..abb204a06 100644 --- a/src/Wima/WimaController.h +++ b/src/Wima/WimaController.h @@ -26,6 +26,11 @@ #include "snake.h" #include "WimaControllerDetail.h" +#include "WimaPolygonArray.h" +#include "snaketile.h" +#include "ROSMessageGroups.h" +#include "Polygon2D.h" +#include "GeoPoint3D.h" #define CHECK_BATTERY_INTERVAL 1000 // ms #define SMART_RTL_MAX_ATTEMPTS 3 // times @@ -123,7 +128,7 @@ public: Fact* snakeMinTileArea (void) { return &_snakeMinTileArea;} Fact* snakeLineDistance (void) { return &_snakeLineDistance;} Fact* snakeMinTransectLength (void) { return &_snakeMinTransectLength;} - QmlObjectListModel* snakeTiles (void) { return &_snakeTiles;} + QmlObjectListModel* snakeTiles (void) { return _snakeTiles.QmlObjectListModel();} QVariantList snakeTileCenterPoints (void) { return _snakeTileCenterPoints;} QList snakeProgress (void) { return _snakeProgress;} @@ -322,7 +327,12 @@ private: SettingsFact _snakeMinTileArea; SettingsFact _snakeLineDistance; SettingsFact _snakeMinTransectLength; - QmlObjectListModel _snakeTiles; // tiles + + typedef WimaPolygonArray SnakeTiles; + SnakeTiles _snakeTiles; // tiles + + typedef WimaPolygonArray SnakeTilesLocal; + SnakeTilesLocal _snakeTilesLocal; // tiles local coordinate system QVariantList _snakeTileCenterPoints; QList _snakeProgress; // measurement progress diff --git a/src/Wima/WimaCorridorData.h b/src/Wima/WimaCorridorData.h index e24fb3e26..d270b393d 100644 --- a/src/Wima/WimaCorridorData.h +++ b/src/Wima/WimaCorridorData.h @@ -19,6 +19,7 @@ public: WimaCorridorData &operator=(const WimaCorridor &other); QString type() const; + WimaCorridorData *Clone() const {return new WimaCorridorData(*this);} static const char* typeString; diff --git a/src/Wima/WimaJoinedAreaData.h b/src/Wima/WimaJoinedAreaData.h index c31108cd6..5260d29bd 100644 --- a/src/Wima/WimaJoinedAreaData.h +++ b/src/Wima/WimaJoinedAreaData.h @@ -19,6 +19,7 @@ public: WimaJoinedAreaData &operator=(const WimaJoinedArea &other); QString type() const; + WimaJoinedAreaData *Clone() const {return new WimaJoinedAreaData(*this);} static const char* typeString; diff --git a/src/Wima/WimaMeasurementAreaData.h b/src/Wima/WimaMeasurementAreaData.h index af83e8645..b1592a691 100644 --- a/src/Wima/WimaMeasurementAreaData.h +++ b/src/Wima/WimaMeasurementAreaData.h @@ -21,6 +21,7 @@ public: WimaMeasurementAreaData& operator=(const WimaMeasurementArea &other); QString type() const; + WimaMeasurementAreaData *Clone() const {return new WimaMeasurementAreaData(*this);} static const char* typeString; diff --git a/src/Wima/WimaPolygonArray.h b/src/Wima/WimaPolygonArray.h new file mode 100644 index 000000000..535d2afca --- /dev/null +++ b/src/Wima/WimaPolygonArray.h @@ -0,0 +1,58 @@ +#pragma once +#include "ROSMessageType.h" +#include "ROSMessageGroups.h" + +#include "QmlObjectListModel.h" + +#include +#include + +typedef ROSMessageType ROSMsg; +template class ContainerType = QVector, typename GroupType = EmptyGroup> +class WimaPolygonArray : public ROSMsg +{ +public: + typedef GroupType Group; + WimaPolygonArray() {} + WimaPolygonArray(const WimaPolygonArray &other) : + ROSMsg() + , _polygons(other._polygons), _dirty(true) + {} + + virtual ROSMessageType * Clone() const override{ + return new WimaPolygonArray(*this); + } + + class QmlObjectListModel *QmlObjectListModel(){ + if (_dirty) + _updateObjects(); + _dirty = false; + return &_objs; + } + + const ContainerType &polygons() const { + return _polygons; + } + + ContainerType &polygons(){ + _dirty = true; + return _polygons; + } + + + +private: + void _updateObjects(void){ + _objs.clear(); + for (long i=0; i<_polygons.size(); ++i){ + _objs.append(&_polygons[i]); + } + } + + ContainerType _polygons; + class QmlObjectListModel _objs; + bool _dirty; + +}; + + diff --git a/src/Wima/WimaServiceAreaData.h b/src/Wima/WimaServiceAreaData.h index 1529d9fb8..8bc06a14d 100644 --- a/src/Wima/WimaServiceAreaData.h +++ b/src/Wima/WimaServiceAreaData.h @@ -23,7 +23,7 @@ public: const QGeoCoordinate &landPosition() const; QString type() const; - + WimaServiceAreaData *Clone() const {return new WimaServiceAreaData();} static const char* typeString; signals: diff --git a/src/Wima/snaketile.cpp b/src/Wima/snaketile.cpp new file mode 100644 index 000000000..4a8b6e6e3 --- /dev/null +++ b/src/Wima/snaketile.cpp @@ -0,0 +1,23 @@ +#include "snaketile.h" + +SnakeTile::SnakeTile() : WimaAreaData() +{ + +} + +SnakeTile::SnakeTile(const SnakeTile &other) : WimaAreaData() +{ + *this = other; +} + +SnakeTile &SnakeTile::operator=(const SnakeTile &other) +{ + this->assign(other); + return *this; + +} + +void SnakeTile::assign(const SnakeTile &other) +{ + WimaAreaData::assign(other); +} diff --git a/src/Wima/snaketile.h b/src/Wima/snaketile.h new file mode 100644 index 000000000..69fa8694a --- /dev/null +++ b/src/Wima/snaketile.h @@ -0,0 +1,19 @@ +#pragma once + +#include "WimaAreaData.h" + +class SnakeTile : public WimaAreaData +{ +public: + SnakeTile(); + SnakeTile(const SnakeTile&other); + + QString type() const {return "SnakeTile";} + SnakeTile* Clone() const {return new SnakeTile(*this);} + + SnakeTile& operator=(const SnakeTile &other); + +protected: + void assign(const SnakeTile &other); +}; + diff --git a/src/comm/ros_bridge/include/ROSMessageTraits.h b/src/comm/ros_bridge/include/ROSMessageTraits.h new file mode 100644 index 000000000..8cd20f7b7 --- /dev/null +++ b/src/comm/ros_bridge/include/ROSMessageTraits.h @@ -0,0 +1,102 @@ +#pragma once + +namespace ros_bridge { +namespace traits { + + +//! @brief Checks if class T has a member function z. +//! +//! Checks if class T has a member function z. E.g if the class Point has a member function +//! z than HasMemberZ::value is equal to 1 and 0 either. +template +class HasMemberZ +{ + typedef char Small; + struct Big { char x[2]; }; + + template static Small test( typeof(&C::z) ) ; + template static Big test(...); + +public: + enum { value = sizeof(test(0)) == sizeof(Small) }; +}; + +//! @brief Checks if class T has a member function labels. +//! +//! Checks if class T has a member function labels. E.g if the class T has a member function +//! labels than HasMemberLabels::value is equal to 1 and 0 either. +template +class HasMemberLabels +{ + typedef char Small; + struct Big { char x[2]; }; + + template static Small test( typeof(&C::labels) ) ; + template static Big test(...); + +public: + enum { value = sizeof(test(0)) == sizeof(Small) }; +}; + +//! @brief Checks if class T has a member function labels. +//! +//! Checks if class T has a member function likelihood. E.g if the class T has a member function +//! likelihood than HasMemberLikelihood::value is equal to 1 and 0 either. +template +class HasMemberLikelihood +{ + typedef char Small; + struct Big { char x[2]; }; + + template static Small test( typeof(&C::likelihood) ) ; + template static Big test(...); + +public: + enum { value = sizeof(test(0)) == sizeof(Small) }; +}; + +//! @brief Checks if class T has a member function labels. +//! +//! Checks if class T has a member function header. E.g if the class T has a member function +//! header than HasMemberHeader::value is equal to 1 and 0 either. +template +class HasMemberHeader +{ + typedef char Small; + struct Big { char x[2]; }; + + template static Small test( typeof(&C::header) ) ; + template static Big test(...); + +public: + enum { value = sizeof(test(0)) == sizeof(Small) }; +}; + +//! @brief Checks if class T has a member function altitude. +//! +//! Checks if class T has a member function altitude. E.g if the class T has a member function +//! altitude than HasMemberAltitude::value is equal to 1 and 0 either. +template +class HasMemberAltitude +{ + typedef char Small; + struct Big { char x[2]; }; + + template static Small test( typeof(&C::altitude) ) ; + template static Big test(...); + +public: + enum { value = sizeof(test(0)) == sizeof(Small) }; +}; + +//! @brief Selects the Type T or U depending on flag and stores it inside Result. +template +struct Select {typedef T Result;}; +template +struct Select<0, T, U> {typedef U Result;}; + +struct HasComponents {}; +struct Has3Components : public HasComponents {}; +struct Has2Components : public HasComponents {}; +} +} diff --git a/src/comm/ros_bridge/include/jsongenerator.h b/src/comm/ros_bridge/include/jsongenerator.h deleted file mode 100644 index 76dfa420a..000000000 --- a/src/comm/ros_bridge/include/jsongenerator.h +++ /dev/null @@ -1,5 +0,0 @@ -#ifndef JSONGENERATOR_H -#define JSONGENERATOR_H - - -#endif // JSONGENERATOR_H diff --git a/src/comm/ros_bridge/include/messages.h b/src/comm/ros_bridge/include/messages.h index ab940493a..472fe11ff 100644 --- a/src/comm/ros_bridge/include/messages.h +++ b/src/comm/ros_bridge/include/messages.h @@ -3,207 +3,498 @@ #include #include +#include +#include #include "ros_bridge/rapidjson/include/rapidjson/rapidjson.h" #include "ros_bridge/rapidjson/include/rapidjson/document.h" +#include "utilities.h" +#include "ROSMessageTraits.h" + namespace ros_bridge { - //! @brief C++ representation of ros::Time +namespace Time { + //! @brief C++ representation of std_msgs/Time class Time{ public: Time(): _secs(0), _nsecs(0) {} Time(uint32_t secs, uint32_t nsecs): _secs(secs), _nsecs(nsecs) {} - uint32_t getSecs() const {return _secs;} - uint32_t getNSecs() const {return _nsecs;} + uint32_t secs() const {return _secs;} + uint32_t nSecs() const {return _nsecs;} void setSecs(uint32_t secs) {_secs = secs;} void setNSecs(uint32_t nsecs) {_nsecs = nsecs;} - bool toJson(rapidjson::Document &doc, - rapidjson::Document::AllocatorType &allocator) const - { - doc.AddMember("secs", rapidjson::Value().SetUint(this->_secs), allocator); - doc.AddMember("nsecs", rapidjson::Value().SetUint(this->_nsecs), allocator); - - return true; - } - private: uint32_t _secs; uint32_t _nsecs; }; + template + bool toJson(const TimeType &time, + rapidjson::Document &doc, + rapidjson::Document::AllocatorType &allocator) + { + doc.AddMember("secs", rapidjson::Value().SetUint((uint32_t)time.secs()), allocator); + doc.AddMember("nsecs", rapidjson::Value().SetUint((uint32_t)time.nSecs()), allocator); + + return true; + } + +} + +namespace Header { + + + //! @brief C++ representation of std_msgs/Header class Header{ public: - Header() : _seq(0), _frameId("") {} - Header(uint32_t seq, const Time *stamp, const std::string &frame_id) : + Header() : _seq(0), _stamp(Time::Time()), _frameId("") {} + Header(uint32_t seq, const Time::Time &stamp, const std::string &frame_id) : _seq(seq) , _stamp(stamp) , _frameId(frame_id) {} - uint32_t getSeq() const {return _seq;}; - const Time *getStamp() const {return _stamp;}; - const std::string &getFrameId() const {return _frameId;}; + uint32_t seq() const {return _seq;}; + const Time::Time &stamp() const {return _stamp;}; + const std::string &frameId() const {return _frameId;}; + + Time::Time &stamp() {return _stamp;}; + std::string &frameId() {return _frameId;}; void setSeq (uint32_t seq) {_seq = seq;} - void setStamp (const Time *stamp) {_stamp = stamp;} + void setStamp (const Time::Time &stamp) {_stamp = stamp;} void setFrameId (const std::string &frameId) {_frameId = frameId;} - - bool toJson(rapidjson::Document &doc, - rapidjson::Document::AllocatorType &allocator) const - { - doc.AddMember("seq", rapidjson::Value().SetUint(this->_seq), allocator); - rapidjson::Document stamp(rapidjson::kObjectType); - if (!this->_stamp->toJson(stamp, allocator)) - return false; - doc.AddMember("stamp", stamp, allocator); - doc.AddMember("frame_id", - rapidjson::Value().SetString(this->_frameId.data(), - this->_frameId.length(), - allocator), - allocator); - - return true; - } - private: uint32_t _seq; - const Time *_stamp; + Time::Time _stamp; std::string _frameId; }; - //! @brief C++ representation of geometry_msgs/Point32 - template - class Point32{ - public: - Point32() {} - Point32(const PointType* p): _point(p) {} - const PointType *getPoint() const {return _point;} - void setPoint(const PointType *point) {point;} + template + bool toJson(const HeaderType &header, + rapidjson::Document &doc, + rapidjson::Document::AllocatorType &allocator) { + doc.AddMember("seq", rapidjson::Value().SetUint((uint32_t)header.seq()), allocator); + + rapidjson::Document stamp(rapidjson::kObjectType); + if (!Time::toJson(header.stamp(), doc, allocator)) + return false; + doc.AddMember("stamp", stamp, allocator); + + doc.AddMember("frame_id", + rapidjson::Value().SetString(header.frameId().data(), + header.frameId().length(), + allocator), + allocator); + + return true; + } + +} + +namespace Point32 { +using namespace ros_bridge::traits; + + //! @brief C++ representation of geometry_msgs/Point32. + template + class Point{ + public: + Point(FloatType x, FloatType y, FloatType z) : _x(x), _y(y), _z(z){} - bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) const + FloatType x() const {return _x;} + FloatType y() const {return _y;} + FloatType z() const {return _z;} + + void setX(FloatType x) {_x = x;} + void setY(FloatType y) {_y = y;} + void setZ(FloatType z) {_z = z;} + + + private: + FloatType _x; + FloatType _y; + FloatType _z; + }; + + typedef Point<> Point64; + typedef Point<_Float32> Point32; + + namespace det { //detail + + template + bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type) + { + doc.AddMember("x", rapidjson::Value().SetFloat((FloatType)p.x()), allocator); + doc.AddMember("y", rapidjson::Value().SetFloat((FloatType)p.y()), allocator); + doc.AddMember("z", rapidjson::Value().SetFloat((FloatType)p.z()), allocator); + + return true; + } + + template + bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type) + { + doc.AddMember("x", rapidjson::Value().SetFloat((FloatType)p.x()), allocator); + doc.AddMember("y", rapidjson::Value().SetFloat((FloatType)p.y()), allocator); + doc.AddMember("z", rapidjson::Value().SetFloat((FloatType)0.0), allocator); // _point has no member z() -> add 0. + + return true; + } + } + + template + bool toJson(const T&p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) { + typedef typename Select::value, Has3Components, Has2Components>::Result + Components; // Check if PointType has 2 or 3 dimensions. + return det::toJson(p, doc, allocator, Type2Type()); + } + +} + +namespace GeoPoint { +using namespace ros_bridge::traits; + + //! @brief C++ representation of geographic_msgs/GeoPoint. + class GeoPoint{ + public: + GeoPoint() + : _latitude(0) + , _longitude(0) + , _altitude(0) + {} + GeoPoint(_Float64 latitude, _Float64 longitude, _Float64 altitude) + : _latitude(latitude) + , _longitude(longitude) + , _altitude(altitude) + {} + + _Float64 latitude() const {return _latitude;} + _Float64 longitude() const {return _longitude;} + _Float64 altitude() const {return _altitude;} + + void setLatitude (_Float64 latitude) {_latitude = latitude;} + void setLongitude (_Float64 longitude) {_longitude = longitude;} + void setAltitude (_Float64 altitude) {_altitude = altitude;} + + + private: + _Float64 _latitude; + _Float64 _longitude; + _Float64 _altitude; + }; + + namespace det { //detail + + template + bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type) + { + doc.AddMember("latitude", rapidjson::Value().SetFloat((_Float64)p.latitude()), allocator); + doc.AddMember("longitude", rapidjson::Value().SetFloat((_Float64)p.longitude()), allocator); + doc.AddMember("altitude", rapidjson::Value().SetFloat((_Float64)p.altitude()), allocator); + + return true; + } - doc.AddMember("x", rapidjson::Value().SetFloat(_point->x()), allocator); - doc.AddMember("y", rapidjson::Value().SetFloat(_point->y()), allocator); - doc.AddMember("z", rapidjson::Value().SetFloat(_point->z()), allocator); + template + bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type) + { + doc.AddMember("latitudex", rapidjson::Value().SetFloat((_Float64)p.latitude()), allocator); + doc.AddMember("longitude", rapidjson::Value().SetFloat((_Float64)p.longitude()), allocator); + doc.AddMember("altitude", rapidjson::Value().SetFloat((_Float64)0.0), allocator); // _point has no member altitude() -> add 0. - return true; + return true; + } } - private: - const PointType *_point; - }; + template + bool toJson(const T&p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + typedef typename Select::value, Has3Components, Has2Components>::Result + Components; // Check if PointType has 2 or 3 dimensions. + return det::toJson(p, doc, allocator, Type2Type()); + } + +} + +namespace Polygon { //! @brief C++ representation of geometry_msgs/Polygon - template class ContainerType = std::vector, - class PointWrapper = class Point32 > + template class ContainerType = std::vector> class Polygon{ + typedef typename boost::remove_cv::type>::type PointType; public: Polygon(){} - Polygon(const ContainerType *points) : _points(points) {} + Polygon(const Polygon &poly) : _points(poly.points()){} - const ContainerType *getPoints() const {return _points;} + const ContainerType &points() const {return _points;} + ContainerType &points() {return _points;} - void setPoints(const ContainerType *points) {_points = points;} + private: + ContainerType _points; + }; - bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) - { - rapidjson::Value points(rapidjson::kArrayType); + template + bool toJson(const PolygonType &poly, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + rapidjson::Value points(rapidjson::kArrayType); - for(long i=0; i < _points->size(); ++i) { - rapidjson::Document point(rapidjson::kObjectType); - if ( !( (*_points)[i].toJson(point, allocator) ) ) - return false; - points.PushBack(point, allocator); - } + for(unsigned long i=0; i < (unsigned long)poly.points().size(); ++i) { + rapidjson::Document point(rapidjson::kObjectType); + if ( !Point32::toJson<_Float32>(poly.points()[i], point, allocator) ) + return false; + points.PushBack(point, allocator); + } - doc.AddMember("points", points, allocator); + doc.AddMember("points", points, allocator); - return true; - } + return true; + } + + +} + +namespace PolygonStamped { - private: - const ContainerType *_points; - }; //! @brief C++ representation of geometry_msgs/PolygonStamped - template , class HeaderType = Header> - class PolygonStamped : public PolygonType{ + template class PolygonType = Polygon::Polygon, class HeaderType = Header::Header> + class PolygonStamped { + typedef typename boost::remove_cv::type>::type PointType; + typedef PolygonType Polygon; public: - PolygonStamped(); - PolygonStamped(const Header *header, const PolygonType *polygon) : + PolygonStamped(){}; + PolygonStamped(const HeaderType &header, Polygon &polygon) : _header(header) - , _polygon(polygon) {} + , _polygon(polygon) + {} - const HeaderType *getHeader() const {return _header;} - const PolygonType *getPolygon() const {return _polygon;} + const HeaderType &header() const {return _header;} + const Polygon &polygon() const {return _polygon;} - void setHeader(const HeaderType *header) {_header = header;} - void setPolygon(const PolygonType *polygon) {_polygon = polygon;} + HeaderType &header() {return _header;} + Polygon &polygon() {return _polygon;} - bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + void setHeader(const HeaderType &header) {_header = header;} + void setPolygon(const Polygon &polygon) { - rapidjson::Document header(rapidjson::kObjectType); - if (!this->_header->toJson(header, allocator)) - return false; - rapidjson::Document polygon(rapidjson::kObjectType); - if (!this->_polygon->toJson(polygon, allocator)) - return false; - doc.AddMember("header", header, allocator); - doc.AddMember("polygon", polygon, allocator); - - return true; + _polygon = polygon; } private: - HeaderType *_header; - PolygonType *_polygon; + HeaderType _header; + Polygon _polygon; }; + + template + bool toJson(const PolyStamped &polyStamped, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + return toJson(polyStamped.polygon(), polyStamped.header(), doc, allocator); + } + + template + bool toJson(const PolygonType &poly, const HeaderType &h, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + rapidjson::Document header(rapidjson::kObjectType); + if (!Header::toJson(h, header, allocator)) + return false; + rapidjson::Document polygon(rapidjson::kObjectType); + if (!Polygon::toJson(poly, polygon, allocator)) + return false; + doc.AddMember("header", header, allocator); + doc.AddMember("polygon", polygon, allocator); + + return true; + } + +} + +namespace PolygonArray { +using namespace ros_bridge::traits; + //! @brief C++ representation of jsk_recognition_msgs/PolygonArray - template , + template class Polygon = Polygon::Polygon, template class ContainerType = std::vector, - class HeaderType = Header > + class HeaderType = Header::Header> class PolygonArray{ + typedef typename boost::remove_cv::type>::type PointType; + typedef Polygon PolygonType; public: - PolygonArray() {} - PolygonArray(const HeaderType *header, - const ContainerType *polygons, - const ContainerType *labels, - const ContainerType<_Float32> *likelihood) + PolygonArray(){} + + //! + //! \brief PolygonArray + //! \param header Header + //! \param polygons Polygons + //! \param labels Labels + //! \param likelihood Header + PolygonArray(const HeaderType &header, + const ContainerType &polygons, + const ContainerType &labels, + const ContainerType<_Float32> &likelihood) : _header(header) , _polygons(polygons) , _labels(labels) , _likelihood(likelihood) {} - const HeaderType *getHeader() const {return _header;} - const ContainerType *getPolygons() const {return _polygons;} - const ContainerType *getLabels() const {return _labels;} - const ContainerType<_Float32> *getLikelihood() const {return _likelihood;} + const HeaderType &header() const {return _header;} + HeaderType &header() {return _header;} + const ContainerType &polygons() const {return _polygons;} + ContainerType &polygons() {return _polygons;} + const ContainerType &labels() const {return _labels;} + ContainerType &labels() {return _labels;} + const ContainerType<_Float32> &likelyhood() const {return _likelihood;} + ContainerType<_Float32> &likelyhood() {return _likelihood;} - void *setHeader (const HeaderType *header) {_header = header;} - void *setPolygons (const ContainerType *polygon) {_polygons = polygon;} - void *setLabels (const ContainerType *labels) {_labels = labels;} - void *setLikelihood (const ContainerType<_Float32> *likelihood) {_likelihood = likelihood;} + void setHeader (const HeaderType &header) {_header = &header;} + void setPolygons (ContainerType &polygon) { _polygons = polygon; } + void setLabels (const ContainerType &labels) {_labels = labels;} + void setLikelihood (const ContainerType<_Float32> &likelihood) {_likelihood = likelihood;} private: - HeaderType *_header; - ContainerType *_polygons; - ContainerType *_labels; - ContainerType<_Float32> *_likelihood; + HeaderType _header; + ContainerType _polygons; + ContainerType _labels; + ContainerType<_Float32> _likelihood; }; + + + namespace PAdetail { + //! Helper functions to generate Json entries for labels and likelihood. + + //! \note \p p has member \fn labels(). + template + void labelsToJson(const PolygonArrayType &p, rapidjson::Value &labels, rapidjson::Document::AllocatorType &allocator, Int2Type){ + for(unsigned long i=0; i < (unsigned long)p.labels().size(); ++i) + labels.PushBack(rapidjson::Value().SetUint(p.labels()[i]), allocator); + } + + //! \note \p p has no member \fn labels(). + template + void labelsToJson(const PolygonArrayType &p, rapidjson::Value &labels, rapidjson::Document::AllocatorType &allocator, Int2Type<0>){ + for(unsigned long i=0; i < (unsigned long)(p.polygons().size()); ++i) + labels.PushBack(rapidjson::Value().SetUint(0), allocator); // use zero! + } + + //! \note \p p has member \fn likelihood(). + template + void likelihoodToJson(const PolygonArrayType &p, rapidjson::Value &likelyhood, rapidjson::Document::AllocatorType &allocator, Int2Type){ + for(unsigned long i=0; i < (unsigned long)p.likelyhood().size(); ++i) + likelyhood.PushBack(rapidjson::Value().SetFloat(p.likelyhood()[i]), allocator); + } + + //! \note \p p has no member \fn likelihood(). + template + void likelihoodToJson(const PolygonArrayType &p, rapidjson::Value &likelyhood, rapidjson::Document::AllocatorType &allocator, Int2Type<0>){ + for(unsigned long i=0; i < (unsigned long)p.polygons().size(); ++i) + likelyhood.PushBack(rapidjson::Value().SetFloat(0), allocator); // use zero! + } + } + + + //! + //! Create PolygonArray message from \p p. \p p contains a header. + //! \param p Class implementing the PolygonArrayType interface. + //! \param doc Rapidjson document used to store the PolygonArray message. + //! \param allocator Allocator used by doc. Can be obtained e.g. by calling doc.getAllocator(). + //! + //! \note The \fn labels() and \fn likelihood() members are optinal. If any of them is missing they + //! will be replaced by arrays filled with zero and size p.polygons.size(). + //! + //! \note If this function is called p.polygons[i] (entries implement the the PolygonStampedGroup interface) + //! must contain a header. + template + bool toJson(const PolygonArrayType &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + rapidjson::Document header(rapidjson::kObjectType); + if (Header::toJson(p.header(), header, allocator)) + return false; + doc.AddMember("header", header, allocator); + + rapidjson::Value polygons(rapidjson::kArrayType); + for(unsigned long i=0; i < p.polygons().size(); ++i){ + rapidjson::Document polygon(rapidjson::kObjectType); + if (!PolygonStamped::toJson(p.polygons[i], polygon, allocator)) + return false; + polygons.PushBack(polygon, allocator); + } + doc.AddMember("polygons", polygons, allocator); + + + rapidjson::Value labels(rapidjson::kArrayType); + typedef HasMemberLabels HasLabels; + PAdetail::labelsToJson(p, labels, allocator, Int2Type()); + doc.AddMember("labels", labels, allocator); + + + rapidjson::Value likelihood(rapidjson::kArrayType); + typedef HasMemberLikelihood HasLikelihood; + PAdetail::likelihoodToJson(p, likelihood, allocator, Int2Type()); + doc.AddMember("likelihood", likelihood, allocator); + + return true; + } + + + //! + //! Create PolygonArray message from \p p and \p h. \p p doesn't have it's own header. + //! \param p Class implementing the PolygonArrayType interface. + //! \param h Class implementing the HeaderType interface. + //! \param doc Rapidjson document used to store the PolygonArray message. + //! \param allocator Allocator used by doc. Can be obtained e.g. by calling doc.getAllocator(). + //! + //! \note The \fn labels() and \fn likelihood() members are optinal. If any of them is missing they + //! will be replaced by arrays filled with zero and size p.polygons.size(). + //! + //! \note If this function is called the headers in p.polygons[i] (entries implement the the PolygonStampedGroup interface) + //! are ignored. + template + bool toJson(const PolygonArrayType &p, const HeaderType &h, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator) + { + rapidjson::Document header(rapidjson::kObjectType); + if (!Header::toJson(h, header, allocator)) + return false; + doc.AddMember("header", header, allocator); + + rapidjson::Value polygons(rapidjson::kArrayType); + for(unsigned long i=0; i < (unsigned long)(p.polygons().size()); ++i){ + rapidjson::Document polygon(rapidjson::kObjectType); + if (!PolygonStamped::toJson(p.polygons()[i], h, polygon, allocator)) + return false; + polygons.PushBack(polygon, allocator); + } + doc.AddMember("polygons", polygons, allocator); + + + rapidjson::Value labels(rapidjson::kArrayType); + typedef HasMemberLabels HasLabels; + PAdetail::labelsToJson(p, labels, allocator, Int2Type()); + doc.AddMember("labels", labels, allocator); + + + rapidjson::Value likelihood(rapidjson::kArrayType); + typedef HasMemberLikelihood HasLikelihood; + PAdetail::likelihoodToJson(p, likelihood, allocator, Int2Type()); + doc.AddMember("likelihood", likelihood, allocator); + + return true; + } + +} } #endif // MESSAGES_H diff --git a/src/comm/ros_bridge/src/messages.cpp b/src/comm/ros_bridge/src/messages.cpp deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/comm/utilities.h b/src/comm/utilities.h index 07989c52e..9096bde28 100644 --- a/src/comm/utilities.h +++ b/src/comm/utilities.h @@ -67,4 +67,15 @@ private: bool _isInitialized; }; +template +struct Type2Type{ + typedef T OriginalType; +}; + + +template +struct Int2Type{ + enum {value = k}; +}; + #endif // UTILITIES_H diff --git a/src/main.cc b/src/main.cc index e7296039e..4f39344ca 100644 --- a/src/main.cc +++ b/src/main.cc @@ -58,9 +58,6 @@ #include #include "QGCMapEngine.h" -// Snake -#include "Wima/WimaControllerDetail.h" - /* SDL does ugly things to main() */ #ifdef main #undef main @@ -253,9 +250,6 @@ int main(int argc, char *argv[]) // on in the code. qRegisterMetaType > >(); - // Snake (Is this the right place for the following statement?) - //qRegisterMetaType("WorkerResult"); - app->_initCommon(); //-- Initialize Cache System getQGCMapEngine()->init(); diff --git a/test_rosbridge/rosbridge/.snake.cpp.kate-swp b/test_rosbridge/rosbridge/.snake.cpp.kate-swp deleted file mode 100644 index ca1900d5da57dac27c577701975e9a9e0dcb4d04..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 125 zcmZQzU=Z?7EJ;-eE>A2_aLdd|RWQ;sU|?Vn(On+2>(s0YL;IeIXB!KTZfKhn#~vI6 slu-j>5D)=zRKQFI2C$4WloJS&QG#+h){9`0MI@aIsgCw -- 2.22.0