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qgroundcontrol
Commit 3409524b authored by Valentin Platzgummer's avatar Valentin Platzgummer
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ROSJsonFactory running, not fully tested.

parent 652511a1
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Showing with 1247 additions and 228285 deletions
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Paths/#airstrip2.wima deleted 100644 → 0
View file @ 652511a1
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Paths/KlingenbachSurvey.plan deleted 100644 → 0
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View file @ 652511a1
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Paths/ttt.plan deleted 100644 → 0
View file @ 652511a1
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qgroundcontrol.pro
View file @ 3409524b
......@@ -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)
......
src/Wima/GeoPoint3D.cpp 0 → 100644
View file @ 3409524b
#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;
}
src/Wima/GeoPoint3D.h 0 → 100644
View file @ 3409524b
#pragma once
#include "ros_bridge/include/messages.h"
#include "ROSMessageType.h"
#include "ROSMessageGroups.h"
#include <QObject>
typedef ROSMessageType<QString> 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);
};
src/Wima/Polygon2D.h 0 → 100644
View file @ 3409524b
#pragma once
#include <QPolygonF>
#include <QPointF>
#include "ROSMessageGroups.h"
#include "ROSMessageType.h"
typedef ROSMessageType<QString> 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
};
src/Wima/PolygonArray.cc 0 → 100644
View file @ 3409524b
#include "PolygonArray.h"
template <class PolygonType, template <class,class...> class ContainerType >
const char *PolygonArray<PolygonType, ContainerType>::typeName = "PolygonArray";
src/Wima/PolygonArray.h 0 → 100644
View file @ 3409524b
#pragma once
#include <QObject>
#include "ROSMessageType.h"
template <class PolygonType, template <class,class...> class ContainerType >
class PolygonArray : public ROSMessageType<QString>, public ContainerType<PolygonType> {
public:
explicit PolygonArray() : ROSMessageType<QString>(), ContainerType<PolygonType>() {}
PolygonArray(const PolygonArray &other) : ContainerType<PolygonType>(other) {}
QString type() const override {return typeName;}
static const char *typeName;
};
src/Wima/QtROSJsonFactory.h 0 → 100644
View file @ 3409524b
#pragma once
#include "ROSJsonFactory.h"
typedef ROSJsonFactory<> QtROSJsonFactory;
src/Wima/ROSCommunicator.cpp 0 → 100644
View file @ 3409524b
#include "ROSCommunicator.h"
void ROSCommunicator::send(const ROSMsg *msg)
{
}
src/Wima/ROSCommunicator.h 0 → 100644
View file @ 3409524b
#pragma once
#include "WimaAreaData.h"
#include "ROSMessageType.h"
typedef ROSMessageType<QString> 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);
};
src/Wima/ROSJsonFactory.cpp 0 → 100644
View file @ 3409524b
#include "ROSJsonFactory.h"
#include "PolygonArray.h"
src/Wima/ROSJsonFactory.h 0 → 100644
View file @ 3409524b
#ifndef ROSJSONFACTORY_H
#define ROSJSONFACTORY_H
#include "ros_bridge/rapidjson/include/rapidjson/document.h"
#include "ros_bridge/include/messages.h"
#include "ROSMessageType.h"
#include <QString>
#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 HeaderPolicy = StdHeaderPolicy>
class ROSJsonFactory : public HeaderPolicy
{
typedef QString StringType;
typedef ROSMessageType<StringType> 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 <class T>
rapidjson::Document *create(const T &msg){
static_assert(boost::is_base_of<ROSMsg, T>::value, "Type of msg must be derived from ROSMessageType.");
static_assert(!::boost::is_same<typename T::Group, EmptyGroup>::value,
"msg belongs to group EmptyGroup (not allowed). Please specify Group (typedef MessageGroup Group)");
return _create(msg, Type2Type<typename T::Group>());
}
private:
// ===========================================================================
// EmptyGroup and not implemented Groups
// ===========================================================================
template<class U, class V>
rapidjson::Document *_create(const U &msg, Type2Type<V>){
(void)msg;
assert(false); // Implementation missing for group U::Group!
}
// ===========================================================================
// Point32Group
// ===========================================================================
template<class U>
rapidjson::Document *_create(const U &msg, Type2Type<Point32Group>){
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<class U>
rapidjson::Document *_create(const U &msg, Type2Type<GeoPointGroup>){
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<class U>
rapidjson::Document *_create(const U &msg, Type2Type<PolygonGroup>){
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<class U>
rapidjson::Document *_create(const U &msg, Type2Type<PolygonStampedGroup>){
using namespace ros_bridge;
using namespace ros_bridge::traits;
typedef HasMemberHeader<U> HasHeader;
return _createPolygonStamped(msg, Int2Type<HasHeader::value>());
}
template<class U, int k>
rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<k>){ // 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<class U>
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<class U>
rapidjson::Document *_create(const U &msg, Type2Type<PolygonArrayGroup>){
using namespace ros_bridge;
using namespace ros_bridge::traits;
typedef HasMemberHeader<U> HasHeader;
return _createPolygonArray(msg, Int2Type<HasHeader::value>());
}
template<class U, int k>
rapidjson::Document *_createPolygonArray(const U &msg, Int2Type<k>){ // 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<class U>
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<typename T>
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<typename T>
ros_bridge::Time::Time time(const T&msg) {
(void)msg;
return ros_bridge::Time::Time(0,0);
}
private:
long _seq;
};
#endif // ROSJSONFACTORY_H
src/Wima/ROSMessageGroups.h 0 → 100644
View file @ 3409524b
#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 {};
src/Wima/ROSMessageType.h 0 → 100644
View file @ 3409524b
#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 <typename StringType>
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;
};
src/Wima/SnakeTiles.h 0 → 100644
View file @ 3409524b
#ifndef SNAKETILES_H
#define SNAKETILES_H
#endif // SNAKETILES_H
src/Wima/SnakeTilesLocal.h 0 → 100644
View file @ 3409524b
#ifndef SNAKETILELOCAL_H
#define SNAKETILELOCAL_H
#endif // SNAKETILELOCAL_H
src/Wima/WimaArea.h
View file @ 3409524b
......@@ -5,7 +5,6 @@
#include "Vehicle.h"
#include "qobject.h"
#include "WimaVehicle.h"
#include "WimaArea.h"
#include <QLineF>
#include <QPointF>
#include "QGCGeo.h"
......
src/Wima/WimaAreaData.cc
View file @ 3409524b
......@@ -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());
}
......
src/Wima/WimaAreaData.h
View file @ 3409524b
......@@ -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<QGeoCoordinate> 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<QGeoCoordinate> &coordinateList);
void setPath(const QVariantList &coordinateList);
void setPath(const QVariantList &coordinateList);
void setCenter(const QGeoCoordinate &center);
protected:
......
src/Wima/WimaController.cc
View file @ 3409524b
......@@ -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 <QScopedPointer>
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 &centerPoint = cps[i];
QGeoCoordinate QCenterPoint(centerPoint[0], centerPoint[1], centerPoint[2]);
Tile.setCenter(QCenterPoint);
_snakeTiles.polygons().append(Tile);
_snakeTileCenterPoints.append(QVariant::fromValue(QCenterPoint));
}
const auto &centerPoint = 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<rapidjson::Document> doc(factory.create(_snakeTilesLocal));
auto &temp = _scenario.getOrigin();
::GeoPoint3D origin(temp[0], temp[1], temp[2]);
QScopedPointer<rapidjson::Document> doc2(factory.create(origin));
cout << "Origin" << endl;
rapidjson::OStreamWrapper out(std::cout);
rapidjson::Writer<rapidjson::OStreamWrapper> writer(out);
doc2->Accept(writer);
std::cout << std::endl << std::endl;
cout << "Snake Tiles" << endl;
rapidjson::Writer<rapidjson::OStreamWrapper> 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<rapidjson::OStreamWrapper> 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<rapidjson::OStreamWrapper> writer2(out);
doc2.Accept(writer2);
std::cout << std::endl << std::endl;
// Point
QVector3D p1(1, 2, 3);
typedef Point32<QVector3D> 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<rapidjson::OStreamWrapper> 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<PointWrapper> pointList;
pointList.append(pw1);
pointList.append(pw2);
pointList.append(pw3);
typedef Polygon<PointWrapper, QVector> 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<rapidjson::OStreamWrapper> writer4(out);
doc4.Accept(writer4);
std::cout << std::endl << std::endl;
// PolygonStamped
typedef PolygonStamped<PointWrapper, Poly> 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<rapidjson::OStreamWrapper> 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<PointWrapper> pointList2{pw4, pw5, pw6};
Poly polyW2(&pointList2);
typedef PolygonArray<PointWrapper, Poly, QVector> PolyArray;
QVector<Poly*> 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<rapidjson::OStreamWrapper> 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<rapidjson::OStreamWrapper> 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<rapidjson::OStreamWrapper> writer2(out);
// doc2.Accept(writer2);
// std::cout << std::endl << std::endl;
// // Point 3D
// QVector3D p1(1, 2, 3);
// typedef Point32<QVector3D> 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<rapidjson::OStreamWrapper> writer3(out);
// doc3.Accept(writer3);
// std::cout << std::endl << std::endl;
// // Point 2D
// QPoint p2D(1, 2);
// p2D.x();
// Point32<QPoint> 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<rapidjson::OStreamWrapper> 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<PointWrapper> pointList;
// pointList.append(pw1);
// pointList.append(pw2);
// pointList.append(pw3);
// typedef Polygon<PointWrapper, QVector> 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<rapidjson::OStreamWrapper> writer4(out);
// doc4.Accept(writer4);
// std::cout << std::endl << std::endl;
// // PolygonStamped
// typedef PolygonStamped<PointWrapper, Poly> 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<rapidjson::OStreamWrapper> 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<PointWrapper> pointList2{pw4, pw5, pw6};
// Poly polyW2(&pointList2);
// typedef PolygonArray<PointWrapper, Poly, QVector> PolyArray;
// QVector<Poly*> 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<rapidjson::OStreamWrapper> 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<SimpleMissionItem *>((*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<std::chrono::milliseconds>(end-start).count();
qWarning() << "WimaController::_snakeStoreWorkerResults execution time: " << duration << " ms.";
}
void WimaController::_loadCurrentMissionItemsFromBuffer()
......
src/Wima/WimaController.h
View file @ 3409524b
......@@ -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<int> snakeProgress (void) { return _snakeProgress;}
......@@ -322,7 +327,12 @@ private:
SettingsFact _snakeMinTileArea;
SettingsFact _snakeLineDistance;
SettingsFact _snakeMinTransectLength;
QmlObjectListModel _snakeTiles; // tiles
typedef WimaPolygonArray<SnakeTile, QVector> SnakeTiles;
SnakeTiles _snakeTiles; // tiles
typedef WimaPolygonArray<Polygon2D, QVector, PolygonArrayGroup> SnakeTilesLocal;
SnakeTilesLocal _snakeTilesLocal; // tiles local coordinate system
QVariantList _snakeTileCenterPoints;
QList<int> _snakeProgress; // measurement progress
......
src/Wima/WimaCorridorData.h
View file @ 3409524b
......@@ -19,6 +19,7 @@ public:
WimaCorridorData &operator=(const WimaCorridor &other);
QString type() const;
WimaCorridorData *Clone() const {return new WimaCorridorData(*this);}
static const char* typeString;
......
src/Wima/WimaJoinedAreaData.h
View file @ 3409524b
......@@ -19,6 +19,7 @@ public:
WimaJoinedAreaData &operator=(const WimaJoinedArea &other);
QString type() const;
WimaJoinedAreaData *Clone() const {return new WimaJoinedAreaData(*this);}
static const char* typeString;
......
src/Wima/WimaMeasurementAreaData.h
View file @ 3409524b
......@@ -21,6 +21,7 @@ public:
WimaMeasurementAreaData& operator=(const WimaMeasurementArea &other);
QString type() const;
WimaMeasurementAreaData *Clone() const {return new WimaMeasurementAreaData(*this);}
static const char* typeString;
......
src/Wima/WimaPolygonArray.h 0 → 100644
View file @ 3409524b
#pragma once
#include "ROSMessageType.h"
#include "ROSMessageGroups.h"
#include "QmlObjectListModel.h"
#include <QVector>
#include <QString>
typedef ROSMessageType<QString> ROSMsg;
template <class PolygonType, template <class, class...> 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<QString> * Clone() const override{
return new WimaPolygonArray(*this);
}
class QmlObjectListModel *QmlObjectListModel(){
if (_dirty)
_updateObjects();
_dirty = false;
return &_objs;
}
const ContainerType<PolygonType> &polygons() const {
return _polygons;
}
ContainerType<PolygonType> &polygons(){
_dirty = true;
return _polygons;
}
private:
void _updateObjects(void){
_objs.clear();
for (long i=0; i<_polygons.size(); ++i){
_objs.append(&_polygons[i]);
}
}
ContainerType<PolygonType> _polygons;
class QmlObjectListModel _objs;
bool _dirty;
};
src/Wima/WimaServiceAreaData.h
View file @ 3409524b
......@@ -23,7 +23,7 @@ public:
const QGeoCoordinate &landPosition() const;
QString type() const;
WimaServiceAreaData *Clone() const {return new WimaServiceAreaData();}
static const char* typeString;
signals:
......
src/Wima/snaketile.cpp 0 → 100644
View file @ 3409524b
#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);
}
src/Wima/snaketile.h 0 → 100644
View file @ 3409524b
#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);
};
src/comm/ros_bridge/include/ROSMessageTraits.h 0 → 100644
View file @ 3409524b
#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<Point>::value is equal to 1 and 0 either.
template <typename T>
class HasMemberZ
{
typedef char Small;
struct Big { char x[2]; };
template <typename C> static Small test( typeof(&C::z) ) ;
template <typename C> static Big test(...);
public:
enum { value = sizeof(test<T>(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<T>::value is equal to 1 and 0 either.
template <typename T>
class HasMemberLabels
{
typedef char Small;
struct Big { char x[2]; };
template <typename C> static Small test( typeof(&C::labels) ) ;
template <typename C> static Big test(...);
public:
enum { value = sizeof(test<T>(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<T>::value is equal to 1 and 0 either.
template <typename T>
class HasMemberLikelihood
{
typedef char Small;
struct Big { char x[2]; };
template <typename C> static Small test( typeof(&C::likelihood) ) ;
template <typename C> static Big test(...);
public:
enum { value = sizeof(test<T>(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<T>::value is equal to 1 and 0 either.
template <typename T>
class HasMemberHeader
{
typedef char Small;
struct Big { char x[2]; };
template <typename C> static Small test( typeof(&C::header) ) ;
template <typename C> static Big test(...);
public:
enum { value = sizeof(test<T>(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<T>::value is equal to 1 and 0 either.
template <typename T>
class HasMemberAltitude
{
typedef char Small;
struct Big { char x[2]; };
template <typename C> static Small test( typeof(&C::altitude) ) ;
template <typename C> static Big test(...);
public:
enum { value = sizeof(test<T>(0)) == sizeof(Small) };
};
//! @brief Selects the Type T or U depending on flag and stores it inside Result.
template <int flag, typename T, typename U>
struct Select {typedef T Result;};
template <typename T, typename U>
struct Select<0, T, U> {typedef U Result;};
struct HasComponents {};
struct Has3Components : public HasComponents {};
struct Has2Components : public HasComponents {};
}
}
src/comm/ros_bridge/include/jsongenerator.h deleted 100644 → 0
View file @ 652511a1
#ifndef JSONGENERATOR_H
#define JSONGENERATOR_H
#endif // JSONGENERATOR_H
src/comm/ros_bridge/include/messages.h
View file @ 3409524b
......@@ -3,207 +3,498 @@
#include <iostream>
#include <vector>
#include <boost/type_traits/remove_cv.hpp>
#include <boost/type_traits/remove_reference.hpp>
#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<class TimeType>
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 PointType>
class Point32{
public:
Point32() {}
Point32(const PointType* p): _point(p) {}
const PointType *getPoint() const {return _point;}
void setPoint(const PointType *point) {point;}
template <class HeaderType>
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<typename FloatType = _Float64>
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 <typename FloatType, class T, typename V>
bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type<V>)
{
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 <typename FloatType, class T>
bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type<Has2Components>)
{
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 <typename FloatType = _Float32, class T>
bool toJson(const T&p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
typedef typename Select<HasMemberZ<T>::value, Has3Components, Has2Components>::Result
Components; // Check if PointType has 2 or 3 dimensions.
return det::toJson<FloatType>(p, doc, allocator, Type2Type<Components>());
}
}
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 <class T, typename V>
bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type<V>)
{
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 <class T>
bool toJson(const T &p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator, Type2Type<Has2Components>)
{
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 <class T>
bool toJson(const T&p, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
typedef typename Select<HasMemberAltitude<T>::value, Has3Components, Has2Components>::Result
Components; // Check if PointType has 2 or 3 dimensions.
return det::toJson(p, doc, allocator, Type2Type<Components>());
}
}
namespace Polygon {
//! @brief C++ representation of geometry_msgs/Polygon
template <class PointType,
template <class, class...> class ContainerType = std::vector,
class PointWrapper = class Point32<PointType> >
template <class PointTypeCVR,
template <class, class...> class ContainerType = std::vector>
class Polygon{
typedef typename boost::remove_cv<typename boost::remove_reference<PointTypeCVR>::type>::type PointType;
public:
Polygon(){}
Polygon(const ContainerType<PointType> *points) : _points(points) {}
Polygon(const Polygon &poly) : _points(poly.points()){}
const ContainerType<PointType> *getPoints() const {return _points;}
const ContainerType<PointType> &points() const {return _points;}
ContainerType<PointType> &points() {return _points;}
void setPoints(const ContainerType<PointType> *points) {_points = points;}
private:
ContainerType<PointType> _points;
};
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value points(rapidjson::kArrayType);
template <class PolygonType>
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<PointType> *_points;
};
//! @brief C++ representation of geometry_msgs/PolygonStamped
template <class PointType, class PolygonType = Polygon<PointType>, class HeaderType = Header>
class PolygonStamped : public PolygonType{
template <class PointTypeCVR,
template<class,class...> class PolygonType = Polygon::Polygon, class HeaderType = Header::Header>
class PolygonStamped {
typedef typename boost::remove_cv<typename boost::remove_reference<PointTypeCVR>::type>::type PointType;
typedef PolygonType<PointType> 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 <class PolyStamped>
bool toJson(const PolyStamped &polyStamped, rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
return toJson(polyStamped.polygon(), polyStamped.header(), doc, allocator);
}
template <class PolygonType, class HeaderType>
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 <class PointType,
class PolygonType = Polygon<PointType>,
template <class PointTypeCVR,
template <class, class...> class Polygon = Polygon::Polygon,
template <class, class...> class ContainerType = std::vector,
class HeaderType = Header >
class HeaderType = Header::Header>
class PolygonArray{
typedef typename boost::remove_cv<typename boost::remove_reference<PointTypeCVR>::type>::type PointType;
typedef Polygon<PointType> PolygonType;
public:
PolygonArray() {}
PolygonArray(const HeaderType *header,
const ContainerType<PolygonType> *polygons,
const ContainerType<uint32_t> *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<PolygonType> &polygons,
const ContainerType<uint32_t> &labels,
const ContainerType<_Float32> &likelihood)
: _header(header)
, _polygons(polygons)
, _labels(labels)
, _likelihood(likelihood)
{}
const HeaderType *getHeader() const {return _header;}
const ContainerType<PolygonType> *getPolygons() const {return _polygons;}
const ContainerType<uint32_t> *getLabels() const {return _labels;}
const ContainerType<_Float32> *getLikelihood() const {return _likelihood;}
const HeaderType &header() const {return _header;}
HeaderType &header() {return _header;}
const ContainerType<PolygonType> &polygons() const {return _polygons;}
ContainerType<PolygonType> &polygons() {return _polygons;}
const ContainerType<uint32_t> &labels() const {return _labels;}
ContainerType<uint32_t> &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<PolygonType> *polygon) {_polygons = polygon;}
void *setLabels (const ContainerType<uint32_t> *labels) {_labels = labels;}
void *setLikelihood (const ContainerType<_Float32> *likelihood) {_likelihood = likelihood;}
void setHeader (const HeaderType &header) {_header = &header;}
void setPolygons (ContainerType<PolygonType> &polygon) { _polygons = polygon; }
void setLabels (const ContainerType<uint32_t> &labels) {_labels = labels;}
void setLikelihood (const ContainerType<_Float32> &likelihood) {_likelihood = likelihood;}
private:
HeaderType *_header;
ContainerType<PolygonType> *_polygons;
ContainerType<uint32_t> *_labels;
ContainerType<_Float32> *_likelihood;
HeaderType _header;
ContainerType<PolygonType> _polygons;
ContainerType<uint32_t> _labels;
ContainerType<_Float32> _likelihood;
};
namespace PAdetail {
//! Helper functions to generate Json entries for labels and likelihood.
//! \note \p p has member \fn labels().
template <class PolygonArrayType, int k>
void labelsToJson(const PolygonArrayType &p, rapidjson::Value &labels, rapidjson::Document::AllocatorType &allocator, Int2Type<k>){
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 <class PolygonArrayType>
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 <class PolygonArrayType, int k>
void likelihoodToJson(const PolygonArrayType &p, rapidjson::Value &likelyhood, rapidjson::Document::AllocatorType &allocator, Int2Type<k>){
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 <class PolygonArrayType>
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 <class PolygonArrayType>
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<PolygonArrayType> HasLabels;
PAdetail::labelsToJson(p, labels, allocator, Int2Type<HasLabels::value>());
doc.AddMember("labels", labels, allocator);
rapidjson::Value likelihood(rapidjson::kArrayType);
typedef HasMemberLikelihood<PolygonArrayType> HasLikelihood;
PAdetail::likelihoodToJson(p, likelihood, allocator, Int2Type<HasLikelihood::value>());
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 <class PolygonArrayType, class HeaderType>
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<PolygonArrayType> HasLabels;
PAdetail::labelsToJson(p, labels, allocator, Int2Type<HasLabels::value>());
doc.AddMember("labels", labels, allocator);
rapidjson::Value likelihood(rapidjson::kArrayType);
typedef HasMemberLikelihood<PolygonArrayType> HasLikelihood;
PAdetail::likelihoodToJson(p, likelihood, allocator, Int2Type<HasLikelihood::value>());
doc.AddMember("likelihood", likelihood, allocator);
return true;
}
}
}
#endif // MESSAGES_H
src/comm/utilities.h
View file @ 3409524b
......@@ -67,4 +67,15 @@ private:
bool _isInitialized;
};
template <typename T>
struct Type2Type{
typedef T OriginalType;
};
template <int k>
struct Int2Type{
enum {value = k};
};
#endif // UTILITIES_H
src/main.cc
View file @ 3409524b
......@@ -58,9 +58,6 @@
#include <iostream>
#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<QList<QPair<QByteArray,QByteArray> > >();
// Snake (Is this the right place for the following statement?)
//qRegisterMetaType<WorkerResult_t>("WorkerResult");
app->_initCommon();
//-- Initialize Cache System
getQGCMapEngine()->init();
......
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