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Commit 3b151cb4 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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parent 8a973ac5
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src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ 3b151cb4
......@@ -19,14 +19,16 @@ import QGroundControl.FactControls 1.0
Item {
id: _root
height: 600
width: 300
height: mainFrame.height
width: mainFrame.width
property var maxHeight: 500
property var maxWidth: 300
property var wimaController // must be provided by the user
property var planMasterController // must be provided by the user
property bool _controllerValid: planMasterController !== undefined
property real _controllerProgressPct: _controllerValid ? planMasterController.missionController.progressPct : 0
property double _margins: ScreenTools.defaultPixelWidth*0.3
signal initSmartRTL();
......@@ -58,22 +60,48 @@ Item {
id: mainFrame
anchors.left: parent.left
anchors.bottom: parent.bottom
height: enableWima.enableWimaBoolean ? parent.height : enableWima.height
width: enableWima.enableWimaBoolean ? parent.width : enableWima.width
height: enableWima.enableWimaBoolean ? Math.min(parent.maxHeight, enableWima.height + flickable.contentHeight + 2*_margins) : enableWima.height + _margins
width: enableWima.enableWimaBoolean ? Math.min(parent.maxWidth, flickable.contentWidth + 2*_margins) : enableWima.width
color: enableWima.enableWimaBoolean ? qgcPal.window : "transparent"
radius: ScreenTools.defaultFontPixelHeight / 4
clip: false
Component.onCompleted: {
console.log('onCompleted')
console.log('height')
console.log(height)
console.log('width')
console.log(width)
}
onHeightChanged: {
console.log('height')
console.log(height)
_root.height = mainFrame.height
}
onWidthChanged: {
console.log('width')
console.log(width)
_root.width = mainFrame.width
}
// checkbox to enable/ disable wima
SliderSwitch {
id: enableWima
anchors.horizontalCenter: parent.horizontalCenter
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
anchors.topMargin: _margins
anchors.top: parent.top
confirmText: enableWimaBoolean ? qsTr("disable WiMA") : qsTr("enable WiMA")
property var enableWimaFact: wimaController.enableWimaController
property bool enableWimaBoolean: enableWimaFact.value
Component.onCompleted: {
enableWimaFact.value = false
}
onAccept: {
if (enableWimaBoolean) {
enableWimaFact.value = false
......@@ -83,27 +111,53 @@ Item {
}
}
Item {
id: flickableWrapper
anchors.top: enableWima.bottom
anchors.left: parent.left
anchors.right: parent.right
anchors.bottom: parent.bottom
anchors.margins: ScreenTools.defaultFontPixelHeight*0.5
/*MouseArea {
anchors.fill: enableWima
QGCFlickable {
clip: true
anchors.fill: parent
contentHeight: wrapperItem.height
contentWidth: wrapperItem.width
hoverEnabled: true
Item {
id: wrapperItem
width: Math.max(flickableWrapper.width, mainColumn.width)
height: mainColumn.height
property var enableWimaFact: wimaController.enableWimaController
property bool enableWimaBoolean: enableWimaFact.value
onEntered: {
timer.stop()
enableWima.visible = true
}
onExited: {
if (enableWimaBoolean === false) {
timer.start()
}
}
}
Timer {
id: timer
interval: 1000
running: false
repeat: false
onTriggered: enableWima.visible = false
}*/
property int itemWidth: 120
QGCFlickable {
id: flickable
clip: false
anchors.top: enableWima.bottom
anchors.left: parent.left
contentHeight: mainColumn.height
contentWidth: mainColumn.width
onContentHeightChanged: {
console.log('contentHeight')
console.log(contentHeight)
mainFrame.height = enableWima.enableWimaBoolean ? Math.min(parent.maxHeight, enableWima.height + flickable.contentHeight + 2*_margins) : enableWima.height + _margins
}
onContentWidthChanged: {
console.log('contentWidth')
console.log(contentWidth)
mainFrame.width = enableWima.enableWimaBoolean ? Math.min(parent.maxWidth, flickable.contentWidth + 2*_margins) : enableWima.width
}
Column {
id: mainColumn
anchors.horizontalCenter: parent.horizontalCenter
......@@ -327,8 +381,6 @@ Item {
}
}
} // settingsColumn
} // wrapperItem
} // QGCFlickable
} // Item
}
}
src/Wima/WimaController.cc
View file @ 3b151cb4
......@@ -32,8 +32,8 @@ WimaController::WimaController(QObject *parent)
, _flightSpeed (settingsGroup, _metaDataMap[flightSpeedName])
, _altitude (settingsGroup, _metaDataMap[altitudeName])
, _reverse (settingsGroup, _metaDataMap[reverseName])
, _endWaypointIndex (0)
, _startWaypointIndex (0)
, _lastMissionPhaseReached (false)
, _uploadOverrideRequired (false)
, _phaseDistance (-1)
, _phaseDuration (-1)
......@@ -42,7 +42,7 @@ WimaController::WimaController(QObject *parent)
, _executingSmartRTL (false)
{
_nextPhaseStartWaypointIndex.setRawValue(int(1));
//_nextPhaseStartWaypointIndex.setRawValue(int(1));
_showAllMissionItems.setRawValue(true);
_showCurrentMissionItems.setRawValue(true);
connect(&_overlapWaypoints, &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
......@@ -50,6 +50,7 @@ WimaController::WimaController(QObject *parent)
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
connect(&_flightSpeed, &Fact::rawValueChanged, this, &WimaController::updateSpeed);
connect(&_altitude, &Fact::rawValueChanged, this, &WimaController::updateAltitude);
connect(&_reverse, &Fact::rawValueChanged, this, &WimaController::reverseChangedHandler);
// setup low battery handling
connect(&_checkBatteryTimer, &QTimer::timeout, this, &WimaController::checkBatteryLevel);
......@@ -219,18 +220,34 @@ void WimaController::nextPhase()
void WimaController::previousPhase()
{
if (_nextPhaseStartWaypointIndex.rawValue().toInt() > 0) {
_lastMissionPhaseReached = false;
_nextPhaseStartWaypointIndex.setRawValue(std::max(_startWaypointIndex
bool reverseBool = _reverse.rawValue().toBool();
if (!reverseBool){
int startIndex = _nextPhaseStartWaypointIndex.rawValue().toInt();
if (startIndex > 0) {
_nextPhaseStartWaypointIndex.setRawValue(1+std::max(_startWaypointIndex
- _maxWaypointsPerPhase.rawValue().toInt()
+ _overlapWaypoints.rawValue().toInt(), 1));
+ _overlapWaypoints.rawValue().toInt(), 0));
}
}
else {
int startIndex = _nextPhaseStartWaypointIndex.rawValue().toInt();
if (startIndex <= _missionItems.count()) {
_nextPhaseStartWaypointIndex.setRawValue(1+std::min(_startWaypointIndex
+ _maxWaypointsPerPhase.rawValue().toInt()
- _overlapWaypoints.rawValue().toInt(), _missionItems.count()-1));
}
}
}
void WimaController::resetPhase()
{
_lastMissionPhaseReached = false;
bool reverseBool = _reverse.rawValue().toBool();
if (!reverseBool) {
_nextPhaseStartWaypointIndex.setRawValue(int(1));
}
else {
_nextPhaseStartWaypointIndex.setRawValue(_missionItems.count());
}
}
bool WimaController::uploadToVehicle()
......@@ -450,7 +467,6 @@ bool WimaController::fetchContainerData()
emit currentWaypointPathChanged();
_localPlanDataValid = false;
_lastMissionPhaseReached = false;
if (_container == nullptr) {
qWarning("WimaController::fetchContainerData(): No container assigned!");
......@@ -536,7 +552,8 @@ bool WimaController::fetchContainerData()
// set _nextPhaseStartWaypointIndex to 1
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nextPhaseStartWaypointIndex.setRawValue(int(1));
bool reverse = _reverse.rawValue().toBool();
_nextPhaseStartWaypointIndex.setRawValue(reverse? _missionItems.count() : int(1));
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
if(!calcNextPhase())
......@@ -554,46 +571,51 @@ bool WimaController::fetchContainerData()
bool WimaController::calcNextPhase()
{
if (_missionItems.count() < 1 || _lastMissionPhaseReached)
if (_missionItems.count() < 1) {
_startWaypointIndex = 0;
_endWaypointIndex = 0;
return false;
}
_currentMissionItems.clearAndDeleteContents();
_currentWaypointPath.clear();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
bool reverseBool = _reverse.rawValue().toBool(); // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
_startWaypointIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
if (!reverseBool) {
if (_startWaypointIndex > _missionItems.count()-1)
bool reverse = _reverse.rawValue().toBool(); // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
int startIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
if (!reverse) {
if (startIndex > _missionItems.count()-1)
return false;
}
else {
if (_startWaypointIndex < 0)
if (startIndex < 0)
return false;
}
_startWaypointIndex = startIndex;
int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
int maxWaypointsPerPhase = _maxWaypointsPerPhase.rawValue().toInt();
// determine end waypoint index
if (!reverseBool) {
_endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-1);
bool lastMissionPhaseReached = false;
if (!reverse) {
_endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhase - 1, _missionItems.count()-1);
if (_endWaypointIndex == _missionItems.count() - 1)
_lastMissionPhaseReached = true;
lastMissionPhaseReached = true;
}
else {
_endWaypointIndex = std::max(_startWaypointIndex - maxWaypointsPerPhaseInt + 1, 0);
_endWaypointIndex = std::max(_startWaypointIndex - maxWaypointsPerPhase + 1, 0);
if (_endWaypointIndex == 0)
_lastMissionPhaseReached = true;
lastMissionPhaseReached = true;
}
// extract waypoints
QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
if (!reverseBool) {
if (!reverse) {
if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
return false;
......@@ -614,9 +636,9 @@ bool WimaController::calcNextPhase()
// set start waypoint index for next phase
if (!_lastMissionPhaseReached) {
if (!lastMissionPhaseReached) {
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
if (!reverseBool) {
if (!reverse) {
int untruncated = std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
int truncated = std::min(untruncated , _missionItems.count()-1);
_nextPhaseStartWaypointIndex.setRawValue(truncated + 1);
......@@ -747,7 +769,6 @@ void WimaController::updateNextWaypoint()
void WimaController::recalcCurrentPhase()
{
_lastMissionPhaseReached = false;
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nextPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
......@@ -845,6 +866,15 @@ void WimaController::enableDisableLowBatteryHandling(QVariant enable)
}
}
void WimaController::reverseChangedHandler()
{
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nextPhaseStartWaypointIndex.setRawValue(_endWaypointIndex+1);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
calcNextPhase();
}
void WimaController::_setPhaseDistance(double distance)
{
if (!qFuzzyCompare(distance, _phaseDistance)) {
......@@ -996,7 +1026,7 @@ void WimaController::_setVehicleHasLowBattery(bool batteryLow)
bool WimaController::_executeSmartRTL(QString &errorSring)
{
Q_UNUSED(errorSring);
Q_UNUSED(errorSring)
_executingSmartRTL = true;
connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::smartRTLCleanUp);
forceUploadToVehicle();
......
src/Wima/WimaController.h
View file @ 3b151cb4
......@@ -177,6 +177,7 @@ private slots:
void checkBatteryLevel (void);
void smartRTLCleanUp (bool flying); // cleans up after successfull smart RTL
void enableDisableLowBatteryHandling (QVariant enable);
void reverseChangedHandler ();
private:
void _setPhaseDistance(double distance);
......@@ -224,7 +225,6 @@ private:
// (which is not part of the return path) of _currentMissionItem
int _startWaypointIndex; // indes of the mission item stored in _missionItems defining the first element
// (which is not part of the arrival path) of _currentMissionItem
bool _lastMissionPhaseReached;
bool _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
// The user can override the upload lock with a slider, this will reset this variable to false.
double _phaseDistance; // the lenth in meters of the current phase
......
src/Wima/WimaPlaner.cc
View file @ 3b151cb4
......@@ -708,7 +708,11 @@ WimaPlanData WimaPlaner::toPlanData()
// convert mission items to mavlink commands
QObject deleteObject; // used to automatically delete content of rgMissionItems after this function call
QList<MissionItem*> rgMissionItems;
MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, &deleteObject);
QmlObjectListModel *visualItems = _missionController->visualItems();
QmlObjectListModel visualItemsToCopy;
for (int i = _arrivalPathLength+1; i < visualItems->count()-_returnPathLength; i++)
visualItemsToCopy.append(visualItems->get(i));
MissionController::convertToMissionItems(&visualItemsToCopy, rgMissionItems, &deleteObject);
// store mavlink commands
planData.append(rgMissionItems);
......
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