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Commit 3dfdeec9 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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temp

parent f4eb1bde
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Showing with 245 additions and 279 deletions
qgroundcontrol.pro
View file @ 3dfdeec9
......@@ -423,6 +423,7 @@ INCLUDEPATH += \
src/comm \
src/MeasurementComplexItem \
src/MeasurementComplexItem/geometry \
src/MeasurementComplexItem/nemo_interface \
src/comm/ros_bridge \
src/input \
src/lib/qmapcontrol \
......
src/MeasurementComplexItem/MeasurementComplexItem.cc
View file @ 3dfdeec9
......@@ -39,14 +39,14 @@ const QString MeasurementComplexItem::name(tr("Measurement"));
MeasurementComplexItem::MeasurementComplexItem(
PlanMasterController *masterController, bool flyView,
const QString &kmlOrShpFile, QObject *parent)
: ComplexMissionItem(masterController, flyView, settingsGroup, parent),
: ComplexMissionItem(masterController, flyView, parent),
_masterController(masterController), _sequenceNumber(0),
_followTerrain(false), _state(STATE::IDLE),
_followTerrain(false),
_altitude(settingsGroup, _metaDataMap[altitudeName]), _state(STATE::IDLE),
_metaDataMap(FactMetaData::createMapFromJsonFile(
QStringLiteral(":/json/MeasurementComplexItem.SettingsGroup.json"),
this)),
_variant(settingsGroup, _metaDataMap[variantName]),
_variant(settingsGroup, _metaDataMap[altitudeName]),
_areaData(new AreaData(this)), _editorData(new AreaData(this)),
_currentData(_areaData), _pWorker(new RoutingThread(this)) {
......@@ -59,9 +59,17 @@ MeasurementComplexItem::MeasurementComplexItem(
// Connect worker.
connect(this->_pWorker, &RoutingThread::result, this,
&MeasurementComplexItem::_setTransects);
connect(this->_pWorker, &RoutingThread::calculatingChanged, this,
&MeasurementComplexItem::calculatingChanged);
&MeasurementComplexItem::_storeRoutingData);
// Connect coordinate and exitCoordinate
connect(this, &MeasurementComplexItem::routeChanged,
[this] { emit this->coordinateChanged(this->coordinate()); });
connect(this, &MeasurementComplexItem::routeChanged,
[this] { emit this->exitCoordinateChanged(this->exitCoordinate()); });
connect(this, &MeasurementComplexItem::routeChanged, [this] {
emit this->exitCoordinateSameAsEntryChanged(
this->exitCoordinateSameAsEntry());
});
// Register Generators.
auto lg = new routing::LinearGenerator(this->_areaData, this);
......@@ -75,10 +83,7 @@ MeasurementComplexItem::MeasurementComplexItem(
MeasurementComplexItem::~MeasurementComplexItem() {}
void MeasurementComplexItem::revertPath() {
this->_setState(STATE::REVERT_PATH);
this->_update();
}
void MeasurementComplexItem::reverseRoute() { _reverseRoute(); }
const AreaData *MeasurementComplexItem::areaData() const {
return this->_currentData;
......@@ -86,12 +91,18 @@ const AreaData *MeasurementComplexItem::areaData() const {
AreaData *MeasurementComplexItem::areaData() { return this->_currentData; }
QVariantList MeasurementComplexItem::route() { return _route; }
QStringList MeasurementComplexItem::variantNames() const {
return _variantNames;
}
bool MeasurementComplexItem::load(const QJsonObject &complexObject,
int sequenceNumber, QString &errorString) {
qWarning() << "MeasurementComplexItem::load(): area data load missing.";
qWarning() << "MeasurementComplexItem::load(): mission item load missing.";
qWarning() << "MeasurementComplexItem::load(): add editingStart/Stop.";
// We need to pull version first to determine what validation/conversion
// needs to be performed
QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
......@@ -132,31 +143,15 @@ bool MeasurementComplexItem::load(const QJsonObject &complexObject,
return false;
}
_ignoreRecalc = true;
setSequenceNumber(sequenceNumber);
if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */,
errorString)) {
_surveyAreaPolygon.clear();
return false;
}
if (!load(complexObject, sequenceNumber, errorString)) {
_ignoreRecalc = false;
return false;
}
_variant.setRawValue(complexObject[variantName].toInt());
_altitude.setRawValue(complexObject[altitudeName].toDouble());
_ignoreRecalc = false;
if (_cameraShots == 0) {
// Shot count was possibly not available from plan file
_recalcCameraShots();
}
return true;
}
......@@ -171,23 +166,23 @@ QString MeasurementComplexItem::mapVisualQML() const {
}
void MeasurementComplexItem::save(QJsonArray &planItems) {
QJsonObject saveObject;
_save(saveObject);
qWarning() << "MeasurementComplexItem::save(): area data save missing.";
qWarning() << "MeasurementComplexItem::save(): mission item save missing.";
saveObject[JsonHelper::jsonVersionKey] = 1;
saveObject[VisualMissionItem::jsonTypeKey] =
VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =
jsonComplexItemTypeValue;
if (ready()) {
QJsonObject saveObject;
saveObject[variantName] = double(_variant.rawValue().toUInt());
saveObject[altitudeName] = double(_altitude.rawValue().toUInt());
saveObject[JsonHelper::jsonVersionKey] = 1;
saveObject[VisualMissionItem::jsonTypeKey] =
VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =
jsonComplexItemTypeValue;
// Polygon shape
_surveyAreaPolygon.saveToJson(saveObject);
saveObject[variantName] = double(_variant.rawValue().toUInt());
saveObject[altitudeName] = double(_altitude.rawValue().toUInt());
planItems.append(saveObject);
planItems.append(saveObject);
}
}
double MeasurementComplexItem::amslEntryAlt() const {
......@@ -214,11 +209,13 @@ bool MeasurementComplexItem::specifiesCoordinate() const {
bool MeasurementComplexItem::specifiesAltitudeOnly() const { return false; }
QGeoCoordinate MeasurementComplexItem::coordinate() const {
return this->_route.size() > 0 ? _route.first() : QGeoCoordinate();
return this->_route.size() > 0 ? _route.first().value<QGeoCoordinate>()
: QGeoCoordinate();
}
QGeoCoordinate MeasurementComplexItem::exitCoordinate() const {
return this->_route.size() > 0 ? _route.last() : QGeoCoordinate();
return this->_route.size() > 0 ? _route.last().value<QGeoCoordinate>()
: QGeoCoordinate();
}
int MeasurementComplexItem::sequenceNumber() const { return _sequenceNumber; }
......@@ -237,26 +234,32 @@ double MeasurementComplexItem::specifiedGimbalPitch() {
void MeasurementComplexItem::appendMissionItems(QList<MissionItem *> &items,
QObject *missionItemParent) {
qCDebug(MeasurementComplexItemLog) << "appendMissionItems()";
int seqNum = this->_sequenceNumber;
MAV_FRAME mavFrame =
followTerrain() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
int transectIndex = 0;
for (const auto &vertex : this->_route) {
MissionItem *item = new MissionItem(
seqNum++, MAV_CMD_NAV_WAYPOINT, mavFrame,
0, // hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertex.latitude(), vertex.longitude(), vertex.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (ready()) {
qCDebug(MeasurementComplexItemLog) << "appendMissionItems()";
int seqNum = this->_sequenceNumber;
MAV_FRAME mavFrame =
followTerrain() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
for (const auto &variant : this->_route) {
auto vertex = variant.value<QGeoCoordinate>();
MissionItem *item = new MissionItem(
seqNum++, MAV_CMD_NAV_WAYPOINT, mavFrame,
0, // hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertex.latitude(), vertex.longitude(), vertex.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "appendMissionItems(): called while not ready().";
}
}
......@@ -266,7 +269,8 @@ void MeasurementComplexItem::setMissionFlightStatus(
}
void MeasurementComplexItem::applyNewAltitude(double newAltitude) {
this->_altitude->setRawValue(newAltitude);
this->_altitude.setRawValue(newAltitude);
qWarning() << "applyNewAltitude(): impl. missing.";
}
double MeasurementComplexItem::additionalTimeDelay() const { return 0; }
......@@ -275,16 +279,18 @@ bool MeasurementComplexItem::_setGenerator(PtrGenerator newG) {
if (this->_pGenerator != newG) {
if (this->_pGenerator != nullptr) {
disconnect(this->_pGenerator, &routing::GeneratorBase::generatorChanged,
this, &MeasurementComplexItem::_update);
this, &MeasurementComplexItem::_updateRoute);
}
this->_pGenerator = newG;
connect(this->_pGenerator, &routing::GeneratorBase::generatorChanged, this,
&MeasurementComplexItem::_update);
&MeasurementComplexItem::_updateRoute);
emit generatorChanged();
this->_setState(STATE::IDLE);
_update();
if (!editing()) {
this->_setState(STATE::IDLE);
_updateRoute();
}
return true;
} else {
......@@ -304,14 +310,21 @@ void MeasurementComplexItem::_setState(MeasurementComplexItem::STATE state) {
if (_editing(oldState) != _editing(state)) {
emit editingChanged();
}
if (_ready(oldState) != _ready(state)) {
emit readyChanged();
}
}
}
bool MeasurementComplexItem::_calculating(
MeasurementComplexItem::STATE state) const {
bool MeasurementComplexItem::_calculating(MeasurementComplexItem::STATE state) {
return state == STATE::ROUTING;
}
bool MeasurementComplexItem::_ready(MeasurementComplexItem::STATE state) {
return state == STATE::IDLE;
}
void MeasurementComplexItem::_setAreaData(
MeasurementComplexItem::PtrAreaData data) {
if (_currentData != data) {
......@@ -320,14 +333,9 @@ void MeasurementComplexItem::_setAreaData(
}
}
void MeasurementComplexItem::_changeVariant() {
this->_setState(STATE::CHANGE_VARIANT);
this->_update();
}
bool MeasurementComplexItem::_updateRouteWorker() {
bool MeasurementComplexItem::_updateRoute() {
// Reset data.
this->_transects.clear();
this->_route.clear();
this->_variantVector.clear();
this->_variantNames.clear();
emit variantNamesChanged();
......@@ -394,78 +402,67 @@ bool MeasurementComplexItem::_updateRouteWorker() {
}
}
void MeasurementComplexItem::_changeVariantWorker() {
auto variant = this->_variant.rawValue().toUInt();
// Find old variant and run. Old run corresponts with empty list.
std::size_t old_variant = std::numeric_limits<std::size_t>::max();
for (std::size_t i = 0; i < std::size_t(this->_variantVector.size()); ++i) {
const auto &variantCoordinates = this->_variantVector.at(i);
if (variantCoordinates.isEmpty()) {
old_variant = i;
break;
void MeasurementComplexItem::_changeVariant() {
if (ready()) {
auto variant = this->_variant.rawValue().toUInt();
// Find old variant and run. Old run corresponts with empty list.
std::size_t old_variant = std::numeric_limits<std::size_t>::max();
for (std::size_t i = 0; i < std::size_t(this->_variantVector.size()); ++i) {
const auto &variantCoordinates = this->_variantVector.at(i);
if (variantCoordinates.isEmpty()) {
old_variant = i;
break;
}
}
}
// Swap route.
if (variant != old_variant) {
// Swap in new variant.
if (variant < std::size_t(this->_variantVector.size())) {
if (old_variant != std::numeric_limits<std::size_t>::max()) {
// this->_transects containes a route, swap it back to
// this->_solutionVector
auto &oldVariantCoordinates = this->_variantVector[old_variant];
oldVariantCoordinates.swap(this->_transects);
}
auto &newVariantCoordinates = this->_variantVector[variant];
this->_transects.swap(newVariantCoordinates);
// Swap route.
if (variant != old_variant) {
// Swap in new variant.
if (variant < std::size_t(this->_variantVector.size())) {
if (old_variant != std::numeric_limits<std::size_t>::max()) {
// this->_route containes a route, swap it back to
// this->_solutionVector
auto &oldVariantCoordinates = this->_variantVector[old_variant];
oldVariantCoordinates.swap(this->_route);
}
auto &newVariantCoordinates = this->_variantVector[variant];
this->_route.swap(newVariantCoordinates);
} else { // error
qCDebug(MeasurementComplexItemLog)
<< "Variant out of bounds (variant =" << variant << ").";
qCDebug(MeasurementComplexItemLog) << "Resetting variant to zero.";
} else { // error
qCDebug(MeasurementComplexItemLog)
<< "Variant out of bounds (variant =" << variant << ").";
qCDebug(MeasurementComplexItemLog) << "Resetting variant to zero.";
disconnect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_variant.setCookedValue(QVariant(0));
connect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
disconnect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_variant.setCookedValue(QVariant(0));
connect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
if (this->_variantVector.size() > 0) {
this->_changeVariantWorker();
if (this->_variantVector.size() > 0) {
this->_changeVariant();
}
}
}
}
}
void MeasurementComplexItem::_reverseWorker() {
if (this->_transects.size() > 0) {
auto &t = this->_transects.front();
std::reverse(t.begin(), t.end());
void MeasurementComplexItem::_reverseRoute() {
if (ready()) {
if (this->_route.size() > 0) {
auto &t = this->_route;
std::reverse(t.begin(), t.end());
}
}
}
double MeasurementComplexItem::timeBetweenShots() { return 0; }
QString MeasurementComplexItem::commandDescription() const {
return tr("Route");
}
QString MeasurementComplexItem::commandName() const { return tr("Route"); }
QString MeasurementComplexItem::abbreviation() const { return tr("R"); }
TransectStyleComplexItem::ReadyForSaveState
ComplexMissionItem::ReadyForSaveState
MeasurementComplexItem::readyForSaveState() const {
if (TransectStyleComplexItem::readyForSaveState() ==
TransectStyleComplexItem::ReadyForSaveState::ReadyForSave) {
if (this->_state == STATE::IDLE) {
return ReadyForSaveState::ReadyForSave;
} else {
return ReadyForSaveState::NotReadyForSaveData;
}
if (ready()) {
return ReadyForSaveState::ReadyForSave;
} else {
return TransectStyleComplexItem::readyForSaveState();
return ReadyForSaveState::NotReadyForSaveData;
}
}
......@@ -583,7 +580,7 @@ bool MeasurementComplexItem::switchToGenerator(int index) {
return true;
} else {
qCDebug(MeasurementComplexItemLog)
<< "unregisterGenerator(): index (" << index
<< "switchToGenerator(): index (" << index
<< ") out"
"of bounds ( "
<< this->_generatorNameList.size() << " ).";
......@@ -618,161 +615,120 @@ void MeasurementComplexItem::editingStop() {
}
_setAreaData(_areaData);
_setState(STATE::IDLE);
}
}
void MeasurementComplexItem::_update(void) {
auto start = std::chrono::high_resolution_clock::now();
switch (this->_state) {
case STATE::SKIPP:
qCDebug(MeasurementComplexItemLog) << "rebuildTransectsPhase1: skipp.";
this->_setState(STATE::IDLE);
break;
case STATE::CHANGE_VARIANT:
qCDebug(MeasurementComplexItemLog)
<< "rebuildTransectsPhase1: variant change.";
this->_changeVariantWorker();
this->_setState(STATE::IDLE);
break;
case STATE::REVERT_PATH:
qCDebug(MeasurementComplexItemLog) << "rebuildTransectsPhase1: reverse.";
this->_reverseWorker();
this->_setState(STATE::IDLE);
break;
case STATE::IDLE:
case STATE::ROUTING:
this->_setState(STATE::ROUTING);
qCDebug(MeasurementComplexItemLog) << "rebuildTransectsPhase1: update.";
if (!this->_updateRouteWorker()) {
this->_setState(STATE::IDLE);
if (_editorData->isValid() && *_editorData != *_areaData) {
_updateRoute();
}
break;
}
qCDebug(MeasurementComplexItemLog)
<< "rebuildTransectsPhase1(): "
<< std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start)
.count()
<< " ms";
}
void MeasurementComplexItem::_recalcCameraShots() { _cameraShots = 0; }
void MeasurementComplexItem::_setTransects(
void MeasurementComplexItem::_storeRoutingData(
MeasurementComplexItem::PtrRoutingData pRoute) {
// Store solutions.
auto ori = this->_areaData->origin();
ori.setAltitude(0);
const auto &transectsENU = pRoute->transects;
QVector<Variant> variantVector;
const auto nSolutions = pRoute->solutionVector.size();
for (std::size_t j = 0; j < nSolutions; ++j) {
Variant var{QList<CoordInfo_t>()};
const auto &solution = pRoute->solutionVector.at(j);
if (solution.size() > 0) {
const auto &route = solution.at(0);
const auto &path = route.path;
const auto &info = route.info;
if (info.size() > 1) {
// Find index of first waypoint.
std::size_t idxFirst = 0;
const auto &infoFirst = info.at(1);
const auto &firstTransect = transectsENU[infoFirst.index];
if (firstTransect.size() > 0) {
const auto &firstWaypoint =
infoFirst.reversed ? firstTransect.back() : firstTransect.front();
double th = 0.01;
for (std::size_t i = 0; i < path.size(); ++i) {
auto dist = bg::distance(path[i], firstWaypoint);
if (dist < th) {
idxFirst = i;
break;
}
}
// Find index of last waypoint.
std::size_t idxLast = path.size() - 1;
const auto &infoLast = info.at(info.size() - 2);
const auto &lastTransect = transectsENU[infoLast.index];
if (lastTransect.size() > 0) {
const auto &lastWaypoint =
infoLast.reversed ? lastTransect.front() : lastTransect.back();
for (long i = path.size() - 1; i >= 0; --i) {
auto dist = bg::distance(path[i], lastWaypoint);
if (this->_state == STATE::ROUTING) {
// Store solutions.
auto ori = this->_areaData->origin();
ori.setAltitude(0);
const auto &transectsENU = pRoute->transects;
QVector<Variant> variantVector;
const auto nSolutions = pRoute->solutionVector.size();
for (std::size_t j = 0; j < nSolutions; ++j) {
Variant var;
const auto &solution = pRoute->solutionVector.at(j);
if (solution.size() > 0) {
const auto &route = solution.at(0);
const auto &path = route.path;
const auto &info = route.info;
if (info.size() > 1) {
// Find index of first waypoint.
std::size_t idxFirst = 0;
const auto &infoFirst = info.at(1);
const auto &firstTransect = transectsENU[infoFirst.index];
if (firstTransect.size() > 0) {
const auto &firstWaypoint = infoFirst.reversed
? firstTransect.back()
: firstTransect.front();
double th = 0.01;
for (std::size_t i = 0; i < path.size(); ++i) {
auto dist = bg::distance(path[i], firstWaypoint);
if (dist < th) {
idxLast = i;
idxFirst = i;
break;
}
}
// Convert to geo coordinates.
auto &list = var.front();
for (std::size_t i = idxFirst; i <= idxLast; ++i) {
auto &vertex = path[i];
QGeoCoordinate c;
snake::fromENU(ori, vertex, c);
list.append(CoordInfo_t{c, CoordTypeInterior});
}
// Find index of last waypoint.
std::size_t idxLast = path.size() - 1;
const auto &infoLast = info.at(info.size() - 2);
const auto &lastTransect = transectsENU[infoLast.index];
if (lastTransect.size() > 0) {
const auto &lastWaypoint = infoLast.reversed
? lastTransect.front()
: lastTransect.back();
for (long i = path.size() - 1; i >= 0; --i) {
auto dist = bg::distance(path[i], lastWaypoint);
if (dist < th) {
idxLast = i;
break;
}
}
// Convert to geo coordinates.
for (std::size_t i = idxFirst; i <= idxLast; ++i) {
auto &vertex = path[i];
QGeoCoordinate c;
snake::fromENU(ori, vertex, c);
var.append(QVariant::fromValue(c));
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): lastTransect.size() == 0";
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): lastTransect.size() == 0";
<< "_setTransects(): firstTransect.size() == 0";
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): firstTransect.size() == 0";
<< "_setTransects(): transectsInfo.size() <= 1";
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): transectsInfo.size() <= 1";
<< "_setTransects(): solution.size() == 0";
}
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): solution.size() == 0";
}
if (var.size() > 0 && var.front().size() > 0) {
variantVector.push_back(std::move(var));
if (var.size() > 0) {
variantVector.push_back(std::move(var));
}
}
}
// Assign routes if no error occured.
if (variantVector.size() > 0) {
// Swap first route to _transects.
this->_variantVector.swap(variantVector);
// If the transects are getting rebuilt then any previously loaded
// mission items are now invalid.
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = nullptr;
}
// Assign routes if no error occured.
if (variantVector.size() > 0) {
// Swap first route to _route.
this->_variantVector.swap(variantVector);
// Add route variant names.
this->_variantNames.clear();
for (std::size_t i = 1; i <= std::size_t(this->_variantVector.size());
++i) {
this->_variantNames.append(QString::number(i));
}
emit variantNamesChanged();
// Add route variant names.
this->_variantNames.clear();
for (std::size_t i = 1; i <= std::size_t(this->_variantVector.size());
++i) {
this->_variantNames.append(QString::number(i));
}
emit variantNamesChanged();
disconnect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_variant.setCookedValue(QVariant(0));
connect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_changeVariantWorker();
disconnect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_variant.setCookedValue(QVariant(0));
connect(&this->_variant, &Fact::rawValueChanged, this,
&MeasurementComplexItem::_changeVariant);
this->_changeVariant();
this->_setState(STATE::SKIPP);
this->_update();
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): failed, variantVector empty.";
this->_setState(STATE::IDLE);
this->_setState(STATE::IDLE);
emit routeChanged();
} else {
qCDebug(MeasurementComplexItemLog)
<< "_setTransects(): failed, variantVector empty.";
this->_setState(STATE::IDLE);
}
}
}
......
src/MeasurementComplexItem/MeasurementComplexItem.h
View file @ 3dfdeec9
......@@ -24,9 +24,9 @@ class MeasurementComplexItem : public ComplexMissionItem {
using PtrAreaData = AreaData *;
using PtrRoutingData = std::shared_ptr<RoutingData>;
using PtrWorker = RoutingThread *;
using Variant = QList<QGeoCoordinate>;
using Variant = QVariantList;
enum class STATE { IDLE, ROUTING, REVERT_PATH, CHANGE_VARIANT, EDITING };
enum class STATE { IDLE, ROUTING, EDITING };
public:
MeasurementComplexItem(PlanMasterController *masterController, bool flyView,
......@@ -40,15 +40,17 @@ public:
Q_PROPERTY(QStringList generatorNameList READ generatorNameList NOTIFY
generatorNameListChanged)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
Q_PROPERTY(bool editing READ editing NOTIFY editingChanged)
Q_PROPERTY(bool ready READ ready NOTIFY readyChanged)
Q_PROPERTY(
routing::GeneratorBase *generator READ generator NOTIFY generatorChanged)
Q_PROPERTY(int generatorIndex READ generatorIndex NOTIFY generatorChanged)
Q_PROPERTY(bool editing READ editing NOTIFY editingChanged)
Q_PROPERTY(bool editing READ editing NOTIFY editingChanged)
Q_PROPERTY(AreaData *areaData READ areaData NOTIFY areaDataChanged)
Q_PROPERTY(QVariantList visualTransectPoints READ visualTransectPoints NOTIFY
visualTransectPointsChanged)
Q_PROPERTY(QVariantList route READ route NOTIFY routeChanged)
Q_INVOKABLE void revertPath(void);
Q_INVOKABLE void reverseRoute(void);
// Overrides from ComplexMissionItem
virtual QString patternName(void) const override final;
......@@ -104,7 +106,7 @@ public:
//!
//! \brief editingStart Starts area data editing.
//!
//! Starts area data editing. Transects will not be updated bewteen a call
//! Starts area data editing. Route will not be updated bewteen a call
//! sequence of editingStart() and editingStop().
//!
void editingStart();
......@@ -112,18 +114,22 @@ public:
//! \brief editingStop Stops area editing.
//!
//! Stops area editing. Will reset area data to the state before
//! editingStart() if it is invalid. Triggers a transect update.
//! editingStart() if it is invalid. Triggers a route update.
//!
void editingStop();
// Property getters
const AreaData *areaData() const;
AreaData *areaData();
QVariantList route();
Fact *variant();
Fact *altitude();
QStringList variantNames() const;
bool calculating() const;
bool editing() const;
bool ready() const;
bool followTerrain() const;
static const char *settingsGroup;
......@@ -133,23 +139,25 @@ public:
static const QString name;
signals:
void calculatingChanged();
void variantNamesChanged();
void generatorNameListChanged();
void generatorChanged();
void calculatingChanged();
void editingChanged();
void readyChanged();
void areaDataChanged();
void routeChanged();
private slots:
// Overrides from TransectStyleComplexItem
void _update(void);
// Worker functions.
void _setTransects(PtrRoutingData pRoute);
void _storeRoutingData(PtrRoutingData pRoute);
bool _updateRoute();
void _changeVariant();
bool _updateRouteWorker();
void _changeVariantWorker();
void _reverseWorker();
void _reverseRoute();
private:
bool _setGenerator(PtrGenerator newG);
......@@ -157,12 +165,13 @@ private:
void _setAreaData(PtrAreaData data);
static bool _calculating(STATE state);
static bool _editing(STATE state);
static bool _ready(STATE state);
// Hirarcical stuff.
PlanMasterController *_masterController;
int _sequenceNumber;
bool _followTerrain;
SettingsFact *_altitude;
SettingsFact _altitude;
// State.
STATE _state;
......
src/MeasurementComplexItem/nemo_interface/SnakeTilesLocal.h
View file @ 3dfdeec9
#pragma once
#include "RouteMissionItem/geometry/GenericPolygonArray.h"
#include "RouteMissionItem/nemo_interface/SnakeTileLocal.h"
#include "MeasurementComplexItem//geometry/GenericPolygonArray.h"
#include "MeasurementComplexItem//nemo_interface/SnakeTileLocal.h"
#include <vector>
typedef GenericPolygonArray<SnakeTileLocal, std::vector> SnakeTilesLocal;
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