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Commit 404c65ce authored by Valentin Platzgummer's avatar Valentin Platzgummer
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WimaMenu edited, upload progress bar added, guided action for override upload added.

parent 1f7fc4d2
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Showing with 1936 additions and 269 deletions
Paths/#airstrip2.wima 0 → 100644
View file @ 404c65ce
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Paths/airstrip.wima
View file @ 404c65ce
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src/FlightDisplay/FlightDisplayView.qml
View file @ 404c65ce
......@@ -548,6 +548,7 @@ QGCView {
wimaController: wimaController
planMasterController: masterController
}
//-------------------------------------------------------------------------
......@@ -689,12 +690,21 @@ QGCView {
GuidedActionsController {
id: guidedActionsController
wimaController: wimaController
missionController: _missionController
confirmDialog: guidedActionConfirm
actionList: guidedActionList
altitudeSlider: _altitudeSlider
z: _flightVideoPipControl.z + 1
property bool uploadOverrideRequired: wimaController.uploadOverrideRequired
onUploadOverrideRequiredChanged: {
if (uploadOverrideRequired) {
confirmAction(actionOverrideUpload)
}
}
onShowStartMissionChanged: {
if (showStartMission) {
confirmAction(actionStartMission)
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ 404c65ce
......@@ -23,6 +23,21 @@ Item {
width: 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
// Progress bar visibility
on_ControllerProgressPctChanged: {
if (_controllerProgressPct === 1) {
uploadCompleteText.visible = true
progressBar.visible = false
} else if (_controllerProgressPct > 0) {
progressBar.visible = true
uploadCompleteText.visible = false
}
}
// box containing all items
Rectangle {
......@@ -74,7 +89,10 @@ Item {
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.left: parent.left
anchors.right: parent.right
visible: settingsHeader.checked
// Settings
......@@ -109,14 +127,17 @@ Item {
}
SectionHeader{
id: commandHeader
text: qsTr("Commands")
id: missionHeader
text: qsTr("Mission")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
visible: commandHeader.checked
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.left: parent.left
anchors.right: parent.right
visible: missionHeader.checked
// Buttons
QGCButton {
......@@ -138,8 +159,25 @@ Item {
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.fillWidth: true
Layout.rowSpan: 2
}
}
SectionHeader{
id: vehicleHeader
text: qsTr("Vehicle")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.left: parent.left
anchors.right: parent.right
visible: vehicleHeader.checked
QGCButton {
id: buttonUpload
text: qsTr("Upload")
......@@ -153,6 +191,26 @@ Item {
onClicked: wimaController.removeFromVehicle();
Layout.fillWidth: true
}
// progess bar
Rectangle {
id: progressBar
height: 4
width: _controllerProgressPct * parent.width
color: qgcPal.colorGreen
visible: false
}
QGCLabel {
id: uploadCompleteText
font.pointSize: ScreenTools.largeFontPointSize
Layout.columnSpan: 2
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: "Done"
visible: false
}
}
SectionHeader {
......@@ -166,8 +224,6 @@ Item {
visible: statsHeader.checked
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("Phase Length: ")
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
......
src/FlightDisplay/GuidedActionsController.qml
View file @ 404c65ce
......@@ -27,6 +27,7 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var wimaController
property var missionController
property var confirmDialog
property var actionList
......@@ -51,6 +52,7 @@ Item {
readonly property string setWaypointTitle: qsTr("Set Waypoint")
readonly property string gotoTitle: qsTr("Goto Location")
readonly property string vtolTransitionTitle: qsTr("VTOL Transition")
readonly property string overrideUploadTitle: qsTr("Override Lock")
readonly property string armMessage: qsTr("Arm the vehicle.")
readonly property string disarmMessage: qsTr("Disarm the vehicle")
......@@ -70,6 +72,7 @@ Item {
readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.")
readonly property string vtolTransitionFwdMessage: qsTr("Transition VTOL to fixed wing flight.")
readonly property string vtolTransitionMRMessage: qsTr("Transition VTOL to multi-rotor flight.")
readonly property string overrideUploadMessage: qsTr("Vehicle is not inside service area. Override upload lock?")
readonly property int actionRTL: 1
readonly property int actionLand: 2
......@@ -92,6 +95,7 @@ Item {
readonly property int actionMVStartMission: 19
readonly property int actionVtolTransitionToFwdFlight: 20
readonly property int actionVtolTransitionToMRFlight: 21
readonly property int actionOverrideUpload: 22
property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
property bool showArm: _guidedActionsEnabled && !_vehicleArmed
......@@ -331,6 +335,11 @@ Item {
confirmDialog.message = vtolTransitionMRMessage
confirmDialog.hideTrigger = true
break
case actionOverrideUpload:
confirmDialog.title = overrideUploadTitle
confirmDialog.message = overrideUploadMessage
confirmDialog.hideTrigger = true
break
default:
console.warn("Unknown actionCode", actionCode)
return
......@@ -406,6 +415,9 @@ Item {
case actionVtolTransitionToMRFlight:
_activeVehicle.vtolInFwdFlight = false
break
case actionOverrideUpload:
wimaController.forceUploadToVehicle()
break
default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
break
......
src/Wima/WimaArea.cc
View file @ 404c65ce
#include "WimaArea.h"
/*!
* \variable WimaArea::epsilonMeter
* \brief The accuracy used for distance calculations (unit: m).
......@@ -378,7 +377,7 @@ int WimaArea::previousVertexIndex(int index) const
* Returns \c true if the calling area is self intersecting, \c false else.
* \note If the calling area is self intersecting, it's not a \l {Simple Polygon}.
*/
bool WimaArea::isSimplePolygon()
bool WimaArea::isSimplePolygon() const
{
using namespace PolygonCalculus;
using namespace GeoUtilities;
......@@ -391,6 +390,19 @@ bool WimaArea::isSimplePolygon()
}
bool WimaArea::containsCoordinate(const QGeoCoordinate &coordinate) const
{
using namespace PlanimetryCalculus;
using namespace PolygonCalculus;
using namespace GeoUtilities;
if (this->count() > 2) {
QPolygonF polygon = toQPolygonF(toCartesian2D(this->coordinateList(), coordinate));
return PlanimetryCalculus::contains(polygon, QPointF(0,0));
} else
return false;
}
/*!
* \fn void WimaArea::saveToJson(QJsonObject &json)
* Saves the calling area to \c QJsonObject object and stores it inside \a json.
......
src/Wima/WimaArea.h
View file @ 404c65ce
......@@ -13,6 +13,7 @@
#include "GeoUtilities.h"
#include "PolygonCalculus.h"
#include "PlanimetryCalculus.h"
class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
{
......@@ -54,6 +55,8 @@ public:
bool join (WimaArea &area, QString &errorString);
int nextVertexIndex (int index) const;
int previousVertexIndex (int index) const;
bool isSimplePolygon () const;
bool containsCoordinate (const QGeoCoordinate &coordinate) const;
void saveToJson (QJsonObject& jsonObject);
......@@ -63,7 +66,7 @@ public:
static QGCMapPolygon toQGCPolygon (const WimaArea& area);
static bool join (const WimaArea &area1, const WimaArea &area2, WimaArea& joinedArea, QString &errorString);
static bool join (const WimaArea &area1, const WimaArea &area2, WimaArea& joinedArea);
bool isSimplePolygon ();
// Friends
friend void print(const WimaArea& area, QString& outputString);
......
src/Wima/WimaAreaData.cc
View file @ 404c65ce
......@@ -41,6 +41,20 @@ QList<QGeoCoordinate> WimaAreaData::coordinateList() const
return coordinateList;
}
bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const
{
using namespace PlanimetryCalculus;
using namespace PolygonCalculus;
using namespace GeoUtilities;
if (_path.size() > 2) {
QPolygonF polygon = toQPolygonF(toCartesian2D(this->coordinateList(), coordinate));
return PlanimetryCalculus::contains(polygon, QPointF(0,0));
} else
return false;
}
/*!
* \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
*
......
src/Wima/WimaAreaData.h
View file @ 404c65ce
......@@ -23,6 +23,7 @@ public:
QVariantList path() const;
QGeoCoordinate center() const;
QList<QGeoCoordinate> coordinateList() const;
bool containsCoordinate(const QGeoCoordinate &coordinate) const;
virtual QString type() const = 0;
......
src/Wima/WimaController.cc
View file @ 404c65ce
......@@ -26,7 +26,10 @@ WimaController::WimaController(QObject *parent)
, _nextPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
, _showAllMissionItems (settingsGroup, _metaDataMap[showAllMissionItemsName])
, _showCurrentMissionItems (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
, _startWaypointIndex (0)
, _lastMissionPhaseReached (false)
, _uploadOverrideRequired (false)
{
_nextPhaseStartWaypointIndex.setRawValue(int(1));
_showAllMissionItems.setRawValue(true);
......@@ -108,6 +111,11 @@ Fact *WimaController::showCurrentMissionItems()
return &_showCurrentMissionItems;
}
bool WimaController::uploadOverrideRequired() const
{
return _uploadOverrideRequired;
}
Fact *WimaController::startWaypointIndex()
{
return &_nextPhaseStartWaypointIndex;
......@@ -145,6 +153,15 @@ void WimaController::setDataContainer(WimaDataContainer *container)
}
}
void WimaController::setUploadOverrideRequired(bool overrideRequired)
{
if (_uploadOverrideRequired != overrideRequired) {
_uploadOverrideRequired = overrideRequired;
emit uploadOverrideRequiredChanged();
}
}
void WimaController::nextPhase()
{
calcNextPhase();
......@@ -154,9 +171,9 @@ void WimaController::previousPhase()
{
if (_nextPhaseStartWaypointIndex.rawValue().toInt() > 0) {
_lastMissionPhaseReached = false;
_nextPhaseStartWaypointIndex.setRawValue( 1 + std::max(_startWaypointIndex
_nextPhaseStartWaypointIndex.setRawValue(std::max(_startWaypointIndex
- _maxWaypointsPerPhase.rawValue().toInt()
+ _overlapWaypoints.rawValue().toInt(), 0));
+ _overlapWaypoints.rawValue().toInt(), 1));
}
}
......@@ -168,6 +185,18 @@ void WimaController::resetPhase()
bool WimaController::uploadToVehicle()
{
if (!_serviceArea.containsCoordinate(_masterController->managerVehicle()->coordinate())) {
qgcApp()->showMessage(tr("Vehicle is not inside service area."));
setUploadOverrideRequired(true);
return false;
}
return forceUploadToVehicle();
}
bool WimaController::forceUploadToVehicle()
{
setUploadOverrideRequired(false);
if (_currentMissionItems.count() < 1)
return false;
......@@ -187,23 +216,6 @@ bool WimaController::uploadToVehicle()
_missionController->insertSimpleMissionItem(*item, visuals->count());
}
// // set land command for last mission item
// SimpleMissionItem *landItem = visuals->value<SimpleMissionItem*>(visuals->count()-1);
// if (landItem == nullptr) {
// qWarning("WimaController::uploadToVehicle(): nullptr");
// _missionController->removeAll();
// return;
// }
// // check vehicle type, before setting land command
// Vehicle* controllerVehicle = _masterController->controllerVehicle();
// MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
// if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
// landItem->setCommand(landCmd);
// } else {
// _missionController->removeAll();
// return;
// }
_masterController->sendToVehicle();
return true;
......@@ -584,7 +596,10 @@ 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);
calcNextPhase();
}
bool WimaController::setTakeoffLandPosition()
......
src/Wima/WimaController.h
View file @ 404c65ce
......@@ -51,6 +51,7 @@ public:
Q_PROPERTY(Fact* startWaypointIndex READ startWaypointIndex CONSTANT)
Q_PROPERTY(Fact* showAllMissionItems READ showAllMissionItems CONSTANT)
Q_PROPERTY(Fact* showCurrentMissionItems READ showCurrentMissionItems CONSTANT)
Q_PROPERTY(bool uploadOverrideRequired READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged)
......@@ -73,19 +74,22 @@ public:
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems (void);
Fact* showCurrentMissionItems(void);
bool uploadOverrideRequired (void) const;
// Property setters
void setMasterController (PlanMasterController* masterController);
void setMissionController (MissionController* missionController);
void setDataContainer (WimaDataContainer* container);
void setUploadOverrideRequired (bool overrideRequired);
// Member Methodes
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
Q_INVOKABLE bool uploadToVehicle();
Q_INVOKABLE bool forceUploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE void saveToCurrent ();
......@@ -131,6 +135,7 @@ signals:
void currentMissionItemsChanged (void);
void waypointPathChanged (void);
void currentWaypointPathChanged (void);
void uploadOverrideRequiredChanged (void);
private slots:
bool fetchContainerData();
......@@ -175,4 +180,6 @@ private:
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.
};
src/Wima/WimaPlaner.cc
View file @ 404c65ce
......@@ -19,12 +19,20 @@ WimaPlaner::WimaPlaner(QObject *parent)
, _corridor (this)
, _circularSurvey (nullptr)
, _surveyRefChanging (false)
, _measurementAreaChanging (false)
, _corridorChanging (false)
, _serviceAreaChanging (false)
, _syncronizedWithController (false)
, _readyForSync (false)
{
_lastMeasurementAreaPath = _measurementArea.path();
_lastServiceAreaPath = _serviceArea.path();
_lastCorridorPath = _corridor.path();
connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
connect(&_updateTimer, &QTimer::timeout, this, &WimaPlaner::updateTimerSlot);
connect(this, &WimaPlaner::joinedAreaValidChanged, this, &WimaPlaner::updateMission);
_updateTimer.setInterval(500); // 250 ms means: max update time 2*250 ms
_updateTimer.start();
}
......@@ -199,11 +207,8 @@ bool WimaPlaner::updateMission()
setReadyForSync(false);
if ( !_joinedAreaValid) {
if (_joinedAreaErrorString.size() > 0)
qgcApp()->showMessage(_joinedAreaErrorString);
if ( !_joinedAreaValid)
return false;
}
// extract old survey data
......@@ -339,6 +344,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
return false;
}
_lastMeasurementAreaPath = _measurementArea.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_measurementArea);
emit visualItemsChanged();
......@@ -350,6 +356,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
return false;
}
_lastServiceAreaPath = _serviceArea.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_serviceArea);
emit visualItemsChanged();
......@@ -361,6 +368,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
return false;
}
_lastCorridorPath = _corridor.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_corridor);
emit visualItemsChanged();
......@@ -374,17 +382,11 @@ bool WimaPlaner::loadFromFile(const QString &filename)
return false;
}
}
recalcJoinedArea();
_currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
emit currentFileChanged();
//recalcJoinedArea();
// MissionItems
// extrac MissionItems part
// bool ret = json.contains(missionItemsName);
// qWarning() << ret;
QJsonObject missionObject = json[missionItemsName].toObject();
......@@ -429,11 +431,6 @@ bool WimaPlaner::loadFromFile(const QString &filename)
_circularSurvey = missionItems->value<CircularSurveyComplexItem *>(i);
if (_circularSurvey != nullptr) {
if ( !recalcJoinedArea()) {
qgcApp()->showMessage(_joinedAreaErrorString);
return false;
}
_lastSurveyRefPoint = _circularSurvey->refPoint();
_surveyRefChanging = false;
_circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
......@@ -445,7 +442,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
}
}
if (_circularSurvey == nullptr)
//if (_circularSurvey == nullptr)
updateMission();
// remove temporary file
......@@ -453,8 +450,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file.");
}
_syncronizedWithController = false;
_readyForSync = false;
setSyncronizedWithController(false);
return true;
......@@ -465,7 +461,6 @@ bool WimaPlaner::loadFromFile(const QString &filename)
} else {
errorString += QString(tr("File extension not supported.\n"));
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
}
......@@ -600,31 +595,31 @@ bool WimaPlaner::calcArrivalAndReturnPath()
bool WimaPlaner::recalcJoinedArea()
{
_joinedAreaErrorString.clear();
setJoinedAreaValid(false);
// check if area paths form simple polygons
if ( !_serviceArea.isSimplePolygon() ) {
_joinedAreaErrorString.append(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
qgcApp()->showMessage(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
return false;
}
if ( !_corridor.isSimplePolygon() && _corridor.count() > 0) {
_joinedAreaErrorString.append(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
qgcApp()->showMessage(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
return false;
}
if ( !_measurementArea.isSimplePolygon() ) {
_joinedAreaErrorString.append(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
qgcApp()->showMessage(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
return false;
}
_joinedArea.setPath(_serviceArea.path());
_joinedArea.join(_corridor);
if ( !_joinedArea.join(_measurementArea) ) {
_joinedAreaErrorString.append(tr("Not able to join areas. Service area and measurement"
qgcApp()->showMessage(tr("Not able to join areas. Service area and measurement"
" must have a overlapping section, or be connected through a corridor."));
return false; // this happens if all areas are pairwise disjoint
}
// join service area, op area and corridor
setJoinedAreaValid(true);
return true;
......@@ -640,6 +635,8 @@ bool WimaPlaner::recalcJoinedArea()
void WimaPlaner::pushToContainer()
{
if (_container != nullptr) {
if (!_readyForSync)
return;
WimaPlanData planData = toPlanData();
_container->push(planData);
setSyncronizedWithController(true);
......
src/Wima/WimaPlaner.h
View file @ 404c65ce
......@@ -151,7 +151,6 @@ private:
WimaDataContainer *_container; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
WimaJoinedArea _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor
QString _joinedAreaErrorString; // contains errors which appeared in recalcJoinedArea
bool _joinedAreaValid;
WimaMeasurementArea _measurementArea; // measurement area
WimaServiceArea _serviceArea; // area for supplying
......
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