Survey initial grid generation

src/MissionEditor/MissionEditor.qml

@@ -173,14 +173,15 @@ QGCView {
         id: _dropButtonsExclusiveGroup
     }
 
-    function setCurrentItem(index) {
+    function setCurrentItem(sequenceNumber) {
         _currentMissionItem = undefined
         for (var i=0; i<_visualItems.count; i++) {
-            if (i == index) {
-                _currentMissionItem = _visualItems.get(i)
+            var visualItem = _visualItems.get(i)
+            if (visualItem.sequenceNumber == sequenceNumber) {
+                _currentMissionItem = visualItem
                 _currentMissionItem.isCurrentItem = true
             } else {
-                _visualItems.get(i).isCurrentItem = false
+                visualItem.isCurrentItem = false
             }
         }
     }
@@ -306,8 +307,8 @@ QGCView {
                         coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                         coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                         if (addMissionItemsButton.checked) {
-                            var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
-                            setCurrentItem(index)
+                            var sequenceNumber = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
+                            setCurrentItem(sequenceNumber)
                         } else {
                             editorMap.mapClicked(coordinate)
                         }
@@ -364,13 +365,7 @@ QGCView {
                     }
                 }
 
-                // Add the simple mission items to the map
-                MapItemView {
-                    model:      controller.visualItems
-                    delegate:   missionItemComponent
-                }
-
-                // Add the complex mission items to the map
+                // Add the complex mission item polygon to the map
                 MapItemView {
                     model:      controller.complexVisualItems
                     delegate:   polygonItemComponent
@@ -386,6 +381,16 @@ QGCView {
                     }
                 }
 
+                // Add the complex mission item grid to the map
+                MapItemView {
+                    model: controller.complexVisualItems
+
+                    delegate: MapPolyline {
+                        line.color: "white"
+                        path:       object.gridPoints
+                    }
+                }
+
                 // Add the complex mission item exit coordinates
                 MapItemView {
                     model:      controller.complexVisualItems
@@ -404,6 +409,12 @@ QGCView {
                     }
                 }
 
+                // Add the simple mission items to the map
+                MapItemView {
+                    model:      controller.visualItems
+                    delegate:   missionItemComponent
+                }
+
                 Component {
                     id: missionItemComponent
 
@@ -417,10 +428,8 @@ QGCView {
 
                         onClicked: setCurrentItem(object.sequenceNumber)
 
-                        function updateItemIndicator()
-                        {
-                            if (object.isCurrentItem && itemIndicator.visible &&
-                                    object.specifiesCoordinate && object.isSimpleItem) {
+                        function updateItemIndicator() {
+                            if (object.isCurrentItem && itemIndicator.visible && object.specifiesCoordinate && object.isSimpleItem) {
                                 // Setup our drag item
                                 itemDragger.visible = true
                                 itemDragger.missionItem = Qt.binding(function() { return object })
@@ -516,8 +525,8 @@ QGCView {
                             }
 
                             onInsert: {
-                                controller.insertSimpleMissionItem(editorMap.center, i)
-                                setCurrentItem(i)
+                                var sequenceNumber = controller.insertSimpleMissionItem(editorMap.center, i)
+                                setCurrentItem(sequenceNumber)
                             }
 
                             onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
@@ -567,8 +576,8 @@ QGCView {
                             coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                             coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                             coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
-                            var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
-                            setCurrentItem(index)
+                            var sequenceNumber = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
+                            setCurrentItem(sequenceNumber)
                             checked = false
                             addMissionItemsButton.checked = false
                         }
@@ -775,7 +784,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Send to vehicle"
-                    enabled:    !controller.syncInProgress
+                    enabled:    _activeVehicle && !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
@@ -785,7 +794,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Load from vehicle"
-                    enabled:    !controller.syncInProgress
+                    enabled:    _activeVehicle && !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()

src/MissionEditor/SurveyItemEditor.qml

@@ -29,7 +29,7 @@ Rectangle {
         anchors.margins:    _margin
         anchors.top:        parent.top
         anchors.left:       parent.left
-        width:              availableWidth
+        anchors.right:      parent.right
         spacing:            _margin
 
         Connections {
@@ -47,6 +47,30 @@ Rectangle {
             wrapMode:   Text.WordWrap
         }
 
+        Repeater {
+            model: [ missionItem.gridAltitude, missionItem.gridAngle, missionItem.gridSpacing ]
+
+            Item {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                height:         textField.height
+
+                QGCLabel {
+                    anchors.baseline:   textField.baseline
+                    anchors.left:       parent.left
+                    text:               modelData.name
+                }
+
+                FactTextField {
+                    id:             textField
+                    anchors.right:  parent.right
+                    width:          _editFieldWidth
+                    showUnits:      true
+                    fact:           modelData
+                }
+            }
+        }
+
         QGCButton {
             text: _addPointsMode ? "Finished" : "Draw Polygon"
             onClicked: {

src/MissionManager/ComplexMissionItem.h

@@ -26,6 +26,7 @@
 
 #include "VisualMissionItem.h"
 #include "MissionItem.h"
+#include "Fact.h"
 
 class ComplexMissionItem : public VisualMissionItem
 {
@@ -35,19 +36,30 @@ public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
     ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
 
+    Q_PROPERTY(Fact*        gridAltitude        READ gridAltitude       CONSTANT)
+    Q_PROPERTY(Fact*        gridAngle           READ gridAngle          CONSTANT)
+    Q_PROPERTY(Fact*        gridSpacing         READ gridSpacing        CONSTANT)
     Q_PROPERTY(QVariantList polygonPath         READ polygonPath        NOTIFY polygonPathChanged)
     Q_PROPERTY(int          lastSequenceNumber  READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
+    Q_PROPERTY(QVariantList gridPoints          READ gridPoints         NOTIFY gridPointsChanged)
 
     Q_INVOKABLE void clearPolygon(void);
     Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
 
     QVariantList polygonPath(void) { return _polygonPath; }
+    QVariantList gridPoints (void) { return _gridPoints; }
 
-    QList<MissionItem*>& missionItems(void) { return _missionItems; }
+    Fact* gridAltitude(void)    { return &_gridAltitudeFact; }
+    Fact* gridAngle(void)       { return &_gridAngleFact; }
+    Fact* gridSpacing(void)     { return &_gridSpacingFact; }
 
     /// @return The last sequence number used by this item. Takes into account child items of the complex item
     int lastSequenceNumber(void) const;
 
+    /// Returns the mission items associated with the complex item. Caller is responsible for freeing. Calling
+    /// delete on returned QmlObjectListModel will free all memory including internal items.
+    QmlObjectListModel* getMissionItems(void) const;
+
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
     ///     @param[out] errorString Error if load fails
@@ -78,22 +90,47 @@ public:
 signals:
     void polygonPathChanged(void);
     void lastSequenceNumberChanged(int lastSequenceNumber);
+    void altitudeChanged(double altitude);
+    void gridAngleChanged(double gridAngle);
+    void gridPointsChanged(void);
 
 private:
+    typedef struct Point_s {
+        double x;
+        double y;
+
+        Point_s(double x, double y) {
+            this->x = x;
+            this->y = y;
+        }
+    } Point_t;
+
     void _clear(void);
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
+    void _clearGrid(void);
+    void _generateGrid(void);
+    void _gridGenerator(const QList<Point_t>& polygonPoints, QList<Point_t>& gridPoints);
 
     int                 _sequenceNumber;
     bool                _dirty;
     QVariantList        _polygonPath;
-    QList<MissionItem*> _missionItems;
+    QVariantList        _gridPoints;
     QGeoCoordinate      _coordinate;
     QGeoCoordinate      _exitCoordinate;
+    double              _altitude;
+    double              _gridAngle;
+
+    Fact    _gridAltitudeFact;
+    Fact    _gridAngleFact;
+    Fact    _gridSpacingFact;
 
     static const char* _jsonVersionKey;
     static const char* _jsonTypeKey;
     static const char* _jsonPolygonKey;
     static const char* _jsonIdKey;
+    static const char* _jsonGridAltitudeKey;
+    static const char* _jsonGridAngleKey;
+    static const char* _jsonGridSpacingKey;
 
     static const char* _complexType;
 };

src/MissionManager/MissionController.cc

@@ -132,28 +132,28 @@ void MissionController::sendMissionItems(void)
 {
     if (_activeVehicle) {
         // Convert to MissionItems so we can send to vehicle
-
         QList<MissionItem*> missionItems;
 
-        int sequenceNumber = 0;
         for (int i=0; i<_visualItems->count(); i++) {
             VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
             if (visualItem->isSimpleItem()) {
-                MissionItem& missionItem = qobject_cast<SimpleMissionItem*>(visualItem)->missionItem();
-                missionItem.setSequenceNumber(sequenceNumber++);
-                missionItems.append(&missionItem);
+                missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));
             } else {
                 ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
-                for (int j=0; j<complexItem->missionItems().count(); j++) {
-                    MissionItem* missionItem = complexItem->missionItems()[i];
-                    missionItem->setSequenceNumber(sequenceNumber++);
-                    missionItems.append(missionItem);
+                QmlObjectListModel* complexMissionItems = complexItem->getMissionItems();
+                for (int j=0; j<complexMissionItems->count(); j++) {
+                    missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));
                 }
+                delete complexMissionItems;
             }
         }
 
         _activeVehicle->missionManager()->writeMissionItems(missionItems);
         _visualItems->setDirty(false);
+
+        for (int i=0; i<missionItems.count(); i++) {
+            delete missionItems[i];
+        }
     }
 }
 
@@ -175,8 +175,9 @@ int MissionController::_nextSequenceNumber(void)
 
 int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 {
+    int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_nextSequenceNumber());
+    newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
@@ -198,13 +199,14 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 
     _recalcAll();
 
-    return _visualItems->count() - 1;
+    return sequenceNumber;
 }
 
 int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
 {
+    int sequenceNumber = _nextSequenceNumber();
     ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_nextSequenceNumber());
+    newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     _initVisualItem(newItem);
 
@@ -213,7 +215,7 @@ int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i
 
     _recalcAll();
 
-    return _visualItems->count() - 1;
+    return sequenceNumber;
 }
 
 void MissionController::removeMissionItem(int index)
@@ -771,7 +773,7 @@ void MissionController::_recalcChildItems(void)
         if (item->specifiesCoordinate()) {
             item->childItems()->clear();
             currentParentItem = item;
-        } else {
+        } else if (item->isSimpleItem()) {
             currentParentItem->childItems()->append(item);
         }
     }
@@ -860,13 +862,16 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
 
     if (visualItem->isSimpleItem()) {
         // We need to track commandChanged on simple item since recalc has special handling for takeoff command
-
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
         if (simpleItem) {
             connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
         } else {
             qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
         }
+    } else {
+        // We need to track changes of lastSequenceNumber so we can recalc sequence numbers for subsequence items
+        ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
+        connect(complexItem, &ComplexMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
     }
 }
 

src/MissionManager/MissionController.h

@@ -59,10 +59,14 @@ public:
     Q_INVOKABLE void removeAllMissionItems(void);
     Q_INVOKABLE QStringList getMobileMissionFiles(void);
 
-    /// @param i: index to insert at
+    /// Add a new simple mission item to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
     Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
 
-    /// @param i: index to insert at
+    /// Add a new complex mission item to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
     Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
 
     // Property accessors

src/MissionManager/SimpleMissionItem.h

@@ -117,16 +117,13 @@ public slots:
 
 signals:
     void commandChanged             (int command);
-    void coordinateChanged          (const QGeoCoordinate& coordinate);
-    void exitCoordinateChanged      (const QGeoCoordinate& exitCoordinate);
-    //void dirtyChanged               (bool dirty);
     void frameChanged               (int frame);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void uiModelChanged             (void);
     void showHomePositionChanged    (bool showHomePosition);
-    
+
 private slots:
     void _setDirtyFromSignal(void);
     void _sendCommandChanged(void);