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Commit 46978c3e authored by Valentin Platzgummer's avatar Valentin Platzgummer
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working on DefaultManager.cpp

parent bff9eea2
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Showing with 1039 additions and 922 deletions
Paths/Klingenbach.plan 0 → 100644
View file @ 46978c3e
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Paths/KlingenbachTest.wima
View file @ 46978c3e
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......@@ -709,15 +293,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 40,
"doJumpId": 14,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76802413437596,
16.530379440411014,
47.768099209120734,
16.530538775407198,
15
],
"type": "SimpleItem"
......@@ -725,15 +309,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 41,
"doJumpId": 15,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800609996228,
16.530569963610645,
47.76808571028981,
16.53072775601019,
15
],
"type": "SimpleItem"
......@@ -741,15 +325,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 42,
"doJumpId": 16,
"frame": 3,
"params": [
0,
0,
0,
null,
47.7679938426545,
16.530761500810428,
47.76807804981345,
16.53091745880308,
15
],
"type": "SimpleItem"
......@@ -757,15 +341,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 43,
"doJumpId": 17,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76798738725695,
16.530953664408617,
47.76807624380742,
16.53110748469719,
15
],
"type": "SimpleItem"
......@@ -773,15 +357,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 44,
"doJumpId": 18,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76798674683302,
16.531146065535864,
47.76807624380742,
16.53110748469719,
15
],
"type": "SimpleItem"
......@@ -789,7 +373,7 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 45,
"doJumpId": 19,
"frame": 3,
"params": [
0,
......@@ -805,15 +389,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 46,
"doJumpId": 20,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76794172285018,
16.531005331504193,
47.76798674683302,
16.531146065535864,
15
],
"type": "SimpleItem"
......@@ -821,15 +405,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 47,
"doJumpId": 21,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76794172285018,
16.531005331504193,
47.76798738725695,
16.530953664408617,
15
],
"type": "SimpleItem"
......@@ -837,15 +421,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 48,
"doJumpId": 22,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76794697499331,
16.53080245216519,
47.7679938426545,
16.530761500810428,
15
],
"type": "SimpleItem"
......@@ -853,15 +437,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 49,
"doJumpId": 23,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767958592743554,
16.53060015957008,
47.76800609996228,
16.530569963610645,
15
],
"type": "SimpleItem"
......@@ -869,15 +453,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 50,
"doJumpId": 24,
"frame": 3,
"params": [
0,
0,
0,
null,
47.7679765507215,
16.530398895634573,
47.76802413437596,
16.530379440411014,
15
],
"type": "SimpleItem"
......@@ -885,15 +469,15 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 51,
"doJumpId": 25,
"frame": 3,
"params": [
0,
0,
0,
null,
47.7679765507215,
16.530398895634573,
47.76802413437596,
16.530379440411014,
15
],
"type": "SimpleItem"
......@@ -901,7 +485,7 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 52,
"doJumpId": 26,
"frame": 3,
"params": [
0,
......@@ -917,7 +501,7 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 53,
"doJumpId": 27,
"frame": 3,
"params": [
0,
......@@ -933,7 +517,7 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 54,
"doJumpId": 28,
"frame": 3,
"params": [
0,
......@@ -949,23 +533,7 @@
{
"autoContinue": true,
"command": 16,
"doJumpId": 55,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767899456183414,
16.530873216172655,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 56,
"doJumpId": 29,
"frame": 3,
"params": [
0,
......@@ -977,70 +545,6 @@
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 57,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785939920459,
16.530748007788787,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 58,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785939920459,
16.530748007788787,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 59,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76786879171822,
16.530592526599857,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 60,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76788182125843,
16.53043762706247,
15
],
"type": "SimpleItem"
}
],
"Refly90Degrees": false,
......@@ -1062,46 +566,6 @@
47.76825595539324,
16.531028590198325
],
[
47.76821092723909,
16.531048357836788
],
[
47.76821092723909,
16.531048357836788
],
[
47.76821315105435,
16.530907959982486
],
[
47.76821873382109,
16.53076776901368
],
[
47.76822766845702,
16.530627962776645
],
[
47.76822766845702,
16.530627962776645
],
[
47.768190323493215,
16.530533173006166
],
[
47.768190323493215,
16.530533173006166
],
[
47.76817686074449,
16.530710882254596
],
[
47.76816873697609,
16.530889307913807
],
[
47.76816596834739,
16.53106809506861
......@@ -1111,32 +575,20 @@
16.53106809506861
],
[
47.76812107501615,
16.531087803518982
],
[
47.76812107501615,
16.531087803518982
],
[
47.76812279902175,
16.530925480714274
],
[
47.768128865390075,
16.530763388754075
47.76816873697609,
16.530889307913807
],
[
47.76813926450051,
16.530601784699265
47.76817686074449,
16.530710882254596
],
[
47.76815397986116,
16.530440924836945
47.768190323493215,
16.530533173006166
],
[
47.76815397986116,
16.530440924836945
47.768190323493215,
16.530533173006166
],
[
47.76811851790795,
......@@ -1166,54 +618,6 @@
47.76807624380742,
16.53110748469719
],
[
47.76803147152379,
16.531127140006916
],
[
47.76803147152379,
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],
[
47.76803270870733,
16.530934504097694
],
[
47.76803986710213,
16.53074215404759
],
[
47.76805293172116,
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],
[
47.768071875211966,
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],
[
47.768071875211966,
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],
[
47.76802413437596,
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],
[
47.76802413437596,
16.530379440411014
],
[
47.76800609996228,
16.530569963610645
],
[
47.7679938426545,
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],
[
47.76798738725695,
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],
[
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......@@ -1223,28 +627,24 @@
16.531146065535864
],
[
47.76794172285018,
16.531005331504193
],
[
47.76794172285018,
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47.76798738725695,
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],
[
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47.7679938426545,
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],
[
47.767958592743554,
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],
[
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],
[
47.7679765507215,
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47.76802413437596,
16.530379440411014
],
[
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......@@ -1261,33 +661,13 @@
[
47.767899456183414,
16.530873216172655
],
[
47.767899456183414,
16.530873216172655
],
[
47.76785939920459,
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],
[
47.76785939920459,
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],
[
47.76786879171822,
16.530592526599857
],
[
47.76788182125843,
16.53043762706247
]
],
"version": 1
},
"complexItemType": "circularSurvey",
"deltaAlpha": 3,
"deltaR": 5,
"deltaR": 10,
"fixedDirection": false,
"polygon": [
[
......@@ -1307,7 +687,7 @@
16.530481637145055
]
],
"referencePointAlt": null,
"referencePointAlt": 0,
"referencePointLat": 47.77086091347008,
"referencePointLong": 16.531071041719485,
"reverse": false,
......@@ -1315,13 +695,32 @@
"type": "ComplexItem",
"version": 1
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 5,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 33,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76783728246855,
16.530678876245194,
5
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 21,
"doJumpId": 64,
"doJumpId": 34,
"frame": 3,
"params": [
0,
......
src/Wima/CircularSurveyComplexItem.cc
View file @ 46978c3e
......@@ -237,9 +237,10 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
MissionItem* item;
int seqNum = _sequenceNumber;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative()
? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect : _transects) {
//bool transectEntry = true;
for (const CoordInfo_t& transectCoordInfo: transect) {
......@@ -392,7 +393,7 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
if (!_rebuildTransectsInputCheck(surveyPolygon))
return;
// If the transects are getting rebuilt then any previously loaded mission items are now invalid
// If the transects are getting rebuilt then any previously loaded mission items are now invalid.
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
......@@ -446,7 +447,10 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
reversePath ^= true; // toggle
optimizedPath.append(connectorPath);
connectorPath.pop_front();
connectorPath.pop_back();
if (connectorPath.size() > 0)
optimizedPath.append(connectorPath);
optimizedPath.append(currentSection);
}
if (optimizedPath.size() > _maxWaypoints.rawValue().toInt())
......
src/Wima/WaypointManager/DefaultManager.cpp
View file @ 46978c3e
......@@ -3,6 +3,8 @@
#include "Wima/Geometry/PolygonCalculus.h"
#include "MissionSettingsItem.h"
#include "SimpleMissionItem.h"
WaypointManager::DefaultManager::DefaultManager(Settings &settings,
AreaInterface &interface)
......@@ -67,11 +69,11 @@ bool WaypointManager::DefaultManager::_insertMissionItem(const QGeoCoordinate &c
list,
_settings->vehicle(),
_settings->isFlyView(),
&_currentMissionItems /*parent*/,
&list /*parent*/,
doUpdate /*do update*/) )
{
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): insertMissionItem failed.");
Q_ASSERT(false);
return false;
}
return true;
......@@ -115,34 +117,37 @@ bool WaypointManager::DefaultManager::_worker()
if (_dirty) {
_missionItems.clearAndDeleteContents();
_waypointsVariant.clear();
initialize(_missionItems, _settings->vehicle(), _settings->isFlyView());
// No initialization of _missionItems, don't need MissionSettingsItem here.
for (size_t i = 0; i < size_t(_waypoints.size()); ++i) {
const QGeoCoordinate &c = _waypoints.at(i);
auto &c = _waypoints.at(i);
_insertMissionItem(c, _missionItems.count(), _missionItems, false /*update list*/);
_waypointsVariant.push_back(QVariant::fromValue(c));
}
Q_ASSERT(_missionItems.value<MissionSettingsItem*>(0) != nullptr);
doUpdate(_missionItems);
updateHirarchy(_missionItems);
updateSequenceNumbers(_missionItems, 1); // Start with 1, since MissionSettingsItem missing.
_dirty = false;
}
_currentMissionItems.clearAndDeleteContents();
initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView());
// calculate path from home to first waypoint
QVector<QGeoCoordinate> arrivalPath;
// Precondition.
if (!_settings->homePosition().isValid()){
qWarning("WaypointManager::DefaultManager::next(): home position invalid.");
Q_ASSERT(false);
return false;
}
// Calculate path from home to first waypoint.
QVector<QGeoCoordinate> arrivalPath;
if ( !_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(), arrivalPath) ) {
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to first waypoint.");
return false;
}
arrivalPath.removeFirst();
if (!arrivalPath.empty())
arrivalPath.removeFirst();
if (!arrivalPath.empty())
arrivalPath.removeLast();
// calculate path from last waypoint to home
QVector<QGeoCoordinate> returnPath;
......@@ -150,8 +155,10 @@ bool WaypointManager::DefaultManager::_worker()
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to last waypoint.");
return false;
}
returnPath.removeFirst();
returnPath.removeLast();
if (!returnPath.empty())
returnPath.removeFirst();
if (!returnPath.empty())
returnPath.removeLast();
......@@ -165,28 +172,25 @@ bool WaypointManager::DefaultManager::_worker()
}
settingsItem->setCoordinate(_settings->homePosition());
// Set takeoff position for first mission item (bug).
// First mission item is takeoff command.
_insertMissionItem(_settings->homePosition(), 1 /*insertion index*/, false /*do update*/);
SimpleMissionItem *takeoffItem = _currentMissionItems.value<SimpleMissionItem*>(1);
if (takeoffItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(takeoffItem != nullptr);
return false;
}
takeoffItem->setCoordinate(_settings->homePosition());
makeTakeOffCmd(takeoffItem, _settings->masterController()->managerVehicle());
// Create change speed item.
_insertMissionItem(_settings->homePosition(), 2 /*insertion index*/, false /*do update*/);
SimpleMissionItem *speedItem = _currentMissionItems.value<SimpleMissionItem*>(2);
if (speedItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(speedItem != nullptr);
return false;
}
speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED);
// Set coordinate must be after setCommand (setCommand sets coordinate to zero).
speedItem->setCoordinate(_settings->homePosition());
speedItem->missionItem().setParam2(_settings->arrivalReturnSpeed());
makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
// insert arrival path
for (auto coordinate : arrivalPath) {
......@@ -204,9 +208,7 @@ bool WaypointManager::DefaultManager::_worker()
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false;
}
speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED); // set coordinate must be after setCommand (setCommand sets coordinate to zero)
speedItem->setCoordinate(_currentWaypoints.first());
speedItem->missionItem().setParam2(_settings->flightSpeed());
makeSpeedCmd(speedItem, _settings->flightSpeed());
// Insert slice.
for (auto coordinate : _currentWaypoints) {
......
src/Wima/WaypointManager/DefaultManager.h
View file @ 46978c3e
......@@ -15,7 +15,11 @@ typedef GenericWaypointManager<QGeoCoordinate,
QmlObjectListModel,
Settings>
ManagerBase;
//!
//! \brief The DefaultManager class is used to manage SimpleMissionItems.
//!
//! @note The \class QmlObjectList returned by \fn missionItems doesn't contain a MissionSettingsItem.
//! This list is supposed to be used for display purposes only.
class DefaultManager : public ManagerBase
{
public:
......
src/Wima/WaypointManager/Slicer.cpp
View file @ 46978c3e
......@@ -38,11 +38,6 @@ int Slicer::startIndex()
return _idxStart;
}
Slicer &Slicer::operator=(const Slicer &other)
{
}
void Slicer::_updateIdx(std::size_t size)
{
_idxValid = true;
......
src/Wima/WaypointManager/Slicer.h
View file @ 46978c3e
......@@ -46,8 +46,6 @@ public:
//! @return Returns the start index.
int startIndex ();
Slicer &operator=(const Slicer &other);
private:
void _updateIdx(std::size_t size);
......
src/Wima/WaypointManager/Utils.cpp
View file @ 46978c3e
#include "Utils.h"
#include "MissionSettingsItem.h"
#include <iostream>
#include <QGeoCoordinate>
template<>
......@@ -28,25 +31,12 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
int sequenceNumber = detail::nextSequenceNumber(list);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
// Set command (takeoff if first command).
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
if (list.count() == 1
&& ( vehicle->fixedWing()
|| vehicle->vtol()
|| vehicle->multiRotor() ) ) {
MAV_CMD takeoffCmd = vehicle->vtol()
? MAV_CMD_NAV_VTOL_TAKEOFF
: MAV_CMD_NAV_TAKEOFF;
if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
newItem->setCommand(takeoffCmd);
}
}
// Set altitude and altitude mode from previous item.
if (newItem->specifiesAltitude()) {
double altitude;
int altitudeMode;
double altitude = 10;
int altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
if (detail::previousAltitude(list, index-1, altitude, altitudeMode)) {
newItem->altitude()->setRawValue(altitude);
......@@ -59,9 +49,9 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
list.insert(index, newItem);
if ( doUpdates ) {
detail::updateSequenceNumbers(list, index);
detail::updateHirarchy(list);
detail::updateHomePosition(list);
updateSequenceNumbers(list);
updateHirarchy(list);
updateHomePosition(list);
}
}
return true;
......@@ -104,30 +94,27 @@ bool WaypointManager::Utils::detail::previousAltitude(QmlObjectListModel &list,
return false;
}
bool WaypointManager::Utils::detail::updateSequenceNumbers(QmlObjectListModel &list, size_t startIdx)
bool WaypointManager::Utils::updateSequenceNumbers(QmlObjectListModel &list, size_t firstSeqNumber)
{
using namespace WaypointManager::Utils;
if ( list.count() < 1 || startIdx >= size_t(list.count()) )
if ( list.count() < 1)
return false;
// Setup ascending sequence numbers for all visual items.
VisualMissionItem* startItem = list.value<VisualMissionItem*>(
std::max(long(startIdx)-1,long(0)) );
if (list.count() == 1){
startItem->setSequenceNumber(0);
} else {
int sequenceNumber = startItem->lastSequenceNumber() + 1;
for (int i=startIdx; i < list.count(); ++i) {
VisualMissionItem* item = list.value<VisualMissionItem*>(i);
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
VisualMissionItem* startItem = list.value<VisualMissionItem*>(0);
assert(startItem != nullptr); // list empty?
startItem->setSequenceNumber(firstSeqNumber);
int sequenceNumber = startItem->lastSequenceNumber() + 1;
for (int i=1; i < list.count(); ++i) {
VisualMissionItem* item = list.value<VisualMissionItem*>(i);
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
return true;
}
bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
bool WaypointManager::Utils::updateHirarchy(QmlObjectListModel &list)
{
if ( list.count() < 1)
return false;
......@@ -150,7 +137,7 @@ bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
return true;
}
bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list)
bool WaypointManager::Utils::updateHomePosition(QmlObjectListModel &list)
{
MissionSettingsItem *settingsItem = list.value<MissionSettingsItem *>(0);
assert(settingsItem); // list not initialized?
......@@ -161,7 +148,7 @@ bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list
assert(item);
if (item->specifiesCoordinate() && item->coordinate().isValid()) {
QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(30, 0);
QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(3, 0);
c.setAltitude(0);
settingsItem->setCoordinate(c);
return true;
......@@ -179,13 +166,55 @@ void WaypointManager::Utils::initialize(QmlObjectListModel &list,
list.insert(0, settingsItem);
}
bool WaypointManager::Utils::doUpdate(QmlObjectListModel &list)
bool WaypointManager::Utils::updateList(QmlObjectListModel &list)
{
using namespace WaypointManager::Utils;
bool ret = detail::updateSequenceNumbers(list, 0);
ret = detail::updateHirarchy(list) == false ? false : ret;
(void)detail::updateHomePosition(list);
bool ret = updateSequenceNumbers(list);
ret = updateHirarchy(list) == false ? false : ret;
(void)updateHomePosition(list);
return ret;
}
void WaypointManager::Utils::printList(QmlObjectListModel &list)
{
for (int i = 0; i < list.count(); ++i) {
auto item = list.value<VisualMissionItem*>(i);
qWarning() << "list index: " << i << "\n"
<< "coordinate: " << item->coordinate() << "\n"
<< "seq: " << item->sequenceNumber() << "\n"
<< "last seq: " << item->lastSequenceNumber() << "\n"
<< "is simple item: " << item->isSimpleItem() << "\n\n";
}
}
bool WaypointManager::Utils::makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle)
{
if ( vehicle->fixedWing()
|| vehicle->vtol()
|| vehicle->multiRotor()
)
{
MAV_CMD takeoffCmd = vehicle->vtol()
? MAV_CMD_NAV_VTOL_TAKEOFF
: MAV_CMD_NAV_TAKEOFF;
if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
auto c = item->coordinate();
item->setCommand(takeoffCmd);
item->setCoordinate(c);
return true;
}
}
return false;
}
void WaypointManager::Utils::makeSpeedCmd(SimpleMissionItem *item, double speed)
{
assert(speed > 0);
auto c = item->coordinate();
item->setCommand(MAV_CMD_DO_CHANGE_SPEED);
// Set coordinate must be after setCommand (setCommand sets coordinate to zero).
item->setCoordinate(c);
item->missionItem().setParam2(speed);
}
src/Wima/WaypointManager/Utils.h
View file @ 46978c3e
#pragma once
#include "SimpleMissionItem.h"
#include "QmlObjectListModel.h"
#include "SimpleMissionItem.h"
#include <QVariant>
class Vehicle;
class QGeoCoordinate;
namespace WaypointManager {
namespace Utils {
......@@ -104,6 +110,21 @@ bool extract(const ContainerType<CoordinateType> &source,
return true;
}
//!
//! \brief Makes the SimpleMissionItem \p item a takeoff command.
//! \param item SimpleMissionItem
//! \param vehilce Vehicle.
//! \return Returns true if successfull, false either.
//!
bool makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle);
//!
//! \brief Makes the SimpleMissionItem \p item a MAV_CMD_DO_CHANGE_SPEED item.
//! \param item SimpleMissionItem.
//! \param speed Speed (must be greater zero).
//!
void makeSpeedCmd(SimpleMissionItem *item, double speed);
//!
//! \brief Initializes the list \p list.
......@@ -116,7 +137,7 @@ void initialize(QmlObjectListModel &list,
Vehicle *vehicle,
bool flyView=true);
//! @brief Creates (from QGeoCoordinate) and Inserts a SimpleMissionItem at the given index to list.
//! @brief Creates (from QGeoCoordinate) and inserts a SimpleMissionItem at the given index to list.
//! \param coordinate Coordinate of the SimpleMissionItem.
//! \param index Index to insert SimpleMissionItem.
//! \param list List of SimpleMissionItems.
......@@ -137,8 +158,42 @@ bool insertMissionItem(const QGeoCoordinate &coordinate,
bool flyView=true,
QObject *parent=nullptr,
bool doUpdates=true);
//!
//! \brief Performs a list update.
//!
//! Updates the home position of the MissionSettingsItem, the parent child hirarchy and the sequence numbers.
//! \param list List containing VisualMissionItems.
//! \return Returns true if no errors occured, false either.
bool updateList(QmlObjectListModel &list);
//! @brief Updates the sequence numbers of the VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \param firstSeqNumber The sequence number of the fisrt list entry (defaul = 0).
//! \return Returns true if successfull, false either.
//!
//! \note If the list \p list contains only one VisualMissionItem it's sequence number is
//! set to 0.
bool updateSequenceNumbers(QmlObjectListModel &list, size_t firstSeqNumber = 0);
//! @brief Update the parent child item hierarchy of the VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if successfull, false either.
//!
//! \note Returns true on success, false either.
bool updateHirarchy(QmlObjectListModel &list);
//! @brief Updates the home position to the first valid coordinate of the VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if the home position was updated, false either.
bool updateHomePosition(QmlObjectListModel &list);
bool doUpdate(QmlObjectListModel &list);
//!
//! \brief Prints the \p list.
//! \param list List containing VisualMissionItems.
void printList(QmlObjectListModel &list);
namespace detail {
size_t nextSequenceNumber(QmlObjectListModel &list);
......@@ -147,33 +202,6 @@ namespace detail {
double &altitude,
int &altitudeMode);
//! @brief Updates the sequence numbers of the VisualMissionItems inside \p list beginning from \p startIdx.
//!
//! Updates the sequence numbers of the VisualMissionItems inside \p list beginning from \pstartIdx.
//! \param list List containing VisualMissionItems.
//! \param startIdx Start index.
//! \return Returns true if successfull, false either.
//!
//! \note The function returns false immediatelly if the list \p list ist empty or
//! the \p startIdx is out of bounds.
//! \note If the list \p list contains only one VisualMissionItem it's sequence number is
//! set to 0.
bool updateSequenceNumbers(QmlObjectListModel &list, size_t startIdx=0);
//! @brief Update the parent child item hierarchy of the VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if successfull, false either.
//!
//! \note Returns true on success, false either.
bool updateHirarchy(QmlObjectListModel &list);
//! @brief Updates the home position to the first valid coordinate of the VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if the home position was updated, false either.
bool updateHomePosition(QmlObjectListModel &list);
} // namespace detail
} // namespace Utils
} // namespace WaypointManager
src/Wima/WimaController.cc
View file @ 46978c3e
......@@ -128,6 +128,10 @@ QmlObjectListModel *WimaController::visualItems() {
return &_areas;
}
WimaDataContainer *WimaController::dataContainer() {
return _container;
}
QmlObjectListModel *WimaController::missionItems() {
return const_cast<QmlObjectListModel*>(&_currentManager.missionItems());
}
......@@ -146,6 +150,42 @@ QVariantList WimaController::currentWaypointPath()
return const_cast<QVariantList&>(_currentManager.currentWaypointsVariant());
}
Fact *WimaController::enableWimaController() {
return &_enableWimaController;
}
Fact *WimaController::overlapWaypoints() {
return &_overlapWaypoints;
}
Fact *WimaController::maxWaypointsPerPhase() {
return &_maxWaypointsPerPhase;
}
Fact *WimaController::startWaypointIndex() {
return &_nextPhaseStartWaypointIndex;
}
Fact *WimaController::showAllMissionItems() {
return &_showAllMissionItems;
}
Fact *WimaController::showCurrentMissionItems() {
return &_showCurrentMissionItems;
}
Fact *WimaController::flightSpeed() {
return &_flightSpeed;
}
Fact *WimaController::arrivalReturnSpeed() {
return &_arrivalReturnSpeed;
}
Fact *WimaController::altitude() {
return &_altitude;
}
//QStringList WimaController::loadNameFilters() const
//{
// QStringList filters;
......@@ -170,12 +210,12 @@ bool WimaController::uploadOverrideRequired() const
double WimaController::phaseDistance() const
{
return _phaseDistance;
return 0.0;
}
double WimaController::phaseDuration() const
{
return _phaseDuration;
return 0.0;
}
bool WimaController::vehicleHasLowBattery() const
......@@ -331,7 +371,7 @@ bool WimaController::calcReturnPath()
// qgcApp()->showMessage(errorString);
// return false;
// }
// return true;
return true;
}
void WimaController::executeSmartRTL()
......@@ -483,18 +523,19 @@ bool WimaController::_fetchContainerData()
// extract mission items
QList<MissionItem> tempMissionItems = planData.missionItems();
if (tempMissionItems.size() < 1) {
assert(false);
qWarning("WimaController: Mission items from WimaPlaner empty!");
return false;
}
for (auto item : tempMissionItems)
for (auto item : tempMissionItems) {
_defaultManager.push_back(item.coordinate());
}
_managerSettings.setHomePosition( QGeoCoordinate(_serviceArea.center().latitude(),
_serviceArea.center().longitude(),
0) );
if( !_defaultManager.update() ){
if( !_defaultManager.reset() ){
assert(false);
return false;
}
......@@ -586,13 +627,13 @@ bool WimaController::_calcNextPhase()
<< "overlap=" << _currentManager.overlap()
<< "N=" << _currentManager.N()
<< "startIndex=" << _currentManager.startIndex();
bool value;
_currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
Q_ASSERT(value);
(void)value;
qDebug() << "overlap=" << _currentManager.overlap()
<< "N=" << _currentManager.N()
<< "startIndex=" << _currentManager.startIndex();
// bool value;
// _currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
// Q_ASSERT(value);
// (void)value;
// qDebug() << "overlap=" << _currentManager.overlap()
// << "N=" << _currentManager.N()
// << "startIndex=" << _currentManager.startIndex();
if ( !_currentManager.next() ) {
assert(false);
......@@ -755,6 +796,7 @@ void WimaController::_eventTimerHandler()
void WimaController::_smartRTLCleanUp(bool flying)
{
(void)flying;
// if ( !flying) { // vehicle has landed
// if (_executingSmartRTL) {
......@@ -781,20 +823,22 @@ void WimaController::_enableDisableLowBatteryHandling(QVariant enable)
void WimaController::_setPhaseDistance(double distance)
{
if (!qFuzzyCompare(distance, _phaseDistance)) {
_phaseDistance = distance;
(void)distance;
// if (!qFuzzyCompare(distance, _phaseDistance)) {
// _phaseDistance = distance;
emit phaseDistanceChanged();
}
// emit phaseDistanceChanged();
// }
}
void WimaController::_setPhaseDuration(double duration)
{
if (!qFuzzyCompare(duration, _phaseDuration)) {
_phaseDuration = duration;
(void)duration;
// if (!qFuzzyCompare(duration, _phaseDuration)) {
// _phaseDuration = duration;
emit phaseDurationChanged();
}
// emit phaseDurationChanged();
// }
}
bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
......@@ -977,9 +1021,3 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc,
emit WimaController::nemoProgressChanged();
}
template<>
QVariant getCoordinate<QVariant>(const SimpleMissionItem* item)
{
return QVariant::fromValue(item->coordinate());
}
src/Wima/WimaController.h
View file @ 46978c3e
......@@ -213,20 +213,20 @@ public:
// QStringList saveNameFilters (void) const;
// QString fileExtension (void) const { return wimaFileExtension; }
QGCMapPolygon joinedArea (void) const;
WimaDataContainer* dataContainer (void) { return _container; }
WimaDataContainer* dataContainer (void);
QmlObjectListModel* missionItems (void);
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
Fact* enableWimaController (void) { return &_enableWimaController; }
Fact* overlapWaypoints (void) { return &_overlapWaypoints; }
Fact* maxWaypointsPerPhase (void) { return &_maxWaypointsPerPhase; }
Fact* startWaypointIndex (void) { return &_nextPhaseStartWaypointIndex; }
Fact* showAllMissionItems (void) { return &_showAllMissionItems; }
Fact* showCurrentMissionItems(void) { return &_showCurrentMissionItems; }
Fact* flightSpeed (void) { return &_flightSpeed; }
Fact* arrivalReturnSpeed (void) { return &_arrivalReturnSpeed; }
Fact* altitude (void) { return &_altitude; }
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems(void);
Fact* flightSpeed (void);
Fact* arrivalReturnSpeed (void);
Fact* altitude (void);
Fact* enableSnake (void) { return &_enableSnake; }
Fact* snakeTileWidth (void) { return &_snakeTileWidth;}
......@@ -260,9 +260,9 @@ public:
Q_INVOKABLE bool uploadToVehicle();
Q_INVOKABLE bool forceUploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE bool checkSmartRTLPreCondition(); // wrapper for _checkSmartRTLPreCondition(QString &errorString)
Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)#
Q_INVOKABLE void executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring)
Q_INVOKABLE bool checkSmartRTLPreCondition();
Q_INVOKABLE bool calcReturnPath();
Q_INVOKABLE void executeSmartRTL();
Q_INVOKABLE void initSmartRTL();
Q_INVOKABLE void removeVehicleTrajectoryHistory();
......@@ -446,81 +446,4 @@ private:
};
/*
* The following explains the structure of
* _missionController.visualItems().
*
* Index Description
* --------------------------------------------
* 0 MissionSettingsItem
* 1 Takeoff Command
* 2 Speed Command: arrivalReturnSpeed
* 3 Arrival Path Waypoint 0
* ...
* 3+n-1 Arrival Path Waypoint n-1
* 3+n Speed Command: flightSpeed
* 3+n+1 Circular Survey Waypoint 0
* ...
* 3+n+m Circular Survey Waypoint m-1
* 3+n+m+1 Speed Command: arrivalReturnSpeed
* 3+n+m+2 Return Path Waypoint 0
* ...
* 3+n+m+2+l Return Path Waypoint l-1
* 3+n+m+2+l+1 Land command
*
* _currentMissionItems is equal to
* _missionController.visualItems() except that it
* is missing the MissionSettingsItem
*/
template<class CoordinateType>
CoordinateType getCoordinate(const SimpleMissionItem* item){
return item->coordinate();
}
template<>
QVariant getCoordinate<QVariant>(const SimpleMissionItem* item);
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool getCoordinates(QmlObjectListModel &missionItems,
ContainerType<CoordinateType> &coordinateList,
std::size_t startIndex,
std::size_t endIndex){
if ( startIndex < std::size_t(missionItems.count())
&& endIndex < std::size_t(missionItems.count()) ) {
if (startIndex > endIndex) {
if (!getCoordinates(missionItems, coordinateList, startIndex, missionItems.count()-1))
return false;
if (!getCoordinates(missionItems, coordinateList, 0, endIndex))
return false;
} else {
for (std::size_t i = startIndex; i <= endIndex; i++) {
SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(int(i));
if (mItem == nullptr) {
coordinateList.clear();
return false;
}
coordinateList.append(getCoordinate<CoordinateType>(mItem));
}
}
} else
return false;
return true;
}
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool getCoordinates(QmlObjectListModel &missionItems,
ContainerType<CoordinateType> &coordinateList){
return getCoordinates(missionItems, coordinateList, 0, missionItems.count());
}
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