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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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Paths/Klingenbach.plan 0 → 100644
View file @ 46978c3e
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Paths/KlingenbachTest.wima
View file @ 46978c3e
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...@@ -933,7 +517,7 @@ ...@@ -933,7 +517,7 @@
{ {
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...@@ -949,23 +533,7 @@ ...@@ -949,23 +533,7 @@
{ {
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"Refly90Degrees": false, "Refly90Degrees": false,
...@@ -1062,46 +566,6 @@ ...@@ -1062,46 +566,6 @@
47.76825595539324, 47.76825595539324,
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16.53106809506861 16.53106809506861
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], ],
"version": 1 "version": 1
}, },
"complexItemType": "circularSurvey", "complexItemType": "circularSurvey",
"deltaAlpha": 3, "deltaAlpha": 3,
"deltaR": 5, "deltaR": 10,
"fixedDirection": false, "fixedDirection": false,
"polygon": [ "polygon": [
[ [
...@@ -1307,7 +687,7 @@ ...@@ -1307,7 +687,7 @@
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] ]
], ],
"referencePointAlt": null, "referencePointAlt": 0,
"referencePointLat": 47.77086091347008, "referencePointLat": 47.77086091347008,
"referencePointLong": 16.531071041719485, "referencePointLong": 16.531071041719485,
"reverse": false, "reverse": false,
...@@ -1315,13 +695,32 @@ ...@@ -1315,13 +695,32 @@
"type": "ComplexItem", "type": "ComplexItem",
"version": 1 "version": 1
}, },
{
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"Altitude": 5,
"AltitudeMode": 1,
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"Altitude": 0, "Altitude": 0,
"AltitudeMode": 1, "AltitudeMode": 1,
"autoContinue": true, "autoContinue": true,
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0, 0,
......
src/Wima/CircularSurveyComplexItem.cc
View file @ 46978c3e
...@@ -237,9 +237,10 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& ...@@ -237,9 +237,10 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
MissionItem* item; MissionItem* item;
int seqNum = _sequenceNumber; 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; //bool transectEntry = true;
for (const CoordInfo_t& transectCoordInfo: transect) { for (const CoordInfo_t& transectCoordInfo: transect) {
...@@ -392,7 +393,7 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow() ...@@ -392,7 +393,7 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
if (!_rebuildTransectsInputCheck(surveyPolygon)) if (!_rebuildTransectsInputCheck(surveyPolygon))
return; 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) { if (_loadedMissionItemsParent) {
_loadedMissionItems.clear(); _loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater(); _loadedMissionItemsParent->deleteLater();
...@@ -446,7 +447,10 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow() ...@@ -446,7 +447,10 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
reversePath ^= true; // toggle reversePath ^= true; // toggle
optimizedPath.append(connectorPath); connectorPath.pop_front();
connectorPath.pop_back();
if (connectorPath.size() > 0)
optimizedPath.append(connectorPath);
optimizedPath.append(currentSection); optimizedPath.append(currentSection);
} }
if (optimizedPath.size() > _maxWaypoints.rawValue().toInt()) if (optimizedPath.size() > _maxWaypoints.rawValue().toInt())
......
src/Wima/WaypointManager/DefaultManager.cpp
View file @ 46978c3e
...@@ -3,6 +3,8 @@ ...@@ -3,6 +3,8 @@
#include "Wima/Geometry/PolygonCalculus.h" #include "Wima/Geometry/PolygonCalculus.h"
#include "MissionSettingsItem.h" #include "MissionSettingsItem.h"
#include "SimpleMissionItem.h"
WaypointManager::DefaultManager::DefaultManager(Settings &settings, WaypointManager::DefaultManager::DefaultManager(Settings &settings,
AreaInterface &interface) AreaInterface &interface)
...@@ -67,11 +69,11 @@ bool WaypointManager::DefaultManager::_insertMissionItem(const QGeoCoordinate &c ...@@ -67,11 +69,11 @@ bool WaypointManager::DefaultManager::_insertMissionItem(const QGeoCoordinate &c
list, list,
_settings->vehicle(), _settings->vehicle(),
_settings->isFlyView(), _settings->isFlyView(),
&_currentMissionItems /*parent*/, &list /*parent*/,
doUpdate /*do update*/) ) doUpdate /*do update*/) )
{ {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): insertMissionItem failed."); qWarning("WaypointManager::DefaultManager::next(): insertMissionItem failed.");
Q_ASSERT(false);
return false; return false;
} }
return true; return true;
...@@ -115,34 +117,37 @@ bool WaypointManager::DefaultManager::_worker() ...@@ -115,34 +117,37 @@ bool WaypointManager::DefaultManager::_worker()
if (_dirty) { if (_dirty) {
_missionItems.clearAndDeleteContents(); _missionItems.clearAndDeleteContents();
_waypointsVariant.clear(); _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) { 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*/); _insertMissionItem(c, _missionItems.count(), _missionItems, false /*update list*/);
_waypointsVariant.push_back(QVariant::fromValue(c)); _waypointsVariant.push_back(QVariant::fromValue(c));
} }
Q_ASSERT(_missionItems.value<MissionSettingsItem*>(0) != nullptr); updateHirarchy(_missionItems);
doUpdate(_missionItems); updateSequenceNumbers(_missionItems, 1); // Start with 1, since MissionSettingsItem missing.
_dirty = false; _dirty = false;
} }
_currentMissionItems.clearAndDeleteContents(); _currentMissionItems.clearAndDeleteContents();
initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView()); initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView());
// calculate path from home to first waypoint // Precondition.
QVector<QGeoCoordinate> arrivalPath;
if (!_settings->homePosition().isValid()){ if (!_settings->homePosition().isValid()){
qWarning("WaypointManager::DefaultManager::next(): home position invalid."); qWarning("WaypointManager::DefaultManager::next(): home position invalid.");
Q_ASSERT(false); Q_ASSERT(false);
return false; return false;
} }
// Calculate path from home to first waypoint.
QVector<QGeoCoordinate> arrivalPath;
if ( !_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(), arrivalPath) ) { if ( !_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(), arrivalPath) ) {
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to first waypoint."); qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to first waypoint.");
return false; return false;
} }
arrivalPath.removeFirst(); if (!arrivalPath.empty())
arrivalPath.removeFirst();
if (!arrivalPath.empty())
arrivalPath.removeLast();
// calculate path from last waypoint to home // calculate path from last waypoint to home
QVector<QGeoCoordinate> returnPath; QVector<QGeoCoordinate> returnPath;
...@@ -150,8 +155,10 @@ bool WaypointManager::DefaultManager::_worker() ...@@ -150,8 +155,10 @@ bool WaypointManager::DefaultManager::_worker()
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to last waypoint."); qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to last waypoint.");
return false; return false;
} }
returnPath.removeFirst(); if (!returnPath.empty())
returnPath.removeLast(); returnPath.removeFirst();
if (!returnPath.empty())
returnPath.removeLast();
...@@ -165,28 +172,25 @@ bool WaypointManager::DefaultManager::_worker() ...@@ -165,28 +172,25 @@ bool WaypointManager::DefaultManager::_worker()
} }
settingsItem->setCoordinate(_settings->homePosition()); 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*/); _insertMissionItem(_settings->homePosition(), 1 /*insertion index*/, false /*do update*/);
SimpleMissionItem *takeoffItem = _currentMissionItems.value<SimpleMissionItem*>(1); SimpleMissionItem *takeoffItem = _currentMissionItems.value<SimpleMissionItem*>(1);
if (takeoffItem == nullptr) { if (takeoffItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr."); qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(takeoffItem != nullptr);
return false; return false;
} }
takeoffItem->setCoordinate(_settings->homePosition()); makeTakeOffCmd(takeoffItem, _settings->masterController()->managerVehicle());
// Create change speed item. // Create change speed item.
_insertMissionItem(_settings->homePosition(), 2 /*insertion index*/, false /*do update*/); _insertMissionItem(_settings->homePosition(), 2 /*insertion index*/, false /*do update*/);
SimpleMissionItem *speedItem = _currentMissionItems.value<SimpleMissionItem*>(2); SimpleMissionItem *speedItem = _currentMissionItems.value<SimpleMissionItem*>(2);
if (speedItem == nullptr) { if (speedItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr."); qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(speedItem != nullptr);
return false; return false;
} }
speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED); makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
// Set coordinate must be after setCommand (setCommand sets coordinate to zero).
speedItem->setCoordinate(_settings->homePosition());
speedItem->missionItem().setParam2(_settings->arrivalReturnSpeed());
// insert arrival path // insert arrival path
for (auto coordinate : arrivalPath) { for (auto coordinate : arrivalPath) {
...@@ -204,9 +208,7 @@ bool WaypointManager::DefaultManager::_worker() ...@@ -204,9 +208,7 @@ bool WaypointManager::DefaultManager::_worker()
qWarning("WaypointManager::DefaultManager::next(): nullptr."); qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false; return false;
} }
speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED); // set coordinate must be after setCommand (setCommand sets coordinate to zero) makeSpeedCmd(speedItem, _settings->flightSpeed());
speedItem->setCoordinate(_currentWaypoints.first());
speedItem->missionItem().setParam2(_settings->flightSpeed());
// Insert slice. // Insert slice.
for (auto coordinate : _currentWaypoints) { for (auto coordinate : _currentWaypoints) {
......
src/Wima/WaypointManager/DefaultManager.h
View file @ 46978c3e
...@@ -15,7 +15,11 @@ typedef GenericWaypointManager<QGeoCoordinate, ...@@ -15,7 +15,11 @@ typedef GenericWaypointManager<QGeoCoordinate,
QmlObjectListModel, QmlObjectListModel,
Settings> Settings>
ManagerBase; 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 class DefaultManager : public ManagerBase
{ {
public: public:
......
src/Wima/WaypointManager/Slicer.cpp
View file @ 46978c3e
...@@ -38,11 +38,6 @@ int Slicer::startIndex() ...@@ -38,11 +38,6 @@ int Slicer::startIndex()
return _idxStart; return _idxStart;
} }
Slicer &Slicer::operator=(const Slicer &other)
{
}
void Slicer::_updateIdx(std::size_t size) void Slicer::_updateIdx(std::size_t size)
{ {
_idxValid = true; _idxValid = true;
......
src/Wima/WaypointManager/Slicer.h
View file @ 46978c3e
...@@ -46,8 +46,6 @@ public: ...@@ -46,8 +46,6 @@ public:
//! @return Returns the start index. //! @return Returns the start index.
int startIndex (); int startIndex ();
Slicer &operator=(const Slicer &other);
private: private:
void _updateIdx(std::size_t size); void _updateIdx(std::size_t size);
......
src/Wima/WaypointManager/Utils.cpp
View file @ 46978c3e
#include "Utils.h" #include "Utils.h"
#include "MissionSettingsItem.h" #include "MissionSettingsItem.h"
#include <iostream>
#include <QGeoCoordinate>
template<> template<>
...@@ -28,25 +31,12 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate, ...@@ -28,25 +31,12 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
int sequenceNumber = detail::nextSequenceNumber(list); int sequenceNumber = detail::nextSequenceNumber(list);
newItem->setSequenceNumber(sequenceNumber); newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate); newItem->setCoordinate(coordinate);
// Set command (takeoff if first command).
newItem->setCommand(MAV_CMD_NAV_WAYPOINT); 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. // Set altitude and altitude mode from previous item.
if (newItem->specifiesAltitude()) { if (newItem->specifiesAltitude()) {
double altitude; double altitude = 10;
int altitudeMode; int altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
if (detail::previousAltitude(list, index-1, altitude, altitudeMode)) { if (detail::previousAltitude(list, index-1, altitude, altitudeMode)) {
newItem->altitude()->setRawValue(altitude); newItem->altitude()->setRawValue(altitude);
...@@ -59,9 +49,9 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate, ...@@ -59,9 +49,9 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
list.insert(index, newItem); list.insert(index, newItem);
if ( doUpdates ) { if ( doUpdates ) {
detail::updateSequenceNumbers(list, index); updateSequenceNumbers(list);
detail::updateHirarchy(list); updateHirarchy(list);
detail::updateHomePosition(list); updateHomePosition(list);
} }
} }
return true; return true;
...@@ -104,30 +94,27 @@ bool WaypointManager::Utils::detail::previousAltitude(QmlObjectListModel &list, ...@@ -104,30 +94,27 @@ bool WaypointManager::Utils::detail::previousAltitude(QmlObjectListModel &list,
return false; 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; using namespace WaypointManager::Utils;
if ( list.count() < 1 || startIdx >= size_t(list.count()) ) if ( list.count() < 1)
return false; return false;
// Setup ascending sequence numbers for all visual items. // Setup ascending sequence numbers for all visual items.
VisualMissionItem* startItem = list.value<VisualMissionItem*>( VisualMissionItem* startItem = list.value<VisualMissionItem*>(0);
std::max(long(startIdx)-1,long(0)) ); assert(startItem != nullptr); // list empty?
if (list.count() == 1){ startItem->setSequenceNumber(firstSeqNumber);
startItem->setSequenceNumber(0); int sequenceNumber = startItem->lastSequenceNumber() + 1;
} else { for (int i=1; i < list.count(); ++i) {
int sequenceNumber = startItem->lastSequenceNumber() + 1; VisualMissionItem* item = list.value<VisualMissionItem*>(i);
for (int i=startIdx; i < list.count(); ++i) { item->setSequenceNumber(sequenceNumber);
VisualMissionItem* item = list.value<VisualMissionItem*>(i); sequenceNumber = item->lastSequenceNumber() + 1;
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
} }
return true; return true;
} }
bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list) bool WaypointManager::Utils::updateHirarchy(QmlObjectListModel &list)
{ {
if ( list.count() < 1) if ( list.count() < 1)
return false; return false;
...@@ -150,7 +137,7 @@ bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list) ...@@ -150,7 +137,7 @@ bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
return true; return true;
} }
bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list) bool WaypointManager::Utils::updateHomePosition(QmlObjectListModel &list)
{ {
MissionSettingsItem *settingsItem = list.value<MissionSettingsItem *>(0); MissionSettingsItem *settingsItem = list.value<MissionSettingsItem *>(0);
assert(settingsItem); // list not initialized? assert(settingsItem); // list not initialized?
...@@ -161,7 +148,7 @@ bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list ...@@ -161,7 +148,7 @@ bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list
assert(item); assert(item);
if (item->specifiesCoordinate() && item->coordinate().isValid()) { if (item->specifiesCoordinate() && item->coordinate().isValid()) {
QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(30, 0); QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(3, 0);
c.setAltitude(0); c.setAltitude(0);
settingsItem->setCoordinate(c); settingsItem->setCoordinate(c);
return true; return true;
...@@ -179,13 +166,55 @@ void WaypointManager::Utils::initialize(QmlObjectListModel &list, ...@@ -179,13 +166,55 @@ void WaypointManager::Utils::initialize(QmlObjectListModel &list,
list.insert(0, settingsItem); list.insert(0, settingsItem);
} }
bool WaypointManager::Utils::doUpdate(QmlObjectListModel &list) bool WaypointManager::Utils::updateList(QmlObjectListModel &list)
{ {
using namespace WaypointManager::Utils; using namespace WaypointManager::Utils;
bool ret = detail::updateSequenceNumbers(list, 0); bool ret = updateSequenceNumbers(list);
ret = detail::updateHirarchy(list) == false ? false : ret; ret = updateHirarchy(list) == false ? false : ret;
(void)detail::updateHomePosition(list); (void)updateHomePosition(list);
return ret; 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 #pragma once
#include "SimpleMissionItem.h"
#include "QmlObjectListModel.h" #include "QmlObjectListModel.h"
#include "SimpleMissionItem.h"
#include <QVariant> #include <QVariant>
class Vehicle;
class QGeoCoordinate;
namespace WaypointManager { namespace WaypointManager {
namespace Utils { namespace Utils {
...@@ -104,6 +110,21 @@ bool extract(const ContainerType<CoordinateType> &source, ...@@ -104,6 +110,21 @@ bool extract(const ContainerType<CoordinateType> &source,
return true; 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. //! \brief Initializes the list \p list.
...@@ -116,7 +137,7 @@ void initialize(QmlObjectListModel &list, ...@@ -116,7 +137,7 @@ void initialize(QmlObjectListModel &list,
Vehicle *vehicle, Vehicle *vehicle,
bool flyView=true); 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 coordinate Coordinate of the SimpleMissionItem.
//! \param index Index to insert SimpleMissionItem. //! \param index Index to insert SimpleMissionItem.
//! \param list List of SimpleMissionItems. //! \param list List of SimpleMissionItems.
...@@ -137,8 +158,42 @@ bool insertMissionItem(const QGeoCoordinate &coordinate, ...@@ -137,8 +158,42 @@ bool insertMissionItem(const QGeoCoordinate &coordinate,
bool flyView=true, bool flyView=true,
QObject *parent=nullptr, QObject *parent=nullptr,
bool doUpdates=true); 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 { namespace detail {
size_t nextSequenceNumber(QmlObjectListModel &list); size_t nextSequenceNumber(QmlObjectListModel &list);
...@@ -147,33 +202,6 @@ namespace detail { ...@@ -147,33 +202,6 @@ namespace detail {
double &altitude, double &altitude,
int &altitudeMode); 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 detail
} // namespace Utils } // namespace Utils
} // namespace WaypointManager } // namespace WaypointManager
src/Wima/WimaController.cc
View file @ 46978c3e
...@@ -128,6 +128,10 @@ QmlObjectListModel *WimaController::visualItems() { ...@@ -128,6 +128,10 @@ QmlObjectListModel *WimaController::visualItems() {
return &_areas; return &_areas;
} }
WimaDataContainer *WimaController::dataContainer() {
return _container;
}
QmlObjectListModel *WimaController::missionItems() { QmlObjectListModel *WimaController::missionItems() {
return const_cast<QmlObjectListModel*>(&_currentManager.missionItems()); return const_cast<QmlObjectListModel*>(&_currentManager.missionItems());
} }
...@@ -146,6 +150,42 @@ QVariantList WimaController::currentWaypointPath() ...@@ -146,6 +150,42 @@ QVariantList WimaController::currentWaypointPath()
return const_cast<QVariantList&>(_currentManager.currentWaypointsVariant()); 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 WimaController::loadNameFilters() const
//{ //{
// QStringList filters; // QStringList filters;
...@@ -170,12 +210,12 @@ bool WimaController::uploadOverrideRequired() const ...@@ -170,12 +210,12 @@ bool WimaController::uploadOverrideRequired() const
double WimaController::phaseDistance() const double WimaController::phaseDistance() const
{ {
return _phaseDistance; return 0.0;
} }
double WimaController::phaseDuration() const double WimaController::phaseDuration() const
{ {
return _phaseDuration; return 0.0;
} }
bool WimaController::vehicleHasLowBattery() const bool WimaController::vehicleHasLowBattery() const
...@@ -331,7 +371,7 @@ bool WimaController::calcReturnPath() ...@@ -331,7 +371,7 @@ bool WimaController::calcReturnPath()
// qgcApp()->showMessage(errorString); // qgcApp()->showMessage(errorString);
// return false; // return false;
// } // }
// return true; return true;
} }
void WimaController::executeSmartRTL() void WimaController::executeSmartRTL()
...@@ -483,18 +523,19 @@ bool WimaController::_fetchContainerData() ...@@ -483,18 +523,19 @@ bool WimaController::_fetchContainerData()
// extract mission items // extract mission items
QList<MissionItem> tempMissionItems = planData.missionItems(); QList<MissionItem> tempMissionItems = planData.missionItems();
if (tempMissionItems.size() < 1) { if (tempMissionItems.size() < 1) {
assert(false); qWarning("WimaController: Mission items from WimaPlaner empty!");
return false; return false;
} }
for (auto item : tempMissionItems) for (auto item : tempMissionItems) {
_defaultManager.push_back(item.coordinate()); _defaultManager.push_back(item.coordinate());
}
_managerSettings.setHomePosition( QGeoCoordinate(_serviceArea.center().latitude(), _managerSettings.setHomePosition( QGeoCoordinate(_serviceArea.center().latitude(),
_serviceArea.center().longitude(), _serviceArea.center().longitude(),
0) ); 0) );
if( !_defaultManager.update() ){ if( !_defaultManager.reset() ){
assert(false); assert(false);
return false; return false;
} }
...@@ -586,13 +627,13 @@ bool WimaController::_calcNextPhase() ...@@ -586,13 +627,13 @@ bool WimaController::_calcNextPhase()
<< "overlap=" << _currentManager.overlap() << "overlap=" << _currentManager.overlap()
<< "N=" << _currentManager.N() << "N=" << _currentManager.N()
<< "startIndex=" << _currentManager.startIndex(); << "startIndex=" << _currentManager.startIndex();
bool value; // bool value;
_currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value)); // _currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
Q_ASSERT(value); // Q_ASSERT(value);
(void)value; // (void)value;
qDebug() << "overlap=" << _currentManager.overlap() // qDebug() << "overlap=" << _currentManager.overlap()
<< "N=" << _currentManager.N() // << "N=" << _currentManager.N()
<< "startIndex=" << _currentManager.startIndex(); // << "startIndex=" << _currentManager.startIndex();
if ( !_currentManager.next() ) { if ( !_currentManager.next() ) {
assert(false); assert(false);
...@@ -755,6 +796,7 @@ void WimaController::_eventTimerHandler() ...@@ -755,6 +796,7 @@ void WimaController::_eventTimerHandler()
void WimaController::_smartRTLCleanUp(bool flying) void WimaController::_smartRTLCleanUp(bool flying)
{ {
(void)flying;
// if ( !flying) { // vehicle has landed // if ( !flying) { // vehicle has landed
// if (_executingSmartRTL) { // if (_executingSmartRTL) {
...@@ -781,20 +823,22 @@ void WimaController::_enableDisableLowBatteryHandling(QVariant enable) ...@@ -781,20 +823,22 @@ void WimaController::_enableDisableLowBatteryHandling(QVariant enable)
void WimaController::_setPhaseDistance(double distance) void WimaController::_setPhaseDistance(double distance)
{ {
if (!qFuzzyCompare(distance, _phaseDistance)) { (void)distance;
_phaseDistance = distance; // if (!qFuzzyCompare(distance, _phaseDistance)) {
// _phaseDistance = distance;
emit phaseDistanceChanged(); // emit phaseDistanceChanged();
} // }
} }
void WimaController::_setPhaseDuration(double duration) void WimaController::_setPhaseDuration(double duration)
{ {
if (!qFuzzyCompare(duration, _phaseDuration)) { (void)duration;
_phaseDuration = duration; // if (!qFuzzyCompare(duration, _phaseDuration)) {
// _phaseDuration = duration;
emit phaseDurationChanged(); // emit phaseDurationChanged();
} // }
} }
bool WimaController::_checkSmartRTLPreCondition(QString &errorString) bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
...@@ -977,9 +1021,3 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc, ...@@ -977,9 +1021,3 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc,
emit WimaController::nemoProgressChanged(); 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: ...@@ -213,20 +213,20 @@ public:
// QStringList saveNameFilters (void) const; // QStringList saveNameFilters (void) const;
// QString fileExtension (void) const { return wimaFileExtension; } // QString fileExtension (void) const { return wimaFileExtension; }
QGCMapPolygon joinedArea (void) const; QGCMapPolygon joinedArea (void) const;
WimaDataContainer* dataContainer (void) { return _container; } WimaDataContainer* dataContainer (void);
QmlObjectListModel* missionItems (void); QmlObjectListModel* missionItems (void);
QmlObjectListModel* currentMissionItems (void); QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void); QVariantList waypointPath (void);
QVariantList currentWaypointPath (void); QVariantList currentWaypointPath (void);
Fact* enableWimaController (void) { return &_enableWimaController; } Fact* enableWimaController (void);
Fact* overlapWaypoints (void) { return &_overlapWaypoints; } Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void) { return &_maxWaypointsPerPhase; } Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void) { return &_nextPhaseStartWaypointIndex; } Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void) { return &_showAllMissionItems; } Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems(void) { return &_showCurrentMissionItems; } Fact* showCurrentMissionItems(void);
Fact* flightSpeed (void) { return &_flightSpeed; } Fact* flightSpeed (void);
Fact* arrivalReturnSpeed (void) { return &_arrivalReturnSpeed; } Fact* arrivalReturnSpeed (void);
Fact* altitude (void) { return &_altitude; } Fact* altitude (void);
Fact* enableSnake (void) { return &_enableSnake; } Fact* enableSnake (void) { return &_enableSnake; }
Fact* snakeTileWidth (void) { return &_snakeTileWidth;} Fact* snakeTileWidth (void) { return &_snakeTileWidth;}
...@@ -260,9 +260,9 @@ public: ...@@ -260,9 +260,9 @@ public:
Q_INVOKABLE bool uploadToVehicle(); Q_INVOKABLE bool uploadToVehicle();
Q_INVOKABLE bool forceUploadToVehicle(); Q_INVOKABLE bool forceUploadToVehicle();
Q_INVOKABLE void removeFromVehicle(); Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE bool checkSmartRTLPreCondition(); // wrapper for _checkSmartRTLPreCondition(QString &errorString) Q_INVOKABLE bool checkSmartRTLPreCondition();
Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)# Q_INVOKABLE bool calcReturnPath();
Q_INVOKABLE void executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring) Q_INVOKABLE void executeSmartRTL();
Q_INVOKABLE void initSmartRTL(); Q_INVOKABLE void initSmartRTL();
Q_INVOKABLE void removeVehicleTrajectoryHistory(); Q_INVOKABLE void removeVehicleTrajectoryHistory();
...@@ -446,81 +446,4 @@ private: ...@@ -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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