New Mavlink 2 spec GeoFence and Rally Point support

qgroundcontrol.pro

@@ -509,7 +509,11 @@ HEADERS += \
     src/MissionManager/MissionManager.h \
     src/MissionManager/MissionSettingsItem.h \
     src/MissionManager/PlanElementController.h \
+    src/MissionManager/PlanManager.h \
     src/MissionManager/PlanMasterController.h \
+    src/MissionManager/QGCFenceCircle.h \
+    src/MissionManager/QGCFencePolygon.h \
+    src/MissionManager/QGCMapCircle.h \
     src/MissionManager/QGCMapPolygon.h \
     src/MissionManager/RallyPoint.h \
     src/MissionManager/RallyPointController.h \
@@ -689,7 +693,11 @@ SOURCES += \
     src/MissionManager/MissionManager.cc \
     src/MissionManager/MissionSettingsItem.cc \
     src/MissionManager/PlanElementController.cc \
+    src/MissionManager/PlanManager.cc \
     src/MissionManager/PlanMasterController.cc \
+    src/MissionManager/QGCFenceCircle.cc \
+    src/MissionManager/QGCFencePolygon.cc \
+    src/MissionManager/QGCMapCircle.cc \
     src/MissionManager/QGCMapPolygon.cc \
     src/MissionManager/RallyPoint.cc \
     src/MissionManager/RallyPointController.cc \
@@ -906,9 +914,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
         src/AutoPilotPlugins/APM/APMTuningComponent.h \
         src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
-        src/FirmwarePlugin/APM/APMGeoFenceManager.h \
         src/FirmwarePlugin/APM/APMParameterMetaData.h \
-        src/FirmwarePlugin/APM/APMRallyPointManager.h \
         src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
         src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
         src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
@@ -933,9 +939,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
         src/AutoPilotPlugins/APM/APMTuningComponent.cc \
         src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
-        src/FirmwarePlugin/APM/APMGeoFenceManager.cc \
         src/FirmwarePlugin/APM/APMParameterMetaData.cc \
-        src/FirmwarePlugin/APM/APMRallyPointManager.cc \
         src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
         src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
         src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
@@ -974,7 +978,6 @@ PX4FirmwarePlugin {
         src/AutoPilotPlugins/PX4/SensorsComponent.h \
         src/AutoPilotPlugins/PX4/SensorsComponentController.h \
         src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
-        src/FirmwarePlugin/PX4/PX4GeoFenceManager.h \
         src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
 
     SOURCES += \
@@ -995,7 +998,6 @@ PX4FirmwarePlugin {
         src/AutoPilotPlugins/PX4/SensorsComponent.cc \
         src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
         src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
-        src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc \
         src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
 }
 

qgroundcontrol.qrc

@@ -90,6 +90,7 @@
         <file alias="QGroundControl/Controls/QGCLabel.qml">src/QmlControls/QGCLabel.qml</file>
         <file alias="QGroundControl/Controls/QGCListView.qml">src/QmlControls/QGCListView.qml</file>
         <file alias="QGroundControl/Controls/QGCMapLabel.qml">src/QmlControls/QGCMapLabel.qml</file>
+		<file alias="QGroundControl/Controls/QGCMapCircleVisuals.qml">src/MissionManager/QGCMapCircleVisuals.qml</file>
         <file alias="QGroundControl/Controls/QGCMapPolygonVisuals.qml">src/MissionManager/QGCMapPolygonVisuals.qml</file>
         <file alias="QGroundControl/Controls/QGCMouseArea.qml">src/QmlControls/QGCMouseArea.qml</file>
         <file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
@@ -199,6 +200,7 @@
         <file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
         <file alias="FlightMap.SettingsGroup.json">src/Settings/FlightMap.SettingsGroup.json</file>
         <file alias="Guided.SettingsGroup.json">src/Settings/Guided.SettingsGroup.json</file>
+		<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
         <file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -17,8 +17,6 @@
 #include "FirmwarePlugin.h"
 #include "QGCLoggingCategory.h"
 #include "APMParameterMetaData.h"
-#include "APMGeoFenceManager.h"
-#include "APMRallyPointManager.h"
 
 #include <QAbstractSocket>
 
@@ -93,8 +91,6 @@ public:
     QString             internalParameterMetaDataFile   (Vehicle* vehicle) final;
     void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
     QObject*            loadParameterMetaData           (const QString& metaDataFile) final;
-    GeoFenceManager*    newGeoFenceManager              (Vehicle* vehicle) final { return new APMGeoFenceManager(vehicle); }
-    RallyPointManager*  newRallyPointManager            (Vehicle* vehicle) final { return new APMRallyPointManager(vehicle); }
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
 

src/FirmwarePlugin/APM/APMGeoFenceManager.h

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-#ifndef APMGeoFenceManager_H
-#define APMGeoFenceManager_H
-
-#include "GeoFenceManager.h"
-#include "QGCMAVLink.h"
-#include "FactSystem.h"
-
-class QmlObjectListModel;
-
-class APMGeoFenceManager : public GeoFenceManager
-{
-    Q_OBJECT
-    
-public:
-    APMGeoFenceManager(Vehicle* vehicle);
-    ~APMGeoFenceManager();
-
-    // Overrides from GeoFenceManager
-    bool            inProgress              (void) const final;
-    void            loadFromVehicle         (void) final;
-    void            sendToVehicle           (const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon) final;
-    bool            polygonSupported        (void) const final { return _polygonSupported; }
-    bool            polygonEnabled          (void) const final { return _polygonEnabled; }
-    bool            breachReturnSupported   (void) const final { return _breachReturnSupported; }
-    bool            circleEnabled           (void) const { return _circleEnabled; }
-    Fact*           circleRadiusFact        (void) const { return _circleRadiusFact; }
-    QVariantList    params                  (void) const final { return _params; }
-    QStringList     paramLabels             (void) const final { return _paramLabels; }
-    void            removeAll               (void) final;
-
-private slots:
-    void _mavlinkMessageReceived    (const mavlink_message_t& message);
-    void _parametersReady           (void);
-    
-private:
-    void _requestFencePoint (uint8_t pointIndex);
-    void _sendFencePoint    (uint8_t pointIndex);
-    void _updateEnabledFlags(void);
-    void _setCircleEnabled  (bool circleEnabled);
-    void _setPolygonEnabled (bool polygonEnabled);
-
-private:
-    bool _fenceSupported;
-    bool _circleEnabled;
-    bool _polygonSupported;
-    bool _polygonEnabled;
-    bool _breachReturnSupported;
-    bool _firstParamLoadComplete;
-
-    QVariantList    _params;
-    QStringList     _paramLabels;
-
-    bool _readTransactionInProgress;
-    bool _writeTransactionInProgress;
-
-    uint8_t _cReadFencePoints;
-    uint8_t _cWriteFencePoints;
-    uint8_t _currentFencePoint;
-
-    Fact* _fenceTypeFact;
-    Fact* _fenceEnableFact;
-    Fact* _circleRadiusFact;
-
-    static const char* _fenceTotalParam;
-    static const char* _fenceActionParam;
-    static const char* _fenceEnableParam;
-};
-
-#endif

src/FirmwarePlugin/APM/APMRallyPointManager.cc

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-#include "APMRallyPointManager.h"
-#include "Vehicle.h"
-#include "FirmwarePlugin.h"
-#include "MAVLinkProtocol.h"
-#include "QGCApplication.h"
-#include "ParameterManager.h"
-
-const char* APMRallyPointManager::_rallyTotalParam = "RALLY_TOTAL";
-
-APMRallyPointManager::APMRallyPointManager(Vehicle* vehicle)
-    : RallyPointManager(vehicle)
-    , _readTransactionInProgress(false)
-    , _writeTransactionInProgress(false)
-{
-    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &APMRallyPointManager::_mavlinkMessageReceived);
-}
-
-APMRallyPointManager::~APMRallyPointManager()
-{
-
-}
-
-void APMRallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)
-{
-    if (_vehicle->isOfflineEditingVehicle() || !rallyPointsSupported()) {
-        return;
-    }
-
-    if (_readTransactionInProgress) {
-        _sendError(InternalError, QStringLiteral("Rally Point write attempted while read in progress."));
-        return;
-    }
-
-    _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _rallyTotalParam)->setRawValue(rgPoints.count());
-
-    // FIXME: No validation of correct point received
-    _rgPoints = rgPoints;
-    for (uint8_t index=0; index<_rgPoints.count(); index++) {
-        _sendRallyPoint(index);
-    }
-
-    emit sendComplete(false /* error */);
-}
-
-void APMRallyPointManager::loadFromVehicle(void)
-{
-    if (_vehicle->isOfflineEditingVehicle() || _readTransactionInProgress) {
-        return;
-    }
-
-    _rgPoints.clear();
-
-    if (!rallyPointsSupported()) {
-        emit loadComplete(QList<QGeoCoordinate>());
-        return;
-    }
-
-    _cReadRallyPoints = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _rallyTotalParam)->rawValue().toInt();
-    qCDebug(RallyPointManagerLog) << "APMRallyPointManager::loadFromVehicle - point count" << _cReadRallyPoints;
-    if (_cReadRallyPoints == 0) {
-        emit loadComplete(_rgPoints);
-        return;
-    }
-
-    _currentRallyPoint = 0;
-    _readTransactionInProgress = true;
-    _requestRallyPoint(_currentRallyPoint);
-}
-
-/// Called when a new mavlink message for out vehicle is received
-void APMRallyPointManager::_mavlinkMessageReceived(const mavlink_message_t& message)
-{
-    if (message.msgid == MAVLINK_MSG_ID_RALLY_POINT) {
-        mavlink_rally_point_t rallyPoint;
-
-        mavlink_msg_rally_point_decode(&message, &rallyPoint);
-        qCDebug(RallyPointManagerLog) << "From vehicle rally_point: idx:lat:lng:alt" << rallyPoint.idx << rallyPoint.lat << rallyPoint.lng << rallyPoint.alt;
-
-        if (rallyPoint.idx != _currentRallyPoint) {
-            // FIXME: Protocol out of whack
-            _readTransactionInProgress = false;
-            emit inProgressChanged(inProgress());
-            qCWarning(RallyPointManagerLog) << "Indices out of sync" << rallyPoint.idx << _currentRallyPoint;
-            return;
-        }
-
-        QGeoCoordinate point((float)rallyPoint.lat / 1e7, (float)rallyPoint.lng / 1e7, rallyPoint.alt);
-        _rgPoints.append(point);
-        if (rallyPoint.idx < _cReadRallyPoints - 1) {
-            // Still more points to request
-            _requestRallyPoint(++_currentRallyPoint);
-        } else {
-            // We've finished collecting rally points
-            qCDebug(RallyPointManagerLog) << "Rally point load complete";
-            _readTransactionInProgress = false;
-            emit loadComplete(_rgPoints);
-            emit inProgressChanged(inProgress());
-        }
-    }
-}
-
-void APMRallyPointManager::_requestRallyPoint(uint8_t pointIndex)
-{
-    mavlink_message_t   msg;
-    MAVLinkProtocol*    mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-
-    qCDebug(RallyPointManagerLog) << "APMRallyPointManager::_requestRallyPoint" << pointIndex;
-    mavlink_msg_rally_fetch_point_pack_chan(mavlink->getSystemId(),
-                                            mavlink->getComponentId(),
-                                            _vehicle->priorityLink()->mavlinkChannel(),
-                                            &msg,
-                                            _vehicle->id(),
-                                            _vehicle->defaultComponentId(),
-                                            pointIndex);
-    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
-}
-
-void APMRallyPointManager::_sendRallyPoint(uint8_t pointIndex)
-{
-    mavlink_message_t   msg;
-    MAVLinkProtocol*    mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-
-    QGeoCoordinate point = _rgPoints[pointIndex];
-    mavlink_msg_rally_point_pack_chan(mavlink->getSystemId(),
-                                      mavlink->getComponentId(),
-                                      _vehicle->priorityLink()->mavlinkChannel(),
-                                      &msg,
-                                      _vehicle->id(),
-                                      _vehicle->defaultComponentId(),
-                                      pointIndex,
-                                      _rgPoints.count(),
-                                      point.latitude() * 1e7,
-                                      point.longitude() * 1e7,
-                                      point.altitude(),
-                                      0, 0, 0);          //  break_alt, land_dir, flags
-    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
-}
-
-bool APMRallyPointManager::inProgress(void) const
-{
-    return _readTransactionInProgress || _writeTransactionInProgress;
-}
-
-bool APMRallyPointManager::rallyPointsSupported(void) const
-{
-    return _vehicle->parameterManager()->parameterExists(_vehicle->defaultComponentId(), _rallyTotalParam);
-}
-
-void APMRallyPointManager::removeAll(void)
-{
-    qCDebug(RallyPointManagerLog) << "APMRallyPointManager::removeAll";
-
-    QList<QGeoCoordinate> noRallyPoints;
-
-    sendToVehicle(noRallyPoints);
-    emit removeAllComplete(false /* error */);
-}

src/FirmwarePlugin/APM/APMRallyPointManager.h

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-#ifndef APMRallyPointManager_H
-#define APMRallyPointManager_H
-
-#include "RallyPointManager.h"
-#include "QGCMAVLink.h"
-
-class APMRallyPointManager : public RallyPointManager
-{
-    Q_OBJECT
-    
-public:
-    APMRallyPointManager(Vehicle* vehicle);
-    ~APMRallyPointManager();
-
-    // Overrides from RallyPointManager
-    bool inProgress             (void) const final;
-    void loadFromVehicle        (void) final;
-    void sendToVehicle          (const QList<QGeoCoordinate>& rgPoints) final;
-    bool rallyPointsSupported   (void) const final;
-
-    void removeAll              (void);
-
-    QString editorQml(void) const final { return QStringLiteral("qrc:/FirmwarePlugin/APM/APMRallyPointEditor.qml"); }
-
-private slots:
-    void _mavlinkMessageReceived(const mavlink_message_t& message);
-    
-private:
-    void _requestRallyPoint(uint8_t pointIndex);
-    void _sendRallyPoint(uint8_t pointIndex);
-
-private:
-    bool _readTransactionInProgress;
-    bool _writeTransactionInProgress;
-
-    uint8_t _cReadRallyPoints;
-    uint8_t _currentRallyPoint;
-
-    static const char* _rallyTotalParam;
-};
-
-#endif

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -278,12 +278,6 @@ bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
     return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
-QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
-{
-    Q_UNUSED(vehicle);
-    return QStringLiteral("FENCE_RADIUS");
-}
-
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
     if (vehicle->isOfflineEditingVehicle()) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -67,7 +67,6 @@ public:
     int     remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
     bool    multiRotorCoaxialMotors             (Vehicle* vehicle) final;
     bool    multiRotorXConfig                   (Vehicle* vehicle) final;
-    QString geoFenceRadiusParam                 (Vehicle* vehicle) final;
     QString offlineEditingParamFile             (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
     QString pauseFlightMode                     (void) const override { return QString("Brake"); }
     QString missionFlightMode                   (void) const override { return QString("Auto"); }

src/FirmwarePlugin/FirmwarePlugin.h

@@ -235,15 +235,6 @@ public:
     /// @return true: X confiuration, false: Plus configuration
     virtual bool multiRotorXConfig(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }
 
-    /// Returns a newly created geofence manager for this vehicle.
-    virtual GeoFenceManager* newGeoFenceManager(Vehicle* vehicle) { return new GeoFenceManager(vehicle); }
-
-    /// Returns the parameter which holds the fence circle radius if supported.
-    virtual QString geoFenceRadiusParam(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
-
-    /// Returns a newly created rally point manager for this vehicle.
-    virtual RallyPointManager* newRallyPointManager(Vehicle* vehicle) { return new RallyPointManager(vehicle); }
-
     /// Return the resource file which contains the set of params loaded for offline editing.
     virtual QString offlineEditingParamFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -17,7 +17,6 @@
 #include "FirmwarePlugin.h"
 #include "ParameterManager.h"
 #include "PX4ParameterMetaData.h"
-#include "PX4GeoFenceManager.h"
 
 class PX4FirmwarePlugin : public FirmwarePlugin
 {
@@ -62,7 +61,6 @@ public:
     void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) override { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
     QObject*            loadParameterMetaData           (const QString& metaDataFile) final;
     bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
-    GeoFenceManager*    newGeoFenceManager              (Vehicle* vehicle) override { return new PX4GeoFenceManager(vehicle); }
     QString             offlineEditingParamFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }

src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-#include "PX4GeoFenceManager.h"
-#include "Vehicle.h"
-#include "FirmwarePlugin.h"
-#include "ParameterManager.h"
-
-PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle)
-    : GeoFenceManager(vehicle)
-    , _firstParamLoadComplete(false)
-    , _circleRadiusFact(NULL)
-{
-    connect(_vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &PX4GeoFenceManager::_parametersReady);
-
-    if (_vehicle->parameterManager()->parametersReady()) {
-        _parametersReady();
-    }
-}
-
-PX4GeoFenceManager::~PX4GeoFenceManager()
-{
-
-}
-
-void PX4GeoFenceManager::_parametersReady(void)
-{
-    if (!_firstParamLoadComplete) {
-        _firstParamLoadComplete = true;
-
-        _circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST"));
-        emit circleRadiusFactChanged(_circleRadiusFact);
-
-        QStringList paramNames;
-        QStringList paramLabels;
-
-        paramNames << QStringLiteral("GF_ACTION") << QStringLiteral("GF_MAX_HOR_DIST") << QStringLiteral("GF_MAX_VER_DIST");
-        paramLabels << QStringLiteral("Breach Action:") << QStringLiteral("Radius:") << QStringLiteral("Max Altitude:");
-
-        _params.clear();
-        _paramLabels.clear();
-        for (int i=0; i<paramNames.count(); i++) {
-            QString paramName = paramNames[i];
-            if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, paramName)) {
-                Fact* paramFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName);
-                _params << QVariant::fromValue(paramFact);
-                _paramLabels << paramLabels[i];
-            }
-        }
-
-        emit paramsChanged(_params);
-        emit paramLabelsChanged(_paramLabels);
-    }
-}

src/FirmwarePlugin/PX4/PX4GeoFenceManager.h

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-#ifndef PX4GeoFenceManager_H
-#define PX4GeoFenceManager_H
-
-#include "GeoFenceManager.h"
-#include "QGCMAVLink.h"
-#include "FactSystem.h"
-
-class PX4GeoFenceManager : public GeoFenceManager
-{
-    Q_OBJECT
-    
-public:
-    PX4GeoFenceManager(Vehicle* vehicle);
-    ~PX4GeoFenceManager();
-
-    // Overrides from GeoFenceManager
-    bool            circleEnabled       (void) const { return true; }
-    Fact*           circleRadiusFact    (void) const { return _circleRadiusFact; }
-    QVariantList    params              (void) const final { return _params; }
-    QStringList     paramLabels         (void) const final { return _paramLabels; }
-
-private slots:
-    void _parametersReady(void);
-    
-private:
-    bool            _firstParamLoadComplete;
-    Fact*           _circleRadiusFact;
-    QVariantList    _params;
-    QStringList     _paramLabels;
-};
-
-#endif

src/FlightMap/qmldir

@@ -29,6 +29,3 @@ MissionItemView             1.0 MissionItemView.qml
 MissionLineView             1.0 MissionLineView.qml
 PolygonEditor               1.0 PolygonEditor.qml
 VehicleMapItem              1.0 VehicleMapItem.qml
-
-# Editor controls
-QGCMapPolygonControls  1.0 QGCMapPolygonControls.qml

src/MissionManager/GeoFenceController.h

@@ -12,7 +12,8 @@
 
 #include "PlanElementController.h"
 #include "GeoFenceManager.h"
-#include "QGCMapPolygon.h"
+#include "QGCFencePolygon.h"
+#include "QGCFenceCircle.h"
 #include "Vehicle.h"
 #include "MultiVehicleManager.h"
 #include "QGCLoggingCategory.h"
@@ -29,21 +30,32 @@ public:
     GeoFenceController(PlanMasterController* masterController, QObject* parent = NULL);
     ~GeoFenceController();
 
-    Q_PROPERTY(QGCMapPolygon*   mapPolygon              READ mapPolygon                                         CONSTANT)
-    Q_PROPERTY(QGeoCoordinate   breachReturnPoint       READ breachReturnPoint      WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
+    Q_PROPERTY(QmlObjectListModel*  polygons            READ polygons                                       CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  circles             READ circles                                        CONSTANT)
+    Q_PROPERTY(QGeoCoordinate       breachReturnPoint   READ breachReturnPoint  WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
 
-    // The following properties are reflections of properties from GeoFenceManager
-    Q_PROPERTY(bool             circleEnabled           READ circleEnabled          NOTIFY circleEnabledChanged)
-    Q_PROPERTY(Fact*            circleRadiusFact        READ circleRadiusFact       NOTIFY circleRadiusFactChanged)
-    Q_PROPERTY(bool             polygonSupported        READ polygonSupported       NOTIFY polygonSupportedChanged)
-    Q_PROPERTY(bool             polygonEnabled          READ polygonEnabled         NOTIFY polygonEnabledChanged)
-    Q_PROPERTY(bool             breachReturnSupported   READ breachReturnSupported  NOTIFY breachReturnSupportedChanged)
-    Q_PROPERTY(QVariantList     params                  READ params                 NOTIFY paramsChanged)
-    Q_PROPERTY(QStringList      paramLabels             READ paramLabels            NOTIFY paramLabelsChanged)
+    /// Add a new inclusion polygon to the fence
+    ///     @param topLeft - Top left coordinate or map viewport
+    ///     @param topLeft - Bottom right left coordinate or map viewport
+    Q_INVOKABLE void addInclusionPolygon(QGeoCoordinate topLeft, QGeoCoordinate bottomRight);
 
-    Q_INVOKABLE void addPolygon     (void) { emit addInitialFencePolygon(); }
-    Q_INVOKABLE void removePolygon  (void) { _mapPolygon.clear(); }
+    /// Add a new inclusion circle to the fence
+    ///     @param topLeft - Top left coordinate or map viewport
+    ///     @param topLeft - Bottom right left coordinate or map viewport
+    Q_INVOKABLE void addInclusionCircle(QGeoCoordinate topLeft, QGeoCoordinate bottomRight);
 
+    /// Deletes the specified polygon from the polygon list
+    ///     @param index Index of poygon to delete
+    Q_INVOKABLE void deletePolygon(int index);
+
+    /// Deletes the specified circle from the circle list
+    ///     @param index Index of circle to delete
+    Q_INVOKABLE void deleteCircle(int index);
+
+    /// Clears the interactive bit from all fence items
+    Q_INVOKABLE void clearAllInteractive(void);
+
+    bool supported                  (void) const final;
     void start                      (bool editMode) final;
     void save                       (QJsonObject& json) final;
     bool load                       (const QJsonObject& json, QString& errorString) final;
@@ -58,15 +70,9 @@ public:
     void managerVehicleChanged      (Vehicle* managerVehicle) final;
     bool showPlanFromManagerVehicle (void) final;
 
-    bool            circleEnabled           (void) const;
-    Fact*           circleRadiusFact        (void) const;
-    bool            polygonSupported        (void) const;
-    bool            polygonEnabled          (void) const;
-    bool            breachReturnSupported   (void) const;
-    QVariantList    params                  (void) const;
-    QStringList     paramLabels             (void) const;
-    QGCMapPolygon*  mapPolygon              (void) { return &_mapPolygon; }
-    QGeoCoordinate  breachReturnPoint       (void) const { return _breachReturnPoint; }
+    QmlObjectListModel* polygons                (void) { return &_polygons; }
+    QmlObjectListModel* circles                 (void) { return &_circles; }
+    QGeoCoordinate      breachReturnPoint       (void) const { return _breachReturnPoint; }
 
     void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
 
@@ -74,21 +80,14 @@ signals:
     void breachReturnPointChanged       (QGeoCoordinate breachReturnPoint);
     void editorQmlChanged               (QString editorQml);
     void loadComplete                   (void);
-    void addInitialFencePolygon         (void);
-    void circleEnabledChanged           (bool circleEnabled);
-    void circleRadiusFactChanged        (Fact* circleRadiusFact);
-    void polygonSupportedChanged        (bool polygonSupported);
-    void polygonEnabledChanged          (bool polygonEnabled);
-    void breachReturnSupportedChanged   (bool breachReturnSupported);
-    void paramsChanged                  (QVariantList params);
-    void paramLabelsChanged             (QStringList paramLabels);
 
 private slots:
     void _polygonDirtyChanged(bool dirty);
     void _setDirty(void);
-    void _setPolygonFromManager(const QList<QGeoCoordinate>& polygon);
+    void _setFenceFromManager(const QList<QGCFencePolygon>& polygons,
+                              const QList<QGCFenceCircle>&  circles);
     void _setReturnPointFromManager(QGeoCoordinate breachReturnPoint);
-    void _managerLoadComplete(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
+    void _managerLoadComplete(void);
     void _updateContainsItems(void);
     void _managerSendComplete(bool error);
     void _managerRemoveAllComplete(bool error);
@@ -99,7 +98,8 @@ private:
 
     GeoFenceManager*    _geoFenceManager;
     bool                _dirty;
-    QGCMapPolygon       _mapPolygon;
+    QmlObjectListModel  _polygons;
+    QmlObjectListModel  _circles;
     QGeoCoordinate      _breachReturnPoint;
     bool                _itemsRequested;
 

src/MissionManager/GeoFenceManager.cc

@@ -10,14 +10,22 @@
 #include "GeoFenceManager.h"
 #include "Vehicle.h"
 #include "QmlObjectListModel.h"
+#include "ParameterManager.h"
+#include "QGCMapPolygon.h"
+#include "QGCMapCircle.h"
 
 QGC_LOGGING_CATEGORY(GeoFenceManagerLog, "GeoFenceManagerLog")
 
 GeoFenceManager::GeoFenceManager(Vehicle* vehicle)
-    : QObject(vehicle)
-    , _vehicle(vehicle)
+    : _vehicle                  (vehicle)
+    , _planManager              (vehicle, MAV_MISSION_TYPE_FENCE)
+    , _firstParamLoadComplete   (false)
 {
-
+    connect(&_planManager, &PlanManager::inProgressChanged,         this, &GeoFenceManager::inProgressChanged);
+    connect(&_planManager, &PlanManager::error,                     this, &GeoFenceManager::error);
+    connect(&_planManager, &PlanManager::removeAllComplete,         this,