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Commit 537463c5 authored by Don Gagne's avatar Don Gagne
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New Mavlink 2 spec GeoFence and Rally Point support

parent a11b1dbf
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qgroundcontrol.pro
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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.cc deleted 100644 → 0
View file @ a11b1dbf
This diff is collapsed.
src/FirmwarePlugin/APM/APMGeoFenceManager.h deleted 100644 → 0
View file @ a11b1dbf
/****************************************************************************
*
* (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 deleted 100644 → 0
View file @ a11b1dbf
/****************************************************************************
*
* (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 deleted 100644 → 0
View file @ a11b1dbf
/****************************************************************************
*
* (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
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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 deleted 100644 → 0
View file @ a11b1dbf
/****************************************************************************
*
* (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 deleted 100644 → 0
View file @ a11b1dbf
/****************************************************************************
*
* (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
View file @ 537463c5
......@@ -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.cc
View file @ 537463c5
This diff is collapsed.
src/MissionManager/GeoFenceController.h
View file @ 537463c5
......@@ -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
View file @ 537463c5
......@@ -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, &GeoFenceManager::removeAllComplete);
connect(&_planManager, &PlanManager::sendComplete, this, &GeoFenceManager::_sendComplete);
connect(&_planManager, &PlanManager::newMissionItemsAvailable, this, &GeoFenceManager::_planManagerLoadComplete);
}
GeoFenceManager::~GeoFenceManager()
......@@ -25,30 +33,161 @@ GeoFenceManager::~GeoFenceManager()
}
void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
bool GeoFenceManager::inProgress(void) const
{
qCDebug(GeoFenceManagerLog) << "Sending error" << errorCode << errorMsg;
emit error(errorCode, errorMsg);
return _planManager.inProgress();
}
void GeoFenceManager::loadFromVehicle(void)
{
// No geofence support in unknown vehicle
emit loadComplete(QGeoCoordinate(), QList<QGeoCoordinate>());
_planManager.loadFromVehicle();
}
void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon)
void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn,
QmlObjectListModel& polygons,
QmlObjectListModel& circles)
{
// No geofence support in unknown vehicle
Q_UNUSED(breachReturn);
Q_UNUSED(polygon);
emit sendComplete(false /* error */);
}
QList<MissionItem*> fenceItems;
_sendPolygons.clear();
_sendCircles.clear();
for (int i=0; i<polygons.count(); i++) {
_sendPolygons.append(*polygons.value<QGCFencePolygon*>(i));
}
for (int i=0; i<circles.count(); i++) {
_sendCircles.append(*circles.value<QGCFenceCircle*>(i));
}
for (int i=0; i<_sendPolygons.count(); i++) {
const QGCFencePolygon& polygon = _sendPolygons[i];
for (int j=0; j<polygon.count(); j++) {
const QGeoCoordinate& vertex = polygon.path()[j].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(0,
polygon.inclusion() ? MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION : MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
MAV_FRAME_GLOBAL,
polygon.count(), // vertex count
0, 0, 0, // param 2-4 unused
vertex.latitude(),
vertex.longitude(),
0, // param 7 unused
false, // autocontinue
false, // isCurrentItem
this); // parent
fenceItems.append(item);
}
}
for (int i=0; i<_sendCircles.count(); i++) {
QGCFenceCircle& circle = _sendCircles[i];
MissionItem* item = new MissionItem(0,
circle.inclusion() ? MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION : MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
MAV_FRAME_GLOBAL,
circle.radius()->rawValue().toDouble(),
0, 0, 0, // param 2-4 unused
circle.center().latitude(),
circle.center().longitude(),
0, // param 7 unused
false, // autocontinue
false, // isCurrentItem
this); // parent
fenceItems.append(item);
}
_planManager.writeMissionItems(fenceItems);
for (int i=0; i<fenceItems.count(); i++) {
fenceItems[i]->deleteLater();
}
}
void GeoFenceManager::removeAll(void)
{
// No geofence support in unknown vehicle
emit removeAllComplete(false /* error */);
_planManager.removeAll();
}
void GeoFenceManager::_sendComplete(bool error)
{
if (error) {
_polygons.clear();
_circles.clear();
} else {
_polygons = _sendPolygons;
_circles = _sendCircles;
}
_sendPolygons.clear();
_sendCircles.clear();
emit sendComplete(error);
}
void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
{
bool loadFailed = false;
Q_UNUSED(removeAllRequested);
_polygons.clear();
_circles.clear();
MAV_CMD expectedCommand = (MAV_CMD)0;
int expectedVertexCount = 0;
QGCFencePolygon nextPolygon(true /* inclusion */);
const QList<MissionItem*>& fenceItems = _planManager.missionItems();
for (int i=0; i<fenceItems.count(); i++) {
MissionItem* item = fenceItems[i];
MAV_CMD command = item->command();
if (command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION || command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) {
if (nextPolygon.count() == 0) {
// Starting a new polygon
expectedVertexCount = item->param1();
expectedCommand = command;
} else if (expectedVertexCount != item->param1()){
// In the middle of a polygon, but count suddenly changed
emit error(BadPolygonItemFormat, tr("GeoFence load: Vertex count change mid-polygon - actual:expected").arg(item->param1()).arg(expectedVertexCount));
break;
} if (expectedCommand != command) {
// Command changed before last polygon was completely loaded
emit error(BadPolygonItemFormat, tr("GeoFence load: Polygon type changed before last load complete - actual:expected").arg(command).arg(expectedCommand));
break;
}
nextPolygon.appendVertex(QGeoCoordinate(item->param5(), item->param6()));
if (nextPolygon.count() == expectedVertexCount) {
// Polygon is complete
nextPolygon.setInclusion(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION);
_polygons.append(nextPolygon);
nextPolygon.clear();
}
} else if (command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION || command == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION) {
if (nextPolygon.count() != 0) {
// Incomplete polygon
emit error(IncompletePolygonLoad, tr("GeoFence load: Incomplete polygon loaded"));
break;
}
QGCFenceCircle circle(QGeoCoordinate(item->param5(), item->param6()), item->param1(), command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION /* inclusion */);
_circles.append(circle);
} else {
emit error(UnsupportedCommand, tr("GeoFence load: Unsupported command %1").arg(item->command()));
break;
}
}
if (loadFailed) {
_polygons.clear();
_circles.clear();
}
emit loadComplete();
}
bool GeoFenceManager::supported(void) const
{
return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_vehicle->maxProtoVersion() >= 200);
}
src/MissionManager/GeoFenceManager.h
View file @ 537463c5
......@@ -15,9 +15,13 @@
#include "QGCLoggingCategory.h"
#include "FactSystem.h"
#include "PlanManager.h"
#include "QGCFencePolygon.h"
#include "QGCFenceCircle.h"
class Vehicle;
class QmlObjectListModel;
class PlanManager;
Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
......@@ -31,80 +35,67 @@ public:
GeoFenceManager(Vehicle* vehicle);
~GeoFenceManager();
/// Returns true if GeoFence is supported by this vehicle
virtual bool supported(void) const;
/// Returns true if the manager is currently communicating with the vehicle
virtual bool inProgress(void) const { return false; }
virtual bool inProgress(void) const;
/// Load the current settings from the vehicle
/// Signals loadComplete when done
virtual void loadFromVehicle(void);
/// Send the current settings to the vehicle
/// Send the geofence settings to the vehicle
/// Signals sendComplete when done
virtual void sendToVehicle(const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon);
virtual void sendToVehicle(const QGeoCoordinate& breachReturn, ///< Breach return point
QmlObjectListModel& polygons, ///< List of QGCFencePolygons
QmlObjectListModel& circles); ///< List of QGCFenceCircles
/// Remove all fence related items from vehicle (does not affect parameters)
/// Signals removeAllComplete when done
virtual void removeAll(void);
/// Returns true if this vehicle support polygon fence
/// Signal: polygonSupportedChanged
virtual bool polygonSupported(void) const { return false; }
/// Returns true if polygon fence is currently enabled on this vehicle
/// Signal: polygonEnabledChanged
virtual bool polygonEnabled(void) const { return false; }
/// Returns true if breach return is supported by this vehicle
/// Signal: breachReturnSupportedChanged
virtual bool breachReturnSupported(void) const { return false; }
/// Returns a list of parameter facts that relate to geofence support for the vehicle
/// Signal: paramsChanged
virtual QVariantList params(void) const { return QVariantList(); }
virtual bool polygonEnabled(void) const { return true; }
/// Returns the user visible labels for the paremeters returned by params method
/// Signal: paramLabelsChanged
virtual QStringList paramLabels(void) const { return QStringList(); }
/// Returns true if circular fence is currently enabled on vehicle
/// Signal: circleEnabledChanged
virtual bool circleEnabled(void) const { return false; }
/// Returns the fact which controls the fence circle radius. NULL if not supported
/// Signal: circleRadiusFactChanged
virtual Fact* circleRadiusFact(void) const { return NULL; }
QList<QGeoCoordinate> polygon (void) const { return _polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
const QList<QGCFencePolygon>& polygons(void) { return _polygons; }
const QList<QGCFenceCircle>& circles(void) { return _circles; }
const QGeoCoordinate& breachReturnPoint(void) const { return _breachReturnPoint; }
/// Error codes returned in error signal
typedef enum {
InternalError,
TooFewPoints, ///< Too few points for valid geofence
TooManyPoints, ///< Too many points for valid geofence
PolygonTooFewPoints, ///< Too few points for valid fence polygon
PolygonTooManyPoints, ///< Too many points for valid fence polygon
IncompletePolygonLoad, ///< Incomplete polygon loaded
UnsupportedCommand, ///< Usupported command in mission type
BadPolygonItemFormat, ///< Error re-creating polygons from mission items
InvalidCircleRadius,
} ErrorCode_t;
signals:
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void loadComplete (void);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void circleEnabledChanged (bool circleEnabled);
void circleRadiusFactChanged (Fact* circleRadiusFact);
void polygonSupportedChanged (bool polygonSupported);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnSupportedChanged (bool breachReturnSupported);
void removeAllComplete (bool error);
void sendComplete (bool error);
protected:
private slots:
void _sendComplete (bool error);
void _planManagerLoadComplete (bool removeAllRequested);
private:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
Vehicle* _vehicle;
QList<QGeoCoordinate> _polygon;
PlanManager _planManager;
QList<QGCFencePolygon> _polygons;
QList<QGCFenceCircle> _circles;
QGeoCoordinate _breachReturnPoint;
bool _firstParamLoadComplete;
QList<QGCFencePolygon> _sendPolygons;
QList<QGCFenceCircle> _sendCircles;
};
#endif
src/MissionManager/MissionController.h
View file @ 537463c5
......@@ -110,6 +110,7 @@ public:
bool loadTextFile(QFile& file, QString& errorString);
// Overrides from PlanElementController
bool supported (void) const final { return true; };
void start (bool editMode) final;
void save (QJsonObject& json) final;
bool load (const QJsonObject& json, QString& errorString) final;
......
src/MissionManager/MissionManager.cc
View file @ 537463c5
This diff is collapsed.
src/MissionManager/MissionManager.h
View file @ 537463c5
......@@ -11,22 +11,11 @@
#ifndef MissionManager_H
#define MissionManager_H
#include <QObject>
#include <QLoggingCategory>
#include <QThread>
#include <QMutex>
#include <QTimer>
#include "MissionItem.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "LinkInterface.h"
class Vehicle;
#include "PlanManager.h"
Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
class MissionManager : public QObject
class MissionManager : public PlanManager
{
Q_OBJECT
......@@ -34,128 +23,14 @@ public:
MissionManager(Vehicle* vehicle);
~MissionManager();
bool inProgress(void);
const QList<MissionItem*>& missionItems(void) { return _missionItems; }
/// Current mission item as reported by MISSION_CURRENT
int currentIndex(void) const { return _currentMissionIndex; }
/// Last current mission item reported while in Mission flight mode
int lastCurrentIndex(void) const { return _lastCurrentIndex; }
/// Load the mission items from the vehicle
/// Signals newMissionItemsAvailable when done
void loadFromVehicle(void);
/// Writes the specified set of mission items to the vehicle
/// @param missionItems Items to send to vehicle
/// Signals sendComplete when done
void writeMissionItems(const QList<MissionItem*>& missionItems);
/// Writes the specified set mission items to the vehicle as an ArduPilot guided mode mission item.
/// @param gotoCoord Coordinate to move to
/// @param altChangeOnly true: only altitude change, false: lat/lon/alt change
void writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly);
/// Removes all mission items from vehicle
/// Signals removeAllComplete when done
void removeAll(void);
/// Generates a new mission which starts from the specified index. It will include all the CMD_DO items
/// from mission start to resumeIndex in the generate mission.
void generateResumeMission(int resumeIndex);
/// Error codes returned in error signal
typedef enum {
InternalError,
AckTimeoutError, ///< Timed out waiting for response from vehicle
ProtocolOrderError, ///< Incorrect protocol sequence from vehicle
RequestRangeError, ///< Vehicle requested item out of range
ItemMismatchError, ///< Vehicle returned item with seq # different than requested
VehicleError, ///< Vehicle returned error
MissingRequestsError, ///< Vehicle did not request all items during write sequence
MaxRetryExceeded, ///< Retry failed
} ErrorCode_t;
// These values are public so the unit test can set appropriate signal wait times
static const int _ackTimeoutMilliseconds = 1000;
static const int _maxRetryCount = 5;
signals:
void newMissionItemsAvailable(bool removeAllRequested);
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
void currentIndexChanged(int currentIndex);
void lastCurrentIndexChanged(int lastCurrentIndex);
void resumeMissionReady(void);
void resumeMissionUploadFail(void);
void progressPct(double progressPercentPct);
void removeAllComplete (bool error);
void sendComplete (bool error);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _ackTimeout(void);
private:
typedef enum {
AckNone, ///< State machine is idle
AckMissionCount, ///< MISSION_COUNT message expected
AckMissionItem, ///< MISSION_ITEM expected
AckMissionRequest, ///< MISSION_REQUEST is expected, or MISSION_ACK to end sequence
AckMissionClearAll, ///< MISSION_CLEAR_ALL sent, MISSION_ACK is expected
AckGuidedItem, ///< MISSION_ACK expected in response to ArduPilot guided mode single item send
} AckType_t;
typedef enum {
TransactionNone,
TransactionRead,
TransactionWrite,
TransactionRemoveAll
} TransactionType_t;
void _startAckTimeout(AckType_t ack);
bool _checkForExpectedAck(AckType_t receivedAck);
void _readTransactionComplete(void);
void _handleMissionCount(const mavlink_message_t& message);
void _handleMissionItem(const mavlink_message_t& message, bool missionItemInt);
void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt);
void _handleMissionAck(const mavlink_message_t& message);
void _handleMissionCurrent(const mavlink_message_t& message);
void _requestNextMissionItem(void);
void _clearMissionItems(void);
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
QString _ackTypeToString(AckType_t ackType);
QString _missionResultToString(MAV_MISSION_RESULT result);
void _finishTransaction(bool success);
void _requestList(void);
void _writeMissionCount(void);
void _writeMissionItemsWorker(void);
void _clearAndDeleteMissionItems(void);
void _clearAndDeleteWriteMissionItems(void);
QString _lastMissionReqestString(MAV_MISSION_RESULT result);
void _removeAllWorker(void);
private:
Vehicle* _vehicle;
LinkInterface* _dedicatedLink;
QTimer* _ackTimeoutTimer;
AckType_t _expectedAck;
int _retryCount;
TransactionType_t _transactionInProgress;
bool _resumeMission;
QList<int> _itemIndicesToWrite; ///< List of mission items which still need to be written to vehicle
QList<int> _itemIndicesToRead; ///< List of mission items which still need to be requested from vehicle
int _lastMissionRequest; ///< Index of item last requested by MISSION_REQUEST
QMutex _dataMutex;
QList<MissionItem*> _missionItems; ///< Set of mission items on vehicle
QList<MissionItem*> _writeMissionItems; ///< Set of mission items currently being written to vehicle
int _currentMissionIndex;
int _lastCurrentIndex;
};
#endif
src/MissionManager/PlanElementController.h
View file @ 537463c5
......@@ -27,6 +27,7 @@ public:
PlanElementController(PlanMasterController* masterController, QObject* parent = NULL);
~PlanElementController();
Q_PROPERTY(bool supported READ supported NOTIFY supportedChanged) ///< true: Element is supported by Vehicle
Q_PROPERTY(bool containsItems READ containsItems NOTIFY containsItemsChanged) ///< true: Elemement is non-empty
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) ///< true: information is currently being saved/sent, false: no active save/send in progress
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< true: unsaved/sent changes are present, false: no changes since last save/send
......@@ -41,10 +42,11 @@ public:
virtual void removeAll (void) = 0; ///< Removes all from controller only
virtual bool showPlanFromManagerVehicle (void) = 0; /// true: controller is waiting for the current load to complete
virtual bool containsItems (void) const = 0;
virtual bool syncInProgress (void) const = 0;
virtual bool dirty (void) const = 0;
virtual void setDirty (bool dirty) = 0;
virtual bool supported (void) const = 0;
virtual bool containsItems (void) const = 0;
virtual bool syncInProgress (void) const = 0;
virtual bool dirty (void) const = 0;
virtual void setDirty (bool dirty) = 0;
/// Sends the current plan element to the vehicle
/// Signals sendComplete when done
......@@ -58,6 +60,7 @@ public:
virtual void managerVehicleChanged(Vehicle* managerVehicle) = 0;
signals:
void supportedChanged (bool supported);
void containsItemsChanged (bool containsItems);
void syncInProgressChanged (bool syncInProgress);
void dirtyChanged (bool dirty);
......
src/MissionManager/PlanManager.cc 0 → 100644
View file @ 537463c5
This diff is collapsed.
src/MissionManager/PlanManager.h 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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 PlanManager_H
#define PlanManager_H
#include <QObject>
#include <QLoggingCategory>
#include <QTimer>
#include "MissionItem.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "LinkInterface.h"
class Vehicle;
Q_DECLARE_LOGGING_CATEGORY(PlanManagerLog)
/// The PlanManager class is the base class for the Mission, GeoFence and Rally Point managers. All of which use the
/// new mavlink v2 mission protocol.
class PlanManager : public QObject
{
Q_OBJECT
public:
PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType);
~PlanManager();
bool inProgress(void) const;
const QList<MissionItem*>& missionItems(void) { return _missionItems; }
/// Current mission item as reported by MISSION_CURRENT
int currentIndex(void) const { return _currentMissionIndex; }
/// Last current mission item reported while in Mission flight mode
int lastCurrentIndex(void) const { return _lastCurrentIndex; }
/// Load the mission items from the vehicle
/// Signals newMissionItemsAvailable when done
void loadFromVehicle(void);
/// Writes the specified set of mission items to the vehicle
/// @param missionItems Items to send to vehicle
/// Signals sendComplete when done
void writeMissionItems(const QList<MissionItem*>& missionItems);
/// Removes all mission items from vehicle
/// Signals removeAllComplete when done
void removeAll(void);
/// Error codes returned in error signal
typedef enum {
InternalError,
AckTimeoutError, ///< Timed out waiting for response from vehicle
ProtocolOrderError, ///< Incorrect protocol sequence from vehicle
RequestRangeError, ///< Vehicle requested item out of range
ItemMismatchError, ///< Vehicle returned item with seq # different than requested
VehicleError, ///< Vehicle returned error
MissingRequestsError, ///< Vehicle did not request all items during write sequence
MaxRetryExceeded, ///< Retry failed
MissionTypeMismatch, ///< MAV_MISSION_TYPE does not match _planType
} ErrorCode_t;
// These values are public so the unit test can set appropriate signal wait times
static const int _ackTimeoutMilliseconds = 1000;
static const int _maxRetryCount = 5;
signals:
void newMissionItemsAvailable (bool removeAllRequested);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void currentIndexChanged (int currentIndex);
void lastCurrentIndexChanged (int lastCurrentIndex);
void progressPct (double progressPercentPct);
void removeAllComplete (bool error);
void sendComplete (bool error);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _ackTimeout(void);
protected:
typedef enum {
AckNone, ///< State machine is idle
AckMissionCount, ///< MISSION_COUNT message expected
AckMissionItem, ///< MISSION_ITEM expected
AckMissionRequest, ///< MISSION_REQUEST is expected, or MISSION_ACK to end sequence
AckMissionClearAll, ///< MISSION_CLEAR_ALL sent, MISSION_ACK is expected
AckGuidedItem, ///< MISSION_ACK expected in response to ArduPilot guided mode single item send
} AckType_t;
typedef enum {
TransactionNone,
TransactionRead,
TransactionWrite,
TransactionRemoveAll
} TransactionType_t;
void _startAckTimeout(AckType_t ack);
bool _checkForExpectedAck(AckType_t receivedAck);
void _readTransactionComplete(void);
void _handleMissionCount(const mavlink_message_t& message);
void _handleMissionItem(const mavlink_message_t& message, bool missionItemInt);
void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt);
void _handleMissionAck(const mavlink_message_t& message);
void _handleMissionCurrent(const mavlink_message_t& message);
void _requestNextMissionItem(void);
void _clearMissionItems(void);
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
QString _ackTypeToString(AckType_t ackType);
QString _missionResultToString(MAV_MISSION_RESULT result);
void _finishTransaction(bool success);
void _requestList(void);
void _writeMissionCount(void);
void _writeMissionItemsWorker(void);
void _clearAndDeleteMissionItems(void);
void _clearAndDeleteWriteMissionItems(void);
QString _lastMissionReqestString(MAV_MISSION_RESULT result);
void _removeAllWorker(void);
void _connectToMavlink(void);
void _disconnectFromMavlink(void);
QString _planTypeString(void);
protected:
Vehicle* _vehicle;
MAV_MISSION_TYPE _planType;
LinkInterface* _dedicatedLink;
QTimer* _ackTimeoutTimer;
AckType_t _expectedAck;
int _retryCount;
TransactionType_t _transactionInProgress;
bool _resumeMission;
QList<int> _itemIndicesToWrite; ///< List of mission items which still need to be written to vehicle
QList<int> _itemIndicesToRead; ///< List of mission items which still need to be requested from vehicle
int _lastMissionRequest; ///< Index of item last requested by MISSION_REQUEST
QList<MissionItem*> _missionItems; ///< Set of mission items on vehicle
QList<MissionItem*> _writeMissionItems; ///< Set of mission items currently being written to vehicle
int _currentMissionIndex;
int _lastCurrentIndex;
};
#endif
src/MissionManager/PlanMasterController.cc
View file @ 537463c5
......@@ -177,8 +177,14 @@ void PlanMasterController::_loadMissionComplete(void)
if (_editMode && _loadGeoFence) {
_loadGeoFence = false;
_loadRallyPoints = true;
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete _geoFenceController.loadFromVehicle";
_geoFenceController.loadFromVehicle();
if (_geoFenceController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete _geoFenceController.loadFromVehicle";
_geoFenceController.loadFromVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete GeoFence not supported skipping";
_geoFenceController.removeAll();
_loadGeoFenceComplete();
}
setDirty(false);
}
}
......@@ -187,8 +193,14 @@ void PlanMasterController::_loadGeoFenceComplete(void)
{
if (_editMode && _loadRallyPoints) {
_loadRallyPoints = false;
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadGeoFenceComplete _rallyPointController.loadFromVehicle";
_rallyPointController.loadFromVehicle();
if (_rallyPointController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadGeoFenceComplete _rallyPointController.loadFromVehicle";
_rallyPointController.loadFromVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete Rally Points not supported skipping";
_rallyPointController.removeAll();
_loadRallyPointsComplete();
}
setDirty(false);
}
}
......@@ -204,10 +216,15 @@ void PlanMasterController::_loadRallyPointsComplete(void)
void PlanMasterController::_sendMissionComplete(void)
{
if (_sendGeoFence) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start fence sendToVehicle";
_sendGeoFence = false;
_sendRallyPoints = true;
_geoFenceController.sendToVehicle();
if (_geoFenceController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start GeoFence sendToVehicle";
_geoFenceController.sendToVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle GeoFence not supported skipping";
_sendGeoFenceComplete();
}
setDirty(false);
}
}
......@@ -215,16 +232,21 @@ void PlanMasterController::_sendMissionComplete(void)
void PlanMasterController::_sendGeoFenceComplete(void)
{
if (_sendRallyPoints) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start rally sendToVehicle";
_sendRallyPoints = false;
_rallyPointController.sendToVehicle();
if (_rallyPointController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start rally sendToVehicle";
_rallyPointController.sendToVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Points not support skipping";
_sendRallyPointsComplete();
}
}
}
void PlanMasterController::_sendRallyPointsComplete(void)
{
if (_syncInProgress) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle rally point send complete";
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Point send complete";
_syncInProgress = false;
emit syncInProgressChanged(false);
}
......@@ -361,8 +383,12 @@ void PlanMasterController::removeAllFromVehicle(void)
{
if (!offline()) {
_missionController.removeAllFromVehicle();
_geoFenceController.removeAllFromVehicle();
_rallyPointController.removeAllFromVehicle();
if (_geoFenceController.supported()) {
_geoFenceController.removeAllFromVehicle();
}
if (_rallyPointController.supported()) {
_rallyPointController.removeAllFromVehicle();
}
setDirty(false);
} else {
qWarning() << "PlanMasterController::removeAllFromVehicle called while offline";
......
src/MissionManager/QGCFenceCircle.cc 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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 "QGCFenceCircle.h"
#include "JsonHelper.h"
const char* QGCFenceCircle::_jsonInclusionKey = "inclusion";
QGCFenceCircle::QGCFenceCircle(QObject* parent)
: QGCMapCircle (parent)
, _inclusion (true)
{
_init();
}
QGCFenceCircle::QGCFenceCircle(const QGeoCoordinate& center, double radius, bool inclusion, QObject* parent)
: QGCMapCircle (center, radius, parent)
, _inclusion (inclusion)
{
_init();
}
QGCFenceCircle::QGCFenceCircle(const QGCFenceCircle& other, QObject* parent)
: QGCMapCircle (other, parent)
, _inclusion (other._inclusion)
{
_init();
}
void QGCFenceCircle::_init(void)
{
connect(this, &QGCFenceCircle::inclusionChanged, this, &QGCFenceCircle::_setDirty);
}
const QGCFenceCircle& QGCFenceCircle::operator=(const QGCFenceCircle& other)
{
QGCMapCircle::operator=(other);
setInclusion(other._inclusion);
return *this;
}
void QGCFenceCircle::_setDirty(void)
{
setDirty(true);
}
void QGCFenceCircle::saveToJson(QJsonObject& json)
{
QGCMapCircle::saveToJson(json);
json[_jsonInclusionKey] = _inclusion;
}
bool QGCFenceCircle::loadFromJson(const QJsonObject& json, QString& errorString)
{
if (!QGCMapCircle::loadFromJson(json, errorString)) {
return false;
}
errorString.clear();
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ _jsonInclusionKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
return false;
}
setInclusion(json[_jsonInclusionKey].toBool());
return true;
}
void QGCFenceCircle::setInclusion(bool inclusion)
{
if (inclusion != _inclusion) {
_inclusion = inclusion;
emit inclusionChanged(inclusion);
}
}
src/MissionManager/QGCFenceCircle.h 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "QGCMapCircle.h"
/// The QGCFenceCircle class provides a cicle used by GeoFence support.
class QGCFenceCircle : public QGCMapCircle
{
Q_OBJECT
public:
QGCFenceCircle(QObject* parent = NULL);
QGCFenceCircle(const QGeoCoordinate& center, double radius, bool inclusion, QObject* parent = NULL);
QGCFenceCircle(const QGCFenceCircle& other, QObject* parent = NULL);
const QGCFenceCircle& operator=(const QGCFenceCircle& other);
Q_PROPERTY(bool inclusion READ inclusion WRITE setInclusion NOTIFY inclusionChanged)
/// Saves the QGCFenceCircle to the json object.
/// @param json Json object to save to
void saveToJson(QJsonObject& json);
/// Load a QGCFenceCircle from json
/// @param json Json object to load from
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
bool loadFromJson(const QJsonObject& json, QString& errorString);
// Property methods
bool inclusion (void) const { return _inclusion; }
void setInclusion (bool inclusion);
signals:
void inclusionChanged(bool inclusion);
private slots:
void _setDirty(void);
private:
void _init(void);
bool _inclusion;
static const char* _jsonInclusionKey;
};
src/MissionManager/QGCFencePolygon.cc 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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 "QGCFencePolygon.h"
#include "JsonHelper.h"
const char* QGCFencePolygon::_jsonInclusionKey = "inclusion";
QGCFencePolygon::QGCFencePolygon(bool inclusion, QObject* parent)
: QGCMapPolygon (parent)
, _inclusion (inclusion)
{
_init();
}
QGCFencePolygon::QGCFencePolygon(const QGCFencePolygon& other, QObject* parent)
: QGCMapPolygon (other, parent)
, _inclusion (other._inclusion)
{
_init();
}
void QGCFencePolygon::_init(void)
{
connect(this, &QGCFencePolygon::inclusionChanged, this, &QGCFencePolygon::_setDirty);
}
const QGCFencePolygon& QGCFencePolygon::operator=(const QGCFencePolygon& other)
{
QGCMapPolygon::operator=(other);
setInclusion(other._inclusion);
return *this;
}
void QGCFencePolygon::_setDirty(void)
{
setDirty(true);
}
void QGCFencePolygon::saveToJson(QJsonObject& json)
{
QGCMapPolygon::saveToJson(json);
json[_jsonInclusionKey] = _inclusion;
}
bool QGCFencePolygon::loadFromJson(const QJsonObject& json, bool required, QString& errorString)
{
if (!QGCMapPolygon::loadFromJson(json, required, errorString)) {
return false;
}
errorString.clear();
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ _jsonInclusionKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
return false;
}
setInclusion(json[_jsonInclusionKey].toBool());
return true;
}
void QGCFencePolygon::setInclusion(bool inclusion)
{
if (inclusion != _inclusion) {
_inclusion = inclusion;
emit inclusionChanged(inclusion);
}
}
src/MissionManager/QGCFencePolygon.h 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "QGCMapPolygon.h"
/// The QGCFencePolygon class provides a polygon used by GeoFence support.
class QGCFencePolygon : public QGCMapPolygon
{
Q_OBJECT
public:
QGCFencePolygon(bool inclusion, QObject* parent = NULL);
QGCFencePolygon(const QGCFencePolygon& other, QObject* parent = NULL);
const QGCFencePolygon& operator=(const QGCFencePolygon& other);
Q_PROPERTY(bool inclusion READ inclusion WRITE setInclusion NOTIFY inclusionChanged)
/// Saves the QGCFencePolygon to the json object.
/// @param json Json object to save to
void saveToJson(QJsonObject& json);
/// Load a QGCFencePolygon from json
/// @param json Json object to load from
/// @param required true: no polygon in object will generate error
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
bool loadFromJson(const QJsonObject& json, bool required, QString& errorString);
// Property methods
bool inclusion (void) const { return _inclusion; }
void setInclusion (bool inclusion);
signals:
void inclusionChanged (bool inclusion);
private slots:
void _setDirty(void);
private:
void _init(void);
bool _inclusion;
static const char* _jsonInclusionKey;
};
src/MissionManager/QGCMapCircle.Facts.json 0 → 100644
View file @ 537463c5
[
{
"name": "Radius",
"shortDescription": "Radius for geofence circle.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m"
}
]
src/MissionManager/QGCMapCircle.cc 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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 "QGCMapCircle.h"
#include "QGCGeo.h"
#include "JsonHelper.h"
#include "QGCQGeoCoordinate.h"
#include <QGeoRectangle>
#include <QDebug>
#include <QJsonArray>
const char* QGCMapCircle::jsonCircleKey = "circle";
const char* QGCMapCircle::_jsonCenterKey = "center";
const char* QGCMapCircle::_jsonRadiusKey = "radius";
const char* QGCMapCircle::_radiusFactName = "Radius";
QGCMapCircle::QGCMapCircle(QObject* parent)
: QObject (parent)
, _dirty (false)
, _interactive (false)
{
_init();
}
QGCMapCircle::QGCMapCircle(const QGeoCoordinate& center, double radius, QObject* parent)
: QObject (parent)
, _dirty (false)
, _center (center)
, _radius (FactSystem::defaultComponentId, _radiusFactName, FactMetaData::valueTypeDouble)
, _interactive (false)
{
_radius.setRawValue(radius);
_init();
}
QGCMapCircle::QGCMapCircle(const QGCMapCircle& other, QObject* parent)
: QObject (parent)
, _dirty (false)
, _center (other._center)
, _radius (FactSystem::defaultComponentId, _radiusFactName, FactMetaData::valueTypeDouble)
, _interactive (false)
{
_radius.setRawValue(other._radius.rawValue());
_init();
}
const QGCMapCircle& QGCMapCircle::operator=(const QGCMapCircle& other)
{
setCenter(other._center);
_radius.setRawValue(other._radius.rawValue());
setDirty(true);
return *this;
}
void QGCMapCircle::_init(void)
{
_nameToMetaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/QGCMapCircle.Facts.json"), this);
_radius.setMetaData(_nameToMetaDataMap[_radiusFactName]);
connect(this, &QGCMapCircle::centerChanged, this, &QGCMapCircle::_setDirty);
connect(&_radius, &Fact::rawValueChanged, this, &QGCMapCircle::_setDirty);
}
void QGCMapCircle::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(dirty);
}
}
void QGCMapCircle::saveToJson(QJsonObject& json)
{
QJsonValue jsonValue;
QJsonObject circleObject;
JsonHelper::saveGeoCoordinate(_center, false /* writeAltitude*/, jsonValue);
circleObject.insert(_jsonCenterKey, jsonValue);
circleObject.insert(_jsonRadiusKey, _radius.rawValue().toDouble());
json.insert(jsonCircleKey, circleObject);
}
bool QGCMapCircle::loadFromJson(const QJsonObject& json, QString& errorString)
{
errorString.clear();
QList<JsonHelper::KeyValidateInfo> circleKeyInfo = {
{ jsonCircleKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(json, circleKeyInfo, errorString)) {
return false;
}
QJsonObject circleObject = json[jsonCircleKey].toObject();
QList<JsonHelper::KeyValidateInfo> circleObjectKeyInfo = {
{ _jsonCenterKey, QJsonValue::Array, true },
{ _jsonRadiusKey, QJsonValue::Double, true },
};
if (!JsonHelper::validateKeys(circleObject, circleObjectKeyInfo, errorString)) {
return false;
}
QGeoCoordinate center;
if (!JsonHelper::loadGeoCoordinate(json[_jsonCenterKey], false /* altitudeRequired */, center, errorString)) {
return false;
}
setCenter(center);
_radius.setRawValue(json[_jsonRadiusKey].toDouble());
return true;
}
void QGCMapCircle::setCenter(QGeoCoordinate newCenter)
{
if (newCenter != _center) {
_center = newCenter;
setDirty(true);
emit centerChanged(newCenter);
}
}
void QGCMapCircle::_setDirty(void)
{
setDirty(true);
}
void QGCMapCircle::setInteractive(bool interactive)
{
if (_interactive != interactive) {
_interactive = interactive;
emit interactiveChanged(interactive);
}
}
src/MissionManager/QGCMapCircle.h 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QGeoCoordinate>
#include <QVariantList>
#include <QPolygon>
#include "QmlObjectListModel.h"
#include "FactSystem.h"
/// The QGCMapCircle represents a circular area which can be displayed on a Map control.
class QGCMapCircle : public QObject
{
Q_OBJECT
public:
QGCMapCircle(QObject* parent = NULL);
QGCMapCircle(const QGeoCoordinate& center, double radius, QObject* parent = NULL);
QGCMapCircle(const QGCMapCircle& other, QObject* parent = NULL);
const QGCMapCircle& operator=(const QGCMapCircle& other);
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(QGeoCoordinate center READ center WRITE setCenter NOTIFY centerChanged)
Q_PROPERTY(Fact* radius READ radius CONSTANT)
Q_PROPERTY(bool interactive READ interactive WRITE setInteractive NOTIFY interactiveChanged)
/// Saves the polygon to the json object.
/// @param json Json object to save to
void saveToJson(QJsonObject& json);
/// Load a circle from json
/// @param json Json object to load from
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
bool loadFromJson(const QJsonObject& json, QString& errorString);
// Property methods
bool dirty (void) const { return _dirty; }
QGeoCoordinate center (void) const { return _center; }
Fact* radius (void) { return &_radius; }
bool interactive (void) const { return _interactive; }
void setDirty (bool dirty);
void setCenter (QGeoCoordinate newCenter);
void setInteractive (bool interactive);
static const char* jsonCircleKey;
signals:
void dirtyChanged (bool dirty);
void centerChanged (QGeoCoordinate center);
void interactiveChanged (bool interactive);
private slots:
void _setDirty(void);
private:
void _init(void);
bool _dirty;
QGeoCoordinate _center;
Fact _radius;
bool _interactive;
QMap<QString, FactMetaData*> _nameToMetaDataMap;
static const char* _jsonCenterKey;
static const char* _jsonRadiusKey;
static const char* _radiusFactName;
};
src/MissionManager/QGCMapCircleVisuals.qml 0 → 100644
View file @ 537463c5
/****************************************************************************
*
* (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.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
/// QGCMapCircle map visuals
Item {
id: _root
property var mapControl ///< Map control to place item in
property var mapCircle ///< QGCMapCircle object
property bool interactive: mapCircle.interactive /// true: user can manipulate polygon
property color interiorColor: "transparent"
property real interiorOpacity: 1
property int borderWidth: 0
property color borderColor: "black"
property var _circleComponent
property var _centerDragHandleComponent
function addVisuals() {
_circleComponent = circleComponent.createObject(mapControl)
mapControl.addMapItem(_circleComponent)
}
function removeVisuals() {
_circleComponent.destroy()
}
function addHandles() {
if (!_centerDragHandleComponent) {
_centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
}
}
function removeHandles() {
if (_centerDragHandleComponent) {
_centerDragHandleComponent.destroy()
_centerDragHandleComponent = undefined
}
}
onInteractiveChanged: {
if (interactive) {
addHandles()
} else {
removeHandles()
}
}
Component.onCompleted: {
addVisuals()
if (interactive) {
addHandles()
}
}
Component.onDestruction: {
removeVisuals()
removeHandles()
}
Component {
id: circleComponent
MapCircle {
color: interiorColor
opacity: interiorOpacity
border.color: borderColor
border.width: borderWidth
center: mapCircle.center
radius: mapCircle.radius.rawValue
}
}
Component {
id: dragHandleComponent
MapQuickItem {
id: mapQuickItem
anchorPoint.x: dragHandle.width / 2
anchorPoint.y: dragHandle.height / 2
z: QGroundControl.zOrderMapItems + 2
sourceItem: Rectangle {
id: dragHandle
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
radius: width / 2
color: "white"
opacity: .90
}
}
}
Component {
id: centerDragAreaComponent
MissionItemIndicatorDrag {
onItemCoordinateChanged: mapCircle.center = itemCoordinate
}
}
Component {
id: centerDragHandleComponent
Item {
property var dragHandle
property var dragArea
Component.onCompleted: {
dragHandle = dragHandleComponent.createObject(mapControl)
dragHandle.coordinate = Qt.binding(function() { return mapCircle.center })
mapControl.addMapItem(dragHandle)
dragArea = centerDragAreaComponent.createObject(mapControl, { "itemIndicator": dragHandle, "itemCoordinate": mapCircle.center })
}
Component.onDestruction: {
dragHandle.destroy()
dragArea.destroy()
}
}
}
}
src/MissionManager/QGCMapPolygon.cc
View file @ 537463c5
......@@ -18,18 +18,49 @@
const char* QGCMapPolygon::jsonPolygonKey = "polygon";
QGCMapPolygon::QGCMapPolygon(QObject* newCoordParent, QObject* parent)
: QObject(parent)
, _newCoordParent(newCoordParent)
, _dirty(false)
, _centerDrag(false)
, _ignoreCenterUpdates(false)
QGCMapPolygon::QGCMapPolygon(QObject* parent)
: QObject (parent)
, _dirty (false)
, _centerDrag (false)
, _ignoreCenterUpdates (false)
, _interactive (false)
{
_init();
}
QGCMapPolygon::QGCMapPolygon(const QGCMapPolygon& other, QObject* parent)
: QObject (parent)
, _dirty (false)
, _centerDrag (false)
, _ignoreCenterUpdates (false)
, _interactive (false)
{
*this = other;
_init();
}
void QGCMapPolygon::_init(void)
{
connect(&_polygonModel, &QmlObjectListModel::dirtyChanged, this, &QGCMapPolygon::_polygonModelDirtyChanged);
connect(&_polygonModel, &QmlObjectListModel::countChanged, this, &QGCMapPolygon::_polygonModelCountChanged);
connect(&_polygonModel, &QmlObjectListModel::countChanged, this, &QGCMapPolygon::_updateCenter);
}
const QGCMapPolygon& QGCMapPolygon::operator=(const QGCMapPolygon& other)
{
clear();
QVariantList vertices = other.path();
for (int i=0; i<vertices.count(); i++) {
appendVertex(vertices[i].value<QGeoCoordinate>());
}
setDirty(true);
return *this;
}
void QGCMapPolygon::clear(void)
{
// Bug workaround, see below
......@@ -132,7 +163,7 @@ void QGCMapPolygon::setPath(const QList<QGeoCoordinate>& path)
_polygonModel.clearAndDeleteContents();
foreach(const QGeoCoordinate& coord, path) {
_polygonPath.append(QVariant::fromValue(coord));
_polygonModel.append(new QGCQGeoCoordinate(coord, _newCoordParent));
_polygonModel.append(new QGCQGeoCoordinate(coord, this));
}
setDirty(true);
......@@ -145,7 +176,7 @@ void QGCMapPolygon::setPath(const QVariantList& path)
_polygonModel.clearAndDeleteContents();
for (int i=0; i<_polygonPath.count(); i++) {
_polygonModel.append(new QGCQGeoCoordinate(_polygonPath[i].value<QGeoCoordinate>(), _newCoordParent));
_polygonModel.append(new QGCQGeoCoordinate(_polygonPath[i].value<QGeoCoordinate>(), this));
}
setDirty(true);
......@@ -179,7 +210,7 @@ bool QGCMapPolygon::loadFromJson(const QJsonObject& json, bool required, QString
}
for (int i=0; i<_polygonPath.count(); i++) {
_polygonModel.append(new QGCQGeoCoordinate(_polygonPath[i].value<QGeoCoordinate>(), _newCoordParent));
_polygonModel.append(new QGCQGeoCoordinate(_polygonPath[i].value<QGeoCoordinate>(), this));
}
setDirty(false);
......@@ -225,7 +256,7 @@ void QGCMapPolygon::splitPolygonSegment(int vertexIndex)
void QGCMapPolygon::appendVertex(const QGeoCoordinate& coordinate)
{
_polygonPath.append(QVariant::fromValue(coordinate));
_polygonModel.append(new QGCQGeoCoordinate(coordinate, _newCoordParent));
_polygonModel.append(new QGCQGeoCoordinate(coordinate, this));
emit pathChanged();
}
......@@ -315,3 +346,11 @@ void QGCMapPolygon::setCenterDrag(bool centerDrag)
emit centerDragChanged(centerDrag);
}
}
void QGCMapPolygon::setInteractive(bool interactive)
{
if (_interactive != interactive) {
_interactive = interactive;
emit interactiveChanged(interactive);
}
}
src/MissionManager/QGCMapPolygon.h
View file @ 537463c5
......@@ -24,14 +24,18 @@ class QGCMapPolygon : public QObject
Q_OBJECT
public:
QGCMapPolygon(QObject* newCoordParent, QObject* parent = NULL);
QGCMapPolygon(QObject* parent = NULL);
QGCMapPolygon(const QGCMapPolygon& other, QObject* parent = NULL);
Q_PROPERTY(int count READ count NOTIFY countChanged)
Q_PROPERTY(QVariantList path READ path NOTIFY pathChanged)
Q_PROPERTY(QmlObjectListModel* pathModel READ qmlPathModel CONSTANT)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(QGeoCoordinate center READ center WRITE setCenter NOTIFY centerChanged)
Q_PROPERTY(bool centerDrag READ centerDrag WRITE setCenterDrag NOTIFY centerDragChanged)
const QGCMapPolygon& operator=(const QGCMapPolygon& other);
Q_PROPERTY(int count READ count NOTIFY countChanged)
Q_PROPERTY(QVariantList path READ path NOTIFY pathChanged)
Q_PROPERTY(QmlObjectListModel* pathModel READ qmlPathModel CONSTANT)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(QGeoCoordinate center READ center WRITE setCenter NOTIFY centerChanged)
Q_PROPERTY(bool centerDrag READ centerDrag WRITE setCenterDrag NOTIFY centerDragChanged)
Q_PROPERTY(bool interactive READ interactive WRITE setInteractive NOTIFY interactiveChanged)
Q_INVOKABLE void clear(void);
Q_INVOKABLE void appendVertex(const QGeoCoordinate& coordinate);
......@@ -69,6 +73,7 @@ public:
void setDirty (bool dirty);
QGeoCoordinate center (void) const { return _center; }
bool centerDrag (void) const { return _centerDrag; }
bool interactive (void) const { return _interactive; }
QVariantList path (void) const { return _polygonPath; }
QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
......@@ -78,6 +83,7 @@ public:
void setPath (const QVariantList& path);
void setCenter (QGeoCoordinate newCenter);
void setCenterDrag (bool centerDrag);
void setInteractive (bool interactive);
static const char* jsonPolygonKey;
......@@ -88,6 +94,7 @@ signals:
void cleared (void);
void centerChanged (QGeoCoordinate center);
void centerDragChanged (bool centerDrag);
void interactiveChanged (bool interactive);
private slots:
void _polygonModelCountChanged(int count);
......@@ -95,17 +102,18 @@ private slots:
void _updateCenter(void);
private:
void _init(void);
QPolygonF _toPolygonF(void) const;
QGeoCoordinate _coordFromPointF(const QPointF& point) const;
QPointF _pointFFromCoord(const QGeoCoordinate& coordinate) const;
QObject* _newCoordParent;
QVariantList _polygonPath;
QmlObjectListModel _polygonModel;
bool _dirty;
QGeoCoordinate _center;
bool _centerDrag;
bool _ignoreCenterUpdates;
bool _interactive;
};
#endif
src/MissionManager/QGCMapPolygonTest.cc
View file @ 537463c5
......@@ -32,7 +32,7 @@ void QGCMapPolygonTest::init(void)
_rgModelSignals[modelCountChangedIndex] = SIGNAL(countChanged(int));
_rgModelSignals[modelDirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_mapPolygon = new QGCMapPolygon(this, this);
_mapPolygon = new QGCMapPolygon(this);
_pathModel = _mapPolygon->qmlPathModel();
QVERIFY(_pathModel);
......
src/MissionManager/QGCMapPolygonVisuals.qml
View file @ 537463c5
......@@ -24,16 +24,16 @@ Item {
property var mapControl ///< Map control to place item in
property var mapPolygon ///< QGCMapPolygon object
property bool interactive: true /// true: user can manipulate polygon
property bool interactive: mapPolygon.interactive
property color interiorColor: "transparent"
property real interiorOpacity: 1
property int borderWidth: 0
property color borderColor: "black"
property var _polygonComponent
property var _dragHandlesComponent
property var _splitHandlesComponent
property var _centerDragHandleComponent
property var _polygonComponent
property var _dragHandlesComponent
property var _splitHandlesComponent
property var _centerDragHandleComponent
property real _zorderDragHandle: QGroundControl.zOrderMapItems + 3 // Highest to prevent splitting when items overlap
property real _zorderSplitHandle: QGroundControl.zOrderMapItems + 2
......@@ -111,7 +111,7 @@ Item {
}
Component.onCompleted: {
mapPolygonVisuals.addVisuals()
addVisuals()
if (interactive) {
addHandles()
}
......
src/MissionManager/RallyPointController.cc
View file @ 537463c5
......@@ -58,6 +58,7 @@ void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle)
{
if (_managerVehicle) {
_rallyPointManager->disconnect(this);
_managerVehicle->disconnect(this);
_managerVehicle = NULL;
_rallyPointManager = NULL;
}
......@@ -74,7 +75,9 @@ void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle)
connect(_rallyPointManager, &RallyPointManager::removeAllComplete, this, &RallyPointController::_managerRemoveAllComplete);
connect(_rallyPointManager, &RallyPointManager::inProgressChanged, this, &RallyPointController::syncInProgressChanged);
emit rallyPointsSupportedChanged(rallyPointsSupported());
connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, &RallyPointController::supportedChanged);
emit supportedChanged(supported());
}
bool RallyPointController::load(const QJsonObject& json, QString& errorString)
......@@ -234,9 +237,9 @@ void RallyPointController::addPoint(QGeoCoordinate point)
setDirty(true);
}
bool RallyPointController::rallyPointsSupported(void) const
bool RallyPointController::supported(void) const
{
return _rallyPointManager->rallyPointsSupported();
return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_managerVehicle->maxProtoVersion() >= 200);
}
void RallyPointController::removePoint(QObject* rallyPoint)
......
src/MissionManager/RallyPointController.h
View file @ 537463c5
......@@ -29,7 +29,6 @@ public:
RallyPointController(PlanMasterController* masterController, QObject* parent = NULL);
~RallyPointController();
Q_PROPERTY(bool rallyPointsSupported READ rallyPointsSupported NOTIFY rallyPointsSupportedChanged)
Q_PROPERTY(QmlObjectListModel* points READ points CONSTANT)
Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
Q_PROPERTY(QObject* currentRallyPoint READ currentRallyPoint WRITE setCurrentRallyPoint NOTIFY currentRallyPointChanged)
......@@ -37,6 +36,7 @@ public:
Q_INVOKABLE void addPoint(QGeoCoordinate point);
Q_INVOKABLE void removePoint(QObject* rallyPoint);
bool supported (void) const final;
void save (QJsonObject& json) final;
bool load (const QJsonObject& json, QString& errorString) final;
void loadFromVehicle (void) final;
......@@ -50,7 +50,6 @@ public:
void managerVehicleChanged (Vehicle* managerVehicle) final;
bool showPlanFromManagerVehicle (void) final;
bool rallyPointsSupported (void) const;
QmlObjectListModel* points (void) { return &_points; }
QString editorQml (void) const;
QObject* currentRallyPoint (void) const { return _currentRallyPoint; }
......@@ -58,7 +57,6 @@ public:
void setCurrentRallyPoint(QObject* rallyPoint);
signals:
void rallyPointsSupportedChanged(bool rallyPointsSupported);
void currentRallyPointChanged(QObject* rallyPoint);
void loadComplete(void);
......
src/MissionManager/RallyPointManager.cc
View file @ 537463c5
......@@ -49,3 +49,8 @@ void RallyPointManager::removeAll(void)
// No support in generic vehicle
emit removeAllComplete(false /* error */);
}
bool RallyPointManager::supported(void) const
{
return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_vehicle->maxProtoVersion() >= 200);
}
src/MissionManager/RallyPointManager.h
View file @ 537463c5
......@@ -29,6 +29,9 @@ public:
RallyPointManager(Vehicle* vehicle);
~RallyPointManager();
/// Returns true if GeoFence is supported by this vehicle
virtual bool supported(void) const;
/// Returns true if the manager is currently communicating with the vehicle
virtual bool inProgress(void) const { return false; }
......@@ -44,8 +47,6 @@ public:
/// Signals removeAllCompleted when done
virtual void removeAll(void);
virtual bool rallyPointsSupported(void) const { return false; }
QList<QGeoCoordinate> points(void) const { return _rgPoints; }
virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/RallyPointEditor.qml"); }
......
src/PlanView/GeoFenceEditor.qml
View file @ 537463c5
This diff is collapsed.
src/PlanView/GeoFenceMapVisuals.qml
View file @ 537463c5
......@@ -30,34 +30,53 @@ Item {
property var _breachReturnPointComponent
property var _mouseAreaComponent
property var _circleComponent
property var _mapPolygon: myGeoFenceController.mapPolygon
property bool _interactive: interactive
property bool _circleSupported: myGeoFenceController.circleRadiusFact !== null
property bool _circleEnabled: myGeoFenceController.circleEnabled
property real _circleRadius: _circleSupported ? myGeoFenceController.circleRadiusFact.rawValue : 0
property bool _polygonSupported: myGeoFenceController.polygonSupported
property bool _polygonEnabled: myGeoFenceController.polygonEnabled
property var _polygons: myGeoFenceController.polygons
property var _circles: myGeoFenceController.circles
function addPolygon(inclusionPolygon) {
// Initial polygon is inset to take 2/3rds space
var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
rect.x += (rect.width * 0.25) / 2
rect.y += (rect.height * 0.25) / 2
rect.width *= 0.75
rect.height *= 0.75
var centerCoord = map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)), false /* clipToViewPort */)
var topLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y), false /* clipToViewPort */)
var topRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y), false /* clipToViewPort */)
var bottomLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y + rect.height), false /* clipToViewPort */)
var bottomRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height), false /* clipToViewPort */)
// Initial polygon has max width and height of 3000 meters
var halfWidthMeters = Math.min(topLeftCoord.distanceTo(topRightCoord), 3000) / 2
var halfHeightMeters = Math.min(topLeftCoord.distanceTo(bottomLeftCoord), 3000) / 2
topLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
topRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
bottomLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
bottomRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
console.log(map.center)
console.log(topLeftCoord)
console.log(bottomRightCoord)
if (inclusionPolygon) {
myGeoFenceController.addInclusion(topLeftCoord, bottomRightCoord)
} else {
myGeoFenceController.addExclusion(topLeftCoord, bottomRightCoord)
}
}
Component.onCompleted: {
_circleComponent = circleComponent.createObject(map)
map.addMapItem(_circleComponent)
_breachReturnPointComponent = breachReturnPointComponent.createObject(map)
map.addMapItem(_breachReturnPointComponent)
_mouseAreaComponent = mouseAreaComponent.createObject(map)
}
Component.onDestruction: {
_circleComponent.destroy()
_breachReturnPointComponent.destroy()
_mouseAreaComponent.destroy()
}
Connections {
target: myGeoFenceController
onAddInitialFencePolygon: mapPolygonVisuals.addInitialPolygon()
}
// Mouse area to capture breach return point coordinate
Component {
id: mouseAreaComponent
......@@ -69,28 +88,29 @@ Item {
}
}
QGCMapPolygonVisuals {
id: mapPolygonVisuals
mapControl: map
mapPolygon: _mapPolygon
interactive: _interactive
borderWidth: 2
borderColor: "orange"
visible: _polygonSupported && (planView || _polygonEnabled)
Instantiator {
model: _polygons
delegate : QGCMapPolygonVisuals {
mapControl: map
mapPolygon: object
borderWidth: object.inclusion ? 2 : 0
borderColor: "orange"
interiorColor: object.inclusion ? "transparent" : "orange"
interiorOpacity: object.inclusion ? 1: 0.2
}
}
// GeoFence circle
Component {
id: circleComponent
Instantiator {
model: _circles
MapCircle {
z: QGroundControl.zOrderMapItems
border.width: 2
border.color: "orange"
color: "transparent"
center: homePosition ? homePosition : QtPositioning.coordinate()
radius: _circleRadius
visible: _circleSupported && _circleRadius > 0 && (planView || _circleEnabled)
delegate : QGCMapCircleVisuals {
mapControl: map
mapCircle: object
borderWidth: object.inclusion ? 2 : 0
borderColor: "orange"
interiorColor: object.inclusion ? "transparent" : "orange"
interiorOpacity: object.inclusion ? 1: 0.2
}
}
......
src/PlanView/PlanView.qml
View file @ 537463c5
This diff is collapsed.
src/PlanView/RallyPointEditorHeader.qml
View file @ 537463c5
This diff is collapsed.
src/PlanView/RallyPointMapVisuals.qml
View file @ 537463c5
This diff is collapsed.
src/Vehicle/Vehicle.cc
View file @ 537463c5
This diff is collapsed.
src/Vehicle/Vehicle.h
View file @ 537463c5
This diff is collapsed.
src/comm/MockLink.cc
View file @ 537463c5
This diff is collapsed.
src/comm/MockLinkMissionItemHandler.cc
View file @ 537463c5
This diff is collapsed.
src/comm/MockLinkMissionItemHandler.h
View file @ 537463c5
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src/qgcunittest/UnitTest.cc
View file @ 537463c5
This diff is collapsed.
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