456

qgroundcontrol.pro

@@ -482,7 +482,7 @@ HEADERS += \
     src/comm/ros_bridge/include/Receiver.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
     src/comm/ros_bridge/include/ThreadSafeQueue.h \
-    src/comm/ros_bridge/include/Transmitter.h \
+    src/comm/ros_bridge/include/TopicPublisher.h \
     src/comm/ros_bridge/include/TypeFactory.h \
     src/comm/ros_bridge/src/PackageBuffer.h \
     src/comm/utilities.h
@@ -495,7 +495,7 @@ SOURCES += \
     src/comm/ros_bridge/include/ComPrivateInclude.cpp \
     src/comm/ros_bridge/include/MessageTag.cpp \
     src/comm/ros_bridge/include/Receiver.cpp \
-    src/comm/ros_bridge/include/Transmitter.cpp \
+    src/comm/ros_bridge/include/TopicPublisher.cpp \
     src/comm/ros_bridge/src/CasePacker.cpp \
     src/Wima/WimaControllerDetail.cc \
     src/Wima/snaketile.cpp \

qgroundcontrol.qrc

@@ -230,6 +230,7 @@
         <file alias="QGroundControl/FlightMap/WimaMissionItemMapVisual.qml">src/PlanView/WimaMissionItemMapVisual.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayWimaMenu.qml">src/FlightDisplay/FlightDisplayWimaMenu.qml</file>
         <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
+        <file alias="QGroundControl/FlightDisplay/SmallValue.qml">src/FlightDisplay/SmallValue.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -12,11 +12,15 @@ import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Vehicle       1.0
 import QGroundControl.FlightMap     1.0
+import QGroundControl.FlightDisplay 1.0
 import QGroundControl.Airspace      1.0
 import QGroundControl.Airmap        1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 
+
+import Qt.labs.settings             1.0
+
 Item {
     id:     _root
     height: mainFrame.height
@@ -35,10 +39,20 @@ Item {
     property real   _margins:                   ScreenTools.defaultFontPixelWidth / 2
 
 
+    // Disabels map scrolling when cursor on this menu.
     DeadMouseArea {
         anchors.fill: parent
     }
 
+    // Use Settings to store menu appearance through different sessions.
+    Settings {
+        property alias snakeHeaderChecker:      snakeHeader.checked
+        property alias missionHeaderChecker:    missionHeader.checked
+        property alias navigateHeaderChecker:   navigateHeader.checked
+        property alias vehicleHeaderChecker:    vehicleHeader.checked
+        property alias statsHeaderChecker:      statsHeader.checked
+    }
+
     // Progress bar visibility
     on_ControllerProgressPctChanged: {
         if (_controllerProgressPct === 1) {
@@ -404,88 +418,76 @@ Item {
                         text: qsTr("Statistics")
                     }
                     GridLayout {
-                        columns: 2
+                        columns: 3
                         rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
                         anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
                         visible: statsHeader.checked
 
-                        QGCLabel {
-                            text:               qsTr("Phase Length: ")
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth: true
+                        Item {
+                            id: widthItem
+
+                            Layout.fillWidth:   true
+                            Layout.columnSpan:  parent.columns
+                            height:             0
                         }
-                        QGCLabel {
 
+                        SmallValue {
                             property var phaseDistance:         wimaController.phaseDistance
 
-                            text:               phaseDistance >= 0 ? phaseDistance.toFixed(2) + " m": "-.-"
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
+                            shortDescription: qsTr("Phase Length")
+                            value:            phaseDistance >= 0 ? phaseDistance.toFixed(2): "-.-"
+                            unit:             "m"
+                            //width:            widthItem.width*0.49
                         }
 
-                        QGCLabel {
-                            text:               qsTr("Phase Duration: ")
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth: true
-                        }
-                        QGCLabel {
+                        SmallValue {
                             property var phaseDuration:         wimaController.phaseDuration
 
-                            text:               phaseDuration >= 0 ? getTime(phaseDuration) : "-.-"
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth: true
+                            shortDescription: qsTr("Phase Duration")
+                            value:            phaseDuration >= 0 ? getTime(phaseDuration) : "-.-"
+                            //unit:             "m"
+                            //width:            widthItem.width*0.49
                         }
 
-                        QGCLabel {
-                            text:               qsTr("Current Waypoint: ")
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
-                        }
-                        QGCLabel {
+                        SmallValue {
                             property var currentMissionIndex:   missionController.currentMissionIndex
 
-                            text:               currentMissionIndex > 0 ? currentMissionIndex : "-.-"
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
+                            shortDescription: qsTr("Current Waypoint")
+                            value:               currentMissionIndex > 0 ? currentMissionIndex : "-.-"
+                            //unit:             "m"
+                            //width:            widthItem.width*0.49
                         }
 
-                        QGCLabel {
-                            text:               qsTr("Remaining Distance: ")
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
-                        }
-                        QGCLabel {
+                        SmallValue {
                             property var remainingDistance:     missionController.remainingDistance
 
-                            text:               remainingDistance >= 0 ? remainingDistance.toFixed(2) + " m" : "-.-"
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
+                            shortDescription: qsTr("Remaining Distance")
+                            value:            remainingDistance >= 0 ? remainingDistance.toFixed(2) : "-.-"
+                            unit:             "m"
+                            //width:            widthItem.width*0.49
                         }
 
-                        QGCLabel {
-                            text:               qsTr("Remaining Time: ")
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
-                        }
-                        QGCLabel {
+                        SmallValue {
                             property var remainingTime:         missionController.remainingTime
 
-                            text:               remainingTime >= 0 ? getTime(remainingTime) : "-.-"
-                            wrapMode:           Text.WordWrap
-                            Layout.fillWidth:   true
+                            shortDescription: qsTr("Remaining Time")
+                            value:               remainingTime >= 0 ? getTime(remainingTime) : "-.-"
+                            //unit:             "m"
+                            //width:            widthItem.width*0.49
                         }
-                        QGCLabel { // space
-                            text:               ""
-                            Layout.columnSpan:  2
+
+                        Item { // spacer
+                            height: 5
+                            Layout.columnSpan:  parent.columns
                         }
-                    }
+                    } // GridLayout
                 } // settingsColumn
 
                 Item { // spacer
                     width: 6
                     height: 5
                 }
-            }
+            } //  Row
 
 
         } // QGCFlickable

src/FlightDisplay/SmallValue.qml

+import QtQuick 2.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QtQuick.Layouts              1.2
+
+GridLayout {
+    id:         main
+    clip:       true
+    columns:    1
+
+    property string shortDescription: "Description"
+    property string value: "-,-"
+    property string unit: ""
+
+    QGCLabel {
+        Layout.fillWidth:       true
+        Layout.columnSpan:      parent.columns
+        wrapMode:               Text.WordWrap
+        horizontalAlignment:    Text.AlignHCenter
+        font.pointSize:         ScreenTools.isTinyScreen ?
+                                    ScreenTools.smallFontPointSize * 0.75
+                                  : ScreenTools.smallFontPointSize
+        text:                   main.shortDescription
+    }
+    QGCLabel {
+        Layout.fillWidth:       true
+        horizontalAlignment:    Text.AlignHCenter
+        fontSizeMode:           Text.HorizontalFit
+        text:                   main.value + " " + main.unit
+    }
+//    QGCLabel {
+//        Layout.fillWidth:       true
+//        //width:                  parent.width
+//        horizontalAlignment:    Text.AlignHCenter
+//        font.pointSize:         ScreenTools.isTinyScreen ?
+//                                    ScreenTools.smallFontPointSize * 0.75
+//                                  : ScreenTools.smallFontPointSize
+//        fontSizeMode:           Text.HorizontalFit
+//        text:                   main.unit
+//    }
+} // Column

src/Wima/WimaController.cc

@@ -1122,7 +1122,7 @@ void WimaController::_eventTimerHandler()
     if (rosBridgeTicker.ready()) {
 //        using namespace ros_bridge;
 
-        _pRosBridge->send(_snakeTilesLocal, "/snake/snake_tiles");
+        _pRosBridge->publish(_snakeTilesLocal, "/snake/snake_tiles");
 //        // Time
 //        class Time time(1, 2);
 //        rapidjson::Document doc(rapidjson::kObjectType);
@@ -1444,8 +1444,6 @@ void WimaController::_initSmartRTL()
                 case UserRequest:
                     emit returnUserRequestConfirmRequired();
                 break;
-                default:
-                    qWarning("\nWimaController::_initSmartRTL: default case reached!");
             }
 
             return;

src/comm/ros_bridge/include/JsonFactory.h

@@ -56,6 +56,7 @@ private:
     rapidjson::Document *_create(const U &msg, Type2Type<V>){
         (void)msg;
         assert(false); // Implementation missing for group U::Group!
+        return nullptr;
     }
 
     // ===========================================================================

src/comm/ros_bridge/include/JsonMethodes.h

@@ -591,7 +591,7 @@ using namespace ROSBridge::JsonMethodes::GeometryMsgs;
         typedef decltype (p.polygons()[0]) PolyStampedCVR;
         typedef typename boost::remove_cv<typename boost::remove_reference<PolyStampedCVR>::type>::type
                 PolyStamped;
-        for (long i=0; i < polyStampedJson.Size(); ++i) {
+        for (unsigned int i=0; i < polyStampedJson.Size(); ++i) {
             if ( !polyStampedJson[i].HasMember("header") ){
                 assert(false);
                 return false;
@@ -632,7 +632,7 @@ namespace Progress {
     bool toJson(const ProgressType &p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
     {
         rapidjson::Value progressJson(rapidjson::kArrayType);
-        for(unsigned long i=0; i < p.progress().size(); ++i){
+        for(unsigned long i=0; i < std::uint64_t(p.progress().size()); ++i){
             progressJson.PushBack(rapidjson::Value().SetInt(std::int8_t(p.progress()[i])), allocator);
         }
         value.AddMember("progress", progressJson, allocator);
@@ -652,6 +652,7 @@ namespace Progress {
         p.progress().reserve(sz);
         for (unsigned long i=0; i < sz; ++i)
             p.progress().push_back(std::int8_t(jsonProgress[i].GetInt()));
+        return true;
     }
 } // namespace Progress
 } // namespace NemoMsgs

src/comm/ros_bridge/include/ROSBridge.h

@@ -4,7 +4,7 @@
 #include "ros_bridge/include/CasePacker.h"
 #include "ros_bridge/include/TypeFactory.h"
 #include "ros_bridge/include/JsonFactory.h"
-#include "ros_bridge/include/Transmitter.h"
+#include "ros_bridge/include/TopicPublisher.h"
 #include "ros_bridge/include/Receiver.h"
 
 #include <memory>
@@ -23,8 +23,8 @@ public:
     explicit ROSBridge();
 
     template<class T>
-    void send(T &msg, const std::string &topic){
-        _transmitter.send(msg, topic);
+    void publish(T &msg, const std::string &topic){
+        _topicPublisher.publish(msg, topic);
     }
 
     void start();
@@ -41,7 +41,7 @@ private:
     JsonFactory             _jsonFactory;
     CasePacker              _casePacker;
     RosbridgeWsClient       _rbc;
-    ComPrivate::Transmitter _transmitter;
+    ComPrivate::TopicPublisher _topicPublisher;
     ComPrivate::Receiver    _receiver;
 
 };

src/comm/ros_bridge/include/Transmitter.cpp → src/comm/ros_bridge/include/TopicPublisher.cpp

-#include "Transmitter.h"
+#include "TopicPublisher.h"
 
 
 void ROSBridge::ComPrivate::transmittLoop(const ROSBridge::CasePacker &casePacker,
@@ -41,18 +41,21 @@ void ROSBridge::ComPrivate::transmittLoop(const ROSBridge::CasePacker &casePacke
     }
 }
 
-ROSBridge::ComPrivate::Transmitter::Transmitter(CasePacker *casePacker,
-                                                RosbridgeWsClient *rbc,
-                                                JsonFactory *jsonFactory) :
+ROSBridge::ComPrivate::TopicPublisher::TopicPublisher(CasePacker *casePacker,
+                                                      RosbridgeWsClient *rbc) :
       _stopFlag(true)
-    , _jsonFactory(jsonFactory)
     , _casePacker(casePacker)
     , _rbc(rbc)
 {
 
 }
 
-void ROSBridge::ComPrivate::Transmitter::start()
+ROSBridge::ComPrivate::TopicPublisher::~TopicPublisher()
+{
+    this->stop();
+}
+
+void ROSBridge::ComPrivate::TopicPublisher::start()
 {
     if ( !_stopFlag.load() )  // start called while thread running.
         return;
@@ -65,7 +68,7 @@ void ROSBridge::ComPrivate::Transmitter::start()
                                    std::cref(_stopFlag)));
 }
 
-void ROSBridge::ComPrivate::Transmitter::stop()
+void ROSBridge::ComPrivate::TopicPublisher::stop()
 {
     if ( _stopFlag.load() )  // start called while thread not running.
         return;

src/comm/ros_bridge/include/Transmitter.h → src/comm/ros_bridge/include/TopicPublisher.h

@@ -13,24 +13,25 @@
 namespace ROSBridge {
 namespace ComPrivate {
 
-class Transmitter
+class TopicPublisher
 {
     typedef std::unique_ptr<std::thread> ThreadPtr;
 public:
 
-    Transmitter() = delete;
-    Transmitter(CasePacker *casePacker,
-                RosbridgeWsClient *rbc,
-                JsonFactory *jsonFactory);
+    TopicPublisher() = delete;
+    TopicPublisher(CasePacker *casePacker,
+                   RosbridgeWsClient *rbc);
+
+    ~TopicPublisher();
 
     void start();
     void stop();
     template<class T>
-    void send(const T &msg, const std::string &topic){
+    void publish(const T &msg, const std::string &topic){
         JsonDocUPtr docPtr(_casePacker->pack(msg, topic));
-        send(std::move(docPtr));
+        publish(std::move(docPtr));
     }
-    void send(JsonDocUPtr docPtr){
+    void publish(JsonDocUPtr docPtr){
         std::lock_guard<std::mutex> lock(_queueMutex);
         _queue.push_back(std::move(docPtr));
     }
@@ -41,7 +42,6 @@ private:
     JsonQueue           _queue;
     std::mutex          _queueMutex;
     std::atomic<bool>   _stopFlag;
-    JsonFactory        *_jsonFactory;
     CasePacker         *_casePacker;
     ThreadPtr           _pThread;
     RosbridgeWsClient  *_rbc;

src/comm/ros_bridge/include/TypeFactory.h

@@ -51,6 +51,7 @@ private:
         (void)type;
         (void)doc;
         assert(false); // Implementation missing for group U::Group!
+        return false;
     }
 
     // ===========================================================================

src/comm/ros_bridge/src/ROSBridge.cpp

@@ -3,7 +3,7 @@
 ROSBridge::ROSBridge::ROSBridge() :
     _casePacker(&_typeFactory, &_jsonFactory)
   , _rbc("localhost:9090")
-  , _transmitter(&_casePacker, &_rbc, &_jsonFactory)
+  , _topicPublisher(&_casePacker, &_rbc)
   , _receiver(&_casePacker, &_rbc, &_typeFactory)
 {
 
@@ -11,12 +11,12 @@ ROSBridge::ROSBridge::ROSBridge() :
 
 void ROSBridge::ROSBridge::start()
 {
-    _transmitter.start();
+    _topicPublisher.start();
 }
 
 void ROSBridge::ROSBridge::stop()
 {
-    _transmitter.stop();
+    _topicPublisher.stop();
 }
 
 bool ROSBridge::ROSBridge::messagesAvailable()