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Commit 6a082ad8 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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Wima directory structure improved

parent d02c3c46
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Showing with 216 additions and 952 deletions
qgroundcontrol.pro
View file @ 6a082ad8
......@@ -429,50 +429,49 @@ HEADERS += \
src/Snake/snake.h \
src/Snake/snake_geometry.h \
src/Snake/snake_global.h \
src/Wima/GeoPoint3D.h \
src/Wima/Polygon2D.h \
src/Wima/PolygonArray.h \
src/Wima/QNemoProgress.h \
src/Wima/QtROSJsonFactory.h \
src/Wima/QtROSTypeFactory.h \
src/Wima/SnakeTiles.h \
src/Wima/SnakeTilesLocal.h \
src/Wima/SnakeWorker.h \
src/Wima/Geometry/GeoPoint3D.h \
src/Wima/Geometry/Polygon2D.h \
src/Wima/Geometry/PolygonArray.h \
src/Wima/Snake/QNemoProgress.h \
src/Wima/Snake/QtROSJsonFactory.h \
src/Wima/Snake/QtROSTypeFactory.h \
src/Wima/Snake/SnakeTiles.h \
src/Wima/Snake/SnakeTilesLocal.h \
src/Wima/Snake/SnakeWorker.h \
src/Wima/WaypointManager/GenericPathSlicer.h \
src/Wima/WaypointManager/GenericWaypointManager.h \
src/Wima/WimaPolygonArray.h \
src/Wima/snaketile.h \
src/Wima/Geometry/WimaPolygonArray.h \
src/Wima/Snake/snaketile.h \
src/api/QGCCorePlugin.h \
src/api/QGCOptions.h \
src/api/QGCSettings.h \
src/api/QmlComponentInfo.h \
src/comm/MavlinkMessagesTimer.h \
src/GPS/Drivers/src/base_station.h \
src/Wima/WimaArea.h \
src/Wima/WimaServiceArea.h \
src/Wima/WimaTrackerPolyline.h \
src/Wima/Geometry/WimaArea.h \
src/Wima/Geometry/WimaServiceArea.h \
src/Wima/Geometry/WimaTrackerPolyline.h \
src/Wima/WimaController.h \
src/Wima/WimaVehicle.h \
src/Wima/WimaDataContainer.h \
src/Wima/WimaPlaner.h \
src/Wima/WimaMeasurementArea.h \
src/Wima/WimaCorridor.h \
src/Wima/WimaAreaData.h \
src/Wima/WimaServiceAreaData.h \
src/Wima/WimaCorridorData.h \
src/Wima/WimaMeasurementAreaData.h \
src/Wima/Geometry/WimaMeasurementArea.h \
src/Wima/Geometry/WimaCorridor.h \
src/Wima/Geometry/WimaAreaData.h \
src/Wima/Geometry/WimaServiceAreaData.h \
src/Wima/Geometry/WimaCorridorData.h \
src/Wima/Geometry/WimaMeasurementAreaData.h \
src/Wima/WimaPlanData.h \
src/Wima/WimaJoinedArea.h \
src/Wima/WimaJoinedAreaData.h \
src/Wima/SphereCalculus.h \
src/Wima/Geometry/WimaJoinedArea.h \
src/Wima/Geometry/WimaJoinedAreaData.h \
src/Wima/Geometry/SphereCalculus.h \
src/Wima/CircularSurveyComplexItem.h \
src/Wima/PlanimetryCalculus.h \
src/Wima/Circle.h \
src/Wima/PolygonCalculus.h \
src/Wima/Geometry/PlanimetryCalculus.h \
src/Wima/Geometry/Circle.h \
src/Wima/Geometry/PolygonCalculus.h \
src/Wima/OptimisationTools.h \
src/Wima/GeoUtilities.h \
src/Wima/TestPolygonCalculus.h \
src/Wima/testplanimetrycalculus.h \
src/Wima/Geometry/GeoUtilities.h \
src/Wima/Geometry/TestPolygonCalculus.h \
src/Wima/Geometry/testplanimetrycalculus.h \
src/Settings/WimaSettings.h \
src/QmlControls/QmlObjectVectorModel.h \
src/comm/ros_bridge/include/CasePacker.h \
......@@ -492,10 +491,10 @@ SOURCES += \
src/Snake/clipper/clipper.cpp \
src/Snake/snake.cpp \
src/Snake/snake_geometry.cpp \
src/Wima/GeoPoint3D.cpp \
src/Wima/PolygonArray.cc \
src/Wima/QNemoProgress.cc \
src/Wima/SnakeWorker.cc \
src/Wima/Geometry/GeoPoint3D.cpp \
src/Wima/Geometry/PolygonArray.cc \
src/Wima/Snake/QNemoProgress.cc \
src/Wima/Snake/SnakeWorker.cc \
src/Wima/WaypointManager/GenericPathSlicer.cpp \
src/Wima/WaypointManager/GenericWaypointManager.cpp \
src/comm/ros_bridge/include/ComPrivateInclude.cpp \
......@@ -503,37 +502,36 @@ SOURCES += \
src/comm/ros_bridge/include/TopicPublisher.cpp \
src/comm/ros_bridge/include/TopicSubscriber.cpp \
src/comm/ros_bridge/src/CasePacker.cpp \
src/Wima/snaketile.cpp \
src/Wima/Snake/snaketile.cpp \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
src/api/QGCSettings.cc \
src/api/QmlComponentInfo.cc \
src/comm/MavlinkMessagesTimer.cc \
src/Wima/WimaArea.cc \
src/Wima/WimaServiceArea.cc \
src/Wima/WimaTrackerPolyline.cc \
src/Wima/Geometry/WimaArea.cc \
src/Wima/Geometry/WimaServiceArea.cc \
src/Wima/Geometry/WimaTrackerPolyline.cc \
src/Wima/WimaController.cc \
src/Wima/WimaVehicle.cc \
src/Wima/WimaDataContainer.cc \
src/Wima/WimaPlaner.cc \
src/Wima/WimaMeasurementArea.cc \
src/Wima/WimaCorridor.cc \
src/Wima/WimaAreaData.cc \
src/Wima/WimaServiceAreaData.cc \
src/Wima/WimaCorridorData.cpp \
src/Wima/Geometry/WimaMeasurementArea.cc \
src/Wima/Geometry/WimaCorridor.cc \
src/Wima/Geometry/WimaAreaData.cc \
src/Wima/Geometry/WimaServiceAreaData.cc \
src/Wima/Geometry/WimaCorridorData.cpp \
src/Wima/WimaPlanData.cc \
src/Wima/WimaMeasurementAreaData.cc \
src/Wima/WimaJoinedArea.cc \
src/Wima/WimaJoinedAreaData.cc \
src/Wima/SphereCalculus.cc \
src/Wima/Geometry/WimaMeasurementAreaData.cc \
src/Wima/Geometry/WimaJoinedArea.cc \
src/Wima/Geometry/WimaJoinedAreaData.cc \
src/Wima/Geometry/SphereCalculus.cc \
src/Wima/CircularSurveyComplexItem.cc \
src/Wima/PlanimetryCalculus.cc \
src/Wima/Circle.cc \
src/Wima/Geometry/PlanimetryCalculus.cc \
src/Wima/Geometry/Circle.cc \
src/Wima/OptimisationTools.cc \
src/Wima/GeoUtilities.cc \
src/Wima/PolygonCalculus.cc \
src/Wima/TestPolygonCalculus.cpp \
src/Wima/testplanimetrycalculus.cpp \
src/Wima/Geometry/GeoUtilities.cc \
src/Wima/Geometry/PolygonCalculus.cc \
src/Wima/Geometry/TestPolygonCalculus.cpp \
src/Wima/Geometry/testplanimetrycalculus.cpp \
src/Settings/WimaSettings.cc \
src/QmlControls/QmlObjectVectorModel.cc \
src/comm/ros_bridge/src/ROSBridge.cpp
......
qgroundcontrol.qrc
View file @ 6a082ad8
......@@ -275,10 +275,10 @@
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
<file alias="WimaArea.SettingsGroup.json">src/Wima/WimaArea.SettingsGroup.json</file>
<file alias="WimaController.SettingsGroup.json">src/Wima/WimaController.SettingsGroup.json</file>
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/Geometry/json/WimaMeasurementArea.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/json/CircularSurvey.SettingsGroup.json</file>
<file alias="WimaArea.SettingsGroup.json">src/Wima/Geometry/json/WimaArea.SettingsGroup.json</file>
<file alias="WimaController.SettingsGroup.json">src/Wima/json/WimaController.SettingsGroup.json</file>
<file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 6a082ad8
......@@ -244,8 +244,8 @@ FlightMap {
// Add Snake tiles center points to the map
MapItemView {
property bool _lengthMatching: wimaController.snakeTileCenterPoints.length
=== wimaController.snakeProgress.length
property bool _lengthMatching: wimaController.snakeTileCenterPoints.count
> 0
property bool _enable: wimaController.enableWimaController.value
&& wimaController.enableSnake.value
......
src/Wima/Circle.c deleted 100644 → 0
View file @ d02c3c46
#include "Circle.h"
Circle::Circle()
{
}
src/Wima/GeoPoint3D.cpp deleted 100644 → 0
View file @ d02c3c46
#include "GeoPoint3D.h"
GeoPoint3D *GeoPoint3D::Clone() const
{
return new GeoPoint3D(*this);
}
GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
{
this->setLatitude(p.latitude());
this->setLongitude(p.longitude());
this->setAltitude(p.altitude());
return *this;
}
src/Wima/Geometry/GeoPoint3D.cpp 0 → 100644
View file @ 6a082ad8
#include "GeoPoint3D.h"
GeoPoint3D::GeoPoint3D(QObject *parent)
: QObject(parent), ROSGeoPoint() {}
GeoPoint3D::GeoPoint3D(double latitude, double longitude, double altitude, QObject *parent)
: QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
{}
GeoPoint3D::GeoPoint3D(const GeoPoint3D &p, QObject *parent)
: QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
{}
GeoPoint3D::GeoPoint3D(const ROSGeoPoint &p, QObject *parent)
: QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
{}
GeoPoint3D::GeoPoint3D(const QGeoCoordinate &p, QObject *parent)
: QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
{}
GeoPoint3D *GeoPoint3D::Clone() const
{
return new GeoPoint3D(*this);
}
GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
{
this->setLatitude(p.latitude());
this->setLongitude(p.longitude());
this->setAltitude(p.altitude());
return *this;
}
GeoPoint3D &GeoPoint3D::operator=(const QGeoCoordinate &p)
{
this->setLatitude(p.latitude());
this->setLongitude(p.longitude());
this->setAltitude(p.altitude());
return *this;
}
src/Wima/GeoPoint3D.h → src/Wima/Geometry/GeoPoint3D.h
View file @ 6a082ad8
......@@ -4,7 +4,10 @@
#include "ros_bridge/include/MessageBaseClass.h"
#include "ros_bridge/include/GenericMessages.h"
#include <QGeoCoordinate>
#include <QObject>
typedef ROSBridge::MessageBaseClass ROSMsg;
typedef ROSBridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
namespace MsgGroups = ROSBridge::MessageGroups;
......@@ -14,24 +17,22 @@ class GeoPoint3D : public QObject, public ROSGeoPoint
public:
typedef MsgGroups::GeoPointGroup Group;
explicit GeoPoint3D(QObject *parent = nullptr)
: QObject(parent), ROSGeoPoint() {}
explicit GeoPoint3D(double latitude,
double longitude,
double altitude,
QObject *parent = nullptr)
: QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
{}
explicit GeoPoint3D(const GeoPoint3D& p,
QObject *parent = nullptr)
: QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
{}
explicit GeoPoint3D(const ROSGeoPoint& p,
QObject *parent = nullptr)
: QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
{}
GeoPoint3D(QObject *parent = nullptr);
GeoPoint3D(double latitude,
double longitude,
double altitude,
QObject *parent = nullptr);
GeoPoint3D(const GeoPoint3D& p,
QObject *parent = nullptr);
GeoPoint3D(const ROSGeoPoint& p,
QObject *parent = nullptr);
GeoPoint3D(const QGeoCoordinate& p,
QObject *parent = nullptr);
virtual GeoPoint3D *Clone() const override;
GeoPoint3D &operator=(const GeoPoint3D&p);
GeoPoint3D &operator=(const QGeoCoordinate&p);
};
src/Wima/WimaController.cc
View file @ 6a082ad8
......@@ -111,6 +111,14 @@ WimaController::WimaController(QObject *parent)
_startStopRosBridge();
}
QVariantList WimaController::waypointPath() const
{
QVariantList list;
for ( auto wp : _waypoints)
list.append(QVariant::fromValue(wp));
return list;
}
//QStringList WimaController::loadNameFilters() const
//{
// QStringList filters;
......@@ -376,66 +384,6 @@ bool WimaController::calcShortestPath(const QGeoCoordinate &start, const QGeoCoo
return retVal;
}
bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList)
{
return extractCoordinateList(missionItems, coordinateList, 0, missionItems.count()-1);
}
bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList, int startIndex, int endIndex)
{
if ( startIndex >= 0
&& startIndex < missionItems.count()
&& endIndex >= 0
&& endIndex < missionItems.count()) {
if (startIndex > endIndex) {
if (!extractCoordinateList(missionItems, coordinateList, startIndex, missionItems.count()-1))
return false;
if (!extractCoordinateList(missionItems, coordinateList, 0, endIndex))
return false;
} else {
for (int i = startIndex; i <= endIndex; i++) {
SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(i);
if (mItem == nullptr) {
coordinateList.clear();
return false;
}
coordinateList.append(mItem->coordinate());
}
}
} else
return false;
return true;
}
bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList)
{
return extractCoordinateList(missionItems, coordinateList, 0 , missionItems.count()-1);
}
bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex)
{
QVector<QGeoCoordinate> geoCoordintateList;
bool retValue = extractCoordinateList(missionItems, geoCoordintateList, startIndex, endIndex);
if (!retValue)
return false;
for (int i = 0; i < geoCoordintateList.size(); i++) {
QGeoCoordinate vertex = geoCoordintateList[i];
if ( (qFuzzyIsNull(vertex.latitude()) && qFuzzyIsNull(vertex.longitude()))
|| !vertex.isValid())
geoCoordintateList.removeAt(i);
}
for (auto coordinate : geoCoordintateList)
coordinateList.append(QVariant::fromValue(coordinate));
return true;
}
/*!
* \fn void WimaController::containerDataValidChanged(bool valid)
* Pulls plan data generated by \c WimaPlaner from the \c _container if the data is valid (\a valid equals true).
......@@ -451,7 +399,7 @@ bool WimaController::_fetchContainerData()
_visualItems.clear();
_missionItems.clearAndDeleteContents();
_currentMissionItems.clearAndDeleteContents();
_waypointPath.clear();
_waypoints.clear();
_currentWaypointPath.clear();
_snakeTiles.polygons().clear();
_snakeTilesLocal.polygons().clear();
......@@ -675,12 +623,12 @@ bool WimaController::_calcNextPhase()
QVector<QGeoCoordinate> CSWpList; // list with potential waypoints (from _missionItems), for _currentMissionItems
if (!reverse) {
if (!extractCoordinateList(_missionItems, CSWpList, _startWaypointIndex, _endWaypointIndex)) {
if (!getCoordinates(_missionItems, CSWpList, _startWaypointIndex, _endWaypointIndex)) {
qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
return false;
}
} else {
if (!extractCoordinateList(_missionItems, CSWpList, _endWaypointIndex, _startWaypointIndex)) {
if (!getCoordinates(_missionItems, CSWpList, _endWaypointIndex, _startWaypointIndex)) {
qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
return false;
}
......@@ -859,15 +807,19 @@ bool WimaController::_calcNextPhase()
void WimaController::_updateWaypointPath()
{
_waypointPath.clear();
extractCoordinateList(_missionItems, _waypointPath, 0, _missionItems.count()-1);
_waypoints.clear();
getCoordinates(_missionItems,
_waypoints,
0,
std::size_t( std::max(_missionItems.count()-1,0) )
);
emit waypointPathChanged();
}
void WimaController::_updateCurrentPath()
{
_currentWaypointPath.clear();
extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
getCoordinates(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
emit currentWaypointPathChanged();
}
......@@ -1408,7 +1360,7 @@ void WimaController::_saveCurrentMissionItemsToBuffer()
}
void WimaController::_progressFromJson(JsonDocUPtr pDoc,
QNemoProgress &progress)
QNemoProgress &progress)
{
int requiredSize = _snakeTilesLocal.polygons().size();
if ( !_pRosBridge->casePacker()->unpack(pDoc, progress)
......@@ -1418,3 +1370,10 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc,
emit WimaController::nemoProgressChanged();
}
template<>
QVariant getCoordinate<QVariant>(const SimpleMissionItem* item)
{
return QVariant::fromValue(item->coordinate());
}
src/Wima/WimaController.h
View file @ 6a082ad8
......@@ -116,7 +116,7 @@ public:
WimaDataContainer* dataContainer (void) { return _container; }
QmlObjectListModel* missionItems (void) { return &_missionItems; }
QmlObjectListModel* currentMissionItems (void) { return &_currentMissionItems; }
QVariantList waypointPath (void) { return _waypointPath; }
QVariantList waypointPath (void) const;
QVariantList currentWaypointPath (void) { return _currentWaypointPath; }
Fact* enableWimaController (void) { return &_enableWimaController; }
Fact* overlapWaypoints (void) { return &_overlapWaypoints; }
......@@ -200,14 +200,6 @@ public:
QJsonDocument saveToJson(FileType fileType);
bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path);
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList);
/// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList);
/// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex);
signals:
void masterControllerChanged (void);
......@@ -285,7 +277,7 @@ private:
QmlObjectListModel _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
// _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
QmlObjectListModel _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked
QVariantList _waypointPath; // path connecting the items in _missionItems
QVector<QGeoCoordinate> _waypoints; // path connecting the items in _missionItems
QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems
QGeoCoordinate _takeoffLandPostion;
......@@ -376,3 +368,53 @@ private:
*/
template<class CoordinateType>
CoordinateType getCoordinate(const SimpleMissionItem* item){
return item->coordinate();
}
template<>
QVariant getCoordinate<QVariant>(const SimpleMissionItem* item);
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool getCoordinates(QmlObjectListModel &missionItems,
ContainerType<CoordinateType> &coordinateList,
std::size_t startIndex,
std::size_t endIndex){
if ( startIndex < std::size_t(missionItems.count())
&& endIndex < std::size_t(missionItems.count()) ) {
if (startIndex > endIndex) {
if (!getCoordinates(missionItems, coordinateList, startIndex, missionItems.count()-1))
return false;
if (!getCoordinates(missionItems, coordinateList, 0, endIndex))
return false;
} else {
for (std::size_t i = startIndex; i <= endIndex; i++) {
SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(int(i));
if (mItem == nullptr) {
coordinateList.clear();
return false;
}
coordinateList.append(getCoordinate<CoordinateType>(mItem));
}
}
} else
return false;
return true;
}
/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool getCoordinates(QmlObjectListModel &missionItems,
ContainerType<CoordinateType> &coordinateList){
return getCoordinates(missionItems, coordinateList, 0, missionItems.count());
}
src/Wima/WimaVehicle.cc deleted 100644 → 0
View file @ d02c3c46
#include "WimaVehicle.h"
WimaVehicle::WimaVehicle(QObject *parent):
QObject (parent)
,_vehicle (nullptr)
,_serviceArea (nullptr)
,_vehicleCorridor (nullptr)
,_operationArea (nullptr)
{
}
void WimaVehicle::setVehicle(Vehicle *vehicle)
{
if(vehicle != nullptr){
_vehicle = vehicle;
}else {
qWarning("Not a valid vehicle!");
}
}
void WimaVehicle::setServiceArea(WimaServiceArea *servicePolygon)
{
if(servicePolygon != nullptr){
_serviceArea = servicePolygon;
}else{
qWarning("Not a valid service Polygon!");
}
}
void WimaVehicle::setVCorridor(WimaVCorridor *vehicleCorridor)
{
if(vehicleCorridor != nullptr){
_vehicleCorridor = vehicleCorridor;
}else{
qWarning("Not a valid vehicle Corridor!");
}
}
void WimaVehicle::setOperationArea(WimaGOperationArea *operationArea)
{
if(operationArea != nullptr){
_operationArea = operationArea;
}else{
qWarning("Not a valid measurementPolygon!");
}
}
src/Wima/WimaVehicle.h deleted 100644 → 0
View file @ d02c3c46
#pragma once
#include <QObject>
#include "Vehicle.h"
class WimaServiceArea;
class WimaVCorridor;
class WimaGOperationArea;
class WimaVehicle : public QObject
{
Q_OBJECT
public:
WimaVehicle(QObject* parent = nullptr);
WimaServiceArea* serviceArea (void) const { return _serviceArea;}
WimaVCorridor* vehicleCorridor (void) const { return _vehicleCorridor;}
WimaGOperationArea* operationArea (void) const { return _operationArea;}
void setVehicle (Vehicle* vehicle);
void setServiceArea (WimaServiceArea* serviceArea);
void setVCorridor (WimaVCorridor* vehicleCorridor);
void setOperationArea (WimaGOperationArea* operationArea);
private:
Vehicle* _vehicle;
WimaServiceArea* _serviceArea;
WimaVCorridor* _vehicleCorridor;
WimaGOperationArea* _operationArea;
};
src/Wima/doc/doc/QDoc/html/.index deleted 100644 → 0
View file @ d02c3c46
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QDOCINDEX>
<INDEX url="" title="" version="" project="">
<namespace threadsafety="unspecified" name="" status="active" access="public"/>
</INDEX>
src/Wima/doc/doc/QDoc/html/wima/wima.index deleted 100644 → 0
View file @ d02c3c46
This source diff could not be displayed because it is too large. You can view the blob instead.
src/Wima/notesOnWpExchange.txt deleted 100644 → 0
View file @ d02c3c46
How to exchange mission between WimaPlaner and WimaController.
1) convert mission into waypoints
2) send waypoints to WimaController
3) upload desired subset of waypoints to vehicle
4) start/continue mission
5) return vehicle on battery low
6) go to 4) or quit if last waypoint reached
investigate load, loadFromVehicle, syncInProgress, _newMissionItemsAvailableFromVehicle
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