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Commit 6ce56c5d authored by DonLakeFlyer's avatar DonLakeFlyer
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Plan supports transition from offline<->online without losing data

parent c1a14c56
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Showing with 349 additions and 316 deletions
src/MissionManager/GeoFenceController.cc
View file @ 6ce56c5d
...@@ -34,13 +34,16 @@ QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog") ...@@ -34,13 +34,16 @@ QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
const char* GeoFenceController::_jsonFileTypeValue = "GeoFence"; const char* GeoFenceController::_jsonFileTypeValue = "GeoFence";
const char* GeoFenceController::_jsonBreachReturnKey = "breachReturn"; const char* GeoFenceController::_jsonBreachReturnKey = "breachReturn";
GeoFenceController::GeoFenceController(QObject* parent) GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
: PlanElementController(parent) : PlanElementController(masterController, parent)
, _geoFenceManager(_managerVehicle->geoFenceManager())
, _dirty(false) , _dirty(false)
, _mapPolygon(this) , _mapPolygon(this)
{ {
connect(_mapPolygon.qmlPathModel(), &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems); connect(_mapPolygon.qmlPathModel(), &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
connect(_mapPolygon.qmlPathModel(), &QmlObjectListModel::dirtyChanged, this, &GeoFenceController::_polygonDirtyChanged); connect(_mapPolygon.qmlPathModel(), &QmlObjectListModel::dirtyChanged, this, &GeoFenceController::_polygonDirtyChanged);
managerVehicleChanged(_managerVehicle);
} }
GeoFenceController::~GeoFenceController() GeoFenceController::~GeoFenceController()
...@@ -56,14 +59,6 @@ void GeoFenceController::start(bool editMode) ...@@ -56,14 +59,6 @@ void GeoFenceController::start(bool editMode)
_init(); _init();
} }
void GeoFenceController::startStaticActiveVehicle(Vehicle* vehicle)
{
qCDebug(GeoFenceControllerLog) << "startStaticActiveVehicle";
PlanElementController::startStaticActiveVehicle(vehicle);
_init();
}
void GeoFenceController::_init(void) void GeoFenceController::_init(void)
{ {
...@@ -89,26 +84,31 @@ void GeoFenceController::_signalAll(void) ...@@ -89,26 +84,31 @@ void GeoFenceController::_signalAll(void)
emit dirtyChanged(dirty()); emit dirtyChanged(dirty());
} }
void GeoFenceController::activeVehicleBeingRemoved(void) void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
{ {
_activeVehicle->geoFenceManager()->disconnect(this); if (_managerVehicle) {
_activeVehicle = NULL; _geoFenceManager->disconnect(this);
} _managerVehicle = NULL;
_geoFenceManager = NULL;
}
void GeoFenceController::activeVehicleSet(Vehicle* vehicle) _managerVehicle = managerVehicle;
{ if (!_managerVehicle) {
_activeVehicle = vehicle; qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=NULL";
GeoFenceManager* geoFenceManager = _activeVehicle->geoFenceManager(); return;
connect(geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged); }
connect(geoFenceManager, &GeoFenceManager::circleEnabledChanged, this, &GeoFenceController::circleEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::circleRadiusFactChanged, this, &GeoFenceController::circleRadiusFactChanged); _geoFenceManager = _managerVehicle->geoFenceManager();
connect(geoFenceManager, &GeoFenceManager::polygonEnabledChanged, this, &GeoFenceController::polygonEnabledChanged); connect(_geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged); connect(_geoFenceManager, &GeoFenceManager::circleEnabledChanged, this, &GeoFenceController::circleEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::loadComplete, this, &GeoFenceController::_loadComplete); connect(_geoFenceManager, &GeoFenceManager::circleRadiusFactChanged, this, &GeoFenceController::circleRadiusFactChanged);
connect(geoFenceManager, &GeoFenceManager::inProgressChanged, this, &GeoFenceController::syncInProgressChanged); connect(_geoFenceManager, &GeoFenceManager::polygonEnabledChanged, this, &GeoFenceController::polygonEnabledChanged);
connect(_geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged);
if (!geoFenceManager->inProgress()) { connect(_geoFenceManager, &GeoFenceManager::loadComplete, this, &GeoFenceController::_loadComplete);
_loadComplete(geoFenceManager->breachReturnPoint(), geoFenceManager->polygon()); connect(_geoFenceManager, &GeoFenceManager::inProgressChanged, this, &GeoFenceController::syncInProgressChanged);
if (!_geoFenceManager->inProgress()) {
_loadComplete(_geoFenceManager->breachReturnPoint(), _geoFenceManager->polygon());
} }
_signalAll(); _signalAll();
...@@ -158,27 +158,23 @@ void GeoFenceController::removeAll(void) ...@@ -158,27 +158,23 @@ void GeoFenceController::removeAll(void)
void GeoFenceController::loadFromVehicle(void) void GeoFenceController::loadFromVehicle(void)
{ {
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) { if (!syncInProgress()) {
_activeVehicle->geoFenceManager()->loadFromVehicle(); _geoFenceManager->loadFromVehicle();
} else { } else {
qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress(); qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call while syncInProgress";
} }
} }
void GeoFenceController::sendToVehicle(void) void GeoFenceController::sendToVehicle(void)
{ {
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) { _geoFenceManager->sendToVehicle(_breachReturnPoint, _mapPolygon.pathModel());
_activeVehicle->geoFenceManager()->sendToVehicle(_breachReturnPoint, _mapPolygon.pathModel()); _mapPolygon.setDirty(false);
_mapPolygon.setDirty(false); setDirty(false);
setDirty(false);
} else {
qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress();
}
} }
bool GeoFenceController::syncInProgress(void) const bool GeoFenceController::syncInProgress(void) const
{ {
return _activeVehicle->geoFenceManager()->inProgress(); return _geoFenceManager->inProgress();
} }
bool GeoFenceController::dirty(void) const bool GeoFenceController::dirty(void) const
...@@ -207,37 +203,37 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty) ...@@ -207,37 +203,37 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty)
bool GeoFenceController::breachReturnSupported(void) const bool GeoFenceController::breachReturnSupported(void) const
{ {
return _activeVehicle->geoFenceManager()->breachReturnSupported(); return _geoFenceManager->breachReturnSupported();
} }
bool GeoFenceController::circleEnabled(void) const bool GeoFenceController::circleEnabled(void) const
{ {
return _activeVehicle->geoFenceManager()->circleEnabled(); return _geoFenceManager->circleEnabled();
} }
Fact* GeoFenceController::circleRadiusFact(void) const Fact* GeoFenceController::circleRadiusFact(void) const
{ {
return _activeVehicle->geoFenceManager()->circleRadiusFact(); return _geoFenceManager->circleRadiusFact();
} }
bool GeoFenceController::polygonSupported(void) const bool GeoFenceController::polygonSupported(void) const
{ {
return _activeVehicle->geoFenceManager()->polygonSupported(); return _geoFenceManager->polygonSupported();
} }
bool GeoFenceController::polygonEnabled(void) const bool GeoFenceController::polygonEnabled(void) const
{ {
return _activeVehicle->geoFenceManager()->polygonEnabled(); return _geoFenceManager->polygonEnabled();
} }
QVariantList GeoFenceController::params(void) const QVariantList GeoFenceController::params(void) const
{ {
return _activeVehicle->geoFenceManager()->params(); return _geoFenceManager->params();
} }
QStringList GeoFenceController::paramLabels(void) const QStringList GeoFenceController::paramLabels(void) const
{ {
return _activeVehicle->geoFenceManager()->paramLabels(); return _geoFenceManager->paramLabels();
} }
void GeoFenceController::_setDirty(void) void GeoFenceController::_setDirty(void)
...@@ -280,5 +276,5 @@ void GeoFenceController::_updateContainsItems(void) ...@@ -280,5 +276,5 @@ void GeoFenceController::_updateContainsItems(void)
void GeoFenceController::removeAllFromVehicle(void) void GeoFenceController::removeAllFromVehicle(void)
{ {
_activeVehicle->geoFenceManager()->removeAll(); _geoFenceManager->removeAll();
} }
src/MissionManager/GeoFenceController.h
View file @ 6ce56c5d
...@@ -26,7 +26,7 @@ class GeoFenceController : public PlanElementController ...@@ -26,7 +26,7 @@ class GeoFenceController : public PlanElementController
Q_OBJECT Q_OBJECT
public: public:
GeoFenceController(QObject* parent = NULL); GeoFenceController(PlanMasterController* masterController, QObject* parent = NULL);
~GeoFenceController(); ~GeoFenceController();
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT) Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
...@@ -45,7 +45,6 @@ public: ...@@ -45,7 +45,6 @@ public:
Q_INVOKABLE void removePolygon (void) { _mapPolygon.clear(); } Q_INVOKABLE void removePolygon (void) { _mapPolygon.clear(); }
void start (bool editMode) final; void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
void save (QJsonObject& json) final; void save (QJsonObject& json) final;
bool load (const QJsonObject& json, QString& errorString) final; bool load (const QJsonObject& json, QString& errorString) final;
void loadFromVehicle (void) final; void loadFromVehicle (void) final;
...@@ -56,8 +55,7 @@ public: ...@@ -56,8 +55,7 @@ public:
bool dirty (void) const final; bool dirty (void) const final;
void setDirty (bool dirty) final; void setDirty (bool dirty) final;
bool containsItems (void) const final; bool containsItems (void) const final;
void activeVehicleBeingRemoved (void) final; void managerVehicleChanged (Vehicle* managerVehicle) final;
void activeVehicleSet (Vehicle* vehicle) final;
bool circleEnabled (void) const; bool circleEnabled (void) const;
Fact* circleRadiusFact (void) const; Fact* circleRadiusFact (void) const;
...@@ -96,9 +94,10 @@ private: ...@@ -96,9 +94,10 @@ private:
void _init(void); void _init(void);
void _signalAll(void); void _signalAll(void);
bool _dirty; GeoFenceManager* _geoFenceManager;
QGCMapPolygon _mapPolygon; bool _dirty;
QGeoCoordinate _breachReturnPoint; QGCMapPolygon _mapPolygon;
QGeoCoordinate _breachReturnPoint;
static const char* _jsonFileTypeValue; static const char* _jsonFileTypeValue;
static const char* _jsonBreachReturnKey; static const char* _jsonBreachReturnKey;
......
src/MissionManager/MissionController.cc
View file @ 6ce56c5d
...@@ -24,6 +24,7 @@ ...@@ -24,6 +24,7 @@
#include "AppSettings.h" #include "AppSettings.h"
#include "MissionSettingsItem.h" #include "MissionSettingsItem.h"
#include "QGCQGeoCoordinate.h" #include "QGCQGeoCoordinate.h"
#include "PlanMasterController.h"
#ifndef __mobile__ #ifndef __mobile__
#include "MainWindow.h" #include "MainWindow.h"
...@@ -48,8 +49,9 @@ const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT"; ...@@ -48,8 +49,9 @@ const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";
const int MissionController::_missionFileVersion = 2; const int MissionController::_missionFileVersion = 2;
MissionController::MissionController(QObject *parent) MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
: PlanElementController(parent) : PlanElementController(masterController, parent)
, _missionManager(_managerVehicle->missionManager())
, _visualItems(NULL) , _visualItems(NULL)
, _settingsItem(NULL) , _settingsItem(NULL)
, _firstItemsFromVehicle(false) , _firstItemsFromVehicle(false)
...@@ -60,6 +62,7 @@ MissionController::MissionController(QObject *parent) ...@@ -60,6 +62,7 @@ MissionController::MissionController(QObject *parent)
, _progressPct(0) , _progressPct(0)
{ {
_resetMissionFlightStatus(); _resetMissionFlightStatus();
managerVehicleChanged(_managerVehicle);
} }
MissionController::~MissionController() MissionController::~MissionController()
...@@ -76,9 +79,9 @@ void MissionController::_resetMissionFlightStatus(void) ...@@ -76,9 +79,9 @@ void MissionController::_resetMissionFlightStatus(void)
_missionFlightStatus.cruiseTime = 0.0; _missionFlightStatus.cruiseTime = 0.0;
_missionFlightStatus.hoverDistance = 0.0; _missionFlightStatus.hoverDistance = 0.0;
_missionFlightStatus.cruiseDistance = 0.0; _missionFlightStatus.cruiseDistance = 0.0;
_missionFlightStatus.cruiseSpeed = _activeVehicle ? _activeVehicle->defaultCruiseSpeed() : std::numeric_limits<double>::quiet_NaN(); _missionFlightStatus.cruiseSpeed = _controllerVehicle->defaultCruiseSpeed();
_missionFlightStatus.hoverSpeed = _activeVehicle ? _activeVehicle->defaultHoverSpeed() : std::numeric_limits<double>::quiet_NaN(); _missionFlightStatus.hoverSpeed = _controllerVehicle->defaultHoverSpeed();
_missionFlightStatus.vehicleSpeed = _activeVehicle ? (_activeVehicle->multiRotor() || _activeVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed) : std::numeric_limits<double>::quiet_NaN(); _missionFlightStatus.vehicleSpeed = _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
_missionFlightStatus.vehicleYaw = 0.0; _missionFlightStatus.vehicleYaw = 0.0;
_missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN(); _missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
...@@ -93,12 +96,10 @@ void MissionController::_resetMissionFlightStatus(void) ...@@ -93,12 +96,10 @@ void MissionController::_resetMissionFlightStatus(void)
_missionFlightStatus.batteryChangePoint = -1; _missionFlightStatus.batteryChangePoint = -1;
_missionFlightStatus.batteriesRequired = -1; _missionFlightStatus.batteriesRequired = -1;
if (_activeVehicle) { _controllerVehicle->firmwarePlugin()->batteryConsumptionData(_controllerVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
_activeVehicle->firmwarePlugin()->batteryConsumptionData(_activeVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps); if (_missionFlightStatus.mAhBattery != 0) {
if (_missionFlightStatus.mAhBattery != 0) { double batteryPercentRemainingAnnounce = qgcApp()->toolbox()->settingsManager()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
double batteryPercentRemainingAnnounce = qgcApp()->toolbox()->settingsManager()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble(); _missionFlightStatus.ampMinutesAvailable = (double)_missionFlightStatus.mAhBattery / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
_missionFlightStatus.ampMinutesAvailable = (double)_missionFlightStatus.mAhBattery / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
}
} }
emit missionDistanceChanged(_missionFlightStatus.totalDistance); emit missionDistanceChanged(_missionFlightStatus.totalDistance);
...@@ -121,19 +122,11 @@ void MissionController::start(bool editMode) ...@@ -121,19 +122,11 @@ void MissionController::start(bool editMode)
_init(); _init();
} }
void MissionController::startStaticActiveVehicle(Vehicle *vehicle)
{
qCDebug(MissionControllerLog) << "startStaticActiveVehicle";
PlanElementController::startStaticActiveVehicle(vehicle);
_init();
}
void MissionController::_init(void) void MissionController::_init(void)
{ {
// We start with an empty mission // We start with an empty mission
_visualItems = new QmlObjectListModel(this); _visualItems = new QmlObjectListModel(this);
_addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */); _addMissionSettings(_controllerVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems(); _initAllVisualItems();
} }
...@@ -151,13 +144,13 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque ...@@ -151,13 +144,13 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
// - Remove all way requested from Fly view (clear mission on flight end) // - Remove all way requested from Fly view (clear mission on flight end)
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this); QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _activeVehicle->missionManager()->missionItems(); const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count(); qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
int i = 0; int i = 0;
if (_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) { if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position // First item is fake home position
_addMissionSettings(_activeVehicle, newControllerMissionItems, false /* addToCenter */); _addMissionSettings(_controllerVehicle, newControllerMissionItems, false /* addToCenter */);
MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0); MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
if (!settingsItem) { if (!settingsItem) {
qWarning() << "First item is not settings item"; qWarning() << "First item is not settings item";
...@@ -169,7 +162,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque ...@@ -169,7 +162,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
for (; i<newMissionItems.count(); i++) { for (; i<newMissionItems.count(); i++) {
const MissionItem* missionItem = newMissionItems[i]; const MissionItem* missionItem = newMissionItems[i];
newControllerMissionItems->append(new SimpleMissionItem(_activeVehicle, *missionItem, this)); newControllerMissionItems->append(new SimpleMissionItem(_controllerVehicle, *missionItem, this));
} }
_deinitAllVisualItems(); _deinitAllVisualItems();
...@@ -177,14 +170,14 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque ...@@ -177,14 +170,14 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
_settingsItem = NULL; _settingsItem = NULL;
_visualItems = newControllerMissionItems; _visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) { if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */); _addMissionSettings(_controllerVehicle, _visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
} }
_missionItemsRequested = false; _missionItemsRequested = false;
if (_editMode) { if (_editMode) {
MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle); MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
} }
_initAllVisualItems(); _initAllVisualItems();
...@@ -194,17 +187,13 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque ...@@ -194,17 +187,13 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
void MissionController::loadFromVehicle(void) void MissionController::loadFromVehicle(void)
{ {
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle(); _missionItemsRequested = true;
_managerVehicle->missionManager()->requestMissionItems();
if (activeVehicle) {
_missionItemsRequested = true;
activeVehicle->missionManager()->requestMissionItems();
}
} }
void MissionController::sendToVehicle(void) void MissionController::sendToVehicle(void)
{ {
sendItemsToVehicle(_activeVehicle, _visualItems); sendItemsToVehicle(_managerVehicle, _visualItems);
setDirty(false); setDirty(false);
} }
...@@ -266,13 +255,13 @@ int MissionController::_nextSequenceNumber(void) ...@@ -266,13 +255,13 @@ int MissionController::_nextSequenceNumber(void)
int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i) int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
{ {
int sequenceNumber = _nextSequenceNumber(); int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this); SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, this);
newItem->setSequenceNumber(sequenceNumber); newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate); newItem->setCoordinate(coordinate);
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem); _initVisualItem(newItem);
if (_visualItems->count() == 1) { if (_visualItems->count() == 1) {
newItem->setCommand(_activeVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); newItem->setCommand(_controllerVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
} }
newItem->setDefaultsForCommand(); newItem->setDefaultsForCommand();
if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) { if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
...@@ -297,10 +286,10 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate ...@@ -297,10 +286,10 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
int sequenceNumber = _nextSequenceNumber(); int sequenceNumber = _nextSequenceNumber();
if (itemName == _surveyMissionItemName) { if (itemName == _surveyMissionItemName) {
newItem = new SurveyMissionItem(_activeVehicle, _visualItems); newItem = new SurveyMissionItem(_controllerVehicle, _visualItems);
newItem->setCoordinate(mapCenterCoordinate); newItem->setCoordinate(mapCenterCoordinate);
} else if (itemName == _fwLandingMissionItemName) { } else if (itemName == _fwLandingMissionItemName) {
newItem = new FixedWingLandingComplexItem(_activeVehicle, _visualItems); newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
} else { } else {
qWarning() << "Internal error: Unknown complex item:" << itemName; qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber; return sequenceNumber;
...@@ -333,14 +322,14 @@ void MissionController::removeAll(void) ...@@ -333,14 +322,14 @@ void MissionController::removeAll(void)
_visualItems->deleteLater(); _visualItems->deleteLater();
_settingsItem = NULL; _settingsItem = NULL;
_visualItems = new QmlObjectListModel(this); _visualItems = new QmlObjectListModel(this);
_addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */); _addMissionSettings(_controllerVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems(); _initAllVisualItems();
setDirty(true); setDirty(true);
_resetMissionFlightStatus(); _resetMissionFlightStatus();
} }
} }
bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString) bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{ {
// Validate root object keys // Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = { QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
...@@ -365,7 +354,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje ...@@ -365,7 +354,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
return false; return false;
} }
SurveyMissionItem* item = new SurveyMissionItem(vehicle, visualItems); SurveyMissionItem* item = new SurveyMissionItem(_controllerVehicle, visualItems);
const QJsonObject itemObject = itemValue.toObject(); const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) { if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
surveyItems.append(item); surveyItems.append(item);
...@@ -408,7 +397,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje ...@@ -408,7 +397,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
} }
const QJsonObject itemObject = itemValue.toObject(); const QJsonObject itemObject = itemValue.toObject();
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems); SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) { if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber(); qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
nextSequenceNumber = item->lastSequenceNumber() + 1; nextSequenceNumber = item->lastSequenceNumber() + 1;
...@@ -420,10 +409,10 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje ...@@ -420,10 +409,10 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
} while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count()); } while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
if (json.contains(_jsonPlannedHomePositionKey)) { if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems); SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) { if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems); MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
settingsItem->setCoordinate(item->coordinate()); settingsItem->setCoordinate(item->coordinate());
visualItems->insert(0, settingsItem); visualItems->insert(0, settingsItem);
item->deleteLater(); item->deleteLater();
...@@ -431,20 +420,20 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje ...@@ -431,20 +420,20 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
return false; return false;
} }
} else { } else {
_addMissionSettings(vehicle, visualItems, true /* addToCenter */); _addMissionSettings(_controllerVehicle, visualItems, true /* addToCenter */);
} }
return true; return true;
} }
bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString) bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{ {
// Validate root object keys // Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = { QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Array, true }, { _jsonPlannedHomePositionKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true }, { _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFirmwareTypeKey, QJsonValue::Double, true }, { _jsonFirmwareTypeKey, QJsonValue::Double, true },
{ _jsonVehicleTypeKey, QJsonValue::Double, false }, { _jsonVehicleTypeKey, QJsonValue::Double, true },
{ _jsonCruiseSpeedKey, QJsonValue::Double, false }, { _jsonCruiseSpeedKey, QJsonValue::Double, false },
{ _jsonHoverSpeedKey, QJsonValue::Double, false }, { _jsonHoverSpeedKey, QJsonValue::Double, false },
}; };
...@@ -455,14 +444,10 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -455,14 +444,10 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count(); qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
// Mission Settings // Mission Settings
QGeoCoordinate homeCoordinate;
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings(); AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false; appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType((MAV_AUTOPILOT)(json[_jsonVehicleTypeKey].toDouble())));
} appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType((MAV_TYPE)json[_jsonVehicleTypeKey].toDouble()));
if (json.contains(_jsonVehicleTypeKey) && vehicle->isOfflineEditingVehicle()) {
appSettings->offlineEditingVehicleType()->setRawValue(json[_jsonVehicleTypeKey].toDouble());
}
if (json.contains(_jsonCruiseSpeedKey)) { if (json.contains(_jsonCruiseSpeedKey)) {
appSettings->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble()); appSettings->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
} }
...@@ -470,7 +455,11 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -470,7 +455,11 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble()); appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
} }
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems); QGeoCoordinate homeCoordinate;
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
settingsItem->setCoordinate(homeCoordinate); settingsItem->setCoordinate(homeCoordinate);
visualItems->insert(0, settingsItem); visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate; qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
...@@ -499,7 +488,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -499,7 +488,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString(); QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) { if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(vehicle, visualItems); SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) { if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
qCDebug(MissionControllerLog) << "Loading simple item: nextSequenceNumber:command" << nextSequenceNumber << simpleItem->command(); qCDebug(MissionControllerLog) << "Loading simple item: nextSequenceNumber:command" << nextSequenceNumber << simpleItem->command();
nextSequenceNumber = simpleItem->lastSequenceNumber() + 1; nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
...@@ -518,7 +507,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -518,7 +507,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
if (complexItemType == SurveyMissionItem::jsonComplexItemTypeValue) { if (complexItemType == SurveyMissionItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber; qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyMissionItem* surveyItem = new SurveyMissionItem(vehicle, visualItems); SurveyMissionItem* surveyItem = new SurveyMissionItem(_controllerVehicle, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) { if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false; return false;
} }
...@@ -527,7 +516,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -527,7 +516,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
visualItems->append(surveyItem); visualItems->append(surveyItem);
} else if (complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) { } else if (complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Fixed Wing Landing Pattern: nextSequenceNumber" << nextSequenceNumber; qCDebug(MissionControllerLog) << "Loading Fixed Wing Landing Pattern: nextSequenceNumber" << nextSequenceNumber;
FixedWingLandingComplexItem* landingItem = new FixedWingLandingComplexItem(vehicle, visualItems); FixedWingLandingComplexItem* landingItem = new FixedWingLandingComplexItem(_controllerVehicle, visualItems);
if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) { if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false; return false;
} }
...@@ -536,7 +525,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje ...@@ -536,7 +525,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
visualItems->append(landingItem); visualItems->append(landingItem);
} else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) { } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber; qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems); MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) { if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false; return false;
} }
...@@ -596,13 +585,13 @@ bool MissionController::_loadItemsFromJson(const QJsonObject& json, QmlObjectLis ...@@ -596,13 +585,13 @@ bool MissionController::_loadItemsFromJson(const QJsonObject& json, QmlObjectLis
errorString); errorString);
if (fileVersion == 1) { if (fileVersion == 1) {
return _loadJsonMissionFileV1(_activeVehicle, json, visualItems, errorString); return _loadJsonMissionFileV1(json, visualItems, errorString);
} else { } else {
return _loadJsonMissionFileV2(_activeVehicle, json, visualItems, errorString); return _loadJsonMissionFileV2(json, visualItems, errorString);
} }
} }
bool MissionController::_loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString) bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{ {
bool firstItem = true; bool firstItem = true;
bool plannedHomePositionInFile = false; bool plannedHomePositionInFile = false;
...@@ -625,11 +614,11 @@ bool MissionController::_loadTextMissionFile(Vehicle* vehicle, QTextStream& stre ...@@ -625,11 +614,11 @@ bool MissionController::_loadTextMissionFile(Vehicle* vehicle, QTextStream& stre
if (versionOk) { if (versionOk) {
// Start with planned home in center // Start with planned home in center
_addMissionSettings(vehicle, visualItems, true /* addToCenter */); _addMissionSettings(_controllerVehicle, visualItems, true /* addToCenter */);
MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0); MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
while (!stream.atEnd()) { while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems); SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, visualItems);
if (item->load(stream)) { if (item->load(stream)) {
if (firstItem && plannedHomePositionInFile) { if (firstItem && plannedHomePositionInFile) {
...@@ -672,10 +661,10 @@ void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualI ...@@ -672,10 +661,10 @@ void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualI
_visualItems = loadedVisualItems; _visualItems = loadedVisualItems;
if (_visualItems->count() == 0) { if (_visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */); _addMissionSettings(_controllerVehicle, _visualItems, true /* addToCenter */);
} }
MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle); MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
_initAllVisualItems(); _initAllVisualItems();
} }
...@@ -686,7 +675,7 @@ bool MissionController::load(const QJsonObject& json, QString& errorString) ...@@ -686,7 +675,7 @@ bool MissionController::load(const QJsonObject& json, QString& errorString)
QString errorMessage = tr("Mission: %1"); QString errorMessage = tr("Mission: %1");
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this); QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadJsonMissionFileV2(_activeVehicle, json, loadedVisualItems, errorStr)) { if (!_loadJsonMissionFileV2(json, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr); errorString = errorMessage.arg(errorStr);
return false; return false;
} }
...@@ -727,7 +716,7 @@ bool MissionController::loadTextFile(QFile& file, QString& errorString) ...@@ -727,7 +716,7 @@ bool MissionController::loadTextFile(QFile& file, QString& errorString)
QTextStream stream(bytes); QTextStream stream(bytes);
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this); QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadTextMissionFile(_activeVehicle, stream, loadedVisualItems, errorStr)) { if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr); errorString = errorMessage.arg(errorStr);
return false; return false;
} }
...@@ -751,10 +740,10 @@ void MissionController::save(QJsonObject& json) ...@@ -751,10 +740,10 @@ void MissionController::save(QJsonObject& json)
QJsonValue coordinateValue; QJsonValue coordinateValue;
JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue); JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue);
json[_jsonPlannedHomePositionKey] = coordinateValue; json[_jsonPlannedHomePositionKey] = coordinateValue;
json[_jsonFirmwareTypeKey] = _activeVehicle->firmwareType(); json[_jsonFirmwareTypeKey] = _controllerVehicle->firmwareType();
json[_jsonVehicleTypeKey] = _activeVehicle->vehicleType(); json[_jsonVehicleTypeKey] = _controllerVehicle->vehicleType();
json[_jsonCruiseSpeedKey] = _activeVehicle->defaultCruiseSpeed(); json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
json[_jsonHoverSpeedKey] = _activeVehicle->defaultHoverSpeed(); json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
// Save the visual items // Save the visual items
...@@ -969,9 +958,9 @@ void MissionController::_recalcMissionFlightStatus() ...@@ -969,9 +958,9 @@ void MissionController::_recalcMissionFlightStatus()
// Look for speed changed // Look for speed changed
double newSpeed = item->specifiedFlightSpeed(); double newSpeed = item->specifiedFlightSpeed();
if (!qIsNaN(newSpeed)) { if (!qIsNaN(newSpeed)) {
if (_activeVehicle->multiRotor()) { if (_controllerVehicle->multiRotor()) {
_missionFlightStatus.hoverSpeed = newSpeed; _missionFlightStatus.hoverSpeed = newSpeed;
} else if (_activeVehicle->vtol()) { } else if (_controllerVehicle->vtol()) {
if (vtolInHover) { if (vtolInHover) {
_missionFlightStatus.hoverSpeed = newSpeed; _missionFlightStatus.hoverSpeed = newSpeed;
} else { } else {
...@@ -984,7 +973,7 @@ void MissionController::_recalcMissionFlightStatus() ...@@ -984,7 +973,7 @@ void MissionController::_recalcMissionFlightStatus()
} }
// Look for gimbal change // Look for gimbal change
if (_activeVehicle->vehicleYawsToNextWaypointInMission()) { if (_controllerVehicle->vehicleYawsToNextWaypointInMission()) {
// We current only support gimbal display in this mode // We current only support gimbal display in this mode
double gimbalYaw = item->specifiedGimbalYaw(); double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw)) { if (!qIsNaN(gimbalYaw)) {
...@@ -1005,7 +994,7 @@ void MissionController::_recalcMissionFlightStatus() ...@@ -1005,7 +994,7 @@ void MissionController::_recalcMissionFlightStatus()
} }
// Update VTOL state // Update VTOL state
if (simpleItem && _activeVehicle->vtol()) { if (simpleItem && _controllerVehicle->vtol()) {
switch (simpleItem->command()) { switch (simpleItem->command()) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF: case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
vtolInHover = false; vtolInHover = false;
...@@ -1069,14 +1058,14 @@ void MissionController::_recalcMissionFlightStatus() ...@@ -1069,14 +1058,14 @@ void MissionController::_recalcMissionFlightStatus()
// Calculate time/distance // Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed; double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed; double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
if (_activeVehicle->vtol()) { if (_controllerVehicle->vtol()) {
if (vtolInHover) { if (vtolInHover) {
_addHoverTime(hoverTime, distance, item->sequenceNumber()); _addHoverTime(hoverTime, distance, item->sequenceNumber());
} else { } else {
_addCruiseTime(cruiseTime, distance, item->sequenceNumber()); _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
} }
} else { } else {
if (_activeVehicle->multiRotor()) { if (_controllerVehicle->multiRotor()) {
_addHoverTime(hoverTime, distance, item->sequenceNumber()); _addHoverTime(hoverTime, distance, item->sequenceNumber());
} else { } else {
_addCruiseTime(cruiseTime, distance, item->sequenceNumber()); _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
...@@ -1091,14 +1080,14 @@ void MissionController::_recalcMissionFlightStatus() ...@@ -1091,14 +1080,14 @@ void MissionController::_recalcMissionFlightStatus()
double hoverTime = distance / _missionFlightStatus.hoverSpeed; double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed; double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
if (_activeVehicle->vtol()) { if (_controllerVehicle->vtol()) {
if (vtolInHover) { if (vtolInHover) {
_addHoverTime(hoverTime, distance, item->sequenceNumber()); _addHoverTime(hoverTime, distance, item->sequenceNumber());
} else { } else {
_addCruiseTime(cruiseTime, distance, item->sequenceNumber()); _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
} }
} else { } else {
if (_activeVehicle->multiRotor()) { if (_controllerVehicle->multiRotor()) {
_addHoverTime(hoverTime, distance, item->sequenceNumber()); _addHoverTime(hoverTime, distance, item->sequenceNumber());
} else { } else {
_addCruiseTime(cruiseTime, distance, item->sequenceNumber()); _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
...@@ -1222,8 +1211,8 @@ void MissionController::_initAllVisualItems(void) ...@@ -1222,8 +1211,8 @@ void MissionController::_initAllVisualItems(void)
_settingsItem->setIsCurrentItem(true); _settingsItem->setIsCurrentItem(true);
} }
if (!_editMode && _activeVehicle) { if (!_editMode && _controllerVehicle) {
_settingsItem->setCoordinate(_activeVehicle->homePosition()); _settingsItem->setCoordinate(_controllerVehicle->homePosition());
} }
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll); connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
...@@ -1236,7 +1225,7 @@ void MissionController::_initAllVisualItems(void) ...@@ -1236,7 +1225,7 @@ void MissionController::_initAllVisualItems(void)
_recalcAll(); _recalcAll();
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged); connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_visualItemsDirtyChanged);
connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems); connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
emit visualItemsChanged(); emit visualItemsChanged();
...@@ -1300,65 +1289,43 @@ void MissionController::_itemCommandChanged(void) ...@@ -1300,65 +1289,43 @@ void MissionController::_itemCommandChanged(void)
_recalcWaypointLines(); _recalcWaypointLines();
} }
void MissionController::activeVehicleBeingRemoved(void) void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
{
qCDebug(MissionControllerLog) << "MissionController::_activeVehicleBeingRemoved";
MissionManager* missionManager = _activeVehicle->missionManager();
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged);
disconnect(missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
disconnect(missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
disconnect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
disconnect(missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
// We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them
removeAll();
setDirty(false);
_activeVehicle = NULL;
}
void MissionController::activeVehicleSet(Vehicle* activeVehicle)
{ {
_activeVehicle = activeVehicle; if (_managerVehicle) {
_missionManager->disconnect(this);
// We always remove all items on vehicle change. This leaves a user model hole: _managerVehicle->disconnect(this);
// If the user has unsaved changes in the Plan view they will lose them _managerVehicle = NULL;
removeAll(); _missionManager = NULL;
setDirty(false); }
MissionManager* missionManager = _activeVehicle->missionManager(); _managerVehicle = managerVehicle;
if (!_managerVehicle) {
qWarning() << "RallyPointController::managerVehicleChanged managerVehicle=NULL";
return;
}
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); _missionManager = _managerVehicle->missionManager();
connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged); connect(_missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged); connect(_missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged);
connect(missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged); connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
connect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady); connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
connect(missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback); connect(_missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); connect(_missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback);
connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus); connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionController::_managerVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus); connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_activeVehicle, &Vehicle::vehicleTypeChanged, this, &MissionController::complexMissionItemNamesChanged); connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this, &MissionController::complexMissionItemNamesChanged);
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) { if (!_masterController->offline()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle. _managerVehicleHomePositionChanged(_managerVehicle->homePosition());
// We don't request mission items for new vehicles since that will happen autamatically.
loadFromVehicle();
} }
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
emit complexMissionItemNamesChanged(); emit complexMissionItemNamesChanged();
emit resumeMissionIndexChanged(); emit resumeMissionIndexChanged();
} }
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition) void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{ {
if (_visualItems) { if (_visualItems) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0)); MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
...@@ -1367,6 +1334,10 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& ...@@ -1367,6 +1334,10 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate&
} else { } else {
qWarning() << "First item is not MissionSettingsItem"; qWarning() << "First item is not MissionSettingsItem";
} }
if (_visualItems->count() == 1) {
// Don't let this trip the dirty bit
_visualItems->setDirty(false);
}
} }
} }
...@@ -1472,7 +1443,7 @@ int MissionController::resumeMissionIndex(void) const ...@@ -1472,7 +1443,7 @@ int MissionController::resumeMissionIndex(void) const
int resumeIndex = 0; int resumeIndex = 0;
if (!_editMode) { if (!_editMode) {
resumeIndex = _activeVehicle->missionManager()->lastCurrentIndex() + (_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0 : 1); resumeIndex = _missionManager->lastCurrentIndex() + (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0 : 1);
if (resumeIndex > 1 && resumeIndex != _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1)->sequenceNumber()) { if (resumeIndex > 1 && resumeIndex != _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1)->sequenceNumber()) {
// Resume at the item previous to the item we were heading towards // Resume at the item previous to the item we were heading towards
resumeIndex--; resumeIndex--;
...@@ -1481,14 +1452,13 @@ int MissionController::resumeMissionIndex(void) const ...@@ -1481,14 +1452,13 @@ int MissionController::resumeMissionIndex(void) const
} }
} }
qDebug() << "resumeIndex" << resumeIndex;
return resumeIndex; return resumeIndex;
} }
void MissionController::_currentMissionIndexChanged(int sequenceNumber) void MissionController::_currentMissionIndexChanged(int sequenceNumber)
{ {
if (!_editMode) { if (!_editMode) {
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) { if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
sequenceNumber++; sequenceNumber++;
} }
...@@ -1501,7 +1471,7 @@ void MissionController::_currentMissionIndexChanged(int sequenceNumber) ...@@ -1501,7 +1471,7 @@ void MissionController::_currentMissionIndexChanged(int sequenceNumber)
bool MissionController::syncInProgress(void) const bool MissionController::syncInProgress(void) const
{ {
return _activeVehicle ? _activeVehicle->missionManager()->inProgress() : false; return _missionManager->inProgress();
} }
bool MissionController::dirty(void) const bool MissionController::dirty(void) const
...@@ -1559,7 +1529,7 @@ bool MissionController::containsItems(void) const ...@@ -1559,7 +1529,7 @@ bool MissionController::containsItems(void) const
void MissionController::removeAllFromVehicle(void) void MissionController::removeAllFromVehicle(void)
{ {
_missionItemsRequested = true; _missionItemsRequested = true;
_activeVehicle->missionManager()->removeAll(); _missionManager->removeAll();
} }
QStringList MissionController::complexMissionItemNames(void) const QStringList MissionController::complexMissionItemNames(void) const
...@@ -1567,7 +1537,7 @@ QStringList MissionController::complexMissionItemNames(void) const ...@@ -1567,7 +1537,7 @@ QStringList MissionController::complexMissionItemNames(void) const
QStringList complexItems; QStringList complexItems;
complexItems.append(_surveyMissionItemName); complexItems.append(_surveyMissionItemName);
if (_activeVehicle->fixedWing()) { if (_controllerVehicle->fixedWing()) {
complexItems.append(_fwLandingMissionItemName); complexItems.append(_fwLandingMissionItemName);
} }
...@@ -1576,10 +1546,10 @@ QStringList MissionController::complexMissionItemNames(void) const ...@@ -1576,10 +1546,10 @@ QStringList MissionController::complexMissionItemNames(void) const
void MissionController::resumeMission(int resumeIndex) void MissionController::resumeMission(int resumeIndex)
{ {
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) { if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
resumeIndex--; resumeIndex--;
} }
_activeVehicle->missionManager()->generateResumeMission(resumeIndex); _missionManager->generateResumeMission(resumeIndex);
} }
QGeoCoordinate MissionController::plannedHomePosition(void) const QGeoCoordinate MissionController::plannedHomePosition(void) const
...@@ -1621,3 +1591,9 @@ void MissionController::_progressPctChanged(double progressPct) ...@@ -1621,3 +1591,9 @@ void MissionController::_progressPctChanged(double progressPct)
emit progressPctChanged(progressPct); emit progressPctChanged(progressPct);
} }
} }
void MissionController::_visualItemsDirtyChanged(bool dirty)
{
// We could connect signal to signal and not need this but this is handy for setting a breakpoint on
emit dirtyChanged(dirty);
}
src/MissionManager/MissionController.h
View file @ 6ce56c5d
...@@ -24,17 +24,19 @@ class VisualMissionItem; ...@@ -24,17 +24,19 @@ class VisualMissionItem;
class MissionItem; class MissionItem;
class MissionSettingsItem; class MissionSettingsItem;
class AppSettings; class AppSettings;
class MissionManager;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair; typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable; typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;
class MissionController : public PlanElementController class MissionController : public PlanElementController
{ {
Q_OBJECT Q_OBJECT
public: public:
MissionController(QObject* parent = NULL); MissionController(PlanMasterController* masterController, QObject* parent = NULL);
~MissionController(); ~MissionController();
typedef struct { typedef struct {
...@@ -110,7 +112,6 @@ public: ...@@ -110,7 +112,6 @@ public:
// Overrides from PlanElementController // Overrides from PlanElementController
void start (bool editMode) final; void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
void save (QJsonObject& json) final; void save (QJsonObject& json) final;
bool load (const QJsonObject& json, QString& errorString) final; bool load (const QJsonObject& json, QString& errorString) final;
void loadFromVehicle (void) final; void loadFromVehicle (void) final;
...@@ -121,8 +122,7 @@ public: ...@@ -121,8 +122,7 @@ public:
bool dirty (void) const final; bool dirty (void) const final;
void setDirty (bool dirty) final; void setDirty (bool dirty) final;
bool containsItems (void) const final; bool containsItems (void) const final;
void activeVehicleBeingRemoved (void) final; void managerVehicleChanged (Vehicle* managerVehicle) final;
void activeVehicleSet (Vehicle* vehicle) final;
// Property accessors // Property accessors
...@@ -169,7 +169,7 @@ signals: ...@@ -169,7 +169,7 @@ signals:
private slots: private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested); void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
void _itemCommandChanged(void); void _itemCommandChanged(void);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); void _managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _inProgressChanged(bool inProgress); void _inProgressChanged(bool inProgress);
void _currentMissionIndexChanged(int sequenceNumber); void _currentMissionIndexChanged(int sequenceNumber);
void _recalcWaypointLines(void); void _recalcWaypointLines(void);
...@@ -177,6 +177,7 @@ private slots: ...@@ -177,6 +177,7 @@ private slots:
void _updateContainsItems(void); void _updateContainsItems(void);
void _cameraFeedback(QGeoCoordinate imageCoordinate, int index); void _cameraFeedback(QGeoCoordinate imageCoordinate, int index);
void _progressPctChanged(double progressPct); void _progressPctChanged(double progressPct);
void _visualItemsDirtyChanged(bool dirty);
private: private:
void _init(void); void _init(void);
...@@ -194,10 +195,10 @@ private: ...@@ -194,10 +195,10 @@ private:
static double _normalizeLat(double lat); static double _normalizeLat(double lat);
static double _normalizeLon(double lon); static double _normalizeLon(double lon);
static void _addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter); static void _addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter);
static bool _loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString); bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
static bool _loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString); bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
static bool _loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString); bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
static bool _loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString); bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void); int _nextSequenceNumber(void);
static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle); static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent); static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
...@@ -210,6 +211,7 @@ private: ...@@ -210,6 +211,7 @@ private:
void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems); void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
private: private:
MissionManager* _missionManager;
QmlObjectListModel* _visualItems; QmlObjectListModel* _visualItems;
MissionSettingsItem* _settingsItem; MissionSettingsItem* _settingsItem;
QmlObjectListModel _waypointLines; QmlObjectListModel _waypointLines;
......
src/MissionManager/MissionControllerTest.cc
View file @ 6ce56c5d
...@@ -13,6 +13,9 @@ ...@@ -13,6 +13,9 @@
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
#include "SimpleMissionItem.h" #include "SimpleMissionItem.h"
#include "MissionSettingsItem.h" #include "MissionSettingsItem.h"
#include "QGCApplication.h"
#include "SettingsManager.h"
#include "AppSettings.h"
MissionControllerTest::MissionControllerTest(void) MissionControllerTest::MissionControllerTest(void)
: _multiSpyMissionController(NULL) : _multiSpyMissionController(NULL)
...@@ -24,8 +27,8 @@ MissionControllerTest::MissionControllerTest(void) ...@@ -24,8 +27,8 @@ MissionControllerTest::MissionControllerTest(void)
void MissionControllerTest::cleanup(void) void MissionControllerTest::cleanup(void)
{ {
delete _missionController; delete _masterController;
_missionController = NULL; _masterController = NULL;
delete _multiSpyMissionController; delete _multiSpyMissionController;
_multiSpyMissionController = NULL; _multiSpyMissionController = NULL;
...@@ -38,8 +41,6 @@ void MissionControllerTest::cleanup(void) ...@@ -38,8 +41,6 @@ void MissionControllerTest::cleanup(void)
void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
{ {
bool startController = false;
MissionControllerManagerTest::_initForFirmwareType(firmwareType); MissionControllerManagerTest::_initForFirmwareType(firmwareType);
// VisualMissionItem signals // VisualMissionItem signals
...@@ -49,19 +50,16 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) ...@@ -49,19 +50,16 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
_rgMissionControllerSignals[visualItemsChangedSignalIndex] = SIGNAL(visualItemsChanged()); _rgMissionControllerSignals[visualItemsChangedSignalIndex] = SIGNAL(visualItemsChanged());
_rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); _rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged());
if (!_missionController) { // Master controller pulls offline vehicle info from settings
startController = true; qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->setRawValue(firmwareType);
_missionController = new MissionController(); _masterController = new PlanMasterController(this);
Q_CHECK_PTR(_missionController); _missionController = _masterController->missionController();
}
_multiSpyMissionController = new MultiSignalSpy(); _multiSpyMissionController = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpyMissionController); Q_CHECK_PTR(_multiSpyMissionController);
QCOMPARE(_multiSpyMissionController->init(_missionController, _rgMissionControllerSignals, _cMissionControllerSignals), true); QCOMPARE(_multiSpyMissionController->init(_missionController, _rgMissionControllerSignals, _cMissionControllerSignals), true);
if (startController) { _masterController->start(true /* editMode */);
_missionController->start(true /* editMode */);
}
// All signals should some through on start // All signals should some through on start
QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(visualItemsChangedSignalMask | waypointLinesChangedSignalMask), true); QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(visualItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
...@@ -162,6 +160,7 @@ void MissionControllerTest::_testAddWayppointPX4(void) ...@@ -162,6 +160,7 @@ void MissionControllerTest::_testAddWayppointPX4(void)
_testAddWaypointWorker(MAV_AUTOPILOT_PX4); _testAddWaypointWorker(MAV_AUTOPILOT_PX4);
} }
#if 0
void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType) void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType)
{ {
// Start offline and add item // Start offline and add item
...@@ -191,6 +190,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void) ...@@ -191,6 +190,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
{ {
_testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4); _testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
} }
#endif
void MissionControllerTest::_setupVisualItemSignals(VisualMissionItem* visualItem) void MissionControllerTest::_setupVisualItemSignals(VisualMissionItem* visualItem)
{ {
......
src/MissionManager/MissionControllerTest.h
View file @ 6ce56c5d
...@@ -16,6 +16,7 @@ ...@@ -16,6 +16,7 @@
#include "MissionManager.h" #include "MissionManager.h"
#include "MultiSignalSpy.h" #include "MultiSignalSpy.h"
#include "MissionControllerManagerTest.h" #include "MissionControllerManagerTest.h"
#include "PlanMasterController.h"
#include "MissionController.h" #include "MissionController.h"
#include "SimpleMissionItem.h" #include "SimpleMissionItem.h"
...@@ -38,14 +39,18 @@ private: ...@@ -38,14 +39,18 @@ private:
void _testEmptyVehiclePX4(void); void _testEmptyVehiclePX4(void);
void _testAddWayppointAPM(void); void _testAddWayppointAPM(void);
void _testAddWayppointPX4(void); void _testAddWayppointPX4(void);
#if 0
void _testOfflineToOnlineAPM(void); void _testOfflineToOnlineAPM(void);
void _testOfflineToOnlinePX4(void); void _testOfflineToOnlinePX4(void);
#endif
private: private:
void _initForFirmwareType(MAV_AUTOPILOT firmwareType); void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType); void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType); void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
#if 0
void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType); void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
#endif
void _setupVisualItemSignals(VisualMissionItem* visualItem); void _setupVisualItemSignals(VisualMissionItem* visualItem);
// MissiomItems signals // MissiomItems signals
...@@ -81,7 +86,8 @@ private: ...@@ -81,7 +86,8 @@ private:
static const size_t _cVisualItemSignals = visualItemMaxSignalIndex; static const size_t _cVisualItemSignals = visualItemMaxSignalIndex;
const char* _rgVisualItemSignals[_cVisualItemSignals]; const char* _rgVisualItemSignals[_cVisualItemSignals];
MissionController* _missionController; PlanMasterController* _masterController;
MissionController* _missionController;
}; };
#endif #endif
src/MissionManager/PlanElementController.cc
View file @ 6ce56c5d
...@@ -8,13 +8,17 @@ ...@@ -8,13 +8,17 @@
****************************************************************************/ ****************************************************************************/
#include "PlanElementController.h" #include "PlanElementController.h"
#include "PlanMasterController.h"
#include "QGCApplication.h" #include "QGCApplication.h"
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
#include "SettingsManager.h"
#include "AppSettings.h"
PlanElementController::PlanElementController(QObject* parent) PlanElementController::PlanElementController(PlanMasterController* masterController, QObject* parent)
: QObject(parent) : QObject(parent)
, _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager()) , _masterController(masterController)
, _activeVehicle(_multiVehicleMgr->offlineEditingVehicle()) , _controllerVehicle(masterController->controllerVehicle())
, _managerVehicle(masterController->managerVehicle())
, _editMode(false) , _editMode(false)
{ {
...@@ -29,9 +33,3 @@ void PlanElementController::start(bool editMode) ...@@ -29,9 +33,3 @@ void PlanElementController::start(bool editMode)
{ {
_editMode = editMode; _editMode = editMode;
} }
void PlanElementController::startStaticActiveVehicle(Vehicle* vehicle)
{
Q_UNUSED(vehicle);
_editMode = false;
}
src/MissionManager/PlanElementController.h
View file @ 6ce56c5d
...@@ -15,6 +15,8 @@ ...@@ -15,6 +15,8 @@
#include "Vehicle.h" #include "Vehicle.h"
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
class PlanMasterController;
/// This is the abstract base clas for Plan Element controllers. /// This is the abstract base clas for Plan Element controllers.
/// Examples of plan elements are: missions (MissionController), geofence (GeoFenceController) /// Examples of plan elements are: missions (MissionController), geofence (GeoFenceController)
class PlanElementController : public QObject class PlanElementController : public QObject
...@@ -22,21 +24,17 @@ class PlanElementController : public QObject ...@@ -22,21 +24,17 @@ class PlanElementController : public QObject
Q_OBJECT Q_OBJECT
public: public:
PlanElementController(QObject* parent = NULL); PlanElementController(PlanMasterController* masterController, QObject* parent = NULL);
~PlanElementController(); ~PlanElementController();
Q_PROPERTY(bool containsItems READ containsItems NOTIFY containsItemsChanged) ///< true: Elemement is non-empty 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 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 Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< true: unsaved/sent changes are present, false: no changes since last save/send
Q_PROPERTY(Vehicle* vehicle READ vehicle NOTIFY vehicleChanged)
/// Should be called immediately upon Component.onCompleted. /// Should be called immediately upon Component.onCompleted.
/// @param editMode true: controller being used in Plan view, false: controller being used in Fly view /// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
virtual void start(bool editMode); virtual void start(bool editMode);
/// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
virtual void startStaticActiveVehicle(Vehicle* vehicle);
virtual void save(QJsonObject& json) = 0; virtual void save(QJsonObject& json) = 0;
virtual bool load(const QJsonObject& json, QString& errorString) = 0; virtual bool load(const QJsonObject& json, QString& errorString) = 0;
virtual void loadFromVehicle(void) = 0; virtual void loadFromVehicle(void) = 0;
...@@ -49,13 +47,8 @@ public: ...@@ -49,13 +47,8 @@ public:
virtual bool dirty (void) const = 0; virtual bool dirty (void) const = 0;
virtual void setDirty (bool dirty) = 0; virtual void setDirty (bool dirty) = 0;
/// Called when the current active vehicle is about to be removed. Derived classes should override to implement custom behavior. /// Called when a new manager vehicle has been set. Derived classes should override to implement custom behavior.
virtual void activeVehicleBeingRemoved(void) = 0; virtual void managerVehicleChanged(Vehicle* managerVehicle) = 0;
/// Called when a new active vehicle has been set. Derived classes should override to implement custom behavior.
virtual void activeVehicleSet(Vehicle* activeVehicle) = 0;
Vehicle* vehicle(void) { return _activeVehicle; }
signals: signals:
void containsItemsChanged (bool containsItems); void containsItemsChanged (bool containsItems);
...@@ -64,8 +57,9 @@ signals: ...@@ -64,8 +57,9 @@ signals:
void vehicleChanged (Vehicle* vehicle); void vehicleChanged (Vehicle* vehicle);
protected: protected:
MultiVehicleManager* _multiVehicleMgr; PlanMasterController* _masterController;
Vehicle* _activeVehicle; ///< Currently active vehicle, can be disconnected offline editing vehicle Vehicle* _controllerVehicle;
Vehicle* _managerVehicle;
bool _editMode; bool _editMode;
}; };
......
src/MissionManager/PlanMasterController.cc
View file @ 6ce56c5d
...@@ -10,6 +10,7 @@ ...@@ -10,6 +10,7 @@
#include "PlanMasterController.h" #include "PlanMasterController.h"
#include "QGCApplication.h" #include "QGCApplication.h"
#include "MultiVehicleManager.h" #include "MultiVehicleManager.h"
#include "SettingsManager.h"
#include "AppSettings.h" #include "AppSettings.h"
#include "JsonHelper.h" #include "JsonHelper.h"
...@@ -25,8 +26,13 @@ const char* PlanMasterController::_jsonRallyPointsObjectKey = "rallyPoints"; ...@@ -25,8 +26,13 @@ const char* PlanMasterController::_jsonRallyPointsObjectKey = "rallyPoints";
PlanMasterController::PlanMasterController(QObject* parent) PlanMasterController::PlanMasterController(QObject* parent)
: QObject(parent) : QObject(parent)
, _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager()) , _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager())
, _activeVehicle(_multiVehicleMgr->offlineEditingVehicle()) , _controllerVehicle(new Vehicle((MAV_AUTOPILOT)qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->rawValue().toInt(), (MAV_TYPE)qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingVehicleType()->rawValue().toInt(), qgcApp()->toolbox()->firmwarePluginManager()))
, _managerVehicle(_controllerVehicle)
, _editMode(false) , _editMode(false)
, _offline(true)
, _missionController(this)
, _geoFenceController(this)
, _rallyPointController(this)
{ {
connect(&_missionController, &MissionController::dirtyChanged, this, &PlanMasterController::dirtyChanged); connect(&_missionController, &MissionController::dirtyChanged, this, &PlanMasterController::dirtyChanged);
connect(&_geoFenceController, &GeoFenceController::dirtyChanged, this, &PlanMasterController::dirtyChanged); connect(&_geoFenceController, &GeoFenceController::dirtyChanged, this, &PlanMasterController::dirtyChanged);
...@@ -60,34 +66,42 @@ void PlanMasterController::start(bool editMode) ...@@ -60,34 +66,42 @@ void PlanMasterController::start(bool editMode)
void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle) void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle)
{ {
_editMode = false; _editMode = false;
_missionController.startStaticActiveVehicle(vehicle);
_geoFenceController.startStaticActiveVehicle(vehicle);
_rallyPointController.startStaticActiveVehicle(vehicle);
_activeVehicleChanged(vehicle); _activeVehicleChanged(vehicle);
} }
void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle) void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
{ {
if (_activeVehicle) { if (_managerVehicle == activeVehicle) {
_missionController.activeVehicleBeingRemoved(); // We are already setup for this vehicle
_geoFenceController.activeVehicleBeingRemoved(); return;
_rallyPointController.activeVehicleBeingRemoved();
_activeVehicle = NULL;
} }
if (activeVehicle) { bool newOffline = false;
_activeVehicle = activeVehicle; if (activeVehicle == NULL) {
// Since there is no longer an active vehicle we use the offline controller vehicle as the manager vehicle
_managerVehicle = _controllerVehicle;
newOffline = true;
} else { } else {
_activeVehicle = _multiVehicleMgr->offlineEditingVehicle(); // FIXME: Check for vehicle compatibility. (edit mode only)
_managerVehicle = activeVehicle;
newOffline = false;
}
if (newOffline != _offline) {
_offline = newOffline;
emit offlineEditingChanged(newOffline);
} }
_missionController.activeVehicleSet(_activeVehicle);
_geoFenceController.activeVehicleSet(_activeVehicle);
_rallyPointController.activeVehicleSet(_activeVehicle);
// Whenever vehicle changes we need to update syncInProgress _missionController.managerVehicleChanged(_managerVehicle);
emit syncInProgressChanged(syncInProgress()); _geoFenceController.managerVehicleChanged(_managerVehicle);
_rallyPointController.managerVehicleChanged(_managerVehicle);
emit vehicleChanged(_activeVehicle); if (!_editMode && _offline) {
// Fly view has changed to a new active vehicle
loadFromVehicle();
}
// Whenever manager changes we need to update syncInProgress
emit syncInProgressChanged(syncInProgress());
} }
void PlanMasterController::loadFromVehicle(void) void PlanMasterController::loadFromVehicle(void)
...@@ -96,6 +110,7 @@ void PlanMasterController::loadFromVehicle(void) ...@@ -96,6 +110,7 @@ void PlanMasterController::loadFromVehicle(void)
_missionController.loadFromVehicle(); _missionController.loadFromVehicle();
_geoFenceController.loadFromVehicle(); _geoFenceController.loadFromVehicle();
_rallyPointController.loadFromVehicle(); _rallyPointController.loadFromVehicle();
setDirty(false);
} }
void PlanMasterController::sendToVehicle(void) void PlanMasterController::sendToVehicle(void)
...@@ -104,6 +119,7 @@ void PlanMasterController::sendToVehicle(void) ...@@ -104,6 +119,7 @@ void PlanMasterController::sendToVehicle(void)
_missionController.sendToVehicle(); _missionController.sendToVehicle();
_geoFenceController.sendToVehicle(); _geoFenceController.sendToVehicle();
_rallyPointController.sendToVehicle(); _rallyPointController.sendToVehicle();
setDirty(false);
} }
...@@ -166,7 +182,7 @@ void PlanMasterController::loadFromFile(const QString& filename) ...@@ -166,7 +182,7 @@ void PlanMasterController::loadFromFile(const QString& filename)
} }
} }
if (!_activeVehicle->isOfflineEditingVehicle()) { if (!offline()) {
setDirty(true); setDirty(true);
} }
} }
...@@ -204,8 +220,8 @@ void PlanMasterController::saveToFile(const QString& filename) ...@@ -204,8 +220,8 @@ void PlanMasterController::saveToFile(const QString& filename)
file.write(saveDoc.toJson()); file.write(saveDoc.toJson());
} }
// If we are connected to a real vehicle, don't clear dirty bit on saving to file since vehicle is still out of date // Only clear dirty bit if we are offline
if (_activeVehicle->isOfflineEditingVehicle()) { if (offline()) {
setDirty(false); setDirty(false);
} }
} }
...@@ -234,6 +250,7 @@ bool PlanMasterController::syncInProgress(void) const ...@@ -234,6 +250,7 @@ bool PlanMasterController::syncInProgress(void) const
bool PlanMasterController::dirty(void) const bool PlanMasterController::dirty(void) const
{ {
qDebug() << _editMode << _missionController.dirty() << _geoFenceController.dirty() << _rallyPointController.dirty();
return _missionController.dirty() || _geoFenceController.dirty() || _rallyPointController.dirty(); return _missionController.dirty() || _geoFenceController.dirty() || _rallyPointController.dirty();
} }
......
src/MissionManager/PlanMasterController.h
View file @ 6ce56c5d
...@@ -30,13 +30,14 @@ public: ...@@ -30,13 +30,14 @@ public:
Q_PROPERTY(GeoFenceController* geoFenceController READ geoFenceController CONSTANT) Q_PROPERTY(GeoFenceController* geoFenceController READ geoFenceController CONSTANT)
Q_PROPERTY(RallyPointController* rallyPointController READ rallyPointController CONSTANT) Q_PROPERTY(RallyPointController* rallyPointController READ rallyPointController CONSTANT)
Q_PROPERTY(bool containsItems READ containsItems NOTIFY containsItemsChanged) ///< true: Elemement is non-empty Q_PROPERTY(Vehicle* controllerVehicle MEMBER _controllerVehicle CONSTANT)
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 offline READ offline NOTIFY offlineEditingChanged) ///< true: controller is not connected to an active vehicle
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< true: Unsaved/sent changes are present, false: no changes since last save/send Q_PROPERTY(bool containsItems READ containsItems NOTIFY containsItemsChanged) ///< true: Elemement is non-empty
Q_PROPERTY(Vehicle* vehicle READ vehicle NOTIFY vehicleChanged) Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) ///< true: Information is currently being saved/sent, false: no active save/send in progress
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT) ///< File extention for missions Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< true: Unsaved/sent changes are present, false: no changes since last save/send
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT) ///< File filter list loading plan files Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT) ///< File extention for missions
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT) ///< File filter list saving plan files Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT) ///< File filter list loading plan files
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT) ///< File filter list saving plan files
/// Should be called immediately upon Component.onCompleted. /// Should be called immediately upon Component.onCompleted.
/// @param editMode true: controller being used in Plan view, false: controller being used in Fly view /// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
...@@ -61,6 +62,7 @@ public: ...@@ -61,6 +62,7 @@ public:
GeoFenceController* geoFenceController(void) { return &_geoFenceController; } GeoFenceController* geoFenceController(void) { return &_geoFenceController; }
RallyPointController* rallyPointController(void) { return &_rallyPointController; } RallyPointController* rallyPointController(void) { return &_rallyPointController; }
bool offline (void) const { return _offline; }
bool containsItems (void) const; bool containsItems (void) const;
bool syncInProgress (void) const; bool syncInProgress (void) const;
bool dirty (void) const; bool dirty (void) const;
...@@ -69,21 +71,25 @@ public: ...@@ -69,21 +71,25 @@ public:
QStringList loadNameFilters (void) const; QStringList loadNameFilters (void) const;
QStringList saveNameFilters (void) const; QStringList saveNameFilters (void) const;
Vehicle* vehicle(void) { return _activeVehicle; } Vehicle* controllerVehicle(void) { return _controllerVehicle; }
Vehicle* managerVehicle(void) { return _managerVehicle; }
signals: signals:
void containsItemsChanged (bool containsItems); void containsItemsChanged (bool containsItems);
void syncInProgressChanged (bool syncInProgress); void syncInProgressChanged (bool syncInProgress);
void dirtyChanged (bool dirty); void dirtyChanged (bool dirty);
void vehicleChanged (Vehicle* vehicle); void vehicleChanged (Vehicle* vehicle);
void offlineEditingChanged (bool offlineEditing);
private slots: private slots:
void _activeVehicleChanged(Vehicle* activeVehicle); void _activeVehicleChanged(Vehicle* activeVehicle);
private: private:
MultiVehicleManager* _multiVehicleMgr; MultiVehicleManager* _multiVehicleMgr;
Vehicle* _activeVehicle; ///< Currently active vehicle, can be disconnected offline editing vehicle Vehicle* _controllerVehicle;
Vehicle* _managerVehicle;
bool _editMode; bool _editMode;
bool _offline;
MissionController _missionController; MissionController _missionController;
GeoFenceController _geoFenceController; GeoFenceController _geoFenceController;
RallyPointController _rallyPointController; RallyPointController _rallyPointController;
......
src/MissionManager/RallyPointController.cc
View file @ 6ce56c5d
...@@ -36,12 +36,15 @@ QGC_LOGGING_CATEGORY(RallyPointControllerLog, "RallyPointControllerLog") ...@@ -36,12 +36,15 @@ QGC_LOGGING_CATEGORY(RallyPointControllerLog, "RallyPointControllerLog")
const char* RallyPointController::_jsonFileTypeValue = "RallyPoints"; const char* RallyPointController::_jsonFileTypeValue = "RallyPoints";
const char* RallyPointController::_jsonPointsKey = "points"; const char* RallyPointController::_jsonPointsKey = "points";
RallyPointController::RallyPointController(QObject* parent) RallyPointController::RallyPointController(PlanMasterController* masterController, QObject* parent)
: PlanElementController(parent) : PlanElementController(masterController, parent)
, _rallyPointManager(_managerVehicle->rallyPointManager())
, _dirty(false) , _dirty(false)
, _currentRallyPoint(NULL) , _currentRallyPoint(NULL)
{ {
connect(&_points, &QmlObjectListModel::countChanged, this, &RallyPointController::_updateContainsItems); connect(&_points, &QmlObjectListModel::countChanged, this, &RallyPointController::_updateContainsItems);
managerVehicleChanged(_managerVehicle);
} }
RallyPointController::~RallyPointController() RallyPointController::~RallyPointController()
...@@ -49,22 +52,26 @@ RallyPointController::~RallyPointController() ...@@ -49,22 +52,26 @@ RallyPointController::~RallyPointController()
} }
void RallyPointController::activeVehicleBeingRemoved(void) void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle)
{ {
_activeVehicle->rallyPointManager()->disconnect(this); if (_managerVehicle) {
_points.clearAndDeleteContents(); _rallyPointManager->disconnect(this);
_activeVehicle = NULL; _managerVehicle = NULL;
} _rallyPointManager = NULL;
}
void RallyPointController::activeVehicleSet(Vehicle* activeVehicle) _managerVehicle = managerVehicle;
{ if (!_managerVehicle) {
_activeVehicle = activeVehicle; qWarning() << "RallyPointController::managerVehicleChanged managerVehicle=NULL";
RallyPointManager* rallyPointManager = _activeVehicle->rallyPointManager(); return;
connect(rallyPointManager, &RallyPointManager::loadComplete, this, &RallyPointController::_loadComplete); }
connect(rallyPointManager, &RallyPointManager::inProgressChanged, this, &RallyPointController::syncInProgressChanged);
_rallyPointManager = _managerVehicle->rallyPointManager();
connect(_rallyPointManager, &RallyPointManager::loadComplete, this, &RallyPointController::_loadComplete);
connect(_rallyPointManager, &RallyPointManager::inProgressChanged, this, &RallyPointController::syncInProgressChanged);
if (!rallyPointManager->inProgress()) { if (!syncInProgress()) {
_loadComplete(rallyPointManager->points()); _loadComplete(_rallyPointManager->points());
} }
emit rallyPointsSupportedChanged(rallyPointsSupported()); emit rallyPointsSupportedChanged(rallyPointsSupported());
} }
...@@ -121,10 +128,10 @@ void RallyPointController::removeAll(void) ...@@ -121,10 +128,10 @@ void RallyPointController::removeAll(void)
void RallyPointController::loadFromVehicle(void) void RallyPointController::loadFromVehicle(void)
{ {
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) { if (!syncInProgress()) {
_activeVehicle->rallyPointManager()->loadFromVehicle(); _rallyPointManager->loadFromVehicle();
} else { } else {
qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress(); qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle call while syncInProgress";
} }
} }
...@@ -136,15 +143,15 @@ void RallyPointController::sendToVehicle(void) ...@@ -136,15 +143,15 @@ void RallyPointController::sendToVehicle(void)
for (int i=0; i<_points.count(); i++) { for (int i=0; i<_points.count(); i++) {
rgPoints.append(qobject_cast<RallyPoint*>(_points[i])->coordinate()); rgPoints.append(qobject_cast<RallyPoint*>(_points[i])->coordinate());
} }
_activeVehicle->rallyPointManager()->sendToVehicle(rgPoints); _rallyPointManager->sendToVehicle(rgPoints);
} else { } else {
qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress(); qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle while syncInProgress";
} }
} }
bool RallyPointController::syncInProgress(void) const bool RallyPointController::syncInProgress(void) const
{ {
return _activeVehicle->rallyPointManager()->inProgress(); return _rallyPointManager->inProgress();
} }
void RallyPointController::setDirty(bool dirty) void RallyPointController::setDirty(bool dirty)
...@@ -157,7 +164,7 @@ void RallyPointController::setDirty(bool dirty) ...@@ -157,7 +164,7 @@ void RallyPointController::setDirty(bool dirty)
QString RallyPointController::editorQml(void) const QString RallyPointController::editorQml(void) const
{ {
return _activeVehicle->rallyPointManager()->editorQml(); return _rallyPointManager->editorQml();
} }
void RallyPointController::_loadComplete(const QList<QGeoCoordinate> rgPoints) void RallyPointController::_loadComplete(const QList<QGeoCoordinate> rgPoints)
...@@ -190,7 +197,7 @@ void RallyPointController::addPoint(QGeoCoordinate point) ...@@ -190,7 +197,7 @@ void RallyPointController::addPoint(QGeoCoordinate point)
bool RallyPointController::rallyPointsSupported(void) const bool RallyPointController::rallyPointsSupported(void) const
{ {
return _activeVehicle->rallyPointManager()->rallyPointsSupported(); return _rallyPointManager->rallyPointsSupported();
} }
void RallyPointController::removePoint(QObject* rallyPoint) void RallyPointController::removePoint(QObject* rallyPoint)
...@@ -237,5 +244,5 @@ void RallyPointController::_updateContainsItems(void) ...@@ -237,5 +244,5 @@ void RallyPointController::_updateContainsItems(void)
void RallyPointController::removeAllFromVehicle(void) void RallyPointController::removeAllFromVehicle(void)
{ {
_activeVehicle->rallyPointManager()->removeAll(); _rallyPointManager->removeAll();
} }
src/MissionManager/RallyPointController.h
View file @ 6ce56c5d
...@@ -26,7 +26,7 @@ class RallyPointController : public PlanElementController ...@@ -26,7 +26,7 @@ class RallyPointController : public PlanElementController
Q_OBJECT Q_OBJECT
public: public:
RallyPointController(QObject* parent = NULL); RallyPointController(PlanMasterController* masterController, QObject* parent = NULL);
~RallyPointController(); ~RallyPointController();
Q_PROPERTY(bool rallyPointsSupported READ rallyPointsSupported NOTIFY rallyPointsSupportedChanged) Q_PROPERTY(bool rallyPointsSupported READ rallyPointsSupported NOTIFY rallyPointsSupportedChanged)
...@@ -47,8 +47,7 @@ public: ...@@ -47,8 +47,7 @@ public:
bool dirty (void) const final { return _dirty; } bool dirty (void) const final { return _dirty; }
void setDirty (bool dirty) final; void setDirty (bool dirty) final;
bool containsItems (void) const final; bool containsItems (void) const final;
void activeVehicleBeingRemoved (void) final; void managerVehicleChanged (Vehicle* managerVehicle) final;
void activeVehicleSet (Vehicle* vehicle) final;
bool rallyPointsSupported (void) const; bool rallyPointsSupported (void) const;
QmlObjectListModel* points (void) { return &_points; } QmlObjectListModel* points (void) { return &_points; }
...@@ -68,6 +67,7 @@ private slots: ...@@ -68,6 +67,7 @@ private slots:
void _updateContainsItems(void); void _updateContainsItems(void);
private: private:
RallyPointManager* _rallyPointManager;
bool _dirty; bool _dirty;
QmlObjectListModel _points; QmlObjectListModel _points;
QObject* _currentRallyPoint; QObject* _currentRallyPoint;
......
src/PlanView/MissionItemEditor.qml
View file @ 6ce56c5d
...@@ -20,7 +20,7 @@ Rectangle { ...@@ -20,7 +20,7 @@ Rectangle {
radius: _radius radius: _radius
property var map ///< Map control property var map ///< Map control
property var missionController property var masterController
property var missionItem ///< MissionItem associated with this editor property var missionItem ///< MissionItem associated with this editor
property bool readOnly ///< true: read only view, false: full editing view property bool readOnly ///< true: read only view, false: full editing view
property var rootQgcView property var rootQgcView
...@@ -30,11 +30,13 @@ Rectangle { ...@@ -30,11 +30,13 @@ Rectangle {
signal insertWaypoint signal insertWaypoint
signal insertComplexItem(string complexItemName) signal insertComplexItem(string complexItemName)
property var _masterController: masterController
property var _missionController: _masterController.missionController
property bool _currentItem: missionItem.isCurrentItem property bool _currentItem: missionItem.isCurrentItem
property color _outerTextColor: _currentItem ? qgcPal.primaryButtonText : qgcPal.text property color _outerTextColor: _currentItem ? qgcPal.primaryButtonText : qgcPal.text
property bool _noMissionItemsAdded: ListView.view.model.count === 1 property bool _noMissionItemsAdded: ListView.view.model.count === 1
property real _sectionSpacer: ScreenTools.defaultFontPixelWidth / 2 // spacing between section headings property real _sectionSpacer: ScreenTools.defaultFontPixelWidth / 2 // spacing between section headings
property bool _singleComplexItem: missionController.complexMissionItemNames.length === 1 property bool _singleComplexItem: _missionController.complexMissionItemNames.length === 1
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12) readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2 readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
...@@ -105,7 +107,7 @@ Rectangle { ...@@ -105,7 +107,7 @@ Rectangle {
visible: !_singleComplexItem visible: !_singleComplexItem
Instantiator { Instantiator {
model: missionController.complexMissionItemNames model: _missionController.complexMissionItemNames
onObjectAdded: patternMenu.insertItem(index, object) onObjectAdded: patternMenu.insertItem(index, object)
onObjectRemoved: patternMenu.removeItem(object) onObjectRemoved: patternMenu.removeItem(object)
...@@ -118,9 +120,9 @@ Rectangle { ...@@ -118,9 +120,9 @@ Rectangle {
} }
MenuItem { MenuItem {
text: qsTr("Insert ") + missionController.complexMissionItemNames[0] text: qsTr("Insert ") + _missionController.complexMissionItemNames[0]
visible: _singleComplexItem visible: _singleComplexItem
onTriggered: insertComplexItem(missionController.complexMissionItemNames[0]) onTriggered: insertComplexItem(_missionController.complexMissionItemNames[0])
} }
MenuItem { MenuItem {
...@@ -203,7 +205,8 @@ Rectangle { ...@@ -203,7 +205,8 @@ Rectangle {
item.visible = Qt.binding(function() { return _currentItem; }) item.visible = Qt.binding(function() { return _currentItem; })
} }
property real availableWidth: _root.width - (_margin * 2) ///< How wide the editor should be property var masterController: _masterController
property var editorRoot: _root property real availableWidth: _root.width - (_margin * 2) ///< How wide the editor should be
property var editorRoot: _root
} }
} // Rectangle } // Rectangle
src/PlanView/MissionSettingsEditor.qml
View file @ 6ce56c5d
...@@ -20,7 +20,9 @@ Rectangle { ...@@ -20,7 +20,9 @@ Rectangle {
visible: missionItem.isCurrentItem visible: missionItem.isCurrentItem
radius: _radius radius: _radius
property var _missionVehicle: missionController.vehicle property var _masterControler: masterController
property var _missionController: _masterControler.missionController
property var _missionVehicle: _masterControler.controllerVehicle
property bool _vehicleHasHomePosition: _missionVehicle.homePosition.isValid property bool _vehicleHasHomePosition: _missionVehicle.homePosition.isValid
property bool _offlineEditing: _missionVehicle.isOfflineEditingVehicle property bool _offlineEditing: _missionVehicle.isOfflineEditingVehicle
property bool _showOfflineVehicleCombos: _offlineEditing && _multipleFirmware && _noMissionItemsAdded property bool _showOfflineVehicleCombos: _offlineEditing && _multipleFirmware && _noMissionItemsAdded
...@@ -32,7 +34,7 @@ Rectangle { ...@@ -32,7 +34,7 @@ Rectangle {
property var _savePath: QGroundControl.settingsManager.appSettings.missionSavePath property var _savePath: QGroundControl.settingsManager.appSettings.missionSavePath
property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension
property var _appSettings: QGroundControl.settingsManager.appSettings property var _appSettings: QGroundControl.settingsManager.appSettings
property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
readonly property string _firmwareLabel: qsTr("Firmware") readonly property string _firmwareLabel: qsTr("Firmware")
readonly property string _vehicleLabel: qsTr("Vehicle") readonly property string _vehicleLabel: qsTr("Vehicle")
......
src/PlanView/PlanToolBar.qml
View file @ 6ce56c5d
...@@ -273,8 +273,8 @@ Rectangle { ...@@ -273,8 +273,8 @@ Rectangle {
anchors.right: parent.right anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter anchors.verticalCenter: parent.verticalCenter
text: _controllerDirty ? qsTr("Upload Required") : qsTr("Upload") text: _controllerDirty ? qsTr("Upload Required") : qsTr("Upload")
enabled: _activeVehicle && !_controllerSyncInProgress enabled: !_controllerSyncInProgress
visible: _activeVehicle visible: !planMasterController.offline
onClicked: planMasterController.upload() onClicked: planMasterController.upload()
PropertyAnimation on opacity { PropertyAnimation on opacity {
......
src/PlanView/PlanView.qml
View file @ 6ce56c5d
...@@ -557,7 +557,7 @@ QGCView { ...@@ -557,7 +557,7 @@ QGCView {
delegate: MissionItemEditor { delegate: MissionItemEditor {
map: editorMap map: editorMap
missionController: _missionController masterController: _planMasterController
missionItem: object missionItem: object
width: parent.width width: parent.width
readOnly: false readOnly: false
...@@ -734,7 +734,7 @@ QGCView { ...@@ -734,7 +734,7 @@ QGCView {
QGCButton { QGCButton {
text: qsTr("Upload") text: qsTr("Upload")
Layout.fillWidth: true Layout.fillWidth: true
enabled: _activeVehicle && !masterController.syncInProgress enabled: !masterController.offline && !masterController.syncInProgress
onClicked: { onClicked: {
dropPanel.hide() dropPanel.hide()
masterController.upload() masterController.upload()
...@@ -744,7 +744,7 @@ QGCView { ...@@ -744,7 +744,7 @@ QGCView {
QGCButton { QGCButton {
text: qsTr("Download") text: qsTr("Download")
Layout.fillWidth: true Layout.fillWidth: true
enabled: _activeVehicle && !masterController.syncInProgress enabled: !masterController.offline && !masterController.syncInProgress
onClicked: { onClicked: {
dropPanel.hide() dropPanel.hide()
if (masterController.dirty) { if (masterController.dirty) {
......
src/QGCApplication.cc
View file @ 6ce56c5d
...@@ -378,14 +378,14 @@ void QGCApplication::_initCommon(void) ...@@ -378,14 +378,14 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only"); qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only");
qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", "Reference only"); qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", "Reference only");
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", "Reference only"); qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", "Reference only");
qmlRegisterUncreatableType<MissionController> ("QGroundControl.Controllers", 1, 0, "MissionController", "Reference only");
qmlRegisterUncreatableType<GeoFenceController> ("QGroundControl.Controllers", 1, 0, "GeoFenceController", "Reference only");
qmlRegisterUncreatableType<RallyPointController>("QGroundControl.Controllers", 1, 0, "RallyPointController", "Reference only");
qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController"); qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<ESP8266ComponentController> ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController"); qmlRegisterType<ESP8266ComponentController> ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");
qmlRegisterType<ScreenToolsController> ("QGroundControl.Controllers", 1, 0, "ScreenToolsController"); qmlRegisterType<ScreenToolsController> ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
qmlRegisterType<PlanMasterController> ("QGroundControl.Controllers", 1, 0, "PlanElemementMasterController"); qmlRegisterType<PlanMasterController> ("QGroundControl.Controllers", 1, 0, "PlanElemementMasterController");
qmlRegisterType<MissionController> ("QGroundControl.Controllers", 1, 0, "MissionController");
qmlRegisterType<GeoFenceController> ("QGroundControl.Controllers", 1, 0, "GeoFenceController");
qmlRegisterType<RallyPointController> ("QGroundControl.Controllers", 1, 0, "RallyPointController");
qmlRegisterType<ValuesWidgetController> ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController"); qmlRegisterType<ValuesWidgetController> ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController");
qmlRegisterType<QFileDialogController> ("QGroundControl.Controllers", 1, 0, "QFileDialogController"); qmlRegisterType<QFileDialogController> ("QGroundControl.Controllers", 1, 0, "QFileDialogController");
qmlRegisterType<RCChannelMonitorController> ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController"); qmlRegisterType<RCChannelMonitorController> ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
......
src/Settings/AppSettings.cc
View file @ 6ce56c5d
...@@ -289,3 +289,26 @@ Fact* AppSettings::automaticMissionUpload(void) ...@@ -289,3 +289,26 @@ Fact* AppSettings::automaticMissionUpload(void)
return _automaticMissionUpload; return _automaticMissionUpload;
} }
MAV_AUTOPILOT AppSettings::offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType)
{
if (firmwareType != MAV_AUTOPILOT_PX4 && firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) {
firmwareType = MAV_AUTOPILOT_GENERIC;
}
return firmwareType;
}
MAV_TYPE AppSettings::offlineEditingVehicleTypeFromVehicleType(MAV_TYPE vehicleType)
{
if (QGCMAVLink::isRover(vehicleType)) {
return MAV_TYPE_GROUND_ROVER;
} else if (QGCMAVLink::isSub(vehicleType)) {
return MAV_TYPE_SUBMARINE;
} else if (QGCMAVLink::isVTOL(vehicleType)) {
return MAV_TYPE_VTOL_QUADROTOR;
} else if (QGCMAVLink::isFixedWing(vehicleType)) {
return MAV_TYPE_FIXED_WING;
} else {
return MAV_TYPE_QUADROTOR;
}
}
src/Settings/AppSettings.h
View file @ 6ce56c5d
...@@ -11,6 +11,7 @@ ...@@ -11,6 +11,7 @@
#define AppSettings_H #define AppSettings_H
#include "SettingsGroup.h" #include "SettingsGroup.h"
#include "QGCMAVLink.h"
class AppSettings : public SettingsGroup class AppSettings : public SettingsGroup
{ {
...@@ -67,6 +68,9 @@ public: ...@@ -67,6 +68,9 @@ public:
QString parameterSavePath (void); QString parameterSavePath (void);
QString telemetrySavePath (void); QString telemetrySavePath (void);
static MAV_AUTOPILOT offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType);
static MAV_TYPE offlineEditingVehicleTypeFromVehicleType(MAV_TYPE vehicleType);
static const char* appSettingsGroupName; static const char* appSettingsGroupName;
static const char* offlineEditingFirmwareTypeSettingsName; static const char* offlineEditingFirmwareTypeSettingsName;
......
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