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Commit 7427e2f7 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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Waypoint managers removed, code compiles

parent 3dc41359
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Showing with 27 additions and 1615 deletions
qgroundcontrol.pro
View file @ 7427e2f7
......@@ -486,16 +486,9 @@ HEADERS += \
src/Wima/Snake/SnakeTileLocal.h \
src/Wima/Snake/SnakeTiles.h \
src/Wima/Snake/SnakeTilesLocal.h \
src/Wima/StateMachine.h \
src/Wima/WaypointManager/AreaInterface.h \
src/Wima/WaypointManager/DefaultManager.h \
src/Wima/WaypointManager/EmptyManager.h \
src/Wima/WaypointManager/GenericWaypointManager.h \
src/Wima/WaypointManager/RTLManager.h \
src/Wima/WaypointManager/Settings.h \
src/Wima/WaypointManager/Slicer.h \
src/Wima/WaypointManager/Utils.h \
src/Wima/Utils.h \
src/Wima/WimaBridge.h \
src/Wima/WimaStateMachine.h \
src/Wima/call_once.h \
src/api/QGCCorePlugin.h \
src/api/QGCOptions.h \
......@@ -547,6 +540,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
SOURCES += \
src/Vehicle/VehicleEscStatusFactGroup.cc \
src/Wima/WimaStateMachine.cpp \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
src/api/QGCSettings.cc \
......@@ -563,15 +557,7 @@ SOURCES += \
src/Wima/Snake/NemoInterface.cpp \
src/Wima/Snake/QNemoProgress.cc \
src/Wima/Snake/SnakeTile.cpp \
src/Wima/StateMachine.cpp \
src/Wima/WaypointManager/AreaInterface.cpp \
src/Wima/WaypointManager/DefaultManager.cpp \
src/Wima/WaypointManager/EmptyManager.cpp \
src/Wima/WaypointManager/GenericWaypointManager.cpp \
src/Wima/WaypointManager/RTLManager.cpp \
src/Wima/WaypointManager/Settings.cpp \
src/Wima/WaypointManager/Slicer.cpp \
src/Wima/WaypointManager/Utils.cpp \
src/Wima/Utils.cpp \
src/Wima/WimaBridge.cc \
src/comm/ros_bridge/include/RosBridgeClient.cpp \
src/comm/ros_bridge/include/com_private.cpp \
......
src/Wima/Geometry/WimaCorridor.cc
View file @ 7427e2f7
......@@ -51,18 +51,6 @@ void WimaCorridor::init()
this->setObjectName(WimaCorridorName);
}
void print(const WimaCorridor &area)
{
QString message;
print(area, message);
qWarning() << message;
}
void print(const WimaCorridor &area, QString &outputString)
{
print(static_cast<const WimaArea&>(area), outputString);
}
/*!
\class WimaCorridor
......
src/Wima/Geometry/WimaCorridor.h
View file @ 7427e2f7
......@@ -22,10 +22,6 @@ public:
// static Members
static const char *WimaCorridorName;
// Friends
friend void print(const WimaCorridor &area, QString &outputString);
friend void print(const WimaCorridor &area);
signals:
public slots:
......
src/Wima/Geometry/WimaJoinedArea.cc
View file @ 7427e2f7
......@@ -50,19 +50,6 @@ void WimaJoinedArea::init()
this->setObjectName(WimaJoinedAreaName);
}
void print(const WimaJoinedArea &area)
{
QString message;
print(area, message);
qWarning() << message;
}
void print(const WimaJoinedArea &area, QString &outputString)
{
print(static_cast<const WimaArea&>(area), outputString);
}
/*!
\class WimaJoinedArea
\brief Joined area (derived from \c WimaArea) composed by the \c WimaMeasurementArea, the \c WimaCorridor, and the \c WimaServiceArea.
......
src/Wima/Geometry/WimaJoinedArea.h
View file @ 7427e2f7
......@@ -25,10 +25,6 @@ public:
// static Members
static const char* WimaJoinedAreaName;
// Friends
friend void print(const WimaJoinedArea& area, QString& outputString);
friend void print(const WimaJoinedArea& area);
signals:
public slots:
......
src/Wima/Geometry/WimaServiceArea.cc
View file @ 7427e2f7
......@@ -85,18 +85,6 @@ bool WimaServiceArea::loadFromJson(const QJsonObject &json,
return retVal;
}
void print(const WimaServiceArea &area) {
QString message;
print(area, message);
qWarning() << message;
}
void print(const WimaServiceArea &area, QString &outputStr) {
print(static_cast<const WimaArea &>(area), outputStr);
outputStr.append(QString("Depot Position: %s\n")
.arg(area._depot.toString(QGeoCoordinate::Degrees)));
}
void WimaServiceArea::init() {
this->setObjectName(wimaServiceAreaName);
connect(this, &WimaArea::pathChanged, [this] {
......
src/Wima/Geometry/WimaServiceArea.h
View file @ 7427e2f7
......@@ -26,10 +26,6 @@ public:
void saveToJson(QJsonObject &json);
bool loadFromJson(const QJsonObject &json, QString &errorString);
// Friends
friend void print(const WimaServiceArea &area, QString &outputStr);
friend void print(const WimaServiceArea &area);
// static Members
static const char *wimaServiceAreaName;
static const char *depotLatitudeName;
......
src/Wima/WaypointManager/AreaInterface.cpp deleted 100644 → 0
View file @ 3dc41359
#include "AreaInterface.h"
WaypointManager::AreaInterface::AreaInterface()
: _mArea(nullptr)
, _sArea(nullptr)
, _cArea(nullptr)
, _jArea(nullptr)
{
}
WaypointManager::AreaInterface::AreaInterface(WimaMeasurementAreaData *mArea,
WimaServiceAreaData *sArea,
WimaCorridorData *corr,
WimaJoinedAreaData *jArea)
: _mArea(mArea)
, _sArea(sArea)
, _cArea(corr)
, _jArea(jArea)
{
}
void WaypointManager::AreaInterface::setMeasurementArea(WimaMeasurementAreaData *area)
{
_mArea = area;
}
void WaypointManager::AreaInterface::setServiceArea(WimaServiceAreaData *area)
{
_sArea = area;
}
void WaypointManager::AreaInterface::setCorridor(WimaCorridorData *area)
{
_cArea = area;
}
void WaypointManager::AreaInterface::setJoinedArea(WimaJoinedAreaData *area)
{
_jArea = area;
}
const WimaMeasurementAreaData *WaypointManager::AreaInterface::measurementArea() const
{
return _mArea;
}
const WimaServiceAreaData *WaypointManager::AreaInterface::serviceArea() const
{
return _sArea;
}
const WimaCorridorData *WaypointManager::AreaInterface::corridor() const
{
return _cArea;
}
const WimaJoinedAreaData *WaypointManager::AreaInterface::joinedArea() const
{
return _jArea;
}
WimaMeasurementAreaData *WaypointManager::AreaInterface::measurementArea()
{
return _mArea;
}
WimaServiceAreaData *WaypointManager::AreaInterface::serviceArea()
{
return _sArea;
}
WimaCorridorData *WaypointManager::AreaInterface::corridor()
{
return _cArea;
}
WimaJoinedAreaData *WaypointManager::AreaInterface::joinedArea()
{
return _jArea;
}
src/Wima/WaypointManager/AreaInterface.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include "Wima/Geometry/WimaMeasurementAreaData.h"
#include "Wima/Geometry/WimaServiceAreaData.h"
#include "Wima/Geometry/WimaCorridorData.h"
#include "Wima/Geometry/WimaJoinedAreaData.h"
namespace WaypointManager {
class AreaInterface
{
public:
AreaInterface();
AreaInterface(WimaMeasurementAreaData *mArea,
WimaServiceAreaData *sArea,
WimaCorridorData *corr,
WimaJoinedAreaData *jArea);
void setMeasurementArea (WimaMeasurementAreaData *area);
void setServiceArea (WimaServiceAreaData *area);
void setCorridor (WimaCorridorData *area);
void setJoinedArea (WimaJoinedAreaData *area);
virtual const WimaMeasurementAreaData *measurementArea() const;
virtual const WimaServiceAreaData *serviceArea() const;
virtual const WimaCorridorData *corridor() const;
virtual const WimaJoinedAreaData *joinedArea() const;
virtual WimaMeasurementAreaData *measurementArea();
virtual WimaServiceAreaData *serviceArea();
virtual WimaCorridorData *corridor();
virtual WimaJoinedAreaData *joinedArea();
private:
WimaMeasurementAreaData *_mArea;
WimaServiceAreaData *_sArea;
WimaCorridorData *_cArea;
WimaJoinedAreaData *_jArea;
};
} // namespace WaypointManager
src/Wima/WaypointManager/DefaultManager.cpp deleted 100644 → 0
View file @ 3dc41359
#include "DefaultManager.h"
#include "Wima/Geometry/GeoUtilities.h"
#include "Wima/Geometry/PolygonCalculus.h"
#include "MissionSettingsItem.h"
#include "SimpleMissionItem.h"
WaypointManager::DefaultManager::DefaultManager(Settings &settings,
AreaInterface &interface)
: ManagerBase(settings), _areaInterface(&interface) {}
void WaypointManager::DefaultManager::clear() {
_dirty = true;
_waypoints.clear();
_currentWaypoints.clear();
_missionItems.clearAndDeleteContents();
_currentMissionItems.clearAndDeleteContents();
_waypointsVariant.clear();
_currentWaypointsVariant.clear();
}
bool WaypointManager::DefaultManager::update() {
// extract waypoints
_currentWaypoints.clear();
Slicer::update(_waypoints, _currentWaypoints);
return _worker();
}
bool WaypointManager::DefaultManager::next() {
// extract waypoints
_currentWaypoints.clear();
Slicer::next(_waypoints, _currentWaypoints);
return _worker();
}
bool WaypointManager::DefaultManager::previous() {
// extract waypoints
_currentWaypoints.clear();
Slicer::previous(_waypoints, _currentWaypoints);
return _worker();
}
bool WaypointManager::DefaultManager::reset() {
// extract waypoints
_currentWaypoints.clear();
Slicer::reset(_waypoints, _currentWaypoints);
return _worker();
}
bool WaypointManager::DefaultManager::_insertMissionItem(
const QGeoCoordinate &c, size_t index, QmlObjectListModel &list,
bool doUpdate) {
using namespace WaypointManager::Utils;
if (!insertMissionItem(c, index /*insertion index*/, list,
_settings->masterController(), _settings->isFlyView(),
&list /*parent*/, doUpdate /*do update*/)) {
qWarning(
"WaypointManager::DefaultManager::next(): insertMissionItem failed.");
Q_ASSERT(false);
return false;
}
return true;
}
bool WaypointManager::DefaultManager::_insertMissionItem(
const QGeoCoordinate &c, size_t index, bool doUpdate) {
return _insertMissionItem(c, index, _currentMissionItems, doUpdate);
}
bool WaypointManager::DefaultManager::_calcShortestPath(
const QGeoCoordinate &start, const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
using namespace GeoUtilities;
using namespace PolygonCalculus;
QPolygonF joinedArea2D;
toCartesianList(_areaInterface->joinedArea()->coordinateList(),
/*origin*/ start, joinedArea2D);
QPointF start2D(0, 0);
QPointF end2D;
toCartesian(destination, start, end2D);
QVector<QPointF> path2DOut;
bool retVal =
PolygonCalculus::shortestPath(joinedArea2D, start2D, end2D, path2DOut);
toGeoList(path2DOut, /*origin*/ start, path);
return retVal;
}
bool WaypointManager::DefaultManager::_worker() {
// Precondition:
// _waypoints must contain valid coordinates.
// Slicer must be called befor invoking this function.
// E.g. Slicer::reset(_waypoints, _currentWaypoints);
using namespace WaypointManager::Utils;
if (_waypoints.count() < 1 || !_settings->valid()) {
return false;
}
if (_dirty) {
_missionItems.clearAndDeleteContents();
_waypointsVariant.clear();
// No initialization of _missionItems, don't need MissionSettingsItem here.
for (size_t i = 0; i < size_t(_waypoints.size()); ++i) {
auto &c = _waypoints.at(i);
_insertMissionItem(c, _missionItems.count(), _missionItems,
false /*update list*/);
_waypointsVariant.push_back(QVariant::fromValue(c));
}
updateHirarchy(_missionItems);
updateSequenceNumbers(
_missionItems, 1); // Start with 1, since MissionSettingsItem missing.
_dirty = false;
}
_currentMissionItems.clearAndDeleteContents();
initialize(_currentMissionItems, _settings->masterController(),
_settings->isFlyView());
// Calculate path from home to first waypoint.
QVector<QGeoCoordinate> arrivalPath;
if (!_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(),
arrivalPath)) {
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path "
"from home position to first waypoint.");
qWarning() << "from: " << _settings->homePosition();
qWarning() << "to: " << _currentWaypoints.first();
return false;
}
if (!arrivalPath.empty())
arrivalPath.removeFirst();
if (!arrivalPath.empty())
arrivalPath.removeLast();
// calculate path from last waypoint to home
QVector<QGeoCoordinate> returnPath;
if (!_calcShortestPath(_currentWaypoints.last(), _settings->homePosition(),
returnPath)) {
qWarning("WaypointManager::DefaultManager::next(): Not able to calc path "
"from home position to last waypoint.");
qWarning() << "from: " << _currentWaypoints.last();
qWarning() << "to: " << _settings->homePosition();
return false;
}
if (!returnPath.empty())
returnPath.removeFirst();
if (!returnPath.empty())
returnPath.removeLast();
// Create mission items.
// Set home position of MissionSettingsItem.
MissionSettingsItem *settingsItem =
_currentMissionItems.value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false;
}
settingsItem->setCoordinate(_settings->homePosition());
// First mission item is takeoff command.
_insertMissionItem(_settings->homePosition(), 1 /*insertion index*/,
false /*do update*/);
SimpleMissionItem *takeoffItem =
_currentMissionItems.value<SimpleMissionItem *>(1);
if (takeoffItem == nullptr) {
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(takeoffItem != nullptr);
return false;
}
makeTakeOffCmd(takeoffItem, _settings->masterController());
// Create change speed item.
_insertMissionItem(_settings->homePosition(), 2 /*insertion index*/,
false /*do update*/);
SimpleMissionItem *speedItem =
_currentMissionItems.value<SimpleMissionItem *>(2);
if (speedItem == nullptr) {
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
Q_ASSERT(speedItem != nullptr);
return false;
}
makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
// insert arrival path
for (auto coordinate : arrivalPath) {
_insertMissionItem(coordinate,
_currentMissionItems.count() /*insertion index*/,
false /*do update*/);
}
// Create change speed item (after arrival path).
int index = _currentMissionItems.count();
_insertMissionItem(_currentWaypoints.first(), index /*insertion index*/,
false /*do update*/);
speedItem = _currentMissionItems.value<SimpleMissionItem *>(index);
if (speedItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false;
}
makeSpeedCmd(speedItem, _settings->flightSpeed());
// Insert slice.
for (auto coordinate : _currentWaypoints) {
_insertMissionItem(coordinate,
_currentMissionItems.count() /*insertion index*/,
false /*do update*/);
}
// Create change speed item, after slice.
index = _currentMissionItems.count();
_insertMissionItem(_currentWaypoints.last(), index /*insertion index*/,
false /*do update*/);
speedItem = _currentMissionItems.value<SimpleMissionItem *>(index);
if (speedItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false;
}
makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
// Insert return path coordinates.
for (auto coordinate : returnPath) {
_insertMissionItem(coordinate,
_currentMissionItems.count() /*insertion index*/,
false /*do update*/);
}
// Set land command for last mission item.
index = _currentMissionItems.count();
_insertMissionItem(_settings->homePosition(), index /*insertion index*/,
false /*do update*/);
SimpleMissionItem *landItem =
_currentMissionItems.value<SimpleMissionItem *>(index);
if (landItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::DefaultManager::next(): nullptr.");
return false;
}
makeLandCmd(landItem, _settings->masterController());
// Set altitude.
for (int i = 1; i < _currentMissionItems.count(); ++i) {
SimpleMissionItem *item =
_currentMissionItems.value<SimpleMissionItem *>(i);
if (item == nullptr) {
Q_ASSERT(false);
qWarning("WimaController::updateAltitude(): nullptr");
return false;
}
item->altitude()->setRawValue(_settings->altitude());
}
// Update list _currentMissionItems.
updateHirarchy(_currentMissionItems);
updateSequenceNumbers(_currentMissionItems);
// Prepend arrival path to slice.
for (long i = arrivalPath.size() - 1; i >= 0; --i)
_currentWaypoints.push_front(arrivalPath[i]);
_currentWaypoints.push_front(_settings->homePosition());
// Append return path to slice.
for (auto c : returnPath)
_currentWaypoints.push_back(c);
_currentWaypoints.push_back(_settings->homePosition());
// Create variant list.
_currentWaypointsVariant.clear();
for (auto c : _currentWaypoints)
_currentWaypointsVariant.push_back(QVariant::fromValue(c));
return true;
}
src/Wima/WaypointManager/DefaultManager.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include <QGeoCoordinate>
#include <QVector>
#include "GenericWaypointManager.h"
#include "QmlObjectListModel.h"
#include "Settings.h"
#include "AreaInterface.h"
namespace WaypointManager {
typedef GenericWaypointManager<QGeoCoordinate,
QVector,
QmlObjectListModel,
Settings>
ManagerBase;
//!
//! \brief The DefaultManager class is used to manage SimpleMissionItems.
//!
//! @note The \class QmlObjectList returned by \fn missionItems doesn't contain a MissionSettingsItem.
//! This list is supposed to be used for display purposes only.
class DefaultManager : public ManagerBase
{
public:
DefaultManager() = delete;
DefaultManager(Settings &settings,
AreaInterface &interface);
void clear() override;
virtual bool update() override;
virtual bool next() override;
virtual bool previous() override;
virtual bool reset() override;
protected:
bool _insertMissionItem(const QGeoCoordinate &c,
size_t index,
QmlObjectListModel &list,
bool doUpdate);
bool _insertMissionItem(const QGeoCoordinate &c,
size_t index,
bool doUpdate);
bool _calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
AreaInterface *_areaInterface;
private:
bool _worker();
};
} // namespace WaypointManager
src/Wima/WaypointManager/EmptyManager.cpp deleted 100644 → 0
View file @ 3dc41359
#include "EmptyManager.h"
namespace WaypointManager {
WaypointManager::EmptyManager::EmptyManager(Settings &settings, AreaInterface &)
: ManagerBase(settings) {}
void WaypointManager::EmptyManager::clear() {}
bool WaypointManager::EmptyManager::update() { return true; }
bool WaypointManager::EmptyManager::next() { return true; }
bool WaypointManager::EmptyManager::previous() { return true; }
bool WaypointManager::EmptyManager::reset() { return true; }
} // namespace WaypointManager
src/Wima/WaypointManager/EmptyManager.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include <QGeoCoordinate>
#include <QVector>
#include "AreaInterface.h"
#include "GenericWaypointManager.h"
#include "QmlObjectListModel.h"
#include "Settings.h"
namespace WaypointManager {
typedef GenericWaypointManager<QGeoCoordinate, QVector, QmlObjectListModel,
Settings>
ManagerBase;
//!
//! \brief The EmptyManager is a place holder and does noting.
class EmptyManager : public ManagerBase {
public:
EmptyManager() = delete;
EmptyManager(Settings &settings, AreaInterface &);
void clear() override;
virtual bool update() override;
virtual bool next() override;
virtual bool previous() override;
virtual bool reset() override;
};
} // namespace WaypointManager
src/Wima/WaypointManager/GenericWaypointManager.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include <iostream>
#include "Slicer.h"
namespace WaypointManager {
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
class GenericWaypointManager : public Slicer
{
public:
typedef ContainerType<WaypointType> WaypointList;
GenericWaypointManager() = delete;
GenericWaypointManager(SettingsType &settings);
// Waypoint editing.
virtual void setWaypoints(const WaypointList &waypoints);
virtual void push_back (const WaypointType &wp);
virtual void push_front (const WaypointType &wp);
virtual void clear ();
virtual void insert (std::size_t i, const WaypointType &wp);
virtual std::size_t size () const;
virtual void remove (std::size_t i);
const WaypointList &waypoints() const;
const WaypointList &currentWaypoints() const;
const MissionItemList &missionItems() const;
const MissionItemList &currentMissionItems() const;
const QVariantList &waypointsVariant() const;
const QVariantList &currentWaypointsVariant() const;
virtual bool update() = 0;
virtual bool next() = 0;
virtual bool previous() = 0;
virtual bool reset() = 0;
protected:
WaypointList _waypoints;
WaypointList _currentWaypoints;
MissionItemList _currentMissionItems;
MissionItemList _missionItems;
SettingsType *_settings;
bool _dirty;
QVariantList _waypointsVariant;
QVariantList _currentWaypointsVariant;
};
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::GenericWaypointManager(SettingsType &settings)
: Slicer()
, _settings(&settings)
, _dirty(true)
{}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::push_back(const WaypointType &wp)
{
_dirty = true;
_waypoints.push_back(wp);
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::push_front(
const WaypointType &wp)
{
_dirty = true;
_waypoints.push_front(wp);
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::clear()
{
_dirty = true;
_waypoints.clear();
_currentWaypoints.clear();
_missionItems.clear();
_currentMissionItems.clear();
_waypointsVariant.clear();
_currentWaypointsVariant.clear();
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::insert(std::size_t i,
const WaypointType &wp)
{
_dirty = true;
_waypoints.insert(i, wp);
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
std::size_t GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::size() const
{
return _waypoints.size();
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::remove(std::size_t i)
{
return _waypoints.remove(i);
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const QVariantList &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::waypointsVariant() const
{
return _waypointsVariant;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const QVariantList &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::currentWaypointsVariant() const
{
return _currentWaypointsVariant;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const ContainerType<WaypointType> &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::waypoints() const
{
return _waypoints;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const ContainerType<WaypointType> &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::currentWaypoints() const
{
return _currentWaypoints;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const MissionItemList &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::missionItems() const
{
return _missionItems;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
const MissionItemList &GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::currentMissionItems() const
{
return _currentMissionItems;
}
template<class WaypointType,
template<class, class...> class ContainerType,
class MissionItemList,
class SettingsType>
void GenericWaypointManager<WaypointType,
ContainerType,
MissionItemList,
SettingsType>::setWaypoints(const ContainerType<WaypointType> &waypoints)
{
_waypoints = waypoints;
}
} // namespace WaypointManager
src/Wima/WaypointManager/RTLManager.cpp deleted 100644 → 0
View file @ 3dc41359
#include "RTLManager.h"
#include "Wima/Geometry/GeoUtilities.h"
#include "Wima/Geometry/PolygonCalculus.h"
#include "MissionSettingsItem.h"
#include "SimpleMissionItem.h"
WaypointManager::RTLManager::RTLManager(Settings &settings,
AreaInterface &interface)
: ManagerBase(settings), _areaInterface(&interface) {}
void WaypointManager::RTLManager::setWaypoints(
const QVector<QGeoCoordinate> &waypoints) {
(void)waypoints;
return;
}
void WaypointManager::RTLManager::push_back(const QGeoCoordinate &wp) {
(void)wp;
return;
}
void WaypointManager::RTLManager::push_front(const QGeoCoordinate &wp) {
(void)wp;
return;
}
void WaypointManager::RTLManager::clear() {
_dirty = true;
_waypoints.clear();
_currentWaypoints.clear();
_missionItems.clearAndDeleteContents();
_currentMissionItems.clearAndDeleteContents();
_waypointsVariant.clear();
_currentWaypointsVariant.clear();
}
void WaypointManager::RTLManager::insert(std::size_t i,
const QGeoCoordinate &wp) {
(void)i;
(void)wp;
return;
}
std::size_t WaypointManager::RTLManager::size() const { return 0; }
void WaypointManager::RTLManager::remove(std::size_t i) { (void)i; }
bool WaypointManager::RTLManager::update() {
this->clear();
return _worker();
}
bool WaypointManager::RTLManager::next() { return true; }
bool WaypointManager::RTLManager::previous() { return true; }
bool WaypointManager::RTLManager::reset() { return true; }
bool WaypointManager::RTLManager::checkPrecondition(QString &errorString) {
// Be aware of the error message order!
Vehicle *managerVehicle = _settings->masterController()->managerVehicle();
if (managerVehicle->isOfflineEditingVehicle()) {
errorString.append("No vehicle connected. Smart RTL not available.");
return false;
}
if (!managerVehicle->flying()) {
errorString.append("Vehicle is not flying. Smart RTL not available.");
return false;
}
if (!_areaInterface->joinedArea()->containsCoordinate(
managerVehicle->coordinate())) {
errorString.append(
"Vehicle not inside save area. Smart RTL not available.");
return false;
}
return true;
}
bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
size_t index,
QmlObjectListModel &list,
bool doUpdate) {
using namespace WaypointManager::Utils;
if (!insertMissionItem(c, index /*insertion index*/, list,
_settings->masterController(), _settings->isFlyView(),
&list /*parent*/, doUpdate /*do update*/)) {
qWarning("WaypointManager::RTLManager::next(): insertMissionItem failed.");
Q_ASSERT(false);
return false;
}
return true;
}
bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
size_t index,
bool doUpdate) {
return _insertMissionItem(c, index, _currentMissionItems, doUpdate);
}
bool WaypointManager::RTLManager::_calcShortestPath(
const QGeoCoordinate &start, const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
using namespace GeoUtilities;
using namespace PolygonCalculus;
QPolygonF joinedArea2D;
toCartesianList(_areaInterface->joinedArea()->coordinateList(),
/*origin*/ start, joinedArea2D);
QPointF start2D(0, 0);
QPointF end2D;
toCartesian(destination, start, end2D);
QVector<QPointF> path2DOut;
bool retVal =
PolygonCalculus::shortestPath(joinedArea2D, start2D, end2D, path2DOut);
toGeoList(path2DOut, /*origin*/ start, path);
return retVal;
}
bool WaypointManager::RTLManager::_worker() {
// Precondition: settings must be valid.
using namespace WaypointManager::Utils;
if (!_settings->valid()) {
return false;
}
_currentMissionItems.clearAndDeleteContents();
initialize(_currentMissionItems, _settings->masterController(),
_settings->isFlyView());
// Calculate path from vehicle to home position.
QVector<QGeoCoordinate> returnPath;
auto vehicleCoordinate =
_settings->masterController()->managerVehicle()->coordinate();
if (!_calcShortestPath(vehicleCoordinate, _settings->homePosition(),
returnPath)) {
qWarning("WaypointManager::RTLManager::next(): Not able to calc path from "
"vehicle to home position.");
return false;
}
// Create mission items.
// Set home position of MissionSettingsItem.
MissionSettingsItem *settingsItem =
_currentMissionItems.value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::RTLManager::next(): nullptr.");
return false;
}
settingsItem->setCoordinate(vehicleCoordinate);
// Create change speed item.
int index = _currentMissionItems.count();
_insertMissionItem(vehicleCoordinate, index /*insertion index*/,
false /*do update*/);
SimpleMissionItem *speedItem =
_currentMissionItems.value<SimpleMissionItem *>(index);
if (speedItem == nullptr) {
qWarning("WaypointManager::RTLManager::next(): nullptr.");
Q_ASSERT(speedItem != nullptr);
return false;
}
makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
// Insert return path coordinates.
for (auto coordinate : returnPath) {
index = _currentMissionItems.count();
_insertMissionItem(coordinate, index /*insertion index*/,
false /*do update*/);
}
// Set land command for last mission item.
index = _currentMissionItems.count();
_insertMissionItem(_settings->homePosition(), index /*insertion index*/,
false /*do update*/);
SimpleMissionItem *landItem =
_currentMissionItems.value<SimpleMissionItem *>(index);
if (landItem == nullptr) {
Q_ASSERT(false);
qWarning("WaypointManager::RTLManager::next(): nullptr.");
return false;
}
makeLandCmd(landItem, _settings->masterController());
// Set altitude.
for (int i = 1; i < _currentMissionItems.count(); ++i) {
SimpleMissionItem *item =
_currentMissionItems.value<SimpleMissionItem *>(i);
if (item == nullptr) {
Q_ASSERT(false);
qWarning("WimaController::updateAltitude(): nullptr");
return false;
}
item->altitude()->setRawValue(_settings->altitude());
}
// Update list _currentMissionItems.
updateHirarchy(_currentMissionItems);
updateSequenceNumbers(_currentMissionItems);
// Append return path to _currentWaypoints.
for (auto c : returnPath)
_currentWaypoints.push_back(c);
// Create variant list.
_currentWaypointsVariant.clear();
for (auto c : _currentWaypoints)
_currentWaypointsVariant.push_back(QVariant::fromValue(c));
return true;
}
src/Wima/WaypointManager/RTLManager.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include "GenericWaypointManager.h"
#include "Settings.h"
#include "AreaInterface.h"
namespace WaypointManager {
typedef GenericWaypointManager<QGeoCoordinate,
QVector,
QmlObjectListModel,
Settings>
ManagerBase;
//!
//! \brief The RTLManager class is used to manage the return to launch of the vehicle.
//!
//! @note The \class QmlObjectList returned by \fn missionItems doesn't contain a MissionSettingsItem.
//! This list is supposed to be used for display purposes only.
class RTLManager : public ManagerBase
{
public:
RTLManager() = delete;
RTLManager(Settings &settings,
AreaInterface &interface);
//!
//! \brief Does nothing.
//!
virtual void setWaypoints(const QVector<QGeoCoordinate> &waypoints) override;
//!
//! \brief Does nothing.
//!
virtual void push_back (const QGeoCoordinate &wp) override;
//!
//! \brief Does nothing.
//!
virtual void push_front (const QGeoCoordinate &wp) override;
//!
//! \brief Clears the waypoint manager.
virtual void clear () override;
//!
//! \brief Does nothing.
//!
virtual void insert (std::size_t i, const QGeoCoordinate &wp) override;
//!
//! \brief Returns zero.
//! \return Returns zero.
virtual std::size_t size () const override;
//!
//! \brief Returns an empty coordinate.
virtual void remove (std::size_t i) override;
//!
//! \brief Updates the waypoint manager.
//!
//! After updateing a call to currentMissionItems or currentWaypoints returns
//! a path from the vehicles current position to the home position.
//!
//! \return Returns true on success, false either.
//!
virtual bool update() override;
//!
//! \brief Does nothing.
//! \return Returns true.
//!
virtual bool next() override;
//!
//! \brief Does nothing.
//! \return Returns true.
//!
virtual bool previous() override;
//!
//! \brief Does nothing.
//! \return Returns true.
//!
virtual bool reset() override;
bool checkPrecondition(QString &errorString);
protected:
bool _insertMissionItem(const QGeoCoordinate &c,
size_t index,
QmlObjectListModel &list,
bool doUpdate);
bool _insertMissionItem(const QGeoCoordinate &c,
size_t index,
bool doUpdate);
bool _calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
AreaInterface *_areaInterface;
private:
bool _worker();
};
} // namespace WaypointManager
src/Wima/WaypointManager/Settings.cpp deleted 100644 → 0
View file @ 3dc41359
#include "Settings.h"
WaypointManager::Settings::Settings()
: _missionController(nullptr)
, _isFlyView(true)
, _arrivalReturnSpeed(5)
, _flightSpeed(2)
, _altitude(5)
{
}
bool WaypointManager::Settings::valid() const
{
return _missionController != nullptr
&& _homePosition.isValid();
}
void WaypointManager::Settings::setHomePosition(const QGeoCoordinate &c)
{
_homePosition = c;
}
void WaypointManager::Settings::setMissionController(MissionController *controller)
{
_missionController = controller;
}
void WaypointManager::Settings::setMasterController(PlanMasterController *controller)
{
_masterController = controller;
}
void WaypointManager::Settings::setIsFlyView(bool isFlyView)
{
_isFlyView = isFlyView;
}
void WaypointManager::Settings::setArrivalReturnSpeed(double speed)
{
if (speed > 0)
_arrivalReturnSpeed = speed;
}
void WaypointManager::Settings::setFlightSpeed(double speed)
{
if ( speed > 0)
_flightSpeed = speed;
}
void WaypointManager::Settings::setAltitude(double altitude)
{
if ( altitude > 0)
_altitude = altitude;
}
const QGeoCoordinate &WaypointManager::Settings::homePosition() const
{
return _homePosition;
}
QGeoCoordinate &WaypointManager::Settings::homePosition()
{
return _homePosition;
}
MissionController *WaypointManager::Settings::missionController() const
{
return _missionController;
}
PlanMasterController *WaypointManager::Settings::masterController() const
{
return _masterController;
}
Vehicle *WaypointManager::Settings::vehicle() const
{
return _masterController->managerVehicle();
}
bool WaypointManager::Settings::isFlyView() const
{
return _isFlyView;
}
double WaypointManager::Settings::arrivalReturnSpeed() const
{
return _arrivalReturnSpeed;
}
double WaypointManager::Settings::flightSpeed() const
{
return _flightSpeed;
}
double WaypointManager::Settings::altitude() const
{
return _altitude;
}
src/Wima/WaypointManager/Settings.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include <QGeoCoordinate>
#include "MissionController.h"
#include "PlanMasterController.h"
#include "Vehicle.h"
namespace WaypointManager {
class Settings
{
public:
Settings();
bool valid() const;
void setHomePosition(const QGeoCoordinate &c);
void setMissionController(MissionController *controller);
void setMasterController(PlanMasterController *controller);
void setIsFlyView(bool isFlyView);
void setArrivalReturnSpeed(double speed);
void setFlightSpeed(double speed);
void setAltitude(double altitude);
const QGeoCoordinate &homePosition() const;
QGeoCoordinate &homePosition();
MissionController *missionController() const;
PlanMasterController *masterController() const;
Vehicle *vehicle() const;
bool isFlyView() const;
double arrivalReturnSpeed() const;
double flightSpeed() const;
double altitude() const;
private:
QGeoCoordinate _homePosition;
MissionController *_missionController;
PlanMasterController *_masterController;
bool _isFlyView;
double _arrivalReturnSpeed;
double _flightSpeed;
double _altitude;
};
} // namespace WaypointManager
src/Wima/WaypointManager/Slicer.cpp deleted 100644 → 0
View file @ 3dc41359
#include "Slicer.h"
Slicer::Slicer()
: _idxStart(0)
, _idxEnd(0)
, _idxNext(0)
, _idxPrevious(0)
, _overlap(0)
, _N(0)
{}
void Slicer::setOverlap(uint32_t overlap)
{
_overlap = overlap;
}
void Slicer::setN(uint32_t N)
{
_N = N > 0 ? N : 1;
}
void Slicer::setStartIndex(int idxStart)
{
_idxStart = idxStart;
}
uint32_t Slicer::overlap()
{
return _overlap;
}
uint32_t Slicer::N()
{
return _N;
}
int Slicer::startIndex()
{
return _idxStart;
}
void Slicer::_updateIdx(long size)
{
_overlap = _overlap < _N ? _overlap : _N-1;
_idxStart = _idxStart < size ? _idxStart : size-1;
_idxStart = _idxStart < 0 ? 0 : _idxStart;
_idxEnd = _idxStart + _N - 1;
_idxEnd = _idxEnd < size ? _idxEnd : size-1;
_idxNext = _idxEnd == size -1 ? _idxStart : _idxEnd + 1 - _overlap;
_idxNext = _idxNext < 0 ? 0 : _idxNext;
_idxNext = _idxNext < size ? _idxNext : size-1;
_idxPrevious = _idxStart + _overlap - _N;
_idxPrevious = _idxPrevious < 0 ? 0 : _idxPrevious;
_idxPrevious = _idxPrevious < size ? _idxPrevious : size-1;
// qDebug() << "size: " << size;
// qDebug() << "_N: " << _N;
// qDebug() << "_overlap: " << _overlap;
// qDebug() << "_idxStart: " << _idxStart;
// qDebug() << "_idxEnd: " << _idxEnd;
// qDebug() << "_idxNext: " << _idxNext;
// qDebug() << "_idxPrevious: " << _idxPrevious << "\n";
}
src/Wima/WaypointManager/Slicer.h deleted 100644 → 0
View file @ 3dc41359
#pragma once
#include <assert.h>
#include <iostream>
#include "Utils.h"
//! @brief Helper class for slicing containers.
class Slicer
{
public:
Slicer();
protected:
// Slicing.
template <class Container1, class Container2>
void update (const Container1 &source, Container2 &slice);
template <class Container1, class Container2>
void next (const Container1 &source, Container2 &slice);
template <class Container1, class Container2>
void previous (const Container1 &source, Container2 &slice);
template <class Container1, class Container2>
void reset (const Container1 &source, Container2 &slice);
public:
// Slicing parameters.
//! @brief Sets the overlap.
//!
//! @param overlap The number of overlapping vertices
//! between on and the next slice.
void setOverlap (uint32_t overlap);
//! @brief Sets the number of vertices per slice.
//!
//! @param N The number of vertices per slice.
void setN (std::uint32_t N);
//! @brief Sets the start index.
//!
//! @param idxStart The start index.
void setStartIndex (int idxStart);
//! @return Returns the overlap.
uint32_t overlap ();
//! @return Returns the number of vertices per slice N.
uint32_t N ();
//! @return Returns the start index.
int startIndex ();
private:
void _updateIdx(long size);
long _idxStart;
long _idxEnd;
long _idxNext;
long _idxPrevious;
long _overlap;
long _N;
};
template <class Container1, class Container2>
void Slicer::update(const Container1 &source, Container2 &slice){
_updateIdx(source.size());
WaypointManager::Utils::extract(source, slice, _idxStart, _idxEnd);
}
template <class Container1, class Container2>
void Slicer::next(const Container1 &source, Container2 &slice){
_updateIdx(source.size());
setStartIndex(_idxNext);
update(source, slice);
}
template <class Container1, class Container2>
void Slicer::previous(const Container1 &source, Container2 &slice){
_updateIdx(source.size());
setStartIndex(_idxPrevious);
update(source, slice);
}
template <class Container1, class Container2>
void Slicer::reset(const Container1 &source, Container2 &slice){
setStartIndex(0);
update(source, slice);
}
src/Wima/WimaController.cc
View file @ 7427e2f7
......@@ -36,20 +36,12 @@ constexpr typename std::underlying_type<T>::type integral(T value) {
#define EVENT_TIMER_INTERVAL 50 // ms
const char *WimaController::areaItemsName = "AreaItems";
const char *WimaController::missionItemsName = "MissionItems";
const char *WimaController::settingsGroup = "WimaController";
const char *WimaController::enableWimaControllerName = "EnableWimaController";
const char *WimaController::flightSpeedName = "FlightSpeed";
const char *WimaController::altitudeName = "Altitude";
WimaController::WimaController(QObject *parent)
: QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
_corridor(), _planDataValid(false),
_areaInterface(&_measurementArea, &_serviceArea, &_corridor,
&_joinedArea),
_WMSettings(), _emptyWM(_WMSettings, _areaInterface),
_rtlWM(_WMSettings, _areaInterface),
_currentWM(&_emptyWM), _WMList{&_emptyWM, &_rtlWM},
_metaDataMap(FactMetaData::createMapFromJsonFile(
QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
_enableWimaController(settingsGroup,
......@@ -71,67 +63,18 @@ MissionController *WimaController::missionController() {
QmlObjectListModel *WimaController::visualItems() { return &_areas; }
QmlObjectListModel *WimaController::missionItems() {
return const_cast<QmlObjectListModel *>(&_currentWM->currentMissionItems());
}
QVariantList WimaController::waypointPath() {
return const_cast<QVariantList &>(_currentWM->currentWaypointsVariant());
}
Fact *WimaController::enableWimaController() { return &_enableWimaController; }
Fact *WimaController::flightSpeed() { return &_flightSpeed; }
Fact *WimaController::altitude() { return &_altitude; }
void WimaController::setMasterController(PlanMasterController *masterC) {
_masterController = masterC;
_WMSettings.setMasterController(masterC);
emit masterControllerChanged();
}
void WimaController::setMissionController(MissionController *missionC) {
_missionController = missionC;
_WMSettings.setMissionController(missionC);
emit missionControllerChanged();
}
bool WimaController::upload() {
auto &items = _currentWM->currentMissionItems();
if (_masterController && _masterController->managerVehicle() &&
items.count() > 0) {
if (!_joinedArea.containsCoordinate(
_masterController->managerVehicle()->coordinate())) {
emit forceUploadConfirm();
return false;
} else {
return forceUpload();
}
} else {
return false;
}
}
bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
using namespace GeoUtilities;
using namespace PolygonCalculus;
QPolygonF polygon2D;
toCartesianList(_joinedArea.coordinateList(), /*origin*/ start, polygon2D);
QPointF start2D(0, 0);
QPointF end2D;
toCartesian(destination, start, end2D);
QVector<QPointF> path2D;
bool retVal =
PolygonCalculus::shortestPath(polygon2D, start2D, end2D, path2D);
toGeoList(path2D, /*origin*/ start, path);
return retVal;
}
void WimaController::planDataChangedHandler() {
// reset visual items
......@@ -143,8 +86,6 @@ void WimaController::planDataChangedHandler() {
_planDataValid = false;
emit visualItemsChanged();
emit missionItemsChanged();
emit waypointPathChanged();
// Extract areas.
auto planData = WimaBridge::instance()->planData();
......@@ -159,10 +100,6 @@ void WimaController::planDataChangedHandler() {
_serviceArea = planData.serviceArea();
_areas.append(&_serviceArea);
_WMSettings.setHomePosition(
QGeoCoordinate(_serviceArea.depot().latitude(),
_serviceArea.depot().longitude(), 0));
// Joined Area.
if (planData.joinedArea().coordinateList().size() >= 3) {
_joinedArea = planData.joinedArea();
......@@ -192,33 +129,3 @@ void WimaController::planDataChangedHandler() {
void WimaController::progressChangedHandler() {
_measurementArea.setProgress(WimaBridge::instance()->progress());
}
WimaController *WimaController::thisPointer() { return this; }
void WimaController::_updateflightSpeed() {
bool value;
_WMSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit waypointPathChanged();
}
void WimaController::_updateAltitude() {
bool value;
_WMSettings.setAltitude(_altitude.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit waypointPathChanged();
}
src/Wima/WimaController.h
View file @ 7427e2f7
#pragma once
#include <QObject>
#include <QScopedPointer>
#include "QGCMapPolygon.h"
#include "QmlObjectListModel.h"
#include "Geometry/WimaCorridorData.h"
#include "Geometry/WimaJoinedAreaData.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaServiceAreaData.h"
#include "SettingsFact.h"
#include "Geometry/GeoPoint3D.h"
#include "RoutingThread.h"
#include "Snake/NemoInterface.h"
#include "WaypointManager/EmptyManager.h"
#include "WaypointManager/RTLManager.h"
#include "utilities.h"
#include <map>
typedef std::unique_ptr<rapidjson::Document> JsonDocUPtr;
class MissionController;
class PlanMasterController;
class WimaController : public QObject {
Q_OBJECT
......@@ -38,51 +28,27 @@ public:
// Wima Data.
Q_PROPERTY(QmlObjectListModel *visualItems READ visualItems NOTIFY
visualItemsChanged)
Q_PROPERTY(QmlObjectListModel *missionItems READ missionItems NOTIFY
missionItemsChanged)
Q_PROPERTY(
QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
Q_PROPERTY(Fact *enableWimaController READ enableWimaController CONSTANT)
// Waypoint navigaton.
Q_PROPERTY(Fact *flightSpeed READ flightSpeed CONSTANT)
Q_PROPERTY(Fact *altitude READ altitude CONSTANT)
// Controllers.
PlanMasterController *masterController(void);
MissionController *missionController(void);
// Wima Data
QmlObjectListModel *visualItems(void);
QGCMapPolygon joinedArea(void) const;
// Waypoints.
QmlObjectListModel *missionItems(void);
QVariantList waypointPath(void);
// Settings facts.
Fact *enableWimaController(void);
Fact *flightSpeed(void);
Fact *altitude(void);
bool uploadOverrideRequired(void) const;
bool vehicleHasLowBattery(void) const;
// Property setters
void setMasterController(PlanMasterController *masterController);
void setMissionController(MissionController *missionController);
// Member Methodes
Q_INVOKABLE WimaController *thisPointer();
// Other.
Q_INVOKABLE void removeVehicleTrajectoryHistory();
Q_INVOKABLE bool upload();
Q_INVOKABLE bool forceUpload();
Q_INVOKABLE void removeFromVehicle();
// static Members
static const char *areaItemsName;
static const char *missionItemsName;
static const char *settingsGroup;
static const char *enableWimaControllerName;
static const char *flightSpeedName;
static const char *altitudeName;
signals:
// Controllers.
......@@ -90,24 +56,10 @@ signals:
void missionControllerChanged(void);
// Wima data.
void visualItemsChanged(void);
// Waypoints.
void missionItemsChanged(void);
void waypointPathChanged(void);
// Upload.
void forceUploadConfirm(void);
private slots:
void planDataChangedHandler();
void progressChangedHandler();
bool _calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
void _updateflightSpeed(void);
void _updateAltitude(void);
// Snake.
void _switchWaypointManager(WaypointManager::ManagerBase &manager);
// Periodic tasks.
void _eventTimerHandler(void);
private:
// Controllers.
......@@ -123,24 +75,7 @@ private:
WimaCorridorData _corridor; // corridor connecting opArea and serArea
bool _planDataValid;
// Waypoint Managers.
WaypointManager::AreaInterface _areaInterface;
WaypointManager::Settings _WMSettings; // Waypoint Manager Settings
WaypointManager::EmptyManager _emptyWM;
WaypointManager::RTLManager _rtlWM;
WaypointManager::ManagerBase *_currentWM;
using ManagerList = QList<WaypointManager::ManagerBase *>;
ManagerList _WMList;
// Settings Facts.
QMap<QString, FactMetaData *> _metaDataMap;
SettingsFact _enableWimaController; // enables or disables the wimaControler
// determines the number of overlapping waypoints between two consecutive
// mission phases
SettingsFact _flightSpeed; // mission flight speed
SettingsFact _altitude; // mission altitude
// Periodic tasks.
QTimer _eventTimer;
EventTicker _batteryLevelTicker;
};
src/Wima/WimaPlaner.cc
View file @ 7427e2f7
......@@ -17,7 +17,7 @@
#include "Geometry/WimaAreaData.h"
#include "WimaBridge.h"
#include "StateMachine.h"
#include "WimaStateMachine.h"
using namespace wima_planer_detail;
#include <functional>
......@@ -39,7 +39,7 @@ const char *WimaPlaner::missionItemsName = "MissionItems";
WimaPlaner::WimaPlaner(QObject *parent)
: QObject(parent), _masterController(nullptr), _missionController(nullptr),
_currentAreaIndex(-1), _joinedArea(this), _survey(nullptr),
_nemoInterface(this), _stateMachine(new StateMachine),
_nemoInterface(this), _stateMachine(new WimaStateMachine),
_areasMonitored(false), _missionControllerMonitored(false),
_progressLocked(false), _synchronized(false) {
......@@ -63,11 +63,11 @@ WimaPlaner::WimaPlaner(QObject *parent)
&WimaPlaner::nemoInterfaceProgressChangedHandler);
// StateMachine
connect(this->_stateMachine.get(), &StateMachine::upToDateChanged, this,
connect(this->_stateMachine.get(), &WimaStateMachine::upToDateChanged, this,
&WimaPlaner::needsUpdateChanged);
connect(this->_stateMachine.get(), &StateMachine::surveyReadyChanged, this,
connect(this->_stateMachine.get(), &WimaStateMachine::surveyReadyChanged, this,
&WimaPlaner::readyForSynchronizationChanged);
connect(this->_stateMachine.get(), &StateMachine::surveyReadyChanged, this,
connect(this->_stateMachine.get(), &WimaStateMachine::surveyReadyChanged, this,
&WimaPlaner::surveyReadyChanged);
}
......
src/Wima/WimaPlaner.h
View file @ 7427e2f7
......@@ -23,7 +23,7 @@ class MissionController;
class PlanMasterController;
namespace wima_planer_detail {
class StateMachine;
class WimaStateMachine;
}
class WimaPlaner : public QObject {
......@@ -187,7 +187,7 @@ private:
NemoInterface _nemoInterface;
// State
QScopedPointer<wima_planer_detail::StateMachine> _stateMachine;
QScopedPointer<wima_planer_detail::WimaStateMachine> _stateMachine;
bool _areasMonitored;
bool _missionControllerMonitored;
bool _progressLocked;
......
src/Wima/StateMachine.cpp → src/Wima/WimaStateMachine.cpp
View file @ 7427e2f7
#include "StateMachine.h"
#include "WimaStateMachine.h"
#include "QGCLoggingCategory.h"
......@@ -13,12 +13,12 @@ constexpr typename std::underlying_type<T>::type integral(T value) {
return static_cast<typename std::underlying_type<T>::type>(value);
}
StateMachine::StateMachine(QObject *parent)
WimaStateMachine::WimaStateMachine(QObject *parent)
: QObject(parent), _state(STATE::NEEDS_INIT) {}
STATE StateMachine::state() { return this->_state; }
STATE WimaStateMachine::state() { return this->_state; }
void StateMachine::updateState(EVENT e) {
void WimaStateMachine::updateState(EVENT e) {
qCDebug(WimaPlanerLog) << "StateMachine::updateState(): event:" << e;
switch (this->_state) {
case STATE::NEEDS_INIT:
......@@ -240,11 +240,11 @@ void StateMachine::updateState(EVENT e) {
}
}
bool StateMachine::upToDate() { return upToDate(this->_state); }
bool WimaStateMachine::upToDate() { return upToDate(this->_state); }
bool StateMachine::surveyReady() { return surveyReady(this->_state); }
bool WimaStateMachine::surveyReady() { return surveyReady(this->_state); }
void StateMachine::setState(STATE s) {
void WimaStateMachine::setState(STATE s) {
if (this->_state != s) {
auto oldState = this->_state;
this->_state = s;
......@@ -260,7 +260,7 @@ void StateMachine::setState(STATE s) {
}
}
bool StateMachine::surveyReady(STATE s) {
bool WimaStateMachine::surveyReady(STATE s) {
// Using a switch to enable compiler checking of used states.
bool value = false;
switch (s) {
......@@ -278,7 +278,7 @@ bool StateMachine::surveyReady(STATE s) {
return value;
}
bool StateMachine::upToDate(STATE s) {
bool WimaStateMachine::upToDate(STATE s) {
// Using a switch to enable compiler checking of used states.
bool value = false;
switch (s) {
......
src/Wima/StateMachine.h → src/Wima/WimaStateMachine.h
View file @ 7427e2f7
......@@ -38,10 +38,10 @@ enum class EVENT {
QDebug &operator<<(QDebug &ds, EVENT s);
class StateMachine : public QObject {
class WimaStateMachine : public QObject {
Q_OBJECT
public:
explicit StateMachine(QObject *parent = nullptr);
explicit WimaStateMachine(QObject *parent = nullptr);
STATE state();
void updateState(EVENT e);
......
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