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Commit 830d7dee authored by Don Gagne's avatar Don Gagne
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Merge pull request #1860 from DonLakeFlyer/MissionWork 

Mission work
parents 00b393ba faa7500c
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Showing with 180 additions and 119 deletions
src/FactSystem/Fact.cc
View file @ 830d7dee
......@@ -28,25 +28,49 @@
#include <QtQml>
Fact::Fact(void) :
_componentId(-1),
_value(0),
_type(FactMetaData::valueTypeInt32),
_metaData(NULL)
Fact::Fact(QObject* parent)
: QObject(parent)
, _componentId(-1)
, _value(0)
, _type(FactMetaData::valueTypeInt32)
, _metaData(NULL)
{
FactMetaData* metaData = new FactMetaData(_type, this);
setMetaData(metaData);
}
Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent) :
QObject(parent),
_name(name),
_componentId(componentId),
_value(0),
_type(type),
_metaData(NULL)
Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent)
: QObject(parent)
, _name(name)
, _componentId(componentId)
, _value(0)
, _type(type)
, _metaData(NULL)
{
FactMetaData* metaData = new FactMetaData(_type, this);
setMetaData(metaData);
}
Fact::Fact(const Fact& other, QObject* parent)
: QObject(parent)
{
*this = other;
}
const Fact& Fact::operator=(const Fact& other)
{
_name = other._name;
_componentId = other._componentId;
_value = other._value;
_type = other._type;
if (_metaData && other._metaData) {
*_metaData = *other._metaData;
} else {
_metaData = NULL;
}
return *this;
}
void Fact::forceSetValue(const QVariant& value)
......
src/FactSystem/Fact.h
View file @ 830d7dee
......@@ -40,9 +40,12 @@ class Fact : public QObject
Q_OBJECT
public:
Fact(void);
Fact(QObject* parent = NULL);
Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
Fact(const Fact& other, QObject* parent = NULL);
const Fact& operator=(const Fact& other);
Q_PROPERTY(int componentId READ componentId CONSTANT)
Q_PROPERTY(QString name READ name CONSTANT)
Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true)
......
src/FactSystem/FactMetaData.cc
View file @ 830d7dee
......@@ -32,6 +32,20 @@
#include <limits>
FactMetaData::FactMetaData(QObject* parent) :
QObject(parent),
_group("*Default Group"),
_type(valueTypeInt32),
_defaultValue(0),
_defaultValueAvailable(false),
_min(_minForType()),
_max(_maxForType()),
_minIsDefaultForType(true),
_maxIsDefaultForType(true)
{
}
FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
QObject(parent),
_group("*Default Group"),
......@@ -46,6 +60,26 @@ FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
}
FactMetaData::FactMetaData(const FactMetaData& other, QObject* parent)
: QObject(parent)
{
*this = other;
}
const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
{
_group = other._group;
_type = other._type;
_defaultValue = other._defaultValue;
_defaultValueAvailable = other._defaultValueAvailable;
_min = other._min;
_max = other._max;
_minIsDefaultForType = other._minIsDefaultForType;
_maxIsDefaultForType = other._maxIsDefaultForType;
return *this;
}
QVariant FactMetaData::defaultValue(void)
{
if (_defaultValueAvailable) {
......
src/FactSystem/FactMetaData.h
View file @ 830d7dee
......@@ -52,7 +52,11 @@ public:
valueTypeDouble
} ValueType_t;
FactMetaData(QObject* parent = NULL);
FactMetaData(ValueType_t type, QObject* parent = NULL);
FactMetaData(const FactMetaData& other, QObject* parent = NULL);
const FactMetaData& operator=(const FactMetaData& other);
// Property accessors
QString name(void) { return _name; }
......
src/MissionItem.cc
View file @ 830d7dee
......@@ -60,28 +60,28 @@ MissionItem::MissionItem(QObject* parent,
: QObject(parent)
, _sequenceNumber(sequenceNumber)
, _coordinate(coordinate)
, _yawRadians(param4)
, _frame(frame)
, _action(action)
, _autocontinue(autocontinue)
, _isCurrentItem(isCurrentItem)
, _orbit(param3)
, _param1(param1)
, _param2(param2)
, _reachedTime(0)
, _yawFact(NULL)
, _yawRadiansFact(NULL)
{
_yawFact = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
_pitchFact = new Fact(0, "Pitch:", FactMetaData::valueTypeDouble, this);
_loiterRadiusFact = new Fact(0, "Radius:", FactMetaData::valueTypeDouble, this);
_param1Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_param2Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_yawRadiansFact = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
_loiterOrbitRadiusFact = new Fact(0, "Radius:", FactMetaData::valueTypeDouble, this);
_param1Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_param2Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
setParam1(param1);
setParam2(param2);
setYawRadians(param4);
setLoiterOrbitRadius(param3);
// FIXME: Need to fill out more meta data
_yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_yawMetaData->setUnits("degrees");
FactMetaData* yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
yawMetaData->setUnits("degrees");
_pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_pitchMetaData->setUnits("degrees");
......@@ -92,8 +92,8 @@ MissionItem::MissionItem(QObject* parent,
_holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_holdTimeMetaData->setUnits("seconds");
_loiterRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_loiterRadiusMetaData->setUnits("meters");
FactMetaData* loiterOrbitRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
loiterOrbitRadiusMetaData->setUnits("meters");
_loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_loiterTurnsMetaData->setUnits("count");
......@@ -110,14 +110,28 @@ MissionItem::MissionItem(QObject* parent,
_jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpRepeatMetaData->setUnits("count");
_yawFact->setMetaData(_yawMetaData);
_pitchFact->setMetaData(_pitchMetaData);
_loiterRadiusFact->setMetaData(_loiterRadiusMetaData);
_yawRadiansFact->setMetaData(yawMetaData);
_loiterOrbitRadiusFact->setMetaData(loiterOrbitRadiusMetaData);
}
MissionItem::MissionItem(const MissionItem& other)
: QObject(NULL)
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
{
_yawRadiansFact = new Fact(this);
_loiterOrbitRadiusFact = new Fact(this);
_param1Fact = new Fact(this);
_param2Fact = new Fact(this);
_pitchMetaData = new FactMetaData(this);
_acceptanceRadiusMetaData = new FactMetaData(this);
_holdTimeMetaData = new FactMetaData(this);
_loiterTurnsMetaData = new FactMetaData(this);
_loiterSecondsMetaData = new FactMetaData(this);
_delaySecondsMetaData = new FactMetaData(this);
_jumpSequenceMetaData = new FactMetaData(this);
_jumpRepeatMetaData = new FactMetaData(this);
*this = other;
}
......@@ -130,15 +144,25 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
_sequenceNumber = other._sequenceNumber;
_isCurrentItem = other._isCurrentItem;
_coordinate = other._coordinate;
_yawRadians = other._yawRadians;
_frame = other._frame;
_action = other._action;
_autocontinue = other._autocontinue;
_orbit = other._orbit;
_param1 = other._param1;
_param2 = other._param2;
_reachedTime = other._reachedTime;
*_yawRadiansFact = *other._yawRadiansFact;
*_loiterOrbitRadiusFact = *other._loiterOrbitRadiusFact;
*_param1Fact = *other._param1Fact;
*_param2Fact = *other._param2Fact;
*_pitchMetaData = *other._pitchMetaData;
*_acceptanceRadiusMetaData = *other._acceptanceRadiusMetaData;
*_holdTimeMetaData = *other._holdTimeMetaData;
*_loiterTurnsMetaData = *other._loiterTurnsMetaData;
*_loiterSecondsMetaData = *other._loiterSecondsMetaData;
*_delaySecondsMetaData = *other._delaySecondsMetaData;
*_jumpSequenceMetaData = *other._jumpSequenceMetaData;
*_jumpRepeatMetaData = *other._jumpRepeatMetaData;
return *this;
}
......@@ -154,7 +178,7 @@ void MissionItem::save(QTextStream &saveStream)
position = position.arg(y(), 0, 'g', 18);
position = position.arg(z(), 0, 'g', 18);
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yawRadians, 0, 'g', 18);
parameters = parameters.arg(getParam2(), 0, 'g', 18).arg(getParam2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
......@@ -168,9 +192,9 @@ bool MissionItem::load(QTextStream &loadStream)
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
_frame = (MAV_FRAME) wpParams[2].toInt();
_action = (MAV_CMD) wpParams[3].toInt();
_param1 = wpParams[4].toDouble();
_param2 = wpParams[5].toDouble();
_orbit = wpParams[6].toDouble();
setParam1(wpParams[4].toDouble());
setParam2(wpParams[5].toDouble());
setLoiterOrbitRadius(wpParams[6].toDouble());
setYawRadians(wpParams[7].toDouble());
setLatitude(wpParams[8].toDouble());
setLongitude(wpParams[9].toDouble());
......@@ -253,7 +277,7 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
if (_action == MAV_CMD_NAV_TAKEOFF) {
// We default to 15 degrees minimum takeoff pitch
_param1 = 15.0;
setParam1(15.0);
}
emit changed(this);
......@@ -291,21 +315,14 @@ void MissionItem::setIsCurrentItem(bool isCurrentItem)
void MissionItem::setAcceptanceRadius(double radius)
{
if (_param2 != radius)
{
_param2 = radius;
emit changed(this);
emit valueStringsChanged(valueStrings());
}
setParam2(radius);
}
void MissionItem::setParam1(double param1)
{
//// // qDebug() << "SENDER:" << QObject::sender();
//// // qDebug() << "PARAM1 SET REQ:" << param1;
if (_param1 != param1)
if (getParam1() != param1)
{
_param1 = param1;
_param1Fact->setValue(param1);
emit changed(this);
emit valueStringsChanged(valueStrings());
}
......@@ -313,9 +330,9 @@ void MissionItem::setParam1(double param1)
void MissionItem::setParam2(double param2)
{
if (_param2 != param2)
if (getParam2() != param2)
{
_param2 = param2;
_param2Fact->setValue(param2);
emit valueStringsChanged(valueStrings());
emit changed(this);
}
......@@ -323,20 +340,12 @@ void MissionItem::setParam2(double param2)
void MissionItem::setParam3(double param3)
{
if (_orbit != param3) {
_orbit = param3;
emit valueStringsChanged(valueStrings());
emit changed(this);
}
setLoiterOrbitRadius(param3);
}
void MissionItem::setParam4(double param4)
{
if (_yawRadians != param4) {
_yawRadians = param4;
emit changed(this);
emit valueStringsChanged(valueStrings());
}
setYawRadians(param4);
}
void MissionItem::setParam5(double param5)
......@@ -366,10 +375,10 @@ void MissionItem::setParam7(double param7)
}
}
void MissionItem::setLoiterOrbit(double orbit)
void MissionItem::setLoiterOrbitRadius(double radius)
{
if (_orbit != orbit) {
_orbit = orbit;
if (loiterOrbitRadius() != radius) {
_loiterOrbitRadiusFact->setValue(radius);
emit valueStringsChanged(valueStrings());
emit changed(this);
}
......@@ -377,20 +386,12 @@ void MissionItem::setLoiterOrbit(double orbit)
void MissionItem::setHoldTime(int holdTime)
{
if (_param1 != holdTime) {
_param1 = holdTime;
emit valueStringsChanged(valueStrings());
emit changed(this);
}
setParam1(holdTime);
}
void MissionItem::setHoldTime(double holdTime)
{
if (_param1 != holdTime) {
_param1 = holdTime;
emit changed(this);
emit valueStringsChanged(valueStrings());
}
setParam1(holdTime);
}
bool MissionItem::specifiesCoordinate(void) const
......@@ -508,30 +509,30 @@ QStringList MissionItem::valueStrings(void)
switch (_action) {
case MAV_CMD_NAV_WAYPOINT:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawDegrees()) << _oneDecimalString(getParam2()) << _oneDecimalString(getParam1());
break;
case MAV_CMD_NAV_LOITER_UNLIM:
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit);
list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius());
break;
case MAV_CMD_NAV_LOITER_TURNS:
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(getParam1());
break;
case MAV_CMD_NAV_LOITER_TIME:
list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(getParam1());
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI));
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawRadians() * (180.0 / M_PI));
break;
case MAV_CMD_NAV_TAKEOFF:
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param1);
list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(getParam1());
break;
case MAV_CMD_CONDITION_DELAY:
list << _oneDecimalString(_param1);
list << _oneDecimalString(getParam1());
break;
case MAV_CMD_DO_JUMP:
list << _oneDecimalString(_param1) << _oneDecimalString(_param2);
list << _oneDecimalString(getParam1()) << _oneDecimalString(getParam2());
break;
default:
break;
......@@ -588,36 +589,38 @@ QmlObjectListModel* MissionItem::facts(void)
_param2Fact->setMetaData(_acceptanceRadiusMetaData);
_param1Fact->_setName("Hold:");
_param1Fact->setMetaData(_holdTimeMetaData);
model->append(_yawFact);
model->append(_yawRadiansFact);
model->append(_param2Fact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_yawFact);
model->append(_loiterRadiusFact);
model->append(_yawRadiansFact);
model->append(_loiterOrbitRadiusFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
_param1Fact->_setName("Turns:");
_param1Fact->setMetaData(_loiterTurnsMetaData);
model->append(_yawFact);
model->append(_loiterRadiusFact);
model->append(_yawRadiansFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_TIME:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_loiterSecondsMetaData);
model->append(_yawFact);
model->append(_loiterRadiusFact);
model->append(_yawRadiansFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
model->append(_yawFact);
model->append(_yawRadiansFact);
break;
case MAV_CMD_NAV_TAKEOFF:
model->append(_yawFact);
model->append(_pitchFact);
_param1Fact->_setName("Pitch:");
_param1Fact->setMetaData(_pitchMetaData);
model->append(_yawRadiansFact);
model->append(_param1Fact);
break;
case MAV_CMD_CONDITION_DELAY:
_param1Fact->_setName("Seconds:");
......@@ -639,14 +642,14 @@ QmlObjectListModel* MissionItem::facts(void)
double MissionItem::yawRadians(void) const
{
return _yawRadians;
return _yawRadiansFact->value().toDouble();
}
void MissionItem::setYawRadians(double yaw)
{
if (_yawRadians != yaw)
if (yawRadians() != yaw)
{
_yawRadians = yaw;
_yawRadiansFact->setValue(yaw);
emit yawChanged(yaw);
emit changed(this);
emit valueStringsChanged(valueStrings());
......@@ -656,7 +659,7 @@ void MissionItem::setYawRadians(double yaw)
double MissionItem::yawDegrees(void) const
{
return _yawRadians * (180.0 / M_PI);
return yawRadians() * (180.0 / M_PI);
}
void MissionItem::setYawDegrees(double yaw)
......
src/MissionItem.h
View file @ 830d7dee
......@@ -53,7 +53,7 @@ public:
int frame = MAV_FRAME_GLOBAL,
int action = MAV_CMD_NAV_WAYPOINT);
MissionItem(const MissionItem& other);
MissionItem(const MissionItem& other, QObject* parent = NULL);
~MissionItem();
const MissionItem& operator=(const MissionItem& other);
......@@ -125,23 +125,23 @@ public:
bool getAutoContinue() const {
return _autocontinue;
}
double getLoiterOrbit() const {
return _orbit;
double loiterOrbitRadius() const {
return _loiterOrbitRadiusFact->value().toDouble();
}
double getAcceptanceRadius() const {
return _param2;
return getParam2();
}
double getHoldTime() const {
return _param1;
return getParam1();
}
double getParam1() const {
return _param1;
return _param1Fact->value().toDouble();
}
double getParam2() const {
return _param2;
return _param2Fact->value().toDouble();
}
double getParam3() const {
return _orbit;
return loiterOrbitRadius();
}
double getParam4() const {
return yawRadians();
......@@ -195,7 +195,7 @@ public:
void setFrame (int _frame);
void setAutocontinue(bool autoContinue);
void setCurrent (bool _current);
void setLoiterOrbit (double _orbit);
void setLoiterOrbitRadius (double radius);
void setParam1 (double _param1);
void setParam2 (double _param2);
void setParam3 (double param3);
......@@ -226,27 +226,20 @@ private:
int _sequenceNumber;
QGeoCoordinate _coordinate;
double _yawRadians;
int _frame;
int _action;
bool _autocontinue;
bool _isCurrentItem;
double _orbit;
double _param1;
double _param2;
quint64 _reachedTime;
Fact* _yawFact;
Fact* _pitchFact;
Fact* _loiterRadiusFact;
Fact* _yawRadiansFact;
Fact* _loiterOrbitRadiusFact;
Fact* _param1Fact;
Fact* _param2Fact;
FactMetaData* _yawMetaData;
FactMetaData* _pitchMetaData;
FactMetaData* _acceptanceRadiusMetaData;
FactMetaData* _holdTimeMetaData;
FactMetaData* _loiterRadiusMetaData;
FactMetaData* _loiterTurnsMetaData;
FactMetaData* _loiterSecondsMetaData;
FactMetaData* _delaySecondsMetaData;
......
src/ui/map/Waypoint2DIcon.cc
View file @ 830d7dee
......@@ -104,7 +104,7 @@ QRectF Waypoint2DIcon::boundingRect() const
}
if (((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
{
loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
loiter = map->metersToPixels(waypoint->loiterOrbitRadius(), coord);
}
}
......@@ -306,7 +306,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
penDash.setWidth(1);
//penDash.setStyle(Qt::DotLine);
// A negative radius indicates counter-clockwise rotation, but we still want to draw it positive
const int loiter = map->metersToPixels(fabs(waypoint->getLoiterOrbit()), Coord());
const int loiter = map->metersToPixels(fabs(waypoint->loiterOrbitRadius()), Coord());
if (loiter > picture.width()/2)
{
painter->setPen(penBlack);
......
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