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Unverified Commit 8ea8748f authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8043 from DonLakeFlyer/ContextualTools 

Plan: More work on contextual Plan tools
parents 4f44cd18 ab9e64b8
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Showing with 104 additions and 71 deletions
src/MissionManager/MissionCommandTree.cc
View file @ 8ea8748f
......@@ -219,7 +219,7 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_
}
}
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category)
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
......@@ -237,7 +237,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
for (MAV_CMD command: commandMap.keys()) {
if (supportedCommands.contains(command)) {
MissionCommandUIInfo* uiInfo = commandMap[command];
if (uiInfo->category() == category || category == _allCommandsCategory) {
if ((uiInfo->category() == category || category == _allCommandsCategory) &&
(showFlyThroughCommands || !uiInfo->specifiesCoordinate() || uiInfo->isStandaloneCoordinate())) {
list.append(QVariant::fromValue(uiInfo));
}
}
......
src/MissionManager/MissionCommandTree.h
View file @ 8ea8748f
......@@ -62,7 +62,8 @@ public:
const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category);
/// @param showFlyThroughCommands - true: al commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
// Overrides from QGCTool
virtual void setToolbox(QGCToolbox* toolbox);
......
src/MissionManager/MissionController.cc
View file @ 8ea8748f
......@@ -2181,14 +2181,16 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
bool foundLand = false;
int takeoffIndex = -1;
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_flyThroughCommandsAllowed = true;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
......@@ -2214,6 +2216,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
landIndex = i;
break;
default:
break;
......@@ -2222,6 +2225,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
landIndex = i;
}
}
}
......@@ -2248,13 +2252,23 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
}
if (takeoffIndex != -1 && sequenceNumber <= takeoffIndex) {
// Takeoff item was found which means mission starts from ground.
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
} else if (foundLand) {
// Can't have to land sequences
if (takeoffIndex != -1) {
// Takeoff item was found which means mission starts from ground
if (sequenceNumber < takeoffIndex) {
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
// Fly through commands are not allowed prior to the takeoff command
_flyThroughCommandsAllowed = false;
}
}
if (foundLand) {
// Can't have more than one land sequence
_isInsertLandValid = false;
if (sequenceNumber >= landIndex) {
// Can't have fly through commands after a land item
_flyThroughCommandsAllowed = false;
}
}
emit currentPlanViewIndexChanged();
......@@ -2262,6 +2276,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
emit splitSegmentChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit flyThroughCommandsAllowedChanged();
}
}
......
src/MissionManager/MissionController.h
View file @ 8ea8748f
......@@ -92,8 +92,9 @@ public:
Q_PROPERTY(QString surveyComplexItemName READ surveyComplexItemName CONSTANT)
Q_PROPERTY(QString corridorScanComplexItemName READ corridorScanComplexItemName CONSTANT)
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged) ///< true: Takeoff tool should be enabled
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged) ///< true: Land tool should be enabled
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged)
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged)
Q_PROPERTY(bool flyThroughCommandsAllowed MEMBER _flyThroughCommandsAllowed NOTIFY flyThroughCommandsAllowedChanged)
Q_INVOKABLE void removeMissionItem(int index);
......@@ -228,32 +229,33 @@ public:
static const QString patternSurveyName;
signals:
void visualItemsChanged (void);
void waypointPathChanged (void);
void splitSegmentChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
void missionTimeChanged (void);
void missionHoverDistanceChanged (double missionHoverDistance);
void missionHoverTimeChanged (void);
void missionCruiseDistanceChanged (double missionCruiseDistance);
void missionCruiseTimeChanged (void);
void missionMaxTelemetryChanged (double missionMaxTelemetry);
void complexMissionItemNamesChanged (void);
void resumeMissionIndexChanged (void);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
void batteryChangePointChanged (int batteryChangePoint);
void batteriesRequiredChanged (int batteriesRequired);
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void visualItemsChanged (void);
void waypointPathChanged (void);
void splitSegmentChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
void missionTimeChanged (void);
void missionHoverDistanceChanged (double missionHoverDistance);
void missionHoverTimeChanged (void);
void missionCruiseDistanceChanged (double missionCruiseDistance);
void missionCruiseTimeChanged (void);
void missionMaxTelemetryChanged (double missionMaxTelemetry);
void complexMissionItemNamesChanged (void);
void resumeMissionIndexChanged (void);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
void batteryChangePointChanged (int batteryChangePoint);
void batteriesRequiredChanged (int batteriesRequired);
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void flyThroughCommandsAllowedChanged (void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
......@@ -330,8 +332,9 @@ private:
QGCGeoBoundingCube _travelBoundingCube;
QGeoCoordinate _takeoffCoordinate;
CoordinateVector* _splitSegment;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _flyThroughCommandsAllowed = true;
static const char* _settingsGroup;
......
src/MissionManager/SimpleMissionItem.cc
View file @ 8ea8748f
......@@ -399,6 +399,7 @@ QString SimpleMissionItem::abbreviation() const
case MAV_CMD_NAV_VTOL_LAND:
return tr("VTOL Land");
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
return tr("ROI");
default:
return QString();
......
src/PlanView/MissionItemEditor.qml
View file @ 8ea8748f
......@@ -240,8 +240,9 @@ Rectangle {
id: commandDialog
MissionCommandDialog {
missionItem: _root.missionItem
map: _root.map
missionItem: _root.missionItem
map: _root.map
flyThroughCommandsAllowed: _missionController.flyThroughCommandsAllowed
}
}
......
src/PlanView/PlanView.qml
View file @ 8ea8748f
......@@ -304,10 +304,8 @@ Item {
/// @param coordinate Location to insert item
/// @param index Insert item at this index
function insertROIMissionItem(coordinate, index) {
var sequenceNumber = _missionController.insertROIMissionItem(coordinate, index)
_missionController.setCurrentPlanViewIndex(sequenceNumber, true)
_missionController.insertROIMissionItem(coordinate, index, true /* makeCurrentItem */)
_addROIOnClick = false
toolStrip.lastClickedButton.checked = false
}
function selectNextNotReady() {
......@@ -491,6 +489,7 @@ Item {
_addROIOnClick = false
insertROIMissionItem(coordinate, _missionController.visualItems.count)
}
break
case _layerRallyPoints:
if (_rallyPointController.supported && _addWaypointOnClick) {
......@@ -632,7 +631,8 @@ Item {
readonly property int landButtonIndex: 6
readonly property int centerButtonIndex: 7
property bool _isRally: _editingLayer == _layerRallyPoints
property bool _isRallyLayer: _editingLayer == _layerRallyPoints
property bool _isMissionLayer: _editingLayer == _layerMission
model: [
{
......@@ -654,13 +654,13 @@ Item {
name: qsTr("Takeoff"),
iconSource: "/res/takeoff.svg",
buttonEnabled: _missionController.isInsertTakeoffValid,
buttonVisible: _editingLayer == _layerMission
buttonVisible: _isMissionLayer
},
{
name: _editingLayer == _layerRallyPoints ? qsTr("Rally Point") : qsTr("Waypoint"),
iconSource: "/qmlimages/MapAddMission.svg",
buttonEnabled: true,
buttonVisible: true,
buttonEnabled: _isRallyLayer ? true : _missionController.flyThroughCommandsAllowed,
buttonVisible: _isRallyLayer || _isMissionLayer,
toggle: true,
checked: _addWaypointOnClick
},
......@@ -668,21 +668,21 @@ Item {
name: qsTr("ROI"),
iconSource: "/qmlimages/MapAddMission.svg",
buttonEnabled: true,
buttonVisible: !_isRally && _waypointsOnlyMode,
buttonVisible: _isMissionLayer,
toggle: true
},
{
name: _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
iconSource: "/qmlimages/MapDrawShape.svg",
buttonEnabled: true,
buttonVisible: !_isRally,
buttonEnabled: _missionController.flyThroughCommandsAllowed,
buttonVisible: _isMissionLayer,
dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
},
{
name: _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
iconSource: "/res/rtl.svg",
buttonEnabled: _missionController.isInsertLandValid,
buttonVisible: _editingLayer == _layerMission
buttonVisible: _isMissionLayer
},
{
name: qsTr("Center"),
......@@ -693,39 +693,49 @@ Item {
}
]
function allAddClickBoolsOff() {
_addROIOnClick = false
_addWaypointOnClick = false
}
onClicked: {
switch (index) {
case flyButtonIndex:
mainWindow.showFlyView()
break
case takeoffButtonIndex:
allAddClickBoolsOff()
_missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
break
case waypointButtonIndex:
if(_addWaypointOnClick) {
//-- Toggle it off
_addWaypointOnClick = false
_addROIOnClick = false
if (_addWaypointOnClick) {
allAddClickBoolsOff()
setChecked(index, false)
} else {
allAddClickBoolsOff()
_addWaypointOnClick = checked
_addROIOnClick = false
}
break
case roiButtonIndex:
allAddClickBoolsOff()
_addROIOnClick = checked
_addWaypointOnClick = false
break
case patternButtonIndex:
allAddClickBoolsOff()
if (_singleComplexItem) {
addComplexItem(_missionController.complexMissionItemNames[0])
}
break
case landButtonIndex:
allAddClickBoolsOff()
_missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
break
}
}
onDropped: {
allAddClickBoolsOff()
}
}
//-----------------------------------------------------------
......@@ -1257,8 +1267,6 @@ Item {
}
}
}
}
}
}
src/QmlControls/MissionCommandDialog.qml
View file @ 8ea8748f
......@@ -19,8 +19,9 @@ import QGroundControl.Palette 1.0
QGCViewDialog {
id: root
property var missionItem
property var map
property var missionItem
property var map
property bool flyThroughCommandsAllowed
property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
......@@ -40,7 +41,7 @@ QGCViewDialog {
model: QGroundControl.missionCommandTree.categoriesForVehicle(_vehicle)
function categorySelected(category) {
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category)
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category, flyThroughCommandsAllowed)
}
Component.onCompleted: {
......@@ -97,7 +98,7 @@ QGCViewDialog {
MouseArea {
anchors.fill: parent
onClicked: {
missionItem.setMapCenterHintForCommandChange(map.center)
missionItem.setMapCenterHintForCommandChange(map.center)
missionItem.command = mavCmdInfo.command
root.reject()
}
......
src/QmlControls/ToolStrip.qml
View file @ 8ea8748f
......@@ -36,6 +36,7 @@ Rectangle {
property real _idealWidth: (ScreenTools.isMobile ? ScreenTools.minTouchPixels : ScreenTools.defaultFontPixelWidth * 8) + toolStripColumn.anchors.margins * 2
signal clicked(int index, bool checked)
signal dropped(int index)
function setChecked(idx, check) {
repeater.itemAt(idx).checked = check
......@@ -88,6 +89,7 @@ Rectangle {
} else if (checked) {
var panelEdgeTopPoint = mapToItem(_root, width, 0)
dropPanel.show(panelEdgeTopPoint, height, modelData.dropPanelComponent)
_root.dropped(index)
}
if(_root && buttonTemplate)
_root.lastClickedButton = buttonTemplate
......
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