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Commit a6776c0a authored by Valentin Platzgummer's avatar Valentin Platzgummer
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flight view edited

parent 175e7c28
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Showing with 3648 additions and 333 deletions
Paths/airstrip.wima 0 → 100644
View file @ a6776c0a
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src/FlightDisplay/FlightDisplayView.qml
View file @ a6776c0a
......@@ -528,26 +528,6 @@ QGCView {
FlightDisplayViewWidgets {
id: flightDisplayViewWidgets
z: _panel.z + 4
<<<<<<< HEAD
height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0) - wimaMenu.height
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.top: singleMultiSelector.bottom
qgcView: root
useLightColors: isBackgroundDark
missionController: _missionController
visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
}
FlightDisplayWimaMenu {
id: wimaMenu
z: 1000 //_panel.z + 4
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.top: flightDisplayViewWidgets.bottom
visible: true
height: 300
width: 200
=======
height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
......@@ -568,7 +548,6 @@ QGCView {
wimaController: wimaController
>>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
//-------------------------------------------------------------------------
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ a6776c0a
......@@ -19,15 +19,9 @@ import QGroundControl.FactControls 1.0
Item {
id: _root
height: 400
width: 250
<<<<<<< HEAD
Text {
id: enableWima
text: qsTr("WiMA")
font.pointSize: 40
=======
height: 500
width: 300
property var wimaController // must be provided by the user
// box containing all items
......@@ -161,8 +155,5 @@ Item {
}
}
}
>>>>>>> bf3b5ebeb517fcf1caf74f7b1df73c550c4741b8
}
}
src/MissionManager/MissionController.cc
View file @ a6776c0a
......@@ -1053,6 +1053,31 @@ bool MissionController::readyForSaveSend(void) const
return true;
}
bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
{
if (vehicle.fixedWing() || vehicle.vtol() || vehicle.multiRotor()) {
MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
missionItem.setCommand(takeoffCmd);
}
}
else
return false;
return true;
}
bool MissionController::setLandCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
{
MAV_CMD landCmd = vehicle.vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
if (vehicle.firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
missionItem.setCommand(landCmd);
} else
return false;
return true;
}
void MissionController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _missionFileVersion;
......
src/MissionManager/MissionController.h
View file @ a6776c0a
......@@ -150,12 +150,18 @@ public:
/// would return false is when it is still waiting on terrain data to determine correct altitudes.
bool readyForSaveSend(void) const;
/// sets the command in missionItem to a land command
bool setLandCommand (SimpleMissionItem &missionItem, Vehicle &vehicle);
/// sets the command in missionItem to a takeoff command
bool setTakeoffCommand (SimpleMissionItem &missionItem, Vehicle &vehicle);
/// Sends the mission items to the specified vehicle
static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
static bool convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
bool loadJsonFile(QFile& file, QString& errorString);
bool loadTextFile(QFile& file, QString& errorString);
......
src/Wima/WimaAreaData.cc
View file @ a6776c0a
......@@ -26,6 +26,11 @@ QVariantList WimaAreaData::path() const
return _path;
}
QGeoCoordinate WimaAreaData::center() const
{
return _center;
}
QList<QGeoCoordinate> WimaAreaData::coordinateList() const
{
QList<QGeoCoordinate> coordinateList;
......@@ -57,6 +62,15 @@ void WimaAreaData::setPath(const QVariantList &coordinateList)
_path.append(coordinateList);
}
void WimaAreaData::setCenter(const QGeoCoordinate &center)
{
if (_center != center) {
_center = center;
emit centerChanged();
}
}
/*!
* \fn void WimaAreaData::assign(const WimaAreaData &other)
*
......@@ -66,12 +80,14 @@ void WimaAreaData::assign(const WimaAreaData &other)
{
setMaxAltitude(other.maxAltitude());
setPath(other.path());
setCenter(other.center());
}
void WimaAreaData::assign(const WimaArea &other)
{
setMaxAltitude(other.maxAltitude());
setPath(other.path());
setPath(other.path());
setCenter(other.center());
}
......
src/Wima/WimaAreaData.h
View file @ a6776c0a
......@@ -19,9 +19,10 @@ public:
//WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing
double maxAltitude() const;
QVariantList path() const;
QList<QGeoCoordinate> coordinateList() const;
double maxAltitude() const;
QVariantList path() const;
QGeoCoordinate center() const;
QList<QGeoCoordinate> coordinateList() const;
virtual QString type() const = 0;
......@@ -29,11 +30,13 @@ public:
signals:
void maxAltitudeChanged (double maxAltitude);
void pathChanged (const QVariantList& coordinateList);
void centerChanged (void);
public slots:
void setMaxAltitude(double maxAltitude);
void setPath(const QList<QGeoCoordinate> &coordinateList);
void setPath(const QVariantList &coordinateList);
void setPath(const QVariantList &coordinateList);
void setCenter(const QGeoCoordinate &center);
protected:
void assign(const WimaAreaData &other);
......@@ -46,5 +49,6 @@ private:
// see WimaArea.h for explanation
double _maxAltitude;
QVariantList _path;
QGeoCoordinate _center;
};
src/Wima/WimaController.SettingsGroup.json
View file @ a6776c0a
......@@ -13,14 +13,16 @@
},
{
"name": "MaxWaypointsPerPhase",
"shortDescription": "Determines the maximum number of waypoints per phase.",
"shortDescription": "Determines the maximum number of waypoints per phase. This number does not include the arrival and return path.",
"type": "uint32",
"min" : 1,
"defaultValue": 30
},
{
"name": "StartWaypointIndex",
"shortDescription": "The index of the start waypoint for the next mission phase.",
"type": "uint32",
"type": "uint32",
"min" : 1,
"defaultValue": 1
},
{
......
src/Wima/WimaController.cc
View file @ a6776c0a
......@@ -23,16 +23,17 @@ WimaController::WimaController(QObject *parent)
, _enableWimaController (settingsGroup, _metaDataMap[enableWimaControllerName])
, _overlapWaypoints (settingsGroup, _metaDataMap[overlapWaypointsName])
, _maxWaypointsPerPhase (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
, _nestPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
, _nextPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
, _showAllMissionItems (settingsGroup, _metaDataMap[showAllMissionItemsName])
, _showCurrentMissionItems (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
, _lastMissionPhaseReached (false)
{
_nestPhaseStartWaypointIndex.setRawValue(int(1));
_nextPhaseStartWaypointIndex.setRawValue(int(1));
_showAllMissionItems.setRawValue(true);
_showCurrentMissionItems.setRawValue(true);
connect(&_overlapWaypoints, &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
QmlObjectListModel* WimaController::visualItems()
......@@ -109,7 +110,7 @@ Fact *WimaController::showCurrentMissionItems()
Fact *WimaController::startWaypointIndex()
{
return &_nestPhaseStartWaypointIndex;
return &_nextPhaseStartWaypointIndex;
}
void WimaController::setMasterController(PlanMasterController *masterC)
......@@ -134,11 +135,11 @@ void WimaController::setDataContainer(WimaDataContainer *container)
{
if (container != nullptr) {
if (_container != nullptr) {
disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
disconnect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::fetchContainerData);
}
_container = container;
connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
connect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::fetchContainerData);
emit dataContainerChanged();
}
......@@ -151,8 +152,9 @@ void WimaController::nextPhase()
void WimaController::previousPhase()
{
if (_nestPhaseStartWaypointIndex.rawValue().toInt() > 0) {
_nestPhaseStartWaypointIndex.setRawValue( 1 + std::max(_startWaypointIndex
if (_nextPhaseStartWaypointIndex.rawValue().toInt() > 0) {
_lastMissionPhaseReached = false;
_nextPhaseStartWaypointIndex.setRawValue( 1 + std::max(_startWaypointIndex
- _maxWaypointsPerPhase.rawValue().toInt()
+ _overlapWaypoints.rawValue().toInt(), 0));
}
......@@ -160,13 +162,14 @@ void WimaController::previousPhase()
void WimaController::resetPhase()
{
_nestPhaseStartWaypointIndex.setRawValue(int(1));
_lastMissionPhaseReached = false;
_nextPhaseStartWaypointIndex.setRawValue(int(1));
}
void WimaController::uploadToVehicle()
bool WimaController::uploadToVehicle()
{
if (_currentMissionItems.count() < 1)
return;
return false;
_missionController->removeAll();
// set homeposition of settingsItem
......@@ -174,7 +177,7 @@ void WimaController::uploadToVehicle()
MissionSettingsItem* settingsItem = visuals->value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): nullptr");
return;
return false;
}
settingsItem->setCoordinate(_takeoffLandPostion);
......@@ -216,6 +219,8 @@ void WimaController::uploadToVehicle()
qWarning(" ");
}
_masterController->sendToVehicle();
return true;
}
void WimaController::removeFromVehicle()
......@@ -223,28 +228,9 @@ void WimaController::removeFromVehicle()
_masterController->removeAllFromVehicle();
}
void WimaController::startMission()
{
}
void WimaController::abortMission()
{
}
void WimaController::pauseMission()
{
}
void WimaController::resumeMission()
{
}
void WimaController::saveToCurrent()
{
}
void WimaController::saveToFile(const QString& filename)
......@@ -349,175 +335,173 @@ bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVa
*
* \sa WimaDataContainer, WimaPlaner, WimaPlanData
*/
void WimaController::fetchContainerData(bool valid)
bool WimaController::fetchContainerData()
{
if ( valid ) {
if (_container == nullptr) {
qWarning("WimaController::containerDataValidChanged(): No container assigned!");
}
_localPlanDataValid = false;
_visualItems.clear();
_missionItems.clear();
WimaPlanData planData = _container->pull();
// fetch only if valid, return true on sucess
// extract list with WimaAreas
QList<const WimaAreaData*> areaList = planData.areaList();
// reset visual items
_visualItems.clear();
_missionItems.clear();
_currentMissionItems.clear();
_waypointPath.clear();
_currentWaypointPath.clear();
int areaCounter = 0;
int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
for (int i = 0; i < areaList.size(); i++) {
const WimaAreaData *areaData = areaList[i];
emit visualItemsChanged();
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
_serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_serviceArea);
_localPlanDataValid = false;
_lastMissionPhaseReached = false;
continue;
}
if (_container == nullptr) {
qWarning("WimaController::fetchContainerData(): No container assigned!");
return false;
}
if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
_measurementArea = *qobject_cast<const WimaMeasurementAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_measurementArea);
WimaPlanData planData = _container->pull();
continue;
}
// extract list with WimaAreas
QList<const WimaAreaData*> areaList = planData.areaList();
if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
_corridor = *qobject_cast<const WimaCorridorData*>(areaData);
areaCounter++;
//_visualItems.append(&_corridor); // not needed
int areaCounter = 0;
int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
for (int i = 0; i < areaList.size(); i++) {
const WimaAreaData *areaData = areaList[i];
continue;
}
if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
_serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_serviceArea);
if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor?
_joinedArea = *qobject_cast<const WimaJoinedAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_joinedArea);
continue;
}
continue;
}
if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
_measurementArea = *qobject_cast<const WimaMeasurementAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_measurementArea);
if (areaCounter >= numAreas)
break;
continue;
}
QList<const MissionItem*> tempMissionItems = planData.missionItems();
// create mission items
_missionController->removeAll();
QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
_corridor = *qobject_cast<const WimaCorridorData*>(areaData);
areaCounter++;
//_visualItems.append(&_corridor); // not needed
continue;
}
// find takeoff command
int begin = -1;
for (int i = 0; i < tempMissionItems.size(); i++) {
const MissionItem *missionItem = tempMissionItems[i];
if ( missionItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF
|| missionItem->command() == MAV_CMD_NAV_TAKEOFF) {
if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor?
_joinedArea = *qobject_cast<const WimaJoinedAreaData*>(areaData);
areaCounter++;
_visualItems.append(&_joinedArea);
_missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
continue;
}
QGeoCoordinate coordinate = missionItem->coordinate();
_takeoffLandPostion.setAltitude(coordinate.altitude());
_takeoffLandPostion.setLatitude(coordinate.latitude());
_takeoffLandPostion.setLongitude(coordinate.longitude());
if (areaCounter >= numAreas)
break;
}
begin = i + 1;
break;
}
}
// extract mission items
QList<const MissionItem*> tempMissionItems = planData.missionItems();
if (tempMissionItems.size() < 1)
return false;
// check if takeoff command found
if (begin < 0) {
qWarning("WimaController::containerDataValidChanged(): No takeoff found.");
return;
// create mission items
_missionController->removeAll();
QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
// create SimpleMissionItem by using _missionController
for ( int i = 0; i < tempMissionItems.size(); i++) {
const MissionItem *missionItem = tempMissionItems[i];
_missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
}
// copy mission items from _missionController to _missionItems
for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
if (visualItem == nullptr) {
qWarning("WimaController::fetchContainerData(): Nullptr at SimpleMissionItem!");
return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
_missionItems.append(visualItemCopy);
}
if (areaCounter != numAreas)
return false;
// copy mission items and create SimpleMissionItem by using _missionController
for ( int i = begin; i < tempMissionItems.size(); i++) {
const MissionItem *missionItem = tempMissionItems[i];
_missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
if (!setTakeoffLandPosition())
return false;
if ( missionItem->command() == MAV_CMD_NAV_VTOL_LAND
|| missionItem->command() == MAV_CMD_NAV_LAND)
break;
}
updateWaypointPath();
for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
if (visualItem == nullptr) {
qWarning("WimaController::containerDataValidChanged(): Nullptr at SimpleMissionItem!");
return;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
_missionItems.append(visualItemCopy);
}
// set _nextPhaseStartWaypointIndex to 1
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nextPhaseStartWaypointIndex.setRawValue(int(1));
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
if (areaCounter == numAreas)
_localPlanDataValid = true;
if(!calcNextPhase())
return false;
updateWaypointPath();
_nestPhaseStartWaypointIndex.setRawValue(int(1));
calcNextPhase();
} else {
_localPlanDataValid = false;
_visualItems.clear();
_missionItems.clear();
}
emit visualItemsChanged();
emit missionItemsChanged();
#ifdef QT_DEBUG
//qWarning("Mission Items count: ");
//qWarning() << _missionItems.count();
#endif
_localPlanDataValid = true;
return true;
}
void WimaController::calcNextPhase()
bool WimaController::calcNextPhase()
{
_startWaypointIndex = _nestPhaseStartWaypointIndex.rawValue().toInt()-1;
// check if data was fetched and mission end is not reached yet
if (_missionItems.count() < 1 || !_localPlanDataValid || _startWaypointIndex >= _missionItems.count()-2)
return;
if (_missionItems.count() < 1 || _lastMissionPhaseReached)
return false;
_currentMissionItems.clear();
_currentWaypointPath.clear();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
_startWaypointIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
if (_startWaypointIndex > _missionItems.count()-1)
return false;
int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
// determine end waypoint index
_endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-2); // -2 -> last item is land item
_endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-1);
if (_endWaypointIndex == _missionItems.count() - 1)
_lastMissionPhaseReached = true;
// extract waypoints
QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
qWarning("WimaController::updateCurrentMissionItems(): error on waypoint extraction.");
_currentMissionItems.clear();
return;
qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
return false;
}
// set start waypoint index for next phase
if (_endWaypointIndex < _missionItems.count()-2) {
_startWaypointIndexList.append(_nestPhaseStartWaypointIndex.rawValue().toInt());
disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
int temp = 1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
_nestPhaseStartWaypointIndex.setRawValue(std::min(temp , _missionItems.count()-1));
connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
else {
disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nestPhaseStartWaypointIndex.setRawValue(_missionItems.count()-1); // marks that end of mission is reached
connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
if (!_lastMissionPhaseReached) {
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
int untruncated = std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
int truncated = std::min(untruncated , _missionItems.count()-1);
_nextPhaseStartWaypointIndex.setRawValue(truncated + 1);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
// calculate path from home to first waypoint
QList<QGeoCoordinate> path;
if (!_takeoffLandPostion.isValid()){
qWarning("WimaController::calcNextPhase(): _takeoffLandPostion not valid.");
return false;
}
if ( !calcShortestPath(_takeoffLandPostion, geoCoordinateList[0], path) ) {
qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
_currentMissionItems.clear();
return;
qWarning("WimaController::calcNextPhase(): Not able to calc path from home to first waypoint.");
return false;
}
// prepend to geoCoordinateList
for (int i = path.size()-2; i >= 0; i--) // i = path.size()-2 : last coordinate already in geoCoordinateList
......@@ -526,9 +510,8 @@ void WimaController::calcNextPhase()
// calculate path from last waypoint to home
path.clear();
if ( !calcShortestPath(geoCoordinateList.last(), _takeoffLandPostion, path) ) {
qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
_currentMissionItems.clear();
return;
qWarning("WimaController::calcNextPhase(): Not able to calc path from home to first waypoint.");
return false;
}
path.removeFirst(); // first coordinate already in geoCoordinateList
geoCoordinateList.append(path);
......@@ -541,9 +524,8 @@ void WimaController::calcNextPhase()
// set homeposition of settingsItem
MissionSettingsItem* settingsItem = missionControllerVisuals->value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): nullptr");
_currentMissionItems.clear();
return;
qWarning("WimaController::calcNextPhase(): nullptr");
return false;
}
settingsItem->setCoordinate(_takeoffLandPostion);
......@@ -551,44 +533,38 @@ void WimaController::calcNextPhase()
_missionController->insertSimpleMissionItem(coordinate, missionControllerVisuals->count());
}
// set homeposition for take off item (somehow not working with insertSimpleMissionItem)
SimpleMissionItem* takeoff = missionControllerVisuals->value<SimpleMissionItem *>(1);
if (takeoff == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): nullptr");
_currentMissionItems.clear();
return;
// set takeoff position for first mission item (bug)
SimpleMissionItem *takeoffItem = missionControllerVisuals->value<SimpleMissionItem*>(1);
if (takeoffItem == nullptr) {
qWarning("WimaController::calcNextPhase(): nullptr");
return false;
}
takeoff->setCoordinate(_takeoffLandPostion);
takeoffItem->setCoordinate(_takeoffLandPostion);
// set land command for last mission item
SimpleMissionItem *landItem = missionControllerVisuals->value<SimpleMissionItem*>(missionControllerVisuals->count()-1);
if (landItem == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): nullptr");
_currentMissionItems.clear();
return;
}
// check vehicle type, before setting land command
Vehicle* controllerVehicle = _masterController->controllerVehicle();
MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
landItem->setCommand(landCmd);
} else {
_currentMissionItems.clear();
return;
qWarning("WimaController::calcNextPhase(): nullptr");
return false;
}
_missionController->setLandCommand(*landItem, *_masterController->controllerVehicle());
// copy to _currentMissionItems
_currentMissionItems.clear();
for ( int i = 1; i < missionControllerVisuals->count(); i++) {
SimpleMissionItem *visualItem = missionControllerVisuals->value<SimpleMissionItem*>(i);
if (visualItem == nullptr) {
qWarning("WimaController::updateCurrentMissionItems(): Nullptr at SimpleMissionItem!");
qWarning("WimaController::calcNextPhase(): Nullptr at SimpleMissionItem!");
_currentMissionItems.clear();
return;
return false;
}
SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
qWarning() << visualItem->command();
qWarning() << visualItem->coordinate();
qWarning() << visualItemCopy->command();
qWarning() << visualItemCopy->command();
qWarning(" ");
_currentMissionItems.append(visualItemCopy);
}
......@@ -596,6 +572,8 @@ void WimaController::calcNextPhase()
updateCurrentPath();
emit currentMissionItemsChanged();
return true;
}
void WimaController::updateWaypointPath()
......@@ -616,15 +594,25 @@ void WimaController::updateCurrentPath()
void WimaController::updateNextWaypoint()
{
if (_endWaypointIndex < _missionItems.count()-2) {
disconnect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nestPhaseStartWaypointIndex.setRawValue(1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0));
connect(&_nestPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
_nextPhaseStartWaypointIndex.setRawValue(1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0));
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
}
}
void WimaController::recalcCurrentPhase()
{
_nestPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
_lastMissionPhaseReached = false;
_nextPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
}
bool WimaController::setTakeoffLandPosition()
{
_takeoffLandPostion.setAltitude(0);
_takeoffLandPostion.setLongitude(_serviceArea.center().longitude());
_takeoffLandPostion.setLatitude(_serviceArea.center().latitude());
return true;
}
......
src/Wima/WimaController.h
View file @ a6776c0a
......@@ -85,12 +85,8 @@ public:
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
Q_INVOKABLE void uploadToVehicle();
Q_INVOKABLE bool uploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
Q_INVOKABLE void resumeMission();
Q_INVOKABLE void saveToCurrent ();
Q_INVOKABLE void saveToFile (const QString& filename);
......@@ -137,12 +133,13 @@ signals:
void currentWaypointPathChanged (void);
private slots:
void fetchContainerData (bool valid);
void calcNextPhase (void);
bool fetchContainerData();
bool calcNextPhase(void);
void updateWaypointPath (void);
void updateCurrentPath (void);
void updateNextWaypoint (void);
void recalcCurrentPhase (void);
bool setTakeoffLandPosition(void);
private:
......@@ -161,8 +158,6 @@ private:
// _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
QVariantList _waypointPath; // path connecting the items in _missionItems
QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems
QList<int> _startWaypointIndexList; // list containing the last start waypoint indices, used by previosPhase
QGeoCoordinate _takeoffLandPostion;
......@@ -170,7 +165,7 @@ private:
SettingsFact _enableWimaController; // enables or disables the wimaControler
SettingsFact _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases
SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints per phase
SettingsFact _nestPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
SettingsFact _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
// defining the first element of the next phase
SettingsFact _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
SettingsFact _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
......@@ -179,4 +174,5 @@ private:
// (which is not part of the return path) of _currentMissionItem
int _startWaypointIndex; // indes of the mission item stored in _missionItems defining the first element
// (which is not part of the arrival path) of _currentMissionItem
bool _lastMissionPhaseReached;
};
src/Wima/WimaDataContainer.cc
View file @ a6776c0a
......@@ -3,29 +3,10 @@
WimaDataContainer::WimaDataContainer(QObject *parent)
: QObject (parent)
, _planData (this /* parent */)
, _dataValid (false)
{
}
/*!
* \fn bool WimaDataContainer::dataValid() const
* Returns \c true if the data is valid, \c false else.
*/
bool WimaDataContainer::dataValid() const/*!
* \fn bool dijkstraAlgorithm(int startIndex, int endIndex, const QList<T> elements, QList<T> &elementPath, double(*distance)(const T &t1, const T &t2))
* Calculates the shortest path between the elements stored in \a elements.
* The \l {Dijkstra Algorithm} is used to find the shorest path.
* Stores the result inside \a elementPath when sucessfull.
* The function handle \a distance is used to calculate the distance between two elements. The distance must be positive.
* Returns \c true if successful, \c false else.
*
* \sa QList
*/
{
return _dataValid;
}
/*!
* \fn void WimaDataContainer::push(const WimaPlanData &planData)
*
......@@ -36,9 +17,9 @@ bool WimaDataContainer::dataValid() const/*!
*/
void WimaDataContainer::push(const WimaPlanData &planData)
{
setDataValid(false);
_planData = planData;
setDataValid(true);
emit newDataAvailable();
}
/*!
......@@ -53,23 +34,6 @@ const WimaPlanData &WimaDataContainer::pull() const
return _planData;
}
/*!
* \fn void WimaDataContainer::setDataValid(bool valid)
*
* Sets the validity of the data to \a valid.
* Mainly for internal usage. Should be invoked from \c WimaPlaner only.
*
* \sa WimaPlanData
*/
void WimaDataContainer::setDataValid(bool valid)
{
if ( _dataValid != valid ) {
_dataValid = valid;
emit dataValidChanged(_dataValid);
}
}
/*!
* \class WimaDataContainer
* \brief Data container designed for data exchange between \c WimaPlaner and \c WimaController.
......
src/Wima/WimaDataContainer.h
View file @ a6776c0a
......@@ -17,16 +17,14 @@ public:
bool dataValid() const;
signals:
void dataValidChanged (bool valid);
void newDataAvailable(void);
public slots:
void push(const WimaPlanData &planData);
const WimaPlanData &pull() const;
void setDataValid(bool valid);
private:
WimaPlanData _planData;
bool _dataValid;
};
src/Wima/WimaPlaner.cc
View file @ a6776c0a
......@@ -73,11 +73,11 @@ void WimaPlaner::setDataContainer(WimaDataContainer *container)
{
if (container != nullptr) {
if (_container != nullptr) {
disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::newDataAvailable);
}
_container = container;
connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::newDataAvailable);
emit dataContainerChanged();
}
......@@ -178,32 +178,9 @@ void WimaPlaner::removeAll()
emit visualItemsChanged();
}
void WimaPlaner::startMission()
{
}
void WimaPlaner::abortMission()
{
}
void WimaPlaner::pauseMission()
{
}
void WimaPlaner::resumeMission()
{
}
bool WimaPlaner::updateMission()
{
#if TEST_FUN
TestPlanimetryCalculus::test();
TestPolygonCalculus::test();
#endif
QString errorString;
setMissionReady(false);
#define debug 0
......@@ -306,11 +283,7 @@ bool WimaPlaner::updateMission()
qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
return false;
}
// path.clear();
// path.append(end);
// path.append(start);
// path.append(end);
// path.append(end);
_arrivalPathLength = path.size()-1; // -1: last item is first measurement point
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
......@@ -324,7 +297,7 @@ bool WimaPlaner::updateMission()
qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
return false;
}
_returnPathLength = path.size()-1; // -1: fist item is last measurement point
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
......@@ -338,13 +311,8 @@ bool WimaPlaner::updateMission()
qWarning("WimaPlaner::updateMission(): landItem == nullptr");
return false;
} else {
Vehicle* controllerVehicle = _masterController->controllerVehicle();
MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
landItem->setCommand(landCmd);
} else {
if (!_missionController->setLandCommand(*landItem, *_masterController->controllerVehicle()))
return false;
}
}
pushToContainer(); // exchange plan data with the WimaController via the _container
......@@ -662,23 +630,12 @@ WimaPlanData WimaPlaner::toPlanData()
QList<MissionItem*> rgMissionItems;
MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, this);
// remove warnings if you read this
// qWarning("WimaPlaner::toPlanData(): rgMissionItems");
// for (auto item : rgMissionItems) {
// qWarning() << item->command();
// qWarning() << item->param1();
// qWarning() << item->param2();
// qWarning() << item->param3();
// qWarning() << item->param4();
// qWarning() << item->param5();
// qWarning() << item->param6();
// qWarning() << item->param7();
// qWarning(" ");
// }
// add const qualifier...
QList<const MissionItem*> rgMissionItemsConst;
for (auto missionItem : rgMissionItems)
rgMissionItemsConst.append(missionItem);
for (int i = _arrivalPathLength + 1; i < rgMissionItems.size() - _returnPathLength; i++) { // i = _arrivalPathLength + 1: + 1 = MissionSettingsItem ...
rgMissionItemsConst.append(rgMissionItems.value(i));
}
// store mavlink commands
planData.append(rgMissionItemsConst);
......
src/Wima/WimaPlaner.h
View file @ a6776c0a
......@@ -91,11 +91,6 @@ public:
Q_INVOKABLE bool addCorridor();
/// Remove all areas from WimaPlaner and all mission items from MissionController
Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
Q_INVOKABLE void resumeMission();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
......@@ -147,4 +142,6 @@ private:
WimaMeasurementArea _measurementArea; // measurement area
WimaServiceArea _serviceArea; // area for supplying
WimaCorridor _corridor; // corridor connecting _measurementArea and _serviceArea
int _arrivalPathLength; // the number waypoints the arrival path consists of (path from takeoff to first measurement point)
int _returnPathLength; // the number waypoints the return path consists of (path from last measurement point to land)
};
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