flight view edited

src/FlightDisplay/FlightDisplayView.qml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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.h

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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)
 };