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Commit a75f4b6d authored by Don Gagne's avatar Don Gagne
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More work on GeoFence support 

- GeoFence support comes from plugin
- Circle fence support
- Better param support
parent bceb10ab
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Showing with 780 additions and 443 deletions
qgroundcontrol.pro
View file @ a75f4b6d
......@@ -692,6 +692,7 @@ HEADERS+= \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
src/FirmwarePlugin/APM/APMGeoFenceManager.h \
src/FirmwarePlugin/APM/APMParameterMetaData.h \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
......@@ -751,6 +752,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
src/AutoPilotPlugins/PX4/PX4TuningComponent.cc \
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
src/FirmwarePlugin/APM/APMGeoFenceManager.cc \
src/FirmwarePlugin/APM/APMParameterMetaData.cc \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
......
src/AutoPilotPlugins/AutoPilotPlugin.cc
View file @ a75f4b6d
......@@ -117,7 +117,7 @@ void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& na
_vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
}
bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
bool AutoPilotPlugin::parameterExists(int componentId, const QString& name) const
{
return _vehicle->getParameterLoader()->parameterExists(componentId, name);
}
......
src/AutoPilotPlugins/AutoPilotPlugin.h
View file @ a75f4b6d
......@@ -67,7 +67,7 @@
Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
/// Returns true if the specifed parameter exists from the default component
Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
Q_INVOKABLE bool parameterExists(int componentId, const QString& name) const;
/// Returns all parameter names
QStringList parameterNames(int componentId);
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ a75f4b6d
......@@ -17,6 +17,7 @@
#include "FirmwarePlugin.h"
#include "QGCLoggingCategory.h"
#include "APMParameterMetaData.h"
#include "APMGeoFenceManager.h"
#include <QAbstractSocket>
......@@ -73,24 +74,25 @@ public:
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
QString getParameterMetaDataFile(Vehicle* vehicle);
......
src/FirmwarePlugin/APM/APMGeoFenceManager.cc 0 → 100644
View file @ a75f4b6d
This diff is collapsed.
src/FirmwarePlugin/APM/APMGeoFenceManager.h 0 → 100644
View file @ a75f4b6d
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef APMGeoFenceManager_H
#define APMGeoFenceManager_H
#include "GeoFenceManager.h"
#include "QGCMAVLink.h"
#include "FactSystem.h"
class APMGeoFenceManager : public GeoFenceManager
{
Q_OBJECT
public:
APMGeoFenceManager(Vehicle* vehicle);
~APMGeoFenceManager();
// Overrides from GeoFenceManager
bool inProgress (void) const final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
bool fenceSupported (void) const final { return _fenceSupported; }
bool circleSupported (void) const final;
bool polygonSupported (void) const final;
bool breachReturnSupported (void) const final { return _breachReturnSupported; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _updateSupportedFlags(void);
void _circleRadiusRawValueChanged(QVariant value);
void _parametersReady(void);
private:
void _requestFencePoint(uint8_t pointIndex);
void _sendFencePoint(uint8_t pointIndex);
bool _geoFenceSupported(void);
private:
bool _fenceSupported;
bool _breachReturnSupported;
bool _firstParamLoadComplete;
QVariantList _params;
QStringList _paramLabels;
Fact* _circleRadiusFact;
bool _readTransactionInProgress;
bool _writeTransactionInProgress;
uint8_t _cReadFencePoints;
uint8_t _cWriteFencePoints;
uint8_t _currentFencePoint;
Fact* _fenceEnableFact;
Fact* _fenceTypeFact;
static const char* _fenceTotalParam;
static const char* _fenceActionParam;
static const char* _fenceEnableParam;
};
#endif
src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml
View file @ a75f4b6d
......@@ -6512,6 +6512,10 @@
<value code="1">Altitude</value>
<value code="2">Circle</value>
<value code="3">Altitude and Circle</value>
<value code="4">Polygon</value>
<value code="5">Altitude and Polygon</value>
<value code="6">Circle and Polygon</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
......
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
View file @ a75f4b6d
......@@ -98,9 +98,13 @@ int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVe
return majorVersionNumber == 3 ? 4: Vehicle::versionNotSetValue;
}
bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* /*vehicle*/, FirmwareCapabilities capabilities)
bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
{
return (capabilities & (SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability)) == capabilities;
Q_UNUSED(vehicle);
uint32_t vehicleCapabilities = SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability;
return (capabilities & vehicleCapabilities) == capabilities;
}
void ArduCopterFirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
......@@ -208,3 +212,9 @@ bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
{
return vehicle->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
}
QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
{
Q_UNUSED(vehicle);
return QStringLiteral("FENCE_RADIUS");
}
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
View file @ a75f4b6d
......@@ -63,9 +63,10 @@ public:
void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
virtual int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
virtual bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
virtual bool multiRotorXConfig(Vehicle* vehicle) final;
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
bool multiRotorXConfig(Vehicle* vehicle) final;
QString geoFenceRadiusParam(Vehicle* vehicle) final;
private:
static bool _remapParamNameIntialized;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ a75f4b6d
......@@ -17,6 +17,7 @@
#include "QGCMAVLink.h"
#include "VehicleComponent.h"
#include "AutoPilotPlugin.h"
#include "GeoFenceManager.h"
#include <QList>
#include <QString>
......@@ -40,8 +41,8 @@ public:
SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
MavCmdPreflightStorageCapability = 1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported
PauseVehicleCapability = 1 << 2, ///< Vehicle supports pausing at current location
GuidedModeCapability = 1 << 3, ///< Vehicle Supports guided mode commands
OrbitModeCapability = 1 << 4, ///< Vehicle Supports orbit mode
GuidedModeCapability = 1 << 3, ///< Vehicle supports guided mode commands
OrbitModeCapability = 1 << 4, ///< Vehicle supports orbit mode
} FirmwareCapabilities;
/// Maps from on parameter name to another
......@@ -207,6 +208,14 @@ public:
/// @return true: X confiuration, false: Plus configuration
virtual bool multiRotorXConfig(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }
/// Returns a newly create geofence manager for this vehicle. Returns NULL if this vehicle
/// does not support geofence. You should make sense to check vehicle capabilites for geofence
/// support.
virtual GeoFenceManager* newGeoFenceManager(Vehicle* vehicle) { return new GeoFenceManager(vehicle); }
/// Returns the parameter which holds the fence circle radius if supported.
virtual QString geoFenceRadiusParam(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
};
#endif
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ a75f4b6d
......@@ -27,7 +27,7 @@ FlightMap {
anchors.fill: parent
mapName: _mapName
property alias missionController: _missionController
property alias missionController: missionController
property var flightWidgets
property bool _followVehicle: true
......@@ -54,12 +54,12 @@ FlightMap {
QGCPalette { id: qgcPal; colorGroupEnabled: true }
MissionController {
id: _missionController
id: missionController
Component.onCompleted: start(false /* editMode */)
}
GeoFenceController {
id: _geoFenceController
id: geoFenceController
Component.onCompleted: start(false /* editMode */)
}
......@@ -93,25 +93,34 @@ FlightMap {
// Add the mission items to the map
MissionItemView {
model: _mainIsMap ? _missionController.visualItems : 0
model: _mainIsMap ? missionController.visualItems : 0
}
// Add lines between waypoints
MissionLineView {
model: _mainIsMap ? _missionController.waypointLines : 0
model: _mainIsMap ? missionController.waypointLines : 0
}
// GeoFence polygon
MapPolygon {
border.color: "#80FF0000"
border.width: 3
path: _geoFenceController.polygon.path
path: geoFenceController.polygonSupported ? geoFenceController.polygon.path : undefined
}
// GeoFence circle
MapCircle {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: _geoFenceController.breachReturnPoint
coordinate: geoFenceController.breachReturnPoint
visible: geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" }
}
......
src/MissionEditor/GeoFenceEditor.qml
View file @ a75f4b6d
......@@ -7,6 +7,7 @@ import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.FactSystem 1.0
QGCFlickable {
id: root
......@@ -15,7 +16,7 @@ QGCFlickable {
contentHeight: geoFenceEditorRect.height
clip: true
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 15)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2
......@@ -70,6 +71,7 @@ QGCFlickable {
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Click in map to set breach return point.")
visible: geoFenceController.breachReturnSupported
}
QGCLabel { text: qsTr("Fence Settings:") }
......@@ -96,7 +98,7 @@ QGCFlickable {
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
text: modelData.name
text: geoFenceController.paramLabels[index]
}
FactTextField {
......@@ -105,6 +107,18 @@ QGCFlickable {
width: _editFieldWidth
showUnits: true
fact: modelData
visible: !comboField.visible
}
FactComboBox {
id: comboField
anchors.right: parent.right
width: _editFieldWidth
indexModel: false
fact: visible ? modelData : _nullFact
visible: modelData.enumStrings.length
property var _nullFact: Fact { }
}
}
}
......@@ -115,6 +129,7 @@ QGCFlickable {
flightMap: editorMap
polygon: root.polygon
sectionLabel: qsTr("Fence Polygon:")
visible: geoFenceController.polygonSupported
}
}
}
......
src/MissionEditor/MissionEditor.qml
View file @ a75f4b6d
......@@ -154,6 +154,12 @@ QGCView {
id: geoFenceController
Component.onCompleted: start(true /* editMode */)
onFenceSupportedChanged: {
if (!fenceSupported && _editingLayer == _layerGeoFence) {
_editingLayer = _layerMission
}
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
......@@ -515,7 +521,7 @@ QGCView {
setCurrentItem(sequenceNumber)
}
onMoveHomeToMapCenter: missionController.visualItems.get(0).coordinate = editorMap.center
onMoveHomeToMapCenter: _visualItems.get(0).coordinate = editorMap.center
}
} // ListView
} // Item - Mission Item editor
......@@ -537,16 +543,31 @@ QGCView {
MapPolygon {
border.color: "#80FF0000"
border.width: 3
path: geoFenceController.polygon.path
path: geoFenceController.polygonSupported ? geoFenceController.polygon.path : undefined
}
// GeoFence circle
MapCircle {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
}
// GeoFence circle
MapCircle {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: geoFenceController.breachReturnPoint
sourceItem: MissionItemIndexLabel {
label: "F"
}
visible: geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" }
}
//-- Dismiss Drop Down (if any)
......@@ -583,10 +604,10 @@ QGCView {
DropButton {
id: layerButton
dropDirection: dropRight
//buttonImage: "/qmlimages/MapCenter.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
lightBorders: _lightWidgetBorders
visible: geoFenceController.fenceSupported
dropDownComponent: Component {
Column {
......@@ -775,19 +796,19 @@ QGCView {
}
MissionItemStatus {
id: waypointValuesDisplay
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem
missionItems: missionController.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
missionDistance: missionController.missionDistance
missionMaxTelemetry: missionController.missionMaxTelemetry
cruiseDistance: missionController.cruiseDistance
hoverDistance: missionController.hoverDistance
visible: _editingLayer == _layerMission && !ScreenTools.isShortScreen
id: waypointValuesDisplay
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem
missionItems: missionController.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
missionDistance: missionController.missionDistance
missionMaxTelemetry: missionController.missionMaxTelemetry
cruiseDistance: missionController.cruiseDistance
hoverDistance: missionController.hoverDistance
visible: _editingLayer == _layerMission && !ScreenTools.isShortScreen
}
} // FlightMap
} // Item - split view container
......
src/MissionManager/GeoFenceController.cc
View file @ a75f4b6d
This diff is collapsed.
src/MissionManager/GeoFenceController.h
View file @ a75f4b6d
......@@ -27,17 +27,15 @@ public:
GeoFenceController(QObject* parent = NULL);
~GeoFenceController();
enum GeoFenceTypeEnum {
GeoFenceNone = GeoFenceManager::GeoFenceNone,
GeoFenceCircle = GeoFenceManager::GeoFenceCircle,
GeoFencePolygon = GeoFenceManager::GeoFencePolygon,
};
Q_PROPERTY(GeoFenceTypeEnum fenceType READ fenceType WRITE setFenceType NOTIFY fenceTypeChanged)
Q_PROPERTY(float circleRadius READ circleRadius WRITE setCircleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(QGCMapPolygon* polygon READ polygon CONSTANT)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(bool fenceSupported READ fenceSupported NOTIFY fenceSupportedChanged)
Q_PROPERTY(bool circleSupported READ circleSupported NOTIFY circleSupportedChanged)
Q_PROPERTY(bool polygonSupported READ polygonSupported NOTIFY polygonSupportedChanged)
Q_PROPERTY(bool breachReturnSupported READ breachReturnSupported NOTIFY breachReturnSupportedChanged)
Q_PROPERTY(float circleRadius READ circleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(QGCMapPolygon* polygon READ polygon CONSTANT)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(QStringList paramLabels READ paramLabels NOTIFY paramLabelsChanged)
void start (bool editMode) final;
void loadFromVehicle (void) final;
......@@ -51,39 +49,46 @@ public:
bool dirty (void) const final;
void setDirty (bool dirty) final;
GeoFenceTypeEnum fenceType (void) const { return (GeoFenceTypeEnum)_geoFence.fenceType; }
float circleRadius (void) const { return _geoFence.circleRadius; }
QGCMapPolygon* polygon (void) { return &_geoFence.polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _geoFence.breachReturnPoint; }
QVariantList params (void) { return _params; }
bool fenceSupported (void) const;
bool circleSupported (void) const;
bool polygonSupported (void) const;
bool breachReturnSupported (void) const;
float circleRadius (void) const;
QGCMapPolygon* polygon (void) { return &_polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
QVariantList params (void) const;
QStringList paramLabels (void) const;
void setFenceType(GeoFenceTypeEnum fenceType);
void setCircleRadius(float circleRadius);
public slots:
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
signals:
void fenceTypeChanged (GeoFenceTypeEnum fenceType);
void circleRadiusChanged (float circleRadius);
void polygonPathChanged (const QVariantList& polygonPath);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (void);
void fenceSupportedChanged (bool fenceSupported);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool breachReturnSupported);
void circleRadiusChanged (float circleRadius);
void polygonPathChanged (const QVariantList& polygonPath);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
private slots:
void _parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
void _newGeoFenceAvailable(void);
void _polygonDirtyChanged(bool dirty);
void _setDirty(void);
void _setPolygon(const QList<QGeoCoordinate>& polygon);
private:
void _setParams(void);
void _clearGeoFence(void);
void _setGeoFence(const GeoFenceManager::GeoFence_t& geoFence);
void _signalAll(void);
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
void _activeVehicleSet(void) final;
bool _dirty;
GeoFenceManager::GeoFence_t _geoFence;
QVariantList _params;
bool _dirty;
QGCMapPolygon _polygon;
QGeoCoordinate _breachReturnPoint;
QVariantList _params;
};
#endif
src/MissionManager/GeoFenceManager.cc
View file @ a75f4b6d
......@@ -7,27 +7,16 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "GeoFenceManager.h"
#include "Vehicle.h"
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "QGCApplication.h"
QGC_LOGGING_CATEGORY(GeoFenceManagerLog, "GeoFenceManagerLog")
const char* GeoFenceManager::_fenceTotalParam = "FENCE_TOTAL";
const char* GeoFenceManager::_fenceActionParam = "FENCE_ACTION";
GeoFenceManager::GeoFenceManager(Vehicle* vehicle)
: _vehicle(vehicle)
, _readTransactionInProgress(false)
, _writeTransactionInProgress(false)
: QObject(vehicle)
, _vehicle(vehicle)
{
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &GeoFenceManager::_mavlinkMessageReceived);
}
GeoFenceManager::~GeoFenceManager()
......@@ -42,213 +31,29 @@ void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
emit error(errorCode, errorMsg);
}
void GeoFenceManager::setGeoFence(const GeoFence_t& geoFence)
void GeoFenceManager::loadFromVehicle(void)
{
if (_readTransactionInProgress) {
_sendError(InternalError, QStringLiteral("Geo-Fence write attempted while read in progress."));
return;
}
if (!_geoFenceSupported()) {
return;
}
// Validate
switch (geoFence.fenceType) {
case GeoFencePolygon:
if (geoFence.polygon.count() < 3) {
_sendError(TooFewPoints, QStringLiteral("Geo-Fence polygon must contain at least 3 points."));
return;
}
if (geoFence.polygon.count() > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence polygon has too many points: %1.").arg(geoFence.polygon.count()));
return;
}
break;
case GeoFenceCircle:
if (geoFence.circleRadius <= 0.0) {
_sendError(InvalidCircleRadius, QStringLiteral("Geo-Fence circle radius must be greater than 0."));
return;
}
default:
break;
}
_geoFence.fenceType = geoFence.fenceType;
_geoFence.circleRadius = geoFence.circleRadius;
_geoFence.polygon = geoFence.polygon;
_geoFence.breachReturnPoint = geoFence.breachReturnPoint;
if (_geoFence.fenceType != GeoFencePolygon) {
// Circle is just params, so no more work to do
return;
}
emit newGeoFenceAvailable();
// First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air
Fact* fenceActionFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceActionParam);
_savedWriteFenceAction = fenceActionFact->rawValue();
fenceActionFact->setRawValue(0);
// Fence total param includes:
// index 0: breach return
// last index: polygon close (same as first polygon point)
_vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_geoFence.polygon.count() + 2);
// FIXME: No validation of correct fence received
// Send points:
// breach return
// polygon fence points
// polygon close
// Put back previous fence action to start geofence again
_sendFencePoint(0);
for (uint8_t index=0; index<_geoFence.polygon.count(); index++) {
_sendFencePoint(index + 1);
}
_sendFencePoint(_geoFence.polygon.count() + 1);
fenceActionFact->setRawValue(_savedWriteFenceAction);
// No geofence support in unknown vehicle
}
void GeoFenceManager::requestGeoFence(void)
void GeoFenceManager::sendToVehicle(void)
{
_clearGeoFence();
if (!_geoFenceSupported()) {
return;
}
// Point 0: Breach return point
// Point [1,N]: Polygon points
// Point N+1: Close polygon point (same as point 1)
int cFencePoints = _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->rawValue().toInt();
qCDebug(GeoFenceManagerLog) << "GeoFenceManager::requestGeoFence" << cFencePoints;
if (cFencePoints == 0) {
// No fence, no more work to do, fence data has already been cleared
return;
}
if (cFencePoints < 0 || (cFencePoints > 0 && cFencePoints < 6)) {
_sendError(TooFewPoints, QStringLiteral("Geo-Fence information from Vehicle has too few points: %1").arg(cFencePoints));
return;
}
if (cFencePoints > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence information from Vehicle has too many points: %1").arg(cFencePoints));
return;
}
_readTransactionInProgress = true;
_cReadFencePoints = cFencePoints;
_currentFencePoint = 0;
_requestFencePoint(_currentFencePoint);
}
/// Called when a new mavlink message for out vehicle is received
void GeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& message)
{
if (message.msgid == MAVLINK_MSG_ID_FENCE_POINT) {
mavlink_fence_point_t fencePoint;
mavlink_msg_fence_point_decode(&message, &fencePoint);
if (fencePoint.idx != _currentFencePoint) {
// FIXME: Protocol out of whack
qCWarning(GeoFenceManagerLog) << "Indices out of sync" << fencePoint.idx << _currentFencePoint;
return;
}
if (fencePoint.idx == 0) {
_geoFence.breachReturnPoint = QGeoCoordinate(fencePoint.lat, fencePoint.lng);
qCDebug(GeoFenceManagerLog) << "From vehicle: breach return point" << _geoFence.breachReturnPoint;
_requestFencePoint(++_currentFencePoint);
} else if (fencePoint.idx < _cReadFencePoints - 1) {
QGeoCoordinate polyCoord(fencePoint.lat, fencePoint.lng);
_geoFence.polygon.addCoordinate(polyCoord);
qCDebug(GeoFenceManagerLog) << "From vehicle: polygon point" << fencePoint.idx << polyCoord;
if (fencePoint.idx < _cReadFencePoints - 2) {
// Still more points to request
_requestFencePoint(++_currentFencePoint);
} else {
// We've finished collecting fence points
_readTransactionInProgress = false;
emit newGeoFenceAvailable();
}
}
}
}
void GeoFenceManager::_clearGeoFence(void)
{
_geoFence.fenceType = GeoFenceNone;
_geoFence.circleRadius = 0.0;
_geoFence.polygon.clear();
_geoFence.breachReturnPoint = QGeoCoordinate();
emit newGeoFenceAvailable();
// No geofence support in unknown vehicle
}
void GeoFenceManager::_requestFencePoint(uint8_t pointIndex)
void GeoFenceManager::setPolygon(QGCMapPolygon* polygon)
{
mavlink_message_t msg;
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
qCDebug(GeoFenceManagerLog) << "GeoFenceManager::_requestFencePoint" << pointIndex;
mavlink_msg_fence_fetch_point_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&msg,
_vehicle->id(),
_vehicle->defaultComponentId(),
pointIndex);
_vehicle->sendMessageOnPriorityLink(msg);
}
void GeoFenceManager::_sendFencePoint(uint8_t pointIndex)
{
mavlink_message_t msg;
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
QGeoCoordinate fenceCoord;
if (pointIndex == 0) {
fenceCoord = _geoFence.breachReturnPoint;
} else if (pointIndex - 1 < _geoFence.polygon.count()) {
fenceCoord = _geoFence.polygon[pointIndex - 1];
} else {
// Polygon close point
fenceCoord = _geoFence.polygon[0];
_polygon.clear();
for (int index=0; index<polygon->count(); index++) {
_polygon.append((*polygon)[index]);
}
mavlink_msg_fence_point_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&msg,
_vehicle->id(),
_vehicle->defaultComponentId(),
pointIndex, // Index of point to set
_geoFence.polygon.count() + 2, // Total point count, +1 for breach in index 0, +1 polygon close in last index
fenceCoord.latitude(),
fenceCoord.longitude());
_vehicle->sendMessageOnPriorityLink(msg);
emit polygonChanged(_polygon);
}
bool GeoFenceManager::inProgress(void) const
void GeoFenceManager::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint)
{
return _readTransactionInProgress || _writeTransactionInProgress;
}
bool GeoFenceManager::_geoFenceSupported(void)
{
// FIXME: MockLink doesn't support geo fence yet
if (qgcApp()->runningUnitTests()) {
return false;
}
// FIXME: Hack to get around lack of plugin-ized version of code
if (_vehicle->apmFirmware()) {
if (!_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) ||
!_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceActionParam)) {
_sendError(InternalError, QStringLiteral("Vehicle does not support Geo-Fence implementation."));
return false;
} else {
return true;
}
} else {
return false;
if (breachReturnPoint != _breachReturnPoint) {
_breachReturnPoint = breachReturnPoint;
emit breachReturnPointChanged(breachReturnPoint);
}
}
src/MissionManager/GeoFenceManager.h
View file @ a75f4b6d
......@@ -11,19 +11,17 @@
#define GeoFenceManager_H
#include <QObject>
#include <QTimer>
#include <QGeoCoordinate>
#include "MissionItem.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "LinkInterface.h"
#include "QGCMapPolygon.h"
class Vehicle;
Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
/// This is the base class for firmware specific geofence managers. A geofence manager is responsible
/// for communicating with the vehicle to set/get geofence settings.
class GeoFenceManager : public QObject
{
Q_OBJECT
......@@ -32,29 +30,30 @@ public:
GeoFenceManager(Vehicle* vehicle);
~GeoFenceManager();
typedef enum {
GeoFenceNone,
GeoFenceCircle,
GeoFencePolygon,
} GeoFenceType_t;
/// Returns true if the manager is currently communicating with the vehicle
virtual bool inProgress(void) const { return false; }
/// Load the current settings from teh vehicle
virtual void loadFromVehicle(void);
typedef struct {
GeoFenceType_t fenceType;
float circleRadius;
QGCMapPolygon polygon;
QGeoCoordinate breachReturnPoint;
} GeoFence_t;
/// Send the current settings to the vehicle
virtual void sendToVehicle(void);
bool inProgress(void) const;
// Support flags
virtual bool fenceSupported (void) const { return false; }
virtual bool circleSupported (void) const { return false; }
virtual bool polygonSupported (void) const { return false; }
virtual bool breachReturnSupported (void) const { return false; }
/// Request the geo fence from the vehicle
void requestGeoFence(void);
virtual float circleRadius (void) const { return 0.0; }
QList<QGeoCoordinate> polygon (void) const { return _polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
/// Returns the current geofence settings
const GeoFence_t& geoFence(void) const { return _geoFence; }
virtual QVariantList params (void) const { return QVariantList(); }
virtual QStringList paramLabels (void) const { return QStringList(); }
/// Set and send the specified geo fence to the vehicle
void setGeoFence(const GeoFence_t& geoFence);
void setPolygon(QGCMapPolygon* polygon);
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
/// Error codes returned in error signal
typedef enum {
......@@ -65,35 +64,24 @@ public:
} ErrorCode_t;
signals:
void newGeoFenceAvailable(void);
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
void fenceSupportedChanged (bool fenceSupported);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool fenceSupported);
void circleRadiusChanged (float circleRadius);
void polygonChanged (QList<QGeoCoordinate> polygon);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
//void _ackTimeout(void);
private:
protected:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
void _clearGeoFence(void);
void _requestFencePoint(uint8_t pointIndex);
void _sendFencePoint(uint8_t pointIndex);
bool _geoFenceSupported(void);
private:
Vehicle* _vehicle;
bool _readTransactionInProgress;
bool _writeTransactionInProgress;
uint8_t _cReadFencePoints;
uint8_t _currentFencePoint;
QVariant _savedWriteFenceAction;
GeoFence_t _geoFence;
static const char* _fenceTotalParam;
static const char* _fenceActionParam;
Vehicle* _vehicle;
QList<QGeoCoordinate> _polygon;
QGeoCoordinate _breachReturnPoint;
};
#endif
src/MissionManager/MissionController.cc
View file @ a75f4b6d
......@@ -623,8 +623,6 @@ void MissionController::_recalcWaypointLines(void)
if (!homeItem) {
qWarning() << "Home item is not SimpleMissionItem";
} else {
connect(homeItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcAltitudeRangeBearing);
}
bool showHomePosition = homeItem->showHomePosition();
......@@ -944,6 +942,10 @@ void MissionController::_initAllVisualItems(void)
homeItem->setShowHomePosition(true);
}
emit plannedHomePositionChanged(plannedHomePosition());
connect(homeItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_homeCoordinateChanged);
QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
......@@ -1021,17 +1023,17 @@ void MissionController::_itemCommandChanged(void)
_recalcWaypointLines();
}
void MissionController::_activeVehicleBeingRemoved(void)
void MissionController::_activeVehicleBeingRemoved(Vehicle* vehicle)
{
qCDebug(MissionControllerLog) << "_activeVehicleSet _activeVehicleBeingRemoved";
MissionManager* missionManager = _activeVehicle->missionManager();
MissionManager* missionManager = vehicle->missionManager();
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
disconnect(vehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
disconnect(vehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
// We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them
......@@ -1069,6 +1071,7 @@ void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePosi
if (homeItem) {
homeItem->setShowHomePosition(homePositionAvailable);
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
} else {
qWarning() << "Unabled to cast home item to SimpleMissionItem";
......@@ -1079,8 +1082,17 @@ void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePosi
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (!_editMode && _visualItems) {
qobject_cast<VisualMissionItem*>(_visualItems->get(0))->setCoordinate(homePosition);
_recalcWaypointLines();
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
if (item) {
if (item->coordinate() != homePosition) {
item->setCoordinate(homePosition);
qCDebug(MissionControllerLog) << "Home position update" << homePosition;
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
}
} else {
qWarning() << "Unabled to cast home item to VisualMissionItem";
}
}
}
......@@ -1256,3 +1268,21 @@ void MissionController::setDirty(bool dirty)
_visualItems->setDirty(dirty);
}
}
QGeoCoordinate MissionController::plannedHomePosition(void)
{
if (_visualItems && _visualItems->count() > 0) {
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
if (item && item->showHomePosition()) {
return item->coordinate();
}
}
return QGeoCoordinate();
}
void MissionController::_homeCoordinateChanged(void)
{
emit plannedHomePositionChanged(plannedHomePosition());
_recalcAltitudeRangeBearing();
}
src/MissionManager/MissionController.h
View file @ a75f4b6d
......@@ -34,6 +34,7 @@ public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
......@@ -70,6 +71,7 @@ public:
// Property accessors
QGeoCoordinate plannedHomePosition (void);
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
......@@ -79,7 +81,6 @@ public:
double cruiseDistance (void) const { return _cruiseDistance; }
double hoverDistance (void) const { return _hoverDistance; }
void setMissionDistance (double missionDistance );
void setMissionMaxTelemetry (double missionMaxTelemetry);
void setCruiseDistance (double cruiseDistance );
......@@ -88,6 +89,7 @@ public:
static const char* jsonSimpleItemsKey; ///< Key for simple items in a json file
signals:
void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
void visualItemsChanged(void);
void complexVisualItemsChanged(void);
void waypointLinesChanged(void);
......@@ -105,7 +107,8 @@ private slots:
void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
void _recalcAltitudeRangeBearing();
void _recalcAltitudeRangeBearing(void);
void _homeCoordinateChanged(void);
private:
void _recalcSequence(void);
......@@ -128,7 +131,7 @@ private:
int _nextSequenceNumber(void);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
void _activeVehicleSet(void) final;
private:
......
src/MissionManager/MissionManager.cc
View file @ a75f4b6d
......@@ -574,8 +574,8 @@ void MissionManager::_handleMissionCurrent(const mavlink_message_t& message)
mavlink_msg_mission_current_decode(&message, &missionCurrent);
qCDebug(MissionManagerLog) << "_handleMissionCurrent seq:" << missionCurrent.seq;
if (missionCurrent.seq != _currentMissionItem) {
qCDebug(MissionManagerLog) << "_handleMissionCurrent seq:" << missionCurrent.seq;
_currentMissionItem = missionCurrent.seq;
emit currentItemChanged(_currentMissionItem);
}
......
src/MissionManager/PlanElementController.cc
View file @ a75f4b6d
......@@ -34,7 +34,9 @@ void PlanElementController::start(bool editMode)
void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
_activeVehicleBeingRemoved();
Vehicle* vehicleSave = _activeVehicle;
_activeVehicle = NULL;
_activeVehicleBeingRemoved(vehicleSave);
}
_activeVehicle = activeVehicle;
......
src/MissionManager/PlanElementController.h
View file @ a75f4b6d
......@@ -57,8 +57,8 @@ protected:
bool _editMode;
/// Called when the current active vehicle has been removed. Derived classes should override
/// to implement custom behavior.
virtual void _activeVehicleBeingRemoved(void) = 0;
/// to implement custom behavior. When this is called _activeVehicle has already been cleared.
virtual void _activeVehicleBeingRemoved(Vehicle* removedVehicle) = 0;
/// Called when a new active vehicle has been set. Derived classes should override
/// to implement custom behavior.
......
src/Vehicle/Vehicle.cc
View file @ a75f4b6d
......@@ -199,13 +199,14 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_newMissionItemsAvailable);
_geoFenceManager = new GeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
_parameterLoader = new ParameterLoader(this);
connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
// GeoFenceManager needs to access ParameterLoader so make sure to create afters
_geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
// Ask the vehicle for firmware version info. This must be MAV_COMP_ID_ALL since we don't know default component id yet.
mavlink_message_t versionMsg;
......@@ -1826,7 +1827,7 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
#endif
/// Returns true if the specifed parameter exists from the default component
bool Vehicle::parameterExists(int componentId, const QString& name)
bool Vehicle::parameterExists(int componentId, const QString& name) const
{
return _autopilotPlugin->parameterExists(componentId, name);
}
......@@ -1844,7 +1845,7 @@ void Vehicle::_newMissionItemsAvailable(void)
// After the initial mission request complets we ask for the geofence
if (!_geoFenceManagerInitialRequestComplete) {
_geoFenceManagerInitialRequestComplete = true;
_geoFenceManager->requestGeoFence();
_geoFenceManager->loadFromVehicle();
}
}
......
src/Vehicle/Vehicle.h
View file @ a75f4b6d
......@@ -570,7 +570,7 @@ public:
bool xConfigMotors(void);
/// Returns true if the specifed parameter exists from the default component
bool parameterExists(int componentId, const QString& name);
bool parameterExists(int componentId, const QString& name) const;
/// Returns the specified parameter Fact from the default component
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
......
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