Merge pull request #4205 from DonLakeFlyer/MapViewport

Better Plan view map viewport handling

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -22,11 +22,12 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
     : GeoFenceManager(vehicle)
     , _fenceSupported(false)
     , _breachReturnSupported(vehicle->fixedWing())
+    , _circleSupported(false)
+    , _polygonSupported(false)
     , _firstParamLoadComplete(false)
     , _circleRadiusFact(NULL)
     , _readTransactionInProgress(false)
     , _writeTransactionInProgress(false)
-    , _fenceEnableFact(NULL)
     , _fenceTypeFact(NULL)
 {
     connect(_vehicle,                       &Vehicle::mavlinkMessageReceived,           this, &APMGeoFenceManager::_mavlinkMessageReceived);
@@ -80,7 +81,7 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
     fenceEnableFact->setRawValue(0);
 
     // Total point count, +1 polygon close in last index, +1 for breach in index 0
-    _cWriteFencePoints = (validatedPolygonCount ? (validatedPolygonCount + 1) : 0) + 1 ;
+    _cWriteFencePoints = validatedPolygonCount ? validatedPolygonCount + 1 + 1 : 0;
     _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints);
 
     // FIXME: No validation of correct fence received
@@ -106,11 +107,11 @@ void APMGeoFenceManager::loadFromVehicle(void)
         return;
     }
 
-    // Point 0: Breach return point (ArduPlane only)
+    // Point 0: Breach return point (always sent, but supported by ArduPlane only)
     // Point [1,N]: Polygon points
     // Point N+1: Close polygon point (same as point 1)
     int cFencePoints = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceTotalParam)->rawValue().toInt();
-    int minFencePoints = 6;
+    int minFencePoints = 5;
     qCDebug(GeoFenceManagerLog) << "APMGeoFenceManager::loadFromVehicle" << cFencePoints;
     if (cFencePoints == 0) {
         // No fence
@@ -242,8 +243,19 @@ bool APMGeoFenceManager::_geoFenceSupported(void)
 
 void APMGeoFenceManager::_updateSupportedFlags(void)
 {
-    emit circleSupportedChanged(circleSupported());
-    emit polygonSupportedChanged(polygonSupported());
+    bool newCircleSupported = _fenceSupported && _vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
+    if (newCircleSupported != _circleSupported) {
+        _circleSupported = newCircleSupported;
+        emit circleSupportedChanged(newCircleSupported);
+    }
+
+    bool newPolygonSupported = _fenceSupported &&
+            ((_vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 4)) ||
+             _vehicle->fixedWing());
+    if (newPolygonSupported != _polygonSupported) {
+        _polygonSupported = newPolygonSupported;
+        emit polygonSupportedChanged(newPolygonSupported);
+    }
 }
 
 void APMGeoFenceManager::_parametersReady(void)
@@ -258,10 +270,8 @@ void APMGeoFenceManager::_parametersReady(void)
             QStringList paramLabels;
 
             if (_vehicle->multiRotor()) {
-                _fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_ENABLE"));
                 _fenceTypeFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
 
-                connect(_fenceEnableFact,   &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateSupportedFlags);
                 connect(_fenceTypeFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateSupportedFlags);
 
                 _circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_RADIUS"));
@@ -293,8 +303,7 @@ void APMGeoFenceManager::_parametersReady(void)
             emit paramLabelsChanged(_paramLabels);
 
             emit fenceSupportedChanged(_fenceSupported);
-            emit circleSupportedChanged(circleSupported());
-            emit polygonSupportedChanged(polygonSupported());
+            _updateSupportedFlags();
         }
 
         qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" <<
@@ -318,26 +327,12 @@ void APMGeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
 
 bool APMGeoFenceManager::circleSupported(void) const
 {
-    if (_fenceSupported && _vehicle->multiRotor() && _fenceEnableFact && _fenceTypeFact) {
-        return _fenceEnableFact->rawValue().toBool() && (_fenceTypeFact->rawValue().toInt() & 2);
-    }
-
-    return false;
+    return _circleSupported;
 }
 
 bool APMGeoFenceManager::polygonSupported(void) const
 {
-    if (_fenceSupported) {
-        if (_vehicle->multiRotor()) {
-            if (_fenceEnableFact && _fenceTypeFact) {
-                return _fenceEnableFact->rawValue().toBool() && (_fenceTypeFact->rawValue().toInt() & 4);
-            }
-        } else if (_vehicle->fixedWing()) {
-            return true;
-        }
-    }
-
-    return false;
+    return _polygonSupported;
 }
 
 QString APMGeoFenceManager::editorQml(void) const

src/FirmwarePlugin/APM/APMGeoFenceManager.h

@@ -49,6 +49,8 @@ private:
 private:
     bool _fenceSupported;
     bool _breachReturnSupported;
+    bool _circleSupported;
+    bool _polygonSupported;
     bool _firstParamLoadComplete;
 
     QVariantList    _params;
@@ -63,7 +65,6 @@ private:
     uint8_t _cWriteFencePoints;
     uint8_t _currentFencePoint;
 
-    Fact* _fenceEnableFact;
     Fact* _fenceTypeFact;
 
     static const char* _fenceTotalParam;

src/FirmwarePlugin/APM/APMRallyPointManager.cc

@@ -90,7 +90,7 @@ void APMRallyPointManager::_mavlinkMessageReceived(const mavlink_message_t& mess
 
         QGeoCoordinate point((float)rallyPoint.lat / 1e7, (float)rallyPoint.lng / 1e7, rallyPoint.alt);
         _rgPoints.append(point);
-        if (rallyPoint.idx < _cReadRallyPoints - 2) {
+        if (rallyPoint.idx < _cReadRallyPoints - 1) {
             // Still more points to request
             _requestRallyPoint(++_currentRallyPoint);
         } else {

src/MissionEditor/MissionEditor.qml

@@ -86,31 +86,114 @@ QGCView {
         return lon  + 180.0
     }
 
-    /// Fix the map viewport to the current mission items.
-    function fitViewportToMissionItems() {
-        if (_visualItems.count == 1) {
+    /// Fits the visible region of the map to inclues all of the specified coordinates. If no coordinates
+    /// are specified the map will fit to the home position
+    function fitMapViewportToAllCoordinates(coordList) {
+        if (coordList.length == 0) {
             editorMap.center = _visualItems.get(0).coordinate
-        } else {
-            var missionItem = _visualItems.get(0)
-            var north = normalizeLat(missionItem.coordinate.latitude)
-            var south = north
-            var east = normalizeLon(missionItem.coordinate.longitude)
-            var west = east
+            return
+        }
 
-            for (var i=1; i<_visualItems.count; i++) {
-                missionItem = _visualItems.get(i)
+        // Determine the size of the inner portion of the map available for display
+        var toolbarHeight = qgcView.height - ScreenTools.availableHeight
+        var rightPanelWidth = _rightPanelWidth
+        var leftToolWidth = centerMapButton.x + centerMapButton.width
+        var availableWidth = qgcView.width - rightPanelWidth - leftToolWidth
+        var availableHeight = qgcView.height - toolbarHeight
 
-                if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
-                    var lat = normalizeLat(missionItem.coordinate.latitude)
-                    var lon = normalizeLon(missionItem.coordinate.longitude)
+        // Create the normalized lat/lon corners for the coordinate bounding rect from the list of coordinates
+        var north = normalizeLat(coordList[0].latitude)
+        var south = north
+        var east = normalizeLon(coordList[0].longitude)
+        var west = east
+        for (var i=1; i<coordList.length; i++) {
+            var lat = normalizeLat(coordList[i].latitude)
+            var lon = normalizeLon(coordList[i].longitude)
 
             north = Math.max(north, lat)
             south = Math.min(south, lat)
             east = Math.max(east, lon)
             west = Math.min(west, lon)
         }        
+
+        // Expand the coordinate bounding rect to make room for the tools around the edge of the map
+        var latDegreesPerPixel = (north - south) / availableWidth
+        var lonDegreesPerPixel = (east - west) / availableHeight
+        north = Math.min(north + (toolbarHeight * latDegreesPerPixel), 180)
+        west = Math.max(west - (leftToolWidth * lonDegreesPerPixel), 0)
+        east = Math.min(east + (rightPanelWidth * lonDegreesPerPixel), 360)
+
+        // Fix the map region to the new bounding rect
+        var topLeftCoord = QtPositioning.coordinate(north - 90.0, west - 180.0)
+        var bottomRightCoord  = QtPositioning.coordinate(south - 90.0, east - 180.0)
+        editorMap.visibleRegion = QtPositioning.rectangle(topLeftCoord, bottomRightCoord)
     }
-            editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0))
+
+    function addMissionItemCoordsForFit(coordList) {
+        for (var i=1; i<qgcView._visualItems.count; i++) {
+            missionItem = qgcView._visualItems.get(i)
+            if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
+                coordList.push(missionItem.coordinate)
+            }
+        }
+    }
+
+    function fitMapViewportToMissionItems() {
+        var coordList = [ ]
+        addMissionItemCoordsForFit(coordList)
+        fitMapViewportToAllCoordinates(coordList)
+    }
+
+    function addFenceItemCoordsForFit(coordList) {
+        if (geoFenceController.circleSupported) {
+            var azimuthList = [ 0, 180, 90, 270 ]
+            for (var i=0; i<azimuthList.length; i++) {
+                var edgeCoordinate = homePos.coordinate.atDistanceAndAzimuth(geoFenceController.circleRadius, azimuthList[i])
+                coordList.push(edgeCoordinate)
+            }
+        }
+        if (geoFenceController.polygonSupported && geoFenceController.polygon.count() > 2) {
+            for (var i=0; i<geoFenceController.polygon.count(); i++) {
+                coordList.push(geoFenceController.polygon.path[i])
+            }
+        }
+    }
+
+    function fitMapViewportToFenceItems() {
+        var coordList = [ ]
+        addFenceItemCoordsForFit(coordList)
+        fitMapViewportToAllCoordinates(coordList)
+    }
+
+    function addRallyItemCoordsForFit(coordList) {
+        for (var i=0; i<rallyPointController.points.count; i++) {
+            coordList.push(rallyPointController.points.get(i).coordinate)
+        }
+    }
+
+    function fitMapViewportToRallyItems() {
+        var coordList = [ ]
+        addRallyItemCoordsForFit(coordList)
+        fitMapViewportToAllCoordinates(coordList)
+    }
+
+    function fitMapViewportToAllItems() {
+        var coordList = [ ]
+        addMissionItemCoordsForFit(coordList)
+        addFenceItemCoordsForFit(coordList)
+        addRallyItemCoordsForFit(coordList)
+        fitMapViewportToAllCoordinates(coordList)
+    }
+
+    property bool _firstMissionLoadComplete:    false
+    property bool _firstFenceLoadComplete:      false
+    property bool _firstRallyLoadComplete:      false
+    property bool _firstLoadComplete:           false
+
+    function checkFirstLoadComplete() {
+        if (!_firstLoadComplete && _firstMissionLoadComplete && _firstRallyLoadComplete && _firstFenceLoadComplete) {
+            _firstLoadComplete = true
+            fitMapViewportToAllItems()
         }
     }
 
@@ -127,7 +210,7 @@ QGCView {
                 qgcView.showDialog(mobileFilePicker, qsTr("Select Mission File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
             } else {
                 missionController.loadFromFilePicker()
-                fitViewportToMissionItems()
+                fitMapViewportToMissionItems()
                 _currentMissionItem = _visualItems.get(0)
             }
         }
@@ -140,13 +223,19 @@ QGCView {
             }
         }
 
+        function fitViewportToItems() {
+            fitMapViewportToMissionItems()
+        }
+
         onVisualItemsChanged: {
             itemDragger.clearItem()
         }
 
         onNewItemsFromVehicle: {
-            fitViewportToMissionItems()
+            fitMapViewportToMissionItems()
             setCurrentItem(0)
+            _firstMissionLoadComplete = true
+            checkFirstLoadComplete()
         }
     }
 
@@ -168,6 +257,7 @@ QGCView {
                 qgcView.showDialog(mobileFilePicker, qsTr("Select Fence File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
             } else {
                 geoFenceController.loadFromFilePicker()
+                fitMapViewportToFenceItems()
             }
         }
 
@@ -181,6 +271,22 @@ QGCView {
                 }
             }
         }
+
+        function fitViewportToItems() {
+            fitMapViewportToFenceItems()
+        }
+
+        onLoadComplete: {
+            _firstFenceLoadComplete = true
+            switch (_syncDropDownController) {
+            case geoFenceController:
+                fitMapViewportToFenceItems()
+                break
+            case missionController:
+                checkFirstLoadComplete()
+                break
+            }
+        }
     }
 
     RallyPointController {
@@ -209,6 +315,23 @@ QGCView {
                 qgcView.showDialog(mobileFilePicker, qsTr("Select Rally Point File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
             } else {
                 rallyPointController.loadFromFilePicker()
+                fitMapViewportToRallyItems()
+            }
+        }
+
+        function fitViewportToItems() {
+            fitMapViewportToRallyItems()
+        }
+
+        onLoadComplete: {
+            _firstRallyLoadComplete = true
+            switch (_syncDropDownController) {
+            case rallyPointController:
+                fitMapViewportToRallyItems()
+                break
+            case missionController:
+                checkFirstLoadComplete()
+                break
             }
         }
     }
@@ -246,7 +369,10 @@ QGCView {
         QGCMobileFileDialog {
             openDialog:         true
             fileExtension:      _syncDropDownController.fileExtension
-            onFilenameReturned: _syncDropDownController.loadFromFile(filename)
+            onFilenameReturned: {
+                _syncDropDownController.loadFromFile(filename)
+                _syncDropDownController.fitViewportToItems()
+            }
         }
     }
 
@@ -559,69 +685,31 @@ QGCView {
                                 _syncDropDownController = rallyPointController
                                 break
                             }
+                            _syncDropDownController.fitViewportToItems()
                         }
                     }
 
-                    RoundButton {
+                    QGCRadioButton {
                         id:             planElementMission
-                        radius:         parent._buttonRadius
-                        buttonImage:    "/qmlimages/Plan.svg"
-                        lightBorders:   _lightWidgetBorders
                         exclusiveGroup: planElementSelectorGroup
-                        checked:        true
-                    }
-
-                    QGCLabel {
                         text:           qsTr("Mission")
-                        color:                  mapPal.text
-                        anchors.verticalCenter: parent.verticalCenter
-
-                        MouseArea {
-                            anchors.fill:   parent
-                            onClicked:      planElementMission.checked = true
-                        }
+                        checked:        true
                     }
 
                     Item { height: 1; width: 1 }
 
-                    RoundButton {
+                    QGCRadioButton {
                         id:             planElementGeoFence
-                        radius:         parent._buttonRadius
-                        buttonImage:    "/qmlimages/Plan.svg"
-                        lightBorders:   _lightWidgetBorders
                         exclusiveGroup: planElementSelectorGroup
-                    }
-
-                    QGCLabel {
                         text:           qsTr("Fence")
-                        color:                  mapPal.text
-                        anchors.verticalCenter: parent.verticalCenter
-
-                        MouseArea {
-                            anchors.fill:   parent
-                            onClicked:      planElementGeoFence.checked = true
-                        }
                     }
 
                     Item { height: 1; width: 1 }
 
-                    RoundButton {
+                    QGCRadioButton {
                         id:             planElementRallyPoints
-                        radius:         parent._buttonRadius
-                        buttonImage:    "/qmlimages/Plan.svg"
-                        lightBorders:   _lightWidgetBorders
                         exclusiveGroup: planElementSelectorGroup
-                    }
-
-                    QGCLabel {
                         text:           qsTr("Rally")
-                        color:                  mapPal.text
-                        anchors.verticalCenter: parent.verticalCenter
-
-                        MouseArea {
-                            anchors.fill:   parent
-                            onClicked:      planElementRallyPoints.checked = true
-                        }
                     }
                 } // Row - Plan Element Selector
 
@@ -872,7 +960,15 @@ QGCView {
                                         width:  ScreenTools.defaultFontPixelWidth * 10
                                         onClicked: {
                                             centerMapButton.hideDropDown()
-                                            fitViewportToMissionItems()
+                                            fitMapViewportToMissionItems()
+                                        }
+                                    }
+                                    QGCButton {
+                                        text: qsTr("All items")
+                                        width:  ScreenTools.defaultFontPixelWidth * 10
+                                        onClicked: {
+                                            centerMapButton.hideDropDown()
+                                            fitMapViewportToAllItems()
                                         }
                                     }
                                     QGCButton {

src/MissionManager/GeoFenceController.cc

@@ -333,9 +333,9 @@ void GeoFenceController::loadFromVehicle(void)
 void GeoFenceController::sendToVehicle(void)
 {
     if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
-        setDirty(false);
-        _polygon.setDirty(false);
         _activeVehicle->geoFenceManager()->sendToVehicle(_breachReturnPoint, _polygon.coordinateList());
+        _polygon.setDirty(false);
+        setDirty(false);
     } else {
         qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress();
     }
@@ -433,6 +433,7 @@ void GeoFenceController::_loadComplete(const QGeoCoordinate& breachReturn, const
     _setReturnPointFromManager(breachReturn);
     _setPolygonFromManager(polygon);
     setDirty(false);
+    emit loadComplete();
 }
 
 QString GeoFenceController::fileExtension(void) const

src/MissionManager/GeoFenceController.h

@@ -78,6 +78,7 @@ signals:
     void paramsChanged                  (QVariantList params);
     void paramLabelsChanged             (QStringList paramLabels);
     void editorQmlChanged               (QString editorQml);
+    void loadComplete                   (void);
 
 private slots:
     void _polygonDirtyChanged(bool dirty);

src/MissionManager/GeoFenceManager.cc

@@ -34,7 +34,7 @@ void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
 void GeoFenceManager::loadFromVehicle(void)
 {
     // No geofence support in unknown vehicle
-    loadComplete(QGeoCoordinate(), QList<QGeoCoordinate>());
+    emit loadComplete(QGeoCoordinate(), QList<QGeoCoordinate>());
 }
 
 void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon)

src/MissionManager/RallyPointController.cc

@@ -254,6 +254,7 @@ void RallyPointController::_loadComplete(const QList<QGeoCoordinate> rgPoints)
     _points.swapObjectList(pointList);
     setDirty(false);
     _setFirstPointCurrent();
+    emit loadComplete();
 }
 
 QString RallyPointController::fileExtension(void) const

src/MissionManager/RallyPointController.h

@@ -61,6 +61,7 @@ public:
 signals:
     void rallyPointsSupportedChanged(bool rallyPointsSupported);
     void currentRallyPointChanged(QObject* rallyPoint);
+    void loadComplete(void);
 
 private slots:
     void _loadComplete(const QList<QGeoCoordinate> rgPoints);

src/MissionManager/RallyPointManager.cc

@@ -34,7 +34,7 @@ void RallyPointManager::_sendError(ErrorCode_t errorCode, const QString& errorMs
 void RallyPointManager::loadFromVehicle(void)
 {
     // No support in generic vehicle
-    loadComplete(QList<QGeoCoordinate>());
+    emit loadComplete(QList<QGeoCoordinate>());
 }
 
 void RallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)