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Valentin Platzgummer
qgroundcontrol
Commits
b098b99a
Commit
b098b99a
authored
Jan 26, 2021
by
Valentin Platzgummer
Browse files
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Browse Files
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tile id int64_t > QString, for robustness
parent
9e620065
Changes
30
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Showing
30 changed files
with
326 additions
and
1084 deletions
+326
-1084
qgroundcontrol.pro
qgroundcontrol.pro
+0
-4
IDArray.h
src/MeasurementComplexItem/IDArray.h
+1
-1
MeasurementComplexItem.h
src/MeasurementComplexItem/MeasurementComplexItem.h
+1
-1
NemoInterface.cpp
src/MeasurementComplexItem/NemoInterface.cpp
+65
-200
MeasurementArea.cc
src/MeasurementComplexItem/geometry/MeasurementArea.cc
+17
-8
MeasurementArea.h
src/MeasurementComplexItem/geometry/MeasurementArea.h
+1
-1
MeasurementTile.cpp
...MeasurementComplexItem/nemo_interface/MeasurementTile.cpp
+16
-3
MeasurementTile.h
src/MeasurementComplexItem/nemo_interface/MeasurementTile.h
+5
-3
TaskDispatcher.cpp
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
+2
-0
TaskDispatcher.h
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
+1
-0
rosbridge.cpp
src/MeasurementComplexItem/rosbridge/rosbridge.cpp
+33
-14
rosbridge.h
src/MeasurementComplexItem/rosbridge/rosbridge.h
+3
-0
rosbridgeimpl.cpp
src/MeasurementComplexItem/rosbridge/rosbridgeimpl.cpp
+7
-3
geopoint.h
...mm/ros_bridge/include/messages/geographic_msgs/geopoint.h
+108
-115
point32.cpp
...omm/ros_bridge/include/messages/geometry_msgs/point32.cpp
+0
-6
point32.h
src/comm/ros_bridge/include/messages/geometry_msgs/point32.h
+0
-139
polygon.cpp
...omm/ros_bridge/include/messages/geometry_msgs/polygon.cpp
+0
-6
polygon.h
src/comm/ros_bridge/include/messages/geometry_msgs/polygon.h
+0
-91
polygon_stamped.cpp
...bridge/include/messages/geometry_msgs/polygon_stamped.cpp
+0
-6
polygon_stamped.h
...s_bridge/include/messages/geometry_msgs/polygon_stamped.h
+0
-172
heartbeat.h
src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h
+6
-7
labeled_progress.cpp
...os_bridge/include/messages/nemo_msgs/labeled_progress.cpp
+1
-1
labeled_progress.h
.../ros_bridge/include/messages/nemo_msgs/labeled_progress.h
+17
-17
progress_array.h
...mm/ros_bridge/include/messages/nemo_msgs/progress_array.h
+16
-16
tile.cpp
src/comm/ros_bridge/include/messages/nemo_msgs/tile.cpp
+1
-1
tile.h
src/comm/ros_bridge/include/messages/nemo_msgs/tile.h
+25
-28
header.cpp
src/comm/ros_bridge/include/messages/std_msgs/header.cpp
+0
-69
header.h
src/comm/ros_bridge/include/messages/std_msgs/header.h
+0
-102
time.cpp
src/comm/ros_bridge/include/messages/std_msgs/time.cpp
+0
-5
time.h
src/comm/ros_bridge/include/messages/std_msgs/time.h
+0
-65
No files found.
qgroundcontrol.pro
View file @
b098b99a
...
...
@@ -517,8 +517,6 @@ HEADERS += \
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
heartbeat
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
progress_array
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
h
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
time
.
h
\
src
/
comm
/
utilities
.
h
contains
(
DEFINES
,
QGC_ENABLE_PAIRING
)
{
...
...
@@ -560,8 +558,6 @@ SOURCES += \
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
labeled_progress
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
progress_array
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
nemo_msgs
/
tile
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
header
.
cpp
\
src
/
comm
/
ros_bridge
/
include
/
messages
/
std_msgs
/
time
.
cpp
\
src
/
Settings
/
WimaSettings
.
cc
\
contains
(
DEFINES
,
QGC_ENABLE_PAIRING
)
{
...
...
src/MeasurementComplexItem/IDArray.h
View file @
b098b99a
...
...
@@ -3,6 +3,6 @@
#include <QVector>
typedef
QVector
<
std
::
int64_t
>
IDArray
;
typedef
QVector
<
QString
>
IDArray
;
#endif // IDARRAY_H
src/MeasurementComplexItem/MeasurementComplexItem.h
View file @
b098b99a
...
...
@@ -10,7 +10,7 @@
#include "SettingsFact.h"
#include "AreaData.h"
#include "ProgressArray.h"
#include "
geometry/
ProgressArray.h"
class
RoutingThread
;
class
RoutingResult
;
...
...
src/MeasurementComplexItem/NemoInterface.cpp
View file @
b098b99a
...
...
@@ -9,6 +9,8 @@
#include <shared_mutex>
#include <QJsonArray>
#include <QJsonObject>
#include <QTimer>
#include <QUrl>
...
...
@@ -24,9 +26,6 @@
#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
#include "ros_bridge/include/messages/nemo_msgs/progress_array.h"
#include "ros_bridge/include/messages/nemo_msgs/tile.h"
#include "ros_bridge/rapidjson/include/rapidjson/document.h"
#include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
#include "ros_bridge/rapidjson/include/rapidjson/writer.h"
#include "rosbridge/rosbridge.h"
QGC_LOGGING_CATEGORY
(
NemoInterfaceLog
,
"NemoInterfaceLog"
)
...
...
@@ -44,8 +43,8 @@ using ROSBridgePtr = std::shared_ptr<Rosbridge>;
typedef
ros_bridge
::
messages
::
nemo_msgs
::
tile
::
GenericTile
<
QGeoCoordinate
,
QList
>
Tile
;
typedef
std
::
map
<
std
::
int64_t
,
std
::
shared_ptr
<
Tile
>>
TileMap
;
typedef
std
::
map
<
std
::
int64_t
,
std
::
shared_ptr
<
const
Tile
>>
TileMapConst
;
typedef
std
::
map
<
QString
,
std
::
shared_ptr
<
Tile
>>
TileMap
;
typedef
std
::
map
<
QString
,
std
::
shared_ptr
<
const
Tile
>>
TileMapConst
;
typedef
ros_bridge
::
messages
::
nemo_msgs
::
heartbeat
::
Heartbeat
Heartbeat
;
typedef
nemo_interface
::
TaskDispatcher
Dispatcher
;
typedef
nemo_interface
::
FutureWatcher
<
QVariant
,
std
::
shared_future
>
...
...
@@ -599,19 +598,10 @@ void NemoInterface::Impl::_doTopicServiceSetup() {
using
namespace
ros_bridge
::
messages
;
// Subscribe nemo progress.
this
->
_pRosbridge
->
subscribeTopic
(
progressTopic
,
[
this
](
const
QJsonObject
&
o
)
{
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
// parse in_message
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"msg"
)
&&
d
[
"msg"
].
IsObject
())
{
// create obj from json
this
->
_pRosbridge
->
subscribeTopic
(
progressTopic
,
[
this
](
const
QJsonObject
&
o
)
{
nemo_msgs
::
progress_array
::
ProgressArray
progressArray
;
if
(
nemo_msgs
::
progress_array
::
fromJson
(
d
[
"msg"
]
,
progressArray
))
{
if
(
nemo_msgs
::
progress_array
::
fromJson
(
o
,
progressArray
))
{
// correct range errors of progress
for
(
auto
&
lp
:
progressArray
.
progress_array
())
{
...
...
@@ -645,32 +635,15 @@ void NemoInterface::Impl::_doTopicServiceSetup() {
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/progress not able to "
"create ProgressArray form json: "
<<
msg
;
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/progress no
\"
msg
\"
key or wrong type: "
<<
msg
;
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/progress message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
<<
o
;
}
});
// Subscribe heartbeat msg.
this
->
_pRosbridge
->
subscribeTopic
(
heartbeatTopic
,
[
this
](
const
QJsonObject
&
o
)
{
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
// parse in_message
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"msg"
)
&&
d
[
"msg"
].
IsObject
())
{
// create obj from json
this
->
_pRosbridge
->
subscribeTopic
(
heartbeatTopic
,
[
this
](
const
QJsonObject
&
o
)
{
nemo_msgs
::
heartbeat
::
Heartbeat
heartbeat
;
if
(
nemo_msgs
::
heartbeat
::
fromJson
(
d
[
"msg"
]
,
heartbeat
))
{
if
(
nemo_msgs
::
heartbeat
::
fromJson
(
o
,
heartbeat
))
{
std
::
promise
<
bool
>
promise
;
auto
future
=
promise
.
get_future
();
bool
value
=
QMetaObject
::
invokeMethod
(
...
...
@@ -683,15 +656,7 @@ void NemoInterface::Impl::_doTopicServiceSetup() {
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/heartbeat not able to "
"create Heartbeat form json: "
<<
msg
;
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/heartbeat no
\"
msg
\"
key or wrong type: "
<<
msg
;
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/heartbeat message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
<<
o
;
}
});
}
...
...
@@ -701,6 +666,11 @@ void NemoInterface::Impl::_trySynchronize() {
this
->
_state
==
STATE
::
USER_SYNC
)
&&
!
_isSynchronized
())
{
if
(
!
_dispatcher
.
idle
())
{
QTimer
::
singleShot
(
5000
,
[
this
]
{
this
->
_trySynchronize
();
});
return
;
}
qCWarning
(
NemoInterfaceLog
)
<<
"trying to synchronize"
;
this
->
_setState
(
STATE
::
SYS_SYNC
);
...
...
@@ -711,8 +681,6 @@ void NemoInterface::Impl::_trySynchronize() {
std
::
bind
(
&
Impl
::
_callClearTiles
,
this
));
// dispatch command.
_dispatcher
.
clear
();
_dispatcher
.
stop
();
Q_ASSERT
(
_dispatcher
.
pendingTasks
()
==
0
);
auto
ret
=
_dispatcher
.
dispatch
(
std
::
move
(
pTask
));
auto
clearFuture
=
ret
.
share
();
...
...
@@ -775,7 +743,6 @@ void NemoInterface::Impl::_doAction() {
case
STATE
:
:
START_BRIDGE
:
this
->
_pRosbridge
->
start
();
break
;
break
;
case
STATE
:
:
WEBSOCKET_DETECTED
:
resetDone
=
false
;
this
->
_setState
(
STATE
::
TRY_TOPIC_SERVICE_SETUP
);
...
...
@@ -814,62 +781,38 @@ QVariant NemoInterface::Impl::_callAddTiles(
this
->
_lastCall
=
CALL_NAME
::
ADD_TILES
;
// create json object
rapidjson
::
Document
request
(
rapidjson
::
kObjectType
);
auto
&
allocator
=
request
.
GetAllocator
();
rapidjson
::
Value
jsonTileArray
(
rapidjson
::
kArrayType
);
QJsonArray
jsonTileArray
;
for
(
const
auto
&
tile
:
*
pTileArray
)
{
using
namespace
ros_bridge
::
messages
;
rapidjson
::
Value
jsonTile
(
rapidjson
::
kObjectType
)
;
if
(
!
nemo_msgs
::
tile
::
toJson
(
*
tile
,
jsonTile
,
allocator
))
{
QJsonObject
jsonTile
;
if
(
!
nemo_msgs
::
tile
::
toJson
(
*
tile
,
jsonTile
))
{
qCDebug
(
NemoInterfaceLog
)
<<
"addTiles(): not able to create json object: tile id: "
<<
tile
->
id
()
<<
" progress: "
<<
tile
->
progress
()
<<
" points: "
<<
tile
->
tile
();
}
jsonTileArray
.
PushBack
(
jsonTile
,
allocator
);
jsonTileArray
.
append
(
std
::
move
(
jsonTile
)
);
}
// for
rapidjson
::
Value
tileKey
(
"in_tile_array"
);
request
.
AddMember
(
tileKey
,
jsonTileArray
,
allocator
);
rapidjson
::
StringBuffer
buffer
;
rapidjson
::
Writer
<
rapidjson
::
StringBuffer
>
writer
(
buffer
);
request
.
Accept
(
writer
);
QJsonDocument
req
=
QJsonDocument
::
fromJson
(
buffer
.
GetString
());
QJsonObject
req
;
req
[
"in_tile_array"
]
=
std
::
move
(
jsonTileArray
);
// create response handler.
auto
promise_response
=
std
::
make_shared
<
std
::
promise
<
bool
>>
();
auto
future_response
=
promise_response
->
get_future
();
auto
responseHandler
=
[
promise_response
](
const
QJsonObject
&
o
)
mutable
{
// check if transaction was successfull
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"values"
)
&&
d
[
"values"
].
IsObject
())
{
auto
values
=
d
[
"values"
].
GetObject
();
if
(
values
.
HasMember
(
"success"
)
&&
values
[
"success"
].
IsBool
())
{
promise_response
->
set_value
(
values
[
"success"
].
GetBool
());
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/add_tiles no
\"
success
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
false
);
}
if
(
o
.
contains
(
"success"
)
&&
o
[
"success"
].
isBool
())
{
promise_response
->
set_value
(
o
[
"success"
].
toBool
());
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/add_tiles no
\"
values
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
false
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/add_tiles message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
<<
"/nemo/add_tiles no
\"
success
\"
key or wrong type: "
<<
o
;
promise_response
->
set_value
(
false
);
}
};
// call service.
this
->
_pRosbridge
->
callService
(
"/nemo/add_tiles"
,
responseHandler
,
req
.
object
());
this
->
_pRosbridge
->
callService
(
"/nemo/add_tiles"
,
responseHandler
,
req
);
// wait for response.
auto
tStart
=
hrc
::
now
();
...
...
@@ -915,20 +858,13 @@ NemoInterface::Impl::_callRemoveTiles(std::shared_ptr<IDArray> pIdArray) {
this
->
_lastCall
=
CALL_NAME
::
REMOVE_TILES
;
// create json object
rapidjson
::
Document
request
(
rapidjson
::
kObjectType
);
auto
&
allocator
=
request
.
GetAllocator
();
rapidjson
::
Value
jsonIdArray
(
rapidjson
::
kArrayType
);
QJsonArray
jsonIdArray
;
for
(
const
auto
id
:
*
pIdArray
)
{
using
namespace
ros_bridge
::
messages
;
jsonIdArray
.
PushBack
(
rapidjson
::
Value
(
id
),
allocator
);
jsonIdArray
.
append
(
id
);
}
// for
rapidjson
::
Value
tileKey
(
"ids"
);
request
.
AddMember
(
tileKey
,
jsonIdArray
,
allocator
);
rapidjson
::
StringBuffer
buffer
;
rapidjson
::
Writer
<
rapidjson
::
StringBuffer
>
writer
(
buffer
);
request
.
Accept
(
writer
);
QJsonDocument
req
=
QJsonDocument
::
fromJson
(
buffer
.
GetString
());
QJsonObject
req
;
req
[
"ids"
]
=
std
::
move
(
jsonIdArray
);
// create response handler.
auto
promise_response
=
std
::
make_shared
<
std
::
promise
<
bool
>>
();
...
...
@@ -936,33 +872,17 @@ NemoInterface::Impl::_callRemoveTiles(std::shared_ptr<IDArray> pIdArray) {
auto
responseHandler
=
[
promise_response
](
const
QJsonObject
&
o
)
mutable
{
// check if transaction was successfull
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"values"
)
&&
d
[
"values"
].
IsObject
())
{
auto
values
=
d
[
"values"
].
GetObject
();
if
(
values
.
HasMember
(
"success"
)
&&
values
[
"success"
].
IsBool
())
{
promise_response
->
set_value
(
values
[
"success"
].
GetBool
());
if
(
o
.
contains
(
"success"
)
&&
o
[
"success"
].
isBool
())
{
promise_response
->
set_value
(
o
[
"success"
].
toBool
());
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/remove_tiles no
\"
success
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
false
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/remove_tiles no
\"
values
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
false
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/remove_tiles message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
promise_response
->
set_value
(
false
);
}
};
// call service.
this
->
_pRosbridge
->
callService
(
"/nemo/remove_tiles"
,
responseHandler
,
req
.
object
());
this
->
_pRosbridge
->
callService
(
"/nemo/remove_tiles"
,
responseHandler
,
req
);
// wait for response.
auto
tStart
=
hrc
::
now
();
...
...
@@ -1011,22 +931,7 @@ QVariant NemoInterface::Impl::_callClearTiles() {
auto
future_response
=
promise_response
->
get_future
();
auto
responseHandler
=
[
promise_response
](
const
QJsonObject
&
o
)
mutable
{
// check if transaction was successfull
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"result"
)
&&
d
[
"result"
].
IsBool
())
{
promise_response
->
set_value
(
d
[
"result"
].
GetBool
());
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/clear_tiles no
\"
result
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
false
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/clear_tiles message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
promise_response
->
set_value
(
false
);
}
promise_response
->
set_value
(
true
);
};
// call service.
...
...
@@ -1075,20 +980,13 @@ NemoInterface::Impl::_callGetProgress(std::shared_ptr<IDArray> pIdArray) {
this
->
_lastCall
=
CALL_NAME
::
GET_PROGRESS
;
// create json object
rapidjson
::
Document
request
(
rapidjson
::
kObjectType
);
auto
&
allocator
=
request
.
GetAllocator
();
rapidjson
::
Value
jsonIdArray
(
rapidjson
::
kArrayType
);
QJsonArray
jsonIdArray
;
for
(
const
auto
id
:
*
pIdArray
)
{
using
namespace
ros_bridge
::
messages
;
jsonIdArray
.
PushBack
(
rapidjson
::
Value
(
id
),
allocator
);
jsonIdArray
.
append
(
id
);
}
// for
rapidjson
::
Value
tileKey
(
"ids"
);
request
.
AddMember
(
tileKey
,
jsonIdArray
,
allocator
);
rapidjson
::
StringBuffer
buffer
;
rapidjson
::
Writer
<
rapidjson
::
StringBuffer
>
writer
(
buffer
);
request
.
Accept
(
writer
);
QJsonDocument
req
=
QJsonDocument
::
fromJson
(
buffer
.
GetString
());
QJsonObject
req
;
req
[
"ids"
]
=
std
::
move
(
jsonIdArray
);
// create response handler.
typedef
std
::
shared_ptr
<
ProgressArray
>
ResponseType
;
...
...
@@ -1096,16 +994,10 @@ NemoInterface::Impl::_callGetProgress(std::shared_ptr<IDArray> pIdArray) {
auto
future_response
=
promise_response
->
get_future
();
auto
responseHandler
=
[
promise_response
](
const
QJsonObject
&
o
)
mutable
{
// check if transaction was successfull
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"values"
)
&&
d
[
"values"
].
IsObject
())
{
auto
values
=
d
[
"values"
].
GetObject
();
ros_bridge
::
messages
::
nemo_msgs
::
progress_array
::
ProgressArray
progressArrayMsg
;
if
(
ros_bridge
::
messages
::
nemo_msgs
::
progress_array
::
fromJson
(
d
[
"values"
]
,
progressArrayMsg
))
{
o
,
progressArrayMsg
))
{
auto
pArray
=
std
::
make_shared
<
ProgressArray
>
();
*
pArray
=
std
::
move
(
progressArrayMsg
.
progress_array
());
promise_response
->
set_value
(
pArray
);
...
...
@@ -1115,21 +1007,10 @@ NemoInterface::Impl::_callGetProgress(std::shared_ptr<IDArray> pIdArray) {
"from json."
;
promise_response
->
set_value
(
nullptr
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/get_progress no
\"
values
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
nullptr
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/get_progress message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
promise_response
->
set_value
(
nullptr
);
}
};
// call service.
this
->
_pRosbridge
->
callService
(
"/nemo/get_progress"
,
responseHandler
,
req
.
object
());
this
->
_pRosbridge
->
callService
(
"/nemo/get_progress"
,
responseHandler
,
req
);
// wait for response.
auto
tStart
=
hrc
::
now
();
...
...
@@ -1179,34 +1060,18 @@ QVariant NemoInterface::Impl::_callGetAllProgress() {
auto
future_response
=
promise_response
->
get_future
();
auto
responseHandler
=
[
promise_response
](
const
QJsonObject
&
o
)
mutable
{
// check if transaction was successfull
QString
msg
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);
rapidjson
::
Document
d
;
d
.
Parse
(
msg
.
toUtf8
());
if
(
!
d
.
HasParseError
())
{
if
(
d
.
HasMember
(
"values"
)
&&
d
[
"values"
].
IsObject
())
{
ros_bridge
::
messages
::
nemo_msgs
::
progress_array
::
ProgressArray
progressArrayMsg
;
if
(
ros_bridge
::
messages
::
nemo_msgs
::
progress_array
::
fromJson
(
d
[
"values"
]
,
progressArrayMsg
))
{
o
,
progressArrayMsg
))
{
auto
pArray
=
std
::
make_shared
<
ProgressArray
>
();
*
pArray
=
std
::
move
(
progressArrayMsg
.
progress_array
());
promise_response
->
set_value
(
pArray
);
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/all_get_progress error while creating ProgressArray "
"from json."
;
promise_response
->
set_value
(
nullptr
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/all_get_progress no
\"
values
\"
key or wrong type: "
<<
msg
;
promise_response
->
set_value
(
nullptr
);
}
}
else
{
qCWarning
(
NemoInterfaceLog
)
<<
"/nemo/all_get_progress message parse error ("
<<
d
.
GetParseError
()
<<
"): "
<<
msg
;
<<
"/nemo/get_all_progress error while creating ProgressArray "
"from json. msg: "
<<
o
;
promise_response
->
set_value
(
nullptr
);
}
};
...
...
src/MeasurementComplexItem/geometry/MeasurementArea.cc
View file @
b098b99a
...
...
@@ -19,6 +19,8 @@
#define MAX_TILES 1000
#endif
QString
randomId
();
using
namespace
geometry
;
namespace
trans
=
bg
::
strategy
::
transform
;
...
...
@@ -261,7 +263,7 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
// find unique id
if
(
it
!=
_indexMap
.
end
())
{
auto
newId
=
tile
->
id
()
+
1
;
auto
newId
=
MeasurementTile
::
randomId
()
;
constexpr
long
counterMax
=
1e6
;
unsigned
long
counter
=
0
;
for
(;
counter
<=
counterMax
;
++
counter
)
{
...
...
@@ -269,7 +271,7 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
if
(
it
==
_indexMap
.
end
())
{
break
;
}
else
{
++
newId
;
newId
=
MeasurementTile
::
randomId
()
;
}
}
...
...
@@ -431,15 +433,11 @@ void MeasurementArea::doUpdate() {
// Convert to geo system.
for
(
const
auto
&
t
:
tilesENU
)
{
auto
geoTile
=
new
MeasurementTile
(
pData
.
get
());
std
::
size_t
hashValue
=
0
;
std
::
hash
<
QGeoCoordinate
>
hashFun
;
for
(
const
auto
&
v
:
t
.
outer
())
{
QGeoCoordinate
geoVertex
;
fromENU
(
origin
,
v
,
geoVertex
);
geoTile
->
push_back
(
geoVertex
);
hashValue
^=
hashFun
(
geoVertex
);
}
geoTile
->
setId
(
std
::
int64_t
(
hashValue
));
pData
->
append
(
geoTile
);
}
}
...
...
@@ -504,7 +502,7 @@ void MeasurementArea::storeTiles() {
// find unique id
if
(
it
!=
_indexMap
.
end
())
{
auto
newId
=
tile
->
id
()
+
1
;
auto
newId
=
MeasurementTile
::
randomId
()
;
constexpr
long
counterMax
=
1e6
;
unsigned
long
counter
=
0
;
for
(;
counter
<=
counterMax
;
++
counter
)
{
...
...
@@ -512,7 +510,7 @@ void MeasurementArea::storeTiles() {
if
(
it
==
_indexMap
.
end
())
{
break
;
}
else
{
++
newId
;
newId
=
MeasurementTile
::
randomId
()
;
}
}
...
...
@@ -710,3 +708,14 @@ bool getTiles(const FPolygon &area, Length tileHeight, Length tileWidth,
return
true
;
}
QString
randomId
()
{
std
::
srand
(
std
::
time
(
nullptr
));
std
::
int64_t
r
=
0
;
for
(
int
i
=
0
;
i
<
10
;
++
i
)
{
r
^=
std
::
rand
();
}
return
QString
::
number
(
r
);
}
src/MeasurementComplexItem/geometry/MeasurementArea.h
View file @
b098b99a
...
...
@@ -107,7 +107,7 @@ private:
// Tile stuff.
TilePtr
_tiles
;
std
::
map
<
std
::
int64_t
/*id*/
,
int
>
_indexMap
;
std
::
map
<
QString
/*id*/
,
int
>
_indexMap
;
QTimer
_timer
;
STATE
_state
;
QFutureWatcher
<
TilePtr
>
_watcher
;
...
...
src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp
View file @
b098b99a
...
...
@@ -6,7 +6,7 @@ const char *MeasurementTile::settingsGroup = "MeasurementTile";
const
char
*
MeasurementTile
::
nameString
=
"MeasurementTile"
;
MeasurementTile
::
MeasurementTile
(
QObject
*
parent
)
:
GeoArea
(
parent
),
_progress
(
0
),
_id
(
0
)
{
:
GeoArea
(
parent
),
_progress
(
0
),
_id
(
MeasurementTile
::
randomId
()
)
{
init
();
}
...
...
@@ -38,9 +38,9 @@ void MeasurementTile::push_back(const QGeoCoordinate &c) {
void
MeasurementTile
::
init
()
{
this
->
setObjectName
(
nameString
);
}
int64_t
MeasurementTile
::
id
()
const
{
return
_id
;
}
QString
MeasurementTile
::
id
()
const
{
return
_id
;
}
void
MeasurementTile
::
setId
(
const
int64_t
&
id
)
{
void
MeasurementTile
::
setId
(
const
QString
&
id
)
{
if
(
_id
!=
id
)
{
_id
=
id
;
emit
idChanged
();
...
...
@@ -49,6 +49,19 @@ void MeasurementTile::setId(const int64_t &id) {
QList
<
QGeoCoordinate
>
MeasurementTile
::
tile
()
const
{
return
coordinateList
();
}
QString
MeasurementTile
::
randomId
(
int
length
)
{
static
const
QString
values
(
"ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789"
);
QString
str
;
std
::
srand
(
std
::
time
(
nullptr
));
for
(
int
i
=
0
;
i
<
length
;
++
i
)
{
int
index
=
std
::
rand
()
%
values
.
length
();
QChar
c
=
values
.
at
(
index
);
str
.
append
(
c
);
}
return
str
;
}
double
MeasurementTile
::
progress
()
const
{
return
_progress
;
}
void
MeasurementTile
::
setProgress
(
double
progress
)
{
...
...
src/MeasurementComplexItem/nemo_interface/MeasurementTile.h
View file @
b098b99a
...
...
@@ -24,11 +24,13 @@ public:
double
progress
()
const
;
void
setProgress
(
double
progress
);
int64_t
id
()
const
;
void
setId
(
const
int64_t
&
id
);
QString
id
()
const
;
void
setId
(
const
QString
&
id
);
QList
<
QGeoCoordinate
>
tile
()
const
;
static
QString
randomId
(
int
length
=
10
);
// Static Variables
static
const
char
*
settingsGroup
;
static
const
char
*
nameString
;
...
...
@@ -40,5 +42,5 @@ signals:
private:
void
init
();
double
_progress
;
int64_t
_id
;
QString
_id
;
};
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
View file @
b098b99a
...
...
@@ -86,6 +86,8 @@ std::size_t TaskDispatcher::pendingTasks() {
return
this
->
_taskQueue
.
size
()
+
(
_running
?
1
:
0
);
}
bool
TaskDispatcher
::
idle
()
{
return
this
->
pendingTasks
()
==
0
;
}
void
TaskDispatcher
::
run
()
{
while
(
true
)
{
ULock
lk1
(
this
->
_mutex
);
...
...
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
View file @
b098b99a
...
...
@@ -53,6 +53,7 @@ public:
bool
isRunning
();
std
::
size_t
pendingTasks
();
bool
idle
();
protected:
void
run
();
...
...
src/MeasurementComplexItem/rosbridge/rosbridge.cpp
View file @
b098b99a
...
...
@@ -16,6 +16,8 @@ static const char *rosTopics = "/rosapi/topics";
static
constexpr
auto
pollIntervall
=
std
::
chrono
::
milliseconds
(
200
);
Rosbridge
::
STATE
translate
(
RosbridgeImpl
::
STATE
s
);
Rosbridge
::
Rosbridge
(
const
QUrl
url
,
QObject
*
parent
)
:
QObject
(
parent
),
_url
(
url
),
_running
(
false
)
{
static
std
::
once_flag
flag
;
...
...
@@ -34,6 +36,9 @@ void Rosbridge::start() {
_impl
=
new
RosbridgeImpl
(
_url
);
_impl
->
moveToThread
(
_t
);
connect
(
_impl
,
&
RosbridgeImpl
::
stateChanged
,
this
,
&
Rosbridge
::
_onImplStateChanged
);
connect
(
this
,
&
Rosbridge
::
_start
,
_impl
,
&
RosbridgeImpl
::
start
);
connect
(
this
,
&
Rosbridge
::
_stop
,
_impl
,
&
RosbridgeImpl
::
stop
);
...
...
@@ -77,20 +82,7 @@ void Rosbridge::stop() {
Rosbridge
::
STATE
Rosbridge
::
state
()
{
if
(
_running
)
{
switch
(
_impl
->
state
())
{
case
RosbridgeImpl
:
:
STATE
::
STOPPED
:
case
RosbridgeImpl
:
:
STATE
::
STOPPING
:
return
STATE
::
STOPPED
;
case
RosbridgeImpl
:
:
STATE
::
STARTING
:
return
STATE
::
STARTED
;
case
RosbridgeImpl
:
:
STATE
::
CONNECTED
:
return
STATE
::
CONNECTED
;
case
RosbridgeImpl
:
:
STATE
::
TIMEOUT
:
return
STATE
::
TIMEOUT
;
break
;
}
qCritical
()
<<
"unreachable branch!"
;
return
STATE
::
STOPPED
;
return
translate
(
_impl
->
state
());
}
else
{
return
STATE
::
STOPPED
;
}
...
...
@@ -251,3 +243,30 @@ void Rosbridge::waitForService(const QString &service) {
qDebug
()
<<
"waitForService: Rosbridge not connected."
;
}
}
void
Rosbridge
::
_onImplStateChanged
()
{
static
STATE
oldState
=
STATE
::
STOPPED
;
auto
newState
=
translate
(
_impl
->
state
());
if
(
oldState
!=
newState
)
{
emit
stateChanged
();
}
oldState
=
newState
;
}
Rosbridge
::
STATE
translate
(
RosbridgeImpl
::
STATE
s
)
{
switch
(
s
)
{
case
RosbridgeImpl
:
:
STATE
::
STOPPED
:
case
RosbridgeImpl
:
:
STATE
::
STOPPING
:
return
Rosbridge
::
STATE
::
STOPPED
;
case
RosbridgeImpl
:
:
STATE
::
STARTING
:
return
Rosbridge
::
STATE
::
STARTED
;
case
RosbridgeImpl
:
:
STATE
::
CONNECTED
:
return
Rosbridge
::
STATE
::
CONNECTED
;
case
RosbridgeImpl
:
:
STATE
::
TIMEOUT
:
return
Rosbridge
::
STATE
::
TIMEOUT
;
break
;
}
qCritical
()
<<
"unreachable branch!"
;
return
Rosbridge
::
STATE
::
STOPPED
;
}
src/MeasurementComplexItem/rosbridge/rosbridge.h
View file @
b098b99a
...
...
@@ -101,6 +101,9 @@ signals:
void
_unadvertiseAllServices
();
private:
void
_onImplStateChanged
();
std
::
atomic
<
STATE
>
_state
;
RosbridgeImpl
*
_impl
;
QThread
*
_t
;
QUrl
_url
;
...
...
src/MeasurementComplexItem/rosbridge/rosbridgeimpl.cpp
View file @
b098b99a
...
...
@@ -114,7 +114,6 @@ void RosbridgeImpl::unadvertiseTopic(const QString &topic) {
if
(
_state
==
STATE
::
CONNECTED
||
_state
==
STATE
::
STOPPING
)
{
auto
it
=
_advertisedTopics
.
find
(
topic
);
if
(
Q_LIKELY
(
it
!=
_advertisedTopics
.
end
()))
{
_advertisedTopics
.
erase
(
it
);
QJsonObject
o
;
o
[
opKey
]
=
unadvertiseOpKey
;
...
...
@@ -123,6 +122,8 @@ void RosbridgeImpl::unadvertiseTopic(const QString &topic) {
QString
payload
=
QJsonDocument
(
o
).
toJson
(
QJsonDocument
::
JsonFormat
::
Compact
);