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Commit b37dda84 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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editing WimaController ofter repurposeing

parent c878bb8a
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Inline Side-by-side
Showing with 774 additions and 527 deletions
src/Wima/WimaController.cc
View file @ b37dda84
......@@ -7,14 +7,13 @@ const char* WimaController::missionItemsName = "MissionItems";
WimaController::WimaController(QObject *parent)
: QObject (parent)
, _readyForSaveSend (false)
, _currentPolygonIndex (-1)
, _container (nullptr)
, _joinedArea (this)
, _opArea (this)
, _serArea (this)
, _corridor (this)
{
connect(this, &WimaController::currentPolygonIndexChanged, this, &WimaController::recalcPolygonInteractivity);
}
QmlObjectListModel* WimaController::visualItems()
......@@ -44,7 +43,7 @@ QGeoCoordinate WimaController::joinedAreaCenter() const
return _joinedArea.center();
}
WimaArea WimaController::joinedArea() const
QGCMapPolygon WimaController::joinedArea() const
{
return _joinedArea;
}
......@@ -61,19 +60,11 @@ void WimaController::setMissionController(MissionController *missionC)
emit missionControllerChanged();
}
void WimaController::setCurrentPolygonIndex(int index)
{
if(index >= 0 && index < _visualItems.count() && index != _currentPolygonIndex){
_currentPolygonIndex = index;
emit currentPolygonIndexChanged(index);
}
}
void WimaController::setDataContainer(WimaDataContainer *container)
{
if (_container == nullptr && container != nullptr) {
_container = container;
pullFromContainer();
emit dataContainerChanged();
}
......@@ -84,99 +75,6 @@ void WimaController::startWimaController(bool flyView)
}
void WimaController::removeArea(int index)
{
if(index >= 0 && index < _visualItems.count()){
WimaArea* area = qobject_cast<WimaArea*>(_visualItems.removeAt(index));
if ( area == nullptr) {
qWarning("WimaController::removeArea(): nullptr catched, internal error.");
return;
}
area->clear();
emit visualItemsChanged();
if (_visualItems.count() == 0) {
// this branch is reached if all items are removed
// to guarentee proper behavior, _currentPolygonIndex must be set to a invalid value, as on constructor init.
_currentPolygonIndex = -1;
return;
}
if(_currentPolygonIndex >= _visualItems.count()){
setCurrentPolygonIndex(_visualItems.count() - 1);
}else{
recalcPolygonInteractivity(_currentPolygonIndex);
}
}else{
qWarning("Index out of bounds!");
}
}
bool WimaController::addGOperationArea()
{
if (!_visualItems.contains(&_opArea)) {
_visualItems.append(&_opArea);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
bool WimaController::addServiceArea()
{
if (!_visualItems.contains(&_serArea)) {
_visualItems.append(&_serArea);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
bool WimaController::addVehicleCorridor()
{
if (!_visualItems.contains(&_corridor)) {
_visualItems.append(&_corridor);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
void WimaController::removeAll()
{
bool changesApplied = false;
while (_visualItems.count() > 0) {
removeArea(0);
changesApplied = true;
}
_missionController->removeAll();
_currentFile = "";
emit currentFileChanged();
if ( changesApplied )
emit visualItemsChanged();
}
void WimaController::startMission()
{
......@@ -199,407 +97,33 @@ void WimaController::resumeMission()
bool WimaController::updateMission()
{
setReadyForSaveSend(false);
#define debug 0
if ( !recalcJoinedArea()) {
qgcApp()->showMessage(tr("Not able to join areas. Areas must be overlapping"));
return false;
}
#if debug
_visualItems.append(&_joinedArea);
#endif
// reset visual items
_missionController->removeAll();
QmlObjectListModel* missionItems = _missionController->visualItems();
// set home position to serArea center
MissionSettingsItem* settingsItem= qobject_cast<MissionSettingsItem*>(missionItems->get(0));
if (settingsItem == nullptr){
qWarning("WimaController::updateMission(): settingsItem == nullptr");
return false;
}
// set altitudes, temporary measure to solve bugs
QGeoCoordinate center = _serArea.center();
center.setAltitude(0);
_serArea.setCenter(center);
center = _opArea.center();
center.setAltitude(0);
_opArea.setCenter(center);
center = _corridor.center();
center.setAltitude(0);
_corridor.setCenter(center);
// set HomePos. to serArea center
settingsItem->setCoordinate(_serArea.center());
// create take off position item
int sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
// create survey item, will be extened with more()-> mission types in the future
_missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), _opArea.center(), missionItems->count());
SurveyComplexItem* survey = qobject_cast<SurveyComplexItem*>(missionItems->get(missionItems->count()-1));
if (survey == nullptr){
qWarning("WimaController::updateMission(): survey == nullptr");
return false;
} else {
survey->surveyAreaPolygon()->clear();
survey->surveyAreaPolygon()->appendVertices(_opArea.coordinateList());
//survey->
}
// calculate path from take off to opArea
QGeoCoordinate start = _serArea.center();
QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
QList<QGeoCoordinate> path;
if ( !WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
qgcApp()->showMessage(tr("Not able to calculate the path from takeoff position to measurement area."));
return false;
}
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// calculate return path
start = survey->visualTransectPoints().last().value<QGeoCoordinate>();
end = _serArea.center();
path.clear();
if ( ! WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
qgcApp()->showMessage(tr("Not able to calculate the path from measurement area to landing position."));
return false;
}
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// create land position item
sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
SimpleMissionItem* landItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
if (landItem == nullptr){
qWarning("WimaController::updateMission(): landItem == nullptr");
return false;
} else {
Vehicle* controllerVehicle = _masterController->controllerVehicle();
MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
landItem->setCommand(landCmd);
}
}
updateContainer();
setReadyForSaveSend(true);
return true;
}
void WimaController::saveToCurrent()
{
saveToFile(_currentFile);
}
void WimaController::saveToFile(const QString& filename)
{
if (filename.isEmpty()) {
return;
}
QString planFilename = filename;
if (!QFileInfo(filename).fileName().contains(".")) {
planFilename += QString(".%1").arg(wimaFileExtension);
}
QFile file(planFilename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
_currentFile.clear();
emit currentFileChanged();
} else {
FileType fileType = FileType::WimaFile;
if ( planFilename.contains(QString(".%1").arg(wimaFileExtension)) ) {
fileType = FileType::WimaFile;
} else if ( planFilename.contains(QString(".%1").arg(AppSettings::planFileExtension)) ) {
fileType = FileType::PlanFile;
} else {
if ( planFilename.contains(".") ) {
qgcApp()->showMessage(tr("File format not supported"));
} else {
qgcApp()->showMessage(tr("File without file extension not accepted."));
return;
}
}
QJsonDocument saveDoc = saveToJson(fileType);
file.write(saveDoc.toJson());
if(_currentFile != planFilename) {
_currentFile = planFilename;
emit currentFileChanged();
}
}
}
bool WimaController::loadFromCurrent()
{
return loadFromFile(_currentFile);
return true;
}
bool WimaController::loadFromFile(const QString &filename)
{
#define debug 0
QString errorString;
QString errorMessage = tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");
if (filename.isEmpty()) {
return false;
}
QFileInfo fileInfo(filename);
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString() + QStringLiteral(" ") + filename;
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
if(fileInfo.suffix() == wimaFileExtension) {
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorString)) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
QJsonObject json = jsonDoc.object();
// AreaItems
QJsonArray areaArray = json[areaItemsName].toArray();
_visualItems.clear();
int validAreaCounter = 0;
for( int i = 0; i < areaArray.size() && validAreaCounter < 3; i++) {
QJsonObject jsonArea = areaArray[i].toObject();
if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) {
if ( jsonArea[WimaArea::areaTypeName] == WimaGOperationArea::wimaGOperationAreaName) {
print(_opArea);
bool success = _opArea.loadFromJson(jsonArea, errorString);
print(_opArea);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_opArea);
emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) {
bool success = _serArea.loadFromJson(jsonArea, errorString);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_serArea);
emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaVCorridor::wimaVCorridorName) {
bool success = _corridor.loadFromJson(jsonArea, errorString);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_corridor);
emit visualItemsChanged();
} else {
errorString += QString(tr("%s not supported.\n").arg(WimaArea::areaTypeName));
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
} else {
errorString += QString(tr("Invalid or non existing entry for %s.\n").arg(WimaArea::areaTypeName));
return false;
}
}
_currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
emit currentFileChanged();
recalcJoinedArea();
// MissionItems
// extrac MissionItems part
QJsonDocument missionJsonDoc = QJsonDocument(json[missionItemsName].toObject());
// create temporary file with missionItems
QFile temporaryFile;
QString cropedFileName = filename.section("/",0,-2);
#if debug
qWarning() << cropedFileName;
#endif
QString temporaryFileName;
for (int i = 0; ; i++) {
temporaryFileName = cropedFileName.append("/temp%1.%2").arg(i).arg(AppSettings::planFileExtension);
if ( !QFile::exists(temporaryFileName) ) {
temporaryFile.setFileName(temporaryFileName);
if ( temporaryFile.open(QIODevice::WriteOnly | QIODevice::Text) ) {
break;
}
}
if ( i > 1000) {
qWarning("WimaController::loadFromFile(): not able to create temporary file.");
return false;
}
}
temporaryFile.write(missionJsonDoc.toJson());
// load from temporary file
_masterController->loadFromFile(temporaryFileName);
// remove temporary file
if ( !temporaryFile.remove() ){
qWarning("WimaController::loadFromFile(): not able to remove temporary file.");
}
return true;
} else if ( fileInfo.suffix() == AppSettings::planFileExtension ){
_masterController->loadFromFile(filename);
return true;// might be wrong return value
} else {
errorString += QString(tr("File extension not supported.\n"));
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
}
void WimaController::recalcPolygonInteractivity(int index)
{
if (index >= 0 && index < _visualItems.count()) {
resetAllInteractive();
WimaArea* interactivePoly = qobject_cast<WimaArea*>(_visualItems.get(index));
interactivePoly->setInteractive(true);
}
}
bool WimaController::recalcJoinedArea()
{
// join service area, op area and corridor
_joinedArea = _serArea;
_joinedArea.join(_corridor);
if ( !_joinedArea.join(_opArea) )
return false; // this happens if all areas are pairwise disjoint
else {
emit joinedAreaChanged() ;
return true;
}
}
void WimaController::updateContainer()
{
// Sets the pointers (inside _container) to the areas (of this).
// Should be called only (once) after a _container has been assigned.
if (_container != nullptr) {
_container->setOpArea(&_opArea);
_container->setSerArea(&_serArea);
_container->setCorridor(&_corridor);
_container->setJoinedArea(&_joinedArea);
} else {
qWarning("WimaController::uploadToContainer(): no container assigned.");
}
return true;
}
void WimaController::resetAllInteractive()
{
// Marks all areas as inactive (area.interactive == false)
int itemCount = _visualItems.count();
if (itemCount > 0){
for (int i = 0; i < itemCount; i++) {
WimaArea* iteratorPoly = qobject_cast<WimaArea*>(_visualItems.get(i));
iteratorPoly->setInteractive(false);
}
}
}
void WimaController::setInteractive()
{
recalcPolygonInteractivity(_currentPolygonIndex);
}
QJsonDocument WimaController::saveToJson(FileType fileType)
{
/// This function save all areas (of WimaController) and all mission items (of MissionController) to a QJsonDocument
/// @param fileType is either WimaFile or PlanFile (enum), if fileType == PlanFile only mission items are stored
QJsonObject json;
if ( fileType == FileType::WimaFile ) {
QJsonArray jsonArray;
for (int i = 0; i < _visualItems.count(); i++) {
QJsonObject json;
WimaArea* area = qobject_cast<WimaArea*>(_visualItems.get(i));
if (area == nullptr) {
qWarning("WimaController::saveToJson(): Internal error, area == nullptr!");
return QJsonDocument();
}
// check the type of area, create and append the JsonObject to the JsonArray once determined
WimaGOperationArea* opArea = qobject_cast<WimaGOperationArea*>(area);
if (opArea != nullptr) {
opArea->saveToJson(json);
jsonArray.append(json);
continue;
}
WimaServiceArea* serArea = qobject_cast<WimaServiceArea*>(area);
if (serArea != nullptr) {
serArea->saveToJson(json);
jsonArray.append(json);
continue;
}
WimaVCorridor* corridor = qobject_cast<WimaVCorridor*>(area);
if (corridor != nullptr) {
corridor->saveToJson(json);
jsonArray.append(json);
continue;
}
// if non of the obove branches was trigger, type must be WimaArea
area->saveToJson(json);
jsonArray.append(json);
}
json[areaItemsName] = jsonArray;
json[missionItemsName] = _masterController->saveToJson().object();
return QJsonDocument(json);
} else if (fileType == FileType::PlanFile) {
return _masterController->saveToJson();
}
return QJsonDocument(json);
}
void WimaController::setReadyForSaveSend(bool ready)
......
src/Wima/WimaController.h
View file @ b37dda84
......@@ -32,14 +32,12 @@ public:
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(bool flyView READ flyView CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
......@@ -48,13 +46,12 @@ public:
PlanMasterController* masterController (void) const { return _masterController; }
MissionController* missionController (void) const { return _missionController; }
QmlObjectListModel* visualItems (void) ;
int currentPolygonIndex (void) const { return _currentPolygonIndex; }
QString currentFile (void) const { return _currentFile; }
QStringList loadNameFilters (void) const;
QStringList saveNameFilters (void) const;
QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const;
WimaArea joinedArea (void) const;
QGCMapPolygon joinedArea(void) const;
bool readyForSaveSend (void) const { return _readyForSaveSend; }
......@@ -62,35 +59,20 @@ public:
// Property setters
void setMasterController (PlanMasterController* masterController);
void setMissionController (MissionController* missionController);
/// Sets the integer index pointing to the current polygon. Current polygon is set interactive.
void setCurrentPolygonIndex (int index);
void setDataContainer (WimaDataContainer* container);
// Member Methodes
Q_INVOKABLE void startWimaController(bool flyView);
Q_INVOKABLE bool addGOperationArea();
/// Removes an area from _visualItems
/// @param index Index of the area to be removed
Q_INVOKABLE void removeArea(int index);
Q_INVOKABLE bool addServiceArea();
Q_INVOKABLE bool addVehicleCorridor();
/// Remove all areas from WimaController and all mission items from MissionController
Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
Q_INVOKABLE void resumeMission();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString& filename);
Q_INVOKABLE void saveToCurrent ();
Q_INVOKABLE void saveToFile (const QString& filename);
Q_INVOKABLE bool loadFromCurrent();
Q_INVOKABLE bool loadFromFile(const QString& filename);
Q_INVOKABLE void resetAllInteractive(void);
Q_INVOKABLE void setInteractive(void);
Q_INVOKABLE bool loadFromFile (const QString& filename);
// static Members
......@@ -102,32 +84,28 @@ public:
QJsonDocument saveToJson(FileType fileType);
void setReadyForSaveSend(bool ready);
signals:
void masterControllerChanged (void);
void missionControllerChanged (void);
void visualItemsChanged (void);
void currentPolygonIndexChanged (int index);
void currentFileChanged ();
void joinedAreaChanged ();
void dataContainerChanged ();
void readyForSaveSendChanged (bool ready);
private slots:
void recalcPolygonInteractivity (int index);
bool recalcJoinedArea ();
void updateContainer ();// only executed if flyView == false
void downloadFromContainer ();// only executed if flyView == true
void pullFromContainer ();
private:
bool _readyForSaveSend;
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentPolygonIndex;
QString _currentFile;
WimaDataContainer *_container;
QmlObjectListModel _visualItems;
WimaArea _joinedArea;
WimaGOperationArea _opArea;
WimaServiceArea _serArea;
WimaVCorridor _corridor;
bool _readyForSaveSend; // basically true if updateMission() was sucessful
PlanMasterController *_masterController;
MissionController *_missionController;
QString _currentFile; // file for saveing
WimaDataContainer *_container; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
// The following areas are of type QGCMapPolygon (only path information is required, as they are used for visualisation)
QGCMapPolygon _joinedArea; // joined area fromed by opArea, serArea, _corridor
QGCMapPolygon _opArea; // measurement area
QGCMapPolygon _serArea; // area for supplying
QGCMapPolygon _corridor; // corridor connecting opArea and serArea
};
src/Wima/WimaDataContainer.cc
View file @ b37dda84
......@@ -45,3 +45,12 @@ void WimaDataContainer::setCorridor(const WimaVCorridor *corridor)
emit corridorChanged(_corridor);
}
}
void WimaDataContainer::setVisualItems(const QmlObjectListModel *visualItems)
{
if (_visualItems != visualItems) {
_visualItems = visualItems;
emit visualItemsChanged(_visualItems);
}
}
src/Wima/WimaDataContainer.h
View file @ b37dda84
......@@ -21,23 +21,27 @@ public:
const WimaGOperationArea * opArea (void) { return _opArea; }
const WimaServiceArea * serArea (void) { return _serArea; }
const WimaVCorridor * corridor (void) { return _corridor; }
const QmlObjectListModel * visualItems (void) { return _visualItems; }
signals:
void joinedAreaChanged (const WimaArea *area);
void opAreaChanged (const WimaGOperationArea *area);
void serAreaChanged (const WimaServiceArea *area);
void corridorChanged (const WimaVCorridor *area);
void visualItemsChanged (const QmlObjectListModel *area);
public slots:
void setJoinedArea (const WimaArea *joinedArea);
void setOpArea (const WimaGOperationArea *opArea);
void setSerArea (const WimaServiceArea *serArea);
void setCorridor (const WimaVCorridor *corridor);
void setVisualItems (const QmlObjectListModel *visualItems);
private:
const WimaArea *_joinedArea;
const WimaGOperationArea *_opArea;
const WimaServiceArea *_serArea;
const WimaVCorridor *_corridor;
const QmlObjectListModel *_visualItems;
};
src/Wima/WimaPlaner.cc
View file @ b37dda84
#include "WimaPlaner.h"
WimaPlaner::WimaPlaner()
const char* WimaPlaner::wimaFileExtension = "wima";
const char* WimaPlaner::areaItemsName = "AreaItems";
const char* WimaPlaner::missionItemsName = "MissionItems";
WimaPlaner::WimaPlaner(QObject *parent)
: QObject (parent)
, _readyForSaveSend (false)
, _currentAreaIndex (-1)
, _container (nullptr)
, _joinedArea (this)
, _opArea (this)
, _serArea (this)
, _corridor (this)
{
connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
}
QmlObjectListModel* WimaPlaner::visualItems()
{
return &_visualItems;
}
QStringList WimaPlaner::loadNameFilters() const
{
QStringList filters;
filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension) <<
tr("All Files (*.*)");
return filters;
}
QStringList WimaPlaner::saveNameFilters() const
{
QStringList filters;
filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension);
return filters;
}
QGeoCoordinate WimaPlaner::joinedAreaCenter() const
{
return _joinedArea.center();
}
WimaArea WimaPlaner::joinedArea() const
{
return _joinedArea;
}
void WimaPlaner::setMasterController(PlanMasterController *masterC)
{
_masterController = masterC;
emit masterControllerChanged();
}
void WimaPlaner::setMissionController(MissionController *missionC)
{
_missionController = missionC;
emit missionControllerChanged();
}
void WimaPlaner::setCurrentPolygonIndex(int index)
{
if(index >= 0 && index < _visualItems.count() && index != _currentAreaIndex){
_currentAreaIndex = index;
emit currentPolygonIndexChanged(index);
}
}
void WimaPlaner::setDataContainer(WimaDataContainer *container)
{
if (_container == nullptr && container != nullptr) {
_container = container;
emit dataContainerChanged();
}
}
void WimaPlaner::startWimaPlaner(bool flyView)
{
}
void WimaPlaner::removeArea(int index)
{
if(index >= 0 && index < _visualItems.count()){
WimaArea* area = qobject_cast<WimaArea*>(_visualItems.removeAt(index));
if ( area == nullptr) {
qWarning("WimaPlaner::removeArea(): nullptr catched, internal error.");
return;
}
area->clear();
emit visualItemsChanged();
if (_visualItems.count() == 0) {
// this branch is reached if all items are removed
// to guarentee proper behavior, _currentAreaIndex must be set to a invalid value, as on constructor init.
_currentAreaIndex = -1;
return;
}
if(_currentAreaIndex >= _visualItems.count()){
setCurrentPolygonIndex(_visualItems.count() - 1);
}else{
recalcPolygonInteractivity(_currentAreaIndex);
}
}else{
qWarning("Index out of bounds!");
}
}
bool WimaPlaner::addGOperationArea()
{
if (!_visualItems.contains(&_opArea)) {
_visualItems.append(&_opArea);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
bool WimaPlaner::addServiceArea()
{
if (!_visualItems.contains(&_serArea)) {
_visualItems.append(&_serArea);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
bool WimaPlaner::addVehicleCorridor()
{
if (!_visualItems.contains(&_corridor)) {
_visualItems.append(&_corridor);
int newIndex = _visualItems.count()-1;
setCurrentPolygonIndex(newIndex);
emit visualItemsChanged();
return true;
} else {
return false;
}
}
void WimaPlaner::removeAll()
{
bool changesApplied = false;
while (_visualItems.count() > 0) {
removeArea(0);
changesApplied = true;
}
_missionController->removeAll();
_currentFile = "";
emit currentFileChanged();
if ( changesApplied )
emit visualItemsChanged();
}
void WimaPlaner::startMission()
{
}
void WimaPlaner::abortMission()
{
}
void WimaPlaner::pauseMission()
{
}
void WimaPlaner::resumeMission()
{
}
bool WimaPlaner::updateMission()
{
setReadyForSaveSend(false);
#define debug 0
if ( !recalcJoinedArea()) {
qgcApp()->showMessage(tr("Not able to join areas. Areas must be overlapping"));
return false;
}
#if debug
_visualItems.append(&_joinedArea);
#endif
// reset visual items
_missionController->removeAll();
QmlObjectListModel* missionItems = _missionController->visualItems();
// set home position to serArea center
MissionSettingsItem* settingsItem= qobject_cast<MissionSettingsItem*>(missionItems->get(0));
if (settingsItem == nullptr){
qWarning("WimaPlaner::updateMission(): settingsItem == nullptr");
return false;
}
// set altitudes, temporary measure to solve bugs
QGeoCoordinate center = _serArea.center();
center.setAltitude(0);
_serArea.setCenter(center);
center = _opArea.center();
center.setAltitude(0);
_opArea.setCenter(center);
center = _corridor.center();
center.setAltitude(0);
_corridor.setCenter(center);
// set HomePos. to serArea center
settingsItem->setCoordinate(_serArea.center());
// create take off position item
int sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
// create survey item, will be extened with more()-> mission types in the future
_missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), _opArea.center(), missionItems->count());
SurveyComplexItem* survey = qobject_cast<SurveyComplexItem*>(missionItems->get(missionItems->count()-1));
if (survey == nullptr){
qWarning("WimaPlaner::updateMission(): survey == nullptr");
return false;
} else {
survey->surveyAreaPolygon()->clear();
survey->surveyAreaPolygon()->appendVertices(_opArea.coordinateList());
//survey->
}
// calculate path from take off to opArea
QGeoCoordinate start = _serArea.center();
QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
QList<QGeoCoordinate> path;
if ( !WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
qgcApp()->showMessage(tr("Not able to calculate the path from takeoff position to measurement area."));
return false;
}
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// calculate return path
start = survey->visualTransectPoints().last().value<QGeoCoordinate>();
end = _serArea.center();
path.clear();
if ( ! WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
qgcApp()->showMessage(tr("Not able to calculate the path from measurement area to landing position."));
return false;
}
for (int i = 1; i < path.count()-1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// create land position item
sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
SimpleMissionItem* landItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
if (landItem == nullptr){
qWarning("WimaPlaner::updateMission(): landItem == nullptr");
return false;
} else {
Vehicle* controllerVehicle = _masterController->controllerVehicle();
MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
landItem->setCommand(landCmd);
}
}
pushToContainer();
setReadyForSaveSend(true);
return true;
}
void WimaPlaner::saveToCurrent()
{
saveToFile(_currentFile);
}
void WimaPlaner::saveToFile(const QString& filename)
{
if (filename.isEmpty()) {
return;
}
QString planFilename = filename;
if (!QFileInfo(filename).fileName().contains(".")) {
planFilename += QString(".%1").arg(wimaFileExtension);
}
QFile file(planFilename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
_currentFile.clear();
emit currentFileChanged();
} else {
FileType fileType = FileType::WimaFile;
if ( planFilename.contains(QString(".%1").arg(wimaFileExtension)) ) {
fileType = FileType::WimaFile;
} else if ( planFilename.contains(QString(".%1").arg(AppSettings::planFileExtension)) ) {
fileType = FileType::PlanFile;
} else {
if ( planFilename.contains(".") ) {
qgcApp()->showMessage(tr("File format not supported"));
} else {
qgcApp()->showMessage(tr("File without file extension not accepted."));
return;
}
}
QJsonDocument saveDoc = saveToJson(fileType);
file.write(saveDoc.toJson());
if(_currentFile != planFilename) {
_currentFile = planFilename;
emit currentFileChanged();
}
}
}
bool WimaPlaner::loadFromCurrent()
{
return loadFromFile(_currentFile);
}
bool WimaPlaner::loadFromFile(const QString &filename)
{
#define debug 0
QString errorString;
QString errorMessage = tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");
if (filename.isEmpty()) {
return false;
}
QFileInfo fileInfo(filename);
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString() + QStringLiteral(" ") + filename;
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
if(fileInfo.suffix() == wimaFileExtension) {
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorString)) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
QJsonObject json = jsonDoc.object();
// AreaItems
QJsonArray areaArray = json[areaItemsName].toArray();
_visualItems.clear();
int validAreaCounter = 0;
for( int i = 0; i < areaArray.size() && validAreaCounter < 3; i++) {
QJsonObject jsonArea = areaArray[i].toObject();
if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) {
if ( jsonArea[WimaArea::areaTypeName] == WimaGOperationArea::wimaGOperationAreaName) {
print(_opArea);
bool success = _opArea.loadFromJson(jsonArea, errorString);
print(_opArea);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_opArea);
emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) {
bool success = _serArea.loadFromJson(jsonArea, errorString);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_serArea);
emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaVCorridor::wimaVCorridorName) {
bool success = _corridor.loadFromJson(jsonArea, errorString);
if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
validAreaCounter++;
_visualItems.append(&_corridor);
emit visualItemsChanged();
} else {
errorString += QString(tr("%s not supported.\n").arg(WimaArea::areaTypeName));
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
} else {
errorString += QString(tr("Invalid or non existing entry for %s.\n").arg(WimaArea::areaTypeName));
return false;
}
}
_currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
emit currentFileChanged();
recalcJoinedArea();
// MissionItems
// extrac MissionItems part
QJsonDocument missionJsonDoc = QJsonDocument(json[missionItemsName].toObject());
// create temporary file with missionItems
QFile temporaryFile;
QString cropedFileName = filename.section("/",0,-2);
#if debug
qWarning() << cropedFileName;
#endif
QString temporaryFileName;
for (int i = 0; ; i++) {
temporaryFileName = cropedFileName.append("/temp%1.%2").arg(i).arg(AppSettings::planFileExtension);
if ( !QFile::exists(temporaryFileName) ) {
temporaryFile.setFileName(temporaryFileName);
if ( temporaryFile.open(QIODevice::WriteOnly | QIODevice::Text) ) {
break;
}
}
if ( i > 1000) {
qWarning("WimaPlaner::loadFromFile(): not able to create temporary file.");
return false;
}
}
temporaryFile.write(missionJsonDoc.toJson());
// load from temporary file
_masterController->loadFromFile(temporaryFileName);
// remove temporary file
if ( !temporaryFile.remove() ){
qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file.");
}
return true;
} else if ( fileInfo.suffix() == AppSettings::planFileExtension ){
_masterController->loadFromFile(filename);
return true;// might be wrong return value
} else {
errorString += QString(tr("File extension not supported.\n"));
qgcApp()->showMessage(errorMessage.arg(errorString));
return false;
}
}
void WimaPlaner::recalcPolygonInteractivity(int index)
{
if (index >= 0 && index < _visualItems.count()) {
resetAllInteractive();
WimaArea* interactivePoly = qobject_cast<WimaArea*>(_visualItems.get(index));
interactivePoly->setInteractive(true);
}
}
bool WimaPlaner::recalcJoinedArea()
{
// join service area, op area and corridor
_joinedArea = _serArea;
_joinedArea.join(_corridor);
if ( !_joinedArea.join(_opArea) )
return false; // this happens if all areas are pairwise disjoint
else {
emit joinedAreaChanged() ;
return true;
}
}
void WimaPlaner::pushToContainer()
{
// Sets the pointers (inside _container) to the areas (of this).
// Should be called only (once) after a _container has been assigned.
if (_container != nullptr) {
_container->setOpArea(&_opArea);
_container->setSerArea(&_serArea);
_container->setCorridor(&_corridor);
_container->setJoinedArea(&_joinedArea);
_container->setVisualItems(&_visualItems);
} else {
qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
}
}
void WimaPlaner::resetAllInteractive()
{
// Marks all areas as inactive (area.interactive == false)
int itemCount = _visualItems.count();
if (itemCount > 0){
for (int i = 0; i < itemCount; i++) {
WimaArea* iteratorPoly = qobject_cast<WimaArea*>(_visualItems.get(i));
iteratorPoly->setInteractive(false);
}
}
}
void WimaPlaner::setInteractive()
{
recalcPolygonInteractivity(_currentAreaIndex);
}
QJsonDocument WimaPlaner::saveToJson(FileType fileType)
{
/// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument
/// @param fileType is either WimaFile or PlanFile (enum), if fileType == PlanFile only mission items are stored
QJsonObject json;
if ( fileType == FileType::WimaFile ) {
QJsonArray jsonArray;
for (int i = 0; i < _visualItems.count(); i++) {
QJsonObject json;
WimaArea* area = qobject_cast<WimaArea*>(_visualItems.get(i));
if (area == nullptr) {
qWarning("WimaPlaner::saveToJson(): Internal error, area == nullptr!");
return QJsonDocument();
}
// check the type of area, create and append the JsonObject to the JsonArray once determined
WimaGOperationArea* opArea = qobject_cast<WimaGOperationArea*>(area);
if (opArea != nullptr) {
opArea->saveToJson(json);
jsonArray.append(json);
continue;
}
WimaServiceArea* serArea = qobject_cast<WimaServiceArea*>(area);
if (serArea != nullptr) {
serArea->saveToJson(json);
jsonArray.append(json);
continue;
}
WimaVCorridor* corridor = qobject_cast<WimaVCorridor*>(area);
if (corridor != nullptr) {
corridor->saveToJson(json);
jsonArray.append(json);
continue;
}
// if non of the obove branches was trigger, type must be WimaArea
area->saveToJson(json);
jsonArray.append(json);
}
json[areaItemsName] = jsonArray;
json[missionItemsName] = _masterController->saveToJson().object();
return QJsonDocument(json);
} else if (fileType == FileType::PlanFile) {
return _masterController->saveToJson();
}
return QJsonDocument(json);
}
void WimaPlaner::setReadyForSaveSend(bool ready)
{
if (ready != _readyForSaveSend) {
_readyForSaveSend = ready;
emit readyForSaveSendChanged(ready);
}
}
src/Wima/WimaPlaner.h
View file @ b37dda84
#ifndef WIMAPLANER_H
#define WIMAPLANER_H
#pragma once
#include <QObject>
#include "QGCMapPolygon.h"
#include "QmlObjectListModel.h"
class WimaPlaner
#include "WimaArea.h"
#include "WimaGOperationArea.h"
#include "WimaServiceArea.h"
#include "WimaVCorridor.h"
#include "WimaDataContainer.h"
#include "PlanMasterController.h"
#include "MissionController.h"
#include "SurveyComplexItem.h"
#include "SimpleMissionItem.h"
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
class WimaPlaner : public QObject
{
Q_OBJECT
enum FileType {WimaFile, PlanFile};
public:
WimaPlaner();
};
WimaPlaner(QObject *parent = nullptr);
template<class T>
WimaPlaner(T t, QObject *parent = nullptr) = delete;
template<class T>
WimaPlaner(T t) = delete;
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(WimaDataContainer* dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
// Property accessors
PlanMasterController* masterController (void) const { return _masterController; }
MissionController* missionController (void) const { return _missionController; }
QmlObjectListModel* visualItems (void) ;
int currentPolygonIndex (void) const { return _currentAreaIndex; }
QString currentFile (void) const { return _currentFile; }
QStringList loadNameFilters (void) const;
QStringList saveNameFilters (void) const;
QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const;
WimaArea joinedArea (void) const;
bool readyForSaveSend (void) const { return _readyForSaveSend; }
#endif // WIMAPLANER_H
\ No newline at end of file
// Property setters
void setMasterController (PlanMasterController* masterController);
void setMissionController (MissionController* missionController);
/// Sets the integer index pointing to the current polygon. Current polygon is set interactive.
void setCurrentPolygonIndex (int index);
void setDataContainer (WimaDataContainer* container);
// Member Methodes
Q_INVOKABLE void startWimaPlaner(bool flyView);
Q_INVOKABLE bool addGOperationArea();
/// Removes an area from _visualItems
/// @param index Index of the area to be removed
Q_INVOKABLE void removeArea(int index);
Q_INVOKABLE bool addServiceArea();
Q_INVOKABLE bool addVehicleCorridor();
/// Remove all areas from WimaPlaner and all mission items from MissionController
Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
Q_INVOKABLE void resumeMission();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString& filename);
Q_INVOKABLE bool loadFromCurrent();
Q_INVOKABLE bool loadFromFile(const QString& filename);
Q_INVOKABLE void resetAllInteractive(void);
Q_INVOKABLE void setInteractive(void);
// static Members
static const char* wimaFileExtension;
static const char* areaItemsName;
static const char* missionItemsName;
// Member Methodes
QJsonDocument saveToJson(FileType fileType);
void setReadyForSaveSend(bool ready);
signals:
void masterControllerChanged (void);
void missionControllerChanged (void);
void visualItemsChanged (void);
void currentPolygonIndexChanged (int index);
void currentFileChanged ();
void joinedAreaChanged ();
void dataContainerChanged ();
void readyForSaveSendChanged (bool ready);
private slots:
void recalcPolygonInteractivity (int index);
bool recalcJoinedArea ();
void pushToContainer ();
private:
bool _readyForSaveSend; // basically true if updateMission() was sucessful
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentAreaIndex;
QString _currentFile; // file for saveing
WimaDataContainer *_container; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
WimaArea _joinedArea; // joined area fromed by opArea, serArea, _corridor
WimaGOperationArea _opArea; // measurement area
WimaServiceArea _serArea; // area for supplying
WimaVCorridor _corridor; // corridor connecting opArea and serArea
};
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