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Valentin Platzgummer
qgroundcontrol
Commits
b37dda84
Commit
b37dda84
authored
Jun 26, 2019
by
Valentin Platzgummer
Browse files
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Plain Diff
editing WimaController ofter repurposeing
parent
c878bb8a
Changes
6
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Showing
6 changed files
with
774 additions
and
527 deletions
+774
-527
WimaController.cc
src/Wima/WimaController.cc
+5
-481
WimaController.h
src/Wima/WimaController.h
+17
-39
WimaDataContainer.cc
src/Wima/WimaDataContainer.cc
+9
-0
WimaDataContainer.h
src/Wima/WimaDataContainer.h
+4
-0
WimaPlaner.cc
src/Wima/WimaPlaner.cc
+610
-1
WimaPlaner.h
src/Wima/WimaPlaner.h
+129
-6
No files found.
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
)