updateMission working + borderPoly added

src/Wima/WimaArea.cc

@@ -92,4 +92,25 @@ QGeoCoordinate WimaArea::getClosestVertex(QGeoCoordinate coordinate)
     return this->vertexCoordinate(getClosestVertexIndex(coordinate));
 }
 
+QGCMapPolygon* WimaArea::toQGCPolygon(WimaArea *poly)
+{
+    if (poly != nullptr) {
+        QGCMapPolygon* qgcPoly = new QGCMapPolygon(this);
+        qgcPoly->setPath(poly->path());
+        qgcPoly->setCenter(poly->center());
+        qgcPoly->setCenterDrag(poly->centerDrag());
+        qgcPoly->setInteractive(poly->interactive());
+
+        return qgcPoly;
+    } else {
+        qWarning("WimaArea::toQGCPolygon(): poly == nullptr");
+        return nullptr;
+    }
+}
+
+QGCMapPolygon *WimaArea::joinPolygons(QList<QGCMapPolygon *> polyList)
+{
+
+}
+
 

src/Wima/WimaArea.h

@@ -39,7 +39,9 @@ public:
     //iterates over all vertices in _polygon and returns the index of that one closest to coordinate
     int                    getClosestVertexIndex   (QGeoCoordinate coordinate);
     //iterates over all vertices in _polygon and returns that one closest to coordinate
-    QGeoCoordinate         getClosestVertex        (QGeoCoordinate coordinate);
+    QGeoCoordinate        getClosestVertex        (QGeoCoordinate coordinate);
+    QGCMapPolygon*         toQGCPolygon            (WimaArea* poly);
+    QGCMapPolygon*         joinPolygons            (QList<QGCMapPolygon*> polyList);
 
 signals:
     void    maxAltitudeChanged      (void);

src/Wima/WimaController.cc

@@ -90,7 +90,7 @@ bool WimaController::addVehicleCorridor(WimaGOperationArea *opArea, WimaServiceA
 
         bool newCorridorCreated = false;
         if(corridor == nullptr){
-            corridor = new WimaVCorridor(this);
+            corridor = new WimaVCorridor(opArea);
             newCorridorCreated = true;
         }else {
             corridor->clear();
@@ -175,15 +175,42 @@ bool WimaController::updateMission()
         return false;
     }
     
-    // create survey mission, will be extened with more mission types in the future
-    int secNumber = _missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), new QGeoCoordinate(), _missionController->visualItems()->count());
-    SurveyComplexItem* survey = qobject_cast<SurveyComplexItem*>(_missionController->visualItems()->get(secNumber));
-    if (survey != nullptr)
-    {
-        survey->
-    }else{
+    // 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;
+    }
+    settingsItem->setCoordinate(serArea->center());
+    // set take off position item
+    _missionController->insertSimpleMissionItem(serArea->center(), 1);
+    // create survey item, will be extened with more mission types in the future
+    _missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), opArea->center(), 2);
+    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());
+    }
+    // create land position item
+    _missionController->insertSimpleMissionItem(serArea->center(), 3);
+    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);
+        }
     }
+    return true;
 }
 
 void WimaController::saveMission()
@@ -213,19 +240,28 @@ void WimaController::recalcAll()
 
 void WimaController::recalcPolygonInteractivity(int index)
 {
-    resetAllIsCurrentPolygon();
-    WimaArea* interactivePoly = qobject_cast<WimaArea*>(_visualItems->get(index));
-    interactivePoly->setInteractive(true);
+    if (index >= 0 && index < _visualItems->count()) {
+        resetAllInteractive();
+        WimaArea* interactivePoly = qobject_cast<WimaArea*>(_visualItems->get(index));
+        interactivePoly->setInteractive(true);
+    }
 }
 
-void WimaController::resetAllIsCurrentPolygon()
+void WimaController::resetAllInteractive()
 {
     int itemCount = _visualItems->count();
-    for (int i = 0; i < itemCount; i++) {
-        WimaArea* iteratorPoly = qobject_cast<WimaArea*>(_visualItems->get(i));
-        iteratorPoly->setInteractive(false);
+    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);
+}
+
 
 

src/Wima/WimaController.h

@@ -12,6 +12,8 @@
 #include "PlanMasterController.h"
 #include "MissionController.h"
 #include "SurveyComplexItem.h"
+#include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
 
 
 class WimaController : public QObject
@@ -60,7 +62,8 @@ public:
     Q_INVOKABLE void saveMission();
     Q_INVOKABLE void loadMission();
 
-    Q_INVOKABLE void resetAllIsCurrentPolygon(void);
+    Q_INVOKABLE void resetAllInteractive(void);
+    Q_INVOKABLE void setInteractive(void);
 
 
 

src/Wima/WimaGOperationArea.SettingsGroup.json

@@ -23,5 +23,14 @@
     "min":              0,
     "decimalPlaces":    2,
     "defaultValue":     10
+},
+{
+    "name":             "BorderPolygonOffset",
+    "shortDescription": "The distance between the Operation Area and it's surounding Border Polygon.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0,
+    "decimalPlaces":    1,
+    "defaultValue":     5
 }
 ]

src/Wima/WimaGOperationArea.cc

@@ -5,6 +5,7 @@ const char* WimaGOperationArea::settingsGroup =                   "OperatingArea
 const char* WimaGOperationArea::bottomLayerAltitudeName =         "BottomLayerAltitude";
 const char* WimaGOperationArea::numberOfLayersName =              "NumberOfLayers";
 const char* WimaGOperationArea::layerDistanceName =               "LayerDistance";
+const char* WimaGOperationArea::borderPolygonOffsetName =         "BorderPolygonOffset";
 
 WimaGOperationArea::WimaGOperationArea(QObject *parent)
   : WimaGOperationArea (nullptr, parent)
@@ -18,10 +19,14 @@ WimaGOperationArea::WimaGOperationArea(WimaArea *other, QObject *parent)
   , _bottomLayerAltitude    (settingsGroup, _metaDataMap[bottomLayerAltitudeName])
   , _numberOfLayers         (settingsGroup, _metaDataMap[numberOfLayersName])
   , _layerDistance          (settingsGroup, _metaDataMap[layerDistanceName])
+  , _borderPolygonOffset    (settingsGroup, _metaDataMap[borderPolygonOffsetName])
   , _polyline               (new WimaTrackerPolyline(this))
+  , _borderPolygon          (new QGCMapPolygon(this))
 {
-    this->setObjectName("Operating Area");
+    this->setObjectName("Operation Area");
     _polyline.bindPolygon(this);
+    connect(this, &WimaGOperationArea::pathChanged, this, &WimaGOperationArea::recalcBorderPolygon);
+    connect(&_borderPolygonOffset, &SettingsFact::rawValueChanged, this, &WimaGOperationArea::recalcBorderPolygon);
     //qWarning("Here I am!");
     //connect(&_polyline, &WimaTrackerPolyline::pathChanged, this, &WimaGOperationArea::polylineChanged );
 }
@@ -57,6 +62,17 @@ void WimaGOperationArea::setVehicleCorridor(WimaVCorridor *corridor)
     }
 }
 
+void WimaGOperationArea::recalcBorderPolygon()
+{
+    //qWarning("WimaGOperationArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble());
+    QGCMapPolygon* polyCopy = this->toQGCPolygon(this);
+    polyCopy->offset(_borderPolygonOffset.rawValue().toDouble());
+    _borderPolygon.setPath(polyCopy->path());
+    polyCopy->deleteLater();
+
+    emit borderPolygonChanged();
+}
+
 /*void WimaGOperationArea::recalculatesubPolygons()
 {
     int vehicleCount = _vehicleList->count();

src/Wima/WimaGOperationArea.h

@@ -15,12 +15,14 @@ public:
     WimaGOperationArea(QObject* parent = nullptr);
     WimaGOperationArea(WimaArea* other, QObject* parent = nullptr);
 
-    Q_PROPERTY(Fact*                    bottomLayerAltitude READ bottomLayerAltitude    CONSTANT)
-    Q_PROPERTY(Fact*                    numberOfLayers      READ numberOfLayers         CONSTANT)
-    Q_PROPERTY(Fact*                    layerDistance       READ layerDistance          CONSTANT)
+    Q_PROPERTY(Fact*                    bottomLayerAltitude     READ bottomLayerAltitude    CONSTANT)
+    Q_PROPERTY(Fact*                    numberOfLayers          READ numberOfLayers         CONSTANT)
+    Q_PROPERTY(Fact*                    layerDistance           READ layerDistance          CONSTANT)
+    Q_PROPERTY(Fact*                    borderPolygonOffset     READ borderPolygonOffset    CONSTANT)
     /*Q_PROPERTY(QmlObjectListModel*      vehicleList                 READ vehicleList                                                    NOTIFY vehicleListChanged)
     Q_PROPERTY(QmlObjectListModel*      vehiclePolygons             READ vehiclePolygons                                                NOTIFY vehiclePolygonsChanged)*/
     Q_PROPERTY(WimaTrackerPolyline*     polyline            READ polyline               CONSTANT)
+    Q_PROPERTY(QGCMapPolygon*           borderPolygon       READ borderPolygon          NOTIFY      borderPolygonChanged)
 
 
     Q_INVOKABLE void addVehicle                 (WimaVehicle *vehicle);
@@ -41,16 +43,19 @@ public:
     Fact*                               bottomLayerAltitude     (void)       { return &_bottomLayerAltitude;}
     Fact*                               numberOfLayers          (void)       { return &_numberOfLayers;}
     Fact*                               layerDistance           (void)       { return &_layerDistance;}
+    Fact*                               borderPolygonOffset   (void)       { return &_borderPolygonOffset;}
     /*QmlObjectListModel*                 vehicleList             (void) const { return _vehicleList;}
     QmlObjectListModel*                 vehiclePolygons         (void) const { return _vehiclePolygons;}*/
     WimaTrackerPolyline*                polyline                (void)       { return &_polyline;}
     WimaVCorridor*                      vehicleCorridor         (void)       { return _vehicleCorridor;}
+    QGCMapPolygon*                      borderPolygon           (void)       { return &_borderPolygon;}
 
 
     static const char* settingsGroup;
     static const char* bottomLayerAltitudeName;
     static const char* numberOfLayersName;
     static const char* layerDistanceName;
+    static const char* borderPolygonOffsetName;
 
 
 signals:
@@ -61,6 +66,11 @@ signals:
     void polylineChanged                (void);
     //void vehiclePolygonsChanged         (void);
     void vehicleCorridorChanged         (WimaVCorridor* corridor);
+    void borderPolygonChanged           (void);
+
+private slots:
+    void recalcBorderPolygon            (void);
+
 
 private:
     QMap<QString, FactMetaData*> _metaDataMap;
@@ -68,12 +78,14 @@ private:
     SettingsFact            _bottomLayerAltitude;
     SettingsFact            _numberOfLayers;
     SettingsFact            _layerDistance;
+    SettingsFact            _borderPolygonOffset;
 
 
     /*QmlObjectListModel*     _vehicleList;
     QmlObjectListModel*     _vehiclePolygons;*/
     WimaTrackerPolyline     _polyline;
     WimaVCorridor*          _vehicleCorridor;
+    QGCMapPolygon           _borderPolygon;
 
 
 

src/WimaView/WimaGOperationAreaEditor.qml

@@ -85,7 +85,7 @@ Rectangle {
                 columns:        2
 
                 QGCLabel {
-                    text:       qsTr("Bottom Layer Altitude")
+                    text:       qsTr("Bottom Layer Alt.")
                 }
                 FactTextField {
                     fact:               areaItem.bottomLayerAltitude
@@ -104,6 +104,12 @@ Rectangle {
                     Layout.fillWidth:   true
                 }
 
+                QGCLabel { text: qsTr("Border Offset") }
+                FactTextField {
+                    fact:               areaItem.borderPolygonOffset
+                    Layout.fillWidth:   true
+                }
+
 
             }
 

src/WimaView/WimaGOperationAreaMapVisual.qml

@@ -28,6 +28,7 @@ Item {
     property var areaItem:          object
     property var _polygon:          areaItem
     property var _polyline:         areaItem.polyline
+    property var _borderPolygon:    areaItem.borderPolygon
 
     signal clicked(int sequenceNumber)
 
@@ -89,6 +90,16 @@ Item {
         interiorOpacity:    0.25
     }
 
+    WimaMapPolygonVisuals {
+        qgcView:            _root.qgcView
+        mapControl:         map
+        mapPolygon:         _borderPolygon
+        borderWidth:        1
+        borderColor:        "white"
+        interiorColor:      "transparent"
+        interiorOpacity:    1
+    }
+
 
     WimaMapPolylineVisuals {
         qgcView:            _root.qgcView

src/WimaView/WimaView.qml

@@ -756,9 +756,11 @@ QGCView {
                                         switch (current) {
                                         case planElementMission:
                                             _editingLayer = _layerMission
+                                            _wimaController.resetAllInteractive();
                                             break
                                         case planElementWima:
                                             _editingLayer = _layerWima
+                                            _wimaController.setInteractive();
                                             break
                                         }
                                     }