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Valentin Platzgummer
qgroundcontrol
Commits
ba55604f
Commit
ba55604f
authored
Feb 15, 2018
by
Gus Grubba
Browse files
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Plain Diff
Compute mission bounding box
parent
2cc0a608
Changes
3
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3 changed files
with
71 additions
and
6 deletions
+71
-6
MissionController.cc
src/MissionManager/MissionController.cc
+65
-4
MissionController.h
src/MissionManager/MissionController.h
+4
-0
SurveyMissionItem.cc
src/MissionManager/SurveyMissionItem.cc
+2
-2
No files found.
src/MissionManager/MissionController.cc
View file @
ba55604f
...
...
@@ -35,6 +35,8 @@
#include "QGCQFileDialog.h"
#endif
#define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
QGC_LOGGING_CATEGORY
(
MissionControllerLog
,
"MissionControllerLog"
)
const
char
*
MissionController
::
_settingsGroup
=
"MissionController"
;
...
...
@@ -71,6 +73,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
{
_resetMissionFlightStatus
();
managerVehicleChanged
(
_managerVehicle
);
_updateTimer
.
setSingleShot
(
true
);
connect
(
&
_updateTimer
,
&
QTimer
::
timeout
,
this
,
&
MissionController
::
_updateTimeout
);
}
MissionController
::~
MissionController
()
...
...
@@ -434,11 +438,13 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
}
}
//-- Keep track of bounding box changes in complex items
if
(
!
newItem
->
isSimpleItem
())
{
connect
(
newItem
,
&
ComplexMissionItem
::
boundingBoxChanged
,
this
,
&
MissionController
::
_complexBoundingBoxChanged
);
}
newItem
->
setSequenceNumber
(
sequenceNumber
);
_initVisualItem
(
newItem
);
_visualItems
->
insert
(
i
,
newItem
);
_recalcAll
();
return
newItem
->
sequenceNumber
();
...
...
@@ -1491,6 +1497,7 @@ void MissionController::_recalcAll(void)
_recalcSequence
();
_recalcChildItems
();
_recalcWaypointLines
();
_updateTimer
.
start
(
UPDATE_TIMEOUT
);
}
/// Initializes a new set of mission items
...
...
@@ -1987,3 +1994,57 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
emit
currentPlanViewItemChanged
();
}
}
void
MissionController
::
_updateTimeout
()
{
QRectF
boundingBox
;
double
north
=
0.0
;
double
south
=
180.0
;
double
east
=
0.0
;
double
west
=
360.0
;
for
(
int
i
=
1
;
i
<
_visualItems
->
count
();
i
++
)
{
VisualMissionItem
*
item
=
qobject_cast
<
VisualMissionItem
*>
(
_visualItems
->
get
(
i
));
if
(
item
->
isSimpleItem
())
{
SimpleMissionItem
*
pSimpleItem
=
qobject_cast
<
SimpleMissionItem
*>
(
item
);
if
(
pSimpleItem
)
{
switch
(
pSimpleItem
->
command
())
{
case
MAV_CMD_NAV_WAYPOINT
:
case
MAV_CMD_NAV_LAND
:
case
MAV_CMD_NAV_TAKEOFF
:
if
(
pSimpleItem
->
coordinate
().
isValid
())
{
double
lat
=
pSimpleItem
->
coordinate
().
latitude
()
+
90.0
;
double
lon
=
pSimpleItem
->
coordinate
().
longitude
()
+
180.0
;
north
=
fmax
(
north
,
lat
);
south
=
fmin
(
south
,
lat
);
east
=
fmax
(
east
,
lon
);
west
=
fmin
(
west
,
lon
);
}
break
;
default:
break
;
}
}
}
else
{
ComplexMissionItem
*
pComplexItem
=
qobject_cast
<
ComplexMissionItem
*>
(
item
);
if
(
pComplexItem
)
{
QRectF
bb
=
pComplexItem
->
boundingBox
();
if
(
!
bb
.
isNull
())
{
north
=
fmax
(
north
,
bb
.
y
()
+
90.0
);
south
=
fmin
(
south
,
bb
.
height
()
+
90.0
);
east
=
fmax
(
east
,
bb
.
x
()
+
180.0
);
west
=
fmin
(
west
,
bb
.
width
()
+
180.0
);
}
}
}
}
boundingBox
=
QRectF
(
east
-
180.0
,
north
-
90.0
,
west
-
180.0
,
south
-
90.0
);
if
(
_boundingBox
!=
boundingBox
)
{
_boundingBox
=
boundingBox
;
qCDebug
(
MissionControllerLog
)
<<
"Bounding box:"
<<
_boundingBox
.
y
()
<<
_boundingBox
.
x
()
<<
_boundingBox
.
height
()
<<
_boundingBox
.
width
();
}
}
void
MissionController
::
_complexBoundingBoxChanged
()
{
_updateTimer
.
start
(
UPDATE_TIMEOUT
);
}
src/MissionManager/MissionController.h
View file @
ba55604f
...
...
@@ -205,6 +205,8 @@ private slots:
void
_visualItemsDirtyChanged
(
bool
dirty
);
void
_managerSendComplete
(
bool
error
);
void
_managerRemoveAllComplete
(
bool
error
);
void
_updateTimeout
();
void
_complexBoundingBoxChanged
();
private:
void
_init
(
void
);
...
...
@@ -258,6 +260,8 @@ private:
double
_progressPct
;
int
_currentPlanViewIndex
;
VisualMissionItem
*
_currentPlanViewItem
;
QTimer
_updateTimer
;
QRectF
_boundingBox
;
static
const
char
*
_settingsGroup
;
...
...
src/MissionManager/SurveyMissionItem.cc
View file @
ba55604f
...
...
@@ -743,8 +743,8 @@ void SurveyMissionItem::_generateGrid(void)
// Calc bounding box
double
north
=
0.0
;
double
south
=
180.0
;
double
east
=
36
0.0
;
double
west
=
0.0
;
double
east
=
0.0
;
double
west
=
36
0.0
;
for
(
int
i
=
0
;
i
<
_simpleGridPoints
.
count
();
i
++
)
{
QGeoCoordinate
coord
=
_simpleGridPoints
[
i
].
value
<
QGeoCoordinate
>
();
double
lat
=
coord
.
latitude
()
+
90.0
;
...
...
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