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Commit c39e9c7f authored by Don Gagne's avatar Don Gagne
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Initial GeoFence implementation

parent 32cfa15c
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Showing with 1499 additions and 289 deletions
qgroundcontrol.pro
View file @ c39e9c7f
...@@ -273,12 +273,16 @@ HEADERS += \ ...@@ -273,12 +273,16 @@ HEADERS += \
src/LogCompressor.h \ src/LogCompressor.h \
src/MG.h \ src/MG.h \
src/MissionManager/ComplexMissionItem.h \ src/MissionManager/ComplexMissionItem.h \
src/MissionManager/GeoFenceController.h \
src/MissionManager/GeoFenceManager.h \
src/MissionManager/QGCMapPolygon.h \
src/MissionManager/MissionCommandList.h \ src/MissionManager/MissionCommandList.h \
src/MissionManager/MissionCommandTree.h \ src/MissionManager/MissionCommandTree.h \
src/MissionManager/MissionCommandUIInfo.h \ src/MissionManager/MissionCommandUIInfo.h \
src/MissionManager/MissionController.h \ src/MissionManager/MissionController.h \
src/MissionManager/MissionItem.h \ src/MissionManager/MissionItem.h \
src/MissionManager/MissionManager.h \ src/MissionManager/MissionManager.h \
src/MissionManager/PlanElementController.h \
src/MissionManager/SimpleMissionItem.h \ src/MissionManager/SimpleMissionItem.h \
src/MissionManager/SurveyMissionItem.h \ src/MissionManager/SurveyMissionItem.h \
src/MissionManager/VisualMissionItem.h \ src/MissionManager/VisualMissionItem.h \
...@@ -434,12 +438,16 @@ SOURCES += \ ...@@ -434,12 +438,16 @@ SOURCES += \
src/LogCompressor.cc \ src/LogCompressor.cc \
src/main.cc \ src/main.cc \
src/MissionManager/ComplexMissionItem.cc \ src/MissionManager/ComplexMissionItem.cc \
src/MissionManager/GeoFenceController.cc \
src/MissionManager/GeoFenceManager.cc \
src/MissionManager/QGCMapPolygon.cc \
src/MissionManager/MissionCommandList.cc \ src/MissionManager/MissionCommandList.cc \
src/MissionManager/MissionCommandTree.cc \ src/MissionManager/MissionCommandTree.cc \
src/MissionManager/MissionCommandUIInfo.cc \ src/MissionManager/MissionCommandUIInfo.cc \
src/MissionManager/MissionController.cc \ src/MissionManager/MissionController.cc \
src/MissionManager/MissionItem.cc \ src/MissionManager/MissionItem.cc \
src/MissionManager/MissionManager.cc \ src/MissionManager/MissionManager.cc \
src/MissionManager/PlanElementController.cc \
src/MissionManager/SimpleMissionItem.cc \ src/MissionManager/SimpleMissionItem.cc \
src/MissionManager/SurveyMissionItem.cc \ src/MissionManager/SurveyMissionItem.cc \
src/MissionManager/VisualMissionItem.cc \ src/MissionManager/VisualMissionItem.cc \
......
qgroundcontrol.qrc
View file @ c39e9c7f
...@@ -92,6 +92,7 @@ ...@@ -92,6 +92,7 @@
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file> <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file> <file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file>
<file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file> <file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file>
<file alias="GeoFenceEditor.qml">src/MissionEditor/GeoFenceEditor.qml</file>
<file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file> <file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file> <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file> <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
...@@ -107,6 +108,7 @@ ...@@ -107,6 +108,7 @@
<file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file> <file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file> <file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file> <file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
<file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/MissionEditor/QGCMapPolygonControls.qml</file>
<file alias="QGroundControl/FlightMap/MapScale.qml">src/FlightMap/MapScale.qml</file> <file alias="QGroundControl/FlightMap/MapScale.qml">src/FlightMap/MapScale.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file> <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file> <file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ c39e9c7f
...@@ -58,6 +58,11 @@ FlightMap { ...@@ -58,6 +58,11 @@ FlightMap {
Component.onCompleted: start(false /* editMode */) Component.onCompleted: start(false /* editMode */)
} }
GeoFenceController {
id: _geoFenceController
Component.onCompleted: start(false /* editMode */)
}
// Add trajectory points to the map // Add trajectory points to the map
MapItemView { MapItemView {
model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0 model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0
...@@ -96,6 +101,20 @@ FlightMap { ...@@ -96,6 +101,20 @@ FlightMap {
model: _mainIsMap ? _missionController.waypointLines : 0 model: _mainIsMap ? _missionController.waypointLines : 0
} }
// GeoFence polygon
MapPolygon {
border.color: "#80FF0000"
border.width: 3
path: _geoFenceController.polygon.path
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: _geoFenceController.breachReturnPoint
sourceItem: MissionItemIndexLabel { label: "F" }
}
// GoTo here waypoint // GoTo here waypoint
MapQuickItem { MapQuickItem {
coordinate: _gotoHereCoordinate coordinate: _gotoHereCoordinate
......
src/FlightMap/FlightMap.qml
View file @ c39e9c7f
...@@ -198,30 +198,17 @@ Map { ...@@ -198,30 +198,17 @@ Map {
property bool adjustingPolygon: false property bool adjustingPolygon: false
property bool polygonReady: polygonDrawerPolygon.path.length > 3 ///< true: enough points have been captured to create a closed polygon property bool polygonReady: polygonDrawerPolygon.path.length > 3 ///< true: enough points have been captured to create a closed polygon
/// New polygon capture has started property var _callbackObject
signal polygonCaptureStarted
/// Polygon capture is complete
/// @param coordinates Map coordinates for the polygon points
signal polygonCaptureFinished(var coordinates)
/// Polygon adjustment has begun
signal polygonAdjustStarted
/// Polygon Vertex coordinate has been adjusted
signal polygonAdjustVertex(int vertexIndex, var vertexCoordinate)
/// Polygon adjustment finished
signal polygonAdjustFinished
property var _vertexDragList: [] property var _vertexDragList: []
/// Begin capturing a new polygon /// Begin capturing a new polygon
/// polygonCaptureStarted will be signalled /// polygonCaptureStarted will be signalled
function startCapturePolygon() { function startCapturePolygon(callback) {
polygonDrawer._callbackObject = callback
polygonDrawer.drawingPolygon = true polygonDrawer.drawingPolygon = true
polygonDrawer._clearPolygon() polygonDrawer._clearPolygon()
polygonDrawer.polygonCaptureStarted() polygonDrawer._callbackObject.polygonCaptureStarted()
} }
/// Finish capturing the polygon /// Finish capturing the polygon
...@@ -236,11 +223,12 @@ Map { ...@@ -236,11 +223,12 @@ Map {
polygonPath.pop() // get rid of drag coordinate polygonPath.pop() // get rid of drag coordinate
polygonDrawer._clearPolygon() polygonDrawer._clearPolygon()
polygonDrawer.drawingPolygon = false polygonDrawer.drawingPolygon = false
polygonDrawer.polygonCaptureFinished(polygonPath) polygonDrawer._callbackObject.polygonCaptureFinished(polygonPath)
return true return true
} }
function startAdjustPolygon(vertexCoordinates) { function startAdjustPolygon(callback, vertexCoordinates) {
polygonDraw._callbackObject = callback
polygonDrawer.adjustingPolygon = true polygonDrawer.adjustingPolygon = true
for (var i=0; i<vertexCoordinates.length; i++) { for (var i=0; i<vertexCoordinates.length; i++) {
var mapItem = Qt.createQmlObject( var mapItem = Qt.createQmlObject(
...@@ -268,7 +256,7 @@ Map { ...@@ -268,7 +256,7 @@ Map {
"" + "" +
" function updateCoordinate() { " + " function updateCoordinate() { " +
" vertexDrag.coordinate = _map.toCoordinate(Qt.point(vertexDrag.x + _halfSideLength, vertexDrag.y + _halfSideLength), false); " + " vertexDrag.coordinate = _map.toCoordinate(Qt.point(vertexDrag.x + _halfSideLength, vertexDrag.y + _halfSideLength), false); " +
" polygonDrawer.polygonAdjustVertex(vertexDrag.index, vertexDrag.coordinate); " + " polygonDrawer._callbackObject.polygonAdjustVertex(vertexDrag.index, vertexDrag.coordinate); " +
" } " + " } " +
"" + "" +
" function updatePosition() { " + " function updatePosition() { " +
...@@ -299,7 +287,7 @@ Map { ...@@ -299,7 +287,7 @@ Map {
mapItem.index = i mapItem.index = i
mapItem.updatePosition() mapItem.updatePosition()
polygonDrawer._vertexDragList.push(mapItem) polygonDrawer._vertexDragList.push(mapItem)
polygonDrawer.polygonAdjustStarted() polygonDrawer._callbackObject.polygonAdjustStarted()
} }
} }
...@@ -309,7 +297,7 @@ Map { ...@@ -309,7 +297,7 @@ Map {
polygonDrawer._vertexDragList[i].destroy() polygonDrawer._vertexDragList[i].destroy()
} }
polygonDrawer._vertexDragList = [] polygonDrawer._vertexDragList = []
polygonDrawer.polygonAdjustFinished() polygonDrawer._callbackObject.polygonAdjustFinished()
} }
function _clearPolygon() { function _clearPolygon() {
......
src/FlightMap/qmldir
View file @ c39e9c7f
...@@ -23,3 +23,6 @@ MissionItemIndicator 1.0 MissionItemIndicator.qml ...@@ -23,3 +23,6 @@ MissionItemIndicator 1.0 MissionItemIndicator.qml
MissionItemView 1.0 MissionItemView.qml MissionItemView 1.0 MissionItemView.qml
MissionLineView 1.0 MissionLineView.qml MissionLineView 1.0 MissionLineView.qml
VehicleMapItem 1.0 VehicleMapItem.qml VehicleMapItem 1.0 VehicleMapItem.qml
# Editor controls
QGCMapPolygonControls 1.0 QGCMapPolygonControls.qml
src/MissionEditor/GeoFenceEditor.qml 0 → 100644
View file @ c39e9c7f
import QtQuick 2.2
import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
QGCFlickable {
id: root
width: availableWidth
height: Math.min(availableHeight, geoFenceEditorRect.height)
contentHeight: geoFenceEditorRect.height
clip: true
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2
property var polygon: geoFenceController.polygon
Connections {
target: geoFenceController.polygon
onPathChanged: {
if (geoFenceController.polygon.path.length > 2) {
geoFenceController.breachReturnPoint = geoFenceController.polygon.center()
}
}
}
Rectangle {
id: geoFenceEditorRect
width: parent.width
height: geoFenceItems.y + geoFenceItems.height + (_margin * 2)
radius: _radius
color: qgcPal.buttonHighlight
QGCLabel {
id: geoFenceLabel
anchors.margins: _margin
anchors.left: parent.left
anchors.top: parent.top
text: qsTr("Geo-Fence (WIP careful!)")
color: "black"
}
Rectangle {
id: geoFenceItems
anchors.margins: _margin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: geoFenceLabel.bottom
height: editorColumn.height + (_margin * 2)
color: qgcPal.windowShadeDark
radius: _radius
Column {
id: editorColumn
anchors.margins: _margin
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Click in map to set breach return point.")
}
QGCLabel { text: qsTr("Fence Settings:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
QGCLabel {
text: qsTr("Must be connected to Vehicle to change fence settings.")
visible: !QGroundControl.multiVehicleManager.activeVehicle
}
Repeater {
model: geoFenceController.params
Item {
width: editorColumn.width
height: textField.height
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
text: modelData.name
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: modelData
}
}
}
QGCMapPolygonControls {
anchors.left: parent.left
anchors.right: parent.right
flightMap: editorMap
polygon: root.polygon
sectionLabel: qsTr("Fence Polygon:")
}
}
}
}
}
src/MissionEditor/MissionEditor.qml
View file @ c39e9c7f
...@@ -40,20 +40,23 @@ QGCView { ...@@ -40,20 +40,23 @@ QGCView {
readonly property real _rightPanelWidth: Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30) readonly property real _rightPanelWidth: Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
readonly property real _rightPanelOpacity: 0.8 readonly property real _rightPanelOpacity: 0.8
readonly property int _toolButtonCount: 6 readonly property int _toolButtonCount: 6
readonly property string _autoSyncKey: "AutoSync"
readonly property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2) readonly property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276) readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _visualItems: missionController.visualItems
property bool _syncNeeded: controller.visualItems.dirty // Unsaved changes, visible to parent container
property var _visualItems: controller.visualItems
property var _currentMissionItem property var _currentMissionItem
property int _currentMissionIndex: 0 property int _currentMissionIndex: 0
property bool _firstVehiclePosition: true property bool _firstVehiclePosition: true
property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate() property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property bool _lightWidgetBorders: editorMap.isSatelliteMap property bool _lightWidgetBorders: editorMap.isSatelliteMap
/// The controller which should be called for load/save, send to/from vehicle calls
property var _syncDropDownController: missionController
readonly property int _layerMission: 1
readonly property int _layerGeoFence: 2
property int _editingLayer: _layerMission
onActiveVehiclePositionChanged: updateMapToVehiclePosition() onActiveVehiclePositionChanged: updateMapToVehiclePosition()
Connections { Connections {
...@@ -73,28 +76,6 @@ QGCView { ...@@ -73,28 +76,6 @@ QGCView {
} }
} }
function loadFromVehicle() {
controller.getMissionItems()
}
function loadFromFile() {
if (ScreenTools.isMobile) {
_root.showDialog(mobileFilePicker, qsTr("Select Mission File"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
controller.loadMissionFromFilePicker()
fitViewportToMissionItems()
_currentMissionItem = _visualItems.get(0)
}
}
function saveToFile() {
if (ScreenTools.isMobile) {
_root.showDialog(mobileFileSaver, qsTr("Save Mission File"), _root.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
} else {
controller.saveMissionToFilePicker()
}
}
function normalizeLat(lat) { function normalizeLat(lat) {
// Normalize latitude to range: 0 to 180, S to N // Normalize latitude to range: 0 to 180, S to N
return lat + 90.0 return lat + 90.0
...@@ -134,23 +115,45 @@ QGCView { ...@@ -134,23 +115,45 @@ QGCView {
} }
MissionController { MissionController {
id: controller id: missionController
Component.onCompleted: { Component.onCompleted: {
start(true /* editMode */) start(true /* editMode */)
setCurrentItem(0) setCurrentItem(0)
} }
/* function loadFromSelectedFile() {
FIXME: autoSync is temporarily disconnected since it's still buggy if (ScreenTools.isMobile) {
_root.showDialog(mobileFilePicker, qsTr("Select Mission File"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
missionController.loadFromFilePicker()
fitViewportToMissionItems()
_currentMissionItem = _visualItems.get(0)
}
}
function saveToSelectedFile() {
if (ScreenTools.isMobile) {
_root.showDialog(mobileFileSaver, qsTr("Save Mission File"), _root.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
} else {
missionController.saveToFilePicker()
}
}
onVisualItemsChanged: {
itemDragger.clearItem()
}
autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true) onNewItemsFromVehicle: {
fitViewportToMissionItems()
_currentMissionItem = _visualItems.get(0)
}
}
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync) GeoFenceController {
*/ id: geoFenceController
onVisualItemsChanged: itemDragger.clearItem() Component.onCompleted: start(true /* editMode */)
onNewItemsFromVehicle: fitViewportToMissionItems()
} }
QGCPalette { id: qgcPal; colorGroupEnabled: enabled } QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
...@@ -183,14 +186,9 @@ QGCView { ...@@ -183,14 +186,9 @@ QGCView {
id: mobileFilePicker id: mobileFilePicker
QGCMobileFileDialog { QGCMobileFileDialog {
openDialog: true openDialog: true
fileExtension: QGroundControl.missionFileExtension fileExtension: QGroundControl.missionFileExtension
onFilenameReturned: _syncDropDownController.loadFromfile(filename)
onFilenameReturned: {
controller.loadMissionFromFile(filename)
fitViewportToMissionItems()
_currentMissionItem = _visualItems.get(0)
}
} }
} }
...@@ -198,12 +196,9 @@ QGCView { ...@@ -198,12 +196,9 @@ QGCView {
id: mobileFileSaver id: mobileFileSaver
QGCMobileFileDialog { QGCMobileFileDialog {
openDialog: false openDialog: false
fileExtension: QGroundControl.missionFileExtension fileExtension: QGroundControl.missionFileExtension
onFilenameReturned: _syncDropDownController.saveToFile()
onFilenameReturned: {
controller.saveMissionToFile(filename)
}
} }
} }
...@@ -217,7 +212,7 @@ QGCView { ...@@ -217,7 +212,7 @@ QGCView {
if (toIndex == 0) { if (toIndex == 0) {
toIndex = 1 toIndex = 1
} }
controller.moveMissionItem(_moveDialogMissionItemIndex, toIndex) missionController.moveMissionItem(_moveDialogMissionItemIndex, toIndex)
hideDialog() hideDialog()
} }
...@@ -260,8 +255,6 @@ QGCView { ...@@ -260,8 +255,6 @@ QGCView {
anchors.right: parent.right anchors.right: parent.right
mapName: "MissionEditor" mapName: "MissionEditor"
signal mapClicked(var coordinate)
readonly property real animationDuration: 500 readonly property real animationDuration: 500
// Initial map position duplicates Fly view position // Initial map position duplicates Fly view position
...@@ -283,17 +276,25 @@ QGCView { ...@@ -283,17 +276,25 @@ QGCView {
onClicked: { onClicked: {
//-- Don't pay attention to items beneath the toolbar. //-- Don't pay attention to items beneath the toolbar.
var topLimit = parent.height - ScreenTools.availableHeight var topLimit = parent.height - ScreenTools.availableHeight
if(mouse.y >= topLimit) { if(mouse.y < topLimit) {
var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) return
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) }
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
switch (_editingLayer) {
case _layerMission:
if (addMissionItemsButton.checked) { if (addMissionItemsButton.checked) {
var sequenceNumber = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count) var sequenceNumber = missionController.insertSimpleMissionItem(coordinate, missionController.visualItems.count)
setCurrentItem(sequenceNumber) setCurrentItem(sequenceNumber)
} else {
editorMap.mapClicked(coordinate)
} }
break
case _layerGeoFence:
geoFenceController.breachReturnPoint = coordinate
break
} }
} }
} }
...@@ -350,7 +351,8 @@ QGCView { ...@@ -350,7 +351,8 @@ QGCView {
// Add the complex mission item polygon to the map // Add the complex mission item polygon to the map
MapItemView { MapItemView {
model: controller.complexVisualItems model: _editingLayer == _layerMission ? missionController.complexVisualItems : undefined
delegate: MapPolygon { delegate: MapPolygon {
color: 'green' color: 'green'
path: object.polygonPath path: object.polygonPath
...@@ -360,7 +362,7 @@ QGCView { ...@@ -360,7 +362,7 @@ QGCView {
// Add the complex mission item grid to the map // Add the complex mission item grid to the map
MapItemView { MapItemView {
model: controller.complexVisualItems model: _editingLayer == _layerMission ? missionController.complexVisualItems : undefined
delegate: MapPolyline { delegate: MapPolyline {
line.color: "white" line.color: "white"
...@@ -371,7 +373,7 @@ QGCView { ...@@ -371,7 +373,7 @@ QGCView {
// Add the complex mission item exit coordinates // Add the complex mission item exit coordinates
MapItemView { MapItemView {
model: controller.complexVisualItems model: _editingLayer == _layerMission ? missionController.complexVisualItems : undefined
delegate: exitCoordinateComponent delegate: exitCoordinateComponent
} }
...@@ -389,7 +391,7 @@ QGCView { ...@@ -389,7 +391,7 @@ QGCView {
// Add the simple mission items to the map // Add the simple mission items to the map
MapItemView { MapItemView {
model: controller.visualItems model: _editingLayer == _layerMission ? missionController.visualItems : undefined
delegate: missionItemComponent delegate: missionItemComponent
} }
...@@ -447,7 +449,7 @@ QGCView { ...@@ -447,7 +449,7 @@ QGCView {
// Add lines between waypoints // Add lines between waypoints
MissionLineView { MissionLineView {
model: controller.waypointLines model: _editingLayer == _layerMission ? missionController.waypointLines : undefined
} }
// Add the vehicles to the map // Add the vehicles to the map
...@@ -472,6 +474,7 @@ QGCView { ...@@ -472,6 +474,7 @@ QGCView {
width: _rightPanelWidth width: _rightPanelWidth
opacity: _rightPanelOpacity opacity: _rightPanelOpacity
z: QGroundControl.zOrderTopMost z: QGroundControl.zOrderTopMost
visible: _editingLayer == _layerMission
MouseArea { MouseArea {
// This MouseArea prevents the Map below it from getting Mouse events. Without this // This MouseArea prevents the Map below it from getting Mouse events. Without this
...@@ -488,7 +491,7 @@ QGCView { ...@@ -488,7 +491,7 @@ QGCView {
height: parent.height height: parent.height
spacing: _margin / 2 spacing: _margin / 2
orientation: ListView.Vertical orientation: ListView.Vertical
model: controller.visualItems model: missionController.visualItems
cacheBuffer: height * 2 cacheBuffer: height * 2
clip: true clip: true
currentIndex: _currentMissionIndex currentIndex: _currentMissionIndex
...@@ -504,19 +507,48 @@ QGCView { ...@@ -504,19 +507,48 @@ QGCView {
onRemove: { onRemove: {
itemDragger.clearItem() itemDragger.clearItem()
controller.removeMissionItem(index) missionController.removeMissionItem(index)
} }
onInsert: { onInsert: {
var sequenceNumber = controller.insertSimpleMissionItem(editorMap.center, insertAfterIndex) var sequenceNumber = missionController.insertSimpleMissionItem(editorMap.center, insertAfterIndex)
setCurrentItem(sequenceNumber) setCurrentItem(sequenceNumber)
} }
onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center onMoveHomeToMapCenter: missionController.visualItems.get(0).coordinate = editorMap.center
} }
} // ListView } // ListView
} // Item - Mission Item editor } // Item - Mission Item editor
// GeoFence Editor
Loader {
anchors.topMargin: parent.height - ScreenTools.availableHeight
anchors.top: parent.top
anchors.right: parent.right
opacity: _rightPanelOpacity
z: QGroundControl.zOrderTopMost
source: _editingLayer == _layerGeoFence ? "qrc:/qml/GeoFenceEditor.qml" : ""
property real availableWidth: _rightPanelWidth
property real availableHeight: ScreenTools.availableHeight
}
// GeoFence polygon
MapPolygon {
border.color: "#80FF0000"
border.width: 3
path: geoFenceController.polygon.path
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: geoFenceController.breachReturnPoint
sourceItem: MissionItemIndexLabel {
label: "F"
}
}
//-- Dismiss Drop Down (if any) //-- Dismiss Drop Down (if any)
MouseArea { MouseArea {
anchors.fill: parent anchors.fill: parent
...@@ -548,23 +580,66 @@ QGCView { ...@@ -548,23 +580,66 @@ QGCView {
spacing: ScreenTools.defaultFontPixelHeight spacing: ScreenTools.defaultFontPixelHeight
z: QGroundControl.zOrderWidgets z: QGroundControl.zOrderWidgets
DropButton {
id: layerButton
dropDirection: dropRight
//buttonImage: "/qmlimages/MapCenter.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
lightBorders: _lightWidgetBorders
dropDownComponent: Component {
Column {
spacing: ScreenTools.defaultFontPixelWidth * 0.5
QGCLabel { text: qsTr("Editing Layer:") }
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: qsTr("Mission")
onClicked: {
layerButton.hideDropDown()
_editingLayer = _layerMission
_syncDropDownController = missionController
}
}
QGCButton {
text: qsTr("GeoFence")
onClicked: {
layerButton.hideDropDown()
_editingLayer = _layerGeoFence
_syncDropDownController = geoFenceController
}
}
}
}
}
}
RoundButton { RoundButton {
id: addMissionItemsButton id: addMissionItemsButton
buttonImage: "/qmlimages/MapAddMission.svg" buttonImage: "/qmlimages/MapAddMission.svg"
lightBorders: _lightWidgetBorders lightBorders: _lightWidgetBorders
visible: _editingLayer == _layerMission
} }
RoundButton { RoundButton {
id: addShapeButton id: addShapeButton
buttonImage: "/qmlimages/MapDrawShape.svg" buttonImage: "/qmlimages/MapDrawShape.svg"
lightBorders: _lightWidgetBorders lightBorders: _lightWidgetBorders
visible: _editingLayer == _layerMission
onClicked: { onClicked: {
var coordinate = editorMap.center var coordinate = editorMap.center
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
var sequenceNumber = controller.insertComplexMissionItem(coordinate, controller.visualItems.count) var sequenceNumber = missionController.insertComplexMissionItem(coordinate, missionController.visualItems.count)
setCurrentItem(sequenceNumber) setCurrentItem(sequenceNumber)
checked = false checked = false
addMissionItemsButton.checked = false addMissionItemsButton.checked = false
...@@ -574,12 +649,12 @@ QGCView { ...@@ -574,12 +649,12 @@ QGCView {
DropButton { DropButton {
id: syncButton id: syncButton
dropDirection: dropRight dropDirection: dropRight
buttonImage: _syncNeeded ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg" buttonImage: _syncDropDownController.dirty ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2 viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup exclusiveGroup: _dropButtonsExclusiveGroup
dropDownComponent: syncDropDownComponent dropDownComponent: syncDropDownComponent
enabled: !controller.syncInProgress enabled: !_syncDropDownController.syncInProgress
rotateImage: controller.syncInProgress rotateImage: _syncDropDownController.syncInProgress
lightBorders: _lightWidgetBorders lightBorders: _lightWidgetBorders
} }
...@@ -602,7 +677,7 @@ QGCView { ...@@ -602,7 +677,7 @@ QGCView {
width: ScreenTools.defaultFontPixelWidth * 10 width: ScreenTools.defaultFontPixelWidth * 10
onClicked: { onClicked: {
centerMapButton.hideDropDown() centerMapButton.hideDropDown()
editorMap.center = controller.visualItems.get(0).coordinate editorMap.center = missionController.visualItems.get(0).coordinate
} }
} }
QGCButton { QGCButton {
...@@ -706,13 +781,13 @@ QGCView { ...@@ -706,13 +781,13 @@ QGCView {
anchors.bottom: parent.bottom anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem currentMissionItem: _currentMissionItem
missionItems: controller.visualItems missionItems: missionController.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2) expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
missionDistance: controller.missionDistance missionDistance: missionController.missionDistance
missionMaxTelemetry: controller.missionMaxTelemetry missionMaxTelemetry: missionController.missionMaxTelemetry
cruiseDistance: controller.cruiseDistance cruiseDistance: missionController.cruiseDistance
hoverDistance: controller.hoverDistance hoverDistance: missionController.hoverDistance
visible: !ScreenTools.isShortScreen visible: _editingLayer == _layerMission && !ScreenTools.isShortScreen
} }
} // FlightMap } // FlightMap
} // Item - split view container } // Item - split view container
...@@ -748,7 +823,7 @@ QGCView { ...@@ -748,7 +823,7 @@ QGCView {
message: qsTr("Are you sure you want to delete all mission items?") message: qsTr("Are you sure you want to delete all mission items?")
function accept() { function accept() {
itemDragger.clearItem() itemDragger.clearItem()
controller.removeAllMissionItems() missionController.removeAll()
hideDialog() hideDialog()
} }
} }
...@@ -756,96 +831,84 @@ QGCView { ...@@ -756,96 +831,84 @@ QGCView {
Component { Component {
id: syncDropDownComponent id: syncDropDownComponent
Column { Column {
id: columnHolder id: columnHolder
spacing: _margin spacing: _margin
QGCLabel { QGCLabel {
width: sendSaveGrid.width width: sendSaveGrid.width
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
text: _syncNeeded && !controller.autoSync ? text: _syncDropDownController.dirty ?
qsTr("You have unsaved changes to your mission. You should send to your vehicle, or save to a file:") : qsTr("You have unsaved changes to your mission. You should send to your vehicle, or save to a file:") :
qsTr("Sync:") qsTr("Sync:")
} }
GridLayout { GridLayout {
id: sendSaveGrid id: sendSaveGrid
columns: 2 columns: 2
anchors.margins: _margin anchors.margins: _margin
rowSpacing: _margin rowSpacing: _margin
columnSpacing: ScreenTools.defaultFontPixelWidth columnSpacing: ScreenTools.defaultFontPixelWidth
visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
QGCButton { QGCButton {
text: qsTr("Send To Vehicle") text: qsTr("Send To Vehicle")
Layout.fillWidth: true Layout.fillWidth: true
enabled: _activeVehicle && !controller.syncInProgress enabled: _activeVehicle && !_syncDropDownController.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
controller.sendMissionItems() _syncDropDownController.sendToVehicle()
} }
} }
QGCButton { QGCButton {
text: qsTr("Load From Vehicle") text: qsTr("Load From Vehicle")
Layout.fillWidth: true Layout.fillWidth: true
enabled: _activeVehicle && !controller.syncInProgress enabled: _activeVehicle && !_syncDropDownController.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
if (_syncNeeded) { if (_syncDropDownController.dirty) {
_root.showDialog(syncLoadFromVehicleOverwrite, qsTr("Mission overwrite"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) _root.showDialog(syncLoadFromVehicleOverwrite, qsTr("Mission overwrite"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else { } else {
loadFromVehicle() _syncDropDownController.loadFromVehicle()
} }
} }
} }
QGCButton { QGCButton {
text: qsTr("Save To File...") text: qsTr("Save To File...")
Layout.fillWidth: true Layout.fillWidth: true
enabled: !controller.syncInProgress enabled: !_syncDropDownController.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
saveToFile() _syncDropDownController.saveToSelectedFile()
} }
} }
QGCButton { QGCButton {
text: qsTr("Load From File...") text: qsTr("Load From File...")
Layout.fillWidth: true Layout.fillWidth: true
enabled: !controller.syncInProgress enabled: !_syncDropDownController.syncInProgress
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
if (_syncNeeded) { if (_syncDropDownController.dirty) {
_root.showDialog(syncLoadFromFileOverwrite, qsTr("Mission overwrite"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) _root.showDialog(syncLoadFromFileOverwrite, qsTr("Mission overwrite"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else { } else {
loadFromFile() _syncDropDownController.loadFromSelectedFile()
} }
} }
} }
QGCButton { QGCButton {
text: qsTr("Remove All") text: qsTr("Remove All")
Layout.fillWidth: true Layout.fillWidth: true
onClicked: { onClicked: {
syncButton.hideDropDown() syncButton.hideDropDown()
_syncDropDownController.removeAll()
_root.showDialog(removeAllPromptDialog, qsTr("Delete all"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) _root.showDialog(removeAllPromptDialog, qsTr("Delete all"), _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
} }
} }
} }
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
QGCLabel {
id: autoSyncDisallowedLabel
visible: _activeVehicle && _activeVehicle.armed
text: "AutoSync is not allowed whie vehicle is armed"
}
QGCCheckBox {
id: autoSyncCheckBox
checked: controller.autoSync
text: "Automatically sync changes with vehicle"
enabled: _activeVehicle ? !_activeVehicle.armed : false
onClicked: controller.autoSync = checked
}
*/
} }
} }
} // QGCVIew } // QGCVIew
src/MissionEditor/QGCMapPolygonControls.qml 0 → 100644
View file @ c39e9c7f
import QtQuick 2.2
import QtQuick.Controls 1.2
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
/// Controls for drawing/editing map polygon
Column {
id: root
spacing: _margin
property var sectionLabel: qsTr("Polygon:") ///< Section label
property var flightMap ///< Must be set to FlightMap control
property var polygon ///< Must be set to MapPolygon
property real _margin: ScreenTools.defaultFontPixelWidth / 2
function polygonCaptureStarted() {
polygon.clear()
}
function polygonCaptureFinished(coordinates) {
polygon.path = coordinates
}
function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
polygon.adjustCoordinate(vertexIndex, vertexCoordinate)
}
function polygonAdjustStarted() { }
function polygonAdjustFinished() { }
QGCLabel { text: sectionLabel }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: flightMap.polygonDraw.drawingPolygon ? qsTr("Finish Draw") : qsTr("Draw")
visible: !flightMap.polygonDraw.adjustingPolygon
enabled: ((flightMap.polygonDraw.drawingPolygon && flightMap.polygonDraw.polygonReady) || !flightMap.polygonDraw.drawingPolygon)
onClicked: {
if (flightMap.polygonDraw.drawingPolygon) {
flightMap.polygonDraw.finishCapturePolygon()
} else {
flightMap.polygonDraw.startCapturePolygon(root)
}
}
}
QGCButton {
text: flightMap.polygonDraw.adjustingPolygon ? qsTr("Finish Adjust") : qsTr("Adjust")
visible: polygon.path.length > 0 && !flightMap.polygonDraw.drawingPolygon
onClicked: {
if (flightMap.polygonDraw.adjustingPolygon) {
flightMap.polygonDraw.finishAdjustPolygon()
} else {
flightMap.polygonDraw.startAdjustPolygon(root, polygon.path)
}
}
}
}
}
src/MissionEditor/SurveyItemEditor.qml
View file @ c39e9c7f
...@@ -54,22 +54,23 @@ Rectangle { ...@@ -54,22 +54,23 @@ Rectangle {
missionItem.cameraTriggerDistance.rawValue = cameraTriggerDistance missionItem.cameraTriggerDistance.rawValue = cameraTriggerDistance
} }
Connections { function polygonCaptureStarted() {
target: editorMap.polygonDraw missionItem.clearPolygon()
}
onPolygonCaptureStarted: {
missionItem.clearPolygon()
}
onPolygonCaptureFinished: { function polygonCaptureFinished(coordinates) {
for (var i=0; i<coordinates.length; i++) { for (var i=0; i<coordinates.length; i++) {
missionItem.addPolygonCoordinate(coordinates[i]) missionItem.addPolygonCoordinate(coordinates[i])
}
} }
}
onPolygonAdjustVertex: missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate) function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
} }
function polygonAdjustStarted() { }
function polygonAdjustFinished() { }
QGCPalette { id: qgcPal; colorGroupEnabled: true } QGCPalette { id: qgcPal; colorGroupEnabled: true }
ExclusiveGroup { ExclusiveGroup {
...@@ -229,7 +230,7 @@ Rectangle { ...@@ -229,7 +230,7 @@ Rectangle {
if (editorMap.polygonDraw.drawingPolygon) { if (editorMap.polygonDraw.drawingPolygon) {
editorMap.polygonDraw.finishCapturePolygon() editorMap.polygonDraw.finishCapturePolygon()
} else { } else {
editorMap.polygonDraw.startCapturePolygon() editorMap.polygonDraw.startCapturePolygon(_root)
} }
} }
} }
...@@ -242,7 +243,7 @@ Rectangle { ...@@ -242,7 +243,7 @@ Rectangle {
if (editorMap.polygonDraw.adjustingPolygon) { if (editorMap.polygonDraw.adjustingPolygon) {
editorMap.polygonDraw.finishAdjustPolygon() editorMap.polygonDraw.finishAdjustPolygon()
} else { } else {
editorMap.polygonDraw.startAdjustPolygon(missionItem.polygonPath) editorMap.polygonDraw.startAdjustPolygon(_root, missionItem.polygonPath)
} }
} }
} }
......
src/MissionManager/GeoFenceController.cc 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "GeoFenceController.h"
#include "Vehicle.h"
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "QGCApplication.h"
#include "ParameterLoader.h"
QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
GeoFenceController::GeoFenceController(QObject* parent)
: PlanElementController(parent)
, _dirty(false)
{
_clearGeoFence();
}
GeoFenceController::~GeoFenceController()
{
}
void GeoFenceController::start(bool editMode)
{
qCDebug(GeoFenceControllerLog) << "start editMode" << editMode;
PlanElementController::start(editMode);
connect(_multiVehicleMgr, &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &GeoFenceController::_parameterReadyVehicleAvailableChanged);
connect(&_geoFence.polygon, &QGCMapPolygon::dirtyChanged, this, &GeoFenceController::_polygonDirtyChanged);
}
void GeoFenceController::setFenceType(GeoFenceTypeEnum fenceType)
{
if (_geoFence.fenceType != (GeoFenceManager::GeoFenceType_t)fenceType) {
_geoFence.fenceType = (GeoFenceManager::GeoFenceType_t)fenceType;
emit fenceTypeChanged(fenceType);
}
}
void GeoFenceController::setCircleRadius(float circleRadius)
{
if (qFuzzyCompare(_geoFence.circleRadius, circleRadius)) {
_geoFence.circleRadius = circleRadius;
emit circleRadiusChanged(circleRadius);
}
}
void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint)
{
if (_geoFence.breachReturnPoint != breachReturnPoint) {
_geoFence.breachReturnPoint = breachReturnPoint;
emit breachReturnPointChanged(breachReturnPoint);
}
}
void GeoFenceController::_setParams(void)
{
if (_params.count() == 0 && _activeVehicle && _multiVehicleMgr->parameterReadyVehicleAvailable()) {
QStringList skipList;
skipList << QStringLiteral("FENCE_TOTAL") << QStringLiteral("FENCE_ENABLE");
QStringList allNames = _activeVehicle->autopilotPlugin()->parameterNames(-1);
foreach (const QString& paramName, allNames) {
if (paramName.startsWith(QStringLiteral("FENCE_")) && !skipList.contains(paramName)) {
_params << QVariant::fromValue(_activeVehicle->autopilotPlugin()->getParameterFact(-1, paramName));
}
}
emit paramsChanged();
}
}
void GeoFenceController::_activeVehicleBeingRemoved(void)
{
_clearGeoFence();
_params.clear();
emit paramsChanged();
_activeVehicle->geoFenceManager()->disconnect(this);
}
void GeoFenceController::_activeVehicleSet(void)
{
connect(_activeVehicle->geoFenceManager(), &GeoFenceManager::newGeoFenceAvailable, this, &GeoFenceController::_newGeoFenceAvailable);
_setParams();
if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
// We don't request mission items for new vehicles since that will happen autamatically.
loadFromVehicle();
}
}
void GeoFenceController::_parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable)
{
Q_UNUSED(parameterReadyVehicleAvailable);
_setParams();
}
void GeoFenceController::_newGeoFenceAvailable(void)
{
_setGeoFence(_activeVehicle->geoFenceManager()->geoFence());
setDirty(false);
}
void GeoFenceController::loadFromFilePicker(void)
{
}
void GeoFenceController::loadFromFile(const QString& filename)
{
Q_UNUSED(filename);
}
void GeoFenceController::saveToFilePicker(void)
{
}
void GeoFenceController::saveToFile(const QString& filename)
{
Q_UNUSED(filename);
}
void GeoFenceController::removeAll(void)
{
_clearGeoFence();
}
void GeoFenceController::loadFromVehicle(void)
{
if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
_activeVehicle->geoFenceManager()->requestGeoFence();
} else {
qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
}
}
void GeoFenceController::sendToVehicle(void)
{
if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
// FIXME: Hack
setFenceType(GeoFencePolygon);
setDirty(false);
_geoFence.polygon.setDirty(false);
_activeVehicle->geoFenceManager()->setGeoFence(_geoFence);
} else {
qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
}
}
void GeoFenceController::_clearGeoFence(void)
{
setFenceType(GeoFenceNone);
setCircleRadius(0.0);
setBreachReturnPoint(QGeoCoordinate());
_geoFence.polygon.clear();
}
void GeoFenceController::_setGeoFence(const GeoFenceManager::GeoFence_t& geoFence)
{
_clearGeoFence();
setFenceType(static_cast<GeoFenceTypeEnum>(geoFence.fenceType));
setCircleRadius(geoFence.circleRadius);
setBreachReturnPoint(geoFence.breachReturnPoint);
_geoFence.polygon = geoFence.polygon;
}
bool GeoFenceController::syncInProgress(void) const
{
if (_activeVehicle) {
return _activeVehicle->geoFenceManager()->inProgress();
} else {
return false;
}
}
bool GeoFenceController::dirty(void) const
{
return _dirty | _geoFence.polygon.dirty();
}
void GeoFenceController::setDirty(bool dirty)
{
if (dirty != _dirty) {
_dirty = dirty;
if (!dirty) {
_geoFence.polygon.setDirty(dirty);
}
emit dirtyChanged(dirty);
}
}
void GeoFenceController::_polygonDirtyChanged(bool dirty)
{
if (dirty) {
setDirty(true);
}
}
src/MissionManager/GeoFenceController.h 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef GeoFenceController_H
#define GeoFenceController_H
#include "PlanElementController.h"
#include "GeoFenceManager.h"
#include "QGCMapPolygon.h"
#include "Vehicle.h"
#include "MultiVehicleManager.h"
#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(GeoFenceControllerLog)
class GeoFenceController : public PlanElementController
{
Q_OBJECT
public:
GeoFenceController(QObject* parent = NULL);
~GeoFenceController();
enum GeoFenceTypeEnum {
GeoFenceNone = GeoFenceManager::GeoFenceNone,
GeoFenceCircle = GeoFenceManager::GeoFenceCircle,
GeoFencePolygon = GeoFenceManager::GeoFencePolygon,
};
Q_PROPERTY(GeoFenceTypeEnum fenceType READ fenceType WRITE setFenceType NOTIFY fenceTypeChanged)
Q_PROPERTY(float circleRadius READ circleRadius WRITE setCircleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(QGCMapPolygon* polygon READ polygon CONSTANT)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
void start (bool editMode) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void loadFromFilePicker (void) final;
void loadFromFile (const QString& filename) final;
void saveToFilePicker (void) final;
void saveToFile (const QString& filename) final;
void removeAll (void) final;
bool syncInProgress (void) const final;
bool dirty (void) const final;
void setDirty (bool dirty) final;
GeoFenceTypeEnum fenceType (void) const { return (GeoFenceTypeEnum)_geoFence.fenceType; }
float circleRadius (void) const { return _geoFence.circleRadius; }
QGCMapPolygon* polygon (void) { return &_geoFence.polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _geoFence.breachReturnPoint; }
QVariantList params (void) { return _params; }
void setFenceType(GeoFenceTypeEnum fenceType);
void setCircleRadius(float circleRadius);
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
signals:
void fenceTypeChanged (GeoFenceTypeEnum fenceType);
void circleRadiusChanged (float circleRadius);
void polygonPathChanged (const QVariantList& polygonPath);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (void);
private slots:
void _parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
void _newGeoFenceAvailable(void);
void _polygonDirtyChanged(bool dirty);
private:
void _setParams(void);
void _clearGeoFence(void);
void _setGeoFence(const GeoFenceManager::GeoFence_t& geoFence);
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
bool _dirty;
GeoFenceManager::GeoFence_t _geoFence;
QVariantList _params;
};
#endif
src/MissionManager/GeoFenceManager.cc 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "GeoFenceManager.h"
#include "Vehicle.h"
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "QGCApplication.h"
QGC_LOGGING_CATEGORY(GeoFenceManagerLog, "GeoFenceManagerLog")
const char* GeoFenceManager::_fenceTotalParam = "FENCE_TOTAL";
const char* GeoFenceManager::_fenceActionParam = "FENCE_ACTION";
GeoFenceManager::GeoFenceManager(Vehicle* vehicle)
: _vehicle(vehicle)
, _readTransactionInProgress(false)
, _writeTransactionInProgress(false)
{
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &GeoFenceManager::_mavlinkMessageReceived);
}
GeoFenceManager::~GeoFenceManager()
{
}
void GeoFenceManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
{
qCDebug(GeoFenceManagerLog) << "Sending error" << errorCode << errorMsg;
emit error(errorCode, errorMsg);
}
void GeoFenceManager::setGeoFence(const GeoFence_t& geoFence)
{
if (_readTransactionInProgress) {
_sendError(InternalError, QStringLiteral("Geo-Fence write attempted while read in progress."));
return;
}
if (!_geoFenceSupported()) {
return;
}
// Validate
switch (geoFence.fenceType) {
case GeoFencePolygon:
if (geoFence.polygon.count() < 3) {
_sendError(TooFewPoints, QStringLiteral("Geo-Fence polygon must contain at least 3 points."));
return;
}
if (geoFence.polygon.count() > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence polygon has too many points: %1.").arg(geoFence.polygon.count()));
return;
}
break;
case GeoFenceCircle:
if (geoFence.circleRadius <= 0.0) {
_sendError(InvalidCircleRadius, QStringLiteral("Geo-Fence circle radius must be greater than 0."));
return;
}
default:
break;
}
_geoFence.fenceType = geoFence.fenceType;
_geoFence.circleRadius = geoFence.circleRadius;
_geoFence.polygon = geoFence.polygon;
_geoFence.breachReturnPoint = geoFence.breachReturnPoint;
if (_geoFence.fenceType != GeoFencePolygon) {
// Circle is just params, so no more work to do
return;
}
emit newGeoFenceAvailable();
// First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air
Fact* fenceActionFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceActionParam);
_savedWriteFenceAction = fenceActionFact->rawValue();
fenceActionFact->setRawValue(0);
// Fence total param includes:
// index 0: breach return
// last index: polygon close (same as first polygon point)
_vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_geoFence.polygon.count() + 2);
// FIXME: No validation of correct fence received
// Send points:
// breach return
// polygon fence points
// polygon close
// Put back previous fence action to start geofence again
_sendFencePoint(0);
for (uint8_t index=0; index<_geoFence.polygon.count(); index++) {
_sendFencePoint(index + 1);
}
_sendFencePoint(_geoFence.polygon.count() + 1);
fenceActionFact->setRawValue(_savedWriteFenceAction);
}
void GeoFenceManager::requestGeoFence(void)
{
_clearGeoFence();
if (!_geoFenceSupported()) {
return;
}
// Point 0: Breach return point
// Point [1,N]: Polygon points
// Point N+1: Close polygon point (same as point 1)
int cFencePoints = _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->rawValue().toInt();
qCDebug(GeoFenceManagerLog) << "GeoFenceManager::requestGeoFence" << cFencePoints;
if (cFencePoints == 0) {
// No fence, no more work to do, fence data has already been cleared
return;
}
if (cFencePoints < 0 || (cFencePoints > 0 && cFencePoints < 6)) {
_sendError(TooFewPoints, QStringLiteral("Geo-Fence information from Vehicle has too few points: %1").arg(cFencePoints));
return;
}
if (cFencePoints > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence information from Vehicle has too many points: %1").arg(cFencePoints));
return;
}
_readTransactionInProgress = true;
_cReadFencePoints = cFencePoints;
_currentFencePoint = 0;
_requestFencePoint(_currentFencePoint);
}
/// Called when a new mavlink message for out vehicle is received
void GeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& message)
{
if (message.msgid == MAVLINK_MSG_ID_FENCE_POINT) {
mavlink_fence_point_t fencePoint;
mavlink_msg_fence_point_decode(&message, &fencePoint);
if (fencePoint.idx != _currentFencePoint) {
// FIXME: Protocol out of whack
qCWarning(GeoFenceManagerLog) << "Indices out of sync" << fencePoint.idx << _currentFencePoint;
return;
}
if (fencePoint.idx == 0) {
_geoFence.breachReturnPoint = QGeoCoordinate(fencePoint.lat, fencePoint.lng);
qCDebug(GeoFenceManagerLog) << "From vehicle: breach return point" << _geoFence.breachReturnPoint;
_requestFencePoint(++_currentFencePoint);
} else if (fencePoint.idx < _cReadFencePoints - 1) {
QGeoCoordinate polyCoord(fencePoint.lat, fencePoint.lng);
_geoFence.polygon.addCoordinate(polyCoord);
qCDebug(GeoFenceManagerLog) << "From vehicle: polygon point" << fencePoint.idx << polyCoord;
if (fencePoint.idx < _cReadFencePoints - 2) {
// Still more points to request
_requestFencePoint(++_currentFencePoint);
} else {
// We've finished collecting fence points
_readTransactionInProgress = false;
emit newGeoFenceAvailable();
}
}
}
}
void GeoFenceManager::_clearGeoFence(void)
{
_geoFence.fenceType = GeoFenceNone;
_geoFence.circleRadius = 0.0;
_geoFence.polygon.clear();
_geoFence.breachReturnPoint = QGeoCoordinate();
emit newGeoFenceAvailable();
}
void GeoFenceManager::_requestFencePoint(uint8_t pointIndex)
{
mavlink_message_t msg;
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
qCDebug(GeoFenceManagerLog) << "GeoFenceManager::_requestFencePoint" << pointIndex;
mavlink_msg_fence_fetch_point_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&msg,
_vehicle->id(),
_vehicle->defaultComponentId(),
pointIndex);
_vehicle->sendMessageOnPriorityLink(msg);
}
void GeoFenceManager::_sendFencePoint(uint8_t pointIndex)
{
mavlink_message_t msg;
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
QGeoCoordinate fenceCoord;
if (pointIndex == 0) {
fenceCoord = _geoFence.breachReturnPoint;
} else if (pointIndex - 1 < _geoFence.polygon.count()) {
fenceCoord = _geoFence.polygon[pointIndex - 1];
} else {
// Polygon close point
fenceCoord = _geoFence.polygon[0];
}
mavlink_msg_fence_point_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&msg,
_vehicle->id(),
_vehicle->defaultComponentId(),
pointIndex, // Index of point to set
_geoFence.polygon.count() + 2, // Total point count, +1 for breach in index 0, +1 polygon close in last index
fenceCoord.latitude(),
fenceCoord.longitude());
_vehicle->sendMessageOnPriorityLink(msg);
}
bool GeoFenceManager::inProgress(void) const
{
return _readTransactionInProgress || _writeTransactionInProgress;
}
bool GeoFenceManager::_geoFenceSupported(void)
{
// FIXME: Hack to get around lack of plugin-ized version of code
if (_vehicle->apmFirmware()) {
if (!_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) ||
!_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceActionParam)) {
_sendError(InternalError, QStringLiteral("Vehicle does not support Geo-Fence implementation."));
return false;
} else {
return true;
}
} else {
return false;
}
}
src/MissionManager/GeoFenceManager.h 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef GeoFenceManager_H
#define GeoFenceManager_H
#include <QObject>
#include <QTimer>
#include <QGeoCoordinate>
#include "MissionItem.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "LinkInterface.h"
#include "QGCMapPolygon.h"
class Vehicle;
Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
class GeoFenceManager : public QObject
{
Q_OBJECT
public:
GeoFenceManager(Vehicle* vehicle);
~GeoFenceManager();
typedef enum {
GeoFenceNone,
GeoFenceCircle,
GeoFencePolygon,
} GeoFenceType_t;
typedef struct {
GeoFenceType_t fenceType;
float circleRadius;
QGCMapPolygon polygon;
QGeoCoordinate breachReturnPoint;
} GeoFence_t;
bool inProgress(void) const;
/// Request the geo fence from the vehicle
void requestGeoFence(void);
/// Returns the current geofence settings
const GeoFence_t& geoFence(void) const { return _geoFence; }
/// Set and send the specified geo fence to the vehicle
void setGeoFence(const GeoFence_t& geoFence);
/// Error codes returned in error signal
typedef enum {
InternalError,
TooFewPoints, ///< Too few points for valid geofence
TooManyPoints, ///< Too many points for valid geofence
InvalidCircleRadius,
} ErrorCode_t;
signals:
void newGeoFenceAvailable(void);
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
//void _ackTimeout(void);
private:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
void _clearGeoFence(void);
void _requestFencePoint(uint8_t pointIndex);
void _sendFencePoint(uint8_t pointIndex);
bool _geoFenceSupported(void);
private:
Vehicle* _vehicle;
bool _readTransactionInProgress;
bool _writeTransactionInProgress;
uint8_t _cReadFencePoints;
uint8_t _currentFencePoint;
QVariant _savedWriteFenceAction;
GeoFence_t _geoFence;
static const char* _fenceTotalParam;
static const char* _fenceActionParam;
};
#endif
src/MissionManager/MissionController.cc
View file @ c39e9c7f
...@@ -36,12 +36,9 @@ const char* MissionController::_jsonComplexItemsKey = "complexItems"; ...@@ -36,12 +36,9 @@ const char* MissionController::_jsonComplexItemsKey = "complexItems";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition"; const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
MissionController::MissionController(QObject *parent) MissionController::MissionController(QObject *parent)
: QObject(parent) : PlanElementController(parent)
, _editMode(false)
, _visualItems(NULL) , _visualItems(NULL)
, _complexItems(NULL) , _complexItems(NULL)
, _activeVehicle(NULL)
, _autoSync(false)
, _firstItemsFromVehicle(false) , _firstItemsFromVehicle(false)
, _missionItemsRequested(false) , _missionItemsRequested(false)
, _queuedSend(false) , _queuedSend(false)
...@@ -62,12 +59,7 @@ void MissionController::start(bool editMode) ...@@ -62,12 +59,7 @@ void MissionController::start(bool editMode)
{ {
qCDebug(MissionControllerLog) << "start editMode" << editMode; qCDebug(MissionControllerLog) << "start editMode" << editMode;
_editMode = editMode; PlanElementController::start(editMode);
MultiVehicleManager* multiVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged);
_activeVehicleChanged(multiVehicleMgr->activeVehicle());
// We start with an empty mission // We start with an empty mission
_visualItems = new QmlObjectListModel(this); _visualItems = new QmlObjectListModel(this);
...@@ -111,7 +103,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void) ...@@ -111,7 +103,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void)
} }
} }
void MissionController::getMissionItems(void) void MissionController::loadFromVehicle(void)
{ {
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle(); Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
...@@ -121,7 +113,7 @@ void MissionController::getMissionItems(void) ...@@ -121,7 +113,7 @@ void MissionController::getMissionItems(void)
} }
} }
void MissionController::sendMissionItems(void) void MissionController::sendToVehicle(void)
{ {
if (_activeVehicle) { if (_activeVehicle) {
// Convert to MissionItems so we can send to vehicle // Convert to MissionItems so we can send to vehicle
...@@ -240,7 +232,7 @@ void MissionController::removeMissionItem(int index) ...@@ -240,7 +232,7 @@ void MissionController::removeMissionItem(int index)
_visualItems->setDirty(true); _visualItems->setDirty(true);
} }
void MissionController::removeAllMissionItems(void) void MissionController::removeAll(void)
{ {
if (_visualItems) { if (_visualItems) {
_deinitAllVisualItems(); _deinitAllVisualItems();
...@@ -416,7 +408,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM ...@@ -416,7 +408,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
return true; return true;
} }
void MissionController::loadMissionFromFile(const QString& filename) void MissionController::loadFromFile(const QString& filename)
{ {
QString errorString; QString errorString;
...@@ -476,7 +468,7 @@ void MissionController::loadMissionFromFile(const QString& filename) ...@@ -476,7 +468,7 @@ void MissionController::loadMissionFromFile(const QString& filename)
_initAllVisualItems(); _initAllVisualItems();
} }
void MissionController::loadMissionFromFilePicker(void) void MissionController::loadFromFilePicker(void)
{ {
#ifndef __mobile__ #ifndef __mobile__
QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load", QString(), "Mission file (*.mission);;All Files (*.*)"); QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load", QString(), "Mission file (*.mission);;All Files (*.*)");
...@@ -484,11 +476,11 @@ void MissionController::loadMissionFromFilePicker(void) ...@@ -484,11 +476,11 @@ void MissionController::loadMissionFromFilePicker(void)
if (filename.isEmpty()) { if (filename.isEmpty()) {
return; return;
} }
loadMissionFromFile(filename); loadFromFile(filename);
#endif #endif
} }
void MissionController::saveMissionToFile(const QString& filename) void MissionController::saveToFile(const QString& filename)
{ {
qDebug() << filename; qDebug() << filename;
...@@ -560,7 +552,7 @@ void MissionController::saveMissionToFile(const QString& filename) ...@@ -560,7 +552,7 @@ void MissionController::saveMissionToFile(const QString& filename)
_visualItems->setDirty(false); _visualItems->setDirty(false);
} }
void MissionController::saveMissionToFilePicker(void) void MissionController::saveToFilePicker(void)
{ {
#ifndef __mobile__ #ifndef __mobile__
QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to", QString(), "Mission file (*.mission);;All Files (*.*)"); QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to", QString(), "Mission file (*.mission);;All Files (*.*)");
...@@ -568,7 +560,7 @@ void MissionController::saveMissionToFilePicker(void) ...@@ -568,7 +560,7 @@ void MissionController::saveMissionToFilePicker(void)
if (filename.isEmpty()) { if (filename.isEmpty()) {
return; return;
} }
saveMissionToFile(filename); saveToFile(filename);
#endif #endif
} }
...@@ -979,9 +971,9 @@ void MissionController::_initAllVisualItems(void) ...@@ -979,9 +971,9 @@ void MissionController::_initAllVisualItems(void)
emit visualItemsChanged(); emit visualItemsChanged();
emit complexVisualItemsChanged(); emit complexVisualItemsChanged();
_visualItems->setDirty(false); connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged); _visualItems->setDirty(false);
} }
void MissionController::_deinitAllVisualItems(void) void MissionController::_deinitAllVisualItems(void)
...@@ -990,7 +982,7 @@ void MissionController::_deinitAllVisualItems(void) ...@@ -990,7 +982,7 @@ void MissionController::_deinitAllVisualItems(void)
_deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i))); _deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
} }
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged); disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
} }
void MissionController::_initVisualItem(VisualMissionItem* visualItem) void MissionController::_initVisualItem(VisualMissionItem* visualItem)
...@@ -1029,48 +1021,45 @@ void MissionController::_itemCommandChanged(void) ...@@ -1029,48 +1021,45 @@ void MissionController::_itemCommandChanged(void)
_recalcWaypointLines(); _recalcWaypointLines();
} }
void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) void MissionController::_activeVehicleBeingRemoved(void)
{ {
qCDebug(MissionControllerLog) << "_activeVehicleChanged activeVehicle" << activeVehicle; qCDebug(MissionControllerLog) << "_activeVehicleSet _activeVehicleBeingRemoved";
if (_activeVehicle) { MissionManager* missionManager = _activeVehicle->missionManager();
MissionManager* missionManager = _activeVehicle->missionManager();
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged); disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
_activeVehicle = NULL;
}
// We always remove all items on vehicle change. This leaves a user model hole: // We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them // If the user has unsaved changes in the Plan view they will lose them
removeAllMissionItems(); removeAll();
}
_activeVehicle = activeVehicle; void MissionController::_activeVehicleSet(void)
{
// We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them
removeAll();
if (_activeVehicle) { MissionManager* missionManager = _activeVehicle->missionManager();
MissionManager* missionManager = activeVehicle->missionManager();
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged); connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
// We don't request mission items for new vehicles since that will happen autamatically.
getMissionItems();
}
_activeVehicleHomePositionChanged(_activeVehicle->homePosition()); if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable()); // We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
// We don't request mission items for new vehicles since that will happen autamatically.
loadFromVehicle();
} }
// Whenever vehicle changes we need to update syncInProgress _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
emit syncInProgressChanged(syncInProgress()); _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
} }
void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable) void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
...@@ -1095,21 +1084,6 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& ...@@ -1095,21 +1084,6 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate&
} }
} }
void MissionController::setAutoSync(bool autoSync)
{
// FIXME: AutoSync temporarily turned off
#if 0
_autoSync = autoSync;
emit autoSyncChanged(_autoSync);
if (_autoSync) {
_dirtyChanged(true);
}
#else
Q_UNUSED(autoSync)
#endif
}
void MissionController::setMissionDistance(double missionDistance) void MissionController::setMissionDistance(double missionDistance)
{ {
if (!qFuzzyCompare(_missionDistance, missionDistance)) { if (!qFuzzyCompare(_missionDistance, missionDistance)) {
...@@ -1142,36 +1116,9 @@ void MissionController::setHoverDistance(double hoverDistance) ...@@ -1142,36 +1116,9 @@ void MissionController::setHoverDistance(double hoverDistance)
} }
} }
void MissionController::_dirtyChanged(bool dirty)
{
if (dirty && _autoSync) {
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (activeVehicle && !activeVehicle->armed()) {
if (_activeVehicle->missionManager()->inProgress()) {
_queuedSend = true;
} else {
_autoSyncSend();
}
}
}
}
void MissionController::_autoSyncSend(void)
{
_queuedSend = false;
if (_visualItems) {
sendMissionItems();
_visualItems->setDirty(false);
}
}
void MissionController::_inProgressChanged(bool inProgress) void MissionController::_inProgressChanged(bool inProgress)
{ {
emit syncInProgressChanged(inProgress); emit syncInProgressChanged(inProgress);
if (!inProgress && _queuedSend) {
_autoSyncSend();
}
} }
bool MissionController::_findLastAltitude(double* lastAltitude, MAV_FRAME* frame) bool MissionController::_findLastAltitude(double* lastAltitude, MAV_FRAME* frame)
...@@ -1292,11 +1239,20 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber) ...@@ -1292,11 +1239,20 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber)
} }
} }
bool MissionController::syncInProgress(void) bool MissionController::syncInProgress(void) const
{ {
if (_activeVehicle) { return _activeVehicle ? _activeVehicle->missionManager()->inProgress() : false;
return _activeVehicle->missionManager()->inProgress(); }
} else {
return false; bool MissionController::dirty(void) const
{
return _visualItems ? _visualItems->dirty() : false;
}
void MissionController::setDirty(bool dirty)
{
if (_visualItems) {
_visualItems->setDirty(dirty);
} }
} }
src/MissionManager/MissionController.h
View file @ c39e9c7f
...@@ -11,22 +11,22 @@ ...@@ -11,22 +11,22 @@
#ifndef MissionController_H #ifndef MissionController_H
#define MissionController_H #define MissionController_H
#include <QObject> #include "PlanElementController.h"
#include <QHash>
#include "QmlObjectListModel.h" #include "QmlObjectListModel.h"
#include "Vehicle.h" #include "Vehicle.h"
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "MavlinkQmlSingleton.h" #include "MavlinkQmlSingleton.h"
#include "VisualMissionItem.h" #include "VisualMissionItem.h"
#include <QHash>
class CoordinateVector; class CoordinateVector;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair; typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable; typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;
class MissionController : public QObject class MissionController : public PlanElementController
{ {
Q_OBJECT Q_OBJECT
...@@ -37,24 +37,13 @@ public: ...@@ -37,24 +37,13 @@ public:
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged) Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged) Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged) Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_PROPERTY(double cruiseDistance READ cruiseDistance NOTIFY cruiseDistanceChanged) Q_PROPERTY(double cruiseDistance READ cruiseDistance NOTIFY cruiseDistanceChanged)
Q_PROPERTY(double hoverDistance READ hoverDistance NOTIFY hoverDistanceChanged) Q_PROPERTY(double hoverDistance READ hoverDistance NOTIFY hoverDistanceChanged)
Q_INVOKABLE void start(bool editMode);
Q_INVOKABLE void getMissionItems(void);
Q_INVOKABLE void sendMissionItems(void);
Q_INVOKABLE void loadMissionFromFilePicker(void);
Q_INVOKABLE void loadMissionFromFile(const QString& filename);
Q_INVOKABLE void saveMissionToFilePicker(void);
Q_INVOKABLE void saveMissionToFile(const QString& filename);
Q_INVOKABLE void removeMissionItem(int index); Q_INVOKABLE void removeMissionItem(int index);
Q_INVOKABLE void removeAllMissionItems(void);
/// Add a new simple mission item to the list /// Add a new simple mission item to the list
/// @param i: index to insert at /// @param i: index to insert at
...@@ -66,16 +55,25 @@ public: ...@@ -66,16 +55,25 @@ public:
/// @return Sequence number for new item /// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i); Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
// Overrides from PlanElementController
void start (bool editMode) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void loadFromFilePicker (void) final;
void loadFromFile (const QString& filename) final;
void saveToFilePicker (void) final;
void saveToFile (const QString& filename) final;
void removeAll (void) final;
bool syncInProgress (void) const final;
bool dirty (void) const final;
void setDirty (bool dirty) final;
// Property accessors // Property accessors
QmlObjectListModel* visualItems (void) { return _visualItems; } QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexVisualItems (void) { return _complexItems; } QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; } QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
bool autoSync(void) { return _autoSync; }
void setAutoSync(bool autoSync);
bool syncInProgress(void);
double missionDistance (void) const { return _missionDistance; } double missionDistance (void) const { return _missionDistance; }
double missionMaxTelemetry (void) const { return _missionMaxTelemetry; } double missionMaxTelemetry (void) const { return _missionMaxTelemetry; }
double cruiseDistance (void) const { return _cruiseDistance; } double cruiseDistance (void) const { return _cruiseDistance; }
...@@ -93,9 +91,7 @@ signals: ...@@ -93,9 +91,7 @@ signals:
void visualItemsChanged(void); void visualItemsChanged(void);
void complexVisualItemsChanged(void); void complexVisualItemsChanged(void);
void waypointLinesChanged(void); void waypointLinesChanged(void);
void autoSyncChanged(bool autoSync);
void newItemsFromVehicle(void); void newItemsFromVehicle(void);
void syncInProgressChanged(bool syncInProgress);
void missionDistanceChanged(double missionDistance); void missionDistanceChanged(double missionDistance);
void missionMaxTelemetryChanged(double missionMaxTelemetry); void missionMaxTelemetryChanged(double missionMaxTelemetry);
void cruiseDistanceChanged(double cruiseDistance); void cruiseDistanceChanged(double cruiseDistance);
...@@ -104,10 +100,8 @@ signals: ...@@ -104,10 +100,8 @@ signals:
private slots: private slots:
void _newMissionItemsAvailableFromVehicle(); void _newMissionItemsAvailableFromVehicle();
void _itemCommandChanged(void); void _itemCommandChanged(void);
void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable); void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _dirtyChanged(bool dirty);
void _inProgressChanged(bool inProgress); void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber); void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void); void _recalcWaypointLines(void);
...@@ -121,7 +115,6 @@ private: ...@@ -121,7 +115,6 @@ private:
void _deinitAllVisualItems(void); void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item); void _initVisualItem(VisualMissionItem* item);
void _deinitVisualItem(VisualMissionItem* item); void _deinitVisualItem(VisualMissionItem* item);
void _autoSyncSend(void);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle); void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference); static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
static void _calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance); static void _calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance);
...@@ -134,14 +127,15 @@ private: ...@@ -134,14 +127,15 @@ private:
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString); bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void); int _nextSequenceNumber(void);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
private: private:
bool _editMode;
QmlObjectListModel* _visualItems; QmlObjectListModel* _visualItems;
QmlObjectListModel* _complexItems; QmlObjectListModel* _complexItems;
QmlObjectListModel _waypointLines; QmlObjectListModel _waypointLines;
CoordVectHashTable _linesTable; CoordVectHashTable _linesTable;
Vehicle* _activeVehicle;
bool _autoSync;
bool _firstItemsFromVehicle; bool _firstItemsFromVehicle;
bool _missionItemsRequested; bool _missionItemsRequested;
bool _queuedSend; bool _queuedSend;
......
src/MissionManager/MissionControllerTest.cc
View file @ c39e9c7f
...@@ -89,9 +89,6 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) ...@@ -89,9 +89,6 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
QmlObjectListModel* waypointLines = _missionController->waypointLines(); QmlObjectListModel* waypointLines = _missionController->waypointLines();
QVERIFY(waypointLines); QVERIFY(waypointLines);
QCOMPARE(waypointLines->count(), 0); QCOMPARE(waypointLines->count(), 0);
// AutoSync should be off by default
QCOMPARE(_missionController->autoSync(), false);
} }
void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType) void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
......
src/MissionManager/MissionManager.h
View file @ c39e9c7f
...@@ -31,7 +31,6 @@ class MissionManager : public QObject ...@@ -31,7 +31,6 @@ class MissionManager : public QObject
Q_OBJECT Q_OBJECT
public: public:
/// @param uas Uas which this set of facts is associated with
MissionManager(Vehicle* vehicle); MissionManager(Vehicle* vehicle);
~MissionManager(); ~MissionManager();
......
src/MissionManager/PlanElementController.cc 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "PlanElementController.h"
#include "QGCApplication.h"
PlanElementController::PlanElementController(QObject* parent)
: QObject(parent)
, _activeVehicle(NULL)
, _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager())
, _editMode(false)
{
}
PlanElementController::~PlanElementController()
{
}
void PlanElementController::start(bool editMode)
{
_editMode = editMode;
connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &PlanElementController::_activeVehicleChanged);
_activeVehicleChanged(_multiVehicleMgr->activeVehicle());
}
void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
_activeVehicleBeingRemoved();
}
_activeVehicle = activeVehicle;
if (_activeVehicle) {
_activeVehicleSet();
}
// Whenever vehicle changes we need to update syncInProgress
emit syncInProgressChanged(syncInProgress());
}
src/MissionManager/PlanElementController.h 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef PlanElementController_H
#define PlanElementController_H
#include <QObject>
#include "Vehicle.h"
#include "MultiVehicleManager.h"
/// This is the abstract base clas for Plan Element controllers.
/// Examples of plan elements are: missions (MissionController), geofence (GeoFenceController)
class PlanElementController : public QObject
{
Q_OBJECT
public:
PlanElementController(QObject* parent = NULL);
~PlanElementController();
/// true: information is currently being saved/sent, false: no active save/send in progress
Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged)
/// true: unsaved/sent changes are present, false: no changes since last save/send
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
/// Should be called immediately upon Component.onCompleted.
/// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
Q_INVOKABLE virtual void start(bool editMode);
Q_INVOKABLE virtual void loadFromVehicle(void) = 0;
Q_INVOKABLE virtual void sendToVehicle(void) = 0;
Q_INVOKABLE virtual void loadFromFilePicker(void) = 0;
Q_INVOKABLE virtual void loadFromFile(const QString& filename) = 0;
Q_INVOKABLE virtual void saveToFilePicker(void) = 0;
Q_INVOKABLE virtual void saveToFile(const QString& filename) = 0;
Q_INVOKABLE virtual void removeAll(void) = 0;
virtual bool syncInProgress (void) const = 0;
virtual bool dirty (void) const = 0;
virtual void setDirty (bool dirty) = 0;
signals:
void syncInProgressChanged (bool syncInProgress);
void dirtyChanged (bool dirty);
protected:
Vehicle* _activeVehicle;
MultiVehicleManager* _multiVehicleMgr;
bool _editMode;
/// Called when the current active vehicle has been removed. Derived classes should override
/// to implement custom behavior.
virtual void _activeVehicleBeingRemoved(void) = 0;
/// Called when a new active vehicle has been set. Derived classes should override
/// to implement custom behavior.
virtual void _activeVehicleSet(void) = 0;
private slots:
void _activeVehicleChanged(Vehicle* activeVehicle);
};
#endif
src/MissionManager/QGCMapPolygon.cc 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QGCMapPolygon.h"
#include "QGCGeo.h"
#include <QGeoRectangle>
#include <QDebug>
#include <QPolygon>
QGCMapPolygon::QGCMapPolygon(QObject* parent)
: QObject(parent)
, _dirty(false)
{
}
const QGCMapPolygon& QGCMapPolygon::operator=(const QGCMapPolygon& other)
{
_polygonPath = other._polygonPath;
setDirty(true);
emit pathChanged();
return *this;
}
void QGCMapPolygon::clear(void)
{
// Bug workaround, see below
while (_polygonPath.count() > 1) {
_polygonPath.takeLast();
}
emit pathChanged();
// Although this code should remove the polygon from the map it doesn't. There appears
// to be a bug in QGCMapPolygon which causes it to not be redrawn if the list is empty. So
// we work around it by using the code above to remove all but the last point which in turn
// will cause the polygon to go away.
_polygonPath.clear();
setDirty(true);
}
void QGCMapPolygon::addCoordinate(const QGeoCoordinate coordinate)
{
_polygonPath << QVariant::fromValue(coordinate);
emit pathChanged();
setDirty(true);
}
void QGCMapPolygon::adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate)
{
_polygonPath[vertexIndex] = QVariant::fromValue(coordinate);
emit pathChanged();
setDirty(true);
}
void QGCMapPolygon::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(dirty);
}
}
QGeoCoordinate QGCMapPolygon::center(void) const
{
QPolygonF polygon;
QGeoCoordinate tangentOrigin = _polygonPath[0].value<QGeoCoordinate>();
foreach(const QVariant& coordVar, _polygonPath) {
double y, x, down;
convertGeoToNed(coordVar.value<QGeoCoordinate>(), tangentOrigin, &y, &x, &down);
polygon << QPointF(x, -y);
}
QGeoCoordinate centerCoord;
QPointF centerPoint = polygon.boundingRect().center();
convertNedToGeo(-centerPoint.y(), centerPoint.x(), 0, tangentOrigin, &centerCoord);
return centerCoord;
}
void QGCMapPolygon::setPath(const QList<QGeoCoordinate>& path)
{
_polygonPath.clear();
foreach(const QGeoCoordinate& coord, path) {
_polygonPath << QVariant::fromValue(coord);
}
setDirty(true);
emit pathChanged();
}
void QGCMapPolygon::setPath(const QVariantList& path)
{
_polygonPath = path;
setDirty(true);
emit pathChanged();
}
src/MissionManager/QGCMapPolygon.h 0 → 100644
View file @ c39e9c7f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef QGCMapPolygon_H
#define QGCMapPolygon_H
#include <QObject>
#include <QGeoCoordinate>
#include <QVariantList>
class QGCMapPolygon : public QObject
{
Q_OBJECT
public:
QGCMapPolygon(QObject* parent = NULL);
const QGCMapPolygon& operator=(const QGCMapPolygon& other);
Q_PROPERTY(QVariantList path READ path WRITE setPath NOTIFY pathChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_INVOKABLE void clear(void);
Q_INVOKABLE void addCoordinate(const QGeoCoordinate coordinate);
Q_INVOKABLE void adjustCoordinate(int vertexIndex, const QGeoCoordinate coordinate);
Q_INVOKABLE QGeoCoordinate center(void) const;
Q_INVOKABLE int count(void) const { return _polygonPath.count(); }
const QVariantList path(void) const { return _polygonPath; }
void setPath(const QList<QGeoCoordinate>& path);
void setPath(const QVariantList& path);
const QGeoCoordinate operator[](int index) { return _polygonPath[index].value<QGeoCoordinate>(); }
bool dirty(void) const { return _dirty; }
void setDirty(bool dirty);
signals:
void pathChanged(void);
void dirtyChanged(bool dirty);
private:
QVariantList _polygonPath;
bool _dirty;
};
#endif
src/QGCApplication.cc
View file @ c39e9c7f
...@@ -93,6 +93,8 @@ ...@@ -93,6 +93,8 @@
#include "PositionManager.h" #include "PositionManager.h"
#include "FollowMe.h" #include "FollowMe.h"
#include "MissionCommandTree.h" #include "MissionCommandTree.h"
#include "GeoFenceController.h"
#include "QGCMapPolygon.h"
#ifndef __ios__ #ifndef __ios__
#include "SerialLink.h" #include "SerialLink.h"
...@@ -370,14 +372,15 @@ void QGCApplication::_initCommon(void) ...@@ -370,14 +372,15 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType<VideoSurface> ("QGroundControl", 1, 0, "VideoSurface", "Reference only"); qmlRegisterUncreatableType<VideoSurface> ("QGroundControl", 1, 0, "VideoSurface", "Reference only");
qmlRegisterUncreatableType<MissionCommandTree> ("QGroundControl", 1, 0, "MissionCommandTree", "Reference only"); qmlRegisterUncreatableType<MissionCommandTree> ("QGroundControl", 1, 0, "MissionCommandTree", "Reference only");
qmlRegisterUncreatableType<AutoPilotPlugin> ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Reference only"); qmlRegisterUncreatableType<AutoPilotPlugin> ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Reference only");
qmlRegisterUncreatableType<VehicleComponent> ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Reference only"); qmlRegisterUncreatableType<VehicleComponent> ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Reference only");
qmlRegisterUncreatableType<Vehicle> ("QGroundControl.Vehicle", 1, 0, "Vehicle", "Reference only"); qmlRegisterUncreatableType<Vehicle> ("QGroundControl.Vehicle", 1, 0, "Vehicle", "Reference only");
qmlRegisterUncreatableType<MissionItem> ("QGroundControl.Vehicle", 1, 0, "MissionItem", "Reference only"); qmlRegisterUncreatableType<MissionItem> ("QGroundControl.Vehicle", 1, 0, "MissionItem", "Reference only");
qmlRegisterUncreatableType<MissionManager> ("QGroundControl.Vehicle", 1, 0, "MissionManager", "Reference only"); qmlRegisterUncreatableType<MissionManager> ("QGroundControl.Vehicle", 1, 0, "MissionManager", "Reference only");
qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only"); qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only");
qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only"); qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only");
qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", "Reference only"); qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", "Reference only");
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", "Reference only");
qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController"); qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController"); qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
...@@ -397,6 +400,7 @@ void QGCApplication::_initCommon(void) ...@@ -397,6 +400,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<QGCMobileFileDialogController> ("QGroundControl.Controllers", 1, 0, "QGCMobileFileDialogController"); qmlRegisterType<QGCMobileFileDialogController> ("QGroundControl.Controllers", 1, 0, "QGCMobileFileDialogController");
qmlRegisterType<RCChannelMonitorController> ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController"); qmlRegisterType<RCChannelMonitorController> ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
qmlRegisterType<JoystickConfigController> ("QGroundControl.Controllers", 1, 0, "JoystickConfigController"); qmlRegisterType<JoystickConfigController> ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
qmlRegisterType<GeoFenceController> ("QGroundControl.Controllers", 1, 0, "GeoFenceController");
#ifndef __mobile__ #ifndef __mobile__
qmlRegisterType<ViewWidgetController> ("QGroundControl.Controllers", 1, 0, "ViewWidgetController"); qmlRegisterType<ViewWidgetController> ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
qmlRegisterType<CustomCommandWidgetController> ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController"); qmlRegisterType<CustomCommandWidgetController> ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
......
src/Vehicle/Vehicle.cc
View file @ c39e9c7f
...@@ -25,6 +25,7 @@ ...@@ -25,6 +25,7 @@
#include "FollowMe.h" #include "FollowMe.h"
#include "MissionCommandTree.h" #include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h" #include "QGroundControlQmlGlobal.h"
#include "GeoFenceManager.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog") QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
...@@ -98,6 +99,8 @@ Vehicle::Vehicle(LinkInterface* link, ...@@ -98,6 +99,8 @@ Vehicle::Vehicle(LinkInterface* link,
, _connectionLostEnabled(true) , _connectionLostEnabled(true)
, _missionManager(NULL) , _missionManager(NULL)
, _missionManagerInitialRequestComplete(false) , _missionManagerInitialRequestComplete(false)
, _geoFenceManager(NULL)
, _geoFenceManagerInitialRequestComplete(false)
, _parameterLoader(NULL) , _parameterLoader(NULL)
, _armed(false) , _armed(false)
, _base_mode(0) , _base_mode(0)
...@@ -193,7 +196,11 @@ Vehicle::Vehicle(LinkInterface* link, ...@@ -193,7 +196,11 @@ Vehicle::Vehicle(LinkInterface* link,
_loadSettings(); _loadSettings();
_missionManager = new MissionManager(this); _missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError); connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_newMissionItemsAvailable);
_geoFenceManager = new GeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
_parameterLoader = new ParameterLoader(this); _parameterLoader = new ParameterLoader(this);
connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks); connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
...@@ -1333,6 +1340,12 @@ void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg) ...@@ -1333,6 +1340,12 @@ void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
qgcApp()->showMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg)); qgcApp()->showMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
} }
void Vehicle::_geoFenceManagerError(int errorCode, const QString& errorMsg)
{
Q_UNUSED(errorCode);
qgcApp()->showMessage(QString("Error during Geo-Fence communication with Vehicle: %1").arg(errorMsg));
}
void Vehicle::_addNewMapTrajectoryPoint(void) void Vehicle::_addNewMapTrajectoryPoint(void)
{ {
if (_mapTrajectoryHaveFirstCoordinate) { if (_mapTrajectoryHaveFirstCoordinate) {
...@@ -1805,6 +1818,29 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs) ...@@ -1805,6 +1818,29 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
} }
#endif #endif
/// Returns true if the specifed parameter exists from the default component
bool Vehicle::parameterExists(int componentId, const QString& name)
{
return _autopilotPlugin->parameterExists(componentId, name);
}
/// Returns the specified parameter Fact from the default component
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
/// parameterExists.
Fact* Vehicle::getParameterFact(int componentId, const QString& name)
{
return _autopilotPlugin->getParameterFact(componentId, name);
}
void Vehicle::_newMissionItemsAvailable(void)
{
// After the initial mission request complets we ask for the geofence
if (!_geoFenceManagerInitialRequestComplete) {
_geoFenceManagerInitialRequestComplete = true;
_geoFenceManager->requestGeoFence();
}
}
const char* VehicleGPSFactGroup::_hdopFactName = "hdop"; const char* VehicleGPSFactGroup::_hdopFactName = "hdop";
const char* VehicleGPSFactGroup::_vdopFactName = "vdop"; const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround"; const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround";
......
src/Vehicle/Vehicle.h
View file @ c39e9c7f
...@@ -33,6 +33,7 @@ class FirmwarePluginManager; ...@@ -33,6 +33,7 @@ class FirmwarePluginManager;
class AutoPilotPlugin; class AutoPilotPlugin;
class AutoPilotPluginManager; class AutoPilotPluginManager;
class MissionManager; class MissionManager;
class GeoFenceManager;
class ParameterLoader; class ParameterLoader;
class JoystickManager; class JoystickManager;
class UASMessage; class UASMessage;
...@@ -444,6 +445,7 @@ public: ...@@ -444,6 +445,7 @@ public:
int manualControlReservedButtonCount(void); int manualControlReservedButtonCount(void);
MissionManager* missionManager(void) { return _missionManager; } MissionManager* missionManager(void) { return _missionManager; }
GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; }
bool homePositionAvailable(void); bool homePositionAvailable(void);
QGeoCoordinate homePosition(void); QGeoCoordinate homePosition(void);
...@@ -567,6 +569,14 @@ public: ...@@ -567,6 +569,14 @@ public:
/// @return true: X confiuration, false: Plus configuration /// @return true: X confiuration, false: Plus configuration
bool xConfigMotors(void); bool xConfigMotors(void);
/// Returns true if the specifed parameter exists from the default component
bool parameterExists(int componentId, const QString& name);
/// Returns the specified parameter Fact from the default component
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
/// parameterExists.
Fact* getParameterFact(int componentId, const QString& name);
public slots: public slots:
void setLatitude(double latitude); void setLatitude(double latitude);
void setLongitude(double longitude); void setLongitude(double longitude);
...@@ -658,6 +668,7 @@ private slots: ...@@ -658,6 +668,7 @@ private slots:
void _imageReady (UASInterface* uas); void _imageReady (UASInterface* uas);
void _connectionLostTimeout(void); void _connectionLostTimeout(void);
void _prearmErrorTimeout(void); void _prearmErrorTimeout(void);
void _newMissionItemsAvailable(void);
private: private:
bool _containsLink(LinkInterface* link); bool _containsLink(LinkInterface* link);
...@@ -678,6 +689,7 @@ private: ...@@ -678,6 +689,7 @@ private:
void _handleCommandAck(mavlink_message_t& message); void _handleCommandAck(mavlink_message_t& message);
void _handleAutopilotVersion(mavlink_message_t& message); void _handleAutopilotVersion(mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg); void _missionManagerError(int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg);
void _mapTrajectoryStart(void); void _mapTrajectoryStart(void);
void _mapTrajectoryStop(void); void _mapTrajectoryStop(void);
void _connectionActive(void); void _connectionActive(void);
...@@ -743,6 +755,9 @@ private: ...@@ -743,6 +755,9 @@ private:
MissionManager* _missionManager; MissionManager* _missionManager;
bool _missionManagerInitialRequestComplete; bool _missionManagerInitialRequestComplete;
GeoFenceManager* _geoFenceManager;
bool _geoFenceManagerInitialRequestComplete;
ParameterLoader* _parameterLoader; ParameterLoader* _parameterLoader;
bool _armed; ///< true: vehicle is armed bool _armed; ///< true: vehicle is armed
......
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