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Commit c878bb8a authored by Valentin Platzgummer's avatar Valentin Platzgummer
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WimaController renamed to WimaPlaner, WimaController is now responsible for... 

WimaController renamed to WimaPlaner, WimaController is now responsible for coordination purposes in flyView
parent 81769297
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Showing with 367 additions and 428 deletions
qgroundcontrol.pro
View file @ c878bb8a
......@@ -414,7 +414,9 @@ HEADERS += \
src/Wima/WimaTrackerPolyline.h \
src/Wima/WimaController.h \
src/Wima/WimaVehicle.h \
src/Wima/WimaDataContainer.h
src/Wima/WimaDataContainer.h \
src/Wima/WimaPlaner.h \
src/Wima/WimaPlaner.h
SOURCES += \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
......@@ -428,7 +430,8 @@ SOURCES += \
src/Wima/WimaTrackerPolyline.cc \
src/Wima/WimaController.cc \
src/Wima/WimaVehicle.cc \
src/Wima/WimaDataContainer.cc
src/Wima/WimaDataContainer.cc \
src/Wima/WimaPlaner.cc
#
# Unit Test specific configuration goes here (requires full debug build with all plugins)
......
src/MissionManager/QGCMapPolygon.cc
View file @ c878bb8a
......@@ -234,6 +234,8 @@ QList<QGeoCoordinate> QGCMapPolygon::coordinateList(void) const
void QGCMapPolygon::splitPolygonSegment(int vertexIndex)
{
int nextIndex = vertexIndex + 1;
if (nextIndex > _polygonPath.length() - 1) {
nextIndex = 0;
}
......@@ -367,6 +369,11 @@ void QGCMapPolygon::setInteractive(bool interactive)
}
}
void QGCMapPolygon::update(const QGCMapPolygon &poly)
{
this->setPath(poly.path());
}
void print(const QGCMapPolygon &poly)
{
QString message;
......@@ -391,19 +398,6 @@ void print(const QGCMapPolygon &poly, QString &outputString)
outputString.append(QString("Interactive: %s\n").arg(QVariant(poly._interactive).toString()));
}
void swap(QGCMapPolygon &poly1, QGCMapPolygon &poly2)
{
using std::swap;
poly1._polygonPath.swap(poly2._polygonPath);
swap(poly1._polygonModel, poly2._polygonModel);
swap(poly1._dirty, poly2._dirty);
swap(poly1._center, poly2._center);
swap(poly1._centerDrag, poly2._centerDrag);
swap(poly1._ignoreCenterUpdates, poly2._ignoreCenterUpdates);
swap(poly1._interactive, poly2._interactive);
}
QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
{
if (vertex >= 0 && vertex < _polygonPath.count()) {
......
src/MissionManager/QGCMapPolygon.h
View file @ c878bb8a
/****************************************************************************
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
......@@ -99,14 +99,10 @@ public:
QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
QmlObjectListModel& pathModel (void) { return _polygonModel; }
void setPath (const QList<QGeoCoordinate>& path);
void setPath (const QVariantList& path);
void setCenter (QGeoCoordinate newCenter);
void setCenterDrag (bool centerDrag);
void setInteractive (bool interactive);
/// Updates this with data from poly
void update(const QGCMapPolygon &poly);
// Friends
friend void swap(QGCMapPolygon& poly1, QGCMapPolygon& poly2);
friend void print(const QGCMapPolygon& poly, QString& outputString);
friend void print(const QGCMapPolygon& poly);
......@@ -122,10 +118,17 @@ signals:
void centerDragChanged (bool centerDrag);
void interactiveChanged (bool interactive);
public slots:
void setPath (const QList<QGeoCoordinate>& path);
void setPath (const QVariantList& path);
void setCenter (QGeoCoordinate newCenter);
void setCenterDrag (bool centerDrag);
void setInteractive (bool interactive);
private slots:
void _polygonModelCountChanged(int count);
void _polygonModelDirtyChanged(bool dirty);
void _updateCenter(void);
void _polygonModelCountChanged (int count);
void _polygonModelDirtyChanged (bool dirty);
void _updateCenter (void);
private:
void _init(void);
......
src/Wima/WimaArea.cc
View file @ c878bb8a
......@@ -26,42 +26,14 @@ WimaArea::WimaArea(const WimaArea &other, QObject *parent)
_maxAltitude = other.maxAltitude();
}
WimaArea &WimaArea::operator=(WimaArea other)
{
swap(*this, other); // copy-swap-idiom
return *this;
}
void WimaArea::setMaxAltitude(double alt)
{
if(alt > 0 && alt != _maxAltitude){
if ( alt > 0 && qFuzzyCompare(alt, _maxAltitude) ) {
_maxAltitude = alt;
emit maxAltitudeChanged();
}
}
/*QList<WimaArea *>* WimaArea::splitArea<T>(WimaArea *polygonToSplitt, int numberOfFractions)
{
if(numberOfFractions > 0 && polygonToSplitt != nullptr){
WimaArea* poly;
if(p)
= new WimaArea(polygonToSplitt, this);
QList<WimaArea*>* list = new QList<WimaArea*>();
list->append(poly);
return list;
}
return nullptr;
}
QList<QGCMapPolygon*>* WimaArea::splitArea(int numberOfFractions)
{
return splitPolygonArea(this, numberOfFractions);
}*/
int WimaArea::getClosestVertexIndex(const QGeoCoordinate &coordinate) const
{
if (this->count() == 0) {
......@@ -327,32 +299,39 @@ bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &lin
}
}
bool WimaArea::intersects(const QGCMapPolyline& line, const WimaArea& poly, QList<QGeoCoordinate>& intersectionList, QList<QPair<int, int> >& neighbourlist)
bool WimaArea::intersects(const QGCMapPolyline &line,
const WimaArea &poly,
QList<QGeoCoordinate> &intersectionList,
QList<QPair<int, int> > &neighbourList)
{
neighbourlist.clear();
// ================ Brief Explanation ================
// This function checks whether line intersects with the border line of poly
// Returns true if at least one intersection occurs, false else.
// Stores the intersection points inside intersectionList.
// Stores the indices of the cloest two polygon vetices for each of coorespoinding intersection points in neighbourList
intersectionList.clear();
neighbourList.clear();
if (line.count() == 2 && poly.count() >= 3) {
for (int i = 0; i < poly.count(); i++) {
QGCMapPolyline polySegment;
QGeoCoordinate currentVertex = poly.vertexCoordinate(i);
QGeoCoordinate nextVertex = poly.vertexCoordinate(poly.nextVertexIndex(i));
polySegment.appendVertex(currentVertex);
polySegment.appendVertex(nextVertex);
if (line.count() == 2 && poly.count() >= 3) { // are line a proper line and poly a proper poly?
QGeoCoordinate intersectionPoint;
//bool retVal2 = intersects(line, line, &intersectionPoint);
bool retVal = intersects(line, polySegment, intersectionPoint);
// Asseble a line form each tow consecutive polygon vertices and check whether it intersects with line
for (int i = 0; i < poly.count(); i++) {
QGCMapPolyline interatorLine;
QGeoCoordinate currentVertex = poly.vertexCoordinate(i);
QGeoCoordinate nextVertex = poly.vertexCoordinate(poly.nextVertexIndex(i));
interatorLine.appendVertex(currentVertex);
interatorLine.appendVertex(nextVertex);
if (retVal != false){
QGeoCoordinate intersectionPoint;
if ( intersects(line, interatorLine, intersectionPoint) ){
intersectionList.append(intersectionPoint);
QPair<int, int> neighbours;
neighbours.first = i;
neighbours.second = poly.nextVertexIndex(i);
neighbourlist.append(neighbours);
neighbourList.append(neighbours);
}
}
......@@ -390,42 +369,54 @@ double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &
}
}
bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &end, const WimaArea &poly, QList<QGeoCoordinate> &dijkstraPath)
bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
const QGeoCoordinate &end,
const WimaArea &poly,
QList<QGeoCoordinate> &dijkstraPath)
{
// ================ Brief Explanation ================
// This function calculates the shortes Path between two GeoCoordinates (start, end) using the Dijkstra Algorithm.
// The path will be inside the polygon poly if possible.
// Stores the result inside dijkstraPath
// Returns true if a valid path was found.
if ( isSelfIntersecting(poly) ) {
return false;
}
// Each QGeoCoordinate gets stuff into a Node
/// @param distance is the distance between the Node and it's predecessor
struct Node{
QGeoCoordinate coordinate;
double distance = std::numeric_limits<qreal>::infinity();
Node* predecessorNode = nullptr;
};
// The list with all Nodes (start, end + poly.path())
QList<Node> nodeList;
// This list will be initalized with (pointer to) all elements of nodeList.
// Elements will be successively remove during the execution of the Dijkstra Algorithm.
QList<Node*> workingSet;
// initialize
// start
// initialize nodeList
// start cooridnate
Node startNode;
startNode.coordinate = start;
startNode.distance = 0;
nodeList.append(startNode);
//poly
//poly cooridnates
for (int i = 0; i < poly.count(); i++) {
Node node;
node.coordinate = poly.vertexCoordinate(i);
nodeList.append(node);
}
//end
//end coordinate
Node endNode;
endNode.coordinate = end;
nodeList.append(endNode);
// working set
// initialize working set
for (int i = 0; i < nodeList.size(); i++) {
Node* nodePtr = &nodeList[i];
workingSet.append(nodePtr);
......@@ -453,8 +444,9 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &e
for (int i = 0; i < workingSet.size(); i++) {
Node* v = workingSet[i];
// is neighbour?
// is neighbour? dist == infinity if no neihbour
double dist = distInsidePoly(u->coordinate, v->coordinate, poly);
// is ther a alternative path which is shorter?
double alternative = u->distance + dist;
if (alternative < v->distance) {
v->distance = alternative;
......@@ -463,14 +455,17 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &e
}
}
// end Djikstra Algorithm
// create path
// check it the Algorithm was sucessful
Node* Node = &nodeList.last();
if (Node->predecessorNode == nullptr) {
qWarning("WimaArea::dijkstraPath(): Error, no path found!");
return false;
}
// assemble path
while (1) {
dijkstraPath.prepend(Node->coordinate);
......@@ -540,6 +535,12 @@ bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
}
}
void WimaArea::update(const WimaArea &area)
{
this->QGCMapPolygon::update(area);
this->setMaxAltitude(area.maxAltitude());
}
void WimaArea::init()
{
this->setObjectName(wimaAreaName);
......@@ -554,16 +555,8 @@ void print(const WimaArea &area)
void print(const WimaArea &area, QString &outputString)
{
outputString.append(QString("Type: %s").arg(area.objectName()));
outputString.append(QString("Type: %1").arg(area.objectName()));
print(static_cast<const QGCMapPolygon&>(area), outputString);
outputString.append(QString("Maximum Altitude: %.3f").arg(area._maxAltitude));
}
void swap(WimaArea &area1, WimaArea &area2)
{
using std::swap;
swap(static_cast<QGCMapPolygon&>(area1), static_cast<QGCMapPolygon&>(area2));
swap(area1._maxAltitude, area2._maxAltitude);
outputString.append(QString("Maximum Altitude: %1").arg(area._maxAltitude));
}
src/Wima/WimaArea.h
View file @ c878bb8a
......@@ -17,72 +17,73 @@ class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
public:
WimaArea(QObject* parent = nullptr);
WimaArea(const WimaArea& other, QObject* parent = nullptr);
WimaArea& operator=(WimaArea other);
Q_PROPERTY(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY maxAltitudeChanged)
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
Q_PROPERTY(QString editorQML READ editorQML CONSTANT)
Q_PROPERTY(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY maxAltitudeChanged)
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
Q_PROPERTY(QString editorQML READ editorQML CONSTANT)
//Property accessors
double maxAltitude (void) const { return _maxAltitude;}
double maxAltitude (void) const { return _maxAltitude;}
// overrides from WimaArea
virtual QString mapVisualQML (void) const { return "WimaAreaMapVisual.qml";}
virtual QString editorQML (void) const { return "WimaAreaEditor.qml";}
//Property setters
void setMaxAltitude (double alt);
void setVehicle (WimaVehicle* vehicle);
// Member Methodes
//iterates over all vertices in _polygon and returns the index of that one closest to coordinate
int getClosestVertexIndex (const QGeoCoordinate& coordinate) const;
int getClosestVertexIndex (const QGeoCoordinate& coordinate) const;
//iterates over all vertices in _polygon and returns that one closest to coordinate
QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const;
static QGCMapPolygon toQGCPolygon (const WimaArea& poly);
QGCMapPolygon toQGCPolygon () const;
static void join (QList<WimaArea*>* polyList, WimaArea* joinedPoly);// change to & notation
/// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
/// see https://en.wikipedia.org/wiki/Simple_polygon
/// @return true if polygons have been joined, false else
static bool join (WimaArea &poly1, WimaArea &poly2, WimaArea& joinedPoly);
bool join (WimaArea &poly);
bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary
bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const;
QGCMapPolygon toQGCPolygon () const;
void join (QList<WimaArea*>* polyList, WimaArea* joinedPoly);// change to & notation
bool join (WimaArea &poly);
bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary
bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
/// calculates the next polygon vertex index
/// @return index + 1 if index < poly->count()-1 && index >= 0, or 0 if index == poly->count()-1, -1 else
int nextVertexIndex (int index) const;
int nextVertexIndex (int index) const;
/// calculates the previous polygon vertex index
/// @return index - 1 if index < poly->count() && index > 0, or poly->count()-1 if index == 0, -1 else
int previousVertexIndex (int index) const;
int previousVertexIndex (int index) const;
void saveToJson (QJsonObject& jsonObject);
bool loadFromJson (const QJsonObject &jsonObject, QString& errorString);
// static Methodes
static QGCMapPolygon toQGCPolygon (const WimaArea& poly);
/// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
/// see https://en.wikipedia.org/wiki/Simple_polygon
/// @return true if polygons have been joined, false else
static bool join (WimaArea &poly1, WimaArea &poly2, WimaArea& joinedPoly);
/// checks if line1 and line2 intersect with each other, takes latitude and longitute into account only (height neglected)
/// @param line1 line containing two coordinates, height not taken into account
/// @param line2 line containing two coordinates, height not taken into account
/// @param intersectionPt Coordinate item to store intersection pt. in.
/// @return false on error or no intersection, true else
static bool intersects(const QGCMapPolyline& line1, const QGCMapPolyline& line2, QGeoCoordinate& intersectionPt);
static bool intersects (const QGCMapPolyline& line1, const QGCMapPolyline& line2,
QGeoCoordinate& intersectionPt);
/// checks if line1 and poly intersect with each other, takes latitude and longitute into account only (height neglected)
/// @param line line containing two coordinates, height not taken into account
/// @param intersectionList Empty list to store intersection points in.
/// @param neighbourList Empty list to store the indices of the neighbours (the two Vertices of poly with the smallest distance to the intersection pt.)
/// @return false on error or no intersection, true else
static bool intersects(const QGCMapPolyline& line, const WimaArea& poly, QList<QGeoCoordinate>& intersectionList, QList<QPair<int, int>>& neighbourlist);
static bool intersects (const QGCMapPolyline& line, const WimaArea& poly,
QList<QGeoCoordinate>& intersectionList,
QList<QPair<int, int>>& neighbourList);
/// calculates the distance between to geo coordinates, returns the distance if the path lies within the polygon and inf. else.
/// @return the distance if the path lies within the polygon and inf. else.
static double distInsidePoly(const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea poly);
static double distInsidePoly (const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea poly);
/// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
/// @return true if path was found, false else
static bool dijkstraPath(const QGeoCoordinate& c1, const QGeoCoordinate& c2, const WimaArea& poly, QList<QGeoCoordinate>& dijkstraPath);
static bool dijkstraPath (const QGeoCoordinate& c1, const QGeoCoordinate& c2,
const WimaArea& poly, QList<QGeoCoordinate>& dijkstraPath);
/// @return true if the polygon is self intersecting
static bool isSelfIntersecting(const WimaArea& poly);
bool isSelfIntersecting();
void saveToJson(QJsonObject& jsonObject);
bool loadFromJson(const QJsonObject &jsonObject, QString& errorString);
static bool isSelfIntersecting (const WimaArea& poly);
bool isSelfIntersecting ();
// Friends
friend void swap(WimaArea& area1, WimaArea& area2);
/// prints the member values of area to the outputString
friend void print(const WimaArea& area, QString& outputString);
/// prints the member values of area to the console
......@@ -99,8 +100,12 @@ signals:
void maxAltitudeChanged (void);
void vehicleChanged (void);
public slots:
void setMaxAltitude (double alt);
/// Updates this with data from area
void update(const WimaArea& area);
protected:
private:
double _maxAltitude;
private:
......
src/Wima/WimaController.cc
View file @ c878bb8a
This diff is collapsed.
src/Wima/WimaController.h
View file @ c878bb8a
......@@ -29,25 +29,25 @@ public:
WimaController(QObject *parent = nullptr);
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(const QmlObjectListModel*visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(bool flyView READ flyView CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(bool flyView READ flyView CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
// Property accessors
PlanMasterController* masterController (void) const { return _masterController; }
MissionController* missionController (void) const { return _missionController; }
const QmlObjectListModel* visualItems (void) const;
QmlObjectListModel* visualItems (void) ;
int currentPolygonIndex (void) const { return _currentPolygonIndex; }
QString currentFile (void) const { return _currentFile; }
QStringList loadNameFilters (void) const;
......@@ -55,8 +55,6 @@ public:
QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const;
WimaArea joinedArea (void) const;
WimaDataContainer* dataContainer (void) const { return _container; }
bool flyView (void) const { return _flyView; }
bool readyForSaveSend (void) const { return _readyForSaveSend; }
......@@ -76,6 +74,7 @@ public:
Q_INVOKABLE void removeArea(int index);
Q_INVOKABLE bool addServiceArea();
Q_INVOKABLE bool addVehicleCorridor();
/// Remove all areas from WimaController and all mission items from MissionController
Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission();
......@@ -115,23 +114,17 @@ signals:
private slots:
void recalcPolygonInteractivity (int index);
bool updateJoinedArea ();
void updateContainer ();
void downloadFromContainer ();
void setOpArea (const WimaGOperationArea& area);
void setSerArea (const WimaServiceArea& area);
void setCorridor (const WimaVCorridor& area);
void setJoinedArea (const WimaArea& area);
bool recalcJoinedArea ();
void updateContainer ();// only executed if flyView == false
void downloadFromContainer ();// only executed if flyView == true
private:
bool _flyView;
bool _readyForSaveSend;
PlanMasterController* _masterController;
MissionController* _missionController;
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentPolygonIndex;
QString _currentFile;
WimaDataContainer* _container;
WimaDataContainer *_container;
QmlObjectListModel _visualItems;
WimaArea _joinedArea;
WimaGOperationArea _opArea;
......
src/Wima/WimaDataContainer.cc
View file @ c878bb8a
......@@ -2,44 +2,44 @@
WimaDataContainer::WimaDataContainer(QObject *parent)
: QObject (parent)
, _joinedArea (this)
, _opArea (this)
, _serArea (this)
, _corridor (this)
, _joinedArea (nullptr)
, _opArea (nullptr)
, _serArea (nullptr)
, _corridor (nullptr)
{
}
void WimaDataContainer::setJoinedArea(const WimaArea &joinedArea)
void WimaDataContainer::setJoinedArea(const WimaArea *joinedArea)
{
if (_joinedArea.path() != joinedArea.path()) {
if (_joinedArea != joinedArea) {
_joinedArea = joinedArea;
emit joinedAreaChanged(_joinedArea);
}
}
void WimaDataContainer::setOpArea(const WimaGOperationArea &opArea)
void WimaDataContainer::setOpArea(const WimaGOperationArea *opArea)
{
if (_opArea.path() != opArea.path()) {
if (_opArea != opArea) {
_opArea = opArea;
emit opAreaChanged(_opArea);
}
}
void WimaDataContainer::setSerArea(const WimaServiceArea &serArea)
void WimaDataContainer::setSerArea(const WimaServiceArea *serArea)
{
if (_serArea.path() != serArea.path()) {
if (_serArea != serArea) {
_serArea = serArea;
emit serAreaChanged(_serArea);
}
}
void WimaDataContainer::setCorridor(const WimaVCorridor &corridor)
void WimaDataContainer::setCorridor(const WimaVCorridor *corridor)
{
if (_corridor.path() != corridor.path()) {
if (_corridor != corridor) {
_corridor = corridor;
emit corridorChanged(_corridor);
......
src/Wima/WimaDataContainer.h
View file @ c878bb8a
#ifndef WIMADATACONTAINER_H
#define WIMADATACONTAINER_H
#pragma once
#include <QObject>
......@@ -15,30 +14,30 @@ class WimaDataContainer : public QObject
Q_OBJECT
public:
explicit WimaDataContainer(QObject *parent = nullptr);
WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
WimaDataContainer(WimaDataContainer &other) = delete;
WimaArea joinedArea (void) { return _joinedArea; }
WimaGOperationArea opArea (void) { return _opArea; }
WimaServiceArea serArea (void) { return _serArea; }
WimaVCorridor corridor (void) { return _corridor; }
void setJoinedArea (const WimaArea& joinedArea);
void setOpArea (const WimaGOperationArea& opArea);
void setSerArea (const WimaServiceArea& serArea);
void setCorridor (const WimaVCorridor& corridor);
const WimaArea * joinedArea (void) { return _joinedArea; }
const WimaGOperationArea * opArea (void) { return _opArea; }
const WimaServiceArea * serArea (void) { return _serArea; }
const WimaVCorridor * corridor (void) { return _corridor; }
signals:
void joinedAreaChanged (const WimaArea& area);
void opAreaChanged (const WimaGOperationArea& area);
void serAreaChanged (const WimaServiceArea& area);
void corridorChanged (const WimaVCorridor& area);
void joinedAreaChanged (const WimaArea *area);
void opAreaChanged (const WimaGOperationArea *area);
void serAreaChanged (const WimaServiceArea *area);
void corridorChanged (const WimaVCorridor *area);
public slots:
void setJoinedArea (const WimaArea *joinedArea);
void setOpArea (const WimaGOperationArea *opArea);
void setSerArea (const WimaServiceArea *serArea);
void setCorridor (const WimaVCorridor *corridor);
private:
WimaArea _joinedArea;
WimaGOperationArea _opArea;
WimaServiceArea _serArea;
WimaVCorridor _corridor;
const WimaArea *_joinedArea;
const WimaGOperationArea *_opArea;
const WimaServiceArea *_serArea;
const WimaVCorridor *_corridor;
};
#endif // WIMADATACONTAINER_H
src/Wima/WimaGOperationArea.cc
View file @ c878bb8a
......@@ -21,13 +21,6 @@ WimaGOperationArea::WimaGOperationArea(const WimaGOperationArea &other, QObject
init();
}
WimaGOperationArea &WimaGOperationArea::operator=(WimaGOperationArea other)
{
swap(*this, other);
return *this;
}
void WimaGOperationArea::saveToJson(QJsonObject &json)
{
this->WimaArea::saveToJson(json);
......@@ -77,6 +70,23 @@ bool WimaGOperationArea::loadFromJson(const QJsonObject &json, QString& errorStr
}
}
void WimaGOperationArea::update(const WimaGOperationArea &area)
{
this->WimaArea::update(area);
this->setBottomLayerAltitude(area.bottomLayerAltitude());
this->setNumberOfLayers(area.numberOfLayers());
this->setLayerDistance(area.layerDistance());
this->setBorderPolygonOffset(area.borderPolygonOffset());
recalcBorderPolygon();
}
void WimaGOperationArea::setBottomLayerAltitude(double altitude)
{
}
void print(const WimaGOperationArea &area)
{
QString message;
......@@ -87,30 +97,18 @@ void print(const WimaGOperationArea &area)
void print(const WimaGOperationArea &area, QString outputStr)
{
print(static_cast<const WimaArea&>(area), outputStr);
outputStr.append(QString("Bottom Layer Altitude: %.3f\n").arg(area._bottomLayerAltitude.rawValue().toDouble()));
outputStr.append(QString("Number of Layers: %i\n").arg(area._numberOfLayers.rawValue().toInt()));
outputStr.append(QString("Layer Distance: %.3f\n").arg(area._layerDistance.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Offset: %.3f\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
outputStr.append(QString("Bottom Layer Altitude: %1\n").arg(area._bottomLayerAltitude.rawValue().toDouble()));
outputStr.append(QString("Number of Layers: %1\n").arg(area._numberOfLayers.rawValue().toInt()));
outputStr.append(QString("Layer Distance: %1\n").arg(area._layerDistance.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Offset: %1\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Coordinates\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
for (int i = 0; i < area._borderPolygon.count(); i++) {
QGeoCoordinate coordinate = area._borderPolygon.vertexCoordinate(i);
outputStr.append(QString("%s\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
outputStr.append(QString("%1\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
}
}
void swap(WimaGOperationArea &area1, WimaGOperationArea &area2)
{
using std::swap;
swap(area1._metaDataMap, area2._metaDataMap);
swap(area1._bottomLayerAltitude, area2._bottomLayerAltitude);
swap(area1._numberOfLayers, area2._numberOfLayers);
swap(area1._layerDistance, area2._layerDistance);
swap(area1._borderPolygonOffset, area2._borderPolygonOffset);
swap(area1._borderPolygon, area2._borderPolygon);
}
void WimaGOperationArea::recalcBorderPolygon()
{
//qWarning("WimaGOperationArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble());
......
src/Wima/WimaGOperationArea.h
View file @ c878bb8a
......@@ -13,35 +13,34 @@ class WimaGOperationArea : public WimaArea
Q_OBJECT
public:
WimaGOperationArea(QObject* parent = nullptr);
WimaGOperationArea(const WimaGOperationArea& other, QObject* parent = nullptr);
WimaGOperationArea& operator=(WimaGOperationArea other);
WimaGOperationArea(const WimaGOperationArea &other, QObject *parent = nullptr);
Q_PROPERTY(Fact* bottomLayerAltitude READ bottomLayerAltitude CONSTANT)
Q_PROPERTY(Fact* numberOfLayers READ numberOfLayers CONSTANT)
Q_PROPERTY(Fact* layerDistance READ layerDistance CONSTANT)
Q_PROPERTY(Fact* borderPolygonOffset READ borderPolygonOffset CONSTANT)
Q_PROPERTY(QGCMapPolygon* borderPolygon READ borderPolygon NOTIFY borderPolygonChanged)
void setVehicleCorridor (WimaVCorridor* corridor);
Q_PROPERTY(Fact* bottomLayerAltitude READ bottomLayerAltitudeFact CONSTANT)
Q_PROPERTY(Fact* numberOfLayers READ numberOfLayersFact CONSTANT)
Q_PROPERTY(Fact* layerDistance READ layerDistanceFact CONSTANT)
Q_PROPERTY(Fact* borderPolygonOffset READ borderPolygonOffsetFact CONSTANT)
Q_PROPERTY(QGCMapPolygon borderPolygon READ borderPolygon NOTIFY borderPolygonChanged)
// Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaGOperationAreaMapVisual.qml";}
QString editorQML (void) const { return "WimaGOperationAreaEditor.qml";}
// Property accessors
Fact* bottomLayerAltitude (void) { return &_bottomLayerAltitude;}
Fact* numberOfLayers (void) { return &_numberOfLayers;}
Fact* layerDistance (void) { return &_layerDistance;}
Fact* borderPolygonOffset (void) { return &_borderPolygonOffset;}
QGCMapPolygon* borderPolygon (void) { return &_borderPolygon;}
Fact* bottomLayerAltitudeFact (void) { return &_bottomLayerAltitude;}
Fact* numberOfLayersFact (void) { return &_numberOfLayers;}
Fact* layerDistanceFact (void) { return &_layerDistance;}
Fact* borderPolygonOffsetFact (void) { return &_borderPolygonOffset;}
double bottomLayerAltitude (void) const { return _bottomLayerAltitude.rawValue().toDouble();}
int numberOfLayers (void) const { return _numberOfLayers.rawValue().toInt();}
double layerDistance (void) const { return _layerDistance.rawValue().toDouble();}
double borderPolygonOffset (void) const { return _borderPolygonOffset.rawValue().toDouble();}
QGCMapPolygon borderPolygon (void) const { return _borderPolygon;}
// Member Methodes
void saveToJson(QJsonObject& json);
bool loadFromJson(const QJsonObject& json, QString &errorString);
// Friends
friend void swap(WimaGOperationArea& area1, WimaGOperationArea& area2);
friend void print(const WimaGOperationArea& area, QString outputStr);
friend void print(const WimaGOperationArea& area);
......@@ -53,21 +52,23 @@ public:
static const char* borderPolygonOffsetName;
static const char* wimaGOperationAreaName;
signals:
void bottomLayerAltitudeChanged (void);
void numberOfLayersChanged (void);
void layerDistanceChanged (void);
//void vehicleListChanged (void);
void polylineChanged (void);
//void vehiclePolygonsChanged (void);
void vehicleCorridorChanged (WimaVCorridor* corridor);
void borderPolygonChanged (void);
public slots:
/// Updates this with data from area
void update(const WimaGOperationArea &area);
void setBottomLayerAltitude (double altitude);
void setNumberOfLayers (double numLayers);
void setLayerDistance (double layerDistance);
void setBorderPolygonOffset (double offset);
private slots:
void recalcBorderPolygon (void);
private:
// Member Methodes
void init();
......
src/Wima/WimaPlaner.cc 0 → 100644
View file @ c878bb8a
#include "WimaPlaner.h"
WimaPlaner::WimaPlaner()
{
}
src/Wima/WimaPlaner.h 0 → 100644
View file @ c878bb8a
#ifndef WIMAPLANER_H
#define WIMAPLANER_H
class WimaPlaner
{
public:
WimaPlaner();
};
#endif // WIMAPLANER_H
\ No newline at end of file
src/Wima/WimaServiceArea.cc
View file @ c878bb8a
......@@ -16,13 +16,6 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
init();
}
WimaServiceArea &WimaServiceArea::operator=(WimaServiceArea other)
{
swap(*this, other);
return *this;
}
void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate)
{
if(_takeOffPosition != coordinate){
......@@ -57,6 +50,13 @@ bool WimaServiceArea::loadFromJson(const QJsonObject &json, QString &errorString
}
}
void WimaServiceArea::update(const WimaServiceArea &area)
{
this->WimaArea::update(area);
this->setTakeOffPosition(area.takeOffPosition());
this->setLandPosition(area.landPosition());
}
void print(const WimaServiceArea &area)
{
QString message;
......@@ -71,14 +71,6 @@ void print(const WimaServiceArea &area, QString &outputStr)
outputStr.append(QString("Land Position: %s\n").arg(area._landPosition.toString(QGeoCoordinate::Degrees)));
}
void swap(WimaServiceArea &area1, WimaServiceArea &area2)
{
using std::swap;
swap(area1._takeOffPosition, area2._takeOffPosition);
swap(area1._landPosition, area2._landPosition);
}
void WimaServiceArea::init()
{
this->setObjectName(wimaServiceAreaName);
......
src/Wima/WimaServiceArea.h
View file @ c878bb8a
......@@ -10,12 +10,10 @@ class WimaServiceArea : public WimaArea
public:
WimaServiceArea(QObject* parent = nullptr);
WimaServiceArea(const WimaServiceArea& other, QObject* parent);
WimaServiceArea& operator=(WimaServiceArea other);
Q_PROPERTY(const QGeoCoordinate& takeOffPosition READ takeOffPosition WRITE setTakeOffPosition NOTIFY takeOffPositionChanged)
Q_PROPERTY(const QGeoCoordinate& landPosition READ landPosition WRITE setLandPosition NOTIFY landPositionChanged)
// Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaServiceAreaMapVisual.qml";}
QString editorQML (void) const { return "WimaServiceAreaEditor.qml";}
......@@ -24,27 +22,29 @@ public:
const QGeoCoordinate& takeOffPosition (void) const { return _takeOffPosition;}
const QGeoCoordinate& landPosition (void) const { return _landPosition;}
// Property setters
void setTakeOffPosition (const QGeoCoordinate& coordinate);
void setLandPosition (const QGeoCoordinate& coordinate);
// Member Methodes
void saveToJson(QJsonObject& json);
bool loadFromJson(const QJsonObject& json, QString& errorString);
// static Members
static const char* wimaServiceAreaName;
// Friends
friend void swap(WimaServiceArea& area1, WimaServiceArea& area2);
friend void print(const WimaServiceArea& area, QString& outputStr);
friend void print(const WimaServiceArea& area);
// static Members
static const char* wimaServiceAreaName;
signals:
void takeOffPositionChanged (void);
void landPositionChanged (void);
void vehicleCorridorChanged (WimaVCorridor& corridor);
public slots:
void setTakeOffPosition (const QGeoCoordinate& coordinate);
void setLandPosition (const QGeoCoordinate& coordinate);
/// Updates this with data from area
void update(const WimaServiceArea &area);
private:
// Member Methodes
void init();
......
src/Wima/WimaVCorridor.cc
View file @ c878bb8a
......@@ -16,13 +16,6 @@ WimaVCorridor::WimaVCorridor(const WimaVCorridor &other, QObject *parent)
init();
}
WimaVCorridor &WimaVCorridor::operator=(WimaVCorridor other)
{
swap(*this, other);
return *this;
}
void WimaVCorridor::saveToJson(QJsonObject &json)
{
this->WimaArea::saveToJson(json);
......@@ -41,6 +34,11 @@ bool WimaVCorridor::loadFromJson(const QJsonObject &json, QString &errorString)
}
}
void WimaVCorridor::update(const WimaVCorridor &area)
{
this->WimaArea::update(area);
}
void WimaVCorridor::init()
{
this->setObjectName(wimaVCorridorName);
......@@ -57,10 +55,3 @@ void print(const WimaVCorridor &area, QString &outputString)
{
print(static_cast<const WimaArea&>(area), outputString);
}
void swap(WimaVCorridor &area1, WimaVCorridor &area2)
{
using std::swap;
swap(static_cast<WimaArea&>(area1), static_cast<WimaArea&>(area2));
}
src/Wima/WimaVCorridor.h
View file @ c878bb8a
......@@ -11,7 +11,6 @@ class WimaVCorridor : public WimaArea
public:
WimaVCorridor(QObject* parent = nullptr);
WimaVCorridor(const WimaVCorridor& other, QObject* parent = nullptr);
WimaVCorridor& operator=(WimaVCorridor other);
// Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaVCorridorMapVisual.qml";}
......@@ -25,7 +24,6 @@ public:
static const char* wimaVCorridorName;
// Friends
friend void swap(WimaVCorridor& area1, WimaVCorridor& area2);
friend void print(const WimaVCorridor& area, QString& outputString);
friend void print(const WimaVCorridor& area);
......@@ -33,6 +31,10 @@ signals:
void serviceAreaChanged (WimaServiceArea* serviceArea);
void opAreaChanged (WimaGOperationArea* opArea);
public slots:
/// Updates this with data from area
void update(const WimaVCorridor& area);
private:
void init();
......
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