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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 += \ ...@@ -414,7 +414,9 @@ HEADERS += \
src/Wima/WimaTrackerPolyline.h \ src/Wima/WimaTrackerPolyline.h \
src/Wima/WimaController.h \ src/Wima/WimaController.h \
src/Wima/WimaVehicle.h \ src/Wima/WimaVehicle.h \
src/Wima/WimaDataContainer.h src/Wima/WimaDataContainer.h \
src/Wima/WimaPlaner.h \
src/Wima/WimaPlaner.h
SOURCES += \ SOURCES += \
src/api/QGCCorePlugin.cc \ src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \ src/api/QGCOptions.cc \
...@@ -428,7 +430,8 @@ SOURCES += \ ...@@ -428,7 +430,8 @@ SOURCES += \
src/Wima/WimaTrackerPolyline.cc \ src/Wima/WimaTrackerPolyline.cc \
src/Wima/WimaController.cc \ src/Wima/WimaController.cc \
src/Wima/WimaVehicle.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) # 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 ...@@ -234,6 +234,8 @@ QList<QGeoCoordinate> QGCMapPolygon::coordinateList(void) const
void QGCMapPolygon::splitPolygonSegment(int vertexIndex) void QGCMapPolygon::splitPolygonSegment(int vertexIndex)
{ {
int nextIndex = vertexIndex + 1; int nextIndex = vertexIndex + 1;
if (nextIndex > _polygonPath.length() - 1) { if (nextIndex > _polygonPath.length() - 1) {
nextIndex = 0; nextIndex = 0;
} }
...@@ -367,6 +369,11 @@ void QGCMapPolygon::setInteractive(bool interactive) ...@@ -367,6 +369,11 @@ void QGCMapPolygon::setInteractive(bool interactive)
} }
} }
void QGCMapPolygon::update(const QGCMapPolygon &poly)
{
this->setPath(poly.path());
}
void print(const QGCMapPolygon &poly) void print(const QGCMapPolygon &poly)
{ {
QString message; QString message;
...@@ -391,19 +398,6 @@ void print(const QGCMapPolygon &poly, QString &outputString) ...@@ -391,19 +398,6 @@ void print(const QGCMapPolygon &poly, QString &outputString)
outputString.append(QString("Interactive: %s\n").arg(QVariant(poly._interactive).toString())); 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 QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
{ {
if (vertex >= 0 && vertex < _polygonPath.count()) { if (vertex >= 0 && vertex < _polygonPath.count()) {
......
src/MissionManager/QGCMapPolygon.h
View file @ c878bb8a
/**************************************************************************** /****************************************************************************
* *
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
* *
...@@ -99,14 +99,10 @@ public: ...@@ -99,14 +99,10 @@ public:
QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; } QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
QmlObjectListModel& pathModel (void) { return _polygonModel; } QmlObjectListModel& pathModel (void) { return _polygonModel; }
void setPath (const QList<QGeoCoordinate>& path); /// Updates this with data from poly
void setPath (const QVariantList& path); void update(const QGCMapPolygon &poly);
void setCenter (QGeoCoordinate newCenter);
void setCenterDrag (bool centerDrag);
void setInteractive (bool interactive);
// Friends // Friends
friend void swap(QGCMapPolygon& poly1, QGCMapPolygon& poly2);
friend void print(const QGCMapPolygon& poly, QString& outputString); friend void print(const QGCMapPolygon& poly, QString& outputString);
friend void print(const QGCMapPolygon& poly); friend void print(const QGCMapPolygon& poly);
...@@ -122,10 +118,17 @@ signals: ...@@ -122,10 +118,17 @@ signals:
void centerDragChanged (bool centerDrag); void centerDragChanged (bool centerDrag);
void interactiveChanged (bool interactive); 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: private slots:
void _polygonModelCountChanged(int count); void _polygonModelCountChanged (int count);
void _polygonModelDirtyChanged(bool dirty); void _polygonModelDirtyChanged (bool dirty);
void _updateCenter(void); void _updateCenter (void);
private: private:
void _init(void); void _init(void);
......
src/Wima/WimaArea.cc
View file @ c878bb8a
...@@ -26,42 +26,14 @@ WimaArea::WimaArea(const WimaArea &other, QObject *parent) ...@@ -26,42 +26,14 @@ WimaArea::WimaArea(const WimaArea &other, QObject *parent)
_maxAltitude = other.maxAltitude(); _maxAltitude = other.maxAltitude();
} }
WimaArea &WimaArea::operator=(WimaArea other)
{
swap(*this, other); // copy-swap-idiom
return *this;
}
void WimaArea::setMaxAltitude(double alt) void WimaArea::setMaxAltitude(double alt)
{ {
if(alt > 0 && alt != _maxAltitude){ if ( alt > 0 && qFuzzyCompare(alt, _maxAltitude) ) {
_maxAltitude = alt; _maxAltitude = alt;
emit maxAltitudeChanged(); 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 int WimaArea::getClosestVertexIndex(const QGeoCoordinate &coordinate) const
{ {
if (this->count() == 0) { if (this->count() == 0) {
...@@ -327,32 +299,39 @@ bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &lin ...@@ -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(); intersectionList.clear();
neighbourList.clear();
if (line.count() == 2 && poly.count() >= 3) { if (line.count() == 2 && poly.count() >= 3) { // are line a proper line and poly a proper poly?
// Asseble a line form each tow consecutive polygon vertices and check whether it intersects with line
for (int i = 0; i < poly.count(); i++) { for (int i = 0; i < poly.count(); i++) {
QGCMapPolyline polySegment;
QGCMapPolyline interatorLine;
QGeoCoordinate currentVertex = poly.vertexCoordinate(i); QGeoCoordinate currentVertex = poly.vertexCoordinate(i);
QGeoCoordinate nextVertex = poly.vertexCoordinate(poly.nextVertexIndex(i)); QGeoCoordinate nextVertex = poly.vertexCoordinate(poly.nextVertexIndex(i));
polySegment.appendVertex(currentVertex); interatorLine.appendVertex(currentVertex);
polySegment.appendVertex(nextVertex); interatorLine.appendVertex(nextVertex);
QGeoCoordinate intersectionPoint; QGeoCoordinate intersectionPoint;
//bool retVal2 = intersects(line, line, &intersectionPoint); if ( intersects(line, interatorLine, intersectionPoint) ){
bool retVal = intersects(line, polySegment, intersectionPoint);
if (retVal != false){
intersectionList.append(intersectionPoint); intersectionList.append(intersectionPoint);
QPair<int, int> neighbours; QPair<int, int> neighbours;
neighbours.first = i; neighbours.first = i;
neighbours.second = poly.nextVertexIndex(i); neighbours.second = poly.nextVertexIndex(i);
neighbourlist.append(neighbours); neighbourList.append(neighbours);
} }
} }
...@@ -390,42 +369,54 @@ double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate & ...@@ -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) ) { if ( isSelfIntersecting(poly) ) {
return false; return false;
} }
// Each QGeoCoordinate gets stuff into a Node
/// @param distance is the distance between the Node and it's predecessor
struct Node{ struct Node{
QGeoCoordinate coordinate; QGeoCoordinate coordinate;
double distance = std::numeric_limits<qreal>::infinity(); double distance = std::numeric_limits<qreal>::infinity();
Node* predecessorNode = nullptr; Node* predecessorNode = nullptr;
}; };
// The list with all Nodes (start, end + poly.path())
QList<Node> nodeList; 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; QList<Node*> workingSet;
// initialize nodeList
// initialize // start cooridnate
// start
Node startNode; Node startNode;
startNode.coordinate = start; startNode.coordinate = start;
startNode.distance = 0; startNode.distance = 0;
nodeList.append(startNode); nodeList.append(startNode);
//poly //poly cooridnates
for (int i = 0; i < poly.count(); i++) { for (int i = 0; i < poly.count(); i++) {
Node node; Node node;
node.coordinate = poly.vertexCoordinate(i); node.coordinate = poly.vertexCoordinate(i);
nodeList.append(node); nodeList.append(node);
} }
//end //end coordinate
Node endNode; Node endNode;
endNode.coordinate = end; endNode.coordinate = end;
nodeList.append(endNode); nodeList.append(endNode);
// working set // initialize working set
for (int i = 0; i < nodeList.size(); i++) { for (int i = 0; i < nodeList.size(); i++) {
Node* nodePtr = &nodeList[i]; Node* nodePtr = &nodeList[i];
workingSet.append(nodePtr); workingSet.append(nodePtr);
...@@ -453,8 +444,9 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &e ...@@ -453,8 +444,9 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &e
for (int i = 0; i < workingSet.size(); i++) { for (int i = 0; i < workingSet.size(); i++) {
Node* v = workingSet[i]; Node* v = workingSet[i];
// is neighbour? // is neighbour? dist == infinity if no neihbour
double dist = distInsidePoly(u->coordinate, v->coordinate, poly); double dist = distInsidePoly(u->coordinate, v->coordinate, poly);
// is ther a alternative path which is shorter?
double alternative = u->distance + dist; double alternative = u->distance + dist;
if (alternative < v->distance) { if (alternative < v->distance) {
v->distance = alternative; v->distance = alternative;
...@@ -463,14 +455,17 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &e ...@@ -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(); Node* Node = &nodeList.last();
if (Node->predecessorNode == nullptr) { if (Node->predecessorNode == nullptr) {
qWarning("WimaArea::dijkstraPath(): Error, no path found!"); qWarning("WimaArea::dijkstraPath(): Error, no path found!");
return false; return false;
} }
// assemble path
while (1) { while (1) {
dijkstraPath.prepend(Node->coordinate); dijkstraPath.prepend(Node->coordinate);
...@@ -540,6 +535,12 @@ bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString) ...@@ -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() void WimaArea::init()
{ {
this->setObjectName(wimaAreaName); this->setObjectName(wimaAreaName);
...@@ -554,16 +555,8 @@ void print(const WimaArea &area) ...@@ -554,16 +555,8 @@ void print(const WimaArea &area)
void print(const WimaArea &area, QString &outputString) 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); print(static_cast<const QGCMapPolygon&>(area), outputString);
outputString.append(QString("Maximum Altitude: %.3f").arg(area._maxAltitude)); outputString.append(QString("Maximum Altitude: %1").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);
} }
src/Wima/WimaArea.h
View file @ c878bb8a
...@@ -17,7 +17,6 @@ class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas ...@@ -17,7 +17,6 @@ class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
public: public:
WimaArea(QObject* parent = nullptr); WimaArea(QObject* parent = nullptr);
WimaArea(const WimaArea& other, 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(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY maxAltitudeChanged)
...@@ -27,25 +26,17 @@ public: ...@@ -27,25 +26,17 @@ public:
//Property accessors //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 mapVisualQML (void) const { return "WimaAreaMapVisual.qml";}
virtual QString editorQML (void) const { return "WimaAreaEditor.qml";} virtual QString editorQML (void) const { return "WimaAreaEditor.qml";}
//Property setters
void setMaxAltitude (double alt);
void setVehicle (WimaVehicle* vehicle);
// Member Methodes // Member Methodes
//iterates over all vertices in _polygon and returns the index of that one closest to coordinate //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 //iterates over all vertices in _polygon and returns that one closest to coordinate
QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const; QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const;
static QGCMapPolygon toQGCPolygon (const WimaArea& poly);
QGCMapPolygon toQGCPolygon () const; QGCMapPolygon toQGCPolygon () const;
static void join (QList<WimaArea*>* polyList, WimaArea* joinedPoly);// change to & notation 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 join (WimaArea &poly);
bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary
bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
...@@ -55,34 +46,44 @@ public: ...@@ -55,34 +46,44 @@ public:
/// calculates the previous polygon vertex index /// calculates the previous polygon vertex index
/// @return index - 1 if index < poly->count() && index > 0, or poly->count()-1 if index == 0, -1 else /// @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) /// 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 line1 line containing two coordinates, height not taken into account
/// @param line2 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. /// @param intersectionPt Coordinate item to store intersection pt. in.
/// @return false on error or no intersection, true else /// @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) /// 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 line line containing two coordinates, height not taken into account
/// @param intersectionList Empty list to store intersection points in. /// @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.) /// @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 /// @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. /// 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. /// @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 /// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
/// @return true if path was found, false else /// @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 /// @return true if the polygon is self intersecting
static bool isSelfIntersecting(const WimaArea& poly); static bool isSelfIntersecting (const WimaArea& poly);
bool isSelfIntersecting(); bool isSelfIntersecting ();
void saveToJson(QJsonObject& jsonObject);
bool loadFromJson(const QJsonObject &jsonObject, QString& errorString);
// Friends // Friends
friend void swap(WimaArea& area1, WimaArea& area2);
/// prints the member values of area to the outputString /// prints the member values of area to the outputString
friend void print(const WimaArea& area, QString& outputString); friend void print(const WimaArea& area, QString& outputString);
/// prints the member values of area to the console /// prints the member values of area to the console
...@@ -99,8 +100,12 @@ signals: ...@@ -99,8 +100,12 @@ signals:
void maxAltitudeChanged (void); void maxAltitudeChanged (void);
void vehicleChanged (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; double _maxAltitude;
private: private:
......
src/Wima/WimaController.cc
View file @ c878bb8a
...@@ -6,7 +6,6 @@ const char* WimaController::missionItemsName = "MissionItems"; ...@@ -6,7 +6,6 @@ const char* WimaController::missionItemsName = "MissionItems";
WimaController::WimaController(QObject *parent) WimaController::WimaController(QObject *parent)
: QObject (parent) : QObject (parent)
, _flyView (true)
, _readyForSaveSend (false) , _readyForSaveSend (false)
, _currentPolygonIndex (-1) , _currentPolygonIndex (-1)
, _container (nullptr) , _container (nullptr)
...@@ -18,7 +17,7 @@ WimaController::WimaController(QObject *parent) ...@@ -18,7 +17,7 @@ WimaController::WimaController(QObject *parent)
connect(this, &WimaController::currentPolygonIndexChanged, this, &WimaController::recalcPolygonInteractivity); connect(this, &WimaController::currentPolygonIndexChanged, this, &WimaController::recalcPolygonInteractivity);
} }
const QmlObjectListModel* WimaController::visualItems() const QmlObjectListModel* WimaController::visualItems()
{ {
return &_visualItems; return &_visualItems;
} }
...@@ -76,33 +75,18 @@ void WimaController::setDataContainer(WimaDataContainer *container) ...@@ -76,33 +75,18 @@ void WimaController::setDataContainer(WimaDataContainer *container)
if (_container == nullptr && container != nullptr) { if (_container == nullptr && container != nullptr) {
_container = container; _container = container;
if (_flyView) {
downloadFromContainer();
_visualItems.append(&_opArea);
_visualItems.append(&_serArea);
_visualItems.append(&_joinedArea);
connect(_container, &WimaDataContainer::opAreaChanged, this, &WimaController::setOpArea);
connect(_container, &WimaDataContainer::serAreaChanged, this, &WimaController::setSerArea);
connect(_container, &WimaDataContainer::corridorChanged, this, &WimaController::setCorridor);
connect(_container, &WimaDataContainer::joinedAreaChanged, this, &WimaController::setJoinedArea);
}
emit dataContainerChanged(); emit dataContainerChanged();
} }
} }
void WimaController::startWimaController(bool flyView) void WimaController::startWimaController(bool flyView)
{ {
_flyView = flyView;
} }
void WimaController::removeArea(int index) void WimaController::removeArea(int index)
{ {
if(index >= 0 && index < _visualItems.count()){ if(index >= 0 && index < _visualItems.count()){
if (_flyView) { //not editing allowed in flyView
return;
}
WimaArea* area = qobject_cast<WimaArea*>(_visualItems.removeAt(index)); WimaArea* area = qobject_cast<WimaArea*>(_visualItems.removeAt(index));
if ( area == nullptr) { if ( area == nullptr) {
...@@ -133,7 +117,7 @@ void WimaController::removeArea(int index) ...@@ -133,7 +117,7 @@ void WimaController::removeArea(int index)
bool WimaController::addGOperationArea() bool WimaController::addGOperationArea()
{ {
if (!_flyView && !_visualItems.contains(&_opArea)) { if (!_visualItems.contains(&_opArea)) {
_visualItems.append(&_opArea); _visualItems.append(&_opArea);
int newIndex = _visualItems.count()-1; int newIndex = _visualItems.count()-1;
...@@ -148,7 +132,7 @@ bool WimaController::addGOperationArea() ...@@ -148,7 +132,7 @@ bool WimaController::addGOperationArea()
bool WimaController::addServiceArea() bool WimaController::addServiceArea()
{ {
if (!_flyView && !_visualItems.contains(&_serArea)) { if (!_visualItems.contains(&_serArea)) {
_visualItems.append(&_serArea); _visualItems.append(&_serArea);
int newIndex = _visualItems.count()-1; int newIndex = _visualItems.count()-1;
...@@ -163,7 +147,7 @@ bool WimaController::addServiceArea() ...@@ -163,7 +147,7 @@ bool WimaController::addServiceArea()
bool WimaController::addVehicleCorridor() bool WimaController::addVehicleCorridor()
{ {
if (!_flyView && !_visualItems.contains(&_corridor)) { if (!_visualItems.contains(&_corridor)) {
_visualItems.append(&_corridor); _visualItems.append(&_corridor);
int newIndex = _visualItems.count()-1; int newIndex = _visualItems.count()-1;
...@@ -178,10 +162,6 @@ bool WimaController::addVehicleCorridor() ...@@ -178,10 +162,6 @@ bool WimaController::addVehicleCorridor()
void WimaController::removeAll() void WimaController::removeAll()
{ {
if (_flyView) {
return;
}
bool changesApplied = false; bool changesApplied = false;
while (_visualItems.count() > 0) { while (_visualItems.count() > 0) {
removeArea(0); removeArea(0);
...@@ -219,21 +199,19 @@ void WimaController::resumeMission() ...@@ -219,21 +199,19 @@ void WimaController::resumeMission()
bool WimaController::updateMission() bool WimaController::updateMission()
{ {
if (!_flyView) {
setReadyForSaveSend(false); setReadyForSaveSend(false);
#define debug 0 #define debug 0
if ( !updateJoinedArea()) { if ( !recalcJoinedArea()) {
qgcApp()->showMessage(tr("Not able to join areas. Areas must be overlapping")); qgcApp()->showMessage(tr("Not able to join areas. Areas must be overlapping"));
return false; return false;
} }
#if debug #if debug
_visualItems.append(&_joinedArea); _visualItems.append(&_joinedArea);
#endif #endif
// reset visual items // reset visual items
_missionController->removeAll(); _missionController->removeAll();
QmlObjectListModel* missionItems = _missionController->visualItems(); QmlObjectListModel* missionItems = _missionController->visualItems();
...@@ -320,10 +298,6 @@ bool WimaController::updateMission() ...@@ -320,10 +298,6 @@ bool WimaController::updateMission()
updateContainer(); updateContainer();
setReadyForSaveSend(true); setReadyForSaveSend(true);
return true; return true;
} else {
return true;
}
} }
void WimaController::saveToCurrent() void WimaController::saveToCurrent()
...@@ -405,23 +379,26 @@ bool WimaController::loadFromFile(const QString &filename) ...@@ -405,23 +379,26 @@ bool WimaController::loadFromFile(const QString &filename)
} }
QJsonObject json = jsonDoc.object(); QJsonObject json = jsonDoc.object();
// AreaItems // AreaItems
QJsonArray areaArray = json[areaItemsName].toArray(); QJsonArray areaArray = json[areaItemsName].toArray();
_visualItems.clear(); _visualItems.clear();
for( int i = 0; i < areaArray.size(); i++) { int validAreaCounter = 0;
for( int i = 0; i < areaArray.size() && validAreaCounter < 3; i++) {
QJsonObject jsonArea = areaArray[i].toObject(); QJsonObject jsonArea = areaArray[i].toObject();
if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) { if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) {
if ( jsonArea[WimaArea::areaTypeName] == WimaGOperationArea::wimaGOperationAreaName) { if ( jsonArea[WimaArea::areaTypeName] == WimaGOperationArea::wimaGOperationAreaName) {
print(_opArea);
bool success = _opArea.loadFromJson(jsonArea, errorString); bool success = _opArea.loadFromJson(jsonArea, errorString);
print(_opArea);
if ( !success ) { if ( !success ) {
qgcApp()->showMessage(errorMessage.arg(errorString)); qgcApp()->showMessage(errorMessage.arg(errorString));
return false; return false;
} }
validAreaCounter++;
_visualItems.append(&_opArea); _visualItems.append(&_opArea);
emit visualItemsChanged(); emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) { } else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) {
...@@ -432,6 +409,7 @@ bool WimaController::loadFromFile(const QString &filename) ...@@ -432,6 +409,7 @@ bool WimaController::loadFromFile(const QString &filename)
return false; return false;
} }
validAreaCounter++;
_visualItems.append(&_serArea); _visualItems.append(&_serArea);
emit visualItemsChanged(); emit visualItemsChanged();
} else if ( jsonArea[WimaArea::areaTypeName] == WimaVCorridor::wimaVCorridorName) { } else if ( jsonArea[WimaArea::areaTypeName] == WimaVCorridor::wimaVCorridorName) {
...@@ -442,6 +420,7 @@ bool WimaController::loadFromFile(const QString &filename) ...@@ -442,6 +420,7 @@ bool WimaController::loadFromFile(const QString &filename)
return false; return false;
} }
validAreaCounter++;
_visualItems.append(&_corridor); _visualItems.append(&_corridor);
emit visualItemsChanged(); emit visualItemsChanged();
} else { } else {
...@@ -458,7 +437,7 @@ bool WimaController::loadFromFile(const QString &filename) ...@@ -458,7 +437,7 @@ bool WimaController::loadFromFile(const QString &filename)
_currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension); _currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
emit currentFileChanged(); emit currentFileChanged();
updateJoinedArea(); recalcJoinedArea();
// MissionItems // MissionItems
// extrac MissionItems part // extrac MissionItems part
...@@ -519,13 +498,14 @@ void WimaController::recalcPolygonInteractivity(int index) ...@@ -519,13 +498,14 @@ void WimaController::recalcPolygonInteractivity(int index)
} }
} }
bool WimaController::updateJoinedArea() bool WimaController::recalcJoinedArea()
{ {
// join service area, op area and corridor // join service area, op area and corridor
_joinedArea = _serArea; _joinedArea = _serArea;
_joinedArea.join(_corridor); _joinedArea.join(_corridor);
if ( !_joinedArea.join(_opArea) ) if ( !_joinedArea.join(_opArea) )
return false; return false; // this happens if all areas are pairwise disjoint
else { else {
emit joinedAreaChanged() ; emit joinedAreaChanged() ;
return true; return true;
...@@ -536,56 +516,21 @@ bool WimaController::updateJoinedArea() ...@@ -536,56 +516,21 @@ bool WimaController::updateJoinedArea()
void WimaController::updateContainer() void WimaController::updateContainer()
{ {
// Sets the pointers (inside _container) to the areas (of this).
// Should be called only (once) after a _container has been assigned.
if (_container != nullptr) { if (_container != nullptr) {
_container->setOpArea(_opArea); _container->setOpArea(&_opArea);
_container->setSerArea(_serArea); _container->setSerArea(&_serArea);
_container->setCorridor(_corridor); _container->setCorridor(&_corridor);
_container->setJoinedArea(_joinedArea); _container->setJoinedArea(&_joinedArea);
} else { } else {
qWarning("WimaController::uploadToContainer(): no container assigned."); qWarning("WimaController::uploadToContainer(): no container assigned.");
} }
} }
void WimaController::downloadFromContainer()
{
if (_flyView) {
_opArea = _container->opArea();
_serArea = _container->serArea();
_corridor = _container->corridor();
_joinedArea = _container->joinedArea();
}
}
void WimaController::setOpArea(const WimaGOperationArea &area)
{
if (_flyView) {
_opArea = area;
}
}
void WimaController::setSerArea(const WimaServiceArea &area)
{
if (_flyView) {
_serArea = area;
}
}
void WimaController::setCorridor(const WimaVCorridor &area)
{
if (_flyView) {
_corridor = area;
}
}
void WimaController::setJoinedArea(const WimaArea &area)
{
if (_flyView) {
_joinedArea = area;
}
}
void WimaController::resetAllInteractive() void WimaController::resetAllInteractive()
{ {
// Marks all areas as inactive (area.interactive == false)
int itemCount = _visualItems.count(); int itemCount = _visualItems.count();
if (itemCount > 0){ if (itemCount > 0){
for (int i = 0; i < itemCount; i++) { for (int i = 0; i < itemCount; i++) {
...@@ -602,6 +547,8 @@ void WimaController::setInteractive() ...@@ -602,6 +547,8 @@ void WimaController::setInteractive()
QJsonDocument WimaController::saveToJson(FileType fileType) QJsonDocument WimaController::saveToJson(FileType fileType)
{ {
/// This function save all areas (of WimaController) and all mission items (of MissionController) to a QJsonDocument
/// @param fileType is either WimaFile or PlanFile (enum), if fileType == PlanFile only mission items are stored
QJsonObject json; QJsonObject json;
if ( fileType == FileType::WimaFile ) { if ( fileType == FileType::WimaFile ) {
...@@ -617,6 +564,7 @@ QJsonDocument WimaController::saveToJson(FileType fileType) ...@@ -617,6 +564,7 @@ QJsonDocument WimaController::saveToJson(FileType fileType)
return QJsonDocument(); return QJsonDocument();
} }
// check the type of area, create and append the JsonObject to the JsonArray once determined
WimaGOperationArea* opArea = qobject_cast<WimaGOperationArea*>(area); WimaGOperationArea* opArea = qobject_cast<WimaGOperationArea*>(area);
if (opArea != nullptr) { if (opArea != nullptr) {
opArea->saveToJson(json); opArea->saveToJson(json);
......
src/Wima/WimaController.h
View file @ c878bb8a
...@@ -31,7 +31,7 @@ public: ...@@ -31,7 +31,7 @@ public:
Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged) Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged) Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged)
Q_PROPERTY(const QmlObjectListModel*visualItems READ visualItems NOTIFY visualItemsChanged) Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged) Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged) Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT) Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
...@@ -40,14 +40,14 @@ public: ...@@ -40,14 +40,14 @@ public:
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT) Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged) Q_PROPERTY(WimaArea joinedArea READ joinedArea NOTIFY joinedAreaChanged)
Q_PROPERTY(bool flyView READ flyView CONSTANT) Q_PROPERTY(bool flyView READ flyView CONSTANT)
Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged) Q_PROPERTY(WimaDataContainer* dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged) Q_PROPERTY(bool readyForSaveSend READ readyForSaveSend NOTIFY readyForSaveSendChanged)
// Property accessors // Property accessors
PlanMasterController* masterController (void) const { return _masterController; } PlanMasterController* masterController (void) const { return _masterController; }
MissionController* missionController (void) const { return _missionController; } MissionController* missionController (void) const { return _missionController; }
const QmlObjectListModel* visualItems (void) const; QmlObjectListModel* visualItems (void) ;
int currentPolygonIndex (void) const { return _currentPolygonIndex; } int currentPolygonIndex (void) const { return _currentPolygonIndex; }
QString currentFile (void) const { return _currentFile; } QString currentFile (void) const { return _currentFile; }
QStringList loadNameFilters (void) const; QStringList loadNameFilters (void) const;
...@@ -55,8 +55,6 @@ public: ...@@ -55,8 +55,6 @@ public:
QString fileExtension (void) const { return wimaFileExtension; } QString fileExtension (void) const { return wimaFileExtension; }
QGeoCoordinate joinedAreaCenter (void) const; QGeoCoordinate joinedAreaCenter (void) const;
WimaArea joinedArea (void) const; WimaArea joinedArea (void) const;
WimaDataContainer* dataContainer (void) const { return _container; }
bool flyView (void) const { return _flyView; }
bool readyForSaveSend (void) const { return _readyForSaveSend; } bool readyForSaveSend (void) const { return _readyForSaveSend; }
...@@ -76,6 +74,7 @@ public: ...@@ -76,6 +74,7 @@ public:
Q_INVOKABLE void removeArea(int index); Q_INVOKABLE void removeArea(int index);
Q_INVOKABLE bool addServiceArea(); Q_INVOKABLE bool addServiceArea();
Q_INVOKABLE bool addVehicleCorridor(); Q_INVOKABLE bool addVehicleCorridor();
/// Remove all areas from WimaController and all mission items from MissionController
Q_INVOKABLE void removeAll(); Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission(); Q_INVOKABLE void startMission();
...@@ -115,23 +114,17 @@ signals: ...@@ -115,23 +114,17 @@ signals:
private slots: private slots:
void recalcPolygonInteractivity (int index); void recalcPolygonInteractivity (int index);
bool updateJoinedArea (); bool recalcJoinedArea ();
void updateContainer (); void updateContainer ();// only executed if flyView == false
void downloadFromContainer (); void downloadFromContainer ();// only executed if flyView == true
void setOpArea (const WimaGOperationArea& area);
void setSerArea (const WimaServiceArea& area);
void setCorridor (const WimaVCorridor& area);
void setJoinedArea (const WimaArea& area);
private: private:
bool _flyView;
bool _readyForSaveSend; bool _readyForSaveSend;
PlanMasterController* _masterController; PlanMasterController *_masterController;
MissionController* _missionController; MissionController *_missionController;
int _currentPolygonIndex; int _currentPolygonIndex;
QString _currentFile; QString _currentFile;
WimaDataContainer* _container; WimaDataContainer *_container;
QmlObjectListModel _visualItems; QmlObjectListModel _visualItems;
WimaArea _joinedArea; WimaArea _joinedArea;
WimaGOperationArea _opArea; WimaGOperationArea _opArea;
......
src/Wima/WimaDataContainer.cc
View file @ c878bb8a
...@@ -2,44 +2,44 @@ ...@@ -2,44 +2,44 @@
WimaDataContainer::WimaDataContainer(QObject *parent) WimaDataContainer::WimaDataContainer(QObject *parent)
: QObject (parent) : QObject (parent)
, _joinedArea (this) , _joinedArea (nullptr)
, _opArea (this) , _opArea (nullptr)
, _serArea (this) , _serArea (nullptr)
, _corridor (this) , _corridor (nullptr)
{ {
} }
void WimaDataContainer::setJoinedArea(const WimaArea &joinedArea) void WimaDataContainer::setJoinedArea(const WimaArea *joinedArea)
{ {
if (_joinedArea.path() != joinedArea.path()) { if (_joinedArea != joinedArea) {
_joinedArea = joinedArea; _joinedArea = joinedArea;
emit joinedAreaChanged(_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; _opArea = opArea;
emit opAreaChanged(_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; _serArea = serArea;
emit serAreaChanged(_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; _corridor = corridor;
emit corridorChanged(_corridor); emit corridorChanged(_corridor);
......
src/Wima/WimaDataContainer.h
View file @ c878bb8a
#ifndef WIMADATACONTAINER_H #pragma once
#define WIMADATACONTAINER_H
#include <QObject> #include <QObject>
...@@ -15,30 +14,30 @@ class WimaDataContainer : public QObject ...@@ -15,30 +14,30 @@ class WimaDataContainer : public QObject
Q_OBJECT Q_OBJECT
public: public:
explicit WimaDataContainer(QObject *parent = nullptr); explicit WimaDataContainer(QObject *parent = nullptr);
WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
WimaDataContainer(WimaDataContainer &other) = delete;
WimaArea joinedArea (void) { return _joinedArea; } const WimaArea * joinedArea (void) { return _joinedArea; }
WimaGOperationArea opArea (void) { return _opArea; } const WimaGOperationArea * opArea (void) { return _opArea; }
WimaServiceArea serArea (void) { return _serArea; } const WimaServiceArea * serArea (void) { return _serArea; }
WimaVCorridor corridor (void) { return _corridor; } const 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);
signals: signals:
void joinedAreaChanged (const WimaArea& area); void joinedAreaChanged (const WimaArea *area);
void opAreaChanged (const WimaGOperationArea& area); void opAreaChanged (const WimaGOperationArea *area);
void serAreaChanged (const WimaServiceArea& area); void serAreaChanged (const WimaServiceArea *area);
void corridorChanged (const WimaVCorridor& area); void corridorChanged (const WimaVCorridor *area);
public slots: public slots:
void setJoinedArea (const WimaArea *joinedArea);
void setOpArea (const WimaGOperationArea *opArea);
void setSerArea (const WimaServiceArea *serArea);
void setCorridor (const WimaVCorridor *corridor);
private: private:
WimaArea _joinedArea; const WimaArea *_joinedArea;
WimaGOperationArea _opArea; const WimaGOperationArea *_opArea;
WimaServiceArea _serArea; const WimaServiceArea *_serArea;
WimaVCorridor _corridor; const WimaVCorridor *_corridor;
}; };
#endif // WIMADATACONTAINER_H
src/Wima/WimaGOperationArea.cc
View file @ c878bb8a
...@@ -21,13 +21,6 @@ WimaGOperationArea::WimaGOperationArea(const WimaGOperationArea &other, QObject ...@@ -21,13 +21,6 @@ WimaGOperationArea::WimaGOperationArea(const WimaGOperationArea &other, QObject
init(); init();
} }
WimaGOperationArea &WimaGOperationArea::operator=(WimaGOperationArea other)
{
swap(*this, other);
return *this;
}
void WimaGOperationArea::saveToJson(QJsonObject &json) void WimaGOperationArea::saveToJson(QJsonObject &json)
{ {
this->WimaArea::saveToJson(json); this->WimaArea::saveToJson(json);
...@@ -77,6 +70,23 @@ bool WimaGOperationArea::loadFromJson(const QJsonObject &json, QString& errorStr ...@@ -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) void print(const WimaGOperationArea &area)
{ {
QString message; QString message;
...@@ -87,30 +97,18 @@ void print(const WimaGOperationArea &area) ...@@ -87,30 +97,18 @@ void print(const WimaGOperationArea &area)
void print(const WimaGOperationArea &area, QString outputStr) void print(const WimaGOperationArea &area, QString outputStr)
{ {
print(static_cast<const WimaArea&>(area), outputStr); print(static_cast<const WimaArea&>(area), outputStr);
outputStr.append(QString("Bottom Layer Altitude: %.3f\n").arg(area._bottomLayerAltitude.rawValue().toDouble())); outputStr.append(QString("Bottom Layer Altitude: %1\n").arg(area._bottomLayerAltitude.rawValue().toDouble()));
outputStr.append(QString("Number of Layers: %i\n").arg(area._numberOfLayers.rawValue().toInt())); outputStr.append(QString("Number of Layers: %1\n").arg(area._numberOfLayers.rawValue().toInt()));
outputStr.append(QString("Layer Distance: %.3f\n").arg(area._layerDistance.rawValue().toDouble())); outputStr.append(QString("Layer Distance: %1\n").arg(area._layerDistance.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Offset: %.3f\n").arg(area._borderPolygonOffset.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())); outputStr.append(QString("Border Polygon Coordinates\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
for (int i = 0; i < area._borderPolygon.count(); i++) { for (int i = 0; i < area._borderPolygon.count(); i++) {
QGeoCoordinate coordinate = area._borderPolygon.vertexCoordinate(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() void WimaGOperationArea::recalcBorderPolygon()
{ {
//qWarning("WimaGOperationArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble()); //qWarning("WimaGOperationArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble());
......
src/Wima/WimaGOperationArea.h
View file @ c878bb8a
...@@ -13,35 +13,34 @@ class WimaGOperationArea : public WimaArea ...@@ -13,35 +13,34 @@ class WimaGOperationArea : public WimaArea
Q_OBJECT Q_OBJECT
public: public:
WimaGOperationArea(QObject* parent = nullptr); WimaGOperationArea(QObject* parent = nullptr);
WimaGOperationArea(const WimaGOperationArea& other, QObject* parent = nullptr); WimaGOperationArea(const WimaGOperationArea &other, QObject *parent = nullptr);
WimaGOperationArea& operator=(WimaGOperationArea other);
Q_PROPERTY(Fact* bottomLayerAltitude READ bottomLayerAltitude CONSTANT) Q_PROPERTY(Fact* bottomLayerAltitude READ bottomLayerAltitudeFact CONSTANT)
Q_PROPERTY(Fact* numberOfLayers READ numberOfLayers CONSTANT) Q_PROPERTY(Fact* numberOfLayers READ numberOfLayersFact CONSTANT)
Q_PROPERTY(Fact* layerDistance READ layerDistance CONSTANT) Q_PROPERTY(Fact* layerDistance READ layerDistanceFact CONSTANT)
Q_PROPERTY(Fact* borderPolygonOffset READ borderPolygonOffset CONSTANT) Q_PROPERTY(Fact* borderPolygonOffset READ borderPolygonOffsetFact CONSTANT)
Q_PROPERTY(QGCMapPolygon* borderPolygon READ borderPolygon NOTIFY borderPolygonChanged) Q_PROPERTY(QGCMapPolygon borderPolygon READ borderPolygon NOTIFY borderPolygonChanged)
void setVehicleCorridor (WimaVCorridor* corridor);
// Overrides from WimaPolygon // Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaGOperationAreaMapVisual.qml";} QString mapVisualQML (void) const { return "WimaGOperationAreaMapVisual.qml";}
QString editorQML (void) const { return "WimaGOperationAreaEditor.qml";} QString editorQML (void) const { return "WimaGOperationAreaEditor.qml";}
// Property accessors // Property accessors
Fact* bottomLayerAltitude (void) { return &_bottomLayerAltitude;} Fact* bottomLayerAltitudeFact (void) { return &_bottomLayerAltitude;}
Fact* numberOfLayers (void) { return &_numberOfLayers;} Fact* numberOfLayersFact (void) { return &_numberOfLayers;}
Fact* layerDistance (void) { return &_layerDistance;} Fact* layerDistanceFact (void) { return &_layerDistance;}
Fact* borderPolygonOffset (void) { return &_borderPolygonOffset;} Fact* borderPolygonOffsetFact (void) { return &_borderPolygonOffset;}
QGCMapPolygon* borderPolygon (void) { return &_borderPolygon;} 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 // Member Methodes
void saveToJson(QJsonObject& json); void saveToJson(QJsonObject& json);
bool loadFromJson(const QJsonObject& json, QString &errorString); bool loadFromJson(const QJsonObject& json, QString &errorString);
// Friends // Friends
friend void swap(WimaGOperationArea& area1, WimaGOperationArea& area2);
friend void print(const WimaGOperationArea& area, QString outputStr); friend void print(const WimaGOperationArea& area, QString outputStr);
friend void print(const WimaGOperationArea& area); friend void print(const WimaGOperationArea& area);
...@@ -53,21 +52,23 @@ public: ...@@ -53,21 +52,23 @@ public:
static const char* borderPolygonOffsetName; static const char* borderPolygonOffsetName;
static const char* wimaGOperationAreaName; static const char* wimaGOperationAreaName;
signals: signals:
void bottomLayerAltitudeChanged (void); void bottomLayerAltitudeChanged (void);
void numberOfLayersChanged (void); void numberOfLayersChanged (void);
void layerDistanceChanged (void); void layerDistanceChanged (void);
//void vehicleListChanged (void);
void polylineChanged (void); void polylineChanged (void);
//void vehiclePolygonsChanged (void);
void vehicleCorridorChanged (WimaVCorridor* corridor); void vehicleCorridorChanged (WimaVCorridor* corridor);
void borderPolygonChanged (void); 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: private slots:
void recalcBorderPolygon (void); void recalcBorderPolygon (void);
private: private:
// Member Methodes // Member Methodes
void init(); 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) ...@@ -16,13 +16,6 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
init(); init();
} }
WimaServiceArea &WimaServiceArea::operator=(WimaServiceArea other)
{
swap(*this, other);
return *this;
}
void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate) void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate)
{ {
if(_takeOffPosition != coordinate){ if(_takeOffPosition != coordinate){
...@@ -57,6 +50,13 @@ bool WimaServiceArea::loadFromJson(const QJsonObject &json, QString &errorString ...@@ -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) void print(const WimaServiceArea &area)
{ {
QString message; QString message;
...@@ -71,14 +71,6 @@ void print(const WimaServiceArea &area, QString &outputStr) ...@@ -71,14 +71,6 @@ void print(const WimaServiceArea &area, QString &outputStr)
outputStr.append(QString("Land Position: %s\n").arg(area._landPosition.toString(QGeoCoordinate::Degrees))); 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() void WimaServiceArea::init()
{ {
this->setObjectName(wimaServiceAreaName); this->setObjectName(wimaServiceAreaName);
......
src/Wima/WimaServiceArea.h
View file @ c878bb8a
...@@ -10,12 +10,10 @@ class WimaServiceArea : public WimaArea ...@@ -10,12 +10,10 @@ class WimaServiceArea : public WimaArea
public: public:
WimaServiceArea(QObject* parent = nullptr); WimaServiceArea(QObject* parent = nullptr);
WimaServiceArea(const WimaServiceArea& other, QObject* parent); 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& takeOffPosition READ takeOffPosition WRITE setTakeOffPosition NOTIFY takeOffPositionChanged)
Q_PROPERTY(const QGeoCoordinate& landPosition READ landPosition WRITE setLandPosition NOTIFY landPositionChanged) Q_PROPERTY(const QGeoCoordinate& landPosition READ landPosition WRITE setLandPosition NOTIFY landPositionChanged)
// Overrides from WimaPolygon // Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaServiceAreaMapVisual.qml";} QString mapVisualQML (void) const { return "WimaServiceAreaMapVisual.qml";}
QString editorQML (void) const { return "WimaServiceAreaEditor.qml";} QString editorQML (void) const { return "WimaServiceAreaEditor.qml";}
...@@ -24,27 +22,29 @@ public: ...@@ -24,27 +22,29 @@ public:
const QGeoCoordinate& takeOffPosition (void) const { return _takeOffPosition;} const QGeoCoordinate& takeOffPosition (void) const { return _takeOffPosition;}
const QGeoCoordinate& landPosition (void) const { return _landPosition;} const QGeoCoordinate& landPosition (void) const { return _landPosition;}
// Property setters
void setTakeOffPosition (const QGeoCoordinate& coordinate);
void setLandPosition (const QGeoCoordinate& coordinate);
// Member Methodes // Member Methodes
void saveToJson(QJsonObject& json); void saveToJson(QJsonObject& json);
bool loadFromJson(const QJsonObject& json, QString& errorString); bool loadFromJson(const QJsonObject& json, QString& errorString);
// static Members
static const char* wimaServiceAreaName;
// Friends // Friends
friend void swap(WimaServiceArea& area1, WimaServiceArea& area2);
friend void print(const WimaServiceArea& area, QString& outputStr); friend void print(const WimaServiceArea& area, QString& outputStr);
friend void print(const WimaServiceArea& area); friend void print(const WimaServiceArea& area);
// static Members
static const char* wimaServiceAreaName;
signals: signals:
void takeOffPositionChanged (void); void takeOffPositionChanged (void);
void landPositionChanged (void); void landPositionChanged (void);
void vehicleCorridorChanged (WimaVCorridor& corridor); 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: private:
// Member Methodes // Member Methodes
void init(); void init();
......
src/Wima/WimaVCorridor.cc
View file @ c878bb8a
...@@ -16,13 +16,6 @@ WimaVCorridor::WimaVCorridor(const WimaVCorridor &other, QObject *parent) ...@@ -16,13 +16,6 @@ WimaVCorridor::WimaVCorridor(const WimaVCorridor &other, QObject *parent)
init(); init();
} }
WimaVCorridor &WimaVCorridor::operator=(WimaVCorridor other)
{
swap(*this, other);
return *this;
}
void WimaVCorridor::saveToJson(QJsonObject &json) void WimaVCorridor::saveToJson(QJsonObject &json)
{ {
this->WimaArea::saveToJson(json); this->WimaArea::saveToJson(json);
...@@ -41,6 +34,11 @@ bool WimaVCorridor::loadFromJson(const QJsonObject &json, QString &errorString) ...@@ -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() void WimaVCorridor::init()
{ {
this->setObjectName(wimaVCorridorName); this->setObjectName(wimaVCorridorName);
...@@ -57,10 +55,3 @@ void print(const WimaVCorridor &area, QString &outputString) ...@@ -57,10 +55,3 @@ void print(const WimaVCorridor &area, QString &outputString)
{ {
print(static_cast<const WimaArea&>(area), 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 ...@@ -11,7 +11,6 @@ class WimaVCorridor : public WimaArea
public: public:
WimaVCorridor(QObject* parent = nullptr); WimaVCorridor(QObject* parent = nullptr);
WimaVCorridor(const WimaVCorridor& other, QObject* parent = nullptr); WimaVCorridor(const WimaVCorridor& other, QObject* parent = nullptr);
WimaVCorridor& operator=(WimaVCorridor other);
// Overrides from WimaPolygon // Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaVCorridorMapVisual.qml";} QString mapVisualQML (void) const { return "WimaVCorridorMapVisual.qml";}
...@@ -25,7 +24,6 @@ public: ...@@ -25,7 +24,6 @@ public:
static const char* wimaVCorridorName; static const char* wimaVCorridorName;
// Friends // Friends
friend void swap(WimaVCorridor& area1, WimaVCorridor& area2);
friend void print(const WimaVCorridor& area, QString& outputString); friend void print(const WimaVCorridor& area, QString& outputString);
friend void print(const WimaVCorridor& area); friend void print(const WimaVCorridor& area);
...@@ -33,6 +31,10 @@ signals: ...@@ -33,6 +31,10 @@ signals:
void serviceAreaChanged (WimaServiceArea* serviceArea); void serviceAreaChanged (WimaServiceArea* serviceArea);
void opAreaChanged (WimaGOperationArea* opArea); void opAreaChanged (WimaGOperationArea* opArea);
public slots:
/// Updates this with data from area
void update(const WimaVCorridor& area);
private: private:
void init(); void init();
......
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