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Commit ced7b198 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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lots of changes :)

parent cafd9e03
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Showing with 402 additions and 207 deletions
qgroundcontrol.pro
View file @ ced7b198
......@@ -1345,4 +1345,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
}
DISTFILES += \
src/WimaView/WimaMeasurementAreaEditor.qml
src/WimaView/WimaMeasurementAreaEditor.qml \
qgroundcontrol.qrc
View file @ ced7b198
......@@ -277,6 +277,7 @@
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
<file alias="WimaArea.SettingsGroup.json">src/Wima/WimaArea.SettingsGroup.json</file>
<file alias="WimaController.SettingsGroup.json">src/Wima/WimaController.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/FlightDisplay/FlightDisplayView.qml
View file @ ced7b198
......@@ -402,7 +402,8 @@ QGCView {
script: {
// Stop video, restart it again with Timer
// Avoiding crashs if ParentChange is not yet done
QGroundControl.videoManager.stopVideo()
QGroundControl.video
visible: _splitConcave.visibleManager.stopVideo()
videoPopUpTimer.running = true
}
}
......@@ -512,22 +513,6 @@ QGCView {
FlightDisplayViewWidgets {
id: flightDisplayViewWidgets
<<<<<<< HEAD
=======
z: _panel.z + 4
height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.bottom: parent.bottom
qgcView: root
useLightColors: isBackgroundDark
missionController: _missionController
visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
}
FlightDisplayWimaMenu {
id: wimaMenu
>>>>>>> ea04fc44a33fa7111877cdbdc2644ae4a9db9d2c
z: _panel.z + 4
height: ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
anchors.left: parent.left
......@@ -546,8 +531,6 @@ QGCView {
anchors.bottom: parent.bottom
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.25
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 0.25
height: 300
width: 300
wimaController: wimaController
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ ced7b198
......@@ -193,6 +193,13 @@ FlightMap {
property real leftToolWidth: toolStrip.x + toolStrip.width
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
wimaController: flightMap.wimaController
}
// Add wima Areas to the Map
MapItemView {
model: wimaController.visualItems
......@@ -205,18 +212,10 @@ FlightMap {
: object.type === "WimaMeasurementAreaData" ? "green"
: "transparent"
opacity: 0.25
z: QGroundControl.zOrderTrajectoryLines-2
z: QGroundControl.zOrderWaypointLines-2
}
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
wimaController: flightMap.wimaController
z: QGroundControl.zOrderTrajectoryLines-1
}
// Add trajectory points to the map
MapItemView {
model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ ced7b198
......@@ -14,9 +14,13 @@ import QGroundControl.Vehicle 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.Airspace 1.0
import QGroundControl.Airmap 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
id: _root
id: _root
height: 400
width: 250
property var wimaController // must be provided by the user
......@@ -24,61 +28,131 @@ Item {
Rectangle {
anchors.left: parent.left
anchors.bottom: parent.bottom
height: enableWima.checked ? parent.height : enableWima.height
width: enableWima.checked ? parent.width : enableWima.width
color: "black"
height: enableWima.enableWimaBoolean ? parent.height : enableWima.height
width: enableWima.enableWimaBoolean ? parent.width : enableWima.width
color: enableWima.enableWimaBoolean ? qgcPal.window : "transparent"
radius: ScreenTools.defaultFontPixelHeight / 4
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.rightMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.5
// checkbox to enable/ disable wima
QGCCheckBox {
SliderSwitch {
id: enableWima
checked: true
anchors.horizontalCenter: parent.horizontalCenter
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
anchors.top: parent.top
text: qsTr("WiMA")
}
confirmText: enableWimaBoolean ? qsTr("disable WiMA") : qsTr("enable WiMA")
// horizonal line
Rectangle {
id: horizontalLine
anchors.left: parent.left
anchors.right: parent.right
anchors.top: enableWima.bottom
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.rightMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
height: 1
property var enableWimaFact: wimaController.enableWimaController
property bool enableWimaBoolean: enableWimaFact.value
color: "white"
onAccept: {
if (enableWimaBoolean) {
enableWimaFact.value = false
} else {
enableWimaFact.value = true
}
}
}
ColumnLayout {
id : mainColumn
anchors.left: parent.left
anchors.right: parent.right
anchors.top: horizontalLine.bottom
anchors.bottom: parent.bottom
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.rightMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.leftMargin: ScreenTools.defaultFontPixelHeight * 0.5
spacing: ScreenTools.defaultFontPixelHeight * 0.5
QGCButton {
id: buttonNextMissionPhase
text: "Next Phase"
onClicked: wimaController.nextPhase();
Column {
id: mainColumn
anchors.top: enableWima.bottom
anchors.left: parent.left
anchors.right: parent.right
anchors.bottom: parent.bottom
anchors.margins: ScreenTools.defaultFontPixelHeight * 0.4
spacing: ScreenTools.defaultFontPixelHeight * 0.25
SectionHeader {
id: settingsHeader
text: qsTr("Settings")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
visible: settingsHeader.checked
// Settings
QGCLabel { text: qsTr("Next Waypoint") }
FactTextField {
fact: wimaController.startWaypointIndex
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Waypoints") }
FactTextField {
fact: wimaController.maxWaypointsPerPhase
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Overlap") }
FactTextField {
fact: wimaController.overlapWaypoints
Layout.fillWidth: true
}
QGCButton {
id: buttonResetPhase
text: "Reset Phase"
onClicked: wimaController.resetPhase();
FactCheckBox {
text: qsTr("Show All")
fact: wimaController.showAllMissionItems
}
FactCheckBox {
text: qsTr("Show Current")
fact: wimaController.showCurrentMissionItems
}
}
SectionHeader{
id: commandHeader
text: qsTr("Commands")
}
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.25
visible: commandHeader.checked
// Buttons
QGCButton {
id: buttonNextMissionPhase
text: qsTr("Next Phase")
onClicked: wimaController.nextPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonPreviousMissionPhase
text: qsTr("Previous Phase")
onClicked: wimaController.previousPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonResetPhase
text: qsTr("Reset Phase")
onClicked: wimaController.resetPhase();
Layout.fillWidth: true
}
QGCButton {
id: buttonUpload
text: qsTr("Upload")
onClicked: wimaController.uploadToVehicle();
Layout.fillWidth: true
}
QGCButton {
id: buttonUpload
text: "Upload"
onClicked: wimaController.uploadToVehicle();
QGCButton {
id: buttonRemoveFromVehicle
text: qsTr("Remove")
onClicked: wimaController.removeFromVehicle();
Layout.fillWidth: true
}
}
}
......
src/FlightMap/MapItems/WimaPlanMapItems.qml
View file @ ced7b198
......@@ -31,9 +31,13 @@ Item {
property var _missionLineViewComponent
property var _currentMissionLineViewComponent
property bool _showAllItems: wimaController.showAllMissionItems.value
property bool _showCurrentItems: wimaController.showCurrentMissionItems.value
// Add the mission item visuals to the map
Repeater {
model: largeMapView ? wimaController.missionItems : 0
Repeater {
model: largeMapView ? (_showAllItems ? wimaController.missionItems : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-2
delegate: WimaMissionItemMapVisual {
map: _map
......@@ -45,19 +49,12 @@ Item {
// }
// }
}
/*onItemAdded: {
console.log(wimaController.missionItems.count)
}
onItemRemoved: {
console.log(wimaController.missionItems.count)
}*/
}
// Add the current mission item visuals to the map
Repeater {
model: largeMapView ? wimaController.currentMissionItems : 0
model: largeMapView ? (_showCurrentItems ? wimaController.currentMissionItems : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-1
delegate: WimaMissionItemMapVisual {
map: _map
......@@ -88,8 +85,8 @@ Item {
MapPolyline {
line.width: 3
line.color: mIlineColor
z: QGroundControl.zOrderWaypointLines
line.color: _showAllItems ? mIlineColor : "transparent"
z: QGroundControl.zOrderWaypointLines-2
path: wimaController.waypointPath
}
}
......@@ -99,8 +96,8 @@ Item {
MapPolyline {
line.width: 3
line.color: cMIlineColor
z: QGroundControl.zOrderWaypointLines
line.color: _showCurrentItems ? cMIlineColor : "transparent"
z: QGroundControl.zOrderWaypointLines-1
path: wimaController.currentWaypointPath
}
}
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ ced7b198
......@@ -129,20 +129,6 @@ Rectangle {
Layout.fillWidth: true
//onUpdated: angleSlider.value = missionItem.deltaAlpha.value
}
/*QGCSlider {
id: angleSlider
minimumValue: 0.3
maximumValue: 10
stepSize: 0.1
tickmarksEnabled: false
Layout.fillWidth: true
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
Component.onCompleted: value = missionItem.deltaAlpha.value
onValueChanged: missionItem.deltaAlpha.value = value
updateValueWhileDragging: false
}*/
}
ColumnLayout {
......@@ -151,14 +137,36 @@ Rectangle {
spacing: _margin
visible: transectsHeader.checked
FactCheckBox {
text: qsTr("Snake Path")
fact: missionItem.isSnakePath
}
QGCCheckBox {
id: relAlt
Layout.alignment: Qt.AlignLeft
text: qsTr("Relative altitude")
checked: missionItem.cameraCalc.distanceToSurfaceRelative
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Connections {
target: missionItem.cameraCalc
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
QGCButton {
text: qsTr("Reset Reference")
onClicked: missionItem.resetReference();
Layout.fillWidth: true
}
QGCButton {
text: qsTr("Rotate Entry Point")
onClicked: missionItem.rotateEntryPoint();
Layout.fillWidth: true
}
/*
......@@ -170,22 +178,6 @@ Rectangle {
property Fact _splitConcave: missionItem.splitConcavePolygons
}
*/
QGCCheckBox {
id: relAlt
Layout.alignment: Qt.AlignLeft
text: qsTr("Relative altitude")
checked: missionItem.cameraCalc.distanceToSurfaceRelative
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Connections {
target: missionItem.cameraCalc
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
}
SectionHeader {
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ ced7b198
......@@ -173,10 +173,10 @@ public:
qreal zOrderTopMost () { return 1000; }
qreal zOrderWidgets () { return 100; }
qreal zOrderMapItems () { return 50; }
qreal zOrderWaypointIndicators () { return 50; }
qreal zOrderVehicles () { return 49; }
qreal zOrderTrajectoryLines () { return 48; }
qreal zOrderWaypointLines () { return 47; }
qreal zOrderWaypointIndicators () { return 40; }
qreal zOrderVehicles () { return 30; }
qreal zOrderTrajectoryLines () { return 20; }
qreal zOrderWaypointLines () { return 10; }
bool isVersionCheckEnabled () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); }
......
src/Wima/CircularSurvey.SettingsGroup.json
View file @ ced7b198
......@@ -26,5 +26,11 @@
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 5.0
},
{
"name": "IsSnakePath",
"shortDescription": "Determines whether the transects are arranged in a snake or a zig-zag manner.",
"type": "bool",
"defaultValue": 1
}
]
src/Wima/CircularSurveyComplexItem.cc
View file @ ced7b198
......@@ -7,12 +7,14 @@ const char* CircularSurveyComplexItem::settingsGroup = "CircularSur
const char* CircularSurveyComplexItem::deltaRName = "DeltaR";
const char* CircularSurveyComplexItem::deltaAlphaName = "DeltaAlpha";
const char* CircularSurveyComplexItem::transectMinLengthName = "TransectMinLength";
const char* CircularSurveyComplexItem::isSnakePathName = "IsSnakePath";
const char* CircularSurveyComplexItem::jsonComplexItemTypeValue = "circularSurvey";
const char* CircularSurveyComplexItem::jsonDeltaRKey = "deltaR";
const char* CircularSurveyComplexItem::jsonDeltaAlphaKey = "deltaAlpha";
const char* CircularSurveyComplexItem::jsonTransectMinLengthKey = "transectMinLength";
const char* CircularSurveyComplexItem::jsonIsSnakePathKey = "isSnakePath";
const char* CircularSurveyComplexItem::jsonReferencePointLatKey = "referencePointLat";
const char* CircularSurveyComplexItem::jsonReferencePointLongKey = "referencePointLong";
const char* CircularSurveyComplexItem::jsonReferencePointAltKey = "referencePointAlt";
......@@ -24,12 +26,14 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
, _deltaR (settingsGroup, _metaDataMap[deltaRName])
, _deltaAlpha (settingsGroup, _metaDataMap[deltaAlphaName])
, _transectMinLength (settingsGroup, _metaDataMap[transectMinLengthName])
, _isSnakePath (settingsGroup, _metaDataMap[isSnakePathName])
, _autoGenerated (false)
{
_editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
connect(&_deltaR, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_deltaAlpha, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_transectMinLength, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_isSnakePath, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(this, &CircularSurveyComplexItem::refPointChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
}
......@@ -99,12 +103,12 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
{ jsonDeltaRKey, QJsonValue::Double, true },
{ jsonDeltaAlphaKey, QJsonValue::Double, true },
{ jsonTransectMinLengthKey, QJsonValue::Double, true },
{ jsonIsSnakePathKey, QJsonValue::Bool, true },
{ jsonReferencePointLatKey, QJsonValue::Double, true },
{ jsonReferencePointLongKey, QJsonValue::Double, true },
{ jsonReferencePointAltKey, QJsonValue::Double, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
}
......@@ -136,6 +140,7 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
_referencePoint.setLongitude (complexObject[jsonReferencePointLongKey].toDouble());
_referencePoint.setLatitude (complexObject[jsonReferencePointLatKey].toDouble());
_referencePoint.setAltitude (complexObject[jsonReferencePointAltKey].toDouble());
_isSnakePath.setRawValue (complexObject[jsonIsSnakePathKey].toBool());
_autoGenerated = true;
_ignoreRecalc = false;
......@@ -160,8 +165,9 @@ void CircularSurveyComplexItem::save(QJsonArray &planItems)
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[jsonDeltaRKey] = _deltaR.rawValue().toDouble();
saveObject[jsonDeltaAlphaKey] = _deltaAlpha.rawValue().toDouble();
saveObject[jsonDeltaAlphaKey] = _deltaAlpha.rawValue().toDouble();
saveObject[jsonTransectMinLengthKey] = _transectMinLength.rawValue().toDouble();
saveObject[jsonIsSnakePathKey] = _isSnakePath.rawValue().toBool();
saveObject[jsonReferencePointLongKey] = _referencePoint.longitude();
saveObject[jsonReferencePointLatKey] = _referencePoint.latitude();
saveObject[jsonReferencePointAltKey] = _referencePoint.altitude();
......@@ -510,7 +516,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
return;
// optimize path to lawn pattern
// optimize path to snake or zig-zag pattern
bool isSnakePattern = _isSnakePath.rawValue().toBool();
QList<QPointF> currentSection = fullPath.takeFirst();
if ( currentSection.isEmpty() )
return;
......@@ -539,7 +546,7 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
}
}
currentSection = fullPath.takeAt(index);
if (reversePath) {
if (reversePath && isSnakePattern) {
PolygonCalculus::reversePath(currentSection);
}
}
......@@ -582,6 +589,11 @@ Fact *CircularSurveyComplexItem::transectMinLength()
return &_transectMinLength;
}
Fact *CircularSurveyComplexItem::isSnakePath()
{
return &_isSnakePath;
}
......
src/Wima/CircularSurveyComplexItem.h
View file @ ced7b198
......@@ -18,11 +18,12 @@ public:
/// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact* transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(bool autoGenerated READ autoGenerated NOTIFY autoGeneratedChanged)
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact* transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(Fact* isSnakePath READ isSnakePath CONSTANT)
Q_PROPERTY(bool autoGenerated READ autoGenerated NOTIFY autoGeneratedChanged)
Q_INVOKABLE void resetReference(void);
......@@ -34,8 +35,9 @@ public:
// Property getters
QGeoCoordinate refPoint() const;
Fact *deltaR();
Fact *deltaAlpha();
Fact *deltaAlpha();
Fact *transectMinLength();
Fact *isSnakePath();
// Is true if survey was automatically generated, prevents initialisation from gui.
bool autoGenerated();
......@@ -61,11 +63,13 @@ public:
static const char* deltaRName;
static const char* deltaAlphaName;
static const char* transectMinLengthName;
static const char* isSnakePathName;
static const char* jsonComplexItemTypeValue;
static const char* jsonDeltaRKey;
static const char* jsonDeltaAlphaKey;
static const char* jsonTransectMinLengthKey;
static const char* jsonTransectMinLengthKey;
static const char* jsonIsSnakePathKey;
static const char* jsonReferencePointLongKey;
static const char* jsonReferencePointLatKey;
static const char* jsonReferencePointAltKey;
......@@ -92,9 +96,10 @@ private:
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _deltaR;
SettingsFact _deltaAlpha;
SettingsFact _transectMinLength;
SettingsFact _deltaR; // distance between two neighbour circles
SettingsFact _deltaAlpha; // angle discretisation of the circles
SettingsFact _transectMinLength; // minimal transect lenght, transects are rejected if they are shorter than this value
SettingsFact _isSnakePath; // bool value, determining if transects are connected in a snake like or zig zag like manner
QTimer _updateTimer;
......
src/Wima/WimaController.SettingsGroup.json 0 → 100644
View file @ ced7b198
[
{
"name": "EnableWimaController",
"shortDescription": "Enables or disables the WimaController, which performes different tasks inside the flight view window.",
"type": "bool",
"defaultValue": 1
},
{
"name": "OverlapWaypoints",
"shortDescription": "Determines the number of overlapping waypoints between two consecutive mission phases.",
"type": "uint32",
"defaultValue": 2
},
{
"name": "MaxWaypointsPerPhase",
"shortDescription": "Determines the maximum number of waypoints per phase.",
"type": "uint32",
"defaultValue": 30
},
{
"name": "StartWaypointIndex",
"shortDescription": "The index of the start waypoint for the next mission phase.",
"type": "uint32",
"defaultValue": 1
},
{
"name": "ShowAllMissionItems",
"shortDescription": "Determines whether the mission items of the overall mission are displayed or not.",
"type": "bool",
"defaultValue": 1
},
{
"name": "ShowCurrentMissionItems",
"shortDescription": "Determines whether the mission items of the current mission phase are displayed or not.",
"type": "bool",
"defaultValue": 1
}
]
src/Wima/WimaController.cc
View file @ ced7b198
#include "WimaController.h"
const char* WimaController::wimaFileExtension = "wima";
const char* WimaController::areaItemsName = "AreaItems";
const char* WimaController::missionItemsName = "MissionItems";
const char* WimaController::wimaFileExtension = "wima";
const char* WimaController::areaItemsName = "AreaItems";
const char* WimaController::missionItemsName = "MissionItems";
const char* WimaController::settingsGroup = "WimaController";
const char* WimaController::enableWimaControllerName = "EnableWimaController";
const char* WimaController::overlapWaypointsName = "OverlapWaypoints";
const char* WimaController::maxWaypointsPerPhaseName = "MaxWaypointsPerPhase";
const char* WimaController::startWaypointIndexName = "StartWaypointIndex";
const char* WimaController::showAllMissionItemsName = "ShowAllMissionItems";
const char* WimaController::showCurrentMissionItemsName = "ShowCurrentMissionItems";
WimaController::WimaController(QObject *parent)
: QObject (parent)
, _container (nullptr)
, _joinedArea (this)
, _measurementArea (this)
, _serviceArea (this)
, _corridor (this)
, _localPlanDataValid (false)
, _startWaypointIndex (1)
, _endWaypointIndex (1)
{
: QObject (parent)
, _container (nullptr)
, _joinedArea (this)
, _measurementArea (this)
, _serviceArea (this)
, _corridor (this)
, _localPlanDataValid (false)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/WimaController.SettingsGroup.json"), this))
, _enableWimaController (settingsGroup, _metaDataMap[enableWimaControllerName])
, _overlapWaypoints (settingsGroup, _metaDataMap[overlapWaypointsName])
, _maxWaypointsPerPhase (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
, _startWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName])
, _showAllMissionItems (settingsGroup, _metaDataMap[showAllMissionItemsName])
, _showCurrentMissionItems (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
{
_startWaypointIndex.setRawValue(int(1));
_showAllMissionItems.setRawValue(true);
_showCurrentMissionItems.setRawValue(true);
connect(&_overlapWaypoints, &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
connect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
}
QmlObjectListModel* WimaController::visualItems()
......@@ -65,6 +82,36 @@ QVariantList WimaController::currentWaypointPath()
return _currentWaypointPath;
}
Fact *WimaController::enableWimaController()
{
return &_enableWimaController;
}
Fact *WimaController::overlapWaypoints()
{
return &_overlapWaypoints;
}
Fact *WimaController::maxWaypointsPerPhase()
{
return &_maxWaypointsPerPhase;
}
Fact *WimaController::showAllMissionItems()
{
return &_showAllMissionItems;
}
Fact *WimaController::showCurrentMissionItems()
{
return &_showCurrentMissionItems;
}
Fact *WimaController::startWaypointIndex()
{
return &_startWaypointIndex;
}
void WimaController::setMasterController(PlanMasterController *masterC)
{
_masterController = masterC;
......@@ -100,23 +147,31 @@ void WimaController::setDataContainer(WimaDataContainer *container)
void WimaController::nextPhase()
{
updateCurrentMissionItems();
updateCurrentPath();
}
void WimaController::previousPhase()
{
if (_startWaypointIndex.rawValue().toInt() > 0) {
_startWaypointIndex.setRawValue( _startWaypointIndex.rawValue().toInt() - _maxWaypointsPerPhase.rawValue().toInt()
+ _overlapWaypoints.rawValue().toInt());
}
}
void WimaController::resetPhase()
{
_startWaypointIndex = 1;
nextPhase();
_startWaypointIndex.setRawValue(int(1));
}
void WimaController::uploadToVehicle()
{
_masterController->sendToVehicle();
}
void WimaController::removeFromVehicle()
{
_masterController->removeAllFromVehicle();
}
void WimaController::startMission()
......@@ -299,12 +354,6 @@ void WimaController::containerDataValidChanged(bool valid)
if (areaCounter >= numAreas)
break;
}
#ifdef QT_DEBUG
//qWarning("containerDataValidChanged(): count:");
//qWarning() << planData.missionItems().count();
#endif
QList<const MissionItem*> tempMissionItems = planData.missionItems();
// create mission items
......@@ -343,26 +392,10 @@ void WimaController::containerDataValidChanged(bool valid)
_missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
if ( missionItem->command() == MAV_CMD_NAV_VTOL_LAND
<<<<<<< HEAD
|| missionItem->command() == MAV_CMD_NAV_LAND)
break;
=======
|| missionItem->command() == MAV_CMD_NAV_LAND)
_missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
break;
>>>>>>> ea04fc44a33fa7111877cdbdc2644ae4a9db9d2c
break;
}
// copy mission items to _missionItems
// MissionSettingsItem *settingsItem = qobject_cast<MissionSettingsItem *>((*missionControllerVisualItems)[0]);
// if (settingsItem == nullptr) {
// qWarning("WimaController::containerDataValidChanged(): Nullptr at MissionSettingsItem!");
// return;
// }
// _missionItems.append(settingsItem);
for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
SimpleMissionItem *visualItem = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
if (visualItem == nullptr) {
......@@ -377,9 +410,8 @@ void WimaController::containerDataValidChanged(bool valid)
_localPlanDataValid = true;
updateWaypointPath();
_startWaypointIndex = 1;
_startWaypointIndex.setRawValue(int(1));
updateCurrentMissionItems();
updateCurrentPath();
} else {
_localPlanDataValid = false;
......@@ -398,25 +430,37 @@ void WimaController::containerDataValidChanged(bool valid)
void WimaController::updateCurrentMissionItems()
{
<<<<<<< HEAD
if (_missionItems.count() < 1 || !_localPlanDataValid)
int startWaypointIndexInt = _startWaypointIndex.rawValue().toInt()-1;
// check if data was fetched and mission end is not reached yet
if (_missionItems.count() < 1 || !_localPlanDataValid || startWaypointIndexInt >= _missionItems.count()-2)
return;
=======
if (_missionItems.count() < 0 || !_localPlanDataValid)
return;
>>>>>>> ea04fc44a33fa7111877cdbdc2644ae4a9db9d2c
int numberWaypoints = 30; // the number of waypoints currentMissionItems must not exceed
int overlapping = 2; // number of overlapping waypoints of consecutive mission phases
int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
// determine end waypoint index
_endWaypointIndex = std::min(startWaypointIndexInt + maxWaypointsPerPhaseInt - 1, _missionItems.count()-2); // -2 -> last item is land item
// extract waypoints
QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
_endWaypointIndex = std::min(_startWaypointIndex + numberWaypoints - 1, _missionItems.count()-2); // -2 -> last item is land item
if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
if (!extractCoordinateList(_missionItems, geoCoordinateList, startWaypointIndexInt, _endWaypointIndex)) {
qWarning("WimaController::updateCurrentMissionItems(): error on waypoint extraction.");
_currentMissionItems.clear();
return;
}
_startWaypointIndex = _endWaypointIndex + 1 - overlapping;
// set start waypoint index for next phase
if (_endWaypointIndex < _missionItems.count()-2) {
_startWaypointIndexList.append(_startWaypointIndex.rawValue().toInt());
disconnect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
_startWaypointIndex.setRawValue(std::max(_endWaypointIndex + 2 - _overlapWaypoints.rawValue().toInt(), 1));
connect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
}
else {
disconnect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
_startWaypointIndex.setRawValue(_missionItems.count()-1); // marks that end of mission is reached
connect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
}
// calculate path from home to first waypoint
QList<QGeoCoordinate> path;
......@@ -498,6 +542,7 @@ void WimaController::updateCurrentMissionItems()
_currentMissionItems.append(visualItemCopy);
}
updateCurrentPath();
emit currentMissionItemsChanged();
}
......@@ -516,5 +561,14 @@ void WimaController::updateCurrentPath()
emit currentWaypointPathChanged();
}
void WimaController::updateNextWaypoint()
{
if (_endWaypointIndex < _missionItems.count()-2) {
disconnect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
_startWaypointIndex.setRawValue(_endWaypointIndex + 2 - _overlapWaypoints.rawValue().toInt());
connect(&_startWaypointIndex, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
}
}
src/Wima/WimaController.h
View file @ ced7b198
......@@ -20,6 +20,7 @@
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "SettingsFact.h"
class WimaController : public QObject
......@@ -32,18 +33,25 @@ 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(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
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(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* currentMissionItems READ currentMissionItems NOTIFY currentMissionItemsChanged)
Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY currentWaypointPathChanged)
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(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(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* currentMissionItems READ currentMissionItems NOTIFY currentMissionItemsChanged)
Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY currentWaypointPathChanged)
Q_PROPERTY(Fact* enableWimaController READ enableWimaController CONSTANT)
Q_PROPERTY(Fact* overlapWaypoints READ overlapWaypoints CONSTANT)
Q_PROPERTY(Fact* maxWaypointsPerPhase READ maxWaypointsPerPhase CONSTANT)
Q_PROPERTY(Fact* startWaypointIndex READ startWaypointIndex CONSTANT)
Q_PROPERTY(Fact* showAllMissionItems READ showAllMissionItems CONSTANT)
Q_PROPERTY(Fact* showCurrentMissionItems READ showCurrentMissionItems CONSTANT)
// Property accessors
......@@ -60,6 +68,12 @@ public:
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems (void);
// Property setters
......@@ -71,7 +85,8 @@ public:
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
Q_INVOKABLE void uploadToVehicle();
Q_INVOKABLE void uploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
......@@ -86,7 +101,15 @@ public:
// static Members
static const char* wimaFileExtension;
static const char* areaItemsName;
static const char* missionItemsName;
static const char* missionItemsName;
static const char* settingsGroup;
static const char* endWaypointIndexName;
static const char* enableWimaControllerName;
static const char* overlapWaypointsName;
static const char* maxWaypointsPerPhaseName;
static const char* startWaypointIndexName;
static const char* showAllMissionItemsName;
static const char* showCurrentMissionItemsName;
// Member Methodes
QJsonDocument saveToJson(FileType fileType);
......@@ -118,6 +141,7 @@ private slots:
void updateCurrentMissionItems (void);
void updateWaypointPath (void);
void updateCurrentPath (void);
void updateNextWaypoint (void);
private:
......@@ -136,10 +160,20 @@ private:
// _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
QVariantList _waypointPath; // path connecting the items in _missionItems
QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems
int _startWaypointIndex; // index to the mission item stored in _missionItems defining the first element of _currentMissionItems
QList<int> _startWaypointIndexList;
int _endWaypointIndex; // index to the mission item stored in _missionItems defining the last element of _currentMissionItems
QList<int> _startWaypointIndexList; // list containing the last start waypoint indices, used by previosPhase
QGeoCoordinate _takeoffLandPostion;
};
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _enableWimaController; // enables or disables the wimaControler
SettingsFact _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases
SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints per phase
SettingsFact _startWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
//stored in _missionItems defining the first element of _currentMissionItems
SettingsFact _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
SettingsFact _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
int _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
// (which is not part of the return path) of _currentMissionItem
};
src/WimaView/SphericalSurveyMapVisual.qml
View file @ ced7b198
......@@ -86,7 +86,7 @@ Item {
}
function _setRefPoint() {
_missionItem.refPoint = map.toCoordinate(map.centerViewport.x, map.centerViewport.y, false /* clipToViewPort */)
_missionItem.resetReference();
}
Component.onCompleted: {
......
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