wima planer and wima controller edited

qgroundcontrol.pro

@@ -457,6 +457,7 @@ HEADERS += \
     src/Wima/StateMachine.h \
     src/Wima/WaypointManager/AreaInterface.h \
     src/Wima/WaypointManager/DefaultManager.h \
+    src/Wima/WaypointManager/EmptyManager.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/WaypointManager/RTLManager.h \
     src/Wima/WaypointManager/Settings.h \
@@ -519,6 +520,7 @@ SOURCES += \
     src/Wima/StateMachine.cpp \
     src/Wima/WaypointManager/AreaInterface.cpp \
     src/Wima/WaypointManager/DefaultManager.cpp \
+    src/Wima/WaypointManager/EmptyManager.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
     src/Wima/WaypointManager/RTLManager.cpp \
     src/Wima/WaypointManager/Settings.cpp \

qgroundcontrol.qrc

@@ -232,6 +232,11 @@
         <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
         <file alias="QGroundControl/FlightDisplay/SmallValue.qml">src/FlightDisplay/SmallValue.qml</file>
         <file alias="QGroundControl/Controls/ProgressIndicator.qml">src/WimaView/ProgressIndicator.qml</file>
+        <file alias="QGroundControl/Controls/WimaServiceAreaDataVisual.qml">src/WimaView/WimaServiceAreaDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaCorridorDataVisual.qml">src/WimaView/WimaCorridorDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaJoinedAreaDataVisual.qml">src/WimaView/WimaJoinedAreaDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaAreaNoVisual.qml">src/Wima/Snake/WimaAreaNoVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaMeasurementAreaDataVisual.qml">src/WimaView/WimaMeasurementAreaDataVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -59,8 +59,6 @@ FlightMap {
     property bool   _keepVehicleCentered:       _mainIsMap ? false : true
 
     property bool   _wimaEnabled:               wimaController.enableWimaController.value
-    property bool   _showAllWimaItems:          wimaController.showAllMissionItems.value
-    property bool   _showCurrentWimaItems:      wimaController.showCurrentMissionItems.value
 
     function updateAirspace(reset) {
         if(_airspaceEnabled) {
@@ -200,109 +198,29 @@ FlightMap {
     }
 
     // Add wima Areas to the Map
-    MapItemView {
+    Repeater {
         property bool _enableWima: wimaController.enableWimaController.value
-
         model: _enableWima ? wimaController.visualItems : 0
-
-        delegate: MapPolygon{
-            path:           object.path;
-            border.color:   "black"
-            color:          object.type === "WimaJoinedAreaData" ? "gray"
-                                : object.type === "WimaServiceAreaData" ? "yellow"
-                                    : object.type === "WimaMeasurementAreaData" ? "green"
-                                        : "transparent"
-            opacity:        0.25
-            z:              0
+        delegate: WimaMapVisual{
+            map:               flightMap
+            qgcView:           flightMap.qgcView
+            visible: true
         }
     }
 
-    // Add mission items generated by wima planer to the map
+    // Add missionItems generated by wima planer to the map
     // all Items
     WimaPlanMapItems {
         map:            flightMap
         largeMapView:   _mainIsMap
         missionItems:   wimaController.missionItems
         path:           wimaController.waypointPath
-        showItems:      _wimaEnabled && _showAllWimaItems
+        showItems:      _wimaEnabled
         zOrderWP:       QGroundControl.zOrderWimaAllWaypointIndicators
         zOrderLines:    QGroundControl.zOrderWimaAllWaypointLines
-        color:          "gray"
-    }
-    // current Items
-    WimaPlanMapItems {
-        map:            flightMap
-        largeMapView:   _mainIsMap
-        missionItems:   wimaController.currentMissionItems
-        path:           wimaController.currentWaypointPath
-        showItems:      _wimaEnabled && _showCurrentWimaItems
-        zOrderWP:       QGroundControl.zOrderWimaCurrentWaypointIndicators
-        zOrderLines:    QGroundControl.zOrderWimaCurrentWaypointLines
         color:          "green"
     }
 
-//    // Add Snake tile center points to the map
-//    MapItemView {
-//        id:progressView
-//        property bool _enable:    wimaController.enableWimaController.value
-//                               && wimaController.enableSnake.value
-//        property bool valid: wimaController.snakeTileCenterPoints.length
-//                             === wimaController.nemoProgress.length
-//        model: _enable ? wimaController.snakeTileCenterPoints : 0
-
-//        delegate: ProgressIndicator{
-//            coordinate:         modelData
-//            currentValue:   getProgress()
-//            z:              1
-
-//            function getProgress() {
-//                var progress = 0
-//                if (progressView.valid){
-//                    progress = wimaController.nemoProgress[index]
-//                }
-//                if (progress < 0)
-//                    progress = 0
-//                if (progress > 100)
-//                    progress = 100
-//                return progress
-//            }
-//        }
-//    }
-
-    // Add Snake tiles to the map
-    MapItemView {
-            id: tileView
-        property bool _enable:    wimaController.enableWimaController.value
-        property bool valid: wimaController.snakeTileCenterPoints.length
-                             === wimaController.nemoProgress.length
-        model: _enable ? wimaController.snakeTiles : 0
-
-        delegate: MapPolygon{
-            path:           object.path;
-            border.color:   "black"
-            border.width:   1
-            color:          getColor()
-            opacity:        0.6
-            z:              2
-
-            function getColor() {
-                var progress = 0
-                if (tileView.valid){
-                    progress = wimaController.nemoProgress[index]
-                }
-                if (progress < 25)
-                    return "transparent"
-                if (progress < 50)
-                    return "orange"
-                if (progress < 75)
-                    return "yellow"
-                if (progress < 100)
-                    return "greenyellow"
-                return "limegreen"
-            }
-        }
-    }
-
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -171,11 +171,11 @@ Item {
                     id:         mainColumn
                     spacing:    ScreenTools.defaultFontPixelHeight * 0.3
 
+
                     SectionHeader{
                         id: vehicleHeader
                         text: qsTr("Vehicle")
                     }
-
                     GridLayout {
                         columns: 2
                         rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
@@ -183,6 +183,17 @@ Item {
                         visible:            vehicleHeader.checked
                         width:              parent.width
 
+                        QGCButton {
+                            id: buttonUpload
+                            text:               qsTr("Upload")
+                            onClicked: {
+                                if (!planMasterController.offline) {
+                                    wimaController.upload()
+                                }
+                            }
+                            Layout.fillWidth: true
+                        }
+
                         QGCButton {
                             id: buttonRemoveFromVehicle
                             text:               qsTr("Remove")
@@ -194,6 +205,7 @@ Item {
                             id: buttonSmartRTL
                             text:               qsTr("Smart RTL")
                             onClicked:          wimaController.requestSmartRTL();
+                            Layout.columnSpan:  2
                             Layout.fillWidth: true
                         }
 
@@ -204,7 +216,32 @@ Item {
                             Layout.columnSpan:  2
                             Layout.fillWidth: true
                         }
+                    }
 
+                    GridLayout {
+                        columns: 2
+                        rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
+                        columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
+                        visible:            vehicleHeader.checked
+                        width:              parent.width
+
+                        QGCLabel {
+                            text:                   qsTr("Speed")
+                            Layout.fillWidth: true
+                        }
+                        FactTextField {
+                            fact:               wimaController.flightSpeed
+                            Layout.fillWidth: true
+                        }
+
+                        QGCLabel {
+                            text: qsTr("Altitude")
+                            Layout.fillWidth: true
+                        }
+                        FactTextField {
+                            fact:               wimaController.altitude
+                            Layout.fillWidth: true
+                        }
 
                         // progess bar
                         Rectangle {
@@ -223,7 +260,7 @@ Item {
                             Layout.columnSpan:      2
                             horizontalAlignment:    Text.AlignHCenter
                             verticalAlignment:      Text.AlignVCenter
-                            text:                   "Upload Complete"
+                            text:                   "Done"
                             visible:                false
                             Layout.fillWidth:       true
                         }
@@ -233,7 +270,6 @@ Item {
                         id: statsHeader
                         text: qsTr("Statistics")
                     }
-
                     GridLayout {
                         columns: 3
                         rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5

src/Wima/Geometry/WimaAreaData.h

@@ -13,6 +13,7 @@ class WimaAreaData
 public:
   Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
   Q_PROPERTY(QString type READ type CONSTANT)
+  Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
 
   WimaAreaData(QObject *parent = nullptr);
   ~WimaAreaData();
@@ -23,6 +24,8 @@ public:
   bool operator==(const WimaAreaData &data) const;
   bool operator!=(const WimaAreaData &data) const;
 
+  virtual QString mapVisualQML(void) const = 0;
+
   QVariantList path() const;
   QGeoCoordinate center() const;
   const QList<QGeoCoordinate> &coordinateList() const;

src/Wima/Geometry/WimaCorridorData.cpp

@@ -2,22 +2,17 @@
 
 const char *WimaCorridorData::typeString = "WimaCorridorData";
 
-WimaCorridorData::WimaCorridorData(QObject *parent)
-    :WimaAreaData (parent)
-{
+WimaCorridorData::WimaCorridorData(QObject *parent) : WimaAreaData(parent) {}
 
-}
-
-WimaCorridorData::WimaCorridorData(const WimaCorridorData &other, QObject *parent)
-    : WimaAreaData (parent)
-{
-    *this = other;
+WimaCorridorData::WimaCorridorData(const WimaCorridorData &other,
+                                   QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
-    *this = other;
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 /*!
@@ -25,11 +20,10 @@ WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
  *
  * Assigns \a other to the invoking object.
  */
-WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other)
-{
-    this->assign(other);
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other) {
+  this->assign(other);
 
-    return *this;
+  return *this;
 }
 
 /*!
@@ -37,36 +31,34 @@ WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other)
  *
  * Assigns \a other to the invoking object.
  */
-WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other)
-{
-    this->assign(other);
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other) {
+  this->assign(other);
 
-    return *this;
+  return *this;
 }
 
-QString WimaCorridorData::type() const
-{
-    return this->typeString;
+QString WimaCorridorData::mapVisualQML() const {
+  return QStringLiteral("WimaAreaDataVisual.qml");
 }
 
-void WimaCorridorData::assign(const WimaCorridorData &corridorData)
-{
-    WimaAreaData::assign(corridorData);
-}
+QString WimaCorridorData::type() const { return this->typeString; }
 
-void WimaCorridorData::assign(const WimaCorridor &corridor)
-{
-    WimaAreaData::assign(corridor);
+void WimaCorridorData::assign(const WimaCorridorData &corridorData) {
+  WimaAreaData::assign(corridorData);
 }
 
+void WimaCorridorData::assign(const WimaCorridor &corridor) {
+  WimaAreaData::assign(corridor);
+}
 
 /*!
  * \class WimaAreaData::WimaCorridorData
  * \brief Class to store and exchange data of a \c WimaCorridorData Object.
- * Class to store and exchange data of a \c WimaCorridor Object. In contrast to \c WimaCorridor this class
- * does not provied any interface to a grafical user interface, neiter it uses the QGC Fact System.
- * It is designed to exchange data between the \c WimaPlaner and the \c WimaController class. And it
- * is the derived from WimaAreaData.
+ * Class to store and exchange data of a \c WimaCorridor Object. In contrast to
+ * \c WimaCorridor this class does not provied any interface to a grafical user
+ * interface, neiter it uses the QGC Fact System. It is designed to exchange
+ * data between the \c WimaPlaner and the \c WimaController class. And it is the
+ * derived from WimaAreaData.
  *
  * \sa WimaCorridor, WimaAreaData
  */

src/Wima/Geometry/WimaCorridorData.h

@@ -7,31 +7,30 @@
 
 #include "QGeoCoordinate"
 
-class WimaCorridorData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaCorridorData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    WimaCorridorData(QObject *parent = nullptr);
-    WimaCorridorData(const WimaCorridorData &other, QObject *parent = nullptr);
-    WimaCorridorData(const WimaCorridor &other, QObject *parent = nullptr);
-    WimaCorridorData &operator=(const WimaCorridorData &other);
-    WimaCorridorData &operator=(const WimaCorridor &other);
+  WimaCorridorData(QObject *parent = nullptr);
+  WimaCorridorData(const WimaCorridorData &other, QObject *parent = nullptr);
+  WimaCorridorData(const WimaCorridor &other, QObject *parent = nullptr);
+  WimaCorridorData &operator=(const WimaCorridorData &other);
+  WimaCorridorData &operator=(const WimaCorridor &other);
 
-    QString type() const;
-    WimaCorridorData *Clone() const {return new WimaCorridorData(*this);}
+  virtual QString mapVisualQML() const override;
 
-    static const char* typeString;
+  QString type() const;
+  WimaCorridorData *Clone() const { return new WimaCorridorData(*this); }
 
+  static const char *typeString;
 
 signals:
 
 public slots:
 
 protected:
-    void assign(const WimaCorridorData &corridorData);
-    void assign(const WimaCorridor &corridor);
+  void assign(const WimaCorridorData &corridorData);
+  void assign(const WimaCorridor &corridor);
 
 private:
 };
-

src/Wima/Geometry/WimaJoinedAreaData.cc

@@ -39,6 +39,10 @@ WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other) {
   return *this;
 }
 
+QString WimaJoinedAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaJoinedAreaDataVisual.qml");
+}
+
 QString WimaJoinedAreaData::type() const { return this->typeString; }
 
 void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other) {

src/Wima/Geometry/WimaJoinedAreaData.h

@@ -7,26 +7,27 @@
 
 #include "QGeoCoordinate"
 
-class WimaJoinedAreaData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaJoinedAreaData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    WimaJoinedAreaData(QObject *parent = nullptr);
-    WimaJoinedAreaData(const WimaJoinedAreaData &other, QObject *parent = nullptr);
-    WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent = nullptr);
-    WimaJoinedAreaData &operator=(const WimaJoinedAreaData &other);
-    WimaJoinedAreaData &operator=(const WimaJoinedArea &other);
+  WimaJoinedAreaData(QObject *parent = nullptr);
+  WimaJoinedAreaData(const WimaJoinedAreaData &other,
+                     QObject *parent = nullptr);
+  WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent = nullptr);
+  WimaJoinedAreaData &operator=(const WimaJoinedAreaData &other);
+  WimaJoinedAreaData &operator=(const WimaJoinedArea &other);
 
-    QString type() const;
-    WimaJoinedAreaData *Clone() const {return new WimaJoinedAreaData(*this);}
+  virtual QString mapVisualQML() const override;
 
-    static const char* typeString;
+  QString type() const;
+  WimaJoinedAreaData *Clone() const { return new WimaJoinedAreaData(*this); }
+
+  static const char *typeString;
 
 protected:
-    void assign(const WimaJoinedAreaData &other);
-    void assign(const WimaJoinedArea &other);
+  void assign(const WimaJoinedAreaData &other);
+  void assign(const WimaJoinedArea &other);
 
 private:
 };
-

src/Wima/Geometry/WimaMeasurementAreaData.cc

@@ -30,6 +30,20 @@ operator!=(const WimaMeasurementAreaData &other) const {
   return !(*this == other);
 }
 
+void WimaMeasurementAreaData::setTileData(const TileData &d) {
+  if (this->_tileData != d) {
+    this->_tileData = d;
+    emit tileDataChanged();
+  }
+}
+
+void WimaMeasurementAreaData::setProgress(const QVector<int> &d) {
+  if (this->_progress != d) {
+    this->_progress = d;
+    emit progressChanged();
+  }
+}
+
 /*!
  * \overload operator=();
  *
@@ -54,6 +68,10 @@ operator=(const WimaMeasurementArea &other) {
   return *this;
 }
 
+QString WimaMeasurementAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaMeasurementAreaDataVisual.qml");
+}
+
 QString WimaMeasurementAreaData::type() const { return this->typeString; }
 
 QmlObjectListModel *WimaMeasurementAreaData::tiles() {
@@ -86,15 +104,15 @@ QVector<int> &WimaMeasurementAreaData::progress() { return this->_progress; }
 
 void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
   WimaAreaData::assign(other);
-  this->_tileData = other._tileData;
-  this->_progress = other._progress;
+  setTileData(other._tileData);
+  setProgress(other._progress);
 }
 
 void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
   WimaAreaData::assign(other);
   if (other.ready()) {
-    this->_tileData = other.tileData();
-    this->_progress = other.progress();
+    setTileData(other.tileData());
+    setProgress(other.progress());
   } else {
     qWarning()
         << "WimaMeasurementAreaData::assign(): WimaMeasurementArea not ready.";

src/Wima/Geometry/WimaMeasurementAreaData.h

@@ -18,14 +18,23 @@ public:
   WimaMeasurementAreaData &operator=(const WimaMeasurementAreaData &other);
   WimaMeasurementAreaData &operator=(const WimaMeasurementArea &other);
 
+  Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tileDataChanged)
+  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
+
+  virtual QString mapVisualQML() const override;
+
   bool operator==(const WimaMeasurementAreaData &other) const;
   bool operator!=(const WimaMeasurementAreaData &other) const;
 
+  // Property setters.
+  void setTileData(const TileData &d);
+  void setProgress(const QVector<int> &d);
+
+  // Property getters.
   QString type() const;
   WimaMeasurementAreaData *Clone() const {
     return new WimaMeasurementAreaData(*this);
   }
-
   QmlObjectListModel *tiles();
   const QmlObjectListModel *tiles() const;
   const QVariantList &tileCenterPoints() const;
@@ -37,6 +46,10 @@ public:
 
   static const char *typeString;
 
+signals:
+  void tileDataChanged();
+  void progressChanged();
+
 protected:
   void assign(const WimaMeasurementAreaData &other);
   void assign(const WimaMeasurementArea &other);

src/Wima/Geometry/WimaServiceAreaData.cc

@@ -31,6 +31,10 @@ operator=(const WimaServiceArea &otherArea) {
   return *this;
 }
 
+QString WimaServiceAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaServiceAreaDataVisual.qml");
+}
+
 /*!
  * \fn const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const