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Commit d52393fc authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4991 from DonLakeFlyer/GeoFenceRally 

GeoFence, Rally Point support reworked and back on
parents 92ccd6c0 557c1e1f
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Showing with 481 additions and 1140 deletions
qgroundcontrol.qrc
View file @ d52393fc
......@@ -101,6 +101,7 @@
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/PlanView/RallyPointEditorHeader.qml</file>
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
......@@ -152,7 +153,6 @@
<file alias="QGroundControl/FlightMap/QGCCompassWidget.qml">src/FlightMap/Widgets/QGCCompassWidget.qml</file>
<file alias="QGCInstrumentWidget.qml">src/FlightMap/Widgets/QGCInstrumentWidget.qml</file>
<file alias="QGCInstrumentWidgetAlternate.qml">src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml</file>
<file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/PlanView/QGCMapPolygonControls.qml</file>
<file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
......@@ -215,7 +215,4 @@
<file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
<file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
</qresource>
<qresource prefix="/FirmwarePlugin">
<file alias="NoGeoFenceEditor.qml">src/FirmwarePlugin/NoGeoFenceEditor.qml</file>
</qresource>
</RCC>
src/FirmwarePlugin/APM/APMGeoFenceManager.cc
View file @ d52393fc
......@@ -23,9 +23,10 @@ const char* APMGeoFenceManager::_fenceEnableParam = "FENCE_ENABLE";
APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
, _fenceSupported(false)
, _breachReturnEnabled(vehicle->fixedWing())
, _circleEnabled(false)
, _polygonSupported(false)
, _polygonEnabled(false)
, _breachReturnSupported(vehicle->fixedWing())
, _firstParamLoadComplete(false)
, _readTransactionInProgress(false)
, _writeTransactionInProgress(false)
......@@ -223,27 +224,43 @@ bool APMGeoFenceManager::inProgress(void) const
return _readTransactionInProgress || _writeTransactionInProgress;
}
void APMGeoFenceManager::_updateEnabledFlags(void)
void APMGeoFenceManager::_setCircleEnabled(bool circleEnabled)
{
bool fenceEnabled;
if (_fenceEnableFact) {
fenceEnabled = _fenceEnableFact->rawValue().toBool();
} else {
fenceEnabled = true;
if (circleEnabled != _circleEnabled) {
_circleEnabled = circleEnabled;
emit circleEnabledChanged(circleEnabled);
}
}
bool newCircleEnabled = _fenceSupported && fenceEnabled && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
if (newCircleEnabled != _circleEnabled) {
_circleEnabled = newCircleEnabled;
emit circleEnabledChanged(newCircleEnabled);
void APMGeoFenceManager::_setPolygonEnabled(bool polygonEnabled)
{
if (polygonEnabled != _polygonEnabled) {
_polygonEnabled = polygonEnabled;
emit polygonEnabledChanged(polygonEnabled);
}
}
void APMGeoFenceManager::_updateEnabledFlags(void)
{
bool fenceEnabled = false;
if (_fenceSupported) {
if (_fenceEnableFact) {
fenceEnabled = _fenceEnableFact->rawValue().toBool();
} else {
fenceEnabled = true;
}
bool newPolygonEnabled = _fenceSupported && fenceEnabled &&
((_vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 4)) ||
_vehicle->fixedWing());
if (newPolygonEnabled != _polygonEnabled) {
_polygonEnabled = newPolygonEnabled;
emit polygonEnabledChanged(newPolygonEnabled);
bool newCircleEnabled = fenceEnabled && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
_setCircleEnabled(newCircleEnabled);
bool newPolygonEnabled = _fenceSupported && fenceEnabled &&
((_vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 4)) ||
_vehicle->fixedWing());
_setPolygonEnabled(newPolygonEnabled);
} else {
_setCircleEnabled(false);
_setPolygonEnabled(false);
}
}
......@@ -260,24 +277,26 @@ void APMGeoFenceManager::_parametersReady(void)
QStringList paramNames;
QStringList paramLabels;
_polygonSupported = true;
if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceEnableParam)) {
_fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam);
connect(_fenceEnableFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateEnabledFlags);
}
if (_vehicle->multiRotor()) {
_breachReturnSupported = false;
_fenceTypeFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
connect(_fenceTypeFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateEnabledFlags);
_circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_RADIUS"));
connect(_circleRadiusFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_circleRadiusRawValueChanged);
emit circleRadiusChanged(circleRadius());
paramNames << QStringLiteral("FENCE_ENABLE") << QStringLiteral("FENCE_TYPE") << QStringLiteral("FENCE_ACTION") << QStringLiteral("FENCE_ALT_MAX")
<< QStringLiteral("FENCE_RADIUS") << QStringLiteral("FENCE_MARGIN");
paramLabels << QStringLiteral("Enabled:") << QStringLiteral("Type:") << QStringLiteral("Breach Action:") << QStringLiteral("Max Altitude:")
<< QStringLiteral("Radius:") << QStringLiteral("Margin:");
} if (_vehicle->fixedWing()) {
_breachReturnSupported = true;
paramNames << QStringLiteral("FENCE_ACTION") << QStringLiteral("FENCE_MINALT") << QStringLiteral("FENCE_MAXALT") << QStringLiteral("FENCE_RETALT")
<< QStringLiteral("FENCE_AUTOENABLE") << QStringLiteral("FENCE_RET_RALLY");
paramLabels << QStringLiteral("Breach Action:") << QStringLiteral("Min Altitude:") << QStringLiteral("Max Altitude:") << QStringLiteral("Return Altitude:")
......@@ -297,36 +316,11 @@ void APMGeoFenceManager::_parametersReady(void)
emit paramsChanged(_params);
emit paramLabelsChanged(_paramLabels);
_updateEnabledFlags();
emit breachReturnSupportedChanged(_breachReturnSupported);
emit polygonSupportedChanged(_polygonSupported);
}
qCDebug(GeoFenceManagerLog) << "fenceSupported:circleEnabled:polygonEnabled:breachReturnEnabled" <<
_fenceSupported << _circleEnabled << _polygonEnabled << _breachReturnEnabled;
}
}
float APMGeoFenceManager::circleRadius(void) const
{
if (_circleRadiusFact) {
return _circleRadiusFact->rawValue().toFloat();
} else {
return 0.0;
}
}
void APMGeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
{
emit circleRadiusChanged(value.toFloat());
}
QString APMGeoFenceManager::editorQml(void) const
{
if (_fenceSupported) {
return _vehicle->multiRotor() ?
QStringLiteral("qrc:/FirmwarePlugin/APM/CopterGeoFenceEditor.qml") :
QStringLiteral("qrc:/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml");
} else {
return QStringLiteral("qrc:/FirmwarePlugin/NoGeoFenceEditor.qml");
_updateEnabledFlags();
}
}
......
src/FirmwarePlugin/APM/APMGeoFenceManager.h
View file @ d52393fc
......@@ -25,33 +25,35 @@ public:
~APMGeoFenceManager();
// Overrides from GeoFenceManager
bool inProgress (void) const final;
void loadFromVehicle (void) final;
void sendToVehicle (const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon) final;
bool circleEnabled (void) const final { return _circleEnabled; }
bool polygonEnabled (void) const final { return _polygonEnabled; }
bool breachReturnEnabled (void) const final { return _breachReturnEnabled; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final;
void removeAll (void) final;
bool inProgress (void) const final;
void loadFromVehicle (void) final;
void sendToVehicle (const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon) final;
bool polygonSupported (void) const final { return _polygonSupported; }
bool polygonEnabled (void) const final { return _polygonEnabled; }
bool breachReturnSupported (void) const final { return _breachReturnSupported; }
bool circleEnabled (void) const { return _circleEnabled; }
Fact* circleRadiusFact (void) const { return _circleRadiusFact; }
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
void removeAll (void) final;
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _updateEnabledFlags(void);
void _circleRadiusRawValueChanged(QVariant value);
void _parametersReady(void);
void _mavlinkMessageReceived (const mavlink_message_t& message);
void _parametersReady (void);
private:
void _requestFencePoint(uint8_t pointIndex);
void _sendFencePoint(uint8_t pointIndex);
void _requestFencePoint (uint8_t pointIndex);
void _sendFencePoint (uint8_t pointIndex);
void _updateEnabledFlags(void);
void _setCircleEnabled (bool circleEnabled);
void _setPolygonEnabled (bool polygonEnabled);
private:
bool _fenceSupported;
bool _breachReturnEnabled;
bool _circleEnabled;
bool _polygonSupported;
bool _polygonEnabled;
bool _breachReturnSupported;
bool _firstParamLoadComplete;
QVariantList _params;
......
src/FirmwarePlugin/APM/APMResources.qrc
View file @ d52393fc
......@@ -51,8 +51,6 @@
<file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.5.xml">APMParameterFactMetaData.Sub.3.5.xml</file>
<file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file>
<file alias="PlaneGeoFenceEditor.qml">PlaneGeoFenceEditor.qml</file>
<file alias="Copter.OfflineEditing.params">Copter3.4.OfflineEditing.params</file>
<file alias="Plane.OfflineEditing.params">Plane3.7.OfflineEditing.params</file>
</qresource>
......
src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml deleted 100644 → 0
View file @ 92ccd6c0
import QtQuick 2.3
import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.FactSystem 1.0
Column {
id: editorColumn
width: availableWidth
spacing: _margin
//property real availableWidth - Available width for control - Must be passed in from Loader
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 15)
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Click in map to set breach return point.")
}
QGCLabel { text: qsTr("Fence Settings:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Repeater {
model: geoFenceController.params
Item {
width: editorColumn.width
height: textField.height
property bool showCombo: modelData.enumStrings.length > 0
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
text: geoFenceController.paramLabels[index]
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: modelData
visible: !parent.showCombo
}
FactComboBox {
id: comboField
anchors.right: parent.right
width: _editFieldWidth
indexModel: false
fact: showCombo ? modelData : _nullFact
visible: parent.showCombo
property var _nullFact: Fact { }
}
}
}
QGCButton {
text: qsTr("Add fence")
visible: geoFenceController.mapPolygon.count < 3
onClicked: geoFenceController.addFence()
}
QGCButton {
text: qsTr("Remove fence")
visible: geoFenceController.mapPolygon.count >= 3
onClicked: geoFenceController.removeFence()
}
}
src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml deleted 100644 → 0
View file @ 92ccd6c0
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.FactSystem 1.0
Column {
id: editorColumn
width: availableWidth
spacing: _margin
//property real availableWidth - Available width for control - Must be passed in from Loader
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 15)
property Fact fenceAction: factController.getParameterFact(-1, "FENCE_ACTION")
property Fact fenceMinAlt: factController.getParameterFact(-1, "FENCE_MINALT")
property Fact fenceMaxAlt: factController.getParameterFact(-1, "FENCE_MAXALT")
property Fact fenceRetAlt: factController.getParameterFact(-1, "FENCE_RETALT")
property Fact fenceAutoEnable: factController.getParameterFact(-1, "FENCE_AUTOENABLE")
property Fact fenceRetRally: factController.getParameterFact(-1, "FENCE_RET_RALLY")
FactPanelController {
id: factController
factPanel: qgcView.viewPanel
}
QGCLabel { text: qsTr("Fence Settings:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
QGCLabel { text: qsTr("Action on fence breach:") }
QGCComboBox {
id: actionCombo
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
model: ListModel {
id: actionModel
ListElement { text: qsTr("None"); actionValue: 0 }
ListElement { text: qsTr("Report only"); actionValue: 2 }
ListElement { text: qsTr("Fly to return point"); actionValue: 1 }
ListElement { text: qsTr("Fly to return point (throttle control)"); actionValue: 3 }
}
onActivated: fenceAction.rawValue = actionModel.get(index).actionValue
Component.onCompleted: recalcSelection()
Connections {
target: fenceAction
onValueChanged: actionCombo.recalcSelection()
}
function recalcSelection() {
for (var i=0; i<actionModel.count; i++) {
if (actionModel.get(i).actionValue == fenceAction.rawValue) {
actionCombo.currentIndex = i
return
}
}
actionCombo.currentIndex = 0
}
}
ExclusiveGroup { id: returnLocationRadioGroup }
property bool _returnPointUsed: fenceAction.rawValue == 1 || fenceAction.rawValue == 3
QGCRadioButton {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
text: qsTr("Fly to breach return point")
checked: fenceRetRally.rawValue != 1
enabled: _returnPointUsed
exclusiveGroup: returnLocationRadioGroup
onClicked: fenceRetRally.rawValue = 0
}
QGCRadioButton {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
text: qsTr("Fly to nearest rally point")
checked: fenceRetRally.rawValue == 1
enabled: _returnPointUsed
exclusiveGroup: returnLocationRadioGroup
onClicked: fenceRetRally.rawValue = 1
}
Item { width: 1; height: 1 }
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth
columns: 2
QGCCheckBox {
id: minAltFenceCheckBox
text: qsTr("Min altitude:")
checked: fenceMinAlt.value > 0
onClicked: fenceMinAlt.value = checked ? 10 : 0
}
FactTextField {
id: fenceAltMinField
Layout.fillWidth: true
showUnits: true
fact: fenceMinAlt
enabled: minAltFenceCheckBox.checked
}
QGCCheckBox {
id: maxAltFenceCheckBox
text: qsTr("Max altitude:")
checked: fenceMaxAlt.value > 0
onClicked: fenceMaxAlt.value = checked ? 100 : 0
}
FactTextField {
id: fenceAltMaxField
Layout.fillWidth: true
showUnits: true
fact: fenceMaxAlt
enabled: maxAltFenceCheckBox.checked
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Breach return point:") }
QGCLabel {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Click in map to set breach return location.")
font.pointSize: ScreenTools.smallFontPointSize
}
Row {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
spacing: _margin
QGCLabel {
anchors.baseline: retAltField.baseline
text: qsTr("Return Alt:")
}
FactTextField {
id: retAltField
showUnits: true
fact: fenceRetAlt
width: _editFieldWidth
}
}
Item { width: 1; height: 1 }
FactCheckBox {
text: qsTr("Auto-Enable after takeoff")
fact: fenceAutoEnable
}
QGCLabel {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("If checked, the aircraft will start with the fence disabled. After an autonomous takeoff completes the fences will automatically enable. When the autonomous mission arrives at a landing waypoint the fence automatically disables.")
}
/*
FENCE_ACTION - the action to take on fence breach. This defaults to zero which disables geo-fencing. Set it to 1 to enable geo-fencing and fly to the return point on fence breach. Set to 2 to report a breach to the GCS but take no other action. Set to 3 to have the plane head to the return point on breach, but the pilot will maintain manual throttle control in this case.
FENCE_MINALT - the minimum altitude in meters. If this is zero then you will not have a minimum altitude.
FENCE_MAXALT - the maximum altitude in meters. If this is zero then you will not have a maximum altitude.
FENCE_CHANNEL - the RC input channel to watch for enabling the geo-fence. This defaults to zero, which disables geo-fencing. You should set it to a spare RC input channel that is connected to a two position switch on your transmitter. Fencing will be enabled when this channel goes above a PWM value of 1750. If your transmitter supports it it is also a good idea to enable audible feedback when this channel is enabled (a beep every few seconds), so you can tell if the fencing is enabled without looking down.
FENCE_TOTAL - the number of points in your fence (the return point plus the enclosed boundary). This should be set for you by the planner when you create the fence.
FENCE_RETALT - the altitude the aircraft will fly at when flying to the return point and when loitering at the return point (in meters). Note that when FENCE_RET_RALLY is set to 1 this parameter is ignored and the loiter altitude of the closest Rally Point is used instead. If this parameter is zero and FENCE_RET_RALLY is also zero, the midpoint of the FENCE_MAXALT and FENCE_MINALT parameters is used as the return altitude.
FENCE_AUTOENABLE - if set to 1, the aircraft will boot with the fence disabled. After an autonomous takeoff completes the fences will automatically enable. When the autonomous mission arrives at a landing waypoint the fence automatically disables.
FENCE_RET_RALLY - if set to 1 the aircraft will head to the nearest Rally Point rather than the fence return point when the fence is breached. Note that the loiter altitude of the Rally Point is used as the return altitude.
*/
QGCButton {
text: qsTr("Add fence")
visible: geoFenceController.mapPolygon.count < 3
onClicked: geoFenceController.addFence()
}
QGCButton {
text: qsTr("Remove fence")
visible: geoFenceController.mapPolygon.count >= 3
onClicked: geoFenceController.removeFence()
}
}
src/FirmwarePlugin/NoGeoFenceEditor.qml deleted 100644 → 0
View file @ 92ccd6c0
import QtQuick 2.3
import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.FactSystem 1.0
QGCLabel {
width: availableWidth
wrapMode: Text.WordWrap
text: qsTr("This vehicle does not support GeoFence.")
//property var contoller - controller - Must be passed in from Loader
//property real availableWidth - Available width for control - Must be passed in from Loader
}
src/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml deleted 100644 → 0
View file @ 92ccd6c0
import QtQuick 2.3
import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.Controllers 1.0
Column {
id: editorColumn
width: availableWidth
spacing: _margin
//property real availableWidth - Available width for control - Must be passed in from Loader
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 15)
property Fact _fenceAction: factController.getParameterFact(-1, "GF_ACTION")
property Fact _fenceRadius: factController.getParameterFact(-1, "GF_MAX_HOR_DIST")
property Fact _fenceMaxAlt: factController.getParameterFact(-1, "GF_MAX_VER_DIST")
FactPanelController {
id: factController
factPanel: qgcView.viewPanel
}
QGCLabel { text: qsTr("Fence Settings:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
QGCLabel { text: qsTr("Action on fence breach:") }
FactComboBox {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
width: _editFieldWidth
fact: _fenceAction
indexModel: false
}
Item { width: 1; height: 1 }
QGCCheckBox {
id: circleFenceCheckBox
text: qsTr("Circular fence around home pos")
checked: _fenceRadius.value > 0
onClicked: _fenceRadius.value = checked ? 100 : 0
}
Row {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
spacing: _margin
QGCLabel {
anchors.baseline: fenceRadiusField.baseline
text: qsTr("Radius:")
}
FactTextField {
id: fenceRadiusField
showUnits: true
fact: _fenceRadius
enabled: circleFenceCheckBox.checked
width: _editFieldWidth
}
}
Item { width: 1; height: 1 }
QGCCheckBox {
id: maxAltFenceCheckBox
text: qsTr("Maximum altitude fence")
checked: _fenceMaxAlt.value > 0
onClicked: _fenceMaxAlt.value = checked ? 100 : 0
}
Row {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
spacing: _margin
QGCLabel {
anchors.baseline: fenceAltMaxField.baseline
text: qsTr("Altitude:")
}
FactTextField {
id: fenceAltMaxField
showUnits: true
fact: _fenceMaxAlt
enabled: maxAltFenceCheckBox.checked
width: _editFieldWidth
}
}
}
src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc
View file @ d52393fc
......@@ -15,7 +15,6 @@
PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
, _firstParamLoadComplete(false)
, _circleEnabled(false)
, _circleRadiusFact(NULL)
{
connect(_vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &PX4GeoFenceManager::_parametersReady);
......@@ -36,14 +35,13 @@ void PX4GeoFenceManager::_parametersReady(void)
_firstParamLoadComplete = true;
_circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST"));
connect(_circleRadiusFact, &Fact::rawValueChanged, this, &PX4GeoFenceManager::_circleRadiusRawValueChanged);
emit circleRadiusChanged(circleRadius());
emit circleRadiusFactChanged(_circleRadiusFact);
QStringList paramNames;
QStringList paramLabels;
paramNames << QStringLiteral("GF_ACTION") << QStringLiteral("GF_MAX_HOR_DIST") << QStringLiteral("GF_MAX_VER_DIST");
paramLabels << QStringLiteral("Action:") << QStringLiteral("Radius:") << QStringLiteral("Max Altitude:");
paramLabels << QStringLiteral("Breach Action:") << QStringLiteral("Radius:") << QStringLiteral("Max Altitude:");
_params.clear();
_paramLabels.clear();
......@@ -55,32 +53,8 @@ void PX4GeoFenceManager::_parametersReady(void)
_paramLabels << paramLabels[i];
}
}
emit paramsChanged(_params);
emit paramLabelsChanged(_paramLabels);
_circleEnabled = true;
emit circleEnabledChanged(true);
qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" <<
_circleEnabled << polygonEnabled() << breachReturnEnabled();
}
}
float PX4GeoFenceManager::circleRadius(void) const
{
if (_circleRadiusFact) {
return _circleRadiusFact->rawValue().toFloat();
} else {
return 0.0;
}
}
void PX4GeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
{
emit circleRadiusChanged(value.toFloat());
}
void PX4GeoFenceManager::removeAll(void)
{
// Only params so nothing to do
}
src/FirmwarePlugin/PX4/PX4GeoFenceManager.h
View file @ d52393fc
......@@ -23,25 +23,19 @@ public:
~PX4GeoFenceManager();
// Overrides from GeoFenceManager
bool circleEnabled (void) const final { return _circleEnabled; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final { return QStringLiteral("qrc:/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml"); }
void removeAll (void) final;
bool circleEnabled (void) const { return true; }
Fact* circleRadiusFact (void) const { return _circleRadiusFact; }
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
private slots:
void _circleRadiusRawValueChanged(QVariant value);
void _parametersReady(void);
private:
bool _firstParamLoadComplete;
bool _firstParamLoadComplete;
Fact* _circleRadiusFact;
QVariantList _params;
QStringList _paramLabels;
bool _circleEnabled;
Fact* _circleRadiusFact;
};
#endif
src/FirmwarePlugin/PX4/PX4Resources.qrc
View file @ d52393fc
......@@ -21,7 +21,6 @@
</qresource>
<qresource prefix="/FirmwarePlugin/PX4">
<file alias="PX4ParameterFactMetaData.xml">PX4ParameterFactMetaData.xml</file>
<file alias="PX4GeoFenceEditor.qml">PX4GeoFenceEditor.qml</file>
<file alias="PX4.OfflineEditing.params">V1.4.OfflineEditing.params</file>
</qresource>
</RCC>
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ d52393fc
......@@ -40,6 +40,8 @@ FlightMap {
property var rightPanelWidth
property var qgcView ///< QGCView control which contains this map
property rect centerViewport: Qt.rect(0, 0, width, height)
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicleCoordinate: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property var _gotoHereCoordinate: QtPositioning.coordinate()
......@@ -201,6 +203,7 @@ FlightMap {
map: flightMap
myGeoFenceController: geoFenceController
interactive: false
planView: false
homePosition: _activeVehicle && _activeVehicle.homePosition.isValid ? _activeVehicle.homePosition : undefined
}
......
src/MissionManager/GeoFenceController.cc
View file @ d52393fc
This diff is collapsed.
src/MissionManager/GeoFenceController.h
View file @ d52393fc
......@@ -29,21 +29,20 @@ public:
GeoFenceController(QObject* parent = NULL);
~GeoFenceController();
Q_PROPERTY(bool circleEnabled READ circleEnabled NOTIFY circleEnabledChanged)
Q_PROPERTY(float circleRadius READ circleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(bool polygonEnabled READ polygonEnabled NOTIFY polygonEnabledChanged)
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
// The following properties are reflections of properties from GeoFenceManager
Q_PROPERTY(bool circleEnabled READ circleEnabled NOTIFY circleEnabledChanged)
Q_PROPERTY(Fact* circleRadiusFact READ circleRadiusFact NOTIFY circleRadiusFactChanged)
Q_PROPERTY(bool polygonSupported READ polygonSupported NOTIFY polygonSupportedChanged)
Q_PROPERTY(bool polygonEnabled READ polygonEnabled NOTIFY polygonEnabledChanged)
Q_PROPERTY(bool breachReturnSupported READ breachReturnSupported NOTIFY breachReturnSupportedChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(QStringList paramLabels READ paramLabels NOTIFY paramLabelsChanged)
Q_PROPERTY(bool breachReturnEnabled READ breachReturnEnabled NOTIFY breachReturnEnabledChanged)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(QStringList paramLabels READ paramLabels NOTIFY paramLabelsChanged)
Q_PROPERTY(QString editorQml READ editorQml NOTIFY editorQmlChanged)
Q_INVOKABLE void addFence(void);
Q_INVOKABLE void removeFence(void);
Q_INVOKABLE void addPolygon (void) { emit addInitialFencePolygon(); }
Q_INVOKABLE void removePolygon (void) { _mapPolygon.clear(); }
void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
......@@ -60,29 +59,30 @@ public:
QString fileExtension(void) const final;
bool circleEnabled (void) const;
bool polygonEnabled (void) const;
bool breachReturnEnabled (void) const;
float circleRadius (void) const;
QGCMapPolygon* mapPolygon (void) { return &_mapPolygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
QVariantList params (void) const;
QStringList paramLabels (void) const;
QString editorQml (void) const;
bool circleEnabled (void) const;
Fact* circleRadiusFact (void) const;
bool polygonSupported (void) const;
bool polygonEnabled (void) const;
bool breachReturnSupported (void) const;
QVariantList params (void) const;
QStringList paramLabels (void) const;
QGCMapPolygon* mapPolygon (void) { return &_mapPolygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
signals:
void addFencePolygon (void);
void circleEnabledChanged (bool circleEnabled);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnEnabledChanged (bool breachReturnEnabled);
void circleRadiusChanged (float circleRadius);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void editorQmlChanged (QString editorQml);
void loadComplete (void);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void editorQmlChanged (QString editorQml);
void loadComplete (void);
void addInitialFencePolygon (void);
void circleEnabledChanged (bool circleEnabled);
void circleRadiusFactChanged (Fact* circleRadiusFact);
void polygonSupportedChanged (bool polygonSupported);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnSupportedChanged (bool breachReturnSupported);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
private slots:
void _polygonDirtyChanged(bool dirty);
......@@ -100,10 +100,9 @@ private:
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
bool _dirty;
QGCMapPolygon _mapPolygon;
QGeoCoordinate _breachReturnPoint;
QVariantList _params;
bool _dirty;
QGCMapPolygon _mapPolygon;
QGeoCoordinate _breachReturnPoint;
static const char* _jsonFileTypeValue;
static const char* _jsonBreachReturnKey;
......
src/MissionManager/GeoFenceManager.h
View file @ d52393fc
......@@ -14,6 +14,7 @@
#include <QGeoCoordinate>
#include "QGCLoggingCategory.h"
#include "FactSystem.h"
class Vehicle;
class QmlObjectListModel;
......@@ -39,20 +40,39 @@ public:
/// Send the current settings to the vehicle
virtual void sendToVehicle(const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon);
virtual void removeAll(void) { };
/// Remove all fence related items from vehicle (does not affect paramters)
virtual void removeAll(void) { }
virtual bool circleEnabled (void) const { return false; }
virtual bool polygonEnabled (void) const { return false; }
virtual bool breachReturnEnabled (void) const { return false; }
/// Returns true if this vehicle support polygon fence
/// Signal: polygonSupportedChanged
virtual bool polygonSupported(void) const { return false; }
virtual float circleRadius (void) const { return 0.0; }
QList<QGeoCoordinate> polygon (void) const { return _polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
/// Returns true if polygon fence is currently enabled on this vehicle
/// Signal: polygonEnabledChanged
virtual bool polygonEnabled(void) const { return false; }
/// Returns true if breach return is supported by this vehicle
/// Signal: breachReturnSupportedChanged
virtual bool breachReturnSupported(void) const { return false; }
/// Returns a list of parameter facts that relate to geofence support for the vehicle
/// Signal: paramsChanged
virtual QVariantList params(void) const { return QVariantList(); }
/// Returns the user visible labels for the paremeters returned by params method
/// Signal: paramLabelsChanged
virtual QStringList paramLabels(void) const { return QStringList(); }
virtual QVariantList params (void) const { return QVariantList(); }
virtual QStringList paramLabels (void) const { return QStringList(); }
/// Returns true if circular fence is currently enabled on vehicle
/// Signal: circleEnabledChanged
virtual bool circleEnabled(void) const { return false; }
virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/NoGeoFenceEditor.qml"); }
/// Returns the fact which controls the fence circle radius. NULL if not supported
/// Signal: circleRadiusFactChanged
virtual Fact* circleRadiusFact(void) const { return NULL; }
QList<QGeoCoordinate> polygon (void) const { return _polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
/// Error codes returned in error signal
typedef enum {
......@@ -63,16 +83,17 @@ public:
} ErrorCode_t;
signals:
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void circleEnabledChanged (bool circleEnabled);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnEnabledChanged (bool fenceEnabled);
void circleRadiusChanged (float circleRadius);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void circleEnabledChanged (bool circleEnabled);
void circleRadiusFactChanged (Fact* circleRadiusFact);
void polygonSupportedChanged (bool polygonSupported);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnSupportedChanged (bool breachReturnSupported);
protected:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
......
src/MissionManager/QGCMapPolygonVisuals.qml
View file @ d52393fc
......@@ -22,8 +22,13 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var mapControl ///< Map control to place item in
property var mapPolygon ///< QGCMapPolygon object
property var mapControl ///< Map control to place item in
property var mapPolygon ///< QGCMapPolygon object
property bool interactive: true /// true: user can manipulate polygon
property color interiorColor: "transparent"
property real interiorOpacity: 1
property int borderWidth: 0
property color borderColor: "black"
property var _polygonComponent
property var _dragHandlesComponent
......@@ -40,9 +45,11 @@ Item {
}
function addHandles() {
_dragHandlesComponent = dragHandlesComponent.createObject(mapControl)
_splitHandlesComponent = splitHandlesComponent.createObject(mapControl)
_centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
if (!_dragHandlesComponent) {
_dragHandlesComponent = dragHandlesComponent.createObject(mapControl)
_splitHandlesComponent = splitHandlesComponent.createObject(mapControl)
_centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
}
}
function removeHandles() {
......@@ -60,6 +67,52 @@ Item {
}
}
/// Add an initial 4 sided polygon
function addInitialPolygon() {
if (mapPolygon.count < 3) {
// Initial polygon is inset to take 2/3rds space
var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
rect.x += (rect.width * 0.25) / 2
rect.y += (rect.height * 0.25) / 2
rect.width *= 0.75
rect.height *= 0.75
var centerCoord = map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)), false /* clipToViewPort */)
var topLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y), false /* clipToViewPort */)
var topRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y), false /* clipToViewPort */)
var bottomLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y + rect.height), false /* clipToViewPort */)
var bottomRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height), false /* clipToViewPort */)
// Initial polygon has max width and height of 3000 meters
var halfWidthMeters = Math.min(topLeftCoord.distanceTo(topRightCoord), 3000) / 2
var halfHeightMeters = Math.min(topLeftCoord.distanceTo(bottomLeftCoord), 3000) / 2
topLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
topRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
bottomLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
bottomRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
mapPolygon.appendVertex(topLeftCoord)
mapPolygon.appendVertex(topRightCoord)
mapPolygon.appendVertex(bottomRightCoord)
mapPolygon.appendVertex(bottomLeftCoord)
}
}
onInteractiveChanged: {
if (interactive) {
addHandles()
} else {
removeHandles()
}
}
Component.onCompleted: {
mapPolygonVisuals.addVisuals()
if (interactive) {
addHandles()
}
}
Component.onDestruction: {
removeVisuals()
removeHandles()
......@@ -69,9 +122,11 @@ Item {
id: polygonComponent
MapPolygon {
color: "green"
opacity: 0.5
path: mapPolygon.path
color: interiorColor
opacity: interiorOpacity
border.color: borderColor
border.width: borderWidth
path: mapPolygon.path
}
}
......@@ -250,4 +305,3 @@ Item {
}
}
src/PlanView/GeoFenceEditor.qml
View file @ d52393fc
......@@ -4,6 +4,8 @@ import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
QGCFlickable {
id: root
......@@ -45,31 +47,74 @@ QGCFlickable {
anchors.left: parent.left
anchors.right: parent.right
anchors.top: geoFenceLabel.bottom
height: editorLoader.y + editorLoader.height + (_margin * 2)
height: fenceColumn.y + fenceColumn.height + (_margin * 2)
color: qgcPal.windowShadeDark
radius: _radius
QGCLabel {
id: geoLabel
Column {
id: fenceColumn
anchors.margins: _margin
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("GeoFencing allows you to set a virtual ‘fence’ around the area you want to fly in.")
}
spacing: ScreenTools.defaultFontPixelHeight / 2
Loader {
id: editorLoader
anchors.margins: _margin
anchors.top: geoLabel.bottom
anchors.left: parent.left
source: myGeoFenceController.editorQml
QGCLabel {
id: geoLabel
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("GeoFencing allows you to set a virtual ‘fence’ around the area you want to fly in.")
}
Repeater {
model: myGeoFenceController.params
Item {
width: fenceColumn.width
height: textField.height
property bool showCombo: modelData.enumStrings.length > 0
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
text: myGeoFenceController.paramLabels[index]
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: modelData
visible: !parent.showCombo
}
FactComboBox {
id: comboField
anchors.right: parent.right
width: _editFieldWidth
indexModel: false
fact: showCombo ? modelData : _nullFact
visible: parent.showCombo
property var _nullFact: Fact { }
}
}
}
QGCButton {
text: qsTr("Add fence polygon")
visible: myGeoFenceController.polygonSupported && myGeoFenceController.mapPolygon.count === 0
onClicked: myGeoFenceController.addPolygon()
}
property real availableWidth: parent.width - (_margin * 2)
property var geoFenceController: myGeoFenceController
property var myFlightMap: flightMap
QGCButton {
text: qsTr("Remove fence polygon")
visible: myGeoFenceController.polygonSupported && myGeoFenceController.mapPolygon.count > 0
onClicked: myGeoFenceController.removePolygon()
}
}
}
}
......
src/PlanView/GeoFenceMapVisuals.qml
View file @ d52393fc
This diff is collapsed.
src/PlanView/PlanView.qml
View file @ d52393fc
......@@ -239,6 +239,10 @@ QGCView {
function fitViewportToItems() {
mapFitFunctions.fitMapViewportToFenceItems()
}
function upload() {
sendToVehicle()
}
}
RallyPointController {
......@@ -274,6 +278,10 @@ QGCView {
function fitViewportToItems() {
mapFitFunctions.fitMapViewportToRallyItems()
}
function upload() {
sendToVehicle()
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
......@@ -505,6 +513,7 @@ QGCView {
z: QGroundControl.zOrderMapItems - 1
}
}
GeoFenceMapVisuals {
map: editorMap
myGeoFenceController: geoFenceController
......@@ -513,35 +522,11 @@ QGCView {
planView: true
}
// Rally points on map
MapItemView {
model: rallyPointController.points
delegate: MapQuickItem {
id: itemIndicator
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
coordinate: object.coordinate
z: QGroundControl.zOrderMapItems
sourceItem: MissionItemIndexLabel {
id: itemIndexLabel
label: qsTr("R", "rally point map item label")
checked: _editingLayer == _layerRallyPoints ? object == rallyPointController.currentRallyPoint : false
onClicked: rallyPointController.currentRallyPoint = object
onCheckedChanged: {
if (checked) {
// Setup our drag item
itemDragger.visible = true
itemDragger.coordinateItem = Qt.binding(function() { return object })
itemDragger.mapCoordinateIndicator = Qt.binding(function() { return itemIndicator })
}
}
}
}
RallyPointMapVisuals {
map: editorMap
myRallyPointController: rallyPointController
interactive: _editingLayer == _layerRallyPoints
planView: true
}
ToolStrip {
......@@ -632,11 +617,12 @@ QGCView {
// Plan Element selector (Mission/Fence/Rally)
Row {
id: planElementSelectorRow
anchors.topMargin: Math.round(ScreenTools.defaultFontPixelHeight / 3)
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
spacing: _horizontalMargin
visible: false // WIP: Temporarily remove - QGroundControl.corePlugin.options.enablePlanViewSelector
visible: QGroundControl.corePlugin.options.enablePlanViewSelector
readonly property real _buttonRadius: ScreenTools.defaultFontPixelHeight * 0.75
......@@ -657,7 +643,6 @@ QGCView {
_syncDropDownController = rallyPointController
break
}
_syncDropDownController.fitViewportToItems()
}
}
......@@ -742,22 +727,23 @@ QGCView {
} // Item - Mission Item editor
// GeoFence Editor
Loader {
anchors.top: planElementSelectorRow.visible ? planElementSelectorRow.bottom : planElementSelectorRow.top
anchors.left: parent.left
anchors.right: parent.right
sourceComponent: _editingLayer == _layerGeoFence ? geoFenceEditorComponent : undefined
property real availableWidth: _rightPanelWidth
property real availableHeight: ScreenTools.availableHeight
property var myGeoFenceController: geoFenceController
GeoFenceEditor {
anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2
anchors.top: planElementSelectorRow.bottom
anchors.left: parent.left
anchors.right: parent.right
availableHeight: ScreenTools.availableHeight
myGeoFenceController: geoFenceController
flightMap: editorMap
visible: _editingLayer == _layerGeoFence
}
// Rally Point Editor
RallyPointEditorHeader {
id: rallyPointHeader
anchors.top: planElementSelectorRow.visible ? planElementSelectorRow.bottom : planElementSelectorRow.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2
anchors.top: planElementSelectorRow.bottom
anchors.left: parent.left
anchors.right: parent.right
visible: _editingLayer == _layerRallyPoints
......@@ -766,7 +752,8 @@ QGCView {
RallyPointItemEditor {
id: rallyPointEditor
anchors.top: planElementSelectorRow.visible ? planElementSelectorRow.bottom : planElementSelectorRow.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2
anchors.top: rallyPointHeader.bottom
anchors.left: parent.left
anchors.right: parent.right
visible: _editingLayer == _layerRallyPoints && rallyPointController.points.count
......@@ -831,19 +818,6 @@ QGCView {
}
}
Component {
id: geoFenceEditorComponent
GeoFenceEditor {
availableWidth: _rightPanelWidth
availableHeight: ScreenTools.availableHeight
myGeoFenceController: geoFenceController
flightMap: editorMap
}
}
//- ToolStrip DropPanel Components
Component {
......
src/PlanView/QGCMapPolygonControls.qml deleted 100644 → 0
View file @ 92ccd6c0
import QtQuick 2.3
import QtQuick.Controls 1.2
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
/// Controls for drawing/editing map polygon
Column {
id: root
spacing: _margin
property var sectionLabel: qsTr("Polygon:") ///< Section label
property var flightMap ///< Must be set to FlightMap control
property var polygon ///< Must be set to MapPolygon
signal polygonEditCompleted ///< Signalled when either a capture or adjust has completed
property real _margin: ScreenTools.defaultFontPixelWidth / 2
function polygonCaptureStarted() {
polygon.clear()
}
function polygonCaptureFinished(coordinates) {
polygon.path = coordinates
polygonEditCompleted()
}
function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
polygon.adjustCoordinate(vertexIndex, vertexCoordinate)
}
function polygonAdjustStarted() { }
function polygonAdjustFinished() {
polygonEditCompleted()
}
QGCLabel { text: sectionLabel }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: flightMap.polygonDraw.drawingPolygon ? qsTr("Finish Draw") : qsTr("Draw")
visible: !flightMap.polygonDraw.adjustingPolygon
enabled: ((flightMap.polygonDraw.drawingPolygon && flightMap.polygonDraw.polygonReady) || !flightMap.polygonDraw.drawingPolygon)
onClicked: {
if (flightMap.polygonDraw.drawingPolygon) {
flightMap.polygonDraw.finishCapturePolygon()
} else {
flightMap.polygonDraw.startCapturePolygon(root)
}
}
}
QGCButton {
text: flightMap.polygonDraw.adjustingPolygon ? qsTr("Finish Adjust") : qsTr("Adjust")
visible: polygon.path.length > 0 && !flightMap.polygonDraw.drawingPolygon
onClicked: {
if (flightMap.polygonDraw.adjustingPolygon) {
flightMap.polygonDraw.finishAdjustPolygon()
} else {
flightMap.polygonDraw.startAdjustPolygon(root, polygon.path)
}
}
}
}
}
src/PlanView/RallyPointEditorHeader.qml
View file @ d52393fc
......@@ -27,7 +27,7 @@ QGCFlickable {
anchors.margins: _margin
anchors.left: parent.left
anchors.top: parent.top
text: qsTr("Rally Points (WIP careful!)")
text: qsTr("Rally Points")
color: "black"
}
......@@ -37,7 +37,7 @@ QGCFlickable {
anchors.left: parent.left
anchors.right: parent.right
anchors.top: editorLabel.bottom
height: infoLabel.height + helpLabel.height + (_margin * 2)
height: helpLabel.height + helpLabel.height + (_margin * 2)
color: qgcPal.windowShadeDark
radius: _radius
......
src/PlanView/RallyPointMapVisuals.qml 0 → 100644
View file @ d52393fc
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
/// Rally Point map visuals
Item {
z: QGroundControl.zOrderMapItems
property var map
property var myRallyPointController
property bool interactive: false ///< true: user can interact with items
property bool planView: false ///< true: visuals showing in plan view
property bool _interactive: interactive
property var _rallyPointsComponent
property bool _rallyPointsSupported: myRallyPointController.rallyPointsSupported
property var _rallyPoints: myRallyPointController.points
Component.onCompleted: {
_rallyPointsComponent = rallyPointsComponent.createObject(map)
}
Component.onDestruction: {
_rallyPointsComponent.destroy()
}
Component {
id: rallyPointComponent
MapQuickItem {
id: itemIndicator
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
z: QGroundControl.zOrderMapItems
property var rallyPointObject
sourceItem: MissionItemIndexLabel {
id: itemIndexLabel
label: qsTr("R", "rally point map item label")
checked: _editingLayer == _layerRallyPoints ? rallyPointObject == myRallyPointController.currentRallyPoint : false
onClicked: myRallyPointController.currentRallyPoint = rallyPointObject
}
}
}
// Add all rally points to the map
Component {
id: rallyPointsComponent
Repeater {
model: _rallyPoints
delegate: Item {
property var _visuals: [ ]
Component.onCompleted: {
var rallyPoint = rallyPointComponent.createObject(map)
rallyPoint.coordinate = Qt.binding(function() { return object.coordinate })
rallyPoint.rallyPointObject = Qt.binding(function() { return object })
map.addMapItem(rallyPoint)
_visuals.push(rallyPoint)
/*
var dragArea = dragAreaComponent.createObject(map, { "itemIndicator": dragHandle, "itemCoordinate": object.coordinate })
dragArea.polygonVertex = Qt.binding(function() { return index })
_visuals.push(dragHandle)
_visuals.push(dragArea)
*/
}
Component.onDestruction: {
for (var i=0; i<_visuals.length; i++) {
_visuals[i].destroy()
}
_visuals = [ ]
}
}
}
}
}
src/PlanView/SurveyMapVisual.qml
View file @ d52393fc
......@@ -88,28 +88,14 @@ Item {
}
QGCMapPolygonVisuals {
id: mapPolygonVisuals
mapControl: map
mapPolygon: _mapPolygon
Component.onCompleted: {
mapPolygonVisuals.addVisuals()
if (_missionItem.isCurrentItem) {
mapPolygonVisuals.addHandles()
}
}
Connections {
target: _missionItem
onIsCurrentItemChanged: {
if (_missionItem.isCurrentItem) {
mapPolygonVisuals.addHandles()
} else {
mapPolygonVisuals.removeHandles()
}
}
}
id: mapPolygonVisuals
mapControl: map
mapPolygon: _mapPolygon
interactive: _missionItem.isCurrentItem
borderWidth: 1
borderColor: "black"
interiorColor: "green"
interiorOpacity: 0.5
}
// Survey grid lines
......
src/QmlControls/QGroundControl.Controls.qmldir
View file @ d52393fc
......@@ -28,6 +28,7 @@ ParameterEditorDialog 1.0 ParameterEditorDialog.qml
PlanToolBar 1.0 PlanToolBar.qml
RallyPointEditorHeader 1.0 RallyPointEditorHeader.qml
RallyPointItemEditor 1.0 RallyPointItemEditor.qml
RallyPointMapVisuals 1.0 RallyPointMapVisuals.qml
RCChannelMonitor 1.0 RCChannelMonitor.qml
QGCButton 1.0 QGCButton.qml
QGCCheckBox 1.0 QGCCheckBox.qml
......
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