wp added to flight view

qgroundcontrol.qrc

@@ -228,6 +228,7 @@
         <file alias="QGroundControl/Controls/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaCorridorEditor.qml">src/WimaView/WimaCorridorEditor.qml</file>
         <file alias="QGroundControl/FlightMap/WimaPlanMapItems.qml">src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
+        <file alias="QGroundControl/Controls/WimaMissionItemMapVisual.qml">src/PlanView/WimaMissionItemMapVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -205,7 +205,7 @@ FlightMap {
                                     : object.type === "WimaMeasurementAreaData" ? "green"
                                         : "transparent"
             opacity:        0.25
-            z:          QGroundControl.zOrderTrajectoryLines-1
+            z:          QGroundControl.zOrderTrajectoryLines-2
         }
     }
 
@@ -214,7 +214,8 @@ FlightMap {
         map:                flightMap
         largeMapView:       _mainIsMap
         wimaController:     flightMap.wimaController
-        z: 1000
+        z:          QGroundControl.zOrderTrajectoryLines-1
+        color: "gray"
     }
 
     // Add trajectory points to the map

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -21,6 +21,7 @@ MapQuickItem {
 
     property var missionItem
     property int sequenceNumber
+    property var color
 
     signal clicked
 
@@ -37,6 +38,7 @@ MapQuickItem {
             vehicleYaw:     missionItem.missionVehicleYaw
             showGimbalYaw:  !isNaN(missionItem.missionGimbalYaw)
             onClicked:      _item.clicked()
+            color:          _item.color
 
             property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false
         }

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -22,6 +22,7 @@ Item {
     property var    map                 ///< Map control to show items on
     property bool   largeMapView        ///< true: map takes up entire view, false: map is in small window
     property var    wimaController
+    property var    color
 
     property var    _map: map
     property var    _missionLineViewComponent
@@ -30,14 +31,15 @@ Item {
     Repeater {
         model: largeMapView ? wimaController.missionItems : 0
 
-        delegate: MissionItemMapVisual {
+        delegate: WimaMissionItemMapVisual {
             map:        _map
-            onClicked: {
-                if (isActiveVehicle) {
-                    // Only active vehicle supports click to change current mission item
-                    guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
-                }
-            }
+            color:     _root.color
+//            onClicked: {
+//                if (isActiveVehicle) {
+//                    // Only active vehicle supports click to change current mission item
+//                    guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
+//                }
+//            }
         }
 
         /*onItemAdded: {
@@ -66,9 +68,9 @@ Item {
 
         MapPolyline {
             line.width: 3
-            line.color: "#be781c"                           // Hack, can't get palette to work in here
+            line.color: "gray"                           // Hack, can't get palette to work in here
             z:          QGroundControl.zOrderWaypointLines
-            path:       undefined //wimaController.waypointPath
+            path:       wimaController.waypointPath
         }
     }
 }

src/MissionManager/SimpleMissionItem.cc

@@ -148,7 +148,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const Missi
 
 SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent)
     : VisualMissionItem         (other, flyView, parent)
-    , _missionItem              (other._vehicle)
+    , _missionItem              (other._missionItem, this)
     , _rawEdit                  (false)
     , _dirty                    (false)
     , _ignoreDirtyChangeSignals (false)

src/PlanView/WimaMissionItemMapVisual.qml

+/****************************************************************************
+ *
+ *   (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
+
+/// Simple Mission Item visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+    property var color
+
+    property var    _missionItem:       object
+    property var    _itemVisual
+    property var    _dragArea
+    property bool   _itemVisualShowing: false
+    property bool   _dragAreaShowing:   false
+
+    signal clicked(int sequenceNumber)
+
+    function hideItemVisuals() {
+        if (_itemVisualShowing) {
+            _itemVisual.destroy()
+            _itemVisualShowing = false
+        }
+    }
+
+    function showItemVisuals() {
+        if (!_itemVisualShowing) {
+            _itemVisual = indicatorComponent.createObject(map)
+            map.addMapItem(_itemVisual)
+            _itemVisualShowing = true
+        }
+    }
+
+    function hideDragArea() {
+        if (_dragAreaShowing) {
+            _dragArea.destroy()
+            _dragAreaShowing = false
+        }
+    }
+
+    function showDragArea() {
+        if (!_dragAreaShowing && _missionItem.specifiesCoordinate) {
+            _dragArea = dragAreaComponent.createObject(map)
+            _dragAreaShowing = true
+        }
+    }
+
+    Component.onCompleted: {
+        showItemVisuals()
+        if (_missionItem.isCurrentItem && map.planView) {
+            showDragArea()
+        }
+    }
+
+    Component.onDestruction: {
+        hideDragArea()
+        hideItemVisuals()
+    }
+
+
+    Connections {
+        target: _missionItem
+
+        onIsCurrentItemChanged: {
+            if (_missionItem.isCurrentItem) {
+                showDragArea()
+            } else {
+                hideDragArea()
+            }
+        }
+    }
+
+    // Control which is used to drag items
+    Component {
+        id: dragAreaComponent
+
+        MissionItemIndicatorDrag {
+            mapControl:     _root.map
+            itemIndicator:  _itemVisual
+            itemCoordinate: _missionItem.coordinate
+
+            onItemCoordinateChanged: _missionItem.coordinate = itemCoordinate
+        }
+    }
+
+    Component {
+        id: indicatorComponent
+
+        MissionItemIndicator {
+            coordinate:     _missionItem.coordinate
+            visible:        _missionItem.specifiesCoordinate
+            z:              QGroundControl.zOrderMapItems
+            missionItem:    _missionItem
+            sequenceNumber: _missionItem.sequenceNumber
+            color:          _root.color
+
+            onClicked: _root.clicked(_missionItem.sequenceNumber)
+        }
+    }
+}

src/Wima/WimaController.cc

@@ -38,7 +38,7 @@ QStringList WimaController::saveNameFilters() const
     return filters;
 }
 
-WimaDataContainer *WimaController::dataContainer() const
+WimaDataContainer *WimaController::dataContainer()
 {
     return _container;
 }
@@ -48,6 +48,11 @@ QmlObjectListModel *WimaController::missionItems()
     return &_missionItems;
 }
 
+QVariantList WimaController::waypointPath()
+{
+    return  _waypointPath;
+}
+
 void WimaController::setMasterController(PlanMasterController *masterC)
 {
     _masterController = masterC;
@@ -159,14 +164,11 @@ void WimaController::containerDataValidChanged(bool valid)
 
         int areaCounter = 0;
         int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
-        qWarning() << QString("List Size: %1").arg(areaList.size());
         for (int i = 0; i < areaList.size(); i++) {
             const WimaAreaData *areaData = areaList[i];
 
-            qWarning() << areaData->type();
             if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
                 _serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData);
-//                qWarning("Service area, wuhuuu!");
                 areaCounter++;
                 _visualItems.append(&_serviceArea);
 
@@ -175,7 +177,6 @@ void WimaController::containerDataValidChanged(bool valid)
 
             if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
                 _measurementArea =  *qobject_cast<const WimaMeasurementAreaData*>(areaData);
-//                qWarning("Measurement area, wuhuuu!");
                 areaCounter++;
                 _visualItems.append(&_measurementArea);
 
@@ -184,7 +185,6 @@ void WimaController::containerDataValidChanged(bool valid)
 
             if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
                 _corridor =  *qobject_cast<const WimaCorridorData*>(areaData);
-//                qWarning("WimaCorridorData, wuhuuu!");
                 areaCounter++;
                 //_visualItems.append(&_corridor); // not needed
 
@@ -193,7 +193,6 @@ void WimaController::containerDataValidChanged(bool valid)
 
             if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor?
                 _joinedArea =  *qobject_cast<const WimaJoinedAreaData*>(areaData);
-//                qWarning("WimaJoinedAreaData, wuhuuu!");
                 areaCounter++;
                 _visualItems.append(&_joinedArea);
 
@@ -213,8 +212,9 @@ void WimaController::containerDataValidChanged(bool valid)
 
         _missionController->removeAll();
         QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
-        for ( auto missionItem : tempMissionItems)
+        for ( auto missionItem : tempMissionItems) {
             _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
+        }
 
         MissionSettingsItem *settingsItem     = qobject_cast<MissionSettingsItem *>((*missionControllerVisualItems)[0]);
         if (settingsItem == nullptr) {
@@ -233,10 +233,7 @@ void WimaController::containerDataValidChanged(bool valid)
             _missionItems.append(visualItemCopy);
         }
 
-        // remove warnings if you read this
-        qWarning("WimaController::containerDataValidChanged(): Mission Item count:");
-        qWarning() << _missionItems.count();
-
+        updateWaypointPath();
         _missionController->removeAll();
 
         if (areaCounter == numAreas)
@@ -257,6 +254,22 @@ void WimaController::containerDataValidChanged(bool valid)
 #endif
 }
 
+void WimaController::updateWaypointPath()
+{
+    _waypointPath.clear();
+
+    for ( int i = 1; i < _missionItems.count(); i++) {
+        SimpleMissionItem *item = qobject_cast<SimpleMissionItem *>(_missionItems[i]);
+        if (item == nullptr) {
+            qWarning("WimaController::updateWaypointPath(): nullptr");
+            return;
+        }
+        _waypointPath.append(QVariant::fromValue(item->coordinate()));
+    }
+
+    emit waypointPathChanged();
+}
+
 
 
 

src/Wima/WimaController.h

@@ -39,21 +39,23 @@ public:
     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(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
     Q_PROPERTY(QmlObjectListModel*      missionItems        READ missionItems                                           NOTIFY missionItemsChanged)
+    Q_PROPERTY(QVariantList             waypointPath        READ waypointPath                                           NOTIFY waypointPathChanged)
 
 
     // Property accessors
     PlanMasterController*       masterController       (void)          { return _masterController; }
     MissionController*          missionController      (void)          { return _missionController; }
-    QmlObjectListModel*         visualItems            (void) ;
+    QmlObjectListModel*         visualItems            (void);
     QString                     currentFile            (void) const    { return _currentFile; }
     QStringList                 loadNameFilters        (void) const;
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
-    WimaDataContainer*          dataContainer          (void) const;
+    WimaDataContainer*          dataContainer          (void);
     QmlObjectListModel*         missionItems           (void);
+    QVariantList                waypointPath           (void);
 
 
     // Property setters
@@ -90,9 +92,11 @@ signals:
     void dataContainerChanged           ();
     void readyForSaveSendChanged        (bool ready);
     void missionItemsChanged            (void);
+    void waypointPathChanged            (void);
 
 private slots:
     void containerDataValidChanged          (bool valid);
+    void updateWaypointPath                 (void);
 
 private:
     PlanMasterController   *_masterController;
@@ -106,5 +110,6 @@ private:
     WimaCorridorData        _corridor; // corridor connecting opArea and serArea
     bool                    _localPlanDataValid;
     QmlObjectListModel      _missionItems; // all mission itmes generaded by wimaPlaner, displayed in flightView
+    QVariantList            _waypointPath;
 };
 

src/Wima/WimaPlaner.cc

@@ -242,7 +242,6 @@ bool WimaPlaner::updateMission()
         qWarning("WimaPlaner::updateMission(): settingsItem == nullptr");
         return false;
     }
-
     // set altitudes, temporary measure to solve bugs
     QGeoCoordinate center = _serviceArea.center();
     center.setAltitude(0);
@@ -253,15 +252,20 @@ bool WimaPlaner::updateMission()
     center = _corridor.center();
     center.setAltitude(0);
     _corridor.setCenter(center);
-
-
     // set HomePos. to serArea center
     settingsItem->setCoordinate(_serviceArea.center());
 
     // create take off position item
     int sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
-    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
 
+    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
+    SimpleMissionItem* takeOffItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
+    if (takeOffItem == nullptr){
+        qWarning("WimaPlaner::updateMission(): takeOffItem == nullptr");
+        return false;
+    } else {
+        takeOffItem->setCoordinate(_serviceArea.center()); //necessary, insertSimpleMissionItem does not copy coordinate (why?)
+    }
 
     // create survey item, will be extened with more()-> mission types in the future
     _missionController->insertComplexMissionItem(_missionController->circularSurveyComplexItemName(), _measurementArea.center(), missionItems->count());
@@ -280,13 +284,9 @@ bool WimaPlaner::updateMission()
         survey->setAutoGenerated(true); // prevents reinitialisation from gui
         survey->surveyAreaPolygon()->clear();
         survey->surveyAreaPolygon()->appendVertices(_measurementArea.coordinateList());
-
     }
 
 
-
-
-
     // calculate path from take off to opArea
     if (survey->visualTransectPoints().size() == 0) {
         qWarning("WimaPlaner::updateMission(): survey no points.");
@@ -345,6 +345,8 @@ bool WimaPlaner::updateMission()
         MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
         if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
             landItem->setCommand(landCmd);
+        } else {
+            return false;
         }
     }
 
@@ -588,26 +590,6 @@ bool WimaPlaner::recalcJoinedArea(QString &errorString)
         return false; // this happens if all areas are pairwise disjoint
     }
     // join service area, op area and corridor
-
-
-//    // remove if debugging finished
-//    WimaServiceArea *test = new WimaServiceArea(this);
-
-//    WimaServiceArea *test1 = new WimaServiceArea(this);
-//    WimaServiceArea *test2 = new WimaServiceArea(this);
-//    WimaServiceArea *test3 = new WimaServiceArea(this);
-//    Circle circle(25, this);
-//    using namespace GeoUtilities;
-
-//    test->setPath(toGeo(circle.approximateSektor(0.5, 1, 3), _joinedArea.center()));
-//    _visualItems.append(test);
-//    test1->setPath(toGeo(circle.approximateSektor(0.5, 1, -1), _joinedArea.center()));
-//    _visualItems.append(test1);
-//    test2->setPath(toGeo(circle.approximateSektor(0.5,-1, 3), _joinedArea.center()));
-//    _visualItems.append(test2);
-//    test3->setPath(toGeo(circle.approximateSektor(0.5, -1, -3), _joinedArea.center()));
-//    _visualItems.append(test3);
-
     return true;
 }
 
@@ -682,6 +664,21 @@ WimaPlanData WimaPlaner::toPlanData()
     // convert mission items to mavlink commands
     QList<MissionItem*> rgMissionItems;
     MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, this);
+
+    // remove warnings if you read this
+//    qWarning("WimaPlaner::toPlanData(): rgMissionItems");
+//    for (auto item : rgMissionItems) {
+//        qWarning() << item->command();
+//        qWarning() << item->param1();
+//        qWarning() << item->param2();
+//        qWarning() << item->param3();
+//        qWarning() << item->param4();
+//        qWarning() << item->param5();
+//        qWarning() << item->param6();
+//        qWarning() << item->param7();
+//        qWarning(" ");
+//    }
+
     QList<const MissionItem*> rgMissionItemsConst;
     for (auto missionItem : rgMissionItems)
         rgMissionItemsConst.append(missionItem);