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Commit dedb0c51 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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nemo interface moved to wima planer

parent 529f7da8
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Inline Side-by-side
Showing with 5628 additions and 1116 deletions
Paths/KlingenbachVardiff.wima 0 → 100644
View file @ dedb0c51
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src/FlightDisplay/FlightDisplayViewMap.qml
View file @ dedb0c51
......@@ -273,7 +273,6 @@ FlightMap {
MapItemView {
id: tileView
property bool _enable: wimaController.enableWimaController.value
&& wimaController.enableSnake.value
property bool valid: wimaController.snakeTileCenterPoints.length
=== wimaController.nemoProgress.length
model: _enable ? wimaController.snakeTiles : 0
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ dedb0c51
......@@ -46,7 +46,6 @@ Item {
// Use Settings to store menu appearance through different sessions.
Settings {
property alias snakeHeaderChecker: snakeHeader.checked
property alias missionHeaderChecker: missionHeader.checked
property alias navigateHeaderChecker: navigateHeader.checked
property alias vehicleHeaderChecker: vehicleHeader.checked
......@@ -98,7 +97,6 @@ Item {
property var enableWimaFact: wimaController.enableWimaController
property bool enableWimaBoolean: enableWimaFact.value
property var enableSnakeFact: wimaController.enableSnake
onAccept: {
if (enableWimaBoolean) {
......@@ -108,7 +106,6 @@ Item {
} else {
enableWimaFact.value = true
enableWimaMouseArea.enabled = false
enableSnakeCheckBox.checkedState = false;
timer.stop()
}
}
......@@ -176,56 +173,6 @@ Item {
id: mainColumn
spacing: ScreenTools.defaultFontPixelHeight * 0.3
SectionHeader{
id: snakeHeader
text: qsTr("Snake Settings")
}
Column {
visible: snakeHeader.checked
spacing: ScreenTools.defaultFontPixelHeight * 0.5
FactCheckBox {
id: enableSnakeCheckBox
text: wimaController.enableSnake.value ?
qsTr("Disable Snake")
: qsTr("Enable Snake")
fact: wimaController.enableSnake
}
// Spacer
Item {
height: 1
}
// Snake status and settings column.
GridLayout {
columns: 2
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
columnSpacing: ScreenTools.defaultFontPixelHeight * 0.5
visible: wimaController.enableSnake.value
// Snake connection status.
QGCLabel {
property int index: wimaController.nemoStatus
property string statusString: wimaController.nemoStatusString
text: "Status: " + statusString
Layout.fillWidth: true
}
// Snake calculation status.
QGCLabel {
property bool _calcInProgress: wimaController.snakeCalcInProgress
text: _calcInProgress === true ?
qsTr("Calculation: In Progress")
: qsTr("Calculation: Idle")
Layout.fillWidth: true
}
}
}
SectionHeader{
id: missionHeader
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ dedb0c51
......@@ -143,7 +143,7 @@ Rectangle {
model: len
delegate: QGCRadioButton {
checked: index === variantRepeater.variant
text: variantRepeater.names[index]
text: variantRepeater.names[index] ? variantRepeater.names[index]: ""
onCheckedChanged: {
if (checked){
......
src/QGCApplication.cc
View file @ dedb0c51
......@@ -7,7 +7,6 @@
*
****************************************************************************/
/**
* @file
* @brief Implementation of class QGCApplication
......@@ -16,15 +15,15 @@
*
*/
#include <QAction>
#include <QDesktopWidget>
#include <QFile>
#include <QFlags>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <QStringListModel>
#include <QPixmap>
#include <QRegularExpression>
#include <QStringListModel>
#include <QStyleFactory>
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
......@@ -34,78 +33,79 @@
#include "VideoStreaming.h"
#include "QGC.h"
#include "QGCApplication.h"
#include "AppMessages.h"
#include "AudioOutput.h"
#include "AutoPilotPlugin.h"
#include "CameraCalc.h"
#include "CmdLineOptParser.h"
#include "UDPLink.h"
#include "LinkManager.h"
#include "UASMessageHandler.h"
#include "QGCTemporaryFile.h"
#include "QGCPalette.h"
#include "QGCMapPalette.h"
#include "QGCLoggingCategory.h"
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "CoordinateVector.h"
#include "CustomCommandWidgetController.h"
#include "ESP8266ComponentController.h"
#include "ScreenToolsController.h"
#include "QGCFileDialogController.h"
#include "RCChannelMonitorController.h"
#include "SyslinkComponentController.h"
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
#include "EditPositionDialogController.h"
#include "FactValueSliderListModel.h"
#include "FirmwareImage.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "Vehicle.h"
#include "FlightMapSettings.h"
#include "FollowMe.h"
#include "JoystickConfigController.h"
#include "JoystickManager.h"
#include "QmlObjectListModel.h"
#include "QGCGeoBoundingCube.h"
#include "LinkManager.h"
#include "LogDownloadController.h"
#include "MissionCommandTree.h"
#include "MissionManager.h"
#include "QGroundControlQmlGlobal.h"
#include "FlightMapSettings.h"
#include "CoordinateVector.h"
#include "MultiVehicleManager.h"
#include "ParameterEditorController.h"
#include "ParameterManager.h"
#include "PlanMasterController.h"
#include "Wima/WimaController.h"
#include "Wima/WimaBridge.h"
#include "Wima/WimaPlaner.h"
#include "VideoManager.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
#include "LogDownloadController.h"
#include "ValuesWidgetController.h"
#include "AppMessages.h"
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "QGCMapPolygon.h"
#include "QGC.h"
#include "QGCApplication.h"
#include "QGCCameraManager.h"
#include "QGCCorePlugin.h"
#include "QGCFileDialogController.h"
#include "QGCFileDownload.h"
#include "QGCGeoBoundingCube.h"
#include "QGCLoggingCategory.h"
#include "QGCMapCircle.h"
#include "ParameterManager.h"
#include "QGCMapPalette.h"
#include "QGCMapPolygon.h"
#include "QGCPalette.h"
#include "QGCTemporaryFile.h"
#include "QGroundControlQmlGlobal.h"
#include "QmlObjectListModel.h"
#include "RCChannelMonitorController.h"
#include "ScreenToolsController.h"
#include "SettingsManager.h"
#include "QGCCorePlugin.h"
#include "QGCCameraManager.h"
#include "CameraCalc.h"
#include "VisualMissionItem.h"
#include "EditPositionDialogController.h"
#include "FactValueSliderListModel.h"
#include "ShapeFileHelper.h"
#include "QGCFileDownload.h"
#include "FirmwareImage.h"
#include "SimulatedPosition.h"
#include "SyslinkComponentController.h"
#include "UASMessageHandler.h"
#include "UDPLink.h"
#include "ValuesWidgetController.h"
#include "Vehicle.h"
#include "VehicleComponent.h"
#include "VideoManager.h"
#include "VideoReceiver.h"
#include "VideoSurface.h"
#include "ViewWidgetController.h"
#include "VisualMissionItem.h"
#include "Wima/Snake/NemoInterface.h"
#include "Wima/WimaBridge.h"
#include "Wima/WimaController.h"
#include "Wima/WimaPlaner.h"
#ifndef NO_SERIAL_LINK
#include "SerialLink.h"
#endif
#ifndef __mobile__
#include "QGCQFileDialog.h"
#include "QGCMessageBox.h"
#include "FirmwareUpgradeController.h"
#include "MainWindow.h"
#include "GPS/GPSManager.h"
#include "GeoTagController.h"
#include "MainWindow.h"
#include "MavlinkConsoleController.h"
#include "GPS/GPSManager.h"
#include "QGCMessageBox.h"
#include "QGCQFileDialog.h"
#endif
#ifdef QGC_RTLAB_ENABLED
......@@ -114,765 +114,842 @@
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#include <unistd.h>
#endif
#endif
#include "QGCMapEngine.h"
QGCApplication* QGCApplication::_app = nullptr;
QGCApplication *QGCApplication::_app = nullptr;
const char* QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey = "SettingsVersion";
const char *QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char *QGCApplication::_settingsVersionKey = "SettingsVersion";
const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
const char *QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
const char *QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
// Qml Singleton factories
static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
{
ScreenToolsController* screenToolsController = new ScreenToolsController;
return screenToolsController;
static QObject *screenToolsControllerSingletonFactory(QQmlEngine *,
QJSEngine *) {
ScreenToolsController *screenToolsController = new ScreenToolsController;
return screenToolsController;
}
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
// We create this object as a QGCTool even though it isn't in the toolbox
QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
qmlGlobal->setToolbox(qgcApp()->toolbox());
static QObject *qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine *,
QJSEngine *) {
// We create this object as a QGCTool even though it isn't in the toolbox
QGroundControlQmlGlobal *qmlGlobal =
new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
qmlGlobal->setToolbox(qgcApp()->toolbox());
return qmlGlobal;
return qmlGlobal;
}
static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
{
return new ShapeFileHelper;
static QObject *shapeFileHelperSingletonFactory(QQmlEngine *, QJSEngine *) {
return new ShapeFileHelper;
}
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
QGCApplication::QGCApplication(int &argc, char *argv[], bool unitTesting)
#ifdef __mobile__
: QGuiApplication (argc, argv)
, _qmlAppEngine (nullptr)
: QGuiApplication(argc, argv), _qmlAppEngine(nullptr)
#else
: QApplication (argc, argv)
: QApplication(argc, argv)
#endif
, _runningUnitTests (unitTesting)
, _logOutput (false)
, _fakeMobile (false)
, _settingsUpgraded (false)
, _majorVersion (0)
, _minorVersion (0)
, _buildVersion (0)
, _currentVersionDownload (nullptr)
, _gpsRtkFactGroup (nullptr)
, _toolbox (nullptr)
, _bluetoothAvailable (false)
{
_app = this;
QLocale locale = QLocale::system();
//-- Some forced locales for testing
//QLocale locale = QLocale(QLocale::German);
//QLocale locale = QLocale(QLocale::French);
//QLocale locale = QLocale(QLocale::Chinese);
#if defined (__macos__)
locale = QLocale(locale.name());
,
_runningUnitTests(unitTesting), _logOutput(false), _fakeMobile(false),
_settingsUpgraded(false), _majorVersion(0), _minorVersion(0),
_buildVersion(0), _currentVersionDownload(nullptr),
_gpsRtkFactGroup(nullptr), _toolbox(nullptr), _bluetoothAvailable(false) {
_app = this;
QLocale locale = QLocale::system();
//-- Some forced locales for testing
// QLocale locale = QLocale(QLocale::German);
// QLocale locale = QLocale(QLocale::French);
// QLocale locale = QLocale(QLocale::Chinese);
#if defined(__macos__)
locale = QLocale(locale.name());
#endif
qDebug() << "System reported locale:" << locale << locale.name();
//-- Our localization
if(_QGCTranslator.load(locale, "qgc_", "", ":/localization"))
_app->installTranslator(&_QGCTranslator);
qDebug() << "System reported locale:" << locale << locale.name();
//-- Our localization
if (_QGCTranslator.load(locale, "qgc_", "", ":/localization"))
_app->installTranslator(&_QGCTranslator);
// This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
// This prevents usage of QQuickWidget to fail since it doesn't support
// native widget siblings
#ifndef __android__
setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
#endif
// Setup for network proxy support
QNetworkProxyFactory::setUseSystemConfiguration(true);
// Setup for network proxy support
QNetworkProxyFactory::setUseSystemConfiguration(true);
#ifdef Q_OS_LINUX
#ifndef __mobile__
if (!_runningUnitTests) {
if (getuid() == 0) {
QMessageBox msgBox;
msgBox.setInformativeText(tr("You are running %1 as root. "
"You should not do this since it will cause other issues with %1. "
"%1 will now exit. "
"If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
_exit(0);
}
if (!_runningUnitTests) {
if (getuid() == 0) {
QMessageBox msgBox;
msgBox.setInformativeText(
tr("You are running %1 as root. "
"You should not do this since it will cause other issues with %1. "
"%1 will now exit. "
"If you are having serial port issues on Ubuntu, execute the "
"following commands to fix most issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager")
.arg(qgcApp()->applicationName()));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
_exit(0);
}
// Determine if we have the correct permissions to access USB serial devices
QFile permFile("/etc/group");
if(permFile.open(QIODevice::ReadOnly)) {
while(!permFile.atEnd()) {
QString line = permFile.readLine();
if (line.contains("dialout") && !line.contains(getenv("USER"))) {
QMessageBox msgBox;
msgBox.setInformativeText("The current user does not have the correct permissions to access serial devices. "
"You should also remove modemmanager since it also interferes. "
"If you are using Ubuntu, execute the following commands to fix these issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
break;
}
}
permFile.close();
// Determine if we have the correct permissions to access USB serial devices
QFile permFile("/etc/group");
if (permFile.open(QIODevice::ReadOnly)) {
while (!permFile.atEnd()) {
QString line = permFile.readLine();
if (line.contains("dialout") && !line.contains(getenv("USER"))) {
QMessageBox msgBox;
msgBox.setInformativeText(
"The current user does not have the correct permissions to "
"access serial devices. "
"You should also remove modemmanager since it also interferes. "
"If you are using Ubuntu, execute the following commands to fix "
"these issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
break;
}
}
permFile.close();
}
}
#endif
#endif
// Parse command line options
bool fClearSettingsOptions = false; // Clear stored settings
bool fClearCache = false; // Clear parameter/airframe caches
bool logging = false; // Turn on logging
QString loggingOptions;
CmdLineOpt_t rgCmdLineOptions[] = {
{ "--clear-settings", &fClearSettingsOptions, nullptr },
{ "--clear-cache", &fClearCache, nullptr },
{ "--logging", &logging, &loggingOptions },
{ "--fake-mobile", &_fakeMobile, nullptr },
{ "--log-output", &_logOutput, nullptr },
// Add additional command line option flags here
};
ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
// Set up timer for delayed missing fact display
_missingParamsDelayedDisplayTimer.setSingleShot(true);
_missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
// Set application information
if (_runningUnitTests) {
// We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
// name. Also we want to run unit tests with clean settings every time.
setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
} else {
setApplicationName(QGC_APPLICATION_NAME);
}
setOrganizationName(QGC_ORG_NAME);
setOrganizationDomain(QGC_ORG_DOMAIN);
this->setApplicationVersion(QString(GIT_VERSION));
// Set settings format
QSettings::setDefaultFormat(QSettings::IniFormat);
QSettings settings;
qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
// Parse command line options
bool fClearSettingsOptions = false; // Clear stored settings
bool fClearCache = false; // Clear parameter/airframe caches
bool logging = false; // Turn on logging
QString loggingOptions;
CmdLineOpt_t rgCmdLineOptions[] = {
{"--clear-settings", &fClearSettingsOptions, nullptr},
{"--clear-cache", &fClearCache, nullptr},
{"--logging", &logging, &loggingOptions},
{"--fake-mobile", &_fakeMobile, nullptr},
{"--log-output", &_logOutput, nullptr},
// Add additional command line option flags here
};
ParseCmdLineOptions(argc, argv, rgCmdLineOptions,
sizeof(rgCmdLineOptions) / sizeof(rgCmdLineOptions[0]),
false);
// Set up timer for delayed missing fact display
_missingParamsDelayedDisplayTimer.setSingleShot(true);
_missingParamsDelayedDisplayTimer.setInterval(
_missingParamsDelayedDisplayTimerTimeout);
connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this,
&QGCApplication::_missingParamsDisplay);
// Set application information
if (_runningUnitTests) {
// We don't want unit tests to use the same QSettings space as the normal
// app. So we tweak the app name. Also we want to run unit tests with clean
// settings every time.
setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
} else {
setApplicationName(QGC_APPLICATION_NAME);
}
setOrganizationName(QGC_ORG_NAME);
setOrganizationDomain(QGC_ORG_DOMAIN);
this->setApplicationVersion(QString(GIT_VERSION));
// Set settings format
QSettings::setDefaultFormat(QSettings::IniFormat);
QSettings settings;
qDebug() << "Settings location" << settings.fileName()
<< "Is writable?:" << settings.isWritable();
#ifdef UNITTEST_BUILD
if (!settings.isWritable()) {
qWarning() << "Setings location is not writable";
}
if (!settings.isWritable()) {
qWarning() << "Setings location is not writable";
}
#endif
// The setting will delete all settings on this boot
fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
if (_runningUnitTests) {
// Unit tests run with clean settings
fClearSettingsOptions = true;
}
if (fClearSettingsOptions) {
// User requested settings to be cleared on command line
// The setting will delete all settings on this boot
fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
if (_runningUnitTests) {
// Unit tests run with clean settings
fClearSettingsOptions = true;
}
if (fClearSettingsOptions) {
// User requested settings to be cleared on command line
settings.clear();
// Clear parameter cache
QDir paramDir(ParameterManager::parameterCacheDir());
paramDir.removeRecursively();
paramDir.mkpath(paramDir.absolutePath());
} else {
// Determine if upgrade message for settings version bump is required. Check
// and clear must happen before toolbox is started since that will write
// some settings.
if (settings.contains(_settingsVersionKey)) {
if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
settings.clear();
// Clear parameter cache
QDir paramDir(ParameterManager::parameterCacheDir());
paramDir.removeRecursively();
paramDir.mkpath(paramDir.absolutePath());
} else {
// Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
// that will write some settings.
if (settings.contains(_settingsVersionKey)) {
if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
settings.clear();
_settingsUpgraded = true;
}
} else if (settings.allKeys().count()) {
// Settings version key is missing and there are settings. This is an upgrade scenario.
settings.clear();
_settingsUpgraded = true;
}
}
settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
if (fClearCache) {
QDir dir(ParameterManager::parameterCacheDir());
dir.removeRecursively();
QFile airframe(cachedAirframeMetaDataFile());
airframe.remove();
QFile parameter(cachedParameterMetaDataFile());
parameter.remove();
_settingsUpgraded = true;
}
} else if (settings.allKeys().count()) {
// Settings version key is missing and there are settings. This is an
// upgrade scenario.
settings.clear();
_settingsUpgraded = true;
}
// Set up our logging filters
QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);
// Initialize Bluetooth
}
settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
if (fClearCache) {
QDir dir(ParameterManager::parameterCacheDir());
dir.removeRecursively();
QFile airframe(cachedAirframeMetaDataFile());
airframe.remove();
QFile parameter(cachedParameterMetaDataFile());
parameter.remove();
}
// Set up our logging filters
QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(
loggingOptions);
// Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTHsubPolylines
QBluetoothLocalDevice localDevice;
if (localDevice.isValid())
{
_bluetoothAvailable = true;
}
QBluetoothLocalDevice localDevice;
if (localDevice.isValid()) {
_bluetoothAvailable = true;
}
#endif
// Gstreamer debug settings
// Gstreamer debug settings
#if defined(__ios__) || defined(__android__)
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, nullptr, nullptr);
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, nullptr, nullptr);
#else
QString savePath, gstDebugLevel;
if (settings.contains(AppSettings::savePathName)) {
savePath = settings.value(AppSettings::savePathName).toString();
}
if(savePath.isEmpty()) {
savePath = "/tmp";
}
savePath = savePath + "/Logs/gst";
if (!QDir(savePath).exists()) {
QDir().mkpath(savePath);
}
if (settings.contains(AppSettings::gstDebugLevelName)) {
gstDebugLevel = "*:" + settings.value(AppSettings::gstDebugLevelName).toString();
}
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, savePath.toUtf8().data(), gstDebugLevel.toUtf8().data());
QString savePath, gstDebugLevel;
if (settings.contains(AppSettings::savePathName)) {
savePath = settings.value(AppSettings::savePathName).toString();
}
if (savePath.isEmpty()) {
savePath = "/tmp";
}
savePath = savePath + "/Logs/gst";
if (!QDir(savePath).exists()) {
QDir().mkpath(savePath);
}
if (settings.contains(AppSettings::gstDebugLevelName)) {
gstDebugLevel =
"*:" + settings.value(AppSettings::gstDebugLevelName).toString();
}
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, savePath.toUtf8().data(),
gstDebugLevel.toUtf8().data());
#endif
_toolbox = new QGCToolbox(this);
_toolbox->setChildToolboxes();
_toolbox = new QGCToolbox(this);
_toolbox->setChildToolboxes();
#ifndef __mobile__
_gpsRtkFactGroup = new GPSRTKFactGroup(this);
GPSManager *gpsManager = _toolbox->gpsManager();
if (gpsManager) {
connect(gpsManager, &GPSManager::onConnect, this, &QGCApplication::_onGPSConnect);
connect(gpsManager, &GPSManager::onDisconnect, this, &QGCApplication::_onGPSDisconnect);
connect(gpsManager, &GPSManager::surveyInStatus, this, &QGCApplication::_gpsSurveyInStatus);
connect(gpsManager, &GPSManager::satelliteUpdate, this, &QGCApplication::_gpsNumSatellites);
}
_gpsRtkFactGroup = new GPSRTKFactGroup(this);
GPSManager *gpsManager = _toolbox->gpsManager();
if (gpsManager) {
connect(gpsManager, &GPSManager::onConnect, this,
&QGCApplication::_onGPSConnect);
connect(gpsManager, &GPSManager::onDisconnect, this,
&QGCApplication::_onGPSDisconnect);
connect(gpsManager, &GPSManager::surveyInStatus, this,
&QGCApplication::_gpsSurveyInStatus);
connect(gpsManager, &GPSManager::satelliteUpdate, this,
&QGCApplication::_gpsNumSatellites);
}
#endif /* __mobile__ */
_checkForNewVersion();
_checkForNewVersion();
}
void QGCApplication::_shutdown(void)
{
// This code is specifically not in the destructor since the application object may not be available in the destructor.
// This cause problems for deleting object like settings which are in the toolbox which may have qml references. By
// moving them here and having main.cc call this prior to deleting the app object we make sure app object is still
// around while these things are shutting down.
void QGCApplication::_shutdown(void) {
// This code is specifically not in the destructor since the application
// object may not be available in the destructor. This cause problems for
// deleting object like settings which are in the toolbox which may have qml
// references. By moving them here and having main.cc call this prior to
// deleting the app object we make sure app object is still around while these
// things are shutting down.
#ifndef __mobile__
MainWindow* mainWindow = MainWindow::instance();
if (mainWindow) {
delete mainWindow;
}
MainWindow *mainWindow = MainWindow::instance();
if (mainWindow) {
delete mainWindow;
}
#endif
shutdownVideoStreaming();
delete _toolbox;
}
QGCApplication::~QGCApplication()
{
// Place shutdown code in _shutdown
_app = nullptr;
}
void QGCApplication::_initCommon(void)
{
static const char* kRefOnly = "Reference only";
static const char* kQGCControllers = "QGroundControl.Controllers";
static const char* kQGCVehicle = "QGroundControl.Vehicle";
QSettings settings;
// Register our Qml objects
qmlRegisterType<QGCPalette> ("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType<QGCMapPalette> ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
qmlRegisterUncreatableType<Vehicle> (kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
qmlRegisterUncreatableType<MissionItem> (kQGCVehicle, 1, 0, "MissionItem", kRefOnly);
qmlRegisterUncreatableType<MissionManager> (kQGCVehicle, 1, 0, "MissionManager", kRefOnly);
qmlRegisterUncreatableType<ParameterManager> (kQGCVehicle, 1, 0, "ParameterManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraManager> (kQGCVehicle, 1, 0, "QGCCameraManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraControl> (kQGCVehicle, 1, 0, "QGCCameraControl", kRefOnly);
qmlRegisterUncreatableType<QGCVideoStreamInfo> (kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
qmlRegisterUncreatableType<LinkInterface> (kQGCVehicle, 1, 0, "LinkInterface", kRefOnly);
qmlRegisterUncreatableType<MissionController> (kQGCControllers, 1, 0, "MissionController", kRefOnly);
qmlRegisterUncreatableType<GeoFenceController> (kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
qmlRegisterUncreatableType<RallyPointController>(kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
qmlRegisterUncreatableType<VisualMissionItem> (kQGCControllers, 1, 0, "VisualMissionItem", kRefOnly);
qmlRegisterUncreatableType<CoordinateVector> ("QGroundControl", 1, 0, "CoordinateVector", kRefOnly);
qmlRegisterUncreatableType<QmlObjectListModel> ("QGroundControl", 1, 0, "QmlObjectListModel", kRefOnly);
qmlRegisterUncreatableType<MissionCommandTree> ("QGroundControl", 1, 0, "MissionCommandTree", kRefOnly);
qmlRegisterUncreatableType<CameraCalc> ("QGroundControl", 1, 0, "CameraCalc", kRefOnly);
qmlRegisterUncreatableType<AutoPilotPlugin> ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", kRefOnly);
qmlRegisterUncreatableType<VehicleComponent> ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", kRefOnly);
qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", kRefOnly);
qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", kRefOnly);
qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", kRefOnly);
qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls", 1, 0, "FactValueSliderListModel", kRefOnly);
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", kRefOnly);
qmlRegisterUncreatableType<QGCGeoBoundingCube> ("QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
qmlRegisterType<QGCMapCircle> ("QGroundControl.FlightMap", 1, 0, "QGCMapCircle");
qmlRegisterType<ParameterEditorController> (kQGCControllers, 1, 0, "ParameterEditorController");
qmlRegisterType<ESP8266ComponentController> (kQGCControllers, 1, 0, "ESP8266ComponentController");
qmlRegisterType<ScreenToolsController> (kQGCControllers, 1, 0, "ScreenToolsController");
qmlRegisterType<PlanMasterController> (kQGCControllers, 1, 0, "PlanMasterController");
qmlRegisterType<ValuesWidgetController> (kQGCControllers, 1, 0, "ValuesWidgetController");
qmlRegisterType<QGCFileDialogController> (kQGCControllers, 1, 0, "QGCFileDialogController");
qmlRegisterType<RCChannelMonitorController> (kQGCControllers, 1, 0, "RCChannelMonitorController");
qmlRegisterType<JoystickConfigController> (kQGCControllers, 1, 0, "JoystickConfigController");
qmlRegisterType<LogDownloadController> (kQGCControllers, 1, 0, "LogDownloadController");
qmlRegisterType<SyslinkComponentController> (kQGCControllers, 1, 0, "SyslinkComponentController");
qmlRegisterType<EditPositionDialogController> (kQGCControllers, 1, 0, "EditPositionDialogController");
shutdownVideoStreaming();
delete _toolbox;
}
QGCApplication::~QGCApplication() {
// Place shutdown code in _shutdown
_app = nullptr;
}
void QGCApplication::_initCommon(void) {
static const char *kRefOnly = "Reference only";
static const char *kQGCControllers = "QGroundControl.Controllers";
static const char *kQGCVehicle = "QGroundControl.Vehicle";
QSettings settings;
// Register our Qml objects
qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType<QGCMapPalette>("QGroundControl.Palette", 1, 0,
"QGCMapPalette");
qmlRegisterUncreatableType<Vehicle>(kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
qmlRegisterUncreatableType<MissionItem>(kQGCVehicle, 1, 0, "MissionItem",
kRefOnly);
qmlRegisterUncreatableType<MissionManager>(kQGCVehicle, 1, 0,
"MissionManager", kRefOnly);
qmlRegisterUncreatableType<ParameterManager>(kQGCVehicle, 1, 0,
"ParameterManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraManager>(kQGCVehicle, 1, 0,
"QGCCameraManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraControl>(kQGCVehicle, 1, 0,
"QGCCameraControl", kRefOnly);
qmlRegisterUncreatableType<QGCVideoStreamInfo>(
kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
qmlRegisterUncreatableType<LinkInterface>(kQGCVehicle, 1, 0, "LinkInterface",
kRefOnly);
qmlRegisterUncreatableType<MissionController>(kQGCControllers, 1, 0,
"MissionController", kRefOnly);
qmlRegisterUncreatableType<GeoFenceController>(
kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
qmlRegisterUncreatableType<RallyPointController>(
kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
qmlRegisterUncreatableType<VisualMissionItem>(kQGCControllers, 1, 0,
"VisualMissionItem", kRefOnly);
qmlRegisterUncreatableType<CoordinateVector>("QGroundControl", 1, 0,
"CoordinateVector", kRefOnly);
qmlRegisterUncreatableType<QmlObjectListModel>(
"QGroundControl", 1, 0, "QmlObjectListModel", kRefOnly);
qmlRegisterUncreatableType<MissionCommandTree>(
"QGroundControl", 1, 0, "MissionCommandTree", kRefOnly);
qmlRegisterUncreatableType<CameraCalc>("QGroundControl", 1, 0, "CameraCalc",
kRefOnly);
qmlRegisterUncreatableType<AutoPilotPlugin>(
"QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", kRefOnly);
qmlRegisterUncreatableType<VehicleComponent>(
"QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", kRefOnly);
qmlRegisterUncreatableType<JoystickManager>(
"QGroundControl.JoystickManager", 1, 0, "JoystickManager", kRefOnly);
qmlRegisterUncreatableType<Joystick>("QGroundControl.JoystickManager", 1, 0,
"Joystick", kRefOnly);
qmlRegisterUncreatableType<QGCPositionManager>(
"QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager",
kRefOnly);
qmlRegisterUncreatableType<FactValueSliderListModel>(
"QGroundControl.FactControls", 1, 0, "FactValueSliderListModel",
kRefOnly);
qmlRegisterUncreatableType<QGCMapPolygon>("QGroundControl.FlightMap", 1, 0,
"QGCMapPolygon", kRefOnly);
qmlRegisterUncreatableType<QGCGeoBoundingCube>(
"QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
qmlRegisterType<QGCMapCircle>("QGroundControl.FlightMap", 1, 0,
"QGCMapCircle");
qmlRegisterType<ParameterEditorController>(kQGCControllers, 1, 0,
"ParameterEditorController");
qmlRegisterType<ESP8266ComponentController>(kQGCControllers, 1, 0,
"ESP8266ComponentController");
qmlRegisterType<ScreenToolsController>(kQGCControllers, 1, 0,
"ScreenToolsController");
qmlRegisterType<PlanMasterController>(kQGCControllers, 1, 0,
"PlanMasterController");
qmlRegisterType<ValuesWidgetController>(kQGCControllers, 1, 0,
"ValuesWidgetController");
qmlRegisterType<QGCFileDialogController>(kQGCControllers, 1, 0,
"QGCFileDialogController");
qmlRegisterType<RCChannelMonitorController>(kQGCControllers, 1, 0,
"RCChannelMonitorController");
qmlRegisterType<JoystickConfigController>(kQGCControllers, 1, 0,
"JoystickConfigController");
qmlRegisterType<LogDownloadController>(kQGCControllers, 1, 0,
"LogDownloadController");
qmlRegisterType<SyslinkComponentController>(kQGCControllers, 1, 0,
"SyslinkComponentController");
qmlRegisterType<EditPositionDialogController>(kQGCControllers, 1, 0,
"EditPositionDialogController");
#ifndef __mobile__
qmlRegisterType<ViewWidgetController> (kQGCControllers, 1, 0, "ViewWidgetController");
qmlRegisterType<CustomCommandWidgetController> (kQGCControllers, 1, 0, "CustomCommandWidgetController");
qmlRegisterType<ViewWidgetController>(kQGCControllers, 1, 0,
"ViewWidgetController");
qmlRegisterType<CustomCommandWidgetController>(
kQGCControllers, 1, 0, "CustomCommandWidgetController");
#ifndef NO_SERIAL_LINK
qmlRegisterType<FirmwareUpgradeController> (kQGCControllers, 1, 0, "FirmwareUpgradeController");
qmlRegisterType<FirmwareUpgradeController>(kQGCControllers, 1, 0,
"FirmwareUpgradeController");
#endif
qmlRegisterType<GeoTagController> (kQGCControllers, 1, 0, "GeoTagController");
qmlRegisterType<MavlinkConsoleController> (kQGCControllers, 1, 0, "MavlinkConsoleController");
qmlRegisterType<GeoTagController>(kQGCControllers, 1, 0, "GeoTagController");
qmlRegisterType<MavlinkConsoleController>(kQGCControllers, 1, 0,
"MavlinkConsoleController");
#endif
// Wima
qmlRegisterType<WimaController> ("Wima", 1, 0, "WimaController");
qmlRegisterType<WimaPlaner> ("Wima", 1, 0, "WimaPlaner");
qmlRegisterType<WimaBridge> ("Wima", 1, 0, "WimaBridge");
// Wima
qmlRegisterType<WimaController>("Wima", 1, 0, "WimaController");
qmlRegisterType<WimaPlaner>("Wima", 1, 0, "WimaPlaner");
qmlRegisterType<WimaBridge>("Wima", 1, 0, "WimaBridge");
qmlRegisterType<NemoInterface>("Wima", 1, 0, "NemoInterface");
// Register Qml Singletons
qmlRegisterSingletonType<QGroundControlQmlGlobal> ("QGroundControl", 1, 0, "QGroundControl", qgroundcontrolQmlGlobalSingletonFactory);
qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
qmlRegisterSingletonType<ShapeFileHelper> ("QGroundControl.ShapeFileHelper", 1, 0, "ShapeFileHelper", shapeFileHelperSingletonFactory);
// Register Qml Singletons
qmlRegisterSingletonType<QGroundControlQmlGlobal>(
"QGroundControl", 1, 0, "QGroundControl",
qgroundcontrolQmlGlobalSingletonFactory);
qmlRegisterSingletonType<ScreenToolsController>(
"QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController",
screenToolsControllerSingletonFactory);
qmlRegisterSingletonType<ShapeFileHelper>("QGroundControl.ShapeFileHelper", 1,
0, "ShapeFileHelper",
shapeFileHelperSingletonFactory);
}
bool QGCApplication::_initForNormalAppBoot(void)
{
QSettings settings;
bool QGCApplication::_initForNormalAppBoot(void) {
QSettings settings;
_loadCurrentStyleSheet();
_loadCurrentStyleSheet();
// Exit main application when last window is closed
connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
// Exit main application when last window is closed
connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
#ifdef __mobile__
_qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
_qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
#else
// Start the user interface
MainWindow* mainWindow = MainWindow::_create();
Q_CHECK_PTR(mainWindow);
// Start the user interface
MainWindow *mainWindow = MainWindow::_create();
Q_CHECK_PTR(mainWindow);
#endif
// Now that main window is up check for lost log files
connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
emit checkForLostLogFiles();
// Now that main window is up check for lost log files
connect(this, &QGCApplication::checkForLostLogFiles,
toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
emit checkForLostLogFiles();
// Load known link configurations
toolbox()->linkManager()->loadLinkConfigurationList();
// Load known link configurations
toolbox()->linkManager()->loadLinkConfigurationList();
// Probe for joysticks
toolbox()->joystickManager()->init();
// Probe for joysticks
toolbox()->joystickManager()->init();
if (_settingsUpgraded) {
showMessage(QString(tr("The format for %1 saved settings has been modified. "
"Your saved settings have been reset to defaults.")).arg(applicationName()));
}
if (_settingsUpgraded) {
showMessage(
QString(tr("The format for %1 saved settings has been modified. "
"Your saved settings have been reset to defaults."))
.arg(applicationName()));
}
// Connect links with flag AutoconnectLink
toolbox()->linkManager()->startAutoConnectedLinks();
// Connect links with flag AutoconnectLink
toolbox()->linkManager()->startAutoConnectedLinks();
if (getQGCMapEngine()->wasCacheReset()) {
showMessage(tr("The Offline Map Cache database has been upgraded. "
"Your old map cache sets have been reset."));
}
if (getQGCMapEngine()->wasCacheReset()) {
showMessage(tr("The Offline Map Cache database has been upgraded. "
"Your old map cache sets have been reset."));
}
settings.sync();
return true;
settings.sync();
return true;
}
bool QGCApplication::_initForUnitTests(void)
{
return true;
}
bool QGCApplication::_initForUnitTests(void) { return true; }
void QGCApplication::deleteAllSettingsNextBoot(void)
{
QSettings settings;
settings.setValue(_deleteAllSettingsKey, true);
void QGCApplication::deleteAllSettingsNextBoot(void) {
QSettings settings;
settings.setValue(_deleteAllSettingsKey, true);
}
void QGCApplication::clearDeleteAllSettingsNextBoot(void)
{
QSettings settings;
settings.remove(_deleteAllSettingsKey);
void QGCApplication::clearDeleteAllSettingsNextBoot(void) {
QSettings settings;
settings.remove(_deleteAllSettingsKey);
}
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
return QGCApplication::_app;
}
QGCApplication *qgcApp(void) { return QGCApplication::_app; }
void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
Q_UNUSED(title);
showMessage(msg);
void QGCApplication::informationMessageBoxOnMainThread(const QString &title,
const QString &msg) {
Q_UNUSED(title);
showMessage(msg);
}
void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
void QGCApplication::warningMessageBoxOnMainThread(const QString &title,
const QString &msg) {
#ifdef __mobile__
Q_UNUSED(title)
showMessage(msg);
Q_UNUSED(title)
showMessage(msg);
#else
QGCMessageBox::warning(title, msg);
QGCMessageBox::warning(title, msg);
#endif
}
void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
void QGCApplication::criticalMessageBoxOnMainThread(const QString &title,
const QString &msg) {
#ifdef __mobile__
Q_UNUSED(title)
showMessage(msg);
Q_UNUSED(title)
showMessage(msg);
#else
QGCMessageBox::critical(title, msg);
QGCMessageBox::critical(title, msg);
#endif
}
void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile)
{
// The vehicle is gone now and we are shutting down so we need to use a message box for errors to hold shutdown and show the error
if (_checkTelemetrySavePath(true /* useMessageBox */)) {
void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile) {
// The vehicle is gone now and we are shutting down so we need to use a
// message box for errors to hold shutdown and show the error
if (_checkTelemetrySavePath(true /* useMessageBox */)) {
QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
QDir saveDir(saveDirPath);
QString nameFormat("%1%2.%3");
QString dtFormat("yyyy-MM-dd hh-mm-ss");
int tryIndex = 1;
QString saveFileName = nameFormat.arg(
QDateTime::currentDateTime().toString(dtFormat)).arg("").arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
while (saveDir.exists(saveFileName)) {
saveFileName = nameFormat.arg(
QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral(".%1").arg(tryIndex++)).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
}
QString saveFilePath = saveDir.absoluteFilePath(saveFileName);
QString saveDirPath =
_toolbox->settingsManager()->appSettings()->telemetrySavePath();
QDir saveDir(saveDirPath);
QFile tempFile(tempLogfile);
if (!tempFile.copy(saveFilePath)) {
QString error = tr("Unable to save telemetry log. Error copying telemetry to '%1': '%2'.").arg(saveFilePath).arg(tempFile.errorString());
QString nameFormat("%1%2.%3");
QString dtFormat("yyyy-MM-dd hh-mm-ss");
int tryIndex = 1;
QString saveFileName =
nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
.arg("")
.arg(toolbox()
->settingsManager()
->appSettings()
->telemetryFileExtension);
while (saveDir.exists(saveFileName)) {
saveFileName =
nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
.arg(QStringLiteral(".%1").arg(tryIndex++))
.arg(toolbox()
->settingsManager()
->appSettings()
->telemetryFileExtension);
}
QString saveFilePath = saveDir.absoluteFilePath(saveFileName);
QFile tempFile(tempLogfile);
if (!tempFile.copy(saveFilePath)) {
QString error = tr("Unable to save telemetry log. Error copying "
"telemetry to '%1': '%2'.")
.arg(saveFilePath)
.arg(tempFile.errorString());
#ifndef __mobile__
QGCMessageBox::warning(tr("Telemetry Save Error"), error);
QGCMessageBox::warning(tr("Telemetry Save Error"), error);
#else
showMessage(error);
showMessage(error);
#endif
}
}
QFile::remove(tempLogfile);
}
QFile::remove(tempLogfile);
}
void QGCApplication::checkTelemetrySavePathOnMainThread(void)
{
// This is called with an active vehicle so don't pop message boxes which holds ui thread
_checkTelemetrySavePath(false /* useMessageBox */);
void QGCApplication::checkTelemetrySavePathOnMainThread(void) {
// This is called with an active vehicle so don't pop message boxes which
// holds ui thread
_checkTelemetrySavePath(false /* useMessageBox */);
}
bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox)
{
QString errorTitle = tr("Telemetry save error");
bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox) {
QString errorTitle = tr("Telemetry save error");
QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
if (saveDirPath.isEmpty()) {
QString error = tr("Unable to save telemetry log. Application save directory is not set.");
QString saveDirPath =
_toolbox->settingsManager()->appSettings()->telemetrySavePath();
if (saveDirPath.isEmpty()) {
QString error = tr(
"Unable to save telemetry log. Application save directory is not set.");
#ifndef __mobile__
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
#endif
Q_UNUSED(useMessageBox);
showMessage(error);
Q_UNUSED(useMessageBox);
showMessage(error);
#ifndef __mobile__
}
#endif
return false;
}
#endif
return false;
}
QDir saveDir(saveDirPath);
if (!saveDir.exists()) {
QString error = tr("Unable to save telemetry log. Telemetry save directory \"%1\" does not exist.").arg(saveDirPath);
QDir saveDir(saveDirPath);
if (!saveDir.exists()) {
QString error = tr("Unable to save telemetry log. Telemetry save directory "
"\"%1\" does not exist.")
.arg(saveDirPath);
#ifndef __mobile__
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
#endif
showMessage(error);
showMessage(error);
#ifndef __mobile__
}
#endif
return false;
}
#endif
return false;
}
return true;
return true;
}
void QGCApplication::_loadCurrentStyleSheet(void)
{
void QGCApplication::_loadCurrentStyleSheet(void) {
#ifndef __mobile__
bool success = true;
QString styles;
// The dark style sheet is the master. Any other selected style sheet just overrides
// the colors of the master sheet.
QFile masterStyleSheet(_darkStyleFile);
if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles = masterStyleSheet.readAll();
bool success = true;
QString styles;
// The dark style sheet is the master. Any other selected style sheet just
// overrides the colors of the master sheet.
QFile masterStyleSheet(_darkStyleFile);
if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles = masterStyleSheet.readAll();
} else {
qDebug() << "Unable to load master dark style sheet";
success = false;
}
if (success && !_toolbox->settingsManager()
->appSettings()
->indoorPalette()
->rawValue()
.toBool()) {
// Load the slave light stylesheet.
QFile styleSheet(_lightStyleFile);
if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles += styleSheet.readAll();
} else {
qDebug() << "Unable to load master dark style sheet";
success = false;
qWarning() << "Unable to load slave light sheet:";
success = false;
}
}
if (success && !_toolbox->settingsManager()->appSettings()->indoorPalette()->rawValue().toBool()) {
// Load the slave light stylesheet.
QFile styleSheet(_lightStyleFile);
if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles += styleSheet.readAll();
} else {
qWarning() << "Unable to load slave light sheet:";
success = false;
}
}
setStyleSheet(styles);
setStyleSheet(styles);
if (!success) {
// Fall back to plastique if we can't load our own
setStyle("plastique");
}
if (!success) {
// Fall back to plastique if we can't load our own
setStyle("plastique");
}
#endif
}
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
{
_missingParams += QString("%1:%2").arg(componentId).arg(name);
_missingParamsDelayedDisplayTimer.start();
void QGCApplication::reportMissingParameter(int componentId,
const QString &name) {
_missingParams += QString("%1:%2").arg(componentId).arg(name);
_missingParamsDelayedDisplayTimer.start();
}
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
{
if (_missingParams.count()) {
QString params;
foreach (const QString &name, _missingParams) {
if (params.isEmpty()) {
params += name;
} else {
params += QString(", %1").arg(name);
}
}
_missingParams.clear();
showMessage(tr("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
void QGCApplication::_missingParamsDisplay(void) {
if (_missingParams.count()) {
QString params;
foreach (const QString &name, _missingParams) {
if (params.isEmpty()) {
params += name;
} else {
params += QString(", %1").arg(name);
}
}
_missingParams.clear();
showMessage(tr("Parameters are missing from firmware. You may be running a "
"version of firmware QGC does not work correctly with or "
"your firmware has a bug in it. Missing params: %1")
.arg(params));
}
}
QObject* QGCApplication::_rootQmlObject()
{
QObject *QGCApplication::_rootQmlObject() {
#ifdef __mobile__
if(_qmlAppEngine && _qmlAppEngine->rootObjects().size())
return _qmlAppEngine->rootObjects()[0];
return nullptr;
if (_qmlAppEngine && _qmlAppEngine->rootObjects().size())
return _qmlAppEngine->rootObjects()[0];
return nullptr;
#else
MainWindow * mainWindow = MainWindow::instance();
if (mainWindow) {
return mainWindow->rootQmlObject();
} else if (runningUnitTests()){
// Unit test can run without a main window
return nullptr;
} else {
qWarning() << "Why is MainWindow missing?";
return nullptr;
}
MainWindow *mainWindow = MainWindow::instance();
if (mainWindow) {
return mainWindow->rootQmlObject();
} else if (runningUnitTests()) {
// Unit test can run without a main window
return nullptr;
} else {
qWarning() << "Why is MainWindow missing?";
return nullptr;
}
#endif
}
void QGCApplication::showMessage(const QString &message) {
// PreArm messages are handled by Vehicle and shown in Map
if (message.startsWith(QStringLiteral("PreArm")) ||
message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
return;
}
void QGCApplication::showMessage(const QString& message)
{
// PreArm messages are handled by Vehicle and shown in Map
if (message.startsWith(QStringLiteral("PreArm")) || message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
return;
}
QObject* rootQmlObject = _rootQmlObject();
QObject *rootQmlObject = _rootQmlObject();
if (rootQmlObject) {
QVariant varReturn;
QVariant varMessage = QVariant::fromValue(message);
if (rootQmlObject) {
QVariant varReturn;
QVariant varMessage = QVariant::fromValue(message);
QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
QMetaObject::invokeMethod(_rootQmlObject(), "showMessage",
Q_RETURN_ARG(QVariant, varReturn),
Q_ARG(QVariant, varMessage));
#ifndef __mobile__
} else if (runningUnitTests()){
// Unit test can run without a main window which will lead to no root qml object. Use QGCMessageBox instead
QGCMessageBox::information("Unit Test", message);
} else if (runningUnitTests()) {
// Unit test can run without a main window which will lead to no root qml
// object. Use QGCMessageBox instead
QGCMessageBox::information("Unit Test", message);
#endif
} else {
qWarning() << "Internal error";
}
} else {
qWarning() << "Internal error";
}
}
void QGCApplication::showSetupView(void)
{
if(_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
}
void QGCApplication::showSetupView(void) {
if (_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
}
}
void QGCApplication::qmlAttemptWindowClose(void)
{
if(_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
}
void QGCApplication::qmlAttemptWindowClose(void) {
if (_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
}
}
bool QGCApplication::isInternetAvailable()
{
return getQGCMapEngine()->isInternetActive();
bool QGCApplication::isInternetAvailable() {
return getQGCMapEngine()->isInternetActive();
}
void QGCApplication::_checkForNewVersion(void)
{
void QGCApplication::_checkForNewVersion(void) {
#ifndef __mobile__
if (!_runningUnitTests) {
if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion, _buildVersion)) {
QString versionCheckFile = toolbox()->corePlugin()->stableVersionCheckFileUrl();
if (!versionCheckFile.isEmpty()) {
_currentVersionDownload = new QGCFileDownload(this);
connect(_currentVersionDownload, &QGCFileDownload::downloadFinished, this, &QGCApplication::_currentVersionDownloadFinished);
connect(_currentVersionDownload, &QGCFileDownload::error, this, &QGCApplication::_currentVersionDownloadError);
_currentVersionDownload->download(versionCheckFile);
}
}
if (!_runningUnitTests) {
if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion,
_buildVersion)) {
QString versionCheckFile =
toolbox()->corePlugin()->stableVersionCheckFileUrl();
if (!versionCheckFile.isEmpty()) {
_currentVersionDownload = new QGCFileDownload(this);
connect(_currentVersionDownload, &QGCFileDownload::downloadFinished,
this, &QGCApplication::_currentVersionDownloadFinished);
connect(_currentVersionDownload, &QGCFileDownload::error, this,
&QGCApplication::_currentVersionDownloadError);
_currentVersionDownload->download(versionCheckFile);
}
}
}
#endif
}
void QGCApplication::_currentVersionDownloadFinished(QString remoteFile, QString localFile)
{
Q_UNUSED(remoteFile);
void QGCApplication::_currentVersionDownloadFinished(QString remoteFile,
QString localFile) {
Q_UNUSED(remoteFile);
#ifdef __mobile__
Q_UNUSED(localFile);
Q_UNUSED(localFile);
#else
QFile versionFile(localFile);
if (versionFile.open(QIODevice::ReadOnly)) {
QTextStream textStream(&versionFile);
QString version = textStream.readLine();
qDebug() << version;
int majorVersion, minorVersion, buildVersion;
if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
if (_majorVersion < majorVersion ||
(_majorVersion == majorVersion && _minorVersion < minorVersion) ||
(_majorVersion == majorVersion && _minorVersion == minorVersion && _buildVersion < buildVersion)) {
QGCMessageBox::information(tr("New Version Available"), tr("There is a newer version of %1 available. You can download it from %2.").arg(applicationName()).arg(toolbox()->corePlugin()->stableDownloadLocation()));
}
}
QFile versionFile(localFile);
if (versionFile.open(QIODevice::ReadOnly)) {
QTextStream textStream(&versionFile);
QString version = textStream.readLine();
qDebug() << version;
int majorVersion, minorVersion, buildVersion;
if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
if (_majorVersion < majorVersion ||
(_majorVersion == majorVersion && _minorVersion < minorVersion) ||
(_majorVersion == majorVersion && _minorVersion == minorVersion &&
_buildVersion < buildVersion)) {
QGCMessageBox::information(
tr("New Version Available"),
tr("There is a newer version of %1 available. You can download it "
"from %2.")
.arg(applicationName())
.arg(toolbox()->corePlugin()->stableDownloadLocation()));
}
}
}
_currentVersionDownload->deleteLater();
_currentVersionDownload->deleteLater();
#endif
}
void QGCApplication::_currentVersionDownloadError(QString errorMsg)
{
Q_UNUSED(errorMsg);
_currentVersionDownload->deleteLater();
void QGCApplication::_currentVersionDownloadError(QString errorMsg) {
Q_UNUSED(errorMsg);
_currentVersionDownload->deleteLater();
}
bool QGCApplication::_parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion)
{
QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
QRegularExpressionMatch match = regExp.match(versionString);
if (match.hasMatch() && match.lastCapturedIndex() == 3) {
majorVersion = match.captured(1).toInt();
minorVersion = match.captured(2).toInt();
buildVersion = match.captured(3).toInt();
return true;
}
bool QGCApplication::_parseVersionText(const QString &versionString,
int &majorVersion, int &minorVersion,
int &buildVersion) {
QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
QRegularExpressionMatch match = regExp.match(versionString);
if (match.hasMatch() && match.lastCapturedIndex() == 3) {
majorVersion = match.captured(1).toInt();
minorVersion = match.captured(2).toInt();
buildVersion = match.captured(3).toInt();
return true;
}
return false;
return false;
}
void QGCApplication::_onGPSConnect()
{
_gpsRtkFactGroup->connected()->setRawValue(true);
void QGCApplication::_onGPSConnect() {
_gpsRtkFactGroup->connected()->setRawValue(true);
}
void QGCApplication::_onGPSDisconnect()
{
_gpsRtkFactGroup->connected()->setRawValue(false);
void QGCApplication::_onGPSDisconnect() {
_gpsRtkFactGroup->connected()->setRawValue(false);
}
void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active)
{
_gpsRtkFactGroup->currentDuration()->setRawValue(duration);
_gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM/1000.0);
_gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
_gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
_gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
_gpsRtkFactGroup->valid()->setRawValue(valid);
_gpsRtkFactGroup->active()->setRawValue(active);
void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,
double latitude, double longitude,
float altitude, bool valid,
bool active) {
_gpsRtkFactGroup->currentDuration()->setRawValue(duration);
_gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM / 1000.0);
_gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
_gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
_gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
_gpsRtkFactGroup->valid()->setRawValue(valid);
_gpsRtkFactGroup->active()->setRawValue(active);
}
void QGCApplication::_gpsNumSatellites(int numSatellites)
{
_gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
void QGCApplication::_gpsNumSatellites(int numSatellites) {
_gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
}
QString QGCApplication::cachedParameterMetaDataFile(void)
{
QSettings settings;
QDir parameterDir = QFileInfo(settings.fileName()).dir();
return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
QString QGCApplication::cachedParameterMetaDataFile(void) {
QSettings settings;
QDir parameterDir = QFileInfo(settings.fileName()).dir();
return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
}
QString QGCApplication::cachedAirframeMetaDataFile(void)
{
QSettings settings;
QDir airframeDir = QFileInfo(settings.fileName()).dir();
return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
QString QGCApplication::cachedAirframeMetaDataFile(void) {
QSettings settings;
QDir airframeDir = QFileInfo(settings.fileName()).dir();
return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}
src/Wima/Geometry/WimaMeasurementArea.cc
View file @ dedb0c51
......@@ -146,6 +146,8 @@ QmlObjectListModel *WimaMeasurementArea::tiles() {
return &this->_tileData.tiles;
}
QVector<int> WimaMeasurementArea::progress() { return this->_progress; }
const QmlObjectListModel *WimaMeasurementArea::tiles() const {
return &this->_tileData.tiles;
}
......@@ -226,6 +228,17 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
return false;
}
}
bool WimaMeasurementArea::setProgress(const QVector<int> &p) {
if (!_calculating) {
if (p.size() == this->tiles()->count() && this->_progress != p) {
this->_progress = p;
emit progressChanged();
return true;
}
}
return false;
}
//!
//! \brief WimaMeasurementArea::doUpdate
//! \pre WimaMeasurementArea::deferUpdate must be called first, don't call
......@@ -312,6 +325,8 @@ void WimaMeasurementArea::deferUpdate() {
this->_timer.stop();
}
if (this->_tileData.size() > 0) {
this->_progress.clear();
emit this->progressChanged();
this->_tileData.clear();
emit this->tilesChanged();
}
......
src/Wima/Geometry/WimaMeasurementArea.h
View file @ dedb0c51
......@@ -41,6 +41,7 @@ public:
Q_PROPERTY(Fact *showTiles READ showTiles CONSTANT)
Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tilesChanged)
Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
// Overrides from WimaPolygon
QString mapVisualQML(void) const;
......@@ -53,6 +54,7 @@ public:
Fact *minTransectLength();
Fact *showTiles();
QmlObjectListModel *tiles();
QVector<int> progress();
const QmlObjectListModel *tiles() const;
const QVariantList &tileCenterPoints() const; // List of QGeoCoordinate
const TileData &tileData() const;
......@@ -80,8 +82,10 @@ public:
signals:
void tilesChanged();
void maxTilesChanged();
void progressChanged();
public slots:
bool setProgress(const QVector<int> &p);
private slots:
void doUpdate();
......@@ -108,4 +112,6 @@ private:
TileData _tileData;
QFutureWatcher<DataPtr> _watcher;
bool _calculating;
QVector<int> _progress;
};
src/Wima/Snake/NemoInterface.cpp
View file @ dedb0c51
......@@ -45,13 +45,21 @@ public:
void stop();
void setTileData(const TileData &tileData);
bool hasTileData(const TileData &tileData) const;
void setAutoPublish(bool ap);
void setHoldProgress(bool hp);
NemoInterface::NemoStatus status();
bool holdProgress();
void publishTileData();
NemoInterface::STATUS status();
QVector<int> progress();
bool running();
private:
bool doTopicServiceSetup();
void loop();
static STATUS heartbeatToStatus(
const ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat &hb);
//!
//! \brief Publishes tilesENU
//! \pre this->tilesENUMutex must be locked
......@@ -69,25 +77,41 @@ private:
QGeoCoordinate ENUOrigin;
mutable std::shared_timed_mutex ENUOriginMutex;
QNemoProgress qProgress;
QNemoProgress qProgressHolded;
mutable std::shared_timed_mutex progressMutex;
QNemoHeartbeat heartbeat;
NemoInterface::STATUS status_;
TimePoint nextTimeout;
mutable std::shared_timed_mutex heartbeatMutex;
mutable std::shared_timed_mutex statusMutex;
// Not protected data.
TileData tileData;
// Internals
bool running;
std::atomic_bool running_;
std::atomic_bool holdProgress_;
std::atomic_bool topicServiceSetupDone;
ROSBridgePtr pRosBridge;
QTimer loopTimer;
NemoInterface *parent;
};
using StatusMap = std::map<NemoInterface::STATUS, QString>;
StatusMap statusMap{
std::make_pair<NemoInterface::STATUS, QString>(
NemoInterface::STATUS::NOT_CONNECTED, "Not Connected"),
std::make_pair<NemoInterface::STATUS, QString>(
NemoInterface::STATUS::HEARTBEAT_DETECTED, "Heartbeat Detected"),
std::make_pair<NemoInterface::STATUS, QString>(
NemoInterface::STATUS::TIMEOUT, "Timeout"),
std::make_pair<NemoInterface::STATUS, QString>(
NemoInterface::STATUS::INVALID_HEARTBEAT, "Error"),
std::make_pair<NemoInterface::STATUS, QString>(
NemoInterface::STATUS::WEBSOCKET_DETECTED, "Websocket Detected")};
NemoInterface::Impl::Impl(NemoInterface *p)
: nextTimeout(TimePoint::max()), running(false),
topicServiceSetupDone(false), parent(p) {
: status_(STATUS::NOT_CONNECTED), nextTimeout(TimePoint::max()),
running_(false), holdProgress_(false), topicServiceSetupDone(false),
parent(p) {
// ROS Bridge.
WimaSettings *wimaSettings =
......@@ -117,9 +141,15 @@ NemoInterface::Impl::Impl(NemoInterface *p)
this->loopTimer.start(EVENT_TIMER_INTERVAL);
}
void NemoInterface::Impl::start() { this->running = true; }
void NemoInterface::Impl::start() {
this->running_ = true;
emit this->parent->runningChanged();
}
void NemoInterface::Impl::stop() { this->running = false; }
void NemoInterface::Impl::stop() {
this->running_ = false;
emit this->parent->runningChanged();
}
void NemoInterface::Impl::setTileData(const TileData &tileData) {
this->tileData = tileData;
......@@ -135,7 +165,6 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
this->ENUOrigin = tile->coordinateList().first();
const auto &origin = this->ENUOrigin;
this->tilesENU.polygons().clear();
bool error = false;
for (int i = 0; i < tileData.tiles.count(); ++i) {
obj = tileData.tiles.get(i);
tile = qobject_cast<const SnakeTile *>(obj);
......@@ -145,16 +174,9 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
this->tilesENU.polygons().push_back(std::move(tileENU));
} else {
qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
error = true;
break;
}
}
if (!error && this->running && this->topicServiceSetupDone) {
this->publishENUOrigin();
this->publishTilesENU();
} else {
qWarning() << "NemoInterface::Impl::setTileData(): first tile empty.";
}
} else {
qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
}
......@@ -166,20 +188,52 @@ bool NemoInterface::Impl::hasTileData(const TileData &tileData) const {
return this->tileData == tileData;
}
NemoInterface::NemoStatus NemoInterface::Impl::status() {
SharedLock lk(this->heartbeatMutex);
return NemoInterface::NemoStatus(heartbeat.status());
void NemoInterface::Impl::setHoldProgress(bool hp) {
if (this->holdProgress_ != hp) {
this->holdProgress_ = hp;
emit this->parent->holdProgressChanged();
if (!this->holdProgress_) {
UniqueLock lk(this->progressMutex);
if (this->qProgress != this->qProgressHolded) {
this->qProgressHolded = this->qProgress;
lk.unlock();
emit this->parent->progressChanged();
}
}
}
}
bool NemoInterface::Impl::holdProgress() { return this->holdProgress_.load(); }
void NemoInterface::Impl::publishTileData() {
std::lock(this->ENUOriginMutex, this->tilesENUMutex);
UniqueLock lk1(this->ENUOriginMutex, std::adopt_lock);
UniqueLock lk2(this->tilesENUMutex, std::adopt_lock);
if (this->tilesENU.polygons().size() > 0 && this->running_ &&
this->topicServiceSetupDone) {
this->publishENUOrigin();
this->publishTilesENU();
}
}
NemoInterface::STATUS NemoInterface::Impl::status() {
SharedLock lk(this->statusMutex);
return status_;
}
QVector<int> NemoInterface::Impl::progress() {
SharedLock lk(this->progressMutex);
return this->qProgress.progress();
return this->qProgressHolded.progress();
}
bool NemoInterface::Impl::running() { return this->running_.load(); }
bool NemoInterface::Impl::doTopicServiceSetup() {
using namespace ros_bridge::messages;
// Publish snake tiles.
// snake tiles.
{
SharedLock lk(this->tilesENUMutex);
......@@ -188,16 +242,14 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
this->pRosBridge->advertiseTopic(
"/snake/tiles",
jsk_recognition_msgs::polygon_array::messageType().c_str());
this->publishTilesENU();
}
// Publish snake origin.
// snake origin.
{
SharedLock lk(this->ENUOriginMutex);
this->pRosBridge->advertiseTopic(
"/snake/origin", geographic_msgs::geo_point::messageType().c_str());
this->publishENUOrigin();
}
// Subscribe nemo progress.
......@@ -211,35 +263,23 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
UniqueLock lk3(this->ENUOriginMutex, std::adopt_lock);
int requiredSize = this->tilesENU.polygons().size();
auto hold = this->holdProgress_.load();
auto &progressMsg = this->qProgress;
if (!nemo_msgs::progress::fromJson(*pDoc, progressMsg) ||
progressMsg.progress().size() !=
requiredSize) { // Some error occured.
progressMsg.progress().clear();
// Publish snake origin.
JsonDocUPtr jOrigin(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
bool ret = geographic_msgs::geo_point::toJson(
this->ENUOrigin, *jOrigin, jOrigin->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
JsonDocUPtr jSnakeTiles(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
qgcApp()->showMessage("Invalid progress message received.");
} else if (!hold) {
this->qProgressHolded = this->qProgress;
}
lk1.unlock();
lk2.unlock();
lk3.unlock();
emit this->parent->progressChanged();
if (!hold) {
emit this->parent->progressChanged();
}
});
// Subscribe /nemo/heartbeat.
......@@ -247,13 +287,16 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
"/nemo/heartbeat",
/* callback */ [this](JsonDocUPtr pDoc) {
// auto start = std::chrono::high_resolution_clock::now();
UniqueLock lk(this->heartbeatMutex);
auto &heartbeatMsg = this->heartbeat;
nemo_msgs::heartbeat::Heartbeat heartbeatMsg;
UniqueLock lk(this->statusMutex);
if (!nemo_msgs::heartbeat::fromJson(*pDoc, heartbeatMsg)) {
heartbeatMsg.setStatus(integral(NemoStatus::InvalidHeartbeat));
this->nextTimeout = TimePoint::max();
status_ = STATUS::INVALID_HEARTBEAT;
} else {
status_ = heartbeatToStatus(heartbeatMsg);
}
if (status_ == STATUS::INVALID_HEARTBEAT) {
this->nextTimeout = TimePoint::max();
} else if (status_ == STATUS::HEARTBEAT_DETECTED) {
this->nextTimeout =
std::chrono::high_resolution_clock::now() + timeoutInterval;
}
......@@ -309,20 +352,29 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
}
void NemoInterface::Impl::loop() {
// Check ROS Bridge status and do setup if necessary.
if (this->running) {
if (this->running_) {
if (!this->pRosBridge->isRunning()) {
this->pRosBridge->start();
} else if (this->pRosBridge->isRunning() && this->pRosBridge->connected() &&
!this->topicServiceSetupDone) {
if (this->doTopicServiceSetup())
if (this->doTopicServiceSetup()) {
this->topicServiceSetupDone = true;
UniqueLock lk(this->statusMutex);
this->status_ = STATUS::WEBSOCKET_DETECTED;
lk.unlock();
emit this->parent->statusChanged();
}
} else if (this->pRosBridge->isRunning() &&
!this->pRosBridge->connected() && this->topicServiceSetupDone) {
this->pRosBridge->reset();
this->pRosBridge->start();
this->topicServiceSetupDone = false;
UniqueLock lk(this->statusMutex);
this->status_ = STATUS::TIMEOUT;
lk.unlock();
emit this->parent->statusChanged();
}
} else if (this->pRosBridge->isRunning()) {
this->pRosBridge->reset();
......@@ -330,17 +382,29 @@ void NemoInterface::Impl::loop() {
}
// Check if heartbeat timeout occured.
if (this->running && this->topicServiceSetupDone) {
UniqueLock lk(this->heartbeatMutex);
if (this->running_ && this->topicServiceSetupDone) {
UniqueLock lk(this->statusMutex);
if (this->nextTimeout != TimePoint::max() &&
this->nextTimeout < std::chrono::high_resolution_clock::now()) {
this->heartbeat.setStatus(integral(NemoStatus::Timeout));
if (this->pRosBridge->isRunning() && this->pRosBridge->connected()) {
this->status_ = STATUS::WEBSOCKET_DETECTED;
} else {
this->status_ = STATUS::TIMEOUT;
}
lk.unlock();
emit this->parent->statusChanged();
}
}
}
NemoInterface::STATUS NemoInterface::Impl::heartbeatToStatus(
const ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat &hb) {
if (STATUS(hb.status()) == STATUS::HEARTBEAT_DETECTED)
return STATUS::HEARTBEAT_DETECTED;
else
return STATUS::INVALID_HEARTBEAT;
}
void NemoInterface::Impl::publishTilesENU() {
using namespace ros_bridge::messages;
JsonDocUPtr jSnakeTiles(
......@@ -374,7 +438,13 @@ void NemoInterface::start() { this->pImpl->start(); }
void NemoInterface::stop() { this->pImpl->stop(); }
void NemoInterface::publishTileData(const TileData &tileData) {
void NemoInterface::publishTileData() { this->pImpl->publishTileData(); }
void NemoInterface::requestProgress() {
qWarning() << "NemoInterface::requestProgress(): dummy.";
}
void NemoInterface::setTileData(const TileData &tileData) {
this->pImpl->setTileData(tileData);
}
......@@ -382,8 +452,26 @@ bool NemoInterface::hasTileData(const TileData &tileData) const {
return this->pImpl->hasTileData(tileData);
}
NemoInterface::NemoStatus NemoInterface::status() const {
void NemoInterface::setHoldProgress(bool hp) {
this->pImpl->setHoldProgress(hp);
}
int NemoInterface::status() const { return integral(this->pImpl->status()); }
NemoInterface::STATUS NemoInterface::statusEnum() const {
return this->pImpl->status();
}
QString NemoInterface::statusString() const {
return statusMap.at(this->pImpl->status());
}
QVector<int> NemoInterface::progress() const { return this->pImpl->progress(); }
QString NemoInterface::editorQml() {
return QStringLiteral("NemoInterface.qml");
}
bool NemoInterface::running() { return this->pImpl->running(); }
bool NemoInterface::holdProgress() { return this->pImpl->holdProgress(); }
src/Wima/Snake/NemoInterface.h
View file @ dedb0c51
......@@ -13,28 +13,48 @@ class NemoInterface : public QObject {
using PImpl = std::unique_ptr<Impl>;
public:
enum class NemoStatus {
NotConnected = 0,
Connected = 1,
Timeout = -1,
InvalidHeartbeat = -2
enum class STATUS {
NOT_CONNECTED = 0,
HEARTBEAT_DETECTED = 1,
WEBSOCKET_DETECTED = 2,
TIMEOUT = -1,
INVALID_HEARTBEAT = -2
};
explicit NemoInterface(QObject *parent = nullptr);
~NemoInterface() override;
void start();
void stop();
Q_PROPERTY(int status READ status NOTIFY statusChanged)
Q_PROPERTY(QString statusString READ statusString NOTIFY statusChanged)
Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
Q_PROPERTY(bool running READ running NOTIFY runningChanged)
Q_PROPERTY(bool holdProgress READ holdProgress WRITE setHoldProgress NOTIFY
holdProgressChanged)
void publishTileData(const TileData &tileData);
Q_INVOKABLE void start();
Q_INVOKABLE void stop();
Q_INVOKABLE void publishTileData();
Q_INVOKABLE void requestProgress();
void setTileData(const TileData &tileData);
bool hasTileData(const TileData &tileData) const;
void setAutoPublish(bool ap);
void setHoldProgress(bool hp);
NemoStatus status() const;
int status() const;
STATUS statusEnum() const;
QString statusString() const;
QVector<int> progress() const;
QString editorQml();
bool running();
bool holdProgress();
signals:
void statusChanged();
void progressChanged();
void runningChanged();
void holdProgressChanged();
private:
PImpl pImpl;
......
src/Wima/WimaController.cc
View file @ dedb0c51
......@@ -58,9 +58,8 @@ WimaController::WimaController(QObject *parent)
_areaInterface(&_measurementArea, &_serviceArea, &_corridor,
&_joinedArea),
_WMSettings(), _defaultWM(_WMSettings, _areaInterface),
_snakeWM(_WMSettings, _areaInterface),
_rtlWM(_WMSettings, _areaInterface),
_currentWM(&_defaultWM), _WMList{&_defaultWM, &_snakeWM, &_rtlWM},
_currentWM(&_defaultWM), _WMList{&_defaultWM, &_rtlWM},
_metaDataMap(FactMetaData::createMapFromJsonFile(
QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
_enableWimaController(settingsGroup,
......@@ -78,7 +77,6 @@ WimaController::WimaController(QObject *parent)
_arrivalReturnSpeed(settingsGroup, _metaDataMap[arrivalReturnSpeedName]),
_altitude(settingsGroup, _metaDataMap[altitudeName]),
_lowBatteryHandlingTriggered(false), _measurementPathLength(-1),
_nemoInterface(this),
_batteryLevelTicker(EVENT_TIMER_INTERVAL, 1000 /*ms*/) {
// Set up facts for waypoint manager.
......@@ -97,14 +95,6 @@ WimaController::WimaController(QObject *parent)
connect(&_altitude, &Fact::rawValueChanged, this,
&WimaController::_updateAltitude);
// Nemo stuff.
connect(&_nemoInterface, &NemoInterface::progressChanged, this,
&WimaController::_progressChangedHandler);
connect(&_nemoInterface, &NemoInterface::statusChanged, this,
&WimaController::nemoStatusChanged);
connect(&_nemoInterface, &NemoInterface::statusChanged, this,
&WimaController::nemoStatusStringChanged);
// Init waypoint managers.
bool value;
size_t overlap = _overlapWaypoints.rawValue().toUInt(&value);
......@@ -124,35 +114,6 @@ WimaController::WimaController(QObject *parent)
connect(&_eventTimer, &QTimer::timeout, this,
&WimaController::_eventTimerHandler);
_eventTimer.start(EVENT_TIMER_INTERVAL);
// NemoInterface.
connect(&_nemoInterface, &NemoInterface::progressChanged, this,
&WimaController::_progressChangedHandler);
connect(&_nemoInterface, &NemoInterface::statusChanged, this,
&WimaController::nemoStatusChanged);
connect(&_nemoInterface, &NemoInterface::statusChanged, this,
&WimaController::nemoStatusStringChanged);
// Enable/disable snake.
connect(&_enableSnake, &Fact::rawValueChanged, this,
&WimaController::_enableSnakeChangedHandler);
_enableSnakeChangedHandler();
connect(&_enableWimaController, &Fact::rawValueChanged, [this] {
if (!this->_enableWimaController.rawValue().toBool()) {
this->_enableSnake.setCookedValue(QVariant(false));
}
});
// Snake Waypoint Manager.
connect(&_enableSnake, &Fact::rawValueChanged, this,
&WimaController::_switchToSnakeWaypointManager);
_switchToSnakeWaypointManager(_enableSnake.rawValue());
// Routing
connect(&_routingThread, &RoutingThread::result, this,
&WimaController::_storeRoute);
connect(&_routingThread, &RoutingThread::calculatingChanged, this,
&WimaController::snakeCalcInProgressChanged);
}
PlanMasterController *WimaController::masterController() {
......@@ -226,17 +187,13 @@ double WimaController::phaseDuration() const {
}
int WimaController::nemoStatus() const {
return integral(_nemoInterface.status());
return integral(NemoInterface::STATUS::NOT_CONNECTED);
}
QString WimaController::nemoStatusString() const {
return _nemoStatusMap.at(nemoStatus());
}
bool WimaController::snakeCalcInProgress() const {
return _routingThread.calculating();
}
void WimaController::setMasterController(PlanMasterController *masterC) {
_masterController = masterC;
_WMSettings.setMasterController(masterC);
......@@ -390,7 +347,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
// reset visual items
_areas.clear();
_defaultWM.clear();
_snakeWM.clear();
_measurementArea = WimaMeasurementAreaData();
_serviceArea = WimaServiceAreaData();
_corridor = WimaCorridorData();
......@@ -463,9 +419,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
emit visualItemsChanged();
emit snakeTilesChanged();
// Copy raw transects.
this->_rawTransects = planData->transects();
// Copy missionItems.
auto tempMissionItems = planData->missionItems();
if (tempMissionItems.size() < 1) {
......@@ -474,7 +427,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
}
for (auto *item : tempMissionItems) {
_snakeWM.push_back(item->coordinate());
_defaultWM.push_back(item->coordinate());
}
_WMSettings.setHomePosition(QGeoCoordinate(
......@@ -484,36 +436,14 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
Q_ASSERT(false);
return false;
}
if (!_snakeWM.reset()) {
Q_ASSERT(false);
return false;
}
if (_currentWM == &_defaultWM || _currentWM == &_snakeWM) {
if (_currentWM == &_defaultWM) {
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit waypointPathChanged();
emit currentWaypointPathChanged();
}
// Publish tiles, set progress if necessary.
if (!this->_nemoInterface.hasTileData(this->_measurementArea.tileData())) {
if (_enableSnake.rawValue().toBool()) {
this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
}
this->_measurementArea.progress() =
QVector<int>(this->_measurementArea.tiles()->count(), 0);
emit nemoProgressChanged();
} else if (this->_enableSnake.rawValue().toBool()) {
const auto progress = this->_nemoInterface.progress();
if (progress.size() == this->_measurementArea.tiles()->count()) {
this->_measurementArea.progress() = std::move(progress);
emit nemoProgressChanged();
this->_updateRoute();
}
}
_planDataValid = true;
return true;
}
......@@ -790,226 +720,3 @@ void WimaController::_initSmartRTL() {
&WimaController::_initSmartRTL);
}
}
void WimaController::_storeRoute(RoutingThread::PtrRoutingData data) {
#ifdef SNAKE_SHOW_TIME
auto start = std::chrono::high_resolution_clock::now();
#endif
// Copy waypoints to waypoint manager.
_snakeWM.clear();
if (data->solutionVector.size() > 0 &&
data->solutionVector.front().size() > 0) {
// Store route.
const auto &transectsENU = data->transects;
const auto &solution = data->solutionVector.front();
const auto &route = solution.front();
const auto &path = route.path;
const auto &info = route.info;
// Find index of first waypoint.
std::size_t idxFirst = 0;
const auto &infoFirst = info.front();
const auto &firstTransect = transectsENU[infoFirst.index];
const auto &firstWaypoint =
infoFirst.reversed ? firstTransect.back() : firstTransect.front();
double th = 0.001;
for (std::size_t i = 0; i < path.size(); ++i) {
auto dist = bg::distance(path[i], firstWaypoint);
if (dist < th) {
idxFirst = i;
break;
}
}
// Find index of last waypoint.
std::size_t idxLast = path.size() - 1;
const auto &infoLast = info.back();
const auto &lastTransect = transectsENU[infoLast.index];
const auto &lastWaypoint =
infoLast.reversed ? lastTransect.front() : lastTransect.back();
for (long i = path.size() - 1; i >= 0; --i) {
auto dist = bg::distance(path[i], lastWaypoint);
if (dist < th) {
idxLast = i;
break;
}
}
// Convert to geo coordinates and append to waypoint manager.
const auto &ori = this->_origin;
for (std::size_t i = idxFirst; i <= idxLast; ++i) {
auto &vertex = path[i];
QGeoCoordinate c;
snake::fromENU(ori, vertex, c);
_snakeWM.push_back(c);
}
// Do update.
this->_snakeWM.update(); // this can take a while (ca. 200ms)
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
#ifdef SNAKE_SHOW_TIME
auto end = std::chrono::high_resolution_clock::now();
std::cout << "WimaController::_threadFinishedHandler(): waypoints: "
<< std::chrono::duration_cast<std::chrono::milliseconds>(end -
start)
.count()
<< " ms" << std::endl;
#endif
}
void WimaController::_switchToSnakeWaypointManager(QVariant variant) {
if (variant.value<bool>()) {
_switchWaypointManager(_snakeWM);
} else {
_switchWaypointManager(_defaultWM);
}
}
void WimaController::_progressChangedHandler() {
const auto progress = this->_nemoInterface.progress();
if (this->_measurementArea.tiles()->count() == progress.size()) {
this->_measurementArea.progress() = std::move(progress);
emit nemoProgressChanged();
this->_updateRoute();
} else if (_planDataValid) {
this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
}
}
void WimaController::_enableSnakeChangedHandler() {
if (this->_enableSnake.rawValue().toBool()) {
qDebug() << "WimaController: enabling snake.";
_switchWaypointManager(_snakeWM);
this->_nemoInterface.start();
if (_planDataValid) {
if (!this->_nemoInterface.hasTileData(
this->_measurementArea.tileData())) {
this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
}
}
} else {
qDebug() << "WimaController: disabling snake.";
_switchWaypointManager(_defaultWM);
this->_nemoInterface.stop();
}
}
void WimaController::_updateRoute() {
// precondtion
if (_planDataValid && this->_joinedArea.coordinateList().size() > 0) {
const auto progress = this->_nemoInterface.progress();
const auto *tiles = this->_measurementArea.tiles();
// precondtion
if (tiles->count() > 0 && progress.size() == tiles->count() &&
this->_rawTransects.size() > 0 &&
this->_joinedArea.coordinateList().size() > 0) {
// Fetch tiles and convert to ENU.
this->_origin = this->_joinedArea.coordinateList().first();
this->_origin.setAltitude(0);
const auto &origin = this->_origin;
auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
std::size_t numTiles = 0;
for (int i = 0; i < progress.size(); ++i) {
if (progress[i] == 100) {
++numTiles;
const auto *obj = tiles->get(i);
const auto *tile = qobject_cast<const SnakeTile *>(obj);
if (tile != nullptr) {
snake::FPolygon t;
snake::areaToEnu(origin, tile->coordinateList(), t);
pTiles->push_back(std::move(t));
} else {
return;
}
}
}
if (numTiles > 0) {
// Fetch safe area and convert to ENU.
RoutingParameter par;
auto safeArea = this->_joinedArea.coordinateList();
for (auto &v : safeArea) {
v.setAltitude(0);
}
auto &safeAreaENU = par.safeArea;
snake::areaToEnu(origin, safeArea, safeAreaENU);
const auto &depot = this->_serviceArea.depot();
snake::FPoint depotENU;
snake::toENU(origin, depot, depotENU);
// Fetch geo transects and convert to ENU.
const auto &geoTransects = this->_rawTransects;
auto pUnclippedTransects = std::make_shared<snake::Transects>();
for (auto &geoTransect : geoTransects) {
snake::FLineString t;
for (auto &geoVertex : geoTransect) {
snake::FPoint v;
snake::toENU(origin, geoVertex, v);
t.push_back(v);
}
pUnclippedTransects->push_back(t);
}
std::size_t minLength = 1; // meter
qWarning() << "using minLength dummy lkjfdslooij";
auto generator = [depotENU, pUnclippedTransects, pTiles,
minLength](snake::Transects &transects) -> bool {
// Convert transects to clipper path.
vector<ClipperLib::Path> transectsClipper;
for (const auto &t : *pUnclippedTransects) {
ClipperLib::Path path;
for (const auto &v : t) {
ClipperLib::IntPoint c{
static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)};
path.push_back(c);
}
transectsClipper.push_back(std::move(path));
}
// Add transects to clipper.
ClipperLib::Clipper clipper;
clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
// Add tiles to clipper.
vector<ClipperLib::Path> tilesClipper;
for (const auto &t : *pTiles) {
ClipperLib::Path path;
for (const auto &v : t.outer()) {
path.push_back(ClipperLib::IntPoint{
static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)});
}
tilesClipper.push_back(std::move(path));
}
clipper.AddPaths(tilesClipper, ClipperLib::ptClip, true);
// Clip transects.
ClipperLib::PolyTree clippedTransecs;
clipper.Execute(ClipperLib::ctDifference, clippedTransecs,
ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// Extract transects from PolyTree and convert them to
// BoostLineString
transects.push_back(snake::FLineString{depotENU});
for (const auto &child : clippedTransecs.Childs) {
snake::FLineString transect;
for (const auto &v : child->Contour) {
snake::FPoint c{static_cast<double>(v.X) / CLIPPER_SCALE,
static_cast<double>(v.Y) / CLIPPER_SCALE};
transect.push_back(c);
}
if (bg::length(transect) >= minLength) {
transects.push_back(std::move(transect));
}
}
if (transects.size() > 1) {
return true;
} else {
return false;
}
}; // generator
this->_routingThread.route(par, generator);
} else {
this->_storeRoute(RoutingThread::PtrRoutingData(new RoutingData()));
}
}
}
}
src/Wima/WimaController.h
View file @ dedb0c51
......@@ -67,12 +67,9 @@ public:
double phaseDuration READ phaseDuration NOTIFY phaseDurationChanged)
// Snake
Q_PROPERTY(Fact *enableSnake READ enableSnake CONSTANT)
Q_PROPERTY(int nemoStatus READ nemoStatus NOTIFY nemoStatusChanged)
Q_PROPERTY(QString nemoStatusString READ nemoStatusString NOTIFY
nemoStatusStringChanged)
Q_PROPERTY(bool snakeCalcInProgress READ snakeCalcInProgress NOTIFY
snakeCalcInProgressChanged)
Q_PROPERTY(
QmlObjectListModel *snakeTiles READ snakeTiles NOTIFY snakeTilesChanged)
Q_PROPERTY(QVariantList snakeTileCenterPoints READ snakeTileCenterPoints
......@@ -102,15 +99,12 @@ public:
Fact *flightSpeed(void);
Fact *arrivalReturnSpeed(void);
Fact *altitude(void);
// Snake settings facts.
Fact *enableSnake(void) { return &_enableSnake; }
// Snake data.
QmlObjectListModel *snakeTiles(void);
QVariantList snakeTileCenterPoints(void);
QVector<int> nemoProgress(void);
int nemoStatus(void) const;
QString nemoStatusString(void) const;
bool snakeCalcInProgress(void) const;
bool uploadOverrideRequired(void) const;
bool vehicleHasLowBattery(void) const;
......@@ -153,8 +147,6 @@ public:
static const char *flightSpeedName;
static const char *arrivalReturnSpeedName;
static const char *altitudeName;
static const char *snakeLineDistanceName;
static const char *snakeMinTransectLengthName;
signals:
// Controllers.
......@@ -176,7 +168,6 @@ signals:
void phaseDistanceChanged(void);
void phaseDurationChanged(void);
// Snake.
void snakeCalcInProgressChanged(void);
void snakeTilesChanged(void);
void nemoProgressChanged(void);
void nemoStatusChanged(void);
......@@ -207,12 +198,7 @@ private slots:
void _initSmartRTL();
void _smartRTLCleanUp(bool flying);
// Snake.
void _storeRoute(RoutingThread::PtrRoutingData data);
void _switchWaypointManager(WaypointManager::ManagerBase &manager);
void _switchToSnakeWaypointManager(QVariant variant);
void _progressChangedHandler();
void _enableSnakeChangedHandler();
void _updateRoute();
// Periodic tasks.
void _eventTimerHandler(void);
......@@ -234,7 +220,6 @@ private:
WaypointManager::AreaInterface _areaInterface;
WaypointManager::Settings _WMSettings; // Waypoint Manager Settings
WaypointManager::DefaultManager _defaultWM;
WaypointManager::DefaultManager _snakeWM;
WaypointManager::RTLManager _rtlWM;
WaypointManager::ManagerBase *_currentWM;
using ManagerList = QList<WaypointManager::ManagerBase *>;
......@@ -262,7 +247,6 @@ private:
SettingsFact _flightSpeed; // mission flight speed
SettingsFact _arrivalReturnSpeed; // arrival and return path speed
SettingsFact _altitude; // mission altitude
SettingsFact _enableSnake; // Enable Snake (see snake.h)
// Smart RTL.
QTimer _smartRTLTimer;
......@@ -271,13 +255,8 @@ private:
// Waypoint statistics.
double _measurementPathLength; // the lenght of the phase in meters
// Snake
QList<QList<QGeoCoordinate>> _rawTransects;
NemoInterface _nemoInterface;
using StatusMap = std::map<int, QString>;
static StatusMap _nemoStatusMap;
RoutingThread _routingThread;
QGeoCoordinate _origin;
// Periodic tasks.
QTimer _eventTimer;
......
src/Wima/WimaPlaner.cc
View file @ dedb0c51
......@@ -25,7 +25,8 @@ WimaPlaner::WimaPlaner(QObject *parent)
_currentAreaIndex(-1), _wimaBridge(nullptr), _mAreaChanged(true),
_sAreaChanged(true), _corridorChanged(true), _joinedArea(this),
_arrivalPathLength(0), _returnPathLength(0), _TSComplexItem(nullptr),
_surveyChanged(true), _synchronized(false), _needsUpdate(true) {
_surveyChanged(true), _synchronized(false), _needsUpdate(true),
_nemoInterface(this) {
connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
&WimaPlaner::updatePolygonInteractivity);
......@@ -33,10 +34,14 @@ WimaPlaner::WimaPlaner(QObject *parent)
this->_mAreaChanged = true;
this->setNeedsUpdate(true);
});
connect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged, [this] {
this->_nemoInterface.setTileData(this->_measurementArea.tileData());
});
connect(&this->_serviceArea, &WimaArea::pathChanged, [this] {
this->_sAreaChanged = true;
this->setNeedsUpdate(true);
});
connect(&this->_serviceArea, &WimaServiceArea::depotChanged, [this] {
this->_sAreaChanged = true;
this->setNeedsUpdate(true);
......@@ -52,6 +57,11 @@ WimaPlaner::WimaPlaner(QObject *parent)
_autoLoadTimer.setSingleShot(true);
_autoLoadTimer.start(300);
#endif
// NemoInterface
connect(&this->_nemoInterface, &NemoInterface::progressChanged, [this] {
this->_measurementArea.setProgress(this->_nemoInterface.progress());
});
}
PlanMasterController *WimaPlaner::masterController() {
......@@ -95,6 +105,8 @@ QGeoCoordinate WimaPlaner::joinedAreaCenter() const {
WimaBridge *WimaPlaner::wimaBridge() { return _wimaBridge; }
NemoInterface *WimaPlaner::nemoInterface() { return &_nemoInterface; }
void WimaPlaner::setMasterController(PlanMasterController *masterC) {
_masterController = masterC;
emit masterControllerChanged();
......
src/Wima/WimaPlaner.h
View file @ dedb0c51
......@@ -14,6 +14,8 @@
#include "Geometry/WimaServiceAreaData.h"
#include "WimaPlanData.h"
#include "Snake/NemoInterface.h"
#include "JsonHelper.h"
class MissionController;
......@@ -45,6 +47,7 @@ public:
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaBridge *wimaBridge READ wimaBridge WRITE setWimaBridge NOTIFY
wimaBridgeChanged)
Q_PROPERTY(NemoInterface *nemoInterface READ nemoInterface CONSTANT)
Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
......@@ -59,6 +62,7 @@ public:
QString fileExtension(void) const;
QGeoCoordinate joinedAreaCenter(void) const;
WimaBridge *wimaBridge(void);
NemoInterface *nemoInterface(void);
bool synchronized();
bool needsUpdate();
......@@ -161,4 +165,6 @@ private:
QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
// seg. faults
#endif
NemoInterface _nemoInterface;
};
src/WimaView/WimaMeasurementAreaMapVisual.qml
View file @ dedb0c51
......@@ -110,25 +110,39 @@ Item {
// Add Snake tiles to the map
Component {
id: tileComponent
MapPolygon {
color: "transparent"
opacity: 1
border.color: "black"
border.width: 1
MapPolygon{
path: []
opacity: 0.6
z: 2
}
}
Repeater {
id: progressRepeater
property bool enable: areaItem.showTiles.value
model: enable ? areaItem.tiles : 0
function getColor(i) {
var progress = areaItem.progress[i]
if (progress < 25)
return "transparent"
if (progress < 50)
return "orange"
if (progress < 75)
return "yellow"
if (progress < 100)
return "greenyellow"
return "limegreen"
}
Item{
property var _tileComponent
function addVisuals() {
_tileComponent = tileComponent.createObject(map)
map.addMapItem(_tileComponent)
_tileComponent.path = object.path
_tileComponent.color = progressRepeater.getColor(index)
}
function removeVisuals() {
......
src/WimaView/WimaToolBar.qml
View file @ dedb0c51
......@@ -155,7 +155,7 @@ Rectangle {
anchors.left: logoRow.right
anchors.right: uploadButton.visible ? uploadButton.left : parent.right
columnSpacing: 0
columns: 3
columns: 4
GridLayout {
columns: 8
......@@ -252,7 +252,7 @@ Rectangle {
rowSpacing: _rowSpacing
columnSpacing: _labelToValueSpacing
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
visible: _batteryInfoAvailable
// visible: _batteryInfoAvailable
QGCLabel {
text: qsTr("Battery")
......@@ -268,7 +268,7 @@ Rectangle {
}
Item { width: 1; height: 1 }
/*
/*
FIXME: Swap point display is currently hidden since the code which calcs it doesn't work correctly
QGCLabel { text: qsTr("Swap waypoint:"); font.pointSize: _dataFontSize; }
QGCLabel {
......@@ -278,6 +278,72 @@ Rectangle {
}
*/
}
GridLayout {
columns: 3
rowSpacing: _rowSpacing
columnSpacing: _labelToValueSpacing
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
QGCLabel {
text: qsTr("ROS")
Layout.columnSpan: 3
font.pointSize: ScreenTools.smallFontPointSize
}
QGCCheckBox {
id: enableCheckbox
property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
text: qsTr("Enable")
checked: nemo ? nemo.running : false
onCheckedChanged: {
if (nemo){
if (checked){
nemo.start()
} else {
nemo.stop()
}
checked = Qt.binding(function(){return nemo.running})
}
}
Layout.minimumWidth: _mediumValueWidth
}
QGCLabel {
property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
text: nemo ? nemo.statusString : ""
font.pointSize: _dataFontSize
Layout.minimumWidth: _mediumValueWidth
visible: enableCheckbox.checked
Layout.columnSpan: 2
}
QGCCheckBox {
property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
text: qsTr("Lock Progress")
checked: nemo ? nemo.lockProgress : false
visible: enableCheckbox.checked
onCheckedChanged: {
if (nemo){
if (checked){
nemo.lockProgress = true
} else {
nemo.lockProgress = false
}
checked = Qt.binding(function(){return nemo.lockProgress})
}
}
Layout.minimumWidth: _mediumValueWidth
}
}
}
QGCButton {
......
src/WimaView/WimaView.qml
View file @ dedb0c51
......@@ -54,6 +54,7 @@ QGCView {
property bool _airspaceEnabled: QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
property var _wimaPlaner: wimaPlaner
property var _nemo: wimaPlaner.nemoInterface
property var _planMasterController: masterController
property var _missionController: _planMasterController.missionController
property var _visualItems: _missionController.visualItems
......@@ -702,6 +703,10 @@ QGCView {
name: qsTr("Update"),
iconSource: "/res/calculator.png"
},
{
name: qsTr("Publish"),
iconSource: "/res/calculator.png"
},
{
name: qsTr("Center"),
iconSource: "/qmlimages/MapCenter.svg",
......@@ -731,10 +736,13 @@ QGCView {
case 4:
wimaPlaner.update();
break
case 6:
editorMap.zoomLevel += 0.5
case 5:
_nemo.publishTileData();
break
case 7:
editorMap.zoomLevel += 0.5
break
case 8:
editorMap.zoomLevel -= 0.5
break
}
......
src/comm/ros_bridge/include/messages/nemo_msgs/progress.h
View file @ dedb0c51
......@@ -4,61 +4,72 @@
#include <vector>
namespace ros_bridge {
//! @brief Namespace containing classes and methodes ros message generation.
namespace messages {
//! @brief Namespace containing classes and methodes for geometry_msgs generation.
//! @brief Namespace containing classes and methodes for geometry_msgs
//! generation.
namespace nemo_msgs {
//! @brief Namespace containing methodes for geometry_msgs/Point32 message generation.
//! @brief Namespace containing methodes for geometry_msgs/Point32 message
//! generation.
namespace progress {
std::string messageType();
//! @brief C++ representation of nemo_msgs/Progress message
template <class IntType = long, template <class, class...> class ContainterType = std::vector>
class GenericProgress{
template <class IntType = long,
template <class, class...> class ContainterType = std::vector>
class GenericProgress {
public:
GenericProgress() {}
GenericProgress(const ContainterType<IntType> &progress) : _progress(progress){}
GenericProgress(const GenericProgress &p) : _progress(p.progress()){}
GenericProgress() {}
GenericProgress(const ContainterType<IntType> &progress)
: _progress(progress) {}
GenericProgress(const GenericProgress &p) : _progress(p.progress()) {}
virtual const ContainterType<IntType> &progress(void) const {
return _progress;
}
virtual ContainterType<IntType> &progress(void) { return _progress; }
virtual const ContainterType<IntType> &progress(void) const {return _progress;}
virtual ContainterType<IntType> &progress(void) {return _progress;}
bool operator==(const GenericProgress &other) const {
return this->_progress == other._progress;
}
bool operator!=(const GenericProgress &other) const {
return !this->operator==(other);
}
protected:
ContainterType<IntType> _progress;
ContainterType<IntType> _progress;
};
typedef GenericProgress<> Progress;
template <class ProgressType>
bool toJson(const ProgressType &p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value jProgress(rapidjson::kArrayType);
for(unsigned long i=0; i < std::uint64_t(p.progress().size()); ++i){
jProgress.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])), allocator);
}
value.AddMember("progress", jProgress, allocator);
return true;
bool toJson(const ProgressType &p, rapidjson::Value &value,
rapidjson::Document::AllocatorType &allocator) {
rapidjson::Value jProgress(rapidjson::kArrayType);
for (unsigned long i = 0; i < std::uint64_t(p.progress().size()); ++i) {
jProgress.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])),
allocator);
}
value.AddMember("progress", jProgress, allocator);
return true;
}
template <class ProgressType>
bool fromJson(const rapidjson::Value &value, ProgressType &p)
{
if (!value.HasMember("progress") || !value["progress"].IsArray()){
assert(false);
return false;
}
bool fromJson(const rapidjson::Value &value, ProgressType &p) {
if (!value.HasMember("progress") || !value["progress"].IsArray()) {
assert(false);
return false;
}
const auto& jsonProgress = value["progress"];
unsigned long sz = jsonProgress.Size();
p.progress().clear();
p.progress().reserve(sz);
for (unsigned long i=0; i < sz; ++i)
p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
return true;
const auto &jsonProgress = value["progress"];
unsigned long sz = jsonProgress.Size();
p.progress().clear();
p.progress().reserve(sz);
for (unsigned long i = 0; i < sz; ++i)
p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
return true;
}
} // namespace progress
......
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