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Commit df27a5b7 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4890 from DonLakeFlyer/ResumeMission 

Add resume mission support
parents fe004f8b 6454b0f0
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Showing with 299 additions and 155 deletions
src/FlightDisplay/FlightDisplayViewWidgets.qml
View file @ df27a5b7
......@@ -38,7 +38,7 @@ Item {
// Guided bar properties
property bool _missionAvailable: missionController.containsItems
property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false
property bool _missionInProgress: missionController.missionInProgress
property int _resumeMissionItem: missionController.resumeMissionItem
property bool _showEmergenyStop: QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _showOrbit: QGroundControl.corePlugin.options.guidedBarShowOrbit
......@@ -92,6 +92,11 @@ Item {
onValueChanged: _setInstrumentWidget()
}
Connections {
target: missionController
onResumeMissionReady: _guidedModeBar.confirmAction(_guidedModeBar.confirmResumeMissionReady)
}
Component.onCompleted: {
_setInstrumentWidget()
}
......@@ -219,19 +224,20 @@ Item {
}
}
readonly property int confirmHome: 1
readonly property int confirmLand: 2
readonly property int confirmTakeoff: 3
readonly property int confirmArm: 4
readonly property int confirmDisarm: 5
readonly property int confirmEmergencyStop: 6
readonly property int confirmChangeAlt: 7
readonly property int confirmGoTo: 8
readonly property int confirmRetask: 9
readonly property int confirmOrbit: 10
readonly property int confirmAbort: 11
readonly property int confirmStartMission: 12
readonly property int confirmResumeMission: 13
readonly property int confirmHome: 1
readonly property int confirmLand: 2
readonly property int confirmTakeoff: 3
readonly property int confirmArm: 4
readonly property int confirmDisarm: 5
readonly property int confirmEmergencyStop: 6
readonly property int confirmChangeAlt: 7
readonly property int confirmGoTo: 8
readonly property int confirmRetask: 9
readonly property int confirmOrbit: 10
readonly property int confirmAbort: 11
readonly property int confirmStartMission: 12
readonly property int confirmResumeMission: 13
readonly property int confirmResumeMissionReady: 14
property int confirmActionCode
property real _showMargin: _margins
......@@ -250,6 +256,11 @@ Item {
_activeVehicle.guidedModeTakeoff()
break;
case confirmResumeMission:
missionController.resumeMission(missionController.resumeMissionItem)
break;
case confirmResumeMissionReady:
_activeVehicle.startMission()
break;
case confirmStartMission:
_activeVehicle.startMission()
break;
......@@ -318,6 +329,9 @@ Item {
case confirmResumeMission:
guidedModeConfirm.confirmText = qsTr("resume mission")
break;
case confirmResumeMissionReady:
guidedModeConfirm.confirmText = qsTr("resume modified mission after review")
break;
case confirmLand:
guidedModeConfirm.confirmText = qsTr("land")
break;
......@@ -400,15 +414,15 @@ Item {
QGCButton {
pointSize: _guidedModeBar._fontPointSize
text: qsTr("Start Mission")
text: _resumeMissionItem !== -1 ? qsTr("Restart Mission") : qsTr("Start Mission")
visible: _activeVehicle && !_activeVehicle.flying && _missionAvailable
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmStartMission)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
text: qsTr("Resume Mission")
visible: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && _missionAvailable && _missionInProgress
text: qsTr("Resume Mission (%1)").arg(_resumeMissionItem)
visible: _activeVehicle && !_activeVehicle.flying && _missionAvailable && _resumeMissionItem !== -1
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmResumeMission)
}
......@@ -422,14 +436,14 @@ Item {
QGCButton {
pointSize: _guidedModeBar._fontPointSize
text: qsTr("Change Altitude")
visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed
visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_missionActive
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
text: qsTr("Orbit")
visible: _showOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed
visible: _showOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed && !_missionActive
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit)
}
......
src/MissionManager/MissionController.cc
View file @ df27a5b7
......@@ -53,7 +53,6 @@ MissionController::MissionController(QObject *parent)
, _settingsItem(NULL)
, _firstItemsFromVehicle(false)
, _missionItemsRequested(false)
, _queuedSend(false)
, _surveyMissionItemName(tr("Survey"))
, _fwLandingMissionItemName(tr("Fixed Wing Landing"))
, _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
......@@ -647,7 +646,6 @@ void MissionController::loadFromFile(const QString& filename)
MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle);
_initAllVisualItems();
sendToVehicle();
}
bool MissionController::loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems)
......@@ -1280,6 +1278,8 @@ void MissionController::_activeVehicleBeingRemoved(void)
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
disconnect(missionManager, &MissionManager::lastCurrentItemChanged, this, &MissionController::resumeMissionItemChanged);
disconnect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
// We always remove all items on vehicle change. This leaves a user model hole:
......@@ -1298,6 +1298,8 @@ void MissionController::_activeVehicleSet(void)
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
connect(missionManager, &MissionManager::lastCurrentItemChanged, this, &MissionController::resumeMissionItemChanged);
connect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
......@@ -1312,6 +1314,7 @@ void MissionController::_activeVehicleSet(void)
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
emit complexMissionItemNamesChanged();
emit resumeMissionItemChanged();
}
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
......@@ -1478,11 +1481,29 @@ void MissionController::_addMissionSettings(Vehicle* vehicle, QmlObjectListModel
}
}
void MissionController::_currentMissionItemChanged(int sequenceNumber)
int MissionController::resumeMissionItem(void) const
{
int resumeIndex = -1;
if (!_editMode) {
bool prevMissionInProgress = missionInProgress();
int firstTrueItemIndex = _activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 1 : 0;
resumeIndex = _activeVehicle->missionManager()->lastCurrentItem();
if (resumeIndex > firstTrueItemIndex) {
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
resumeIndex++;
}
// Resume at the item previous to the item we were heading towards
resumeIndex--;
}
}
return resumeIndex;
}
void MissionController::_currentMissionItemChanged(int sequenceNumber)
{
if (!_editMode) {
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
sequenceNumber++;
}
......@@ -1491,10 +1512,6 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber)
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
}
if (prevMissionInProgress != missionInProgress()) {
emit missionInProgressChanged();
}
}
}
......@@ -1576,11 +1593,6 @@ QStringList MissionController::complexMissionItemNames(void) const
return complexItems;
}
bool MissionController::missionInProgress(void) const
{
return _visualItems && _visualItems->count() > 1 && (!_visualItems->value<VisualMissionItem*>(0)->isCurrentItem() && !_visualItems->value<VisualMissionItem*>(1)->isCurrentItem());
}
void MissionController::_visualItemsDirtyChanged(bool dirty)
{
if (dirty) {
......@@ -1594,3 +1606,11 @@ void MissionController::_visualItemsDirtyChanged(bool dirty)
emit dirtyChanged(false);
}
}
void MissionController::resumeMission(int resumeIndex)
{
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
resumeIndex--;
}
_activeVehicle->missionManager()->generateResumeMission(resumeIndex);
}
src/MissionManager/MissionController.h
View file @ df27a5b7
......@@ -55,7 +55,7 @@ public:
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged)
Q_PROPERTY(bool missionInProgress READ missionInProgress NOTIFY missionInProgressChanged) ///< true: Mission sequence is beyond first item
Q_PROPERTY(int resumeMissionItem READ resumeMissionItem NOTIFY resumeMissionItemChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
......@@ -79,6 +79,8 @@ public:
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i);
Q_INVOKABLE void resumeMission(int resumeIndex);
/// Loads the mission items from the specified file
/// @param[in] vehicle Vehicle we are loading items for
/// @param[in] filename File to load from
......@@ -110,7 +112,9 @@ public:
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
QStringList complexMissionItemNames (void) const;
bool missionInProgress (void) const;
/// Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
int resumeMissionItem(void) const;
double missionDistance (void) const { return _missionFlightStatus.totalDistance; }
double missionTime (void) const { return _missionFlightStatus.totalTime; }
......@@ -132,7 +136,8 @@ signals:
void missionCruiseTimeChanged(void);
void missionMaxTelemetryChanged(double missionMaxTelemetry);
void complexMissionItemNamesChanged(void);
bool missionInProgressChanged(void);
void resumeMissionItemChanged(void);
void resumeMissionReady(void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
......@@ -188,7 +193,6 @@ private:
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
bool _missionItemsRequested;
bool _queuedSend;
MissionFlightStatus_t _missionFlightStatus;
QString _surveyMissionItemName;
QString _fwLandingMissionItemName;
......
src/MissionManager/MissionManager.cc
View file @ df27a5b7
This diff is collapsed.
src/MissionManager/MissionManager.h
View file @ df27a5b7
......@@ -36,7 +36,12 @@ public:
bool inProgress(void);
const QList<MissionItem*>& missionItems(void) { return _missionItems; }
int currentItem(void) { return _currentMissionItem; }
/// Current mission item as reported by MISSION_CURRENT
int currentItem(void) const { return _currentMissionItem; }
/// Last current mission item reported while in Mission flight mode
int lastCurrentItem(void) const { return _lastCurrentItem; }
void requestMissionItems(void);
......@@ -52,6 +57,10 @@ public:
/// Removes all mission items from vehicle
void removeAll(void);
/// Generates a new mission which starts from the specified index. It will include all the CMD_DO items
/// from mission start to resumeIndex in the generate mission.
void generateResumeMission(int resumeIndex);
/// Error codes returned in error signal
typedef enum {
InternalError,
......@@ -73,7 +82,9 @@ signals:
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
void currentItemChanged(int currentItem);
void lastCurrentItemChanged(int lastCurrentMissionItem);
void resumeMissionReady(void);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _ackTimeout(void);
......@@ -103,6 +114,8 @@ private:
void _finishTransaction(bool success);
void _requestList(void);
void _writeMissionCount(void);
void _writeMissionItemsWorker(void);
void _clearAndDeleteMissionItems(void);
private:
Vehicle* _vehicle;
......@@ -114,6 +127,7 @@ private:
bool _readTransactionInProgress;
bool _writeTransactionInProgress;
bool _resumeMission;
QList<int> _itemIndicesToWrite; ///< List of mission items which still need to be written to vehicle
QList<int> _itemIndicesToRead; ///< List of mission items which still need to be requested from vehicle
......@@ -121,6 +135,7 @@ private:
QList<MissionItem*> _missionItems;
int _currentMissionItem;
int _lastCurrentItem;
};
#endif
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