flight view gui modified, added additional features to wimaController

src/FlightDisplay/FlightDisplayView.qml

@@ -510,25 +510,31 @@ QGCView {
             }
         }
 
-//        FlightDisplayViewWidgets {
-//            id:                 flightDisplayViewWidgets
-//            z:                  _panel.z + 4
-//            height:             ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
-//            anchors.left:       parent.left
-//            anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
-//            anchors.bottom:     parent.bottom
-//            qgcView:            root
-//            useLightColors:     isBackgroundDark
-//            missionController:  _missionController
-//            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
-//        }
-
-        FlightDisplayWimaMenu {
-            id: wimaMenu
+        FlightDisplayViewWidgets {
+            id:                 flightDisplayViewWidgets
             z:                  _panel.z + 4
+            height:             ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
             anchors.left:       parent.left
             anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
             anchors.bottom:     parent.bottom
+            qgcView:            root
+            useLightColors:     isBackgroundDark
+            missionController:  _missionController
+            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
+        }
+
+        FlightDisplayWimaMenu {
+            id:                     wimaMenu
+            z:                      _panel.z + 4
+            anchors.left:           parent.left
+            anchors.bottom:         parent.bottom
+            anchors.leftMargin:     ScreenTools.defaultFontPixelHeight * 0.25
+            anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * 0.25
+            height: 300
+            width: 300
+
+
+            wimaController: wimaController
         }
 
         //-------------------------------------------------------------------------

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -18,15 +18,70 @@ import QGroundControl.Airmap        1.0
 Item {
     id: _root
 
+    property var wimaController // must be provided by the user
+
+    // box containing all items
     Rectangle {
-        anchors.top:        parent.top
-        color:              "white"
-        height: 100
-        width: 200
+        anchors.left:   parent.left
+        anchors.bottom: parent.bottom
+        height:         enableWima.checked ? parent.height : enableWima.height
+        width:          enableWima.checked ? parent.width : enableWima.width
+        color:      "black"
 
+        // checkbox to enable/ disable wima
         QGCCheckBox {
             id: enableWima
+            checked: true
+            anchors.horizontalCenter: parent.horizontalCenter
+            anchors.top: parent.top
             text: qsTr("WiMA")
         }
+
+        // horizonal line
+        Rectangle {
+            id: horizontalLine
+            anchors.left:           parent.left
+            anchors.right:          parent.right
+            anchors.top:            enableWima.bottom
+            anchors.leftMargin:     ScreenTools.defaultFontPixelHeight * 0.5
+            anchors.rightMargin:    ScreenTools.defaultFontPixelHeight * 0.5
+            anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.25
+            height:                 1
+
+            color: "white"
+        }
+
+        ColumnLayout {
+            id : mainColumn
+            anchors.left:           parent.left
+            anchors.right:          parent.right
+            anchors.top:            horizontalLine.bottom
+            anchors.bottom:         parent.bottom
+            anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
+            anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * 0.5
+            anchors.rightMargin:    ScreenTools.defaultFontPixelHeight * 0.5
+            anchors.leftMargin:     ScreenTools.defaultFontPixelHeight * 0.5
+            spacing:                ScreenTools.defaultFontPixelHeight * 0.5
+
+            QGCButton {
+                id: buttonNextMissionPhase
+                text: "Next Phase"
+                onClicked: wimaController.nextPhase();
+            }
+
+            QGCButton {
+                id: buttonResetPhase
+                text: "Reset Phase"
+                onClicked: wimaController.resetPhase();
+            }
+
+            QGCButton {
+                id: buttonUpload
+                text: "Upload"
+                onClicked: wimaController.uploadToVehicle();
+            }
+        }
+
+
     }
 }

src/Wima/WimaController.cc

@@ -103,6 +103,22 @@ void WimaController::nextPhase()
     updateCurrentPath();
 }
 
+void WimaController::previousPhase()
+{
+
+}
+
+void WimaController::resetPhase()
+{
+    _startWaypointIndex = 1;
+    nextPhase();
+}
+
+void WimaController::uploadToVehicle()
+{
+
+}
+
 void WimaController::startMission()
 {
 
@@ -294,18 +310,42 @@ void WimaController::containerDataValidChanged(bool valid)
         // create mission items
         _missionController->removeAll();
         QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
-        bool copyON = false;
-        for ( int i = 0; i < tempMissionItems.size(); i++) {
+
+
+        // find takeoff command
+        int begin = -1;
+        for (int i = 0; i < tempMissionItems.size(); i++) {
             const MissionItem *missionItem = tempMissionItems[i];
-            if (copyON || missionItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF
-                       || missionItem->command() == MAV_CMD_NAV_TAKEOFF) {
+            if (    missionItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF
+                 || missionItem->command() == MAV_CMD_NAV_TAKEOFF) {
+
                 _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
-                copyON = true;
+
+                QGeoCoordinate coordinate = missionItem->coordinate();
+                _takeoffLandPostion.setAltitude(coordinate.altitude());
+                _takeoffLandPostion.setLatitude(coordinate.latitude());
+                _takeoffLandPostion.setLongitude(coordinate.longitude());
+
+                begin = i + 1;
+                break;
             }
+        }
+
+        // check if takeoff command found
+        if (begin < 0) {
+            qWarning("WimaController::containerDataValidChanged(): No takeoff found.");
+            return;
+        }
+
+        // copy mission items and create SimpleMissionItem by using _missionController
+        for ( int i = begin; i < tempMissionItems.size(); i++) {
+            const MissionItem *missionItem = tempMissionItems[i];
+            _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
 
             if (    missionItem->command() == MAV_CMD_NAV_VTOL_LAND
-                 || missionItem->command() == MAV_CMD_NAV_LAND)
-                break;
+                    || missionItem->command() == MAV_CMD_NAV_LAND)
+                 break;
+
         }
 
 
@@ -327,15 +367,14 @@ void WimaController::containerDataValidChanged(bool valid)
             _missionItems.append(visualItemCopy);
         }
 
-        updateWaypointPath();
+        if (areaCounter == numAreas)
+            _localPlanDataValid = true;
 
+        updateWaypointPath();
         _startWaypointIndex = 1;
         updateCurrentMissionItems();
         updateCurrentPath();
 
-        if (areaCounter == numAreas)
-            _localPlanDataValid = true;
-
     } else {
         _localPlanDataValid = false;
         _visualItems.clear();
@@ -353,17 +392,12 @@ void WimaController::containerDataValidChanged(bool valid)
 
 void WimaController::updateCurrentMissionItems()
 {
+    if (_missionItems.count() < 1 || !_localPlanDataValid)
+        return;
+
     int numberWaypoints = 30; // the number of waypoints currentMissionItems must not exceed
     int overlapping = 2; // number of overlapping waypoints of consecutive mission phases
 
-    SimpleMissionItem *homeItem = _missionItems.value<SimpleMissionItem *>(0);
-    if (homeItem == nullptr) {
-        qWarning("WimaController::updateCurrentMissionItems(): nullptr");
-        _currentMissionItems.clear();
-        return;
-    }
-    QGeoCoordinate homeCoordinate(homeItem->coordinate());
-
     QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
     _endWaypointIndex = std::min(_startWaypointIndex + numberWaypoints - 1, _missionItems.count()-2); // -2 -> last item is land item
     if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
@@ -375,7 +409,7 @@ void WimaController::updateCurrentMissionItems()
 
     // calculate path from home to first waypoint
     QList<QGeoCoordinate> path;
-    if ( !calcShortestPath(homeCoordinate, geoCoordinateList[0], path) ) {
+    if ( !calcShortestPath(_takeoffLandPostion, geoCoordinateList[0], path) ) {
         qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
         _currentMissionItems.clear();
         return;
@@ -386,7 +420,7 @@ void WimaController::updateCurrentMissionItems()
 
     // calculate path from last waypoint to home
     path.clear();
-    if ( !calcShortestPath(geoCoordinateList.last(), homeCoordinate, path) ) {
+    if ( !calcShortestPath(geoCoordinateList.last(), _takeoffLandPostion, path) ) {
         qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
         _currentMissionItems.clear();
         return;
@@ -394,11 +428,33 @@ void WimaController::updateCurrentMissionItems()
     path.removeFirst(); // first coordinate already in geoCoordinateList
     geoCoordinateList.append(path);
 
+
     // create Mission Items
     _missionController->removeAll();
     QmlObjectListModel* missionControllerVisuals = _missionController->visualItems();
-    for (auto coordinate : geoCoordinateList)
+
+    // set homeposition of settingsItem
+    MissionSettingsItem* settingsItem = missionControllerVisuals->value<MissionSettingsItem *>(0);
+    if (settingsItem == nullptr) {
+        qWarning("WimaController::updateCurrentMissionItems(): nullptr");
+        _currentMissionItems.clear();
+        return;
+    }
+    settingsItem->setCoordinate(_takeoffLandPostion);
+
+    for (auto coordinate : geoCoordinateList) {
         _missionController->insertSimpleMissionItem(coordinate, missionControllerVisuals->count());
+    }
+
+    // set homeposition for take off item (somehow not working with insertSimpleMissionItem)
+    SimpleMissionItem* takeoff = missionControllerVisuals->value<SimpleMissionItem *>(1);
+    if (takeoff == nullptr) {
+        qWarning("WimaController::updateCurrentMissionItems(): nullptr");
+        _currentMissionItems.clear();
+        return;
+    }
+    takeoff->setCoordinate(_takeoffLandPostion);
+
 
     // set land command for last mission item
     SimpleMissionItem *landItem = missionControllerVisuals->value<SimpleMissionItem*>(missionControllerVisuals->count()-1);
@@ -417,14 +473,7 @@ void WimaController::updateCurrentMissionItems()
         return;
     }
 
-    // copy mission items to _currentMissionItems
-//    MissionSettingsItem *settingsItem     = qobject_cast<MissionSettingsItem *>((*missionControllerVisuals)[0]);
-//    if (settingsItem == nullptr) {
-//        qWarning("WimaController::containerDataValidChanged(): Nullptr at MissionSettingsItem!");
-//        return;
-//    }
-//    _missionItems.append(settingsItem);
-
+    // copy to _currentMissionItems
     _currentMissionItems.clear();
     for ( int i = 1; i < missionControllerVisuals->count(); i++) {
         SimpleMissionItem *visualItem     = missionControllerVisuals->value<SimpleMissionItem*>(i);
@@ -433,6 +482,7 @@ void WimaController::updateCurrentMissionItems()
             _currentMissionItems.clear();
             return;
         }
+
         SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
         _currentMissionItems.append(visualItemCopy);
     }
@@ -443,16 +493,14 @@ void WimaController::updateCurrentMissionItems()
 void WimaController::updateWaypointPath()
 {
     _waypointPath.clear();
-    if (!extractCoordinateList(_missionItems, _waypointPath, 0, _missionItems.count()-1))
-        return;
+    extractCoordinateList(_missionItems, _waypointPath, 0, _missionItems.count()-1);
 
     emit waypointPathChanged();
 }
 void WimaController::updateCurrentPath()
 {
     _currentWaypointPath.clear();
-    if (!extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1))
-        return;
+    extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
 
     emit currentWaypointPathChanged();
 }

src/Wima/WimaController.h

@@ -69,6 +69,9 @@ public:
 
     // Member Methodes
     Q_INVOKABLE void nextPhase();
+    Q_INVOKABLE void previousPhase();
+    Q_INVOKABLE void resetPhase();
+    Q_INVOKABLE void uploadToVehicle();
     Q_INVOKABLE void startMission();
     Q_INVOKABLE void abortMission();
     Q_INVOKABLE void pauseMission();
@@ -134,6 +137,9 @@ private:
     QVariantList            _waypointPath; // path connecting the items in _missionItems
     QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
     int                     _startWaypointIndex; // index to the mission item stored in _missionItems defining the first element of _currentMissionItems
+    QList<int>              _startWaypointIndexList;
     int                     _endWaypointIndex; // index to the mission item stored in _missionItems defining the last element of _currentMissionItems
+
+    QGeoCoordinate          _takeoffLandPostion;
 };
 

src/Wima/WimaPlaner.cc

@@ -323,11 +323,7 @@ bool WimaPlaner::updateMission()
         qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
         return false;
     }
-//    path.clear();
-//    path.append(end);
-//    path.append(start);
-//    path.append(end);
-//    path.append(end);
+
     for (int i = 1; i < path.count()-1; i++) {
         sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
         _missionController->setCurrentPlanViewIndex(sequenceNumber, true);