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Commit f0f3912e authored by Valentin Platzgummer's avatar Valentin Platzgummer
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z order in flight view fixed

parent accb2ed3
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Showing with 145 additions and 89 deletions
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ f0f3912e
......@@ -58,6 +58,10 @@ FlightMap {
property bool _disableVehicleTracking: false
property bool _keepVehicleCentered: _mainIsMap ? false : true
property bool _wimaEnabled: wimaController.enableWimaController.value
property bool _showAllWimaItems: wimaController.showAllMissionItems.value
property bool _showCurrentWimaItems: wimaController.showCurrentMissionItems.value
function updateAirspace(reset) {
if(_airspaceEnabled) {
var coordinateNW = flightMap.toCoordinate(Qt.point(0,0), false /* clipToViewPort */)
......@@ -193,13 +197,6 @@ FlightMap {
property real leftToolWidth: toolStrip.x + toolStrip.width
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
wimaController: flightMap.wimaController
}
// Add wima Areas to the Map
MapItemView {
property bool _enableWima: wimaController.enableWimaController.value
......@@ -214,10 +211,33 @@ FlightMap {
: object.type === "WimaMeasurementAreaData" ? "green"
: "transparent"
opacity: 0.25
z: QGroundControl.zOrderWaypointLines-2
z: 0
}
}
// Add mission items generated by wima planer to the map
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
missionItems: wimaController.missionItems
path: wimaController.waypointPath
showItems: _wimaEnabled && _showAllWimaItems
zOrderWP: QGroundControl.zOrderWaypointIndicators-2
zOrderLines: QGroundControl.zOrderWaypointLines-2
color: "#B4808080" // gray with alpha 0.7
}
WimaPlanMapItems {
map: flightMap
largeMapView: _mainIsMap
missionItems: wimaController.currentMissionItems
path: wimaController.currentWaypointPath
showItems: _wimaEnabled && _showCurrentWimaItems
zOrderWP: QGroundControl.zOrderWaypointIndicators-1
zOrderLines: QGroundControl.zOrderWaypointLines-1
color: "green" // gray with alpha 0.7
}
// Add trajectory points to the map
MapItemView {
model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0
......
src/FlightDisplay/GuidedActionsController.qml
View file @ f0f3912e
......@@ -444,16 +444,11 @@ Item {
wimaController.forceUploadToVehicle()
break
case actionInitSmartRTL:
_activeVehicle.pauseVehicle()
wimaController.calcReturnPath()
wimaController.initSmartRTL()
break
case actionUploadAndExecute:
wimaController.forceUploadToVehicle()
_activeVehicle.startMission()
break
case actionReturnBatteryLow:
wimaController.forceUploadToVehicle()
_activeVehicle.startMission()
wimaController.executeSmartRTL()
break
default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
......
src/FlightMap/MapItems/WimaPlanMapItems.qml
View file @ f0f3912e
......@@ -21,85 +21,51 @@ Item {
property var map ///< Map control to show items on
property bool largeMapView ///< true: map takes up entire view, false: map is in small window
property var wimaController
property string mIColor: "#B4808080" // Mission Items Color, gray with alpha 0.7 #AARRGGBB
property string mIlineColor: mIColor
property string cMIColor: "orangered" // Current Mission Items Color
property string cMIlineColor: cMIColor
property string color: "green" // Mission Items Color
property var missionItems
property var path
property var zOrderWP
property var zOrderLines
property var _map: map
property var _missionLineViewComponent
property var _currentMissionLineViewComponent
property bool _showAllItems: wimaController.showAllMissionItems.value
property bool _showCurrentItems: wimaController.showCurrentMissionItems.value
property bool _wimaEnabled: wimaController.enableWimaController.value
property bool showItems: true
// Add the mission item visuals to the map
Repeater {
model: largeMapView ? (_showAllItems ? (_wimaEnabled ? wimaController.missionItems : 0) : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-2
Component {
id: missionLineViewComponent
delegate: WimaMissionItemMapVisual {
map: _map
color: _root.mIColor
// onClicked: {
// if (isActiveVehicle) {
// // Only active vehicle supports click to change current mission item
// guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
// }
// }
MapPolyline {
line.width: 3
line.color: showItems ? _root.color : "transparent"
path: _root.path
z: _root.zOrderLines
}
}
// Add the current mission item visuals to the map
Repeater {
model: largeMapView ? (_showCurrentItems ? (_wimaEnabled ? wimaController.currentMissionItems :0 ) : 0) : 0
z: QGroundControl.zOrderWaypointIndicators-1
model: largeMapView ? ( showItems ? missionItems : 0) : 0
delegate: WimaMissionItemMapVisual {
map: _map
color: _root.cMIColor
color: _root.color
zOrder: _root.zOrderWP
}
}
Component.onCompleted: {
_missionLineViewComponent = missionLineViewComponent.createObject(map)
if (_missionLineViewComponent.status === Component.Error)
console.log(_missionLineViewComponent.errorString())
map.addMapItem(_missionLineViewComponent)
_currentMissionLineViewComponent = currentMissionLineViewComponent.createObject(map)
if (_currentMissionLineViewComponent.status === Component.Error)
console.log(_currentMissionLineViewComponent.errorString())
map.addMapItem(_currentMissionLineViewComponent)
}
Component.onDestruction: {
_missionLineViewComponent.destroy()
_currentMissionLineViewComponent.destroy()
}
Component {
id: missionLineViewComponent
MapPolyline {
line.width: 3
line.color: _showAllItems ? (_wimaEnabled ? mIlineColor : "transparent"): "transparent"
z: QGroundControl.zOrderWaypointLines-2
path: wimaController.waypointPath
}
}
Component {
id: currentMissionLineViewComponent
MapPolyline {
line.width: 3
line.color: _showCurrentItems ? (_wimaEnabled ? cMIlineColor : "transparent") : "transparent"
z: QGroundControl.zOrderWaypointLines-1
path: wimaController.currentWaypointPath
}
}
}
src/PlanView/WimaMissionItemMapVisual.qml
View file @ f0f3912e
......@@ -24,6 +24,7 @@ Item {
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
property int zOrder
property var color
property var _missionItem: object
......@@ -107,7 +108,7 @@ Item {
MissionItemIndicator {
coordinate: _missionItem.coordinate
visible: _missionItem.specifiesCoordinate
z: QGroundControl.zOrderMapItems
z: _root.zOrder
missionItem: _missionItem
sequenceNumber: _missionItem.sequenceNumber
color: _root.color
......
src/Wima/WimaController.cc
View file @ f0f3912e
......@@ -37,6 +37,7 @@ WimaController::WimaController(QObject *parent)
, _phaseDuration(-1)
, _vehicleHasLowBattery(false)
, _lowBatteryHandlingTriggered(false)
, _executingSmartRTL(false)
{
_nextPhaseStartWaypointIndex.setRawValue(int(1));
......@@ -50,7 +51,6 @@ WimaController::WimaController(QObject *parent)
// battery timer
connect(&_checkBatteryTimer, &QTimer::timeout, this, &WimaController::checkBatteryLevel);
_checkBatteryTimer.setInterval(500);
_checkBatteryTimer.start();
}
......@@ -290,6 +290,27 @@ bool WimaController::calcReturnPath()
return true;
}
bool WimaController::executeSmartRTL()
{
QString errorString;
bool retValue = _executeSmartRTL(errorString);
if (!retValue) {
qgcApp()->showMessage(errorString);
}
return retValue;
}
bool WimaController::initSmartRTL()
{
masterController()->managerVehicle()->pauseVehicle();
QString errorString;
bool retValue = calcReturnPath();
if (!retValue)
return false;
return true;
}
void WimaController::saveToCurrent()
{
......@@ -734,14 +755,14 @@ void WimaController::checkBatteryLevel()
QString errorString;
if (_checkSmartRTLPreCondition(errorString) == true) {
managerVehicle->pauseVehicle();
if (_calcReturnPath(errorString)) {
if (_calcReturnPath(errorString)) {
_lowBatteryHandlingTriggered = true;
emit returnBatteryLowConfirmRequired();
} else {
qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible."));
qgcApp()->showMessage(errorString);
}
}
_lowBatteryHandlingTriggered = true;
}
}
else {
......@@ -752,6 +773,19 @@ void WimaController::checkBatteryLevel()
}
}
void WimaController::smartRTLCleanUp(bool flying)
{
if ( !flying) { // vehicle has landed
if (_executingSmartRTL) {
_executingSmartRTL = false;
_loadCurrentMissionItemsFromBuffer();
_showAllMissionItems.setRawValue(true);
disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::smartRTLCleanUp);
}
}
}
void WimaController::_setPhaseDistance(double distance)
{
if (!qFuzzyCompare(distance, _phaseDistance)) {
......@@ -781,6 +815,8 @@ bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
errorString.append(tr("Vehicle is not flying. Smart RTL not available."));
return false;
}
return true;
}
bool WimaController::_calcReturnPath(QString &errorSring)
......@@ -807,15 +843,7 @@ bool WimaController::_calcReturnPath(QString &errorSring)
}
// qWarning() << "returnPath.size()" << returnPath.size();
// buffer _currentMissionItems
//qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
//qWarning() << "_missionItemsBuffer.count()" << _missionItemsBuffer.count();
_missionItemsBuffer.clear();
int numCurrentMissionItems = _currentMissionItems.count();
for (int i = 0; i < numCurrentMissionItems; i++)
_missionItemsBuffer.append(_currentMissionItems.removeAt(0));
//qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
//qWarning() << "_missionItemsBuffer.count()" << _missionItemsBuffer.count();
_saveCurrentMissionItemsToBuffer();
// create Mission Items
removeFromVehicle();
......@@ -904,9 +932,36 @@ void WimaController::_setVehicleHasLowBattery(bool batteryLow)
_vehicleHasLowBattery = batteryLow;
emit vehicleHasLowBatteryChanged();
qWarning() << "WimaController::_setVehicleHasLowBattery(bool batteryLow)" << _vehicleHasLowBattery;
}
}
bool WimaController::_executeSmartRTL(QString &errorSring)
{
Q_UNUSED(errorSring);
_executingSmartRTL = true;
connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::smartRTLCleanUp);
forceUploadToVehicle();
masterController()->managerVehicle()->startMission();
return true;
}
void WimaController::_loadCurrentMissionItemsFromBuffer()
{
_currentMissionItems.clear();
int numItems = _missionItemsBuffer.count();
for (int i = 0; i < numItems; i++)
_currentMissionItems.append(_missionItemsBuffer.removeAt(0));
}
void WimaController::_saveCurrentMissionItemsToBuffer()
{
_missionItemsBuffer.clear();
int numCurrentMissionItems = _currentMissionItems.count();
for (int i = 0; i < numCurrentMissionItems; i++)
_missionItemsBuffer.append(_currentMissionItems.removeAt(0));
}
src/Wima/WimaController.h
View file @ f0f3912e
......@@ -102,7 +102,9 @@ public:
Q_INVOKABLE bool forceUploadToVehicle();
Q_INVOKABLE void removeFromVehicle();
Q_INVOKABLE bool checkSmartRTLPreCondition(); // wrapper for _checkSmartRTLPreCondition(QString &errorString)
Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)
Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)#
Q_INVOKABLE bool executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring)
Q_INVOKABLE bool initSmartRTL();
Q_INVOKABLE void saveToCurrent ();
......@@ -168,6 +170,7 @@ private slots:
void updateSpeed (void);
void updateAltitude (void);
void checkBatteryLevel (void);
void smartRTLCleanUp (bool flying); // cleans up after successfull smart RTL
private:
void _setPhaseDistance(double distance);
......@@ -175,10 +178,9 @@ private:
bool _checkSmartRTLPreCondition(QString &errorString); // should be called from gui, befor calcReturnPath()
bool _calcReturnPath(QString &errorSring); // Calculates return path (destination: service area center) for a flying vehicle
void _setVehicleHasLowBattery(bool batteryLow);
bool _executeSmartRTL(QString &errorSring);
void _loadCurrentMissionItemsFromBuffer();
void _saveCurrentMissionItemsToBuffer();
private:
PlanMasterController *_masterController;
......@@ -224,6 +226,9 @@ private:
QTimer _checkBatteryTimer;
bool _vehicleHasLowBattery;
bool _lowBatteryHandlingTriggered;
bool _executingSmartRTL;
};
src/Wima/WimaPlaner.cc
View file @ f0f3912e
......@@ -35,6 +35,11 @@ WimaPlaner::WimaPlaner(QObject *parent)
_updateTimer.setInterval(500); // 250 ms means: max update time 2*250 ms
_updateTimer.start();
// for debugging and testing purpose
connect(&_autoLoadTimer, &QTimer::timeout, this, &WimaPlaner::autoLoadMission);
_autoLoadTimer.setSingleShot(true);
_autoLoadTimer.start(300);
}
QmlObjectListModel* WimaPlaner::visualItems()
......@@ -381,8 +386,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
errorString += QString(tr("Invalid or non existing entry for %s.\n").arg(WimaArea::areaTypeName));
return false;
}
}
recalcJoinedArea();
}
_currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
......@@ -442,7 +446,8 @@ bool WimaPlaner::loadFromFile(const QString &filename)
}
}
//if (_circularSurvey == nullptr)
//if (_circularSurvey == nullptr)
recalcJoinedArea();
updateMission();
// remove temporary file
......@@ -808,6 +813,12 @@ void WimaPlaner::setSyncronizedWithControllerFalse()
setSyncronizedWithController(false);
}
void WimaPlaner::autoLoadMission()
{
loadFromFile("/home/valentin/Desktop/drones/build-qgroundcontrol-Desktop_Qt_5_11_3_GCC_64bit-Release/release/345.wima");
pushToContainer();
}
QJsonDocument WimaPlaner::saveToJson(FileType fileType)
{
/// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument
......
src/Wima/WimaPlaner.h
View file @ f0f3912e
......@@ -133,6 +133,7 @@ private slots:
// called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed
void updateTimerSlot ();
void setSyncronizedWithControllerFalse (void);
void autoLoadMission (void);
private:
signals:
void joinedAreaValidChanged();
......@@ -174,4 +175,6 @@ private:
// sync stuff
bool _syncronizedWithController; // true if planData is syncronized with wimaController
bool _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath
QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents seg. faults
};
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