z order in flight view fixed

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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
 };