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Valentin Platzgummer
qgroundcontrol
Commits
f4cf5aae
Unverified
Commit
f4cf5aae
authored
7 years ago
by
Don Gagne
Committed by
GitHub
7 years ago
Browse files
Options
Browse Files
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Plain Diff
Merge pull request #6050 from DonLakeFlyer/StructureScan
Remove disabled yawVehicleToStructure option
parents
0905b11b
6dce098a
Changes
4
Show whitespace changes
Inline
Side-by-side
Showing
4 changed files
with
12 additions
and
81 deletions
+12
-81
StructureScanComplexItem.cc
src/MissionManager/StructureScanComplexItem.cc
+12
-41
StructureScanComplexItem.h
src/MissionManager/StructureScanComplexItem.h
+0
-6
StructureScanComplexItemTest.cc
src/MissionManager/StructureScanComplexItemTest.cc
+0
-7
StructureScanEditor.qml
src/PlanView/StructureScanEditor.qml
+0
-27
No files found.
src/MissionManager/StructureScanComplexItem.cc
View file @
f4cf5aae
...
@@ -29,7 +29,6 @@ const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalY
...
@@ -29,7 +29,6 @@ const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalY
const
char
*
StructureScanComplexItem
::
jsonComplexItemTypeValue
=
"StructureScan"
;
const
char
*
StructureScanComplexItem
::
jsonComplexItemTypeValue
=
"StructureScan"
;
const
char
*
StructureScanComplexItem
::
_jsonCameraCalcKey
=
"CameraCalc"
;
const
char
*
StructureScanComplexItem
::
_jsonCameraCalcKey
=
"CameraCalc"
;
const
char
*
StructureScanComplexItem
::
_jsonAltitudeRelativeKey
=
"altitudeRelative"
;
const
char
*
StructureScanComplexItem
::
_jsonAltitudeRelativeKey
=
"altitudeRelative"
;
const
char
*
StructureScanComplexItem
::
_jsonYawVehicleToStructureKey
=
"yawVehicleToStructure"
;
QMap
<
QString
,
FactMetaData
*>
StructureScanComplexItem
::
_metaDataMap
;
QMap
<
QString
,
FactMetaData
*>
StructureScanComplexItem
::
_metaDataMap
;
...
@@ -44,7 +43,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
...
@@ -44,7 +43,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
,
_cameraShots
(
0
)
,
_cameraShots
(
0
)
,
_cameraMinTriggerInterval
(
0
)
,
_cameraMinTriggerInterval
(
0
)
,
_cameraCalc
(
vehicle
)
,
_cameraCalc
(
vehicle
)
,
_yawVehicleToStructure
(
false
)
,
_altitudeFact
(
0
,
_altitudeFactName
,
FactMetaData
::
valueTypeDouble
)
,
_altitudeFact
(
0
,
_altitudeFactName
,
FactMetaData
::
valueTypeDouble
)
,
_layersFact
(
0
,
_layersFactName
,
FactMetaData
::
valueTypeUint32
)
,
_layersFact
(
0
,
_layersFactName
,
FactMetaData
::
valueTypeUint32
)
,
_gimbalPitchFact
(
0
,
_gimbalPitchFactName
,
FactMetaData
::
valueTypeDouble
)
,
_gimbalPitchFact
(
0
,
_gimbalPitchFactName
,
FactMetaData
::
valueTypeDouble
)
...
@@ -76,7 +74,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
...
@@ -76,7 +74,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
_setDirty
);
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
_setDirty
);
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
coordinateHasRelativeAltitudeChanged
);
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
coordinateHasRelativeAltitudeChanged
);
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
exitCoordinateHasRelativeAltitudeChanged
);
connect
(
this
,
&
StructureScanComplexItem
::
altitudeRelativeChanged
,
this
,
&
StructureScanComplexItem
::
exitCoordinateHasRelativeAltitudeChanged
);
connect
(
this
,
&
StructureScanComplexItem
::
yawVehicleToStructureChanged
,
this
,
&
StructureScanComplexItem
::
_setDirty
);
connect
(
&
_altitudeFact
,
&
Fact
::
valueChanged
,
this
,
&
StructureScanComplexItem
::
_updateCoordinateAltitudes
);
connect
(
&
_altitudeFact
,
&
Fact
::
valueChanged
,
this
,
&
StructureScanComplexItem
::
_updateCoordinateAltitudes
);
...
@@ -155,7 +152,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
...
@@ -155,7 +152,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject
[
_altitudeFactName
]
=
_altitudeFact
.
rawValue
().
toDouble
();
saveObject
[
_altitudeFactName
]
=
_altitudeFact
.
rawValue
().
toDouble
();
saveObject
[
_jsonAltitudeRelativeKey
]
=
_altitudeRelative
;
saveObject
[
_jsonAltitudeRelativeKey
]
=
_altitudeRelative
;
saveObject
[
_layersFactName
]
=
_layersFact
.
rawValue
().
toDouble
();
saveObject
[
_layersFactName
]
=
_layersFact
.
rawValue
().
toDouble
();
saveObject
[
_jsonYawVehicleToStructureKey
]
=
_yawVehicleToStructure
;
QJsonObject
cameraCalcObject
;
QJsonObject
cameraCalcObject
;
_cameraCalc
.
save
(
cameraCalcObject
);
_cameraCalc
.
save
(
cameraCalcObject
);
...
@@ -188,7 +184,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
...
@@ -188,7 +184,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{
_jsonAltitudeRelativeKey
,
QJsonValue
::
Bool
,
false
},
{
_jsonAltitudeRelativeKey
,
QJsonValue
::
Bool
,
false
},
{
_layersFactName
,
QJsonValue
::
Double
,
true
},
{
_layersFactName
,
QJsonValue
::
Double
,
true
},
{
_jsonCameraCalcKey
,
QJsonValue
::
Object
,
true
},
{
_jsonCameraCalcKey
,
QJsonValue
::
Object
,
true
},
{
_jsonYawVehicleToStructureKey
,
QJsonValue
::
Bool
,
true
},
};
};
if
(
!
JsonHelper
::
validateKeys
(
complexObject
,
keyInfoList
,
errorString
))
{
if
(
!
JsonHelper
::
validateKeys
(
complexObject
,
keyInfoList
,
errorString
))
{
return
false
;
return
false
;
...
@@ -221,7 +216,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
...
@@ -221,7 +216,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_altitudeFact
.
setRawValue
(
complexObject
[
_altitudeFactName
].
toDouble
());
_altitudeFact
.
setRawValue
(
complexObject
[
_altitudeFactName
].
toDouble
());
_layersFact
.
setRawValue
(
complexObject
[
_layersFactName
].
toDouble
());
_layersFact
.
setRawValue
(
complexObject
[
_layersFactName
].
toDouble
());
_altitudeRelative
=
complexObject
[
_jsonAltitudeRelativeKey
].
toBool
(
true
);
_altitudeRelative
=
complexObject
[
_jsonAltitudeRelativeKey
].
toBool
(
true
);
_yawVehicleToStructure
=
complexObject
[
_jsonYawVehicleToStructureKey
].
toBool
(
true
);
if
(
!
_structurePolygon
.
loadFromJson
(
complexObject
,
true
/* required */
,
errorString
))
{
if
(
!
_structurePolygon
.
loadFromJson
(
complexObject
,
true
/* required */
,
errorString
))
{
_structurePolygon
.
clear
();
_structurePolygon
.
clear
();
...
@@ -264,20 +258,6 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
...
@@ -264,20 +258,6 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
int
seqNum
=
_sequenceNumber
;
int
seqNum
=
_sequenceNumber
;
double
baseAltitude
=
_altitudeFact
.
rawValue
().
toDouble
();
double
baseAltitude
=
_altitudeFact
.
rawValue
().
toDouble
();
if
(
_yawVehicleToStructure
)
{
MissionItem
*
item
=
new
MissionItem
(
seqNum
++
,
MAV_CMD_CONDITION_YAW
,
MAV_FRAME_MISSION
,
90.0
,
// Target angle
0
,
// Use default turn rate
1
,
// Clockwise turn
0
,
// Absolute angle specified
0
,
0
,
0
,
// param 5-7 not used
true
,
// autoContinue
false
,
// isCurrentItem
missionItemParent
);
items
.
append
(
item
);
}
else
{
MissionItem
*
item
=
new
MissionItem
(
seqNum
++
,
MissionItem
*
item
=
new
MissionItem
(
seqNum
++
,
MAV_CMD_DO_MOUNT_CONTROL
,
MAV_CMD_DO_MOUNT_CONTROL
,
MAV_FRAME_MISSION
,
MAV_FRAME_MISSION
,
...
@@ -290,7 +270,6 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
...
@@ -290,7 +270,6 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
false
,
// isCurrentItem
false
,
// isCurrentItem
missionItemParent
);
missionItemParent
);
items
.
append
(
item
);
items
.
append
(
item
);
}
for
(
int
layer
=
0
;
layer
<
_layersFact
.
rawValue
().
toInt
();
layer
++
)
{
for
(
int
layer
=
0
;
layer
<
_layersFact
.
rawValue
().
toInt
();
layer
++
)
{
bool
addTriggerStart
=
true
;
bool
addTriggerStart
=
true
;
...
@@ -470,11 +449,3 @@ void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
...
@@ -470,11 +449,3 @@ void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
emit
altitudeRelativeChanged
(
altitudeRelative
);
emit
altitudeRelativeChanged
(
altitudeRelative
);
}
}
}
}
void
StructureScanComplexItem
::
setYawVehicleToStructure
(
bool
yawVehicleToStructure
)
{
if
(
yawVehicleToStructure
!=
_yawVehicleToStructure
)
{
_yawVehicleToStructure
=
yawVehicleToStructure
;
emit
yawVehicleToStructureChanged
(
yawVehicleToStructure
);
}
}
This diff is collapsed.
Click to expand it.
src/MissionManager/StructureScanComplexItem.h
View file @
f4cf5aae
...
@@ -38,7 +38,6 @@ public:
...
@@ -38,7 +38,6 @@ public:
Q_PROPERTY
(
double
cameraMinTriggerInterval
MEMBER
_cameraMinTriggerInterval
NOTIFY
cameraMinTriggerIntervalChanged
)
Q_PROPERTY
(
double
cameraMinTriggerInterval
MEMBER
_cameraMinTriggerInterval
NOTIFY
cameraMinTriggerIntervalChanged
)
Q_PROPERTY
(
QGCMapPolygon
*
structurePolygon
READ
structurePolygon
CONSTANT
)
Q_PROPERTY
(
QGCMapPolygon
*
structurePolygon
READ
structurePolygon
CONSTANT
)
Q_PROPERTY
(
QGCMapPolygon
*
flightPolygon
READ
flightPolygon
CONSTANT
)
Q_PROPERTY
(
QGCMapPolygon
*
flightPolygon
READ
flightPolygon
CONSTANT
)
Q_PROPERTY
(
bool
yawVehicleToStructure
READ
yawVehicleToStructure
WRITE
setYawVehicleToStructure
NOTIFY
yawVehicleToStructureChanged
)
///< true: vehicle yaws to point to structure, false: gimbal yaws to point to structure
CameraCalc
*
cameraCalc
(
void
)
{
return
&
_cameraCalc
;
}
CameraCalc
*
cameraCalc
(
void
)
{
return
&
_cameraCalc
;
}
Fact
*
altitude
(
void
)
{
return
&
_altitudeFact
;
}
Fact
*
altitude
(
void
)
{
return
&
_altitudeFact
;
}
...
@@ -51,10 +50,8 @@ public:
...
@@ -51,10 +50,8 @@ public:
double
timeBetweenShots
(
void
);
double
timeBetweenShots
(
void
);
QGCMapPolygon
*
structurePolygon
(
void
)
{
return
&
_structurePolygon
;
}
QGCMapPolygon
*
structurePolygon
(
void
)
{
return
&
_structurePolygon
;
}
QGCMapPolygon
*
flightPolygon
(
void
)
{
return
&
_flightPolygon
;
}
QGCMapPolygon
*
flightPolygon
(
void
)
{
return
&
_flightPolygon
;
}
bool
yawVehicleToStructure
(
void
)
const
{
return
_yawVehicleToStructure
;
}
void
setAltitudeRelative
(
bool
altitudeRelative
);
void
setAltitudeRelative
(
bool
altitudeRelative
);
void
setYawVehicleToStructure
(
bool
yawVehicleToStructure
);
Q_INVOKABLE
void
rotateEntryPoint
(
void
);
Q_INVOKABLE
void
rotateEntryPoint
(
void
);
...
@@ -102,7 +99,6 @@ signals:
...
@@ -102,7 +99,6 @@ signals:
void
timeBetweenShotsChanged
(
void
);
void
timeBetweenShotsChanged
(
void
);
void
cameraMinTriggerIntervalChanged
(
double
cameraMinTriggerInterval
);
void
cameraMinTriggerIntervalChanged
(
double
cameraMinTriggerInterval
);
void
altitudeRelativeChanged
(
bool
altitudeRelative
);
void
altitudeRelativeChanged
(
bool
altitudeRelative
);
void
yawVehicleToStructureChanged
(
bool
yawVehicleToStructure
);
private
slots
:
private
slots
:
void
_setDirty
(
void
);
void
_setDirty
(
void
);
...
@@ -135,7 +131,6 @@ private:
...
@@ -135,7 +131,6 @@ private:
double
_cameraMinTriggerInterval
;
double
_cameraMinTriggerInterval
;
double
_cruiseSpeed
;
double
_cruiseSpeed
;
CameraCalc
_cameraCalc
;
CameraCalc
_cameraCalc
;
bool
_yawVehicleToStructure
;
static
QMap
<
QString
,
FactMetaData
*>
_metaDataMap
;
static
QMap
<
QString
,
FactMetaData
*>
_metaDataMap
;
...
@@ -151,7 +146,6 @@ private:
...
@@ -151,7 +146,6 @@ private:
static
const
char
*
_jsonCameraCalcKey
;
static
const
char
*
_jsonCameraCalcKey
;
static
const
char
*
_jsonAltitudeRelativeKey
;
static
const
char
*
_jsonAltitudeRelativeKey
;
static
const
char
*
_jsonYawVehicleToStructureKey
;
friend
class
StructureScanComplexItemTest
;
friend
class
StructureScanComplexItemTest
;
};
};
...
...
This diff is collapsed.
Click to expand it.
src/MissionManager/StructureScanComplexItemTest.cc
View file @
f4cf5aae
...
@@ -81,13 +81,6 @@ void StructureScanComplexItemTest::_testDirty(void)
...
@@ -81,13 +81,6 @@ void StructureScanComplexItemTest::_testDirty(void)
QVERIFY
(
_multiSpy
->
pullBoolFromSignalIndex
(
dirtyChangedIndex
));
QVERIFY
(
_multiSpy
->
pullBoolFromSignalIndex
(
dirtyChangedIndex
));
_structureScanItem
->
setDirty
(
false
);
_structureScanItem
->
setDirty
(
false
);
_multiSpy
->
clearAllSignals
();
_multiSpy
->
clearAllSignals
();
QVERIFY
(
!
_structureScanItem
->
dirty
());
_structureScanItem
->
setYawVehicleToStructure
(
!
_structureScanItem
->
yawVehicleToStructure
());
QVERIFY
(
_multiSpy
->
checkSignalByMask
(
dirtyChangedMask
));
QVERIFY
(
_multiSpy
->
pullBoolFromSignalIndex
(
dirtyChangedIndex
));
_structureScanItem
->
setDirty
(
false
);
_multiSpy
->
clearAllSignals
();
}
}
void
StructureScanComplexItemTest
::
_initItem
(
void
)
void
StructureScanComplexItemTest
::
_initItem
(
void
)
...
...
This diff is collapsed.
Click to expand it.
src/PlanView/StructureScanEditor.qml
View file @
f4cf5aae
...
@@ -48,11 +48,6 @@ Rectangle {
...
@@ -48,11 +48,6 @@ Rectangle {
QGCPalette
{
id
:
qgcPal
;
colorGroupEnabled
:
true
}
QGCPalette
{
id
:
qgcPal
;
colorGroupEnabled
:
true
}
ExclusiveGroup
{
id
:
yawRadiosGroup
onCurrentChanged
:
missionItem
.
yawVehicleToStructure
=
yawVehicleRadio
.
checked
}
Column
{
Column
{
id
:
editorColumn
id
:
editorColumn
anchors.margins
:
_margin
anchors.margins
:
_margin
...
@@ -151,28 +146,6 @@ Rectangle {
...
@@ -151,28 +146,6 @@ Rectangle {
}
}
}
}
QGCLabel
{
text
:
qsTr
(
"
Point camera to structure using:
"
)
}
RowLayout
{
spacing
:
_margin
QGCRadioButton
{
id
:
yawVehicleRadio
text
:
qsTr
(
"
Vehicle yaw
"
)
exclusiveGroup
:
yawRadiosGroup
checked
:
!!
missionItem
.
yawVehicleToStructure
enabled
:
false
}
QGCRadioButton
{
text
:
qsTr
(
"
Gimbal yaw
"
)
exclusiveGroup
:
yawRadiosGroup
checked
:
!
missionItem
.
yawVehicleToStructure
enabled
:
false
}
}
Item
{
Item
{
height
:
ScreenTools
.
defaultFontPixelHeight
/
2
height
:
ScreenTools
.
defaultFontPixelHeight
/
2
width
:
1
width
:
1
...
...
This diff is collapsed.
Click to expand it.
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