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Commit f9fed02a authored by DonLakeFlyer's avatar DonLakeFlyer
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parent c133b717
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Showing with 129 additions and 182 deletions
src/MissionManager/CorridorScanPlanCreator.cc
View file @ f9fed02a
......@@ -24,5 +24,5 @@ void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}
src/MissionManager/MissionController.cc
View file @ f9fed02a
......@@ -68,7 +68,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
, _inRecalcSequence (false)
, _appSettings (qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct (0)
, _currentPlanViewIndex (-1)
, _currentPlanViewSeqNum (-1)
, _currentPlanViewVIIndex (-1)
, _currentPlanViewItem (nullptr)
, _splitSegment (nullptr)
{
......@@ -380,7 +381,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
_recalcAllWithCoordinate(coordinate);
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
......@@ -418,7 +419,7 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
......@@ -437,10 +438,24 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate,
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
MAV_CMD command = _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
MAV_CMD_DO_SET_ROI_LOCATION :
MAV_CMD_DO_SET_ROI;
return _insertSimpleMissionItemWorker(coordinate, command, visualItemIndex, makeCurrentItem);
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(coordinate, MAV_CMD_DO_SET_ROI_LOCATION, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
}
return simpleItem;
}
VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem)
{
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(QGeoCoordinate(), MAV_CMD_DO_SET_ROI_NONE, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_NONE)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_NONE);
}
return simpleItem;
}
VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem)
......@@ -536,7 +551,7 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma
_recalcAllWithCoordinate(mapCenterCoordinate);
if (makeCurrentItem) {
setCurrentPlanViewIndex(complexItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(complexItem->sequenceNumber(), true);
}
}
......@@ -1736,7 +1751,7 @@ void MissionController::_initAllVisualItems(void)
emit plannedHomePositionChanged(plannedHomePosition());
if (!_flyView) {
setCurrentPlanViewIndex(0, true);
setCurrentPlanViewSeqNum(0, true);
}
setDirty(false);
......@@ -2149,32 +2164,25 @@ void MissionController::_managerRemoveAllComplete(bool error)
}
}
int MissionController::currentPlanViewIndex(void) const
{
return _currentPlanViewIndex;
}
VisualMissionItem* MissionController::currentPlanViewItem(void) const
{
return _currentPlanViewItem;
}
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_currentPlanViewSeqNum = -1;
_currentPlanViewVIIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_isROIActive = false;
_flyThroughCommandsAllowed = true;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
if (sequenceNumber != 0 && pVI->sequenceNumber() <= sequenceNumber) {
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
......@@ -2184,12 +2192,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
if (qobject_cast<TakeoffMissionItem*>(pVI)) {
takeoffIndex = i;
takeoffIndex = viIndex;
_isInsertTakeoffValid = false;
}
if (!foundLand) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
if (simpleItem) {
switch (simpleItem->mavCommand()) {
case MAV_CMD_NAV_LAND:
......@@ -2197,7 +2204,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
landIndex = i;
landIndex = viIndex;
break;
default:
break;
......@@ -2206,7 +2213,27 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
landIndex = i;
landIndex = viIndex;
}
}
}
// ROI state handling
if (simpleItem) {
if (pVI->sequenceNumber() <= sequenceNumber) {
if (_isROIActive) {
if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
simpleItem->missionItem().param1() == MAV_ROI_NONE)) {
_isROIActive = false;
}
} else {
if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
simpleItem->missionItem().param1() == MAV_ROI_LOCATION)) {
_isROIActive = true;
}
}
}
}
......@@ -2214,11 +2241,12 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
if (pVI->sequenceNumber() == sequenceNumber) {
pVI->setIsCurrentItem(true);
_currentPlanViewItem = pVI;
_currentPlanViewIndex = sequenceNumber;
_currentPlanViewSeqNum = sequenceNumber;
_currentPlanViewVIIndex = viIndex;
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
// Determine split segment used to display line split editing ui.
for (int j=i-1; j>0; j--) {
for (int j=viIndex-1; j>0; j--) {
VisualMissionItem* pPrev = qobject_cast<VisualMissionItem*>(_visualItems->get(j));
if (pPrev->specifiesCoordinate() && !pPrev->isStandaloneCoordinate()) {
VisualItemPair splitPair(pPrev, pVI);
......@@ -2252,11 +2280,13 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
}
emit currentPlanViewIndexChanged();
emit currentPlanViewSeqNumChanged();
emit currentPlanViewVIIndexChanged();
emit currentPlanViewItemChanged();
emit splitSegmentChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit isROIActiveChanged();
emit flyThroughCommandsAllowedChanged();
}
}
......@@ -2349,16 +2379,3 @@ bool MissionController::isEmpty(void) const
{
return _visualItems->count() <= 1;
}
int MissionController::visualItemIndexFromSequenceNumber(int sequenceNumber) const
{
for (int i=0; i<_visualItems->count(); i++) {
const VisualMissionItem* vi = _visualItems->value<VisualMissionItem*>(i);
if (vi->sequenceNumber() == sequenceNumber) {
return i;
}
}
qWarning() << "MissionController::getVisualItemIndex visual item not found";
return 0;
}
src/MissionManager/MissionController.h
View file @ f9fed02a
......@@ -77,7 +77,8 @@ public:
Q_PROPERTY(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) ///< True mission item command count (only valid in Fly View)
Q_PROPERTY(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged)
Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
Q_PROPERTY(int currentPlanViewIndex READ currentPlanViewIndex NOTIFY currentPlanViewIndexChanged)
Q_PROPERTY(int currentPlanViewSeqNum READ currentPlanViewSeqNum NOTIFY currentPlanViewSeqNumChanged)
Q_PROPERTY(int currentPlanViewVIIndex READ currentPlanViewVIIndex NOTIFY currentPlanViewVIIndexChanged)
Q_PROPERTY(VisualMissionItem* currentPlanViewItem READ currentPlanViewItem NOTIFY currentPlanViewItemChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
......@@ -94,6 +95,7 @@ public:
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged)
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged)
Q_PROPERTY(bool isROIActive MEMBER _isROIActive NOTIFY isROIActiveChanged)
Q_PROPERTY(bool flyThroughCommandsAllowed MEMBER _flyThroughCommandsAllowed NOTIFY flyThroughCommandsAllowedChanged)
Q_INVOKABLE void removeMissionItem(int index);
......@@ -126,6 +128,12 @@ public:
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
/// Add a new Cancel ROI mission item to the list
/// @param visualItemIndex: index to insert at, -1 for end of list
/// @param makeCurrentItem: true: Make this item the current item
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem = false);
/// Add a new complex mission item to the list
/// @param itemName: Name of complex item to create (from complexMissionItemNames)
/// @param mapCenterCoordinate: coordinate for current center of map
......@@ -150,10 +158,7 @@ public:
/// Sets a new current mission item (PlanView).
/// @param sequenceNumber - index for new item, -1 to clear current item
Q_INVOKABLE void setCurrentPlanViewIndex(int sequenceNumber, bool force);
/// Returns the index of this item in the visual item list
Q_INVOKABLE int visualItemIndexFromSequenceNumber(int sequenceNumber) const;
Q_INVOKABLE void setCurrentPlanViewSeqNum(int sequenceNumber, bool force);
/// Determines if the mission has all data needed to be saved or sent to the vehicle.
/// IMPORTANT NOTE: The return value is a VisualMissionItem::ReadForSaveState value. It is an int here to work around
......@@ -196,7 +201,7 @@ public:
QVariantList waypointPath (void) { return _waypointPath; }
QStringList complexMissionItemNames (void) const;
QGeoCoordinate plannedHomePosition (void) const;
VisualMissionItem* currentPlanViewItem (void) const;
VisualMissionItem* currentPlanViewItem (void) const { return _currentPlanViewItem; }
double progressPct (void) const { return _progressPct; }
QString surveyComplexItemName (void) const { return patternSurveyName; }
QString corridorScanComplexItemName (void) const { return patternCorridorScanName; }
......@@ -206,7 +211,8 @@ public:
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
int currentPlanViewSeqNum (void) const { return _currentPlanViewSeqNum; }
int currentPlanViewVIIndex (void) const { return _currentPlanViewVIIndex; }
double missionDistance (void) const { return _missionFlightStatus.totalDistance; }
double missionTime (void) const { return _missionFlightStatus.totalTime; }
......@@ -249,12 +255,14 @@ signals:
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewSeqNumChanged (void);
void currentPlanViewVIIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void isROIActiveChanged (void);
void flyThroughCommandsAllowedChanged (void);
private slots:
......@@ -325,7 +333,8 @@ private:
MissionFlightStatus_t _missionFlightStatus;
AppSettings* _appSettings;
double _progressPct;
int _currentPlanViewIndex;
int _currentPlanViewSeqNum;
int _currentPlanViewVIIndex;
VisualMissionItem* _currentPlanViewItem;
QTimer _updateTimer;
QGCGeoBoundingCube _travelBoundingCube;
......@@ -333,6 +342,7 @@ private:
CoordinateVector* _splitSegment;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _isROIActive = false;
bool _flyThroughCommandsAllowed = true;
static const char* _settingsGroup;
......
src/MissionManager/StructureScanPlanCreator.cc
View file @ f9fed02a
......@@ -24,5 +24,5 @@ void StructureScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternStructureScanName, mapCenterCoord, -1)->setWizardMode(true);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}
src/MissionManager/SurveyPlanCreator.cc
View file @ f9fed02a
......@@ -25,5 +25,5 @@ void SurveyPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternSurveyName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}
src/PlanView/MissionItemEditor.qml
View file @ f9fed02a
......@@ -30,8 +30,6 @@ Rectangle {
signal clicked
signal remove
signal insertWaypoint
signal insertComplexItem(string complexItemName)
signal selectNextNotReadyItem
property var _masterController: masterController
......
src/PlanView/MissionItemStatus.qml
View file @ f9fed02a
......@@ -60,7 +60,7 @@ Rectangle {
orientation: ListView.Horizontal
spacing: 0
clip: true
currentIndex: _missionController.currentPlanViewIndex
currentIndex: _missionController.currentPlanViewSeqNum
onCountChanged: {
var calcLength = (statusListView.count + 1) * (statusListView.count ? statusListView.contentItem.children[0].width : 1)
......
src/PlanView/PlanView.qml
View file @ f9fed02a
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