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Commit fb9b1767 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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plan creator added, area editor improved

parent 42fe8ce4
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Showing with 893 additions and 776 deletions
qgcimages.qrc
View file @ fb9b1767
......@@ -195,5 +195,6 @@
<file alias="Yield.svg">src/ui/toolbar/Images/Yield.svg</file>
<file alias="ZoomMinus.svg">src/FlightMap/Images/ZoomMinus.svg</file>
<file alias="ZoomPlus.svg">src/FlightMap/Images/ZoomPlus.svg</file>
<file alias="PlanCreator/MeasurementPlanCreator.png">src/MeasurementComplexItem/MeasurementPlanCreator.png</file>
</qresource>
</RCC>
qgroundcontrol.pro
View file @ fb9b1767
......@@ -447,6 +447,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
HEADERS += \
src/MeasurementComplexItem/IDArray.h \
src/MeasurementComplexItem/LogicalArray.h \
src/MeasurementComplexItem/MeasurementPlanCreator.h \
src/MeasurementComplexItem/TileArray.h \
src/MeasurementComplexItem/TilePtrArray.h \
src/MeasurementComplexItem/geometry/ProgressArray.h \
......@@ -527,6 +528,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
}
SOURCES += \
src/MeasurementComplexItem/MeasurementPlanCreator.cpp \
src/MeasurementComplexItem/geometry/GeoArea.cc \
src/MeasurementComplexItem/geometry/MeasurementArea.cc \
src/MeasurementComplexItem/geometry/SafeArea.cc \
......
src/MeasurementComplexItem/MeasurementPlanCreator.cpp 0 → 100644
View file @ fb9b1767
#include "MeasurementPlanCreator.h"
#include "MeasurementComplexItem.h"
#include "PlanMasterController.h"
MeasurementPlanCreator::MeasurementPlanCreator(
PlanMasterController *planMasterController, QObject *parent)
: PlanCreator(
planMasterController, MeasurementComplexItem::name,
QStringLiteral("/qmlimages/PlanCreator/MeasurementPlanCreator.png"),
parent) {}
void MeasurementPlanCreator::createPlan(const QGeoCoordinate &mapCenterCoord) {
_planMasterController->removeAll();
VisualMissionItem *takeoffItem =
_missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MeasurementComplexItem::name,
mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(),
true);
}
src/MeasurementComplexItem/MeasurementPlanCreator.h 0 → 100644
View file @ fb9b1767
#ifndef MEASUREMENTCOMPLEXITEMPLANCREATOR_H
#define MEASUREMENTCOMPLEXITEMPLANCREATOR_H
#include "PlanCreator.h"
class MeasurementPlanCreator : public PlanCreator {
Q_OBJECT
public:
MeasurementPlanCreator(PlanMasterController *planMasterController,
QObject *parent = nullptr);
Q_INVOKABLE void createPlan(const QGeoCoordinate &mapCenterCoord) final;
};
#endif // MEASUREMENTCOMPLEXITEMPLANCREATOR_H
src/MeasurementComplexItem/NemoInterface.cpp
View file @ fb9b1767
......@@ -251,7 +251,7 @@ std::shared_future<QVariant>
NemoInterface::Impl::addTiles(const TilePtrArray &tileArray) {
using namespace nemo_interface;
qDebug() << "addTiles called";
// qDebug() << "addTiles called";
if (tileArray.size() > 0) {
......@@ -318,7 +318,7 @@ std::shared_future<QVariant>
NemoInterface::Impl::removeTiles(const IDArray &idArray) {
using namespace nemo_interface;
qDebug() << "removeTiles called";
// qDebug() << "removeTiles called";
if (idArray.size() > 0) {
......@@ -364,7 +364,7 @@ NemoInterface::Impl::removeTiles(const IDArray &idArray) {
std::shared_future<QVariant> NemoInterface::Impl::clearTiles() {
using namespace nemo_interface;
qDebug() << "clearTiles called";
// qDebug() << "clearTiles called";
// clear local tiles (_localTiles)
if (!_localTiles.empty()) {
......@@ -396,6 +396,18 @@ std::shared_future<QVariant> NemoInterface::Impl::clearTiles() {
TileArray NemoInterface::Impl::getTiles(const IDArray &idArray) const {
TileArray tileArray;
if (this->ready()) {
for (const auto &id : idArray) {
const auto it = _remoteTiles.find(id);
if (it != _remoteTiles.end()) {
MeasurementTile copy;
copy.setId(it->second->id());
copy.setProgress(it->second->progress());
copy.setPath(it->second->tile());
tileArray.append(std::move(copy));
}
}
} else {
for (const auto &id : idArray) {
const auto it = _localTiles.find(id);
if (it != _localTiles.end()) {
......@@ -406,6 +418,7 @@ TileArray NemoInterface::Impl::getTiles(const IDArray &idArray) const {
tileArray.append(std::move(copy));
}
}
}
return tileArray;
}
......@@ -413,6 +426,17 @@ TileArray NemoInterface::Impl::getTiles(const IDArray &idArray) const {
TileArray NemoInterface::Impl::getAllTiles() const {
TileArray tileArray;
if (this->ready()) {
for (const auto &entry : _remoteTiles) {
auto pTile = entry.second;
MeasurementTile copy;
copy.setId(pTile->id());
copy.setProgress(pTile->progress());
copy.setPath(pTile->tile());
tileArray.append(std::move(copy));
}
} else {
for (const auto &entry : _localTiles) {
auto pTile = entry.second;
MeasurementTile copy;
......@@ -421,6 +445,7 @@ TileArray NemoInterface::Impl::getAllTiles() const {
copy.setPath(pTile->tile());
tileArray.append(std::move(copy));
}
}
return tileArray;
}
......@@ -518,7 +543,7 @@ const QString &NemoInterface::Impl::warningString() const {
void NemoInterface::Impl::_updateProgress(std::shared_ptr<ProgressArray> pArray,
std::promise<bool> promise) {
qDebug() << "_updateProgress called";
// qDebug() << "_updateProgress called";
bool error = false;
for (auto itLP = pArray->begin(); itLP != pArray->end();) {
......@@ -799,7 +824,7 @@ void NemoInterface::Impl::_doAction() {
QVariant NemoInterface::Impl::_callAddTiles(
std::shared_ptr<QVector<std::shared_ptr<const Tile>>> pTileArray) {
qDebug() << "_callAddTiles called";
// qDebug() << "_callAddTiles called";
this->_lastCall = CALL_NAME::ADD_TILES;
......@@ -900,7 +925,7 @@ QVariant NemoInterface::Impl::_callAddTiles(
QVariant
NemoInterface::Impl::_callRemoveTiles(std::shared_ptr<IDArray> pIdArray) {
qDebug() << "_callRemoveTiles called";
// qDebug() << "_callRemoveTiles called";
this->_lastCall = CALL_NAME::REMOVE_TILES;
......@@ -995,7 +1020,7 @@ NemoInterface::Impl::_callRemoveTiles(std::shared_ptr<IDArray> pIdArray) {
QVariant NemoInterface::Impl::_callClearTiles() {
qDebug() << "_callClearTiles called";
// qDebug() << "_callClearTiles called";
this->_lastCall = CALL_NAME::CLEAR_TILES;
// create response handler.
......@@ -1068,7 +1093,7 @@ QVariant NemoInterface::Impl::_callClearTiles() {
QVariant
NemoInterface::Impl::_callGetProgress(std::shared_ptr<IDArray> pIdArray) {
qDebug() << "_callGetProgress called";
// qDebug() << "_callGetProgress called";
this->_lastCall = CALL_NAME::GET_PROGRESS;
......@@ -1168,7 +1193,7 @@ NemoInterface::Impl::_callGetProgress(std::shared_ptr<IDArray> pIdArray) {
}
QVariant NemoInterface::Impl::_callGetAllProgress() {
qDebug() << "_callGetAllProgress called";
// qDebug() << "_callGetAllProgress called";
this->_lastCall = CALL_NAME::GET_ALL_PROGRESS;
......@@ -1279,7 +1304,7 @@ void NemoInterface::Impl::_addTilesRemote(
std::shared_ptr<QVector<std::shared_ptr<const Tile>>> pTileArray,
std::promise<bool> promise) {
qDebug() << "_addTilesRemote called";
// qDebug() << "_addTilesRemote called";
auto pArrayDup = std::make_shared<QVector<std::shared_ptr<Tile>>>();
for (auto pTile : *pTileArray) {
......@@ -1292,7 +1317,7 @@ void NemoInterface::Impl::_addTilesRemote2(
std::shared_ptr<QVector<std::shared_ptr<Tile>>> pTileArray,
std::promise<bool> promise) {
qDebug() << "_addTilesRemote2 called";
// qDebug() << "_addTilesRemote2 called";
bool anyChange = false;
bool error = false;
......@@ -1326,7 +1351,7 @@ void NemoInterface::Impl::_addTilesRemote2(
void NemoInterface::Impl::_removeTilesRemote(std::shared_ptr<IDArray> idArray,
std::promise<bool> promise) {
qDebug() << "_removeTilesRemote called";
// qDebug() << "_removeTilesRemote called";
bool anyChange = false;
for (const auto id : *idArray) {
......@@ -1351,7 +1376,7 @@ void NemoInterface::Impl::_removeTilesRemote(std::shared_ptr<IDArray> idArray,
}
void NemoInterface::Impl::_clearTilesRemote(std::promise<bool> promise) {
qDebug() << "_clearTilesRemote called";
// qDebug() << "_clearTilesRemote called";
if (_remoteTiles.size() > 0) {
_remoteTiles.clear();
if (this->_isSynchronized()) {
......
src/MeasurementComplexItem/qml/AreaDataEditor.qml
View file @ fb9b1767
......@@ -12,44 +12,62 @@ import QGroundControl.Palette 1.0
Rectangle {
id: _root
width: mainGrid.width
height: mainGrid.height
width: mainColumn.width
height: mainColumn.height
color: qgcPal.windowShadeDark
property bool checked: true
property bool editing: missionItem.editing
property var missionItem: undefined
property int availableWidth: 300
property bool areasCorrect: false
property string errorString: ""
signal abort
property var _areaData: missionItem.areaData
property real _margin: ScreenTools.defaultFontPixelWidth / 2
Component.onCompleted: {
console.assert(missionItem !== undefined,
"please set the missionItem property")
if (checked) {
if (editing) {
areasCorrectTimer.start()
}
}
onCheckedChanged: {
if (checked) {
onEditingChanged: {
if (editing){
areasCorrectTimer.start()
} else {
areasCorrectTimer.stop()
}
}
ColumnLayout {
id: mainColumn
width: availableWidth
spacing: _margin
QGCButton {
id: editButton
text: _root.editing ? qsTr("Done") : qsTr("Edit")
enabled: (_root.editing && _root.areasCorrect) || !_root.editing
onClicked: {
if (_root.editing) {
_root.missionItem.stopEditing()
} else {
_root.missionItem.startEditing()
}
}
Layout.fillWidth: true
}
GridLayout {
id: mainGrid
width: availableWidth
columnSpacing: _margin
Layout.fillWidth: true
rowSpacing: _margin
columns: 2
enabled: _root.editing
QGCLabel {
text: _root.errorString
......@@ -73,7 +91,6 @@ Rectangle {
model: _missionItem.areaData.areaList
delegate: QGCRadioButton {
text: object.objectName
checkable: _root.checked
Layout.fillWidth: true
Layout.columnSpan: 2
......@@ -88,7 +105,7 @@ Rectangle {
checked = true
}
object.interactive = Qt.binding(function () {
return checked && _root.checked
return checked && _root.editing && _missionItem.isCurrentItem
})
}
}
......@@ -116,19 +133,22 @@ Rectangle {
Component.onCompleted: {
if (geoArea.editorQML && !_visualItem) {
var component = Qt.createComponent(geoArea.editorQML)
var component = Qt.createComponent(
geoArea.editorQML)
if (component.status === Component.Error) {
console.log("Error loading Qml: ",
geoArea.editorQML,
component.errorString())
} else {
_visualItem = component.createObject(editorParent, {
_visualItem = component.createObject(
editorParent, {
"geoArea": editor.geoArea,
"visible": Qt.binding(
function () {
return editor.visible
}),
"availableWidth": Qt.binding(function () {
"availableWidth": Qt.binding(
function () {
return editorParent.width
})
})
......@@ -161,7 +181,6 @@ Rectangle {
QGCButton {
text: "Intersection"
enabled: _root.checked
Layout.fillWidth: true
Layout.columnSpan: parent.columns
onClicked: {
......@@ -171,18 +190,11 @@ Rectangle {
QGCButton {
text: "Reset"
onClicked: {
missionItem.reset()
}
Layout.fillWidth: true
}
QGCButton {
text: "Abort"
Layout.columnSpan: parent.columns
onClicked: {
_root.abort()
missionItem.reset()
}
Layout.fillWidth: true
}
}
......@@ -235,4 +247,5 @@ Use the Abort button to reset the areas and leave the tab.")
property alias showHint: hintHeader.checked
}
} // GridLayout
} // GridLayout
} // Rectangle
src/MeasurementComplexItem/qml/MeasurementItemEditor.qml
View file @ fb9b1767
......@@ -49,13 +49,12 @@ Rectangle {
anchors.left: parent.left
anchors.right: parent.right
enabled: !editing || editing && correct
enabled: !editing
readonly property int areaEditorIndex: 0
readonly property int parameterEditorIndex: 1
readonly property int nemoEditorIndex: 2
property bool editing: _missionItem.editing
property bool correct: false
Component.onCompleted: currentIndex = editing ? areaEditorIndex : parameterEditorIndex
......@@ -71,47 +70,18 @@ Rectangle {
icon.source: "qrc:/res/fish.svg"
icon.height: ScreenTools.defaultFontPixelHeight
}
onEditingChanged: {
if (editing) {
areasCorrectTimer.start()
} else {
areasCorrectTimer.stop()
}
}
onCurrentIndexChanged: {
if (currentIndex === areaEditorIndex) {
_missionItem.startEditing()
} else {
_missionItem.stopEditing()
}
}
Timer {
id: areasCorrectTimer
running: false
interval: 100
repeat: true
onTriggered: {
tabBar.correct = _missionItem.areaData.isCorrect(
false /*show gui message*/
)
}
}
}
MCI.AreaDataEditor {
id: areaEditor
visible: tabBar.currentIndex === tabBar.areaEditorIndex
checked: visible
missionItem: _root._missionItem
availableWidth: mainColumn.width
onAbort: {
missionItem.abortEditing()
tabBar.currentIndex = tabBar.parameterEditorIndex
onVisibleChanged:{
if (visible){
_missionItem.startEditing()
}
}
}
......@@ -119,7 +89,6 @@ Rectangle {
id: parameterEditor
visible: tabBar.currentIndex === tabBar.parameterEditorIndex
checked: visible
missionItem: _root._missionItem
availableWidth: mainColumn.width
}
......@@ -128,7 +97,6 @@ Rectangle {
id: nemoEditor
visible: tabBar.currentIndex === tabBar.nemoEditorIndex
checked: visible
missionItem: _root._missionItem
availableWidth: mainColumn.width
}
......
src/MissionManager/PlanMasterController.cc
View file @ fb9b1767
......@@ -8,106 +8,116 @@
****************************************************************************/
#include "PlanMasterController.h"
#include "QGCApplication.h"
#include "QGCCorePlugin.h"
#include "MultiVehicleManager.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "BlankPlanCreator.h"
#include "CorridorScanPlanCreator.h"
#include "JsonHelper.h"
#include "MissionManager.h"
#include "KMLPlanDomDocument.h"
#include "SurveyPlanCreator.h"
#include "MeasurementPlanCreator.h"
#include "MissionManager.h"
#include "MultiVehicleManager.h"
#include "QGCApplication.h"
#include "QGCCorePlugin.h"
#include "SettingsManager.h"
#include "StructureScanPlanCreator.h"
#include "CorridorScanPlanCreator.h"
#include "BlankPlanCreator.h"
#include "SurveyPlanCreator.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceFlightPlanProvider.h"
#endif
#include <QDomDocument>
#include <QJsonDocument>
#include <QFileInfo>
#include <QJsonDocument>
QGC_LOGGING_CATEGORY(PlanMasterControllerLog, "PlanMasterControllerLog")
const int PlanMasterController::kPlanFileVersion = 1;
const char* PlanMasterController::kPlanFileType = "Plan";
const char* PlanMasterController::kJsonMissionObjectKey = "mission";
const char* PlanMasterController::kJsonGeoFenceObjectKey = "geoFence";
const char* PlanMasterController::kJsonRallyPointsObjectKey = "rallyPoints";
PlanMasterController::PlanMasterController(QObject* parent)
: QObject (parent)
, _multiVehicleMgr (qgcApp()->toolbox()->multiVehicleManager())
, _controllerVehicle (new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK, qgcApp()->toolbox()->firmwarePluginManager(), this))
, _managerVehicle (_controllerVehicle)
, _missionController (this)
, _geoFenceController (this)
, _rallyPointController (this)
{
const char *PlanMasterController::kPlanFileType = "Plan";
const char *PlanMasterController::kJsonMissionObjectKey = "mission";
const char *PlanMasterController::kJsonGeoFenceObjectKey = "geoFence";
const char *PlanMasterController::kJsonRallyPointsObjectKey = "rallyPoints";
PlanMasterController::PlanMasterController(QObject *parent)
: QObject(parent),
_multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager()),
_controllerVehicle(
new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK,
qgcApp()->toolbox()->firmwarePluginManager(), this)),
_managerVehicle(_controllerVehicle), _missionController(this),
_geoFenceController(this), _rallyPointController(this) {
_commonInit();
}
#ifdef QT_DEBUG
PlanMasterController::PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent)
: QObject (parent)
, _multiVehicleMgr (qgcApp()->toolbox()->multiVehicleManager())
, _controllerVehicle (new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager()))
, _managerVehicle (_controllerVehicle)
, _missionController (this)
, _geoFenceController (this)
, _rallyPointController (this)
{
PlanMasterController::PlanMasterController(MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
QObject *parent)
: QObject(parent),
_multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager()),
_controllerVehicle(
new Vehicle(firmwareType, vehicleType,
qgcApp()->toolbox()->firmwarePluginManager())),
_managerVehicle(_controllerVehicle), _missionController(this),
_geoFenceController(this), _rallyPointController(this) {
_commonInit();
}
#endif
void PlanMasterController::_commonInit(void)
{
connect(&_missionController, &MissionController::dirtyChanged, this, &PlanMasterController::dirtyChanged);
connect(&_geoFenceController, &GeoFenceController::dirtyChanged, this, &PlanMasterController::dirtyChanged);
connect(&_rallyPointController, &RallyPointController::dirtyChanged, this, &PlanMasterController::dirtyChanged);
connect(&_missionController, &MissionController::containsItemsChanged, this, &PlanMasterController::containsItemsChanged);
connect(&_geoFenceController, &GeoFenceController::containsItemsChanged, this, &PlanMasterController::containsItemsChanged);
connect(&_rallyPointController, &RallyPointController::containsItemsChanged, this, &PlanMasterController::containsItemsChanged);
connect(&_missionController, &MissionController::syncInProgressChanged, this, &PlanMasterController::syncInProgressChanged);
connect(&_geoFenceController, &GeoFenceController::syncInProgressChanged, this, &PlanMasterController::syncInProgressChanged);
connect(&_rallyPointController, &RallyPointController::syncInProgressChanged, this, &PlanMasterController::syncInProgressChanged);
void PlanMasterController::_commonInit(void) {
connect(&_missionController, &MissionController::dirtyChanged, this,
&PlanMasterController::dirtyChanged);
connect(&_geoFenceController, &GeoFenceController::dirtyChanged, this,
&PlanMasterController::dirtyChanged);
connect(&_rallyPointController, &RallyPointController::dirtyChanged, this,
&PlanMasterController::dirtyChanged);
connect(&_missionController, &MissionController::containsItemsChanged, this,
&PlanMasterController::containsItemsChanged);
connect(&_geoFenceController, &GeoFenceController::containsItemsChanged, this,
&PlanMasterController::containsItemsChanged);
connect(&_rallyPointController, &RallyPointController::containsItemsChanged,
this, &PlanMasterController::containsItemsChanged);
connect(&_missionController, &MissionController::syncInProgressChanged, this,
&PlanMasterController::syncInProgressChanged);
connect(&_geoFenceController, &GeoFenceController::syncInProgressChanged,
this, &PlanMasterController::syncInProgressChanged);
connect(&_rallyPointController, &RallyPointController::syncInProgressChanged,
this, &PlanMasterController::syncInProgressChanged);
// Offline vehicle can change firmware/vehicle type
connect(_controllerVehicle, &Vehicle::vehicleTypeChanged, this, &PlanMasterController::_updatePlanCreatorsList);
connect(_controllerVehicle, &Vehicle::vehicleTypeChanged, this,
&PlanMasterController::_updatePlanCreatorsList);
}
PlanMasterController::~PlanMasterController() {}
PlanMasterController::~PlanMasterController()
{
}
void PlanMasterController::start(void)
{
_missionController.start (_flyView);
_geoFenceController.start (_flyView);
_rallyPointController.start (_flyView);
void PlanMasterController::start(void) {
_missionController.start(_flyView);
_geoFenceController.start(_flyView);
_rallyPointController.start(_flyView);
_activeVehicleChanged(_multiVehicleMgr->activeVehicle());
connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &PlanMasterController::_activeVehicleChanged);
connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this,
&PlanMasterController::_activeVehicleChanged);
_updatePlanCreatorsList();
#if defined(QGC_AIRMAP_ENABLED)
//-- This assumes there is one single instance of PlanMasterController in edit mode.
if(!flyView) {
// Wait for signal confirming AirMap client connection before starting flight planning
connect(qgcApp()->toolbox()->airspaceManager(), &AirspaceManager::connectStatusChanged, this, &PlanMasterController::_startFlightPlanning);
//-- This assumes there is one single instance of PlanMasterController in edit
//mode.
if (!flyView) {
// Wait for signal confirming AirMap client connection before starting
// flight planning
connect(qgcApp()->toolbox()->airspaceManager(),
&AirspaceManager::connectStatusChanged, this,
&PlanMasterController::_startFlightPlanning);
}
#endif
}
void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle, bool deleteWhenSendCompleted)
{
void PlanMasterController::startStaticActiveVehicle(
Vehicle *vehicle, bool deleteWhenSendCompleted) {
_flyView = true;
_deleteWhenSendCompleted = deleteWhenSendCompleted;
_missionController.start(_flyView);
......@@ -116,8 +126,7 @@ void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle, bool delet
_activeVehicleChanged(vehicle);
}
void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
{
void PlanMasterController::_activeVehicleChanged(Vehicle *activeVehicle) {
if (_managerVehicle == activeVehicle) {
// We are already setup for this vehicle
return;
......@@ -126,7 +135,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged" << activeVehicle;
if (_managerVehicle) {
// Disconnect old vehicle. Be careful of wildcarding disconnect too much since _managerVehicle may equal _controllerVehicle
// Disconnect old vehicle. Be careful of wildcarding disconnect too much
// since _managerVehicle may equal _controllerVehicle
disconnect(_managerVehicle->missionManager(), nullptr, nullptr, nullptr);
disconnect(_managerVehicle->geoFenceManager(), nullptr, nullptr, nullptr);
disconnect(_managerVehicle->rallyPointManager(), nullptr, nullptr, nullptr);
......@@ -134,7 +144,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
bool newOffline = false;
if (activeVehicle == nullptr) {
// Since there is no longer an active vehicle we use the offline controller vehicle as the manager vehicle
// Since there is no longer an active vehicle we use the offline controller
// vehicle as the manager vehicle
_managerVehicle = _controllerVehicle;
newOffline = true;
} else {
......@@ -142,17 +153,30 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
_managerVehicle = activeVehicle;
// Update controllerVehicle to the currently connected vehicle
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
appSettings->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(_managerVehicle->firmwareType()));
appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(_managerVehicle->vehicleType()));
// We use these signals to sequence upload and download to the multiple controller/managers
connect(_managerVehicle->missionManager(), &MissionManager::newMissionItemsAvailable, this, &PlanMasterController::_loadMissionComplete);
connect(_managerVehicle->geoFenceManager(), &GeoFenceManager::loadComplete, this, &PlanMasterController::_loadGeoFenceComplete);
connect(_managerVehicle->rallyPointManager(), &RallyPointManager::loadComplete, this, &PlanMasterController::_loadRallyPointsComplete);
connect(_managerVehicle->missionManager(), &MissionManager::sendComplete, this, &PlanMasterController::_sendMissionComplete);
connect(_managerVehicle->geoFenceManager(), &GeoFenceManager::sendComplete, this, &PlanMasterController::_sendGeoFenceComplete);
connect(_managerVehicle->rallyPointManager(), &RallyPointManager::sendComplete, this, &PlanMasterController::_sendRallyPointsComplete);
AppSettings *appSettings =
qgcApp()->toolbox()->settingsManager()->appSettings();
appSettings->offlineEditingFirmwareClass()->setRawValue(
QGCMAVLink::firmwareClass(_managerVehicle->firmwareType()));
appSettings->offlineEditingVehicleClass()->setRawValue(
QGCMAVLink::vehicleClass(_managerVehicle->vehicleType()));
// We use these signals to sequence upload and download to the multiple
// controller/managers
connect(_managerVehicle->missionManager(),
&MissionManager::newMissionItemsAvailable, this,
&PlanMasterController::_loadMissionComplete);
connect(_managerVehicle->geoFenceManager(), &GeoFenceManager::loadComplete,
this, &PlanMasterController::_loadGeoFenceComplete);
connect(_managerVehicle->rallyPointManager(),
&RallyPointManager::loadComplete, this,
&PlanMasterController::_loadRallyPointsComplete);
connect(_managerVehicle->missionManager(), &MissionManager::sendComplete,
this, &PlanMasterController::_sendMissionComplete);
connect(_managerVehicle->geoFenceManager(), &GeoFenceManager::sendComplete,
this, &PlanMasterController::_sendGeoFenceComplete);
connect(_managerVehicle->rallyPointManager(),
&RallyPointManager::sendComplete, this,
&PlanMasterController::_sendRallyPointsComplete);
}
_offline = newOffline;
......@@ -163,11 +187,16 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
// We are in the Fly View
if (newOffline) {
// No active vehicle, clear mission
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly View - No active vehicle, clearing stale plan";
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Fly View - No active vehicle, clearing "
"stale plan";
removeAll();
} else {
// Fly view has changed to a new active vehicle, update to show correct mission
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly View - New active vehicle, loading new plan from manager vehicle";
// Fly view has changed to a new active vehicle, update to show correct
// mission
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Fly View - New active vehicle, loading "
"new plan from manager vehicle";
_showPlanFromManagerVehicle();
}
} else {
......@@ -176,17 +205,25 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
// The plan view has a stale plan in it
if (dirty()) {
// Plan is dirty, the user must decide what to do in all cases
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous dirty plan exists, no new active vehicle, sending promptForPlanUsageOnVehicleChange signal";
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Plan View - Previous dirty plan exists, "
"no new active vehicle, sending "
"promptForPlanUsageOnVehicleChange signal";
emit promptForPlanUsageOnVehicleChange();
} else {
// Plan is not dirty
if (newOffline) {
// The active vehicle went away with no new active vehicle
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous clean plan exists, no new active vehicle, clear stale plan";
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Plan View - Previous clean plan "
"exists, no new active vehicle, clear stale plan";
removeAll();
} else {
// We are transitioning from one active vehicle to another. Show the plan from the new vehicle.
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous clean plan exists, new active vehicle, loading from new manager vehicle";
// We are transitioning from one active vehicle to another. Show the
// plan from the new vehicle.
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Plan View - Previous clean plan "
"exists, new active vehicle, loading from new manager vehicle";
_showPlanFromManagerVehicle();
}
}
......@@ -194,10 +231,14 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
// There is no previous Plan in the view
if (newOffline) {
// Nothing special to do in this case
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - No previous plan, no longer connected to vehicle, nothing to do";
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Plan View - No previous plan, no longer "
"connected to vehicle, nothing to do";
} else {
// Just show the plan from the new vehicle
qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - No previous plan, new active vehicle, loading from new manager vehicle";
qCDebug(PlanMasterControllerLog)
<< "_activeVehicleChanged: Plan View - No previous plan, new "
"active vehicle, loading from new manager vehicle";
_showPlanFromManagerVehicle();
}
}
......@@ -211,38 +252,48 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
_updatePlanCreatorsList();
}
void PlanMasterController::loadFromVehicle(void)
{
if (_managerVehicle->vehicleLinkManager()->primaryLink()->linkConfiguration()->isHighLatency()) {
qgcApp()->showAppMessage(tr("Download not supported on high latency links."));
void PlanMasterController::loadFromVehicle(void) {
if (_managerVehicle->vehicleLinkManager()
->primaryLink()
->linkConfiguration()
->isHighLatency()) {
qgcApp()->showAppMessage(
tr("Download not supported on high latency links."));
return;
}
if (offline()) {
qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while offline";
qCWarning(PlanMasterControllerLog)
<< "PlanMasterController::loadFromVehicle called while offline";
} else if (_flyView) {
qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called from Fly view";
qCWarning(PlanMasterControllerLog)
<< "PlanMasterController::loadFromVehicle called from Fly view";
} else if (syncInProgress()) {
qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while syncInProgress";
qCWarning(PlanMasterControllerLog)
<< "PlanMasterController::loadFromVehicle called while syncInProgress";
} else {
_loadGeoFence = true;
qCDebug(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle calling _missionController.loadFromVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::loadFromVehicle calling "
"_missionController.loadFromVehicle";
_missionController.loadFromVehicle();
setDirty(false);
}
}
void PlanMasterController::_loadMissionComplete(void)
{
void PlanMasterController::_loadMissionComplete(void) {
if (!_flyView && _loadGeoFence) {
_loadGeoFence = false;
_loadRallyPoints = true;
if (_geoFenceController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete calling _geoFenceController.loadFromVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_loadMissionComplete calling "
"_geoFenceController.loadFromVehicle";
_geoFenceController.loadFromVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete GeoFence not supported skipping";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_loadMissionComplete GeoFence not "
"supported skipping";
_geoFenceController.removeAll();
_loadGeoFenceComplete();
}
......@@ -250,15 +301,18 @@ void PlanMasterController::_loadMissionComplete(void)
}
}
void PlanMasterController::_loadGeoFenceComplete(void)
{
void PlanMasterController::_loadGeoFenceComplete(void) {
if (!_flyView && _loadRallyPoints) {
_loadRallyPoints = false;
if (_rallyPointController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadGeoFenceComplete calling _rallyPointController.loadFromVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_loadGeoFenceComplete calling "
"_rallyPointController.loadFromVehicle";
_rallyPointController.loadFromVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadMissionComplete Rally Points not supported skipping";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_loadMissionComplete Rally Points not "
"supported skipping";
_rallyPointController.removeAll();
_loadRallyPointsComplete();
}
......@@ -266,44 +320,46 @@ void PlanMasterController::_loadGeoFenceComplete(void)
}
}
void PlanMasterController::_loadRallyPointsComplete(void)
{
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadRallyPointsComplete";
void PlanMasterController::_loadRallyPointsComplete(void) {
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_loadRallyPointsComplete";
}
void PlanMasterController::_sendMissionComplete(void)
{
void PlanMasterController::_sendMissionComplete(void) {
if (_sendGeoFence) {
_sendGeoFence = false;
_sendRallyPoints = true;
if (_geoFenceController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start GeoFence sendToVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle start GeoFence sendToVehicle";
_geoFenceController.sendToVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle GeoFence not supported skipping";
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle "
"GeoFence not supported skipping";
_sendGeoFenceComplete();
}
setDirty(false);
}
}
void PlanMasterController::_sendGeoFenceComplete(void)
{
void PlanMasterController::_sendGeoFenceComplete(void) {
if (_sendRallyPoints) {
_sendRallyPoints = false;
if (_rallyPointController.supported()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start rally sendToVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle start rally sendToVehicle";
_rallyPointController.sendToVehicle();
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Points not support skipping";
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle "
"Rally Points not support skipping";
_sendRallyPointsComplete();
}
}
}
void PlanMasterController::_sendRallyPointsComplete(void)
{
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Point send complete";
void PlanMasterController::_sendRallyPointsComplete(void) {
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle Rally Point send complete";
if (_deleteWhenSendCompleted) {
this->deleteLater();
}
......@@ -312,35 +368,43 @@ void PlanMasterController::_sendRallyPointsComplete(void)
#if defined(QGC_AIRMAP_ENABLED)
void PlanMasterController::_startFlightPlanning(void) {
if (qgcApp()->toolbox()->airspaceManager()->connected()) {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::_startFlightPlanning client connected, start flight planning";
qgcApp()->toolbox()->airspaceManager()->flightPlan()->startFlightPlanning(this);
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::_startFlightPlanning client connected, start "
"flight planning";
qgcApp()->toolbox()->airspaceManager()->flightPlan()->startFlightPlanning(
this);
}
}
#endif
void PlanMasterController::sendToVehicle(void)
{
if (_managerVehicle->vehicleLinkManager()->primaryLink()->linkConfiguration()->isHighLatency()) {
void PlanMasterController::sendToVehicle(void) {
if (_managerVehicle->vehicleLinkManager()
->primaryLink()
->linkConfiguration()
->isHighLatency()) {
qgcApp()->showAppMessage(tr("Upload not supported on high latency links."));
return;
}
if (offline()) {
qCWarning(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while offline";
qCWarning(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while syncInProgress";
qCWarning(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle called while syncInProgress";
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start mission sendToVehicle";
qCDebug(PlanMasterControllerLog)
<< "PlanMasterController::sendToVehicle start mission sendToVehicle";
_sendGeoFence = true;
_missionController.sendToVehicle();
setDirty(false);
}
}
void PlanMasterController::loadFromFile(const QString& filename)
{
void PlanMasterController::loadFromFile(const QString &filename) {
QString errorString;
QString errorMessage = tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");
QString errorMessage =
tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");
if (filename.isEmpty()) {
return;
......@@ -356,7 +420,7 @@ void PlanMasterController::loadFromFile(const QString& filename)
}
bool success = false;
if(fileInfo.suffix() == AppSettings::planFileExtension) {
if (fileInfo.suffix() == AppSettings::planFileExtension) {
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
......@@ -370,24 +434,29 @@ void PlanMasterController::loadFromFile(const QString& filename)
qgcApp()->toolbox()->corePlugin()->preLoadFromJson(this, json);
int version;
if (!JsonHelper::validateExternalQGCJsonFile(json, kPlanFileType, kPlanFileVersion, kPlanFileVersion, version, errorString)) {
if (!JsonHelper::validateExternalQGCJsonFile(
json, kPlanFileType, kPlanFileVersion, kPlanFileVersion, version,
errorString)) {
qgcApp()->showAppMessage(errorMessage.arg(errorString));
return;
}
QList<JsonHelper::KeyValidateInfo> rgKeyInfo = {
{ kJsonMissionObjectKey, QJsonValue::Object, true },
{ kJsonGeoFenceObjectKey, QJsonValue::Object, true },
{ kJsonRallyPointsObjectKey, QJsonValue::Object, true },
{kJsonMissionObjectKey, QJsonValue::Object, true},
{kJsonGeoFenceObjectKey, QJsonValue::Object, true},
{kJsonRallyPointsObjectKey, QJsonValue::Object, true},
};
if (!JsonHelper::validateKeys(json, rgKeyInfo, errorString)) {
qgcApp()->showAppMessage(errorMessage.arg(errorString));
return;
}
if (!_missionController.load(json[kJsonMissionObjectKey].toObject(), errorString) ||
!_geoFenceController.load(json[kJsonGeoFenceObjectKey].toObject(), errorString) ||
!_rallyPointController.load(json[kJsonRallyPointsObjectKey].toObject(), errorString)) {
if (!_missionController.load(json[kJsonMissionObjectKey].toObject(),
errorString) ||
!_geoFenceController.load(json[kJsonGeoFenceObjectKey].toObject(),
errorString) ||
!_rallyPointController.load(json[kJsonRallyPointsObjectKey].toObject(),
errorString)) {
qgcApp()->showAppMessage(errorMessage.arg(errorString));
} else {
//-- Allow plugins to post process the load
......@@ -400,7 +469,8 @@ void PlanMasterController::loadFromFile(const QString& filename)
} else {
success = true;
}
} else if (fileInfo.suffix() == AppSettings::waypointsFileExtension || fileInfo.suffix() == QStringLiteral("txt")) {
} else if (fileInfo.suffix() == AppSettings::waypointsFileExtension ||
fileInfo.suffix() == QStringLiteral("txt")) {
if (!_missionController.loadTextFile(file, errorString)) {
qgcApp()->showAppMessage(errorMessage.arg(errorString));
} else {
......@@ -410,8 +480,11 @@ void PlanMasterController::loadFromFile(const QString& filename)
//-- TODO: What then?
}
if(success){
_currentPlanFile = QString::asprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), AppSettings::planFileExtension);
if (success) {
_currentPlanFile =
QString::asprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(),
fileInfo.completeBaseName().toLocal8Bit().data(),
AppSettings::planFileExtension);
} else {
_currentPlanFile.clear();
}
......@@ -422,8 +495,7 @@ void PlanMasterController::loadFromFile(const QString& filename)
}
}
QJsonDocument PlanMasterController::saveToJson()
{
QJsonDocument PlanMasterController::saveToJson() {
QJsonObject planJson;
qgcApp()->toolbox()->corePlugin()->preSaveToJson(this, planJson);
QJsonObject missionJson;
......@@ -444,16 +516,13 @@ QJsonDocument PlanMasterController::saveToJson()
return QJsonDocument(planJson);
}
void
PlanMasterController::saveToCurrent()
{
if(!_currentPlanFile.isEmpty()) {
void PlanMasterController::saveToCurrent() {
if (!_currentPlanFile.isEmpty()) {
saveToFile(_currentPlanFile);
}
}
void PlanMasterController::saveToFile(const QString& filename)
{
void PlanMasterController::saveToFile(const QString &filename) {
if (filename.isEmpty()) {
return;
}
......@@ -466,13 +535,14 @@ void PlanMasterController::saveToFile(const QString& filename)
QFile file(planFilename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showAppMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
qgcApp()->showAppMessage(
tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
_currentPlanFile.clear();
emit currentPlanFileChanged();
} else {
QJsonDocument saveDoc = saveToJson();
file.write(saveDoc.toJson());
if(_currentPlanFile != planFilename) {
if (_currentPlanFile != planFilename) {
_currentPlanFile = planFilename;
emit currentPlanFileChanged();
}
......@@ -484,8 +554,7 @@ void PlanMasterController::saveToFile(const QString& filename)
}
}
void PlanMasterController::saveToKml(const QString& filename)
{
void PlanMasterController::saveToKml(const QString &filename) {
if (filename.isEmpty()) {
return;
}
......@@ -498,7 +567,8 @@ void PlanMasterController::saveToKml(const QString& filename)
QFile file(kmlFilename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showAppMessage(tr("KML save error %1 : %2").arg(filename).arg(file.errorString()));
qgcApp()->showAppMessage(
tr("KML save error %1 : %2").arg(filename).arg(file.errorString()));
} else {
KMLPlanDomDocument planKML;
_missionController.addMissionToKML(planKML);
......@@ -508,8 +578,7 @@ void PlanMasterController::saveToKml(const QString& filename)
}
}
void PlanMasterController::removeAll(void)
{
void PlanMasterController::removeAll(void) {
_missionController.removeAll();
_geoFenceController.removeAll();
_rallyPointController.removeAll();
......@@ -522,8 +591,7 @@ void PlanMasterController::removeAll(void)
}
}
void PlanMasterController::removeAllFromVehicle(void)
{
void PlanMasterController::removeAllFromVehicle(void) {
if (!offline()) {
_missionController.removeAllFromVehicle();
if (_geoFenceController.supported()) {
......@@ -534,72 +602,75 @@ void PlanMasterController::removeAllFromVehicle(void)
}
setDirty(false);
} else {
qWarning() << "PlanMasterController::removeAllFromVehicle called while offline";
qWarning()
<< "PlanMasterController::removeAllFromVehicle called while offline";
}
}
bool PlanMasterController::containsItems(void) const
{
return _missionController.containsItems() || _geoFenceController.containsItems() || _rallyPointController.containsItems();
bool PlanMasterController::containsItems(void) const {
return _missionController.containsItems() ||
_geoFenceController.containsItems() ||
_rallyPointController.containsItems();
}
bool PlanMasterController::dirty(void) const
{
return _missionController.dirty() || _geoFenceController.dirty() || _rallyPointController.dirty();
bool PlanMasterController::dirty(void) const {
return _missionController.dirty() || _geoFenceController.dirty() ||
_rallyPointController.dirty();
}
void PlanMasterController::setDirty(bool dirty)
{
void PlanMasterController::setDirty(bool dirty) {
_missionController.setDirty(dirty);
_geoFenceController.setDirty(dirty);
_rallyPointController.setDirty(dirty);
}
QString PlanMasterController::fileExtension(void) const
{
QString PlanMasterController::fileExtension(void) const {
return AppSettings::planFileExtension;
}
QString PlanMasterController::kmlFileExtension(void) const
{
QString PlanMasterController::kmlFileExtension(void) const {
return AppSettings::kmlFileExtension;
}
QStringList PlanMasterController::loadNameFilters(void) const
{
QStringList PlanMasterController::loadNameFilters(void) const {
QStringList filters;
filters << tr("Supported types (*.%1 *.%2 *.%3 *.%4)").arg(AppSettings::planFileExtension).arg(AppSettings::missionFileExtension).arg(AppSettings::waypointsFileExtension).arg("txt") <<
tr("All Files (*.*)");
filters << tr("Supported types (*.%1 *.%2 *.%3 *.%4)")
.arg(AppSettings::planFileExtension)
.arg(AppSettings::missionFileExtension)
.arg(AppSettings::waypointsFileExtension)
.arg("txt")
<< tr("All Files (*.*)");
return filters;
}
QStringList PlanMasterController::saveNameFilters(void) const
{
QStringList PlanMasterController::saveNameFilters(void) const {
QStringList filters;
filters << tr("Plan Files (*.%1)").arg(fileExtension()) << tr("All Files (*.*)");
filters << tr("Plan Files (*.%1)").arg(fileExtension())
<< tr("All Files (*.*)");
return filters;
}
void PlanMasterController::sendPlanToVehicle(Vehicle* vehicle, const QString& filename)
{
void PlanMasterController::sendPlanToVehicle(Vehicle *vehicle,
const QString &filename) {
// Use a transient PlanMasterController to accomplish this
PlanMasterController* controller = new PlanMasterController();
controller->startStaticActiveVehicle(vehicle, true /* deleteWhenSendCompleted */);
PlanMasterController *controller = new PlanMasterController();
controller->startStaticActiveVehicle(vehicle,
true /* deleteWhenSendCompleted */);
controller->loadFromFile(filename);
controller->sendToVehicle();
}
void PlanMasterController::_showPlanFromManagerVehicle(void)
{
void PlanMasterController::_showPlanFromManagerVehicle(void) {
if (!_managerVehicle->initialPlanRequestComplete() && !syncInProgress()) {
// Something went wrong with initial load. All controllers are idle, so just force it off
// Something went wrong with initial load. All controllers are idle, so just
// force it off
_managerVehicle->forceInitialPlanRequestComplete();
}
// The crazy if structure is to handle the load propagating by itself through the system
// The crazy if structure is to handle the load propagating by itself through
// the system
if (!_missionController.showPlanFromManagerVehicle()) {
if (!_geoFenceController.showPlanFromManagerVehicle()) {
_rallyPointController.showPlanFromManagerVehicle();
......@@ -607,52 +678,52 @@ void PlanMasterController::_showPlanFromManagerVehicle(void)
}
}
bool PlanMasterController::syncInProgress(void) const
{
bool PlanMasterController::syncInProgress(void) const {
return _missionController.syncInProgress() ||
_geoFenceController.syncInProgress() ||
_rallyPointController.syncInProgress();
}
bool PlanMasterController::isEmpty(void) const
{
return _missionController.isEmpty() &&
_geoFenceController.isEmpty() &&
bool PlanMasterController::isEmpty(void) const {
return _missionController.isEmpty() && _geoFenceController.isEmpty() &&
_rallyPointController.isEmpty();
}
void PlanMasterController::_updatePlanCreatorsList(void)
{
void PlanMasterController::_updatePlanCreatorsList(void) {
if (!_flyView) {
if (!_planCreators) {
_planCreators = new QmlObjectListModel(this);
_planCreators->append(new BlankPlanCreator(this, this));
_planCreators->append(new SurveyPlanCreator(this, this));
_planCreators->append(new CorridorScanPlanCreator(this, this));
_planCreators->append(new MeasurementPlanCreator(this, this));
emit planCreatorsChanged(_planCreators);
}
if (_managerVehicle->fixedWing()) {
if (_planCreators->count() == 4) {
if (_planCreators->count() == 5) {
_planCreators->removeAt(_planCreators->count() - 1);
}
} else {
if (_planCreators->count() != 4) {
if (_planCreators->count() != 5) {
_planCreators->append(new StructureScanPlanCreator(this, this));
}
}
}
}
void PlanMasterController::showPlanFromManagerVehicle(void)
{
void PlanMasterController::showPlanFromManagerVehicle(void) {
if (offline()) {
// There is no new vehicle so clear any previous plan
qCDebug(PlanMasterControllerLog) << "showPlanFromManagerVehicle: Plan View - No new vehicle, clear any previous plan";
qCDebug(PlanMasterControllerLog)
<< "showPlanFromManagerVehicle: Plan View - No new vehicle, clear any "
"previous plan";
removeAll();
} else {
// We have a new active vehicle, show the plan from that
qCDebug(PlanMasterControllerLog) << "showPlanFromManagerVehicle: Plan View - New vehicle available, show plan from new manager vehicle";
qCDebug(PlanMasterControllerLog)
<< "showPlanFromManagerVehicle: Plan View - New vehicle available, "
"show plan from new manager vehicle";
_showPlanFromManagerVehicle();
}
}
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