#pragma once #include #include "QGCMapPolygon.h" #include "QmlObjectListModel.h" #include "WimaArea.h" #include "WimaMeasurementArea.h" #include "WimaServiceArea.h" #include "WimaCorridor.h" #include "WimaDataContainer.h" #include "WimaMeasurementAreaData.h" #include "WimaCorridorData.h" #include "WimaServiceAreaData.h" #include "PlanMasterController.h" #include "MissionController.h" #include "SurveyComplexItem.h" #include "SimpleMissionItem.h" #include "MissionSettingsItem.h" #include "JsonHelper.h" #include "QGCApplication.h" #include "SettingsFact.h" #include "WimaSettings.h" #include "SettingsManager.h" #define CHECK_BATTERY_INTERVAL 1000 #define SMART_RTL_MAX_ATTEMPTS 3 #define SMART_RTL_ATTEMPT_INTERVAL 200 // ms class WimaController : public QObject { Q_OBJECT enum FileType {WimaFile, PlanFile}; public: WimaController(QObject *parent = nullptr); Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged) Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged) Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged) Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT) Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT) Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT) Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged) Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged) Q_PROPERTY(QmlObjectListModel* currentMissionItems READ currentMissionItems NOTIFY currentMissionItemsChanged) Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged) Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY currentWaypointPathChanged) Q_PROPERTY(Fact* enableWimaController READ enableWimaController CONSTANT) Q_PROPERTY(Fact* overlapWaypoints READ overlapWaypoints CONSTANT) Q_PROPERTY(Fact* maxWaypointsPerPhase READ maxWaypointsPerPhase CONSTANT) Q_PROPERTY(Fact* startWaypointIndex READ startWaypointIndex CONSTANT) Q_PROPERTY(Fact* showAllMissionItems READ showAllMissionItems CONSTANT) Q_PROPERTY(Fact* showCurrentMissionItems READ showCurrentMissionItems CONSTANT) Q_PROPERTY(Fact* flightSpeed READ flightSpeed CONSTANT) Q_PROPERTY(Fact* altitude READ altitude CONSTANT) Q_PROPERTY(Fact* arrivalReturnSpeed READ arrivalReturnSpeed CONSTANT) Q_PROPERTY(Fact* reverse READ reverse CONSTANT) Q_PROPERTY(bool uploadOverrideRequired READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged) Q_PROPERTY(double phaseDistance READ phaseDistance NOTIFY phaseDistanceChanged) Q_PROPERTY(double phaseDuration READ phaseDuration NOTIFY phaseDurationChanged) Q_PROPERTY(bool vehicleHasLowBattery READ vehicleHasLowBattery NOTIFY vehicleHasLowBatteryChanged) // Property accessors PlanMasterController* masterController (void) { return _masterController; } MissionController* missionController (void) { return _missionController; } QmlObjectListModel* visualItems (void); QString currentFile (void) const { return _currentFile; } QStringList loadNameFilters (void) const; QStringList saveNameFilters (void) const; QString fileExtension (void) const { return wimaFileExtension; } QGCMapPolygon joinedArea (void) const; WimaDataContainer* dataContainer (void); QmlObjectListModel* missionItems (void); QmlObjectListModel* currentMissionItems (void); QVariantList waypointPath (void); QVariantList currentWaypointPath (void); Fact* enableWimaController (void); Fact* overlapWaypoints (void); Fact* maxWaypointsPerPhase (void); Fact* startWaypointIndex (void); Fact* showAllMissionItems (void); Fact* showCurrentMissionItems(void); Fact* flightSpeed (void); Fact* arrivalReturnSpeed (void); Fact* altitude (void); Fact* reverse (void); bool uploadOverrideRequired (void) const; double phaseDistance (void) const; double phaseDuration (void) const; bool vehicleHasLowBattery (void) const; // Property setters void setMasterController (PlanMasterController* masterController); void setMissionController (MissionController* missionController); void setDataContainer (WimaDataContainer* container); void setUploadOverrideRequired (bool overrideRequired); // Member Methodes Q_INVOKABLE void nextPhase(); Q_INVOKABLE void previousPhase(); Q_INVOKABLE void resetPhase(); Q_INVOKABLE bool uploadToVehicle(); 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 void executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring) Q_INVOKABLE void initSmartRTL(); Q_INVOKABLE void removeVehicleTrajectoryHistory(); Q_INVOKABLE void saveToCurrent (); Q_INVOKABLE void saveToFile (const QString& filename); Q_INVOKABLE bool loadFromCurrent(); Q_INVOKABLE bool loadFromFile (const QString& filename); // static Members static const char* wimaFileExtension; static const char* areaItemsName; static const char* missionItemsName; static const char* settingsGroup; static const char* endWaypointIndexName; static const char* enableWimaControllerName; static const char* overlapWaypointsName; static const char* maxWaypointsPerPhaseName; static const char* startWaypointIndexName; static const char* showAllMissionItemsName; static const char* showCurrentMissionItemsName; static const char* flightSpeedName; static const char* arrivalReturnSpeedName; static const char* altitudeName; static const char* reverseName; // Member Methodes QJsonDocument saveToJson(FileType fileType); bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector &path); /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList bool extractCoordinateList(QmlObjectListModel &missionItems, QVector &coordinateList); /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList. bool extractCoordinateList(QmlObjectListModel &missionItems, QVector &coordinateList, int startIndex, int endIndex); /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList); /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList. bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex); signals: void masterControllerChanged (void); void missionControllerChanged (void); void visualItemsChanged (void); void currentFileChanged (); void dataContainerChanged (); void readyForSaveSendChanged (bool ready); void missionItemsChanged (void); void currentMissionItemsChanged (void); void waypointPathChanged (void); void currentWaypointPathChanged (void); void uploadOverrideRequiredChanged (void); void phaseDistanceChanged (void); void phaseDurationChanged (void); void vehicleHasLowBatteryChanged (void); void returnBatteryLowConfirmRequired (void); void returnUserRequestConfirmRequired (void); private: enum SRTL_Reason {BatteryLow, UserRequest}; private slots: bool fetchContainerData(); bool calcNextPhase(void); void updateWaypointPath (void); void updateCurrentPath (void); void updateNextWaypoint (void); void recalcCurrentPhase (void); bool setTakeoffLandPosition (void); void updateflightSpeed (void); void updateArrivalReturnSpeed (void); void updateAltitude (void); void checkBatteryLevel (void); void smartRTLCleanUp (bool flying); // cleans up after successfull smart RTL void enableDisableLowBatteryHandling (QVariant enable); void reverseChangedHandler (); void _initSmartRTL (); void _executeSmartRTL (); private: void _setPhaseDistance(double distance); void _setPhaseDuration(double duration); 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); void _loadCurrentMissionItemsFromBuffer(); void _saveCurrentMissionItemsToBuffer(); private: PlanMasterController *_masterController; MissionController *_missionController; QString _currentFile; // file for saveing WimaDataContainer *_container; // container for data exchange with WimaController QmlObjectListModel _visualItems; // contains all visible areas WimaJoinedAreaData _joinedArea; // joined area fromed by opArea, serArea, _corridor WimaMeasurementAreaData _measurementArea; // measurement area WimaServiceAreaData _serviceArea; // area for supplying WimaCorridorData _corridor; // corridor connecting opArea and serArea bool _localPlanDataValid; QmlObjectListModel _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView QmlObjectListModel _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems, // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage QmlObjectListModel _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked QVariantList _waypointPath; // path connecting the items in _missionItems QVariantList _currentWaypointPath; // path connecting the items in _currentMissionItems QGeoCoordinate _takeoffLandPostion; QMap _metaDataMap; SettingsFact _enableWimaController; // enables or disables the wimaControler SettingsFact _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints per phase SettingsFact _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item // defining the first element of the next phase SettingsFact _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not. SettingsFact _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not. SettingsFact _flightSpeed; // mission flight speed SettingsFact _arrivalReturnSpeed; // arrival and return path speed SettingsFact _altitude; // mission altitude SettingsFact _reverse; // Reverses the phase direction. Phases go from high to low waypoint numbers, if true. int _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element // (which is not part of the return path) of _currentMissionItem int _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element // (which is not part of the arrival path) of _currentMissionItem bool _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area. // The user can override the upload lock with a slider, this will reset this variable to false. double _measurementPathLength; // the lenght of the phase in meters double _arrivalPathLength; // the length of the arrival and return path in meters double _returnPathLength; // the length of the arrival and return path in meters double _phaseDistance; // the lenth in meters of the current phase double _phaseDuration; // the phase duration in seconds double _phaseDistanceBuffer; // buffer for storing _phaseDistance when doing smart RTL double _phaseDurationBuffer; // buffer for storing _phaseDuration when doing smart RTL QTimer _checkBatteryTimer; QTimer _smartRTLAttemptTimer; SRTL_Reason _srtlReason; bool _vehicleHasLowBattery; bool _lowBatteryHandlingTriggered; bool _executingSmartRTL; }; /* * The following explains the structure of * _missionController.visualItems(). The indices * are not that important and only specified for * reasons of completeness. * * Index Description * -------------------------------------------- * 0 MissionSettingsItem * 1 Takeoff Command * 2 Speed Command: arrivalReturnSpeed * 3 Arrival Path Waypoint 0 * ... * 3+n-1 Arrival Path Waypoint n-1 * 3+n Speed Command: flightSpeed * 3+n+1 Circular Survey Waypoint 0 * ... * 3+n+m Circular Survey Waypoint m-1 * 3+n+m+1 Speed Command: arrivalReturnSpeed * 3+n+m+2 Return Path Waypoint 0 * ... * 3+n+m+2+l Return Path Waypoint l-1 * 3+n+m+2+l+1 Land command * * _currentMissionItems is equal to * _missionController.visualItems() except that it * is missing the MissionSettingsItem */