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Update fence visibility flags

QGC4.4
Don Gagne 8 years ago
parent
2732e9a52e
commit
15d2036756
9 changed files with 143 additions and 204 deletions
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  1. 111
      src/FirmwarePlugin/APM/APMGeoFenceManager.cc
  2. 36
      src/FirmwarePlugin/APM/APMGeoFenceManager.h
  3. 15
      src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc
  4. 12
      src/FirmwarePlugin/PX4/PX4GeoFenceManager.h
  5. 8
      src/FlightDisplay/FlightDisplayViewMap.qml
  6. 14
      src/MissionEditor/MissionEditor.qml
  7. 59
      src/MissionManager/GeoFenceController.cc
  8. 63
      src/MissionManager/GeoFenceController.h
  9. 29
      src/MissionManager/GeoFenceManager.h

111
src/FirmwarePlugin/APM/APMGeoFenceManager.cc
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@ -21,14 +21,15 @@ const char* APMGeoFenceManager::_fenceEnableParam = "FENCE_ENABLE"; @@ -21,14 +21,15 @@ const char* APMGeoFenceManager::_fenceEnableParam = "FENCE_ENABLE";
APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
, _fenceSupported(false)
, _breachReturnSupported(vehicle->fixedWing())
, _circleSupported(false)
, _polygonSupported(false)
, _breachReturnEnabled(vehicle->fixedWing())
, _circleEnabled(false)
, _polygonEnabled(false)
, _firstParamLoadComplete(false)
, _circleRadiusFact(NULL)
, _readTransactionInProgress(false)
, _writeTransactionInProgress(false)
, _fenceTypeFact(NULL)
, _fenceEnableFact(NULL)
, _circleRadiusFact(NULL)
{
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &APMGeoFenceManager::_mavlinkMessageReceived);
connect(_vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMGeoFenceManager::_parametersReady);
@ -54,15 +55,15 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const @@ -54,15 +55,15 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
return;
}
if (!_geoFenceSupported()) {
if (!_fenceSupported) {
return;
}
// Validate
int validatedPolygonCount = polygon.count();
if (polygonSupported()) {
if (polygon.count() < 3) {
validatedPolygonCount = 0;
int validatedPolygonCount = 0;
if (polygonEnabled()) {
if (polygon.count() >= 3) {
validatedPolygonCount = polygon.count();
}
if (polygon.count() > std::numeric_limits<uint8_t>::max()) {
_sendError(TooManyPoints, QStringLiteral("Geo-Fence polygon has too many points: %1.").arg(_polygon.count()));
@ -71,7 +72,11 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const @@ -71,7 +72,11 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
}
_breachReturnPoint = breachReturn;
_polygon = polygon;
if (validatedPolygonCount) {
_polygon = polygon;
} else {
_polygon.clear();
}
// Total point count, +1 polygon close in last index, +1 for breach in index 0
_cWriteFencePoints = validatedPolygonCount ? validatedPolygonCount + 1 + 1 : 0;
@ -94,7 +99,7 @@ void APMGeoFenceManager::loadFromVehicle(void) @@ -94,7 +99,7 @@ void APMGeoFenceManager::loadFromVehicle(void)
_breachReturnPoint = QGeoCoordinate();
_polygon.clear();
if (!_geoFenceSupported()) {
if (!_fenceSupported) {
return;
}
@ -217,57 +222,27 @@ bool APMGeoFenceManager::inProgress(void) const @@ -217,57 +222,27 @@ bool APMGeoFenceManager::inProgress(void) const
return _readTransactionInProgress || _writeTransactionInProgress;
}
bool APMGeoFenceManager::_geoFenceSupported(void)
void APMGeoFenceManager::_updateEnabledFlags(void)
{
// FIXME: MockLink doesn't support geo fence yet
if (qgcApp()->runningUnitTests()) {
return false;
}
if (!_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) ||
!_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceActionParam)) {
return false;
bool fenceEnabled;
if (_fenceEnableFact) {
fenceEnabled = _fenceEnableFact->rawValue().toBool();
} else {
return true;
}
}
bool APMGeoFenceManager::fenceEnabled(void) const
{
if (qgcApp()->runningUnitTests()) {
return false;
}
if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceEnableParam)) {
bool fenceEnabled = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam)->rawValue().toBool();
qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE available" << fenceEnabled;
return fenceEnabled;
fenceEnabled = true;
}
qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE not available";
return true;
}
void APMGeoFenceManager::_fenceEnabledRawValueChanged(QVariant value)
{
qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE changed" << value.toBool();
emit fenceEnabledChanged(!qgcApp()->runningUnitTests() && value.toBool());
}
void APMGeoFenceManager::_updateSupportedFlags(void)
{
bool newCircleSupported = _fenceSupported && _vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
if (newCircleSupported != _circleSupported) {
_circleSupported = newCircleSupported;
emit circleSupportedChanged(newCircleSupported);
bool newCircleEnabled = _fenceSupported && fenceEnabled && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
if (newCircleEnabled != _circleEnabled) {
_circleEnabled = newCircleEnabled;
emit circleEnabledChanged(newCircleEnabled);
}
bool newPolygonSupported = _fenceSupported &&
bool newPolygonEnabled = _fenceSupported && fenceEnabled &&
((_vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 4)) ||
_vehicle->fixedWing());
if (newPolygonSupported != _polygonSupported) {
_polygonSupported = newPolygonSupported;
emit polygonSupportedChanged(newPolygonSupported);
if (newPolygonEnabled != _polygonEnabled) {
_polygonEnabled = newPolygonEnabled;
emit polygonEnabledChanged(newPolygonEnabled);
}
}
@ -276,20 +251,21 @@ void APMGeoFenceManager::_parametersReady(void) @@ -276,20 +251,21 @@ void APMGeoFenceManager::_parametersReady(void)
if (!_firstParamLoadComplete) {
_firstParamLoadComplete = true;
_fenceSupported = _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("FENCE_ACTION"));
_fenceSupported = _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("FENCE_ACTION")) &&
!qgcApp()->runningUnitTests();
if (_fenceSupported) {
QStringList paramNames;
QStringList paramLabels;
if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceEnableParam)) {
connect(_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam), &Fact::rawValueChanged, this, &APMGeoFenceManager::_fenceEnabledRawValueChanged);
_fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam);
connect(_fenceEnableFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateEnabledFlags);
}
if (_vehicle->multiRotor()) {
_fenceTypeFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
connect(_fenceTypeFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateSupportedFlags);
connect(_fenceTypeFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateEnabledFlags);
_circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_RADIUS"));
connect(_circleRadiusFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_circleRadiusRawValueChanged);
@ -319,18 +295,17 @@ void APMGeoFenceManager::_parametersReady(void) @@ -319,18 +295,17 @@ void APMGeoFenceManager::_parametersReady(void)
emit paramsChanged(_params);
emit paramLabelsChanged(_paramLabels);
emit fenceSupportedChanged(_fenceSupported);
_updateSupportedFlags();
_updateEnabledFlags();
}
qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" <<
_fenceSupported << circleSupported() << polygonSupported() << _breachReturnSupported;
qCDebug(GeoFenceManagerLog) << "fenceSupported:circleEnabled:polygonEnabled:breachReturnEnabled" <<
_fenceSupported << _circleEnabled << _polygonEnabled << _breachReturnEnabled;
}
}
float APMGeoFenceManager::circleRadius(void) const
{
if (_circleRadiusFact) {
if (_circleEnabled) {
return _circleRadiusFact->rawValue().toFloat();
} else {
return 0.0;
@ -342,16 +317,6 @@ void APMGeoFenceManager::_circleRadiusRawValueChanged(QVariant value) @@ -342,16 +317,6 @@ void APMGeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
emit circleRadiusChanged(value.toFloat());
}
bool APMGeoFenceManager::circleSupported(void) const
{
return _circleSupported;
}
bool APMGeoFenceManager::polygonSupported(void) const
{
return _polygonSupported;
}
QString APMGeoFenceManager::editorQml(void) const
{
return _vehicle->multiRotor() ?

36
src/FirmwarePlugin/APM/APMGeoFenceManager.h
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@ -23,43 +23,37 @@ public: @@ -23,43 +23,37 @@ public:
~APMGeoFenceManager();
// Overrides from GeoFenceManager
bool inProgress (void) const final;
void loadFromVehicle (void) final;
void sendToVehicle (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon) final;
bool fenceSupported (void) const final { return _fenceSupported; }
bool fenceEnabled (void) const final;
bool circleSupported (void) const final;
bool polygonSupported (void) const final;
bool breachReturnSupported (void) const final { return _breachReturnSupported; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final;
bool inProgress (void) const final;
void loadFromVehicle (void) final;
void sendToVehicle (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon) final;
bool circleEnabled (void) const final { return _circleEnabled; }
bool polygonEnabled (void) const final { return _polygonEnabled; }
bool breachReturnEnabled (void) const final { return _breachReturnEnabled; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final;
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
void _updateSupportedFlags(void);
void _updateEnabledFlags(void);
void _circleRadiusRawValueChanged(QVariant value);
void _parametersReady(void);
void _fenceEnabledRawValueChanged(QVariant value);
private:
void _requestFencePoint(uint8_t pointIndex);
void _sendFencePoint(uint8_t pointIndex);
bool _geoFenceSupported(void);
private:
bool _fenceSupported;
bool _breachReturnSupported;
bool _circleSupported;
bool _polygonSupported;
bool _breachReturnEnabled;
bool _circleEnabled;
bool _polygonEnabled;
bool _firstParamLoadComplete;
QVariantList _params;
QStringList _paramLabels;
Fact* _circleRadiusFact;
bool _readTransactionInProgress;
bool _writeTransactionInProgress;
@ -68,6 +62,8 @@ private: @@ -68,6 +62,8 @@ private:
uint8_t _currentFencePoint;
Fact* _fenceTypeFact;
Fact* _fenceEnableFact;
Fact* _circleRadiusFact;
static const char* _fenceTotalParam;
static const char* _fenceActionParam;

15
src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc
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@ -15,6 +15,7 @@ @@ -15,6 +15,7 @@
PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
, _firstParamLoadComplete(false)
, _circleEnabled(false)
, _circleRadiusFact(NULL)
{
connect(_vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &PX4GeoFenceManager::_parametersReady);
@ -57,10 +58,11 @@ void PX4GeoFenceManager::_parametersReady(void) @@ -57,10 +58,11 @@ void PX4GeoFenceManager::_parametersReady(void)
emit paramsChanged(_params);
emit paramLabelsChanged(_paramLabels);
emit circleSupportedChanged(circleSupported());
_circleEnabled = true;
emit circleEnabledChanged(true);
qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" <<
fenceSupported() << circleSupported() << polygonSupported() << breachReturnSupported();
_circleEnabled << polygonEnabled() << breachReturnEnabled();
}
}
@ -76,14 +78,5 @@ float PX4GeoFenceManager::circleRadius(void) const @@ -76,14 +78,5 @@ float PX4GeoFenceManager::circleRadius(void) const
void PX4GeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
{
emit circleRadiusChanged(value.toFloat());
emit circleSupportedChanged(circleSupported());
}
bool PX4GeoFenceManager::circleSupported(void) const
{
if (_circleRadiusFact) {
return _circleRadiusFact->rawValue().toFloat() >= 0.0;
}
return false;
}

12
src/FirmwarePlugin/PX4/PX4GeoFenceManager.h
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@ -23,12 +23,11 @@ public: @@ -23,12 +23,11 @@ public:
~PX4GeoFenceManager();
// Overrides from GeoFenceManager
bool fenceSupported (void) const final { return true; }
bool circleSupported (void) const final;
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final { return QStringLiteral("qrc:/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml"); }
bool circleEnabled (void) const final { return _circleEnabled; }
float circleRadius (void) const final;
QVariantList params (void) const final { return _params; }
QStringList paramLabels (void) const final { return _paramLabels; }
QString editorQml (void) const final { return QStringLiteral("qrc:/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml"); }
private slots:
void _circleRadiusRawValueChanged(QVariant value);
@ -39,6 +38,7 @@ private: @@ -39,6 +38,7 @@ private:
QVariantList _params;
QStringList _paramLabels;
bool _circleEnabled;
Fact* _circleRadiusFact;
};

8
src/FlightDisplay/FlightDisplayViewMap.qml
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@ -111,7 +111,7 @@ FlightMap { @@ -111,7 +111,7 @@ FlightMap {
border.color: "#80FF0000"
border.width: 3
path: geoFenceController.polygon.path
visible: geoFenceController.fenceEnabled && geoFenceController.polygonSupported
visible: geoFenceController.polygonEnabled
}
// GeoFence circle
@ -119,16 +119,16 @@ FlightMap { @@ -119,16 +119,16 @@ FlightMap {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: (geoFenceController.fenceEnabled && geoFenceController.circleSupported) ? geoFenceController.circleRadius : 0
radius: geoFenceController.circleRadius
z: QGroundControl.zOrderMapItems
visible: geoFenceController.fenceEnabled && geoFenceController.circleSupported
visible: geoFenceController.circleEnabled
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: geoFenceController.breachReturnPoint
visible: geoFenceController.fenceEnabled && geoFenceController.breachReturnSupported
visible: geoFenceController.breachReturnEnabled
sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems
}

14
src/MissionEditor/MissionEditor.qml
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@ -145,14 +145,14 @@ QGCView { @@ -145,14 +145,14 @@ QGCView {
}
function addFenceItemCoordsForFit(coordList) {
if (geoFenceController.circleSupported) {
if (geoFenceController.circleEnabled) {
var azimuthList = [ 0, 180, 90, 270 ]
for (var i=0; i<azimuthList.length; i++) {
var edgeCoordinate = _visualItems.get(0).coordinate.atDistanceAndAzimuth(geoFenceController.circleRadius, azimuthList[i])
coordList.push(edgeCoordinate)
}
}
if (geoFenceController.polygonSupported && geoFenceController.polygon.count() > 2) {
if (geoFenceController.polygonEnabled && geoFenceController.polygon.count() > 2) {
for (var i=0; i<geoFenceController.polygon.count(); i++) {
coordList.push(geoFenceController.polygon.path[i])
}
@ -477,7 +477,7 @@ QGCView { @@ -477,7 +477,7 @@ QGCView {
}
break
case _layerGeoFence:
if (geoFenceController.breachReturnSupported) {
if (geoFenceController.breachReturnEnabled) {
geoFenceController.breachReturnPoint = coordinate
geoFenceController.validateBreachReturn()
}
@ -788,7 +788,7 @@ QGCView { @@ -788,7 +788,7 @@ QGCView {
border.width: 3
path: geoFenceController.polygon.path
z: QGroundControl.zOrderMapItems
visible: geoFenceController.polygonSupported
visible: geoFenceController.polygonEnabled
}
// GeoFence circle
@ -796,16 +796,16 @@ QGCView { @@ -796,16 +796,16 @@ QGCView {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
radius: geoFenceController.circleRadius
z: QGroundControl.zOrderMapItems
visible: geoFenceController.circleSupported
visible: geoFenceController.circleEnabled
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: geoFenceController.breachReturnPoint
visible: geoFenceController.breachReturnSupported
visible: geoFenceController.breachReturnEnabled
sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems
}

59
src/MissionManager/GeoFenceController.cc
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@ -63,11 +63,9 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn @@ -63,11 +63,9 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn
void GeoFenceController::_signalAll(void)
{
emit fenceSupportedChanged(fenceSupported());
emit fenceEnabledChanged(fenceEnabled());
emit circleSupportedChanged(circleSupported());
emit polygonSupportedChanged(polygonSupported());
emit breachReturnSupportedChanged(breachReturnSupported());
emit circleEnabledChanged(circleEnabled());
emit polygonEnabledChanged(polygonEnabled());
emit breachReturnEnabledChanged(breachReturnEnabled());
emit breachReturnPointChanged(breachReturnPoint());
emit circleRadiusChanged(circleRadius());
emit paramsChanged(params());
@ -84,18 +82,15 @@ void GeoFenceController::_activeVehicleBeingRemoved(void) @@ -84,18 +82,15 @@ void GeoFenceController::_activeVehicleBeingRemoved(void)
void GeoFenceController::_activeVehicleSet(void)
{
GeoFenceManager* geoFenceManager = _activeVehicle->geoFenceManager();
connect(geoFenceManager, &GeoFenceManager::fenceSupportedChanged, this, &GeoFenceController::fenceSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::fenceEnabledChanged, this, &GeoFenceController::fenceEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::circleSupportedChanged, this, &GeoFenceController::_setDirty);
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::_setDirty);
connect(geoFenceManager, &GeoFenceManager::circleSupportedChanged, this, &GeoFenceController::circleSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::circleRadiusChanged, this, &GeoFenceController::circleRadiusChanged);
connect(geoFenceManager, &GeoFenceManager::paramsChanged, this, &GeoFenceController::paramsChanged);
connect(geoFenceManager, &GeoFenceManager::paramLabelsChanged, this, &GeoFenceController::paramLabelsChanged);
connect(geoFenceManager, &GeoFenceManager::loadComplete, this, &GeoFenceController::_loadComplete);
connect(geoFenceManager, &GeoFenceManager::inProgressChanged, this, &GeoFenceController::syncInProgressChanged);
connect(geoFenceManager, &GeoFenceManager::polygonEnabledChanged, this, &GeoFenceController::_setDirty);
connect(geoFenceManager, &GeoFenceManager::circleEnabledChanged, this, &GeoFenceController::circleEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::polygonEnabledChanged, this, &GeoFenceController::polygonEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::breachReturnEnabledChanged, this, &GeoFenceController::breachReturnEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::circleRadiusChanged, this, &GeoFenceController::circleRadiusChanged);
connect(geoFenceManager, &GeoFenceManager::paramsChanged, this, &GeoFenceController::paramsChanged);
connect(geoFenceManager, &GeoFenceManager::paramLabelsChanged, this, &GeoFenceController::paramLabelsChanged);
connect(geoFenceManager, &GeoFenceManager::loadComplete, this, &GeoFenceController::_loadComplete);
connect(geoFenceManager, &GeoFenceManager::inProgressChanged, this, &GeoFenceController::syncInProgressChanged);
if (!geoFenceManager->inProgress()) {
_loadComplete(geoFenceManager->breachReturnPoint(), geoFenceManager->polygon());
@ -136,7 +131,7 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr @@ -136,7 +131,7 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr
return false;
}
if (breachReturnSupported()) {
if (breachReturnEnabled()) {
if (json.contains(_jsonBreachReturnKey)
&& !JsonHelper::loadGeoCoordinate(json[_jsonBreachReturnKey], false /* altitudeRequired */, _breachReturnPoint, errorString)) {
return false;
@ -145,7 +140,7 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr @@ -145,7 +140,7 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr
_breachReturnPoint = QGeoCoordinate();
}
if (polygonSupported()) {
if (polygonEnabled()) {
if (!_polygon.loadFromJson(json, false /* reauired */, errorString)) {
return false;
}
@ -289,13 +284,13 @@ void GeoFenceController::saveToFile(const QString& filename) @@ -289,13 +284,13 @@ void GeoFenceController::saveToFile(const QString& filename)
paramMgr->saveToJson(paramMgr->defaultComponentId(), paramNames, fenceFileObject);
}
if (breachReturnSupported()) {
if (breachReturnEnabled()) {
QJsonValue jsonBreachReturn;
JsonHelper::saveGeoCoordinate(_breachReturnPoint, false /* writeAltitude */, jsonBreachReturn);
fenceFileObject[_jsonBreachReturnKey] = jsonBreachReturn;
}
if (polygonSupported()) {
if (polygonEnabled()) {
_polygon.saveToJson(fenceFileObject);
}
@ -373,29 +368,19 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty) @@ -373,29 +368,19 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty)
}
}
bool GeoFenceController::fenceSupported(void) const
bool GeoFenceController::circleEnabled(void) const
{
return _activeVehicle->geoFenceManager()->fenceSupported();
return _activeVehicle->geoFenceManager()->circleEnabled();
}
bool GeoFenceController::fenceEnabled(void) const
bool GeoFenceController::polygonEnabled(void) const
{
return _activeVehicle->geoFenceManager()->fenceEnabled();
return _activeVehicle->geoFenceManager()->polygonEnabled();
}
bool GeoFenceController::circleSupported(void) const
bool GeoFenceController::breachReturnEnabled(void) const
{
return _activeVehicle->geoFenceManager()->circleSupported();
}
bool GeoFenceController::polygonSupported(void) const
{
return _activeVehicle->geoFenceManager()->polygonSupported();
}
bool GeoFenceController::breachReturnSupported(void) const
{
return _activeVehicle->geoFenceManager()->breachReturnSupported();
return _activeVehicle->geoFenceManager()->breachReturnEnabled();
}
void GeoFenceController::_setDirty(void)

63
src/MissionManager/GeoFenceController.h
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@ -29,17 +29,26 @@ public: @@ -29,17 +29,26 @@ public:
GeoFenceController(QObject* parent = NULL);
~GeoFenceController();
Q_PROPERTY(bool circleEnabled READ circleEnabled NOTIFY circleEnabledChanged)
Q_PROPERTY(float circleRadius READ circleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(bool polygonEnabled READ polygonEnabled NOTIFY polygonEnabledChanged)
Q_PROPERTY(QGCMapPolygon* polygon READ polygon CONSTANT)
Q_PROPERTY(bool breachReturnEnabled READ breachReturnEnabled NOTIFY breachReturnEnabledChanged)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(QStringList paramLabels READ paramLabels NOTIFY paramLabelsChanged)
Q_PROPERTY(QString editorQml READ editorQml NOTIFY editorQmlChanged)
#if 0
Q_PROPERTY(bool fenceSupported READ fenceSupported NOTIFY fenceSupportedChanged)
Q_PROPERTY(bool fenceEnabled READ fenceEnabled NOTIFY fenceEnabledChanged)
Q_PROPERTY(bool circleSupported READ circleSupported NOTIFY circleSupportedChanged)
Q_PROPERTY(bool polygonSupported READ polygonSupported NOTIFY polygonSupportedChanged)
Q_PROPERTY(bool breachReturnSupported READ breachReturnSupported NOTIFY breachReturnSupportedChanged)
Q_PROPERTY(float circleRadius READ circleRadius NOTIFY circleRadiusChanged)
Q_PROPERTY(QGCMapPolygon* polygon READ polygon CONSTANT)
Q_PROPERTY(QGeoCoordinate breachReturnPoint READ breachReturnPoint WRITE setBreachReturnPoint NOTIFY breachReturnPointChanged)
Q_PROPERTY(QVariantList params READ params NOTIFY paramsChanged)
Q_PROPERTY(QStringList paramLabels READ paramLabels NOTIFY paramLabelsChanged)
Q_PROPERTY(QString editorQml READ editorQml NOTIFY editorQmlChanged)
#endif
void start (bool editMode) final;
void loadFromVehicle (void) final;
@ -55,33 +64,29 @@ public: @@ -55,33 +64,29 @@ public:
QString fileExtension(void) const final;
bool fenceSupported (void) const;
bool fenceEnabled (void) const;
bool circleSupported (void) const;
bool polygonSupported (void) const;
bool breachReturnSupported (void) const;
float circleRadius (void) const;
QGCMapPolygon* polygon (void) { return &_polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
QVariantList params (void) const;
QStringList paramLabels (void) const;
QString editorQml (void) const;
bool circleEnabled (void) const;
bool polygonEnabled (void) const;
bool breachReturnEnabled (void) const;
float circleRadius (void) const;
QGCMapPolygon* polygon (void) { return &_polygon; }
QGeoCoordinate breachReturnPoint (void) const { return _breachReturnPoint; }
QVariantList params (void) const;
QStringList paramLabels (void) const;
QString editorQml (void) const;
void setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint);
signals:
void fenceSupportedChanged (bool fenceSupported);
void fenceEnabledChanged (bool fenceEnabled);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool breachReturnSupported);
void circleRadiusChanged (float circleRadius);
void polygonPathChanged (const QVariantList& polygonPath);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void editorQmlChanged (QString editorQml);
void loadComplete (void);
void circleEnabledChanged (bool circleEnabled);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnEnabledChanged (bool breachReturnEnabled);
void circleRadiusChanged (float circleRadius);
void polygonPathChanged (const QVariantList& polygonPath);
void breachReturnPointChanged (QGeoCoordinate breachReturnPoint);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void editorQmlChanged (QString editorQml);
void loadComplete (void);
private slots:
void _polygonDirtyChanged(bool dirty);

29
src/MissionManager/GeoFenceManager.h
Unescape View File

@ -38,12 +38,9 @@ public: @@ -38,12 +38,9 @@ public:
/// Send the current settings to the vehicle
virtual void sendToVehicle(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
// Support flags
virtual bool fenceSupported (void) const { return false; }
virtual bool fenceEnabled (void) const { return false; }
virtual bool circleSupported (void) const { return false; }
virtual bool polygonSupported (void) const { return false; }
virtual bool breachReturnSupported (void) const { return false; }
virtual bool circleEnabled (void) const { return false; }
virtual bool polygonEnabled (void) const { return false; }
virtual bool breachReturnEnabled (void) const { return false; }
virtual float circleRadius (void) const { return 0.0; }
QList<QGeoCoordinate> polygon (void) const { return _polygon; }
@ -63,17 +60,15 @@ public: @@ -63,17 +60,15 @@ public:
} ErrorCode_t;
signals:
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void fenceSupportedChanged (bool fenceSupported);
void fenceEnabledChanged (bool fenceEnabled);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool fenceSupported);
void circleRadiusChanged (float circleRadius);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void circleEnabledChanged (bool circleEnabled);
void polygonEnabledChanged (bool polygonEnabled);
void breachReturnEnabledChanged (bool fenceEnabled);
void circleRadiusChanged (float circleRadius);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void paramsChanged (QVariantList params);
void paramLabelsChanged (QStringList paramLabels);
protected:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);

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