Don Gagne
5 years ago
committed by
GitHub
10 changed files with 262 additions and 288 deletions
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "LandingComplexItem.h" |
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#include "JsonHelper.h" |
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#include "MissionController.h" |
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#include "QGCGeo.h" |
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#include "SimpleMissionItem.h" |
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#include "PlanMasterController.h" |
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#include "FlightPathSegment.h" |
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#include <QPolygonF> |
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QGC_LOGGING_CATEGORY(LandingComplexItemLog, "LandingComplexItemLog") |
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LandingComplexItem::LandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent) |
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: ComplexMissionItem (masterController, flyView, parent) |
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{ |
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_isIncomplete = false; |
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// The follow is used to compress multiple recalc calls in a row to into a single call.
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connect(this, &LandingComplexItem::_updateFlightPathSegmentsSignal, this, &LandingComplexItem::_updateFlightPathSegmentsDontCallDirectly, Qt::QueuedConnection); |
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qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&LandingComplexItem::_updateFlightPathSegmentsSignal)); |
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} |
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double LandingComplexItem::complexDistance(void) const |
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{ |
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return loiterCoordinate().distanceTo(loiterTangentCoordinate()) + loiterTangentCoordinate().distanceTo(landingCoordinate()); |
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} |
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// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
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void LandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void) |
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{ |
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if (_cTerrainCollisionSegments != 0) { |
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_cTerrainCollisionSegments = 0; |
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emit terrainCollisionChanged(false); |
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} |
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_flightPathSegments.beginReset(); |
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_flightPathSegments.clearAndDeleteContents(); |
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_appendFlightPathSegment(loiterCoordinate(), amslEntryAlt(), loiterTangentCoordinate(), amslEntryAlt()); |
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_appendFlightPathSegment(loiterTangentCoordinate(), amslEntryAlt(), landingCoordinate(), amslEntryAlt()); |
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_appendFlightPathSegment(landingCoordinate(), amslEntryAlt(), landingCoordinate(), amslExitAlt()); |
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_flightPathSegments.endReset(); |
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if (_cTerrainCollisionSegments != 0) { |
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emit terrainCollisionChanged(true); |
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} |
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_masterController->missionController()->recalcTerrainProfile(); |
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} |
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void LandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate) |
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{ |
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if (coordinate != _landingCoordinate) { |
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_landingCoordinate = coordinate; |
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if (_landingCoordSet) { |
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emit exitCoordinateChanged(coordinate); |
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emit landingCoordinateChanged(coordinate); |
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} else { |
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_ignoreRecalcSignals = true; |
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emit exitCoordinateChanged(coordinate); |
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emit landingCoordinateChanged(coordinate); |
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_ignoreRecalcSignals = false; |
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_landingCoordSet = true; |
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_recalcFromHeadingAndDistanceChange(); |
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emit landingCoordSetChanged(true); |
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} |
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} |
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} |
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void LandingComplexItem::setLoiterCoordinate(const QGeoCoordinate& coordinate) |
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{ |
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if (coordinate != _loiterCoordinate) { |
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_loiterCoordinate = coordinate; |
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emit coordinateChanged(coordinate); |
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emit loiterCoordinateChanged(coordinate); |
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} |
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} |
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QPointF LandingComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle) |
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{ |
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QPointF rotated; |
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double radians = (M_PI / 180.0) * angle; |
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rotated.setX(((point.x() - origin.x()) * cos(radians)) - ((point.y() - origin.y()) * sin(radians)) + origin.x()); |
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rotated.setY(((point.x() - origin.x()) * sin(radians)) + ((point.y() - origin.y()) * cos(radians)) + origin.y()); |
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return rotated; |
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} |
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "ComplexMissionItem.h" |
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#include "MissionItem.h" |
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#include "Fact.h" |
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#include "QGCLoggingCategory.h" |
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Q_DECLARE_LOGGING_CATEGORY(LandingComplexItemLog) |
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class PlanMasterController; |
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// Base class for landing patterns complex items.
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class LandingComplexItem : public ComplexMissionItem |
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{ |
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Q_OBJECT |
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public: |
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LandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent); |
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Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT) |
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Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT) |
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Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT) |
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Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT) |
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Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT) |
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Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged) |
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Q_PROPERTY(bool altitudesAreRelative MEMBER _altitudesAreRelative NOTIFY altitudesAreRelativeChanged) |
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Q_PROPERTY(Fact* stopTakingPhotos READ stopTakingPhotos CONSTANT) |
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Q_PROPERTY(Fact* stopTakingVideo READ stopTakingVideo CONSTANT) |
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Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged) |
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Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged) |
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Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged) |
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Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged) |
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virtual Fact* loiterAltitude (void) = 0; |
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virtual Fact* loiterRadius (void) = 0; |
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virtual Fact* landingAltitude (void) = 0; |
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virtual Fact* landingDistance (void) = 0; |
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virtual Fact* landingHeading (void) = 0; |
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virtual Fact* stopTakingPhotos (void) = 0; |
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virtual Fact* stopTakingVideo (void) = 0; |
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QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; } |
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QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; } |
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QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; } |
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void setLandingCoordinate (const QGeoCoordinate& coordinate); |
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void setLoiterCoordinate (const QGeoCoordinate& coordinate); |
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// Overrides from ComplexMissionItem
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double complexDistance(void) const final; |
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signals: |
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void loiterCoordinateChanged (QGeoCoordinate coordinate); |
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void loiterTangentCoordinateChanged (QGeoCoordinate coordinate); |
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void landingCoordinateChanged (QGeoCoordinate coordinate); |
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void landingCoordSetChanged (bool landingCoordSet); |
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void loiterClockwiseChanged (bool loiterClockwise); |
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void altitudesAreRelativeChanged (bool altitudesAreRelative); |
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void _updateFlightPathSegmentsSignal(void); |
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protected slots: |
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virtual void _recalcFromHeadingAndDistanceChange(void) = 0; |
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void _updateFlightPathSegmentsDontCallDirectly(void); |
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protected: |
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QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle); |
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int _sequenceNumber = 0; |
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bool _dirty = false; |
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QGeoCoordinate _loiterCoordinate; |
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QGeoCoordinate _loiterTangentCoordinate; |
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QGeoCoordinate _landingCoordinate; |
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bool _landingCoordSet = false; |
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bool _ignoreRecalcSignals = false; |
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bool _loiterClockwise = true; |
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bool _altitudesAreRelative = true; |
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}; |
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