zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Active ROI indication in Plan Map items

QGC4.4
DonLakeFlyer 5 years ago
parent
f9fed02a17
commit
36de7a3765
6 changed files with 110 additions and 27 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      src/FlightMap/MapItems/MissionLineView.qml
  2. 95
      src/MissionManager/MissionController.cc
  3. 8
      src/MissionManager/MissionController.h
  4. 3
      src/PlanView/PlanView.qml
  5. 8
      src/QmlControls/CoordinateVector.cc
  6. 17
      src/QmlControls/CoordinateVector.h

6
src/FlightMap/MapItems/MissionLineView.qml
Unescape View File

@ -17,11 +17,11 @@ import QGroundControl.Palette 1.0 @@ -17,11 +17,11 @@ import QGroundControl.Palette 1.0
/// The MissionLineView control is used to add lines between mission items
MapItemView {
property bool showSpecialVisual: false
delegate: MapPolyline {
line.width: 3
line.color: "#be781c" // Hack, can't get palette to work in here
line.color: object && showSpecialVisual && object.specialVisual ? "green" : "#be781c" // Hack, can't get palette to work in here
z: QGroundControl.zOrderWaypointLines
path: object && object.coordinate1.isValid && object.coordinate2.isValid ? [ object.coordinate1, object.coordinate2 ] : []
path: object && object.coordinate1.isValid && object.coordinate2.isValid ? [ object.coordinate1, object.coordinate2 ] : []
}
}

95
src/MissionManager/MissionController.cc
Unescape View File

@ -444,6 +444,7 @@ VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordi @@ -444,6 +444,7 @@ VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordi
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
}
_recalcROISpecialVisuals();
return simpleItem;
}
@ -455,6 +456,7 @@ VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemI @@ -455,6 +456,7 @@ VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemI
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_NONE);
}
_recalcROISpecialVisuals();
return simpleItem;
}
@ -555,15 +557,15 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma @@ -555,15 +557,15 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma
}
}
void MissionController::removeMissionItem(int index)
void MissionController::removeMissionItem(int viIndex)
{
if (index <= 0 || index >= _visualItems->count()) {
qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << index;
if (viIndex <= 0 || viIndex >= _visualItems->count()) {
qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << viIndex;
return;
}
bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(index) || _visualItems->value<CorridorScanComplexItem*>(index);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(viIndex) || _visualItems->value<CorridorScanComplexItem*>(viIndex);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(viIndex));
_deinitVisualItem(item);
item->deleteLater();
@ -1163,6 +1165,39 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable& @@ -1163,6 +1165,39 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable&
return coordVector;
}
void MissionController::_recalcROISpecialVisuals(void)
{
return;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool roiActive = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
VisualItemPair viPair;
if (simpleItem) {
if (roiActive) {
if (_isROICancelItem(simpleItem)) {
roiActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
roiActive = true;
}
}
}
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
viPair = VisualItemPair(lastCoordinateItem, visualItem);
if (_linesTable.contains(viPair)) {
_linesTable[viPair]->setSpecialVisual(roiActive);
}
lastCoordinateItem = visualItem;
}
}
}
void MissionController::_recalcWaypointLines(void)
{
VisualItemPair lastSegmentVisualItemPair;
@ -1172,7 +1207,8 @@ void MissionController::_recalcWaypointLines(void) @@ -1172,7 +1207,8 @@ void MissionController::_recalcWaypointLines(void)
bool linkEndToHome = false;
bool linkStartToHome = _managerVehicle->rover() ? true : false;
bool foundRTL = false;
bool homePositionValid = _settingsItem->coordinate().isValid();
bool homePositionValid = _settingsItem->coordinate().isValid();
bool roiActive = false;
qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid;
@ -1190,10 +1226,20 @@ void MissionController::_recalcWaypointLines(void) @@ -1190,10 +1226,20 @@ void MissionController::_recalcWaypointLines(void)
// Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
if (roiActive) {
if (_isROICancelItem(simpleItem)) {
roiActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
roiActive = true;
}
}
MAV_CMD command = simpleItem->mavCommand();
switch (command) {
case MAV_CMD_NAV_TAKEOFF:
@ -1235,6 +1281,7 @@ void MissionController::_recalcWaypointLines(void) @@ -1235,6 +1281,7 @@ void MissionController::_recalcWaypointLines(void)
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItemBeforeRTL, visualItem);
if (!_flyView || addDirectionArrow) {
CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
coordVector->setSpecialVisual(roiActive);
if (addDirectionArrow) {
_directionArrows.append(coordVector);
}
@ -1255,7 +1302,8 @@ void MissionController::_recalcWaypointLines(void) @@ -1255,7 +1302,8 @@ void MissionController::_recalcWaypointLines(void)
if (_flyView) {
_waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
}
_addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
coordVector->setSpecialVisual(roiActive);
}
// Add direction arrow to last segment
@ -2164,6 +2212,21 @@ void MissionController::_managerRemoveAllComplete(bool error) @@ -2164,6 +2212,21 @@ void MissionController::_managerRemoveAllComplete(bool error)
}
}
bool MissionController::_isROIBeginItem(SimpleMissionItem* simpleItem)
{
return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_LOCATION);
}
bool MissionController::_isROICancelItem(SimpleMissionItem* simpleItem)
{
return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_NONE);
}
void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
@ -2178,6 +2241,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force) @@ -2178,6 +2241,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_isROIActive = false;
_isROIBeginCurrentItem = false;
_flyThroughCommandsAllowed = true;
for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
@ -2222,20 +2286,18 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force) @@ -2222,20 +2286,18 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
if (simpleItem) {
if (pVI->sequenceNumber() <= sequenceNumber) {
if (_isROIActive) {
if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
simpleItem->missionItem().param1() == MAV_ROI_NONE)) {
if (_isROICancelItem(simpleItem)) {
_isROIActive = false;
}
} else {
if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
simpleItem->missionItem().param1() == MAV_ROI_LOCATION)) {
if (_isROIBeginItem(simpleItem)) {
_isROIActive = true;
}
}
}
if (pVI->sequenceNumber() == sequenceNumber && _isROIBeginItem(simpleItem)) {
_isROIBeginCurrentItem = true;
}
}
if (pVI->sequenceNumber() == sequenceNumber) {
@ -2287,6 +2349,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force) @@ -2287,6 +2349,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit isROIActiveChanged();
emit isROIBeginCurrentItemChanged();
emit flyThroughCommandsAllowedChanged();
}
}

8
src/MissionManager/MissionController.h
Unescape View File

@ -96,9 +96,10 @@ public: @@ -96,9 +96,10 @@ public:
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged)
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged)
Q_PROPERTY(bool isROIActive MEMBER _isROIActive NOTIFY isROIActiveChanged)
Q_PROPERTY(bool isROIBeginCurrentItem MEMBER _isROIBeginCurrentItem NOTIFY isROIBeginCurrentItemChanged)
Q_PROPERTY(bool flyThroughCommandsAllowed MEMBER _flyThroughCommandsAllowed NOTIFY flyThroughCommandsAllowedChanged)
Q_INVOKABLE void removeMissionItem(int index);
Q_INVOKABLE void removeMissionItem(int viIndex);
/// Add a new simple mission item to the list
/// @param coordinate: Coordinate for item
@ -263,6 +264,7 @@ signals: @@ -263,6 +264,7 @@ signals:
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void isROIActiveChanged (void);
void isROIBeginCurrentItemChanged (void);
void flyThroughCommandsAllowedChanged (void);
private slots:
@ -286,6 +288,7 @@ private: @@ -286,6 +288,7 @@ private:
void _recalcSequence(void);
void _recalcChildItems(void);
void _recalcAllWithCoordinate(const QGeoCoordinate& coordinate);
void _recalcROISpecialVisuals(void);
void _initAllVisualItems(void);
void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item);
@ -317,6 +320,8 @@ private: @@ -317,6 +320,8 @@ private:
VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
void _insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
void _warnIfTerrainFrameUsed(void);
bool _isROIBeginItem(SimpleMissionItem* simpleItem);
bool _isROICancelItem(SimpleMissionItem* simpleItem);
private:
MissionManager* _missionManager;
@ -344,6 +349,7 @@ private: @@ -344,6 +349,7 @@ private:
bool _isInsertLandValid = true;
bool _isROIActive = false;
bool _flyThroughCommandsAllowed = true;
bool _isROIBeginCurrentItem = false;
static const char* _settingsGroup;

3
src/PlanView/PlanView.qml
Unescape View File

@ -430,7 +430,8 @@ Item { @@ -430,7 +430,8 @@ Item {
// Add lines between waypoints
MissionLineView {
model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
showSpecialVisual: _missionController.isROIBeginCurrentItem
model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
}
MapItemView {

8
src/QmlControls/CoordinateVector.cc
Unescape View File

@ -44,3 +44,11 @@ void CoordinateVector::setCoordinate2(const QGeoCoordinate &coordinate) @@ -44,3 +44,11 @@ void CoordinateVector::setCoordinate2(const QGeoCoordinate &coordinate)
emit coordinate2Changed(_coordinate2);
}
}
void CoordinateVector::setSpecialVisual(bool specialVisual)
{
if (_specialVisual != specialVisual) {
_specialVisual = specialVisual;
emit specialVisualChanged(specialVisual);
}
}

17
src/QmlControls/CoordinateVector.h
Unescape View File

@ -21,25 +21,30 @@ public: @@ -21,25 +21,30 @@ public:
CoordinateVector(QObject* parent = nullptr);
CoordinateVector(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2, QObject* parent = nullptr);
Q_PROPERTY(QGeoCoordinate coordinate1 MEMBER _coordinate1 NOTIFY coordinate1Changed)
Q_PROPERTY(QGeoCoordinate coordinate2 MEMBER _coordinate2 NOTIFY coordinate2Changed)
Q_PROPERTY(QGeoCoordinate coordinate1 MEMBER _coordinate1 NOTIFY coordinate1Changed)
Q_PROPERTY(QGeoCoordinate coordinate2 MEMBER _coordinate2 NOTIFY coordinate2Changed)
Q_PROPERTY(bool specialVisual READ specialVisual WRITE setSpecialVisual NOTIFY specialVisualChanged)
QGeoCoordinate coordinate1(void) const { return _coordinate1; }
QGeoCoordinate coordinate2(void) const { return _coordinate2; }
QGeoCoordinate coordinate1(void) const { return _coordinate1; }
QGeoCoordinate coordinate2(void) const { return _coordinate2; }
bool specialVisual(void) const { return _specialVisual; }
void setCoordinates(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2);
void setSpecialVisual(bool specialVisual);
public slots:
void setCoordinate1(const QGeoCoordinate& coordinate);
void setCoordinate2(const QGeoCoordinate& coordinate);
signals:
void coordinate1Changed(QGeoCoordinate coordinate);
void coordinate2Changed(QGeoCoordinate coordinate);
void coordinate1Changed (QGeoCoordinate coordinate);
void coordinate2Changed (QGeoCoordinate coordinate);
void specialVisualChanged (bool specialVisual);
private:
QGeoCoordinate _coordinate1;
QGeoCoordinate _coordinate2;
bool _specialVisual = false;
};
#endif

Write Preview
Loading…
Cancel
Save