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Survey initial grid generation

QGC4.4
Don Gagne 9 years ago
parent
4e9d37b5e2
commit
45dceec352
7 changed files with 298 additions and 125 deletions
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  1. 55
      src/MissionEditor/MissionEditor.qml
  2. 26
      src/MissionEditor/SurveyItemEditor.qml
  3. 253
      src/MissionManager/ComplexMissionItem.cc
  4. 41
      src/MissionManager/ComplexMissionItem.h
  5. 35
      src/MissionManager/MissionController.cc
  6. 8
      src/MissionManager/MissionController.h
  7. 5
      src/MissionManager/SimpleMissionItem.h

55
src/MissionEditor/MissionEditor.qml
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@ -173,14 +173,15 @@ QGCView { @@ -173,14 +173,15 @@ QGCView {
id: _dropButtonsExclusiveGroup
}
function setCurrentItem(index) {
function setCurrentItem(sequenceNumber) {
_currentMissionItem = undefined
for (var i=0; i<_visualItems.count; i++) {
if (i == index) {
_currentMissionItem = _visualItems.get(i)
var visualItem = _visualItems.get(i)
if (visualItem.sequenceNumber == sequenceNumber) {
_currentMissionItem = visualItem
_currentMissionItem.isCurrentItem = true
} else {
_visualItems.get(i).isCurrentItem = false
visualItem.isCurrentItem = false
}
}
}
@ -306,8 +307,8 @@ QGCView { @@ -306,8 +307,8 @@ QGCView {
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (addMissionItemsButton.checked) {
var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(index)
var sequenceNumber = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(sequenceNumber)
} else {
editorMap.mapClicked(coordinate)
}
@ -364,13 +365,7 @@ QGCView { @@ -364,13 +365,7 @@ QGCView {
}
}
// Add the simple mission items to the map
MapItemView {
model: controller.visualItems
delegate: missionItemComponent
}
// Add the complex mission items to the map
// Add the complex mission item polygon to the map
MapItemView {
model: controller.complexVisualItems
delegate: polygonItemComponent
@ -386,6 +381,16 @@ QGCView { @@ -386,6 +381,16 @@ QGCView {
}
}
// Add the complex mission item grid to the map
MapItemView {
model: controller.complexVisualItems
delegate: MapPolyline {
line.color: "white"
path: object.gridPoints
}
}
// Add the complex mission item exit coordinates
MapItemView {
model: controller.complexVisualItems
@ -404,6 +409,12 @@ QGCView { @@ -404,6 +409,12 @@ QGCView {
}
}
// Add the simple mission items to the map
MapItemView {
model: controller.visualItems
delegate: missionItemComponent
}
Component {
id: missionItemComponent
@ -417,10 +428,8 @@ QGCView { @@ -417,10 +428,8 @@ QGCView {
onClicked: setCurrentItem(object.sequenceNumber)
function updateItemIndicator()
{
if (object.isCurrentItem && itemIndicator.visible &&
object.specifiesCoordinate && object.isSimpleItem) {
function updateItemIndicator() {
if (object.isCurrentItem && itemIndicator.visible && object.specifiesCoordinate && object.isSimpleItem) {
// Setup our drag item
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
@ -516,8 +525,8 @@ QGCView { @@ -516,8 +525,8 @@ QGCView {
}
onInsert: {
controller.insertSimpleMissionItem(editorMap.center, i)
setCurrentItem(i)
var sequenceNumber = controller.insertSimpleMissionItem(editorMap.center, i)
setCurrentItem(sequenceNumber)
}
onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
@ -567,8 +576,8 @@ QGCView { @@ -567,8 +576,8 @@ QGCView {
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(index)
var sequenceNumber = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(sequenceNumber)
checked = false
addMissionItemsButton.checked = false
}
@ -775,7 +784,7 @@ QGCView { @@ -775,7 +784,7 @@ QGCView {
QGCButton {
text: "Send to vehicle"
enabled: !controller.syncInProgress
enabled: _activeVehicle && !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
@ -785,7 +794,7 @@ QGCView { @@ -785,7 +794,7 @@ QGCView {
QGCButton {
text: "Load from vehicle"
enabled: !controller.syncInProgress
enabled: _activeVehicle && !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()

26
src/MissionEditor/SurveyItemEditor.qml
Unescape View File

@ -29,7 +29,7 @@ Rectangle { @@ -29,7 +29,7 @@ Rectangle {
anchors.margins: _margin
anchors.top: parent.top
anchors.left: parent.left
width: availableWidth
anchors.right: parent.right
spacing: _margin
Connections {
@ -47,6 +47,30 @@ Rectangle { @@ -47,6 +47,30 @@ Rectangle {
wrapMode: Text.WordWrap
}
Repeater {
model: [ missionItem.gridAltitude, missionItem.gridAngle, missionItem.gridSpacing ]
Item {
anchors.left: parent.left
anchors.right: parent.right
height: textField.height
QGCLabel {
anchors.baseline: textField.baseline
anchors.left: parent.left
text: modelData.name
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: modelData
}
}
}
QGCButton {
text: _addPointsMode ? "Finished" : "Draw Polygon"
onClicked: {

253
src/MissionManager/ComplexMissionItem.cc
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@ -23,11 +23,15 @@ This file is part of the QGROUNDCONTROL project @@ -23,11 +23,15 @@ This file is part of the QGROUNDCONTROL project
#include "ComplexMissionItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
const char* ComplexMissionItem::_jsonVersionKey = "version";
const char* ComplexMissionItem::_jsonTypeKey = "type";
const char* ComplexMissionItem::_jsonPolygonKey = "polygon";
const char* ComplexMissionItem::_jsonIdKey = "id";
const char* ComplexMissionItem::_jsonVersionKey = "version";
const char* ComplexMissionItem::_jsonTypeKey = "type";
const char* ComplexMissionItem::_jsonPolygonKey = "polygon";
const char* ComplexMissionItem::_jsonIdKey = "id";
const char* ComplexMissionItem::_jsonGridAltitudeKey = "gridAltitude";
const char* ComplexMissionItem::_jsonGridAngleKey = "gridAngle";
const char* ComplexMissionItem::_jsonGridSpacingKey = "gridSpacing";
const char* ComplexMissionItem::_complexType = "survey";
@ -35,12 +39,15 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent) @@ -35,12 +39,15 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
: VisualMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
, _gridAltitudeFact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _gridAngleFact (0, "Grid angle:", FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, "Grid spacing:", FactMetaData::valueTypeDouble)
{
MissionItem missionItem;
_gridAltitudeFact.setRawValue(25);
_gridSpacingFact.setRawValue(5);
// FIXME: Bogus entries for testing
_missionItems += new MissionItem(this);
_missionItems += new MissionItem(this);
connect(&_gridSpacingFact, &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
}
ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
@ -61,9 +68,12 @@ void ComplexMissionItem::clearPolygon(void) @@ -61,9 +68,12 @@ void ComplexMissionItem::clearPolygon(void)
// Although this code should remove the polygon from the map it doesn't. There appears
// to be a bug in MapPolygon which causes it to not be redrawn if the list is empty. So
// we work around it by using the code above to remove all bu the last point which in turn
// we work around it by using the code above to remove all but the last point which in turn
// will cause the polygon to go away.
_polygonPath.clear();
_clearGrid();
emit specifiesCoordinateChanged();
}
@ -79,11 +89,18 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate) @@ -79,11 +89,18 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
emit specifiesCoordinateChanged();
}
_setExitCoordinate(coordinate);
_generateGrid();
}
int ComplexMissionItem::lastSequenceNumber(void) const
{
return _sequenceNumber + _missionItems.count() - 1;
int lastSeq = _sequenceNumber;
if (_gridPoints.count()) {
lastSeq += _gridPoints.count() - 1;
}
return lastSeq;
}
void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
@ -91,26 +108,26 @@ void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate) @@ -91,26 +108,26 @@ void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
if (_coordinate != coordinate) {
_coordinate = coordinate;
emit coordinateChanged(_coordinate);
_missionItems[0]->setCoordinate(coordinate);
// FIXME: Hack
_setExitCoordinate(coordinate);
}
}
void ComplexMissionItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
}
void ComplexMissionItem::save(QJsonObject& saveObject) const
{
saveObject[_jsonVersionKey] = 1;
saveObject[_jsonTypeKey] = _complexType;
saveObject[_jsonIdKey] = sequenceNumber();
saveObject[_jsonVersionKey] = 1;
saveObject[_jsonTypeKey] = _complexType;
saveObject[_jsonIdKey] = sequenceNumber();
saveObject[_jsonGridAltitudeKey] = _gridAltitudeFact.rawValue().toDouble();
saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
saveObject[_jsonGridSpacingKey] = _gridSpacingFact.rawValue().toDouble();
// Polygon shape
@ -125,42 +142,21 @@ void ComplexMissionItem::save(QJsonObject& saveObject) const @@ -125,42 +142,21 @@ void ComplexMissionItem::save(QJsonObject& saveObject) const
}
saveObject[_jsonPolygonKey] = polygonArray;
// Base mission items
QJsonArray simpleItems;
for (int i=0; i<_missionItems.count(); i++) {
MissionItem* missionItem = _missionItems[i];
QJsonObject jsonObject;
missionItem->save(jsonObject);
simpleItems.append(jsonObject);
}
saveObject[MissionController::jsonSimpleItemsKey] = simpleItems;
}
void ComplexMissionItem::setSequenceNumber(int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
// Update internal mission items to new numbering
for (int i=0; i<_missionItems.count(); i++) {
_missionItems[i]->setSequenceNumber(sequenceNumber++);
}
emit sequenceNumberChanged(sequenceNumber);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
}
void ComplexMissionItem::_clear(void)
{
// Clear old settings
for (int i=0; i<_missionItems.count(); i++) {
_missionItems[i]->deleteLater();
}
_missionItems.clear();
_polygonPath.clear();
clearPolygon();
_clearGrid();
}
@ -170,7 +166,7 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt @@ -170,7 +166,7 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
// Validate requires keys
QStringList requiredKeys;
requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey;
if (!JsonHelper::validateRequiredKeys(complexObject, requiredKeys, errorString)) {
_clear();
return false;
@ -179,8 +175,8 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt @@ -179,8 +175,8 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
// Validate types
QStringList keyList;
QList<QJsonValue::Type> typeList;
keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Array;
keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey;
typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Double << QJsonValue::Double<< QJsonValue::Double;
if (!JsonHelper::validateKeyTypes(complexObject, keyList, typeList, errorString)) {
_clear();
return false;
@ -200,6 +196,9 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt @@ -200,6 +196,9 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
}
setSequenceNumber(complexObject[_jsonIdKey].toInt());
_gridAltitudeFact.setRawValue(complexObject[_jsonGridAltitudeKey].toDouble());
_gridAngleFact.setRawValue(complexObject[_jsonGridAngleKey].toDouble());
_gridSpacingFact.setRawValue(complexObject[_jsonGridSpacingKey].toDouble());
// Polygon shape
QJsonArray polygonArray(complexObject[_jsonPolygonKey].toArray());
@ -214,51 +213,149 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt @@ -214,51 +213,149 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
_polygonPath << QVariant::fromValue(pointCoord);
}
// Internal mission items
QJsonArray itemArray(complexObject[MissionController::jsonSimpleItemsKey].toArray());
for (int i=0; i<itemArray.count(); i++) {
const QJsonValue& itemValue = itemArray[i];
_generateGrid();
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
_clear();
return false;
}
return true;
}
MissionItem* item = new MissionItem(_vehicle, this);
if (item->load(itemValue.toObject(), errorString)) {
_missionItems.append(item);
} else {
_clear();
return false;
}
void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
{
if (_exitCoordinate != coordinate) {
_exitCoordinate = coordinate;
emit exitCoordinateChanged(coordinate);
}
}
int itemCount = _missionItems.count();
if (itemCount > 0) {
_coordinate = _missionItems[0]->coordinate();
_exitCoordinate = _missionItems[itemCount - 1]->coordinate();
bool ComplexMissionItem::specifiesCoordinate(void) const
{
return _polygonPath.count() > 2;
}
void ComplexMissionItem::_clearGrid(void)
{
// Bug workaround
while (_gridPoints.count() > 1) {
_gridPoints.takeLast();
}
emit gridPointsChanged();
_gridPoints.clear();
emit gridPointsChanged();
qDebug() << coordinate() << exitCoordinate() << _missionItems[0]->coordinate() << _missionItems[1]->coordinate();
}
void ComplexMissionItem::_generateGrid(void)
{
if (_polygonPath.count() < 3) {
_clearGrid();
return;
}
_gridPoints.clear();
QList<Point_t> polygonPoints;
QList<Point_t> gridPoints;
// Convert polygon to NED
qDebug() << "Convert polygon";
QGeoCoordinate tangentOrigin = _polygonPath[0].value<QGeoCoordinate>();
for (int i=0; i<_polygonPath.count(); i++) {
double x, y, z;
convertGeoToNed(_polygonPath[i].value<QGeoCoordinate>(), tangentOrigin, &x, &y, &z);
polygonPoints += Point_t(x, y);
qDebug() << _polygonPath[i].value<QGeoCoordinate>() << polygonPoints.last().x << polygonPoints.last().y;
}
// Generate grid
_gridGenerator(polygonPoints, gridPoints);
// Convert to Geo and set altitude
for (int i=0; i<gridPoints.count(); i++) {
Point_t& point = gridPoints[i];
QGeoCoordinate geoCoord;
convertNedToGeo(point.x, point.y, 0, tangentOrigin, &geoCoord);
_gridPoints += QVariant::fromValue(geoCoord);
}
emit gridPointsChanged();
emit lastSequenceNumberChanged(lastSequenceNumber());
if (_gridPoints.count()) {
setCoordinate(_gridPoints.first().value<QGeoCoordinate>());
_setExitCoordinate(_gridPoints.last().value<QGeoCoordinate>());
}
return true;
}
void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
void ComplexMissionItem::_gridGenerator(const QList<Point_t>& polygonPoints, QList<Point_t>& gridPoints)
{
if (_exitCoordinate != coordinate) {
_exitCoordinate = coordinate;
emit exitCoordinateChanged(coordinate);
// FIXME: Hack implementataion
int itemCount = _missionItems.count();
if (itemCount > 0) {
_missionItems[itemCount - 1]->setCoordinate(coordinate);
gridPoints.clear();
// Convert polygon to bounding square
Point_t upperLeft = polygonPoints[0];
Point_t lowerRight = polygonPoints[0];
for (int i=1; i<polygonPoints.count(); i++) {
const Point_t& point = polygonPoints[i];
upperLeft.x = std::min(upperLeft.x, point.x);
upperLeft.y = std::max(upperLeft.y, point.y);
lowerRight.x = std::max(lowerRight.x, point.x);
lowerRight.y = std::min(lowerRight.y, point.y);
}
qDebug() << "bounding rect" << upperLeft.x << upperLeft.y << lowerRight.x << lowerRight.y;
// Create simplistic set of parallel lines
QList<QPair<Point_t, Point_t>> lineList;
double x = upperLeft.x;
double gridSpacing = _gridSpacingFact.rawValue().toDouble();
while (x < lowerRight.x) {
double yTop = upperLeft.y;
double yBottom = lowerRight.y;
lineList += qMakePair(Point_t(x, yTop), Point_t(x, yBottom));
qDebug() << "line" << lineList.last().first.x<< lineList.last().first.y<< lineList.last().second.x<< lineList.last().second.y;
x += gridSpacing;
}
// Turn into a path
for (int i=0; i<lineList.count(); i++) {
const QPair<Point_t, Point_t> points = lineList[i];
if (i & 1) {
gridPoints << points.second << points.first;
} else {
gridPoints << points.first << points.second;
}
}
}
bool ComplexMissionItem::specifiesCoordinate(void) const
QmlObjectListModel* ComplexMissionItem::getMissionItems(void) const
{
return _polygonPath.count() > 2;
QmlObjectListModel* pMissionItems = new QmlObjectListModel;
int seqNum = _sequenceNumber;
for (int i=0; i<_gridPoints.count(); i++) {
QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
double altitude = _gridAltitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_NAV_WAYPOINT, // MAV_CMD
MAV_FRAME_GLOBAL_RELATIVE_ALT, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, // param 1-4
coord.latitude(),
coord.longitude(),
altitude,
true, // autoContinue
false, // isCurrentItem
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
}
return pMissionItems;
}

41
src/MissionManager/ComplexMissionItem.h
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@ -26,6 +26,7 @@ @@ -26,6 +26,7 @@
#include "VisualMissionItem.h"
#include "MissionItem.h"
#include "Fact.h"
class ComplexMissionItem : public VisualMissionItem
{
@ -35,19 +36,30 @@ public: @@ -35,19 +36,30 @@ public:
ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
Q_PROPERTY(Fact* gridAltitude READ gridAltitude CONSTANT)
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* gridSpacing READ gridSpacing CONSTANT)
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_PROPERTY(int lastSequenceNumber READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
Q_PROPERTY(QVariantList gridPoints READ gridPoints NOTIFY gridPointsChanged)
Q_INVOKABLE void clearPolygon(void);
Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
QVariantList polygonPath(void) { return _polygonPath; }
QVariantList gridPoints (void) { return _gridPoints; }
QList<MissionItem*>& missionItems(void) { return _missionItems; }
Fact* gridAltitude(void) { return &_gridAltitudeFact; }
Fact* gridAngle(void) { return &_gridAngleFact; }
Fact* gridSpacing(void) { return &_gridSpacingFact; }
/// @return The last sequence number used by this item. Takes into account child items of the complex item
int lastSequenceNumber(void) const;
/// Returns the mission items associated with the complex item. Caller is responsible for freeing. Calling
/// delete on returned QmlObjectListModel will free all memory including internal items.
QmlObjectListModel* getMissionItems(void) const;
/// Load the complex mission item from Json
/// @param complexObject Complex mission item json object
/// @param[out] errorString Error if load fails
@ -78,22 +90,47 @@ public: @@ -78,22 +90,47 @@ public:
signals:
void polygonPathChanged(void);
void lastSequenceNumberChanged(int lastSequenceNumber);
void altitudeChanged(double altitude);
void gridAngleChanged(double gridAngle);
void gridPointsChanged(void);
private:
typedef struct Point_s {
double x;
double y;
Point_s(double x, double y) {
this->x = x;
this->y = y;
}
} Point_t;
void _clear(void);
void _setExitCoordinate(const QGeoCoordinate& coordinate);
void _clearGrid(void);
void _generateGrid(void);
void _gridGenerator(const QList<Point_t>& polygonPoints, QList<Point_t>& gridPoints);
int _sequenceNumber;
bool _dirty;
QVariantList _polygonPath;
QList<MissionItem*> _missionItems;
QVariantList _gridPoints;
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
double _altitude;
double _gridAngle;
Fact _gridAltitudeFact;
Fact _gridAngleFact;
Fact _gridSpacingFact;
static const char* _jsonVersionKey;
static const char* _jsonTypeKey;
static const char* _jsonPolygonKey;
static const char* _jsonIdKey;
static const char* _jsonGridAltitudeKey;
static const char* _jsonGridAngleKey;
static const char* _jsonGridSpacingKey;
static const char* _complexType;
};

35
src/MissionManager/MissionController.cc
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@ -132,28 +132,28 @@ void MissionController::sendMissionItems(void) @@ -132,28 +132,28 @@ void MissionController::sendMissionItems(void)
{
if (_activeVehicle) {
// Convert to MissionItems so we can send to vehicle
QList<MissionItem*> missionItems;
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->isSimpleItem()) {
MissionItem& missionItem = qobject_cast<SimpleMissionItem*>(visualItem)->missionItem();
missionItem.setSequenceNumber(sequenceNumber++);
missionItems.append(&missionItem);
missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));
} else {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
for (int j=0; j<complexItem->missionItems().count(); j++) {
MissionItem* missionItem = complexItem->missionItems()[i];
missionItem->setSequenceNumber(sequenceNumber++);
missionItems.append(missionItem);
QmlObjectListModel* complexMissionItems = complexItem->getMissionItems();
for (int j=0; j<complexMissionItems->count(); j++) {
missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));
}
delete complexMissionItems;
}
}
_activeVehicle->missionManager()->writeMissionItems(missionItems);
_visualItems->setDirty(false);
for (int i=0; i<missionItems.count(); i++) {
delete missionItems[i];
}
}
}
@ -175,8 +175,9 @@ int MissionController::_nextSequenceNumber(void) @@ -175,8 +175,9 @@ int MissionController::_nextSequenceNumber(void)
int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_nextSequenceNumber());
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
@ -198,13 +199,14 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i) @@ -198,13 +199,14 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
_recalcAll();
return _visualItems->count() - 1;
return sequenceNumber;
}
int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(_nextSequenceNumber());
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
_initVisualItem(newItem);
@ -213,7 +215,7 @@ int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i @@ -213,7 +215,7 @@ int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i
_recalcAll();
return _visualItems->count() - 1;
return sequenceNumber;
}
void MissionController::removeMissionItem(int index)
@ -771,7 +773,7 @@ void MissionController::_recalcChildItems(void) @@ -771,7 +773,7 @@ void MissionController::_recalcChildItems(void)
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else {
} else if (item->isSimpleItem()) {
currentParentItem->childItems()->append(item);
}
}
@ -860,13 +862,16 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem) @@ -860,13 +862,16 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
if (visualItem->isSimpleItem()) {
// We need to track commandChanged on simple item since recalc has special handling for takeoff command
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
} else {
// We need to track changes of lastSequenceNumber so we can recalc sequence numbers for subsequence items
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
connect(complexItem, &ComplexMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
}
}

8
src/MissionManager/MissionController.h
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@ -59,10 +59,14 @@ public: @@ -59,10 +59,14 @@ public:
Q_INVOKABLE void removeAllMissionItems(void);
Q_INVOKABLE QStringList getMobileMissionFiles(void);
/// @param i: index to insert at
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
/// @param i: index to insert at
/// Add a new complex mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
// Property accessors

5
src/MissionManager/SimpleMissionItem.h
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@ -117,16 +117,13 @@ public slots: @@ -117,16 +117,13 @@ public slots:
signals:
void commandChanged (int command);
void coordinateChanged (const QGeoCoordinate& coordinate);
void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate);
//void dirtyChanged (bool dirty);
void frameChanged (int frame);
void friendlyEditAllowedChanged (bool friendlyEditAllowed);
void headingDegreesChanged (double heading);
void rawEditChanged (bool rawEdit);
void uiModelChanged (void);
void showHomePositionChanged (bool showHomePosition);
private slots:
void _setDirtyFromSignal(void);
void _sendCommandChanged(void);

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