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Merge pull request #8101 from DonLakeFlyer/CancelROI 

Plan: Cancel ROI, ROI visual indication
QGC4.4
Don Gagne 5 years ago committed by GitHub
parent
b0a3f600e8 d6a50b0782
commit
61521f1124
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 230 additions and 198 deletions
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  1. 6
      ChangeLog.md
  2. 6
      src/FlightMap/MapItems/MissionLineView.qml
  3. 2
      src/MissionManager/CorridorScanPlanCreator.cc
  4. 180
      src/MissionManager/MissionController.cc
  5. 36
      src/MissionManager/MissionController.h
  6. 2
      src/MissionManager/StructureScanPlanCreator.cc
  7. 2
      src/MissionManager/SurveyPlanCreator.cc
  8. 2
      src/PlanView/MissionItemEditor.qml
  9. 2
      src/PlanView/MissionItemStatus.qml
  10. 165
      src/PlanView/PlanView.qml
  11. 8
      src/QmlControls/CoordinateVector.cc
  12. 17
      src/QmlControls/CoordinateVector.h

6
ChangeLog.md
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@ -2,10 +2,12 @@ @@ -2,10 +2,12 @@
Note: This file only contains high level features or important fixes.
## 3.6
## 4.0
### 3.6.0 - Daily Build
### 4.0.0 - Daily Build
* Plan: ROI button will switch to Cancel ROI at appropriate times
* Plan: When ROI is selected the flight path lines which are affected by the ROI will change color
* ADSB: Added support for connecting to SBS server. Adds support for ADSB data from USB SDR Dongle running 'dump1090 --net' for example.
* Toolbar: Scrollable left/right on small screens like phones
* Plan View: New create plan UI for initial plan creation

6
src/FlightMap/MapItems/MissionLineView.qml
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@ -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 ] : []
}
}

2
src/MissionManager/CorridorScanPlanCreator.cc
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@ -24,5 +24,5 @@ void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord) @@ -24,5 +24,5 @@ void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}

180
src/MissionManager/MissionController.cc
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@ -68,7 +68,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb @@ -68,7 +68,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
, _inRecalcSequence (false)
, _appSettings (qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct (0)
, _currentPlanViewIndex (-1)
, _currentPlanViewSeqNum (-1)
, _currentPlanViewVIIndex (-1)
, _currentPlanViewItem (nullptr)
, _splitSegment (nullptr)
{
@ -380,7 +381,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin @@ -380,7 +381,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
_recalcAllWithCoordinate(coordinate);
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
@ -418,7 +419,7 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin @@ -418,7 +419,7 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
@ -437,10 +438,26 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate, @@ -437,10 +438,26 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate,
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
MAV_CMD command = _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
MAV_CMD_DO_SET_ROI_LOCATION :
MAV_CMD_DO_SET_ROI;
return _insertSimpleMissionItemWorker(coordinate, command, visualItemIndex, makeCurrentItem);
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(coordinate, MAV_CMD_DO_SET_ROI_LOCATION, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
}
_recalcROISpecialVisuals();
return simpleItem;
}
VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem)
{
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(QGeoCoordinate(), MAV_CMD_DO_SET_ROI_NONE, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_NONE)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_NONE);
}
_recalcROISpecialVisuals();
return simpleItem;
}
VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem)
@ -536,19 +553,19 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma @@ -536,19 +553,19 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma
_recalcAllWithCoordinate(mapCenterCoordinate);
if (makeCurrentItem) {
setCurrentPlanViewIndex(complexItem->sequenceNumber(), true);
setCurrentPlanViewSeqNum(complexItem->sequenceNumber(), true);
}
}
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();
@ -1148,6 +1165,39 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable& @@ -1148,6 +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;
@ -1157,7 +1207,8 @@ void MissionController::_recalcWaypointLines(void) @@ -1157,7 +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;
@ -1175,10 +1226,20 @@ void MissionController::_recalcWaypointLines(void) @@ -1175,10 +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:
@ -1220,6 +1281,7 @@ void MissionController::_recalcWaypointLines(void) @@ -1220,6 +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);
}
@ -1240,7 +1302,8 @@ void MissionController::_recalcWaypointLines(void) @@ -1240,7 +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
@ -1736,7 +1799,7 @@ void MissionController::_initAllVisualItems(void) @@ -1736,7 +1799,7 @@ void MissionController::_initAllVisualItems(void)
emit plannedHomePositionChanged(plannedHomePosition());
if (!_flyView) {
setCurrentPlanViewIndex(0, true);
setCurrentPlanViewSeqNum(0, true);
}
setDirty(false);
@ -2149,32 +2212,41 @@ void MissionController::_managerRemoveAllComplete(bool error) @@ -2149,32 +2212,41 @@ void MissionController::_managerRemoveAllComplete(bool error)
}
}
int MissionController::currentPlanViewIndex(void) const
bool MissionController::_isROIBeginItem(SimpleMissionItem* simpleItem)
{
return _currentPlanViewIndex;
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);
}
VisualMissionItem* MissionController::currentPlanViewItem(void) const
bool MissionController::_isROICancelItem(SimpleMissionItem* simpleItem)
{
return _currentPlanViewItem;
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::setCurrentPlanViewIndex(int sequenceNumber, bool force)
void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_currentPlanViewSeqNum = -1;
_currentPlanViewVIIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_isROIActive = false;
_isROIBeginCurrentItem = false;
_flyThroughCommandsAllowed = true;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
if (sequenceNumber != 0 && pVI->sequenceNumber() <= sequenceNumber) {
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
@ -2184,12 +2256,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2184,12 +2256,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
if (qobject_cast<TakeoffMissionItem*>(pVI)) {
takeoffIndex = i;
takeoffIndex = viIndex;
_isInsertTakeoffValid = false;
}
if (!foundLand) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
if (simpleItem) {
switch (simpleItem->mavCommand()) {
case MAV_CMD_NAV_LAND:
@ -2197,7 +2268,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2197,7 +2268,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
landIndex = i;
landIndex = viIndex;
break;
default:
break;
@ -2206,19 +2277,38 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2206,19 +2277,38 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
landIndex = i;
landIndex = viIndex;
}
}
}
// ROI state handling
if (simpleItem) {
if (pVI->sequenceNumber() <= sequenceNumber) {
if (_isROIActive) {
if (_isROICancelItem(simpleItem)) {
_isROIActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
_isROIActive = true;
}
}
}
if (pVI->sequenceNumber() == sequenceNumber && _isROIBeginItem(simpleItem)) {
_isROIBeginCurrentItem = true;
}
}
if (pVI->sequenceNumber() == sequenceNumber) {
pVI->setIsCurrentItem(true);
_currentPlanViewItem = pVI;
_currentPlanViewIndex = sequenceNumber;
_currentPlanViewSeqNum = sequenceNumber;
_currentPlanViewVIIndex = viIndex;
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
// Determine split segment used to display line split editing ui.
for (int j=i-1; j>0; j--) {
for (int j=viIndex-1; j>0; j--) {
VisualMissionItem* pPrev = qobject_cast<VisualMissionItem*>(_visualItems->get(j));
if (pPrev->specifiesCoordinate() && !pPrev->isStandaloneCoordinate()) {
VisualItemPair splitPair(pPrev, pVI);
@ -2252,11 +2342,14 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2252,11 +2342,14 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
}
emit currentPlanViewIndexChanged();
emit currentPlanViewSeqNumChanged();
emit currentPlanViewVIIndexChanged();
emit currentPlanViewItemChanged();
emit splitSegmentChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit isROIActiveChanged();
emit isROIBeginCurrentItemChanged();
emit flyThroughCommandsAllowedChanged();
}
}
@ -2349,16 +2442,3 @@ bool MissionController::isEmpty(void) const @@ -2349,16 +2442,3 @@ bool MissionController::isEmpty(void) const
{
return _visualItems->count() <= 1;
}
int MissionController::visualItemIndexFromSequenceNumber(int sequenceNumber) const
{
for (int i=0; i<_visualItems->count(); i++) {
const VisualMissionItem* vi = _visualItems->value<VisualMissionItem*>(i);
if (vi->sequenceNumber() == sequenceNumber) {
return i;
}
}
qWarning() << "MissionController::getVisualItemIndex visual item not found";
return 0;
}

36
src/MissionManager/MissionController.h
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@ -77,7 +77,8 @@ public: @@ -77,7 +77,8 @@ public:
Q_PROPERTY(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) ///< True mission item command count (only valid in Fly View)
Q_PROPERTY(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged)
Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
Q_PROPERTY(int currentPlanViewIndex READ currentPlanViewIndex NOTIFY currentPlanViewIndexChanged)
Q_PROPERTY(int currentPlanViewSeqNum READ currentPlanViewSeqNum NOTIFY currentPlanViewSeqNumChanged)
Q_PROPERTY(int currentPlanViewVIIndex READ currentPlanViewVIIndex NOTIFY currentPlanViewVIIndexChanged)
Q_PROPERTY(VisualMissionItem* currentPlanViewItem READ currentPlanViewItem NOTIFY currentPlanViewItemChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
@ -94,9 +95,11 @@ public: @@ -94,9 +95,11 @@ public:
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
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
@ -126,6 +129,12 @@ public: @@ -126,6 +129,12 @@ public:
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
/// Add a new Cancel ROI mission item to the list
/// @param visualItemIndex: index to insert at, -1 for end of list
/// @param makeCurrentItem: true: Make this item the current item
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem = false);
/// Add a new complex mission item to the list
/// @param itemName: Name of complex item to create (from complexMissionItemNames)
/// @param mapCenterCoordinate: coordinate for current center of map
@ -150,10 +159,7 @@ public: @@ -150,10 +159,7 @@ public:
/// Sets a new current mission item (PlanView).
/// @param sequenceNumber - index for new item, -1 to clear current item
Q_INVOKABLE void setCurrentPlanViewIndex(int sequenceNumber, bool force);
/// Returns the index of this item in the visual item list
Q_INVOKABLE int visualItemIndexFromSequenceNumber(int sequenceNumber) const;
Q_INVOKABLE void setCurrentPlanViewSeqNum(int sequenceNumber, bool force);
/// Determines if the mission has all data needed to be saved or sent to the vehicle.
/// IMPORTANT NOTE: The return value is a VisualMissionItem::ReadForSaveState value. It is an int here to work around
@ -196,7 +202,7 @@ public: @@ -196,7 +202,7 @@ public:
QVariantList waypointPath (void) { return _waypointPath; }
QStringList complexMissionItemNames (void) const;
QGeoCoordinate plannedHomePosition (void) const;
VisualMissionItem* currentPlanViewItem (void) const;
VisualMissionItem* currentPlanViewItem (void) const { return _currentPlanViewItem; }
double progressPct (void) const { return _progressPct; }
QString surveyComplexItemName (void) const { return patternSurveyName; }
QString corridorScanComplexItemName (void) const { return patternCorridorScanName; }
@ -206,7 +212,8 @@ public: @@ -206,7 +212,8 @@ public:
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
int currentPlanViewSeqNum (void) const { return _currentPlanViewSeqNum; }
int currentPlanViewVIIndex (void) const { return _currentPlanViewVIIndex; }
double missionDistance (void) const { return _missionFlightStatus.totalDistance; }
double missionTime (void) const { return _missionFlightStatus.totalTime; }
@ -249,12 +256,15 @@ signals: @@ -249,12 +256,15 @@ signals:
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewSeqNumChanged (void);
void currentPlanViewVIIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void isROIActiveChanged (void);
void isROIBeginCurrentItemChanged (void);
void flyThroughCommandsAllowedChanged (void);
private slots:
@ -278,6 +288,7 @@ private: @@ -278,6 +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);
@ -309,6 +320,8 @@ private: @@ -309,6 +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;
@ -325,7 +338,8 @@ private: @@ -325,7 +338,8 @@ private:
MissionFlightStatus_t _missionFlightStatus;
AppSettings* _appSettings;
double _progressPct;
int _currentPlanViewIndex;
int _currentPlanViewSeqNum;
int _currentPlanViewVIIndex;
VisualMissionItem* _currentPlanViewItem;
QTimer _updateTimer;
QGCGeoBoundingCube _travelBoundingCube;
@ -333,7 +347,9 @@ private: @@ -333,7 +347,9 @@ private:
CoordinateVector* _splitSegment;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _isROIActive = false;
bool _flyThroughCommandsAllowed = true;
bool _isROIBeginCurrentItem = false;
static const char* _settingsGroup;

2
src/MissionManager/StructureScanPlanCreator.cc
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@ -24,5 +24,5 @@ void StructureScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord) @@ -24,5 +24,5 @@ void StructureScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternStructureScanName, mapCenterCoord, -1)->setWizardMode(true);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}

2
src/MissionManager/SurveyPlanCreator.cc
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@ -25,5 +25,5 @@ void SurveyPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord) @@ -25,5 +25,5 @@ void SurveyPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternSurveyName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}

2
src/PlanView/MissionItemEditor.qml
Unescape View File

@ -30,8 +30,6 @@ Rectangle { @@ -30,8 +30,6 @@ Rectangle {
signal clicked
signal remove
signal insertWaypoint
signal insertComplexItem(string complexItemName)
signal selectNextNotReadyItem
property var _masterController: masterController

2
src/PlanView/MissionItemStatus.qml
Unescape View File

@ -60,7 +60,7 @@ Rectangle { @@ -60,7 +60,7 @@ Rectangle {
orientation: ListView.Horizontal
spacing: 0
clip: true
currentIndex: _missionController.currentPlanViewIndex
currentIndex: _missionController.currentPlanViewSeqNum
onCountChanged: {
var calcLength = (statusListView.count + 1) * (statusListView.count ? statusListView.contentItem.children[0].width : 1)

165
src/PlanView/PlanView.qml
Unescape View File

@ -68,25 +68,6 @@ Item { @@ -68,25 +68,6 @@ Item {
return coordinate
}
function addComplexItem(complexItemName) {
var next_index = _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex)+1
if(next_index ==1 && _missionController.visualItems.count >1){
console.log(next_index, _missionController.visualItems.count)
insertComplexMissionItem(complexItemName, mapCenter(), next_index+1)
}
else if(next_index <= _missionController.visualItems.count){
insertComplexMissionItem(complexItemName, mapCenter(), next_index)
}
}
function insertComplexMissionItem(complexItemName, coordinate, index) {
_missionController.insertComplexMissionItem(complexItemName, coordinate, index, true /* makeCurrentItem */)
}
function insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index) {
_missionController.insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index, true /* makeCurrentItem */)
}
function updateAirspace(reset) {
if(_airspaceEnabled) {
var coordinateNW = editorMap.toCoordinate(Qt.point(0,0), false /* clipToViewPort */)
@ -195,7 +176,7 @@ Item { @@ -195,7 +176,7 @@ Item {
Component.onCompleted: {
_planMasterController.start(false /* flyView */)
_missionController.setCurrentPlanViewIndex(0, true)
_missionController.setCurrentPlanViewSeqNum(0, true)
mainWindow.planMasterControllerPlan = _planMasterController
}
@ -258,16 +239,6 @@ Item { @@ -258,16 +239,6 @@ Item {
mapFitFunctions.fitMapViewportToMissionItems()
}
function loadShapeFromSelectedFile() {
fileDialog.title = qsTr("Load Shape")
fileDialog.planFiles = false
fileDialog.selectExisting = true
fileDialog.nameFilters = ShapeFileHelper.fileDialogKMLOrSHPFilters
fileDialog.fileExtension = _appSettings.kmlFileExtension
fileDialog.fileExtension2 = _appSettings.shpFileExtension
fileDialog.openForLoad()
}
function saveKmlToSelectedFile() {
if (!checkReadyForSaveUpload(true /* save */)) {
return
@ -289,31 +260,38 @@ Item { @@ -289,31 +260,38 @@ Item {
if (_visualItems && _visualItems.count !== 1) {
mapFitFunctions.fitMapViewportToMissionItems()
}
_missionController.setCurrentPlanViewIndex(0, true)
_missionController.setCurrentPlanViewSeqNum(0, true)
}
}
/// Inserts a new simple mission item
/// @param coordinate Location to insert item
/// @param index Insert item at this index
function insertSimpleMissionItem(coordinate, index) {
_missionController.insertSimpleMissionItem(coordinate, index, true /* makeCurrentItem */)
function insertSimpleItemAfterCurrent(coordinate) {
var nextIndex = _missionController.currentPlanViewVIIndex + 1
_missionController.insertSimpleMissionItem(coordinate, nextIndex, true /* makeCurrentItem */)
}
function insertROIAfterCurrent(coordinate) {
var nextIndex = _missionController.currentPlanViewVIIndex + 1
_missionController.insertROIMissionItem(coordinate, nextIndex, true /* makeCurrentItem */)
_addROIOnClick = false
}
/// Inserts a new ROI mission item
/// @param coordinate Location to insert item
/// @param index Insert item at this index
function insertROIMissionItem(coordinate, index) {
_missionController.insertROIMissionItem(coordinate, index, true /* makeCurrentItem */)
function insertCancelROIAfterCurrent() {
var nextIndex = _missionController.currentPlanViewVIIndex + 1
_missionController.insertCancelROIMissionItem(nextIndex, true /* makeCurrentItem */)
_addROIOnClick = false
}
function insertComplexItemAfterCurrent(complexItemName) {
var nextIndex = _missionController.currentPlanViewVIIndex + 1
_missionController.insertComplexMissionItem(complexItemName, mapCenter(), nextIndex, true /* makeCurrentItem */)
}
function selectNextNotReady() {
var foundCurrent = false
for (var i=0; i<_missionController.visualItems.count; i++) {
var vmi = _missionController.visualItems.get(i)
if (vmi.readyForSaveState === VisualMissionItem.NotReadyForSaveData) {
_missionController.setCurrentPlanViewIndex(vmi.sequenceNumber, true)
_missionController.setCurrentPlanViewSeqNum(vmi.sequenceNumber, true)
break
}
}
@ -337,66 +315,13 @@ Item { @@ -337,66 +315,13 @@ Item {
}
onAcceptedForLoad: {
if (planFiles) {
_planMasterController.loadFromFile(file)
_planMasterController.fitViewportToItems()
_missionController.setCurrentPlanViewIndex(0, true)
} else {
var retList = ShapeFileHelper.determineShapeType(file)
if (retList[0] == ShapeFileHelper.Error) {
mainWindow.showMessageDialog("Error", retList[1])
} else if (retList[0] == ShapeFileHelper.Polygon) {
var editVehicle = activeVehicle ? activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
if (editVehicle.fixedWing) {
insertComplexMissionItemFromKMLOrSHP(_missionController.surveyComplexItemName, file, -1)
} else {
polygonSelectPatternFile = file
mainWindow.showComponentDialog(patternPolygonSelectDialog, fileDialog.title, mainWindow.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
}
} else if (retList[0] == ShapeFileHelper.Polyline) {
insertComplexMissionItemFromKMLOrSHP(_missionController.corridorScanComplexItemName, file, -1)
}
}
_planMasterController.loadFromFile(file)
_planMasterController.fitViewportToItems()
_missionController.setCurrentPlanViewSeqNum(0, true)
close()
}
}
property string polygonSelectPatternFile
Component {
id: patternPolygonSelectDialog
QGCViewDialog {
function accept() {
var complexItemName
if (surveyRadio.checked) {
complexItemName = _missionController.surveyComplexItemName
} else {
complexItemName = _missionController.structureScanComplexItemName
}
insertComplexMissionItemFromKMLOrSHP(complexItemName, polygonSelectPatternFile, -1)
hideDialog()
}
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Create which pattern type?")
}
QGCRadioButton {
id: surveyRadio
text: qsTr("Survey")
checked: true
}
QGCRadioButton {
text: qsTr("Structure Scan")
}
}
}
}
Component {
id: moveDialog
QGCViewDialog {
@ -477,17 +402,10 @@ Item { @@ -477,17 +402,10 @@ Item {
switch (_editingLayer) {
case _layerMission:
if (_addWaypointOnClick) {
var next_index = _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex)+1
if(next_index ==1 && _missionController.visualItems.count >1){
console.log(next_index, _missionController.visualItems.count)
insertSimpleMissionItem(coordinate, next_index+1)
}
else if(next_index <= _missionController.visualItems.count){
insertSimpleMissionItem(coordinate, next_index)
}
insertSimpleItemAfterCurrent(coordinate)
} else if (_addROIOnClick) {
_addROIOnClick = false
insertROIMissionItem(coordinate, _missionController.visualItems.count)
insertROIAfterCurrent(coordinate)
}
break
@ -505,14 +423,15 @@ Item { @@ -505,14 +423,15 @@ Item {
model: _editingLayer == _layerMission ? _missionController.visualItems : undefined
delegate: MissionItemMapVisual {
map: editorMap
onClicked: _missionController.setCurrentPlanViewIndex(sequenceNumber, false)
onClicked: _missionController.setCurrentPlanViewSeqNum(sequenceNumber, false)
visible: _editingLayer == _layerMission
}
}
// Add lines between waypoints
MissionLineView {
model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
showSpecialVisual: _missionController.isROIBeginCurrentItem
model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
}
MapItemView {
@ -535,7 +454,9 @@ Item { @@ -535,7 +454,9 @@ Item {
visible: _editingLayer == _layerMission
sourceItem: SplitIndicator {
onClicked: insertSimpleMissionItem(splitSegmentItem.coordinate, _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex))
onClicked: _missionController.insertSimpleMissionItem(splitSegmentItem.coordinate,
_missionController.currentPlanViewVIIndex,
true /* makeCurrentItem */)
}
function _updateSplitCoord() {
@ -665,11 +586,11 @@ Item { @@ -665,11 +586,11 @@ Item {
checked: _addWaypointOnClick
},
{
name: qsTr("ROI"),
name: _missionController.isROIActive ? qsTr("Cancel ROI") : qsTr("ROI"),
iconSource: "/qmlimages/MapAddMission.svg",
buttonEnabled: true,
buttonVisible: _isMissionLayer,
toggle: true
toggle: !_missionController.isROIActive
},
{
name: _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
@ -718,12 +639,16 @@ Item { @@ -718,12 +639,16 @@ Item {
break
case roiButtonIndex:
allAddClickBoolsOff()
_addROIOnClick = checked
if (_missionController.isROIActive) {
insertCancelROIAfterCurrent()
} else {
_addROIOnClick = checked
}
break
case patternButtonIndex:
allAddClickBoolsOff()
if (_singleComplexItem) {
addComplexItem(_missionController.complexMissionItemNames[0])
insertComplexItemAfterCurrent(_missionController.complexMissionItemNames[0])
}
break
case landButtonIndex:
@ -876,7 +801,7 @@ Item { @@ -876,7 +801,7 @@ Item {
model: _missionController.visualItems
cacheBuffer: Math.max(height * 2, 0)
clip: true
currentIndex: _missionController.currentPlanViewIndex
currentIndex: _missionController.currentPlanViewSeqNum
highlightMoveDuration: 250
visible: _editingLayer == _layerMission && !planControlColapsed
//-- List Elements
@ -886,17 +811,15 @@ Item { @@ -886,17 +811,15 @@ Item {
missionItem: object
width: parent.width
readOnly: false
onClicked: _missionController.setCurrentPlanViewIndex(object.sequenceNumber, false)
onClicked: _missionController.setCurrentPlanViewSeqNum(object.sequenceNumber, false)
onRemove: {
var removeIndex = index
_missionController.removeMissionItem(removeIndex)
if (removeIndex >= _missionController.visualItems.count) {
removeIndex--
}
_missionController.setCurrentPlanViewIndex(removeIndex, true)
_missionController.setCurrentPlanViewSeqNum(removeIndex, true)
}
onInsertWaypoint: insertSimpleMissionItem(editorMap.center, index)
onInsertComplexItem: insertComplexMissionItem(complexItemName, editorMap.center, index)
onSelectNextNotReadyItem: selectNextNotReady()
}
}
@ -1008,7 +931,7 @@ Item { @@ -1008,7 +931,7 @@ Item {
message: qsTr("Are you sure you want to remove all mission items and clear the mission from the vehicle?")
function accept() {
_planMasterController.removeAllFromVehicle()
_missionController.setCurrentPlanViewIndex(0, true)
_missionController.setCurrentPlanViewSeqNum(0, true)
hideDialog()
}
}
@ -1041,7 +964,7 @@ Item { @@ -1041,7 +964,7 @@ Item {
Layout.fillWidth: true
onClicked: {
addComplexItem(modelData)
insertComplexItemAfterCurrent(modelData)
dropPanel.hide()
}
}

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

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