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

Merge pull request #8043 from DonLakeFlyer/ContextualTools 

Plan: More work on contextual Plan tools
QGC4.4
Don Gagne 6 years ago committed by GitHub
parent
4f44cd18f0 ab9e64b885
commit
8ea8748f81
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 104 additions and 71 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. 5
      src/MissionManager/MissionCommandTree.cc
  2. 3
      src/MissionManager/MissionCommandTree.h
  3. 41
      src/MissionManager/MissionController.cc
  4. 63
      src/MissionManager/MissionController.h
  5. 1
      src/MissionManager/SimpleMissionItem.cc
  6. 5
      src/PlanView/MissionItemEditor.qml
  7. 46
      src/PlanView/PlanView.qml
  8. 9
      src/QmlControls/MissionCommandDialog.qml
  9. 2
      src/QmlControls/ToolStrip.qml

5
src/MissionManager/MissionCommandTree.cc
Unescape View File

@ -219,7 +219,7 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_ @@ -219,7 +219,7 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_
}
}
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category)
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
@ -237,7 +237,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const @@ -237,7 +237,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
for (MAV_CMD command: commandMap.keys()) {
if (supportedCommands.contains(command)) {
MissionCommandUIInfo* uiInfo = commandMap[command];
if (uiInfo->category() == category || category == _allCommandsCategory) {
if ((uiInfo->category() == category || category == _allCommandsCategory) &&
(showFlyThroughCommands || !uiInfo->specifiesCoordinate() || uiInfo->isStandaloneCoordinate())) {
list.append(QVariant::fromValue(uiInfo));
}
}

3
src/MissionManager/MissionCommandTree.h
Unescape View File

@ -62,7 +62,8 @@ public: @@ -62,7 +62,8 @@ public:
const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category);
/// @param showFlyThroughCommands - true: al commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
// Overrides from QGCTool
virtual void setToolbox(QGCToolbox* toolbox);

41
src/MissionManager/MissionController.cc
Unescape View File

@ -2181,14 +2181,16 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const @@ -2181,14 +2181,16 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
bool foundLand = false;
int takeoffIndex = -1;
bool foundLand = false;
int takeoffIndex = -1;
int landIndex = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_flyThroughCommandsAllowed = true;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@ -2214,6 +2216,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2214,6 +2216,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
landIndex = i;
break;
default:
break;
@ -2222,6 +2225,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2222,6 +2225,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
landIndex = i;
}
}
}
@ -2248,13 +2252,23 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2248,13 +2252,23 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
}
if (takeoffIndex != -1 && sequenceNumber <= takeoffIndex) {
// Takeoff item was found which means mission starts from ground.
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
} else if (foundLand) {
// Can't have to land sequences
if (takeoffIndex != -1) {
// Takeoff item was found which means mission starts from ground
if (sequenceNumber < takeoffIndex) {
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
// Fly through commands are not allowed prior to the takeoff command
_flyThroughCommandsAllowed = false;
}
}
if (foundLand) {
// Can't have more than one land sequence
_isInsertLandValid = false;
if (sequenceNumber >= landIndex) {
// Can't have fly through commands after a land item
_flyThroughCommandsAllowed = false;
}
}
emit currentPlanViewIndexChanged();
@ -2262,6 +2276,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) @@ -2262,6 +2276,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
emit splitSegmentChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit flyThroughCommandsAllowedChanged();
}
}

63
src/MissionManager/MissionController.h
Unescape View File

@ -92,8 +92,9 @@ public: @@ -92,8 +92,9 @@ public:
Q_PROPERTY(QString surveyComplexItemName READ surveyComplexItemName CONSTANT)
Q_PROPERTY(QString corridorScanComplexItemName READ corridorScanComplexItemName CONSTANT)
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged) ///< true: Takeoff tool should be enabled
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged) ///< true: Land tool should be enabled
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged)
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged)
Q_PROPERTY(bool flyThroughCommandsAllowed MEMBER _flyThroughCommandsAllowed NOTIFY flyThroughCommandsAllowedChanged)
Q_INVOKABLE void removeMissionItem(int index);
@ -228,32 +229,33 @@ public: @@ -228,32 +229,33 @@ public:
static const QString patternSurveyName;
signals:
void visualItemsChanged (void);
void waypointPathChanged (void);
void splitSegmentChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
void missionTimeChanged (void);
void missionHoverDistanceChanged (double missionHoverDistance);
void missionHoverTimeChanged (void);
void missionCruiseDistanceChanged (double missionCruiseDistance);
void missionCruiseTimeChanged (void);
void missionMaxTelemetryChanged (double missionMaxTelemetry);
void complexMissionItemNamesChanged (void);
void resumeMissionIndexChanged (void);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
void batteryChangePointChanged (int batteryChangePoint);
void batteriesRequiredChanged (int batteriesRequired);
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void visualItemsChanged (void);
void waypointPathChanged (void);
void splitSegmentChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
void missionTimeChanged (void);
void missionHoverDistanceChanged (double missionHoverDistance);
void missionHoverTimeChanged (void);
void missionCruiseDistanceChanged (double missionCruiseDistance);
void missionCruiseTimeChanged (void);
void missionMaxTelemetryChanged (double missionMaxTelemetry);
void complexMissionItemNamesChanged (void);
void resumeMissionIndexChanged (void);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
void batteryChangePointChanged (int batteryChangePoint);
void batteriesRequiredChanged (int batteriesRequired);
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
void flyThroughCommandsAllowedChanged (void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@ -330,8 +332,9 @@ private: @@ -330,8 +332,9 @@ private:
QGCGeoBoundingCube _travelBoundingCube;
QGeoCoordinate _takeoffCoordinate;
CoordinateVector* _splitSegment;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
bool _flyThroughCommandsAllowed = true;
static const char* _settingsGroup;

1
src/MissionManager/SimpleMissionItem.cc
Unescape View File

@ -399,6 +399,7 @@ QString SimpleMissionItem::abbreviation() const @@ -399,6 +399,7 @@ QString SimpleMissionItem::abbreviation() const
case MAV_CMD_NAV_VTOL_LAND:
return tr("VTOL Land");
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
return tr("ROI");
default:
return QString();

5
src/PlanView/MissionItemEditor.qml
Unescape View File

@ -240,8 +240,9 @@ Rectangle { @@ -240,8 +240,9 @@ Rectangle {
id: commandDialog
MissionCommandDialog {
missionItem: _root.missionItem
map: _root.map
missionItem: _root.missionItem
map: _root.map
flyThroughCommandsAllowed: _missionController.flyThroughCommandsAllowed
}
}

46
src/PlanView/PlanView.qml
Unescape View File

@ -304,10 +304,8 @@ Item { @@ -304,10 +304,8 @@ Item {
/// @param coordinate Location to insert item
/// @param index Insert item at this index
function insertROIMissionItem(coordinate, index) {
var sequenceNumber = _missionController.insertROIMissionItem(coordinate, index)
_missionController.setCurrentPlanViewIndex(sequenceNumber, true)
_missionController.insertROIMissionItem(coordinate, index, true /* makeCurrentItem */)
_addROIOnClick = false
toolStrip.lastClickedButton.checked = false
}
function selectNextNotReady() {
@ -491,6 +489,7 @@ Item { @@ -491,6 +489,7 @@ Item {
_addROIOnClick = false
insertROIMissionItem(coordinate, _missionController.visualItems.count)
}
break
case _layerRallyPoints:
if (_rallyPointController.supported && _addWaypointOnClick) {
@ -632,7 +631,8 @@ Item { @@ -632,7 +631,8 @@ Item {
readonly property int landButtonIndex: 6
readonly property int centerButtonIndex: 7
property bool _isRally: _editingLayer == _layerRallyPoints
property bool _isRallyLayer: _editingLayer == _layerRallyPoints
property bool _isMissionLayer: _editingLayer == _layerMission
model: [
{
@ -654,13 +654,13 @@ Item { @@ -654,13 +654,13 @@ Item {
name: qsTr("Takeoff"),
iconSource: "/res/takeoff.svg",
buttonEnabled: _missionController.isInsertTakeoffValid,
buttonVisible: _editingLayer == _layerMission
buttonVisible: _isMissionLayer
},
{
name: _editingLayer == _layerRallyPoints ? qsTr("Rally Point") : qsTr("Waypoint"),
iconSource: "/qmlimages/MapAddMission.svg",
buttonEnabled: true,
buttonVisible: true,
buttonEnabled: _isRallyLayer ? true : _missionController.flyThroughCommandsAllowed,
buttonVisible: _isRallyLayer || _isMissionLayer,
toggle: true,
checked: _addWaypointOnClick
},
@ -668,21 +668,21 @@ Item { @@ -668,21 +668,21 @@ Item {
name: qsTr("ROI"),
iconSource: "/qmlimages/MapAddMission.svg",
buttonEnabled: true,
buttonVisible: !_isRally && _waypointsOnlyMode,
buttonVisible: _isMissionLayer,
toggle: true
},
{
name: _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
iconSource: "/qmlimages/MapDrawShape.svg",
buttonEnabled: true,
buttonVisible: !_isRally,
buttonEnabled: _missionController.flyThroughCommandsAllowed,
buttonVisible: _isMissionLayer,
dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
},
{
name: _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
iconSource: "/res/rtl.svg",
buttonEnabled: _missionController.isInsertLandValid,
buttonVisible: _editingLayer == _layerMission
buttonVisible: _isMissionLayer
},
{
name: qsTr("Center"),
@ -693,39 +693,49 @@ Item { @@ -693,39 +693,49 @@ Item {
}
]
function allAddClickBoolsOff() {
_addROIOnClick = false
_addWaypointOnClick = false
}
onClicked: {
switch (index) {
case flyButtonIndex:
mainWindow.showFlyView()
break
case takeoffButtonIndex:
allAddClickBoolsOff()
_missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
break
case waypointButtonIndex:
if(_addWaypointOnClick) {
//-- Toggle it off
_addWaypointOnClick = false
_addROIOnClick = false
if (_addWaypointOnClick) {
allAddClickBoolsOff()
setChecked(index, false)
} else {
allAddClickBoolsOff()
_addWaypointOnClick = checked
_addROIOnClick = false
}
break
case roiButtonIndex:
allAddClickBoolsOff()
_addROIOnClick = checked
_addWaypointOnClick = false
break
case patternButtonIndex:
allAddClickBoolsOff()
if (_singleComplexItem) {
addComplexItem(_missionController.complexMissionItemNames[0])
}
break
case landButtonIndex:
allAddClickBoolsOff()
_missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
break
}
}
onDropped: {
allAddClickBoolsOff()
}
}
//-----------------------------------------------------------
@ -1257,8 +1267,6 @@ Item { @@ -1257,8 +1267,6 @@ Item {
}
}
}
}
}
}

9
src/QmlControls/MissionCommandDialog.qml
Unescape View File

@ -19,8 +19,9 @@ import QGroundControl.Palette 1.0 @@ -19,8 +19,9 @@ import QGroundControl.Palette 1.0
QGCViewDialog {
id: root
property var missionItem
property var map
property var missionItem
property var map
property bool flyThroughCommandsAllowed
property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
@ -40,7 +41,7 @@ QGCViewDialog { @@ -40,7 +41,7 @@ QGCViewDialog {
model: QGroundControl.missionCommandTree.categoriesForVehicle(_vehicle)
function categorySelected(category) {
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category)
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category, flyThroughCommandsAllowed)
}
Component.onCompleted: {
@ -97,7 +98,7 @@ QGCViewDialog { @@ -97,7 +98,7 @@ QGCViewDialog {
MouseArea {
anchors.fill: parent
onClicked: {
missionItem.setMapCenterHintForCommandChange(map.center)
missionItem.setMapCenterHintForCommandChange(map.center)
missionItem.command = mavCmdInfo.command
root.reject()
}

2
src/QmlControls/ToolStrip.qml
Unescape View File

@ -36,6 +36,7 @@ Rectangle { @@ -36,6 +36,7 @@ Rectangle {
property real _idealWidth: (ScreenTools.isMobile ? ScreenTools.minTouchPixels : ScreenTools.defaultFontPixelWidth * 8) + toolStripColumn.anchors.margins * 2
signal clicked(int index, bool checked)
signal dropped(int index)
function setChecked(idx, check) {
repeater.itemAt(idx).checked = check
@ -88,6 +89,7 @@ Rectangle { @@ -88,6 +89,7 @@ Rectangle {
} else if (checked) {
var panelEdgeTopPoint = mapToItem(_root, width, 0)
dropPanel.show(panelEdgeTopPoint, height, modelData.dropPanelComponent)
_root.dropped(index)
}
if(_root && buttonTemplate)
_root.lastClickedButton = buttonTemplate

Write Preview
Loading…
Cancel
Save