Don Gagne
9 years ago
committed by
GitHub
10 changed files with 237 additions and 96 deletions
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "PX4GeoFenceManager.h" |
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#include "Vehicle.h" |
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#include "FirmwarePlugin.h" |
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#include "ParameterLoader.h" |
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PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle) |
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: GeoFenceManager(vehicle) |
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, _firstParamLoadComplete(false) |
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, _circleRadiusFact(NULL) |
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{ |
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connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady, this, &PX4GeoFenceManager::_parametersReady); |
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} |
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PX4GeoFenceManager::~PX4GeoFenceManager() |
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{ |
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} |
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void PX4GeoFenceManager::_parametersReady(void) |
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{ |
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if (!_firstParamLoadComplete) { |
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_firstParamLoadComplete = true; |
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_circleRadiusFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST")); |
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connect(_circleRadiusFact, &Fact::rawValueChanged, this, &PX4GeoFenceManager::_circleRadiusRawValueChanged); |
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emit circleRadiusChanged(circleRadius()); |
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QStringList paramNames; |
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QStringList paramLabels; |
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paramNames << QStringLiteral("GF_ACTION") << QStringLiteral("GF_MAX_HOR_DIST") << QStringLiteral("GF_MAX_VER_DIST"); |
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paramLabels << QStringLiteral("Action:") << QStringLiteral("Radius:") << QStringLiteral("Max Altitude:"); |
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_params.clear(); |
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_paramLabels.clear(); |
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for (int i=0; i<paramNames.count(); i++) { |
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QString paramName = paramNames[i]; |
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if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) { |
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Fact* paramFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName); |
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_params << QVariant::fromValue(paramFact); |
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_paramLabels << paramLabels[i]; |
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} |
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} |
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emit paramsChanged(_params); |
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emit paramLabelsChanged(_paramLabels); |
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emit circleSupportedChanged(circleSupported()); |
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qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" << |
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fenceSupported() << circleSupported() << polygonSupported() << breachReturnSupported(); |
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} |
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} |
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float PX4GeoFenceManager::circleRadius(void) const |
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{ |
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if (_circleRadiusFact) { |
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return _circleRadiusFact->rawValue().toFloat(); |
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} else { |
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return 0.0; |
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} |
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} |
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void PX4GeoFenceManager::_circleRadiusRawValueChanged(QVariant value) |
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{ |
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emit circleRadiusChanged(value.toFloat()); |
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emit circleSupportedChanged(circleSupported()); |
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} |
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bool PX4GeoFenceManager::circleSupported(void) const |
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{ |
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if (_circleRadiusFact) { |
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return _circleRadiusFact->rawValue().toFloat() >= 0.0; |
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} |
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return false; |
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} |
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@ -0,0 +1,45 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#ifndef PX4GeoFenceManager_H |
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#define PX4GeoFenceManager_H |
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#include "GeoFenceManager.h" |
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#include "QGCMAVLink.h" |
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#include "FactSystem.h" |
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class PX4GeoFenceManager : public GeoFenceManager |
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{ |
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Q_OBJECT |
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public: |
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PX4GeoFenceManager(Vehicle* vehicle); |
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~PX4GeoFenceManager(); |
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// Overrides from GeoFenceManager
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bool fenceSupported (void) const final { return true; } |
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bool circleSupported (void) const final; |
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float circleRadius (void) const final; |
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QVariantList params (void) const final { return _params; } |
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QStringList paramLabels (void) const final { return _paramLabels; } |
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private slots: |
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void _circleRadiusRawValueChanged(QVariant value); |
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void _parametersReady(void); |
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private: |
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bool _firstParamLoadComplete; |
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QVariantList _params; |
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QStringList _paramLabels; |
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Fact* _circleRadiusFact; |
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}; |
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#endif |
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