From 33ee98333d73905a221fee4703b38efd248eb8fa Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 17 Nov 2016 09:32:07 -0800
Subject: [PATCH 1/3] Correct handling of fence visibility
---
src/FlightDisplay/FlightDisplayViewMap.qml | 8 +++++---
src/MissionEditor/MissionEditor.qml | 4 +++-
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index decd6d7..2d631ec 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -110,7 +110,8 @@ FlightMap {
MapPolygon {
border.color: "#80FF0000"
border.width: 3
- path: geoFenceController.polygonSupported ? geoFenceController.polygon.path : undefined
+ path: geoFenceController.polygon.path
+ visible: geoFenceController.fenceEnabled && geoFenceController.polygonSupported
}
// GeoFence circle
@@ -118,15 +119,16 @@ FlightMap {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
- radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
+ radius: (geoFenceController.fenceEnabled && geoFenceController.circleSupported) ? geoFenceController.circleRadius : 0
z: QGroundControl.zOrderMapItems
+ visible: geoFenceController.fenceEnabled && geoFenceController.circleSupported
}
// GeoFence breach return point
MapQuickItem {
anchorPoint: Qt.point(sourceItem.width / 2, sourceItem.height / 2)
coordinate: geoFenceController.breachReturnPoint
- visible: geoFenceController.breachReturnSupported
+ visible: geoFenceController.fenceEnabled && geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems
}
diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index 550cf24..007234b 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -786,8 +786,9 @@ QGCView {
MapPolygon {
border.color: "#80FF0000"
border.width: 3
- path: geoFenceController.polygonSupported ? geoFenceController.polygon.path : undefined
+ path: geoFenceController.polygon.path
z: QGroundControl.zOrderMapItems
+ visible: geoFenceController.polygonSupported
}
// GeoFence circle
@@ -797,6 +798,7 @@ QGCView {
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
z: QGroundControl.zOrderMapItems
+ visible: geoFenceController.circleSupported
}
// GeoFence breach return point
From 88e4692db8a8d4b829508f90744768689195f8b5 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 17 Nov 2016 09:33:01 -0800
Subject: [PATCH 2/3] Fix visible usage
Change in visibility was causing combo box contents to reset. Visible
goes to false even when you move away from Plan view, not just when the
combo is unused.
---
src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml b/src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml
index f0da718..480d321 100644
--- a/src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml
+++ b/src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml
@@ -43,6 +43,8 @@ Column {
width: editorColumn.width
height: textField.height
+ property bool showCombo: modelData.enumStrings.length > 0
+
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
@@ -55,7 +57,7 @@ Column {
width: _editFieldWidth
showUnits: true
fact: modelData
- visible: !comboField.visible
+ visible: !parent.showCombo
}
FactComboBox {
@@ -63,8 +65,8 @@ Column {
anchors.right: parent.right
width: _editFieldWidth
indexModel: false
- fact: visible ? modelData : _nullFact
- visible: modelData.enumStrings.length
+ fact: showCombo ? modelData : _nullFact
+ visible: parent.showCombo
property var _nullFact: Fact { }
}
From 18ea73bd1ecd23a7898bdafa7223bae155c30b1c Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 17 Nov 2016 09:33:21 -0800
Subject: [PATCH 3/3] Correct fence enabled handling
---
src/FirmwarePlugin/APM/APMGeoFenceManager.cc | 41 ++++++++++++++++++++--------
src/FirmwarePlugin/APM/APMGeoFenceManager.h | 2 ++
src/MissionManager/GeoFenceController.cc | 9 +++++-
src/MissionManager/GeoFenceController.h | 3 ++
src/MissionManager/GeoFenceManager.h | 2 ++
5 files changed, 44 insertions(+), 13 deletions(-)
diff --git a/src/FirmwarePlugin/APM/APMGeoFenceManager.cc b/src/FirmwarePlugin/APM/APMGeoFenceManager.cc
index 0590c11..a2562dd 100644
--- a/src/FirmwarePlugin/APM/APMGeoFenceManager.cc
+++ b/src/FirmwarePlugin/APM/APMGeoFenceManager.cc
@@ -14,9 +14,9 @@
#include "QGCApplication.h"
#include "ParameterManager.h"
-const char* APMGeoFenceManager::_fenceTotalParam = "FENCE_TOTAL";
-const char* APMGeoFenceManager::_fenceActionParam = "FENCE_ACTION";
-const char* APMGeoFenceManager::_fenceEnableParam = "FENCE_ENABLE";
+const char* APMGeoFenceManager::_fenceTotalParam = "FENCE_TOTAL";
+const char* APMGeoFenceManager::_fenceActionParam = "FENCE_ACTION";
+const char* APMGeoFenceManager::_fenceEnableParam = "FENCE_ENABLE";
APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
@@ -73,13 +73,6 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
_breachReturnPoint = breachReturn;
_polygon = polygon;
- // First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air.
- // Unfortunately the param to do this with differs between plane and copter.
- const char* enableParam = _vehicle->fixedWing() ? _fenceActionParam : _fenceEnableParam;
- Fact* fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, enableParam);
- QVariant savedEnableState = fenceEnableFact->rawValue();
- fenceEnableFact->setRawValue(0);
-
// Total point count, +1 polygon close in last index, +1 for breach in index 0
_cWriteFencePoints = validatedPolygonCount ? validatedPolygonCount + 1 + 1 : 0;
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints);
@@ -89,8 +82,6 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
_sendFencePoint(index);
}
- fenceEnableFact->setRawValue(savedEnableState);
-
emit loadComplete(_breachReturnPoint, _polygon);
}
@@ -241,6 +232,28 @@ bool APMGeoFenceManager::_geoFenceSupported(void)
}
}
+bool APMGeoFenceManager::fenceEnabled(void) const
+{
+ if (qgcApp()->runningUnitTests()) {
+ return false;
+ }
+
+ if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceEnableParam)) {
+ bool fenceEnabled = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam)->rawValue().toBool();
+ qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE available" << fenceEnabled;
+ return fenceEnabled;
+ }
+
+ qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE not available";
+ return true;
+}
+
+void APMGeoFenceManager::_fenceEnabledRawValueChanged(QVariant value)
+{
+ qCDebug(GeoFenceManagerLog) << "FENCE_ENABLE changed" << value.toBool();
+ emit fenceEnabledChanged(!qgcApp()->runningUnitTests() && value.toBool());
+}
+
void APMGeoFenceManager::_updateSupportedFlags(void)
{
bool newCircleSupported = _fenceSupported && _vehicle->multiRotor() && _fenceTypeFact && (_fenceTypeFact->rawValue().toInt() & 2);
@@ -269,6 +282,10 @@ void APMGeoFenceManager::_parametersReady(void)
QStringList paramNames;
QStringList paramLabels;
+ if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceEnableParam)) {
+ connect(_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceEnableParam), &Fact::rawValueChanged, this, &APMGeoFenceManager::_fenceEnabledRawValueChanged);
+ }
+
if (_vehicle->multiRotor()) {
_fenceTypeFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
diff --git a/src/FirmwarePlugin/APM/APMGeoFenceManager.h b/src/FirmwarePlugin/APM/APMGeoFenceManager.h
index 33fe159..8002de6 100644
--- a/src/FirmwarePlugin/APM/APMGeoFenceManager.h
+++ b/src/FirmwarePlugin/APM/APMGeoFenceManager.h
@@ -27,6 +27,7 @@ public:
void loadFromVehicle (void) final;
void sendToVehicle (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon) final;
bool fenceSupported (void) const final { return _fenceSupported; }
+ bool fenceEnabled (void) const final;
bool circleSupported (void) const final;
bool polygonSupported (void) const final;
bool breachReturnSupported (void) const final { return _breachReturnSupported; }
@@ -40,6 +41,7 @@ private slots:
void _updateSupportedFlags(void);
void _circleRadiusRawValueChanged(QVariant value);
void _parametersReady(void);
+ void _fenceEnabledRawValueChanged(QVariant value);
private:
void _requestFencePoint(uint8_t pointIndex);
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
index 64d78bc..d331c40 100644
--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -63,6 +63,7 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn
void GeoFenceController::_signalAll(void)
{
emit fenceSupportedChanged(fenceSupported());
+ emit fenceEnabledChanged(fenceEnabled());
emit circleSupportedChanged(circleSupported());
emit polygonSupportedChanged(polygonSupported());
emit breachReturnSupportedChanged(breachReturnSupported());
@@ -82,9 +83,10 @@ void GeoFenceController::_activeVehicleBeingRemoved(void)
void GeoFenceController::_activeVehicleSet(void)
{
GeoFenceManager* geoFenceManager = _activeVehicle->geoFenceManager();
+ connect(geoFenceManager, &GeoFenceManager::fenceSupportedChanged, this, &GeoFenceController::fenceSupportedChanged);
+ connect(geoFenceManager, &GeoFenceManager::fenceEnabledChanged, this, &GeoFenceController::fenceEnabledChanged);
connect(geoFenceManager, &GeoFenceManager::circleSupportedChanged, this, &GeoFenceController::_setDirty);
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::_setDirty);
- connect(geoFenceManager, &GeoFenceManager::fenceSupportedChanged, this, &GeoFenceController::fenceSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::circleSupportedChanged, this, &GeoFenceController::circleSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::polygonSupportedChanged, this, &GeoFenceController::polygonSupportedChanged);
connect(geoFenceManager, &GeoFenceManager::breachReturnSupportedChanged, this, &GeoFenceController::breachReturnSupportedChanged);
@@ -375,6 +377,11 @@ bool GeoFenceController::fenceSupported(void) const
return _activeVehicle->geoFenceManager()->fenceSupported();
}
+bool GeoFenceController::fenceEnabled(void) const
+{
+ return _activeVehicle->geoFenceManager()->fenceEnabled();
+}
+
bool GeoFenceController::circleSupported(void) const
{
return _activeVehicle->geoFenceManager()->circleSupported();
diff --git a/src/MissionManager/GeoFenceController.h b/src/MissionManager/GeoFenceController.h
index 654b933..ae5b8c6 100644
--- a/src/MissionManager/GeoFenceController.h
+++ b/src/MissionManager/GeoFenceController.h
@@ -30,6 +30,7 @@ public:
~GeoFenceController();
Q_PROPERTY(bool fenceSupported READ fenceSupported NOTIFY fenceSupportedChanged)
+ Q_PROPERTY(bool fenceEnabled READ fenceEnabled NOTIFY fenceEnabledChanged)
Q_PROPERTY(bool circleSupported READ circleSupported NOTIFY circleSupportedChanged)
Q_PROPERTY(bool polygonSupported READ polygonSupported NOTIFY polygonSupportedChanged)
Q_PROPERTY(bool breachReturnSupported READ breachReturnSupported NOTIFY breachReturnSupportedChanged)
@@ -55,6 +56,7 @@ public:
QString fileExtension(void) const final;
bool fenceSupported (void) const;
+ bool fenceEnabled (void) const;
bool circleSupported (void) const;
bool polygonSupported (void) const;
bool breachReturnSupported (void) const;
@@ -69,6 +71,7 @@ public:
signals:
void fenceSupportedChanged (bool fenceSupported);
+ void fenceEnabledChanged (bool fenceEnabled);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool breachReturnSupported);
diff --git a/src/MissionManager/GeoFenceManager.h b/src/MissionManager/GeoFenceManager.h
index 20294ed..eb2e8f6 100644
--- a/src/MissionManager/GeoFenceManager.h
+++ b/src/MissionManager/GeoFenceManager.h
@@ -40,6 +40,7 @@ public:
// Support flags
virtual bool fenceSupported (void) const { return false; }
+ virtual bool fenceEnabled (void) const { return false; }
virtual bool circleSupported (void) const { return false; }
virtual bool polygonSupported (void) const { return false; }
virtual bool breachReturnSupported (void) const { return false; }
@@ -64,6 +65,7 @@ public:
signals:
void loadComplete (const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
void fenceSupportedChanged (bool fenceSupported);
+ void fenceEnabledChanged (bool fenceEnabled);
void circleSupportedChanged (bool circleSupported);
void polygonSupportedChanged (bool polygonSupported);
void breachReturnSupportedChanged (bool fenceSupported);