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Code Issues Releases Activity

OP-1122 OP-1120 Added a new FligthPlanInfo uavobject

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- FligthPlanInfo contains the number of waypoints and action pathes
- FligthPlanInfo contains a CRC of all waypoints and action pathes
- The CRC is not yet implemented
- These informations will be used to check the consistency of a flight plan
This commit is contained in:
Philippe Renon 2014-01-09 00:09:51 +01:00
parent 339e69f25d
commit 8c7792b6e5
6 changed files with 111 additions and 47 deletions
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2
flight/modules/PathPlanner/pathplanner.c
View File

@ -31,6 +31,7 @@
#include "openpilot.h"
#include "flightplaninfo.h"
#include "flightstatus.h"
#include "airspeedstate.h"
#include "pathaction.h"
@ -99,6 +100,7 @@ int32_t PathPlannerInitialize()
{
taskHandle = NULL;
FlightPlanInfoInitialize();
PathActionInitialize();
PathStatusInitialize();
PathDesiredInitialize();

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -43,6 +43,7 @@ UAVOBJSRCFILENAMES += debuglogentry
UAVOBJSRCFILENAMES += flightbatterysettings
UAVOBJSRCFILENAMES += firmwareiapobj
UAVOBJSRCFILENAMES += flightbatterystate
UAVOBJSRCFILENAMES += flightplaninfo
UAVOBJSRCFILENAMES += flightplancontrol
UAVOBJSRCFILENAMES += flightplansettings
UAVOBJSRCFILENAMES += flightplanstatus

127
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
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@ -26,6 +26,7 @@
*/
#include "modeluavoproxy.h"
#include "extensionsystem/pluginmanager.h"
#include <math.h>
ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObject(parent), myModel(model)
@ -33,28 +34,32 @@ ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObjec
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm != NULL);
objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager != NULL);
objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr != NULL);
}
void ModelUavoProxy::sendFlightPlan()
{
modelToObjects();
Waypoint *waypoint = Waypoint::GetInstance(objManager, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanSent(UAVObject *, bool)));
FlightPlanInfo *flightPlan = FlightPlanInfo::GetInstance(objMngr, 0);
connect(flightPlan, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementSent(UAVObject *, bool)));
PathAction *action = PathAction::GetInstance(objManager, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanSent(UAVObject *, bool)));
Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementSent(UAVObject *, bool)));
PathAction *action = PathAction::GetInstance(objMngr, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementSent(UAVObject *, bool)));
completionCount = 0;
completionSuccessCount = 0;
flightPlan->updated();
waypoint->updatedAll();
action->updatedAll();
}
void ModelUavoProxy::flightPlanSent(UAVObject *obj, bool success)
void ModelUavoProxy::flightPlanElementSent(UAVObject *obj, bool success)
{
obj->disconnect(this);
@ -63,9 +68,9 @@ void ModelUavoProxy::flightPlanSent(UAVObject *obj, bool success)
completionSuccessCount++;
}
if (completionCount == 2) {
qDebug() << "ModelUavoProxy::flightPlanSent - success" << (completionSuccessCount == 2);
if (completionSuccessCount == 2) {
if (completionCount == 3) {
qDebug() << "ModelUavoProxy::flightPlanSent - completed" << (completionSuccessCount == 3);
if (completionSuccessCount == 3) {
QMessageBox::information(NULL, tr("Flight Plan Upload Successful"), tr("Flight plan upload was successful."));
}
else {
@ -76,20 +81,24 @@ void ModelUavoProxy::flightPlanSent(UAVObject *obj, bool success)
void ModelUavoProxy::receiveFlightPlan()
{
Waypoint *waypoint = Waypoint::GetInstance(objManager, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanReceived(UAVObject *, bool)));
FlightPlanInfo *flightPlan = FlightPlanInfo::GetInstance(objMngr, 0);
connect(flightPlan, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementReceived(UAVObject *, bool)));
PathAction *action = PathAction::GetInstance(objManager, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanReceived(UAVObject *, bool)));
Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementReceived(UAVObject *, bool)));
PathAction *action = PathAction::GetInstance(objMngr, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(flightPlanElementReceived(UAVObject *, bool)));
completionCount = 0;
completionSuccessCount = 0;
flightPlan->requestUpdate();
waypoint->requestUpdateAll();
action->requestUpdateAll();
}
void ModelUavoProxy::flightPlanReceived(UAVObject *obj, bool success)
void ModelUavoProxy::flightPlanElementReceived(UAVObject *obj, bool success)
{
obj->disconnect(this);
@ -98,9 +107,9 @@ void ModelUavoProxy::flightPlanReceived(UAVObject *obj, bool success)
completionSuccessCount++;
}
if (completionCount == 2) {
qDebug() << "ModelUavoProxy::flightPlanReceived - success" << (completionSuccessCount == 2);
if (completionSuccessCount == 2) {
if (completionCount == 3) {
qDebug() << "ModelUavoProxy::flightPlanReceived - completed" << (completionSuccessCount == 3);
if (completionSuccessCount == 3) {
objectsToModel();
QMessageBox::information(NULL, tr("Flight Plan Download Successful"), tr("Flight plan download was successful."));
}
@ -110,23 +119,26 @@ void ModelUavoProxy::flightPlanReceived(UAVObject *obj, bool success)
}
}
// update waypoint and path actions UAV objects
//
// waypoints are unique and each waypoint has an entry in the UAV waypoint list
//
// a path action can be referenced by multiple waypoints
// waypoints reference path action by their index in the UAV path action list
// the compression of path actions happens here.
// (compression consists in keeping only one instance of similar path actions)
//
// the UAV waypoint list and path action list are probably not empty, so we try to reuse existing instances
void ModelUavoProxy::modelToObjects()
{
qDebug() << "ModelUAVProxy::modelToObjects";
// update waypoint and path actions UAV objects
// waypoints are unique and each waypoint has an entry in the UAV waypoint list
// a path action can be referenced by multiple waypoints
// waypoints reference path action by their index in the UAV path action list
// the factoring of path actions (to remove duplicates) happens here...
// the UAV waypoint list and path action list are probably not empty
// so we try to reuse existing instances
// track number of path actions
int actionCount = 0;
// iterate over waypoints
for (int i = 0; i < myModel->rowCount(); ++i) {
int waypointCount = myModel->rowCount();
for (int i = 0; i < waypointCount; ++i) {
// Path Actions
@ -174,15 +186,38 @@ void ModelUavoProxy::modelToObjects()
// update UAVObject
waypoint->setData(waypointData);
}
// Put "safe" values in unused waypoint objects
if (waypointCount < objMngr->getNumInstances(Waypoint::OBJID)) {
for (int i = waypointCount; i < objMngr->getNumInstances(Waypoint::OBJID); ++i) {
// TODO
}
}
// Put "safe" values in unused path action objects
if (actionCount < objMngr->getNumInstances(PathAction::OBJID)) {
for (int i = actionCount; i < objMngr->getNumInstances(PathAction::OBJID); ++i) {
// TODO
}
}
// Update FlightPlanInfo
FlightPlanInfo *flightPlan = FlightPlanInfo::GetInstance(objMngr);
FlightPlanInfo::DataFields flightPlanData = flightPlan->getData();
flightPlanData.WaypointCount = waypointCount;
flightPlanData.PathActionCount = actionCount;
// TODO
flightPlanData.Crc = 0;
flightPlan->setData(flightPlanData);
}
Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint) {
Waypoint *waypoint = NULL;
int count = objManager->getNumInstances(Waypoint::OBJID);
int count = objMngr->getNumInstances(Waypoint::OBJID);
if (index < count) {
// reuse object
qDebug() << "ModelUAVProxy::createWaypoint - reused waypoint instance :" << index << "/" << count;
waypoint = Waypoint::GetInstance(objManager, index);
waypoint = Waypoint::GetInstance(objMngr, index);
if (newWaypoint) {
newWaypoint->deleteLater();
}
@ -192,7 +227,7 @@ Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint) {
// TODO is there a limit to the number of wp?
waypoint = newWaypoint ? newWaypoint : new Waypoint;
waypoint->initialize(index, waypoint->getMetaObject());
objManager->registerObject(waypoint);
objMngr->registerObject(waypoint);
}
else {
// we can only create the "next" object
@ -203,11 +238,11 @@ Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint) {
PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction) {
PathAction *action = NULL;
int count = objManager->getNumInstances(PathAction::OBJID);
int count = objMngr->getNumInstances(PathAction::OBJID);
if (index < count) {
// reuse object
qDebug() << "ModelUAVProxy::createPathAction - reused action instance :" << index << "/" << count;
action = PathAction::GetInstance(objManager, index);
action = PathAction::GetInstance(objMngr, index);
if (newAction) {
newAction->deleteLater();
}
@ -217,7 +252,7 @@ PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction) {
// TODO is there a limit to the number of path actions?
action = newAction ? newAction : new PathAction;
action->initialize(index, action->getMetaObject());
objManager->registerObject(action);
objMngr->registerObject(action);
}
else {
// we can only create the "next" object
@ -227,10 +262,10 @@ PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction) {
}
PathAction *ModelUavoProxy::findPathAction(const PathAction::DataFields &actionData, int actionCount) {
int instancesCount = objManager->getNumInstances(PathAction::OBJID);
int instancesCount = objMngr->getNumInstances(PathAction::OBJID);
int count = actionCount <= instancesCount ? actionCount : instancesCount;
for (int i = 0; i < count; ++i) {
PathAction *action = PathAction::GetInstance(objManager, i);
PathAction *action = PathAction::GetInstance(objMngr, i);
Q_ASSERT(action);
if (!action) {
continue;
@ -258,18 +293,24 @@ void ModelUavoProxy::objectsToModel()
// the list of objects can end with "garbage" instances due to previous flightpath
// they need to be ignored
int instanceCount = objManager->getNumInstances(Waypoint::OBJID);
FlightPlanInfo *flightPlan = FlightPlanInfo::GetInstance(objMngr);
FlightPlanInfo::DataFields flightPlanData = flightPlan->getData();
int waypointCount = flightPlanData.WaypointCount;
// TODO consistency checks
// objMngr->getNumInstances(Waypoint::OBJID);
int rowCount = myModel->rowCount();
if (instanceCount < rowCount) {
myModel->removeRows(instanceCount, rowCount - instanceCount);
if (waypointCount < rowCount) {
myModel->removeRows(waypointCount, rowCount - waypointCount);
}
else if (instanceCount > rowCount) {
myModel->insertRows(rowCount, instanceCount - rowCount);
else if (waypointCount > rowCount) {
myModel->insertRows(rowCount, waypointCount - rowCount);
}
for (int i = 0; i < instanceCount; ++i) {
Waypoint *waypoint = Waypoint::GetInstance(objManager, i);
for (int i = 0; i < waypointCount; ++i) {
Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
Q_ASSERT(waypoint);
if (!waypoint) {
continue;
@ -278,7 +319,7 @@ void ModelUavoProxy::objectsToModel()
Waypoint::DataFields waypointData = waypoint->getData();
waypointToModel(i, waypointData);
PathAction *action = PathAction::GetInstance(objManager, waypoint->getAction());
PathAction *action = PathAction::GetInstance(objMngr, waypoint->getAction());
Q_ASSERT(action);
if (!action) {
continue;

12
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
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@ -27,11 +27,14 @@
#ifndef MODELUAVOPROXY_H
#define MODELUAVOPROXY_H
#include <QObject>
#include "flightdatamodel.h"
#include "flightplaninfo.h"
#include "pathaction.h"
#include "waypoint.h"
#include <QObject>
class ModelUavoProxy : public QObject {
Q_OBJECT
@ -43,8 +46,9 @@ public slots:
void receiveFlightPlan();
private:
UAVObjectManager *objManager;
UAVObjectManager *objMngr;
flightDataModel *myModel;
uint completionCount;
uint completionSuccessCount;
@ -63,8 +67,8 @@ private:
void pathActionToModel(int i, PathAction::DataFields &data);
private slots:
void flightPlanSent(UAVObject *, bool success);
void flightPlanReceived(UAVObject *, bool success);
void flightPlanElementSent(UAVObject *, bool success);
void flightPlanElementReceived(UAVObject *, bool success);
};

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -92,6 +92,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/i2cstats.h \
$$UAVOBJECT_SYNTHETICS/flightbatterysettings.h \
$$UAVOBJECT_SYNTHETICS/taskinfo.h \
$$UAVOBJECT_SYNTHETICS/flightplaninfo.h \
$$UAVOBJECT_SYNTHETICS/flightplanstatus.h \
$$UAVOBJECT_SYNTHETICS/flightplansettings.h \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.h \
@ -184,6 +185,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/i2cstats.cpp \
$$UAVOBJECT_SYNTHETICS/flightbatterysettings.cpp \
$$UAVOBJECT_SYNTHETICS/taskinfo.cpp \
$$UAVOBJECT_SYNTHETICS/flightplaninfo.cpp \
$$UAVOBJECT_SYNTHETICS/flightplanstatus.cpp \
$$UAVOBJECT_SYNTHETICS/flightplansettings.cpp \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.cpp \

14
shared/uavobjectdefinition/flightplaninfo.xml Normal file
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@ -0,0 +1,14 @@
<xml>
<object name="FlightPlanInfo" singleinstance="true" settings="false" category="Navigation">
<description>Flight plan informations</description>
<field name="WaypointCount" units="" type="uint16" elements="1" default="0" />
<field name="PathActionCount" units="" type="uint16" elements="1" default="0" />
<field name="Crc" units="" type="uint8" elements="1" default="0" />
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>