rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-06 21:54:15 +01:00
Code Issues Releases Activity

GCS - OPMapLib - data model cleaning

Browse Source
This commit is contained in:
PT_Dreamer 2012-06-20 15:00:15 +01:00
parent 1299bbda93
commit b8b46e90a3
5 changed files with 151 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

61
ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
View File

@ -11,25 +11,39 @@ int flightDataModel::rowCount(const QModelIndex &/*parent*/) const
return dataStorage.length(); return dataStorage.length();
} }
int flightDataModel::columnCount(const QModelIndex &/*parent*/) const int flightDataModel::columnCount(const QModelIndex &parent) const
{ {
return 22; if (parent.isValid())
return 0;
return 23;
} }
QVariant flightDataModel::data(const QModelIndex &index, int role) const QVariant flightDataModel::data(const QModelIndex &index, int role) const
{ {
if (role == Qt::DisplayRole||role==Qt::EditRole) if (role == Qt::DisplayRole||role==Qt::EditRole)
{ {
int rowNumber=index.row(); int rowNumber=index.row();
int columnNumber=index.column(); int columnNumber=index.column();
if(rowNumber>dataStorage.length()-1 || rowNumber<0) if(rowNumber>dataStorage.length()-1 || rowNumber<0)
return QVariant(); return QVariant::Invalid;
pathPlanData * myRow=dataStorage.at(rowNumber); pathPlanData * myRow=dataStorage.at(rowNumber);
QVariant ret=getColumnByIndex(myRow,columnNumber); QVariant ret=getColumnByIndex(myRow,columnNumber);
return ret; return ret;
} }
return QVariant(); /*
else if (role == Qt::BackgroundRole) {
// WaypointActive::DataFields waypointActive = waypointActiveObj->getData();
if(index.row() == waypointActive.Index) {
return QBrush(Qt::lightGray);
} else
return QVariant::Invalid;
}*/
else {
return QVariant::Invalid;
}
} }
bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const QVariant value) bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const QVariant value)
{ {
switch(index) switch(index)
@ -54,6 +68,10 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const
row->beaRelative=value.toDouble(); row->beaRelative=value.toDouble();
return true; return true;
break; break;
case ALTITUDERELATIVE:
row->altitudeRelative=value.toFloat();
return true;
break;
case ISRELATIVE: case ISRELATIVE:
row->isRelative=value.toDouble(); row->isRelative=value.toDouble();
return true; return true;
@ -144,6 +162,9 @@ QVariant flightDataModel::getColumnByIndex(const pathPlanData *row,const int ind
case BEARELATIVE: case BEARELATIVE:
return row->beaRelative; return row->beaRelative;
break; break;
case ALTITUDERELATIVE:
return row->altitudeRelative;
break;
case ISRELATIVE: case ISRELATIVE:
return row->isRelative; return row->isRelative;
break; break;
@ -222,6 +243,9 @@ QVariant flightDataModel::headerData(int section, Qt::Orientation orientation, i
case BEARELATIVE: case BEARELATIVE:
return QString("Bearing from home"); return QString("Bearing from home");
break; break;
case ALTITUDERELATIVE:
return QString("Altitude above home");
break;
case ISRELATIVE: case ISRELATIVE:
return QString("Relative to home"); return QString("Relative to home");
break; break;
@ -279,13 +303,13 @@ QVariant flightDataModel::headerData(int section, Qt::Orientation orientation, i
} }
} }
} }
return QVariant(); else
return QAbstractTableModel::headerData(section, orientation, role);
} }
bool flightDataModel::setData(const QModelIndex &index, const QVariant &value, int role) bool flightDataModel::setData(const QModelIndex &index, const QVariant &value, int role)
{ {
if (role == Qt::EditRole) if (role == Qt::EditRole)
{ {
//save value from editor to member m_gridData
int columnIndex=index.column(); int columnIndex=index.column();
int rowIndex=index.row(); int rowIndex=index.row();
if(rowIndex>dataStorage.length()-1) if(rowIndex>dataStorage.length()-1)
@ -293,7 +317,6 @@ bool flightDataModel::setData(const QModelIndex &index, const QVariant &value, i
pathPlanData * myRow=dataStorage.at(rowIndex); pathPlanData * myRow=dataStorage.at(rowIndex);
setColumnByIndex(myRow,columnIndex,value); setColumnByIndex(myRow,columnIndex,value);
emit dataChanged(index,index); emit dataChanged(index,index);
//for presentation purposes only: build and emit a joined string
} }
return true; return true;
} }
@ -314,6 +337,7 @@ bool flightDataModel::insertRows(int row, int count, const QModelIndex &/*parent
data->lngPosition=0; data->lngPosition=0;
data->disRelative=0; data->disRelative=0;
data->beaRelative=0; data->beaRelative=0;
data->altitudeRelative=0;
data->isRelative=0; data->isRelative=0;
data->altitude=0; data->altitude=0;
data->velocity=0; data->velocity=0;
@ -392,6 +416,11 @@ bool flightDataModel::writeToFile(QString fileName)
field.setAttribute("name","bearing_from_home"); field.setAttribute("name","bearing_from_home");
waypoint.appendChild(field); waypoint.appendChild(field);
field=doc.createElement("field");
field.setAttribute("value",obj->altitudeRelative);
field.setAttribute("name","altitude_above_home");
waypoint.appendChild(field);
field=doc.createElement("field"); field=doc.createElement("field");
field.setAttribute("value",obj->isRelative); field.setAttribute("value",obj->isRelative);
field.setAttribute("name","is_relative_to_home"); field.setAttribute("name","is_relative_to_home");
@ -534,6 +563,8 @@ void flightDataModel::readFromFile(QString fileName)
data->disRelative=field.attribute("value").toDouble(); data->disRelative=field.attribute("value").toDouble();
else if(field.attribute("name")=="bearing_from_home") else if(field.attribute("name")=="bearing_from_home")
data->beaRelative=field.attribute("value").toDouble(); data->beaRelative=field.attribute("value").toDouble();
else if(field.attribute("name")=="altitude_above_home")
data->altitudeRelative=field.attribute("value").toFloat();
else if(field.attribute("name")=="is_relative_to_home") else if(field.attribute("name")=="is_relative_to_home")
data->isRelative=field.attribute("value").toInt(); data->isRelative=field.attribute("value").toInt();
else if(field.attribute("name")=="altitude") else if(field.attribute("name")=="altitude")

3
ground/openpilotgcs/src/plugins/opmap/flightdatamodel.h
View File

@ -10,6 +10,7 @@ struct pathPlanData
double lngPosition; double lngPosition;
double disRelative; double disRelative;
double beaRelative; double beaRelative;
double altitudeRelative;
bool isRelative; bool isRelative;
double altitude; double altitude;
float velocity; float velocity;
@ -29,7 +30,7 @@ class flightDataModel:public QAbstractTableModel
public: public:
enum pathPlanDataEnum enum pathPlanDataEnum
{ {
WPDESCRITPTION,LATPOSITION,LNGPOSITION,DISRELATIVE,BEARELATIVE,ISRELATIVE,ALTITUDE, WPDESCRITPTION,LATPOSITION,LNGPOSITION,DISRELATIVE,BEARELATIVE,ALTITUDERELATIVE,ISRELATIVE,ALTITUDE,
VELOCITY,MODE,MODE_PARAMS0,MODE_PARAMS1,MODE_PARAMS2,MODE_PARAMS3, VELOCITY,MODE,MODE_PARAMS0,MODE_PARAMS1,MODE_PARAMS2,MODE_PARAMS3,
CONDITION,CONDITION_PARAMS0,CONDITION_PARAMS1,CONDITION_PARAMS2,CONDITION_PARAMS3, CONDITION,CONDITION_PARAMS0,CONDITION_PARAMS1,CONDITION_PARAMS2,CONDITION_PARAMS3,
COMMAND,JUMPDESTINATION,ERRORDESTINATION,LOCKED COMMAND,JUMPDESTINATION,ERRORDESTINATION,LOCKED

48
ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -59,6 +59,8 @@ void modelMapProxy::on_WPValuesChanged(WayPointItem * wp)
model->setData(index,wp->getRelativeCoord().distance,Qt::EditRole); model->setData(index,wp->getRelativeCoord().distance,Qt::EditRole);
index=model->index(wp->Number(),flightDataModel::BEARELATIVE); index=model->index(wp->Number(),flightDataModel::BEARELATIVE);
model->setData(index,wp->getRelativeCoord().bearingToDegrees(),Qt::EditRole); model->setData(index,wp->getRelativeCoord().bearingToDegrees(),Qt::EditRole);
index=model->index(wp->Number(),flightDataModel::ALTITUDERELATIVE);
model->setData(index,wp->getRelativeCoord().altitudeRelative,Qt::EditRole);
} }
void modelMapProxy::on_currentRowChanged(QModelIndex current, QModelIndex previous) void modelMapProxy::on_currentRowChanged(QModelIndex current, QModelIndex previous)
@ -125,20 +127,8 @@ void modelMapProxy::createOverlay(WayPointItem *from, WayPointItem *to, modelMap
} }
} }
/*
typedef enum { MODE_FLYENDPOINT=0, MODE_FLYVECTOR=1, MODE_FLYCIRCLERIGHT=2, MODE_FLYCIRCLELEFT=3,
MODE_DRIVEENDPOINT=4, MODE_DRIVEVECTOR=5, MODE_DRIVECIRCLELEFT=6, MODE_DRIVECIRCLERIGHT=7,
MODE_FIXEDATTITUDE=8, MODE_SETACCESSORY=9, MODE_DISARMALARM=10 } ModeOptions;
typedef enum { ENDCONDITION_NONE=0, ENDCONDITION_TIMEOUT=1, ENDCONDITION_DISTANCETOTARGET=2,
ENDCONDITION_LEGREMAINING=3, ENDCONDITION_ABOVEALTITUDE=4, ENDCONDITION_POINTINGTOWARDSNEXT=5,
ENDCONDITION_PYTHONSCRIPT=6, ENDCONDITION_IMMEDIATE=7 } EndConditionOptions;
typedef enum { COMMAND_ONCONDITIONNEXTWAYPOINT=0, COMMAND_ONNOTCONDITIONNEXTWAYPOINT=1,
COMMAND_ONCONDITIONJUMPWAYPOINT=2, COMMAND_ONNOTCONDITIONJUMPWAYPOINT=3,
COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT=4 } CommandOptions;
*/
void modelMapProxy::refreshOverlays() void modelMapProxy::refreshOverlays()
{ {
qDebug()<<"REFRESH OVERLAYS START";
myMap->deleteAllOverlays(); myMap->deleteAllOverlays();
WayPointItem * wp_current=NULL; WayPointItem * wp_current=NULL;
WayPointItem * wp_next=NULL; WayPointItem * wp_next=NULL;
@ -149,7 +139,6 @@ void modelMapProxy::refreshOverlays()
overlayType wp_error_overlay; overlayType wp_error_overlay;
for(int x=0;x<model->rowCount();++x) for(int x=0;x<model->rowCount();++x)
{ {
qDebug()<<"REFRESH OVERLAYS WP:"<<x;
wp_current=findWayPointNumber(x); wp_current=findWayPointNumber(x);
wp_jump=model->data(model->index(x,flightDataModel::JUMPDESTINATION)).toInt(); wp_jump=model->data(model->index(x,flightDataModel::JUMPDESTINATION)).toInt();
wp_error=model->data(model->index(x,flightDataModel::ERRORDESTINATION)).toInt(); wp_error=model->data(model->index(x,flightDataModel::ERRORDESTINATION)).toInt();
@ -162,50 +151,35 @@ void modelMapProxy::refreshOverlays()
case ComboBoxDelegate::COMMAND_ONCONDITIONNEXTWAYPOINT: case ComboBoxDelegate::COMMAND_ONCONDITIONNEXTWAYPOINT:
wp_next=findWayPointNumber(x+1); wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green); createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI0";
break; break;
case ComboBoxDelegate::COMMAND_ONCONDITIONJUMPWAYPOINT: case ComboBoxDelegate::COMMAND_ONCONDITIONJUMPWAYPOINT:
wp_next=findWayPointNumber(wp_jump); wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green); createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI1";
break; break;
case ComboBoxDelegate::COMMAND_ONNOTCONDITIONJUMPWAYPOINT: case ComboBoxDelegate::COMMAND_ONNOTCONDITIONJUMPWAYPOINT:
wp_next=findWayPointNumber(wp_jump); wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::yellow); createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::yellow);
qDebug()<<"REFRESH OVERLAYS"<<"AKI2";
break; break;
case ComboBoxDelegate::COMMAND_ONNOTCONDITIONNEXTWAYPOINT: case ComboBoxDelegate::COMMAND_ONNOTCONDITIONNEXTWAYPOINT:
wp_next=findWayPointNumber(x+1); wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::yellow); createOverlay(wp_current,wp_next,wp_next_overlay,Qt::yellow);
qDebug()<<"REFRESH OVERLAYS"<<"AKI3";
break; break;
case ComboBoxDelegate::COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT: case ComboBoxDelegate::COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT:
wp_next=findWayPointNumber(wp_jump); wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green); createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green);
wp_next=findWayPointNumber(x+1); wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green); createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI4";
break; break;
} }
} }
} }
WayPointItem * modelMapProxy::findWayPointNumber(int number) WayPointItem * modelMapProxy::findWayPointNumber(int number)
{ {
if(number<0) if(number<0)
return NULL; return NULL;
return myMap->WPFind(number); return myMap->WPFind(number);
} }
/*
WPDESCRITPTION,LATPOSITION,LNGPOSITION,DISRELATIVE,BEARELATIVE,ISRELATIVE,ALTITUDE,
VELOCITY,MODE,MODE_PARAMS0,MODE_PARAMS1,MODE_PARAMS2,MODE_PARAMS3,
CONDITION,CONDITION_PARAMS0,CONDITION_PARAMS1,CONDITION_PARAMS2,CONDITION_PARAMS3,
COMMAND,JUMPDESTINATION,ERRORDESTINATION
*/
void modelMapProxy::on_rowsRemoved(const QModelIndex &parent, int first, int last) void modelMapProxy::on_rowsRemoved(const QModelIndex &parent, int first, int last)
{ {
@ -225,7 +199,7 @@ void modelMapProxy::on_dataChanged(const QModelIndex &topLeft, const QModelIndex
return; return;
internals::PointLatLng latlng; internals::PointLatLng latlng;
int x=topLeft.row(); int x=topLeft.row();
distBearing distBearing; distBearingAltitude distBearing;
double altitude; double altitude;
bool relative; bool relative;
QModelIndex index; QModelIndex index;
@ -266,7 +240,11 @@ void modelMapProxy::on_dataChanged(const QModelIndex &topLeft, const QModelIndex
index=model->index(x,flightDataModel::DISRELATIVE); index=model->index(x,flightDataModel::DISRELATIVE);
distBearing.distance=index.data(Qt::DisplayRole).toDouble(); distBearing.distance=index.data(Qt::DisplayRole).toDouble();
break; break;
case flightDataModel::ALTITUDERELATIVE:
distBearing=item->getRelativeCoord();
index=model->index(x,flightDataModel::ALTITUDERELATIVE);
distBearing.altitudeRelative=index.data(Qt::DisplayRole).toFloat();
break;
case flightDataModel::ISRELATIVE: case flightDataModel::ISRELATIVE:
index=model->index(x,flightDataModel::ISRELATIVE); index=model->index(x,flightDataModel::ISRELATIVE);
relative=index.data(Qt::DisplayRole).toBool(); relative=index.data(Qt::DisplayRole).toBool();
@ -293,7 +271,7 @@ void modelMapProxy::on_rowsInserted(const QModelIndex &parent, int first, int la
QModelIndex index; QModelIndex index;
WayPointItem * item; WayPointItem * item;
internals::PointLatLng latlng; internals::PointLatLng latlng;
distBearing distBearing; distBearingAltitude distBearing;
double altitude; double altitude;
bool relative; bool relative;
index=model->index(x,flightDataModel::WPDESCRITPTION); index=model->index(x,flightDataModel::WPDESCRITPTION);
@ -306,14 +284,16 @@ void modelMapProxy::on_rowsInserted(const QModelIndex &parent, int first, int la
distBearing.distance=index.data(Qt::DisplayRole).toDouble(); distBearing.distance=index.data(Qt::DisplayRole).toDouble();
index=model->index(x,flightDataModel::BEARELATIVE); index=model->index(x,flightDataModel::BEARELATIVE);
distBearing.setBearingFromDegrees(index.data(Qt::DisplayRole).toDouble()); distBearing.setBearingFromDegrees(index.data(Qt::DisplayRole).toDouble());
index=model->index(x,flightDataModel::ALTITUDERELATIVE);
distBearing.altitudeRelative=index.data(Qt::DisplayRole).toFloat();
index=model->index(x,flightDataModel::ISRELATIVE); index=model->index(x,flightDataModel::ISRELATIVE);
relative=index.data(Qt::DisplayRole).toBool(); relative=index.data(Qt::DisplayRole).toBool();
index=model->index(x,flightDataModel::ALTITUDE); index=model->index(x,flightDataModel::ALTITUDE);
altitude=index.data(Qt::DisplayRole).toDouble(); altitude=index.data(Qt::DisplayRole).toDouble();
item=myMap->WPInsert(latlng,altitude,desc,x);
item->setRelativeCoord(distBearing);
if(relative) if(relative)
item->setWPType(mapcontrol::WayPointItem::relative); item=myMap->WPInsert(distBearing,desc,x);
else
item=myMap->WPInsert(latlng,altitude,desc,x);
} }
refreshOverlays(); refreshOverlays();
} }

85
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
View File

@ -1,4 +1,87 @@
#include "modeluavoproxy.h" #include "modeluavoproxy.h"
modelUavoProxy::modelUavoProxy(QObject *parent,flightDataModel * model) #include "extensionsystem/pluginmanager.h"
modelUavoProxy::modelUavoProxy(QObject *parent,flightDataModel * model):QObject(parent),myModel(model)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm != NULL);
objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager != NULL);
waypointObj = Waypoint::GetInstance(objManager);
Q_ASSERT(waypointObj != NULL);
pathactionObj=PathAction::GetInstance(objManager);
Q_ASSERT(pathactionObj != NULL);
}
/*WPDESCRITPTION,LATPOSITION,LNGPOSITION,DISRELATIVE,BEARELATIVE,ISRELATIVE,ALTITUDE,
VELOCITY,MODE,MODE_PARAMS0,MODE_PARAMS1,MODE_PARAMS2,MODE_PARAMS3,
CONDITION,CONDITION_PARAMS0,CONDITION_PARAMS1,CONDITION_PARAMS2,CONDITION_PARAMS3,
COMMAND,JUMPDESTINATION,ERRORDESTINATION,LOCKED
*/
void modelUavoProxy::modelToObjects()
{
PathAction * act;
act=new PathAction;
Waypoint * wp;
wp=new Waypoint;
Q_ASSERT(act);
Q_ASSERT(wp);
Waypoint::DataFields waypoint = wp->getData();
PathAction::DataFields action = act->getData();
QModelIndex index;
double distance;
double bearing;
double altitude;
float velocity;
int mode;
int mode_param[4];
int condition;
int cond_param[4];
int command;
int jump;
int error;
for(int x=0;x<myModel->rowCount();++x)
{
index=myModel->index(x,flightDataModel::DISRELATIVE);
distance=myModel->data(index).toDouble();
index=myModel->index(x,flightDataModel::BEARELATIVE);
bearing=myModel->data(index).toDouble();
index=myModel->index(x,flightDataModel::VELOCITY);
velocity=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::MODE);
mode=myModel->data(index).toInt();
index=myModel->index(x,flightDataModel::MODE_PARAMS0);
mode_param[0]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::MODE_PARAMS1);
mode_param[1]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::MODE_PARAMS2);
mode_param[2]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::MODE_PARAMS3);
mode_param[3]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::CONDITION);
condition=myModel->data(index).toInt();
index=myModel->index(x,flightDataModel::CONDITION_PARAMS0);
cond_param[0]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::CONDITION_PARAMS1);
cond_param[1]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::CONDITION_PARAMS2);
cond_param[2]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::CONDITION_PARAMS3);
cond_param[3]=myModel->data(index).toFloat();
index=myModel->index(x,flightDataModel::COMMAND);
command=myModel->data(index).toInt();
index=myModel->index(x,flightDataModel::JUMPDESTINATION);
jump=myModel->data(index).toInt();
index=myModel->index(x,flightDataModel::ERRORDESTINATION);
error=myModel->data(index).toInt();
}
}
void modelUavoProxy::objectsToModel()
{ {
} }

6
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
View File

@ -14,7 +14,11 @@ public:
public slots: public slots:
void modelToObjects(); void modelToObjects();
void objectsToModel(); void objectsToModel();
private:
UAVObjectManager *objManager;
Waypoint * waypointObj;
PathAction * pathactionObj;
flightDataModel * myModel;
}; };
#endif // MODELUAVOPROXY_H #endif // MODELUAVOPROXY_H