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多航线可以上下传和修改，目前采用每次切换都要下载的方式

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This commit is contained in:
hm
2022-04-10 12:04:50 +08:00
parent a96c7d143e
commit 3f84a2441f
11 changed files with 193 additions and 42 deletions
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App/MissionUI/propertyui.cpp
+8 -7
View File
@@ -116,6 +116,7 @@ propertyui::propertyui(QWidget *parent) :
//ui->pushButton_2->hide();
ui->pushButton_Group->setText("1");
m_mission_type = 3;
emit WPGroup(m_mission_type);
//载入json
@@ -192,7 +193,7 @@ void propertyui::rebuildUI(QString CMD)
//重新载入UI
ui->pushButton_Group->setText(QString::number(m_mission_type));
//ui->pushButton_Group->setText(QString::number(m_mission_type - 2));
ui->pushButton_Seq->setText(QString::number(m_seq));
ui->label_Descript->setText(description());
@@ -604,9 +605,9 @@ void propertyui::WayPointPropertyUpdate(bool flag)
//设置missiontype
m_mission_type = ui->pushButton_Group->text().toInt() + 2;
missionGroups = ui->pushButton_Group->text().toInt() + 2;
qDebug() << "m_misstiontype" << m_mission_type;
qDebug() << "m_misstiontype" << missionGroups;
//设置高度
m_z = ui->pushButton_Alt->text().toDouble();
@@ -1915,13 +1916,13 @@ void propertyui::on_pushButton_Save_clicked()
void propertyui::on_pushButton_Upload_clicked()
{
emit WPGroup(m_mission_type);
//emit WPGroup(missionGroups);
emit WPUpload();
}
void propertyui::on_pushButton_Download_clicked()
{
emit WPGroup(m_mission_type);
//emit WPGroup(missionGroups);
emit WPDownload();
}
@@ -1955,7 +1956,7 @@ void propertyui::setGroup(QVariant value)
//然后重置一下参数
WayPointPropertyUpdate(false);
emit WPGroup(m_mission_type);
emit WPGroup(missionGroups);
}
@@ -1971,7 +1972,7 @@ void propertyui::on_pushButton_Group_clicked()
list.append("3");
list.append("4");
selector->setList(list,ui->pushButton_friendlyName->text());
selector->setList(list,ui->pushButton_Group->text());
connect(selector,SIGNAL(confirmValue(QVariant)),
this,SLOT(setGroup(QVariant)));
App/MissionUI/propertyui.h
+2
View File
@@ -404,6 +404,8 @@ private:
QString param6_type = "QLineEdit";
QString param7_type = "QLineEdit";
int missionGroups = 3;
QMap<int,QVector<QString>> allPoint;//所有航点
App/mainwindow.cpp
+34
View File
@@ -243,6 +243,13 @@ MainWindow::MainWindow(QWidget *parent)
connect(map,SIGNAL(TotalDistanceUpdate(double)),
this,SLOT(TotalDistance(double)));
connect(this,SIGNAL(currentGroup(int)),
map,SLOT(groupchanged(int))),
//tools ----- map
connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)));
@@ -381,6 +388,8 @@ MainWindow::MainWindow(QWidget *parent)
connect(map,SIGNAL(allPoint(QMap<int,int>)),
missionUI,SLOT(setallPoint(QMap<int,int>)));
@@ -804,6 +813,7 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
commandUI->show();
//statusui->show();
healthui->show();
}
else
{
@@ -835,6 +845,14 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
statusui->hide();
healthui->show();
}
//发生界面切换，检查一下航线
qDebug() << "zubie" << map->currentGroup << group;
if(map->currentGroup != group)
{
emit currentGroup(group + 2);
}
}
else
{
@@ -1574,6 +1592,22 @@ void MainWindow::updateUI()//事件驱动式更新数据
healthui->setValueState(35,getBit(enable,7)?(tr("安控区内")):(tr("安控区外")));//sel
//get 9-10
//得到航线组数，数据为1，2，3，4
group = (int)(getBit(enable,11) << 2) | (int)(getBit(enable,10) << 1) | (int)(getBit(enable,9));
if(group_old != group)//有变化的时候就发出去
{
emit currentGroup(group + 2);
//qDebug() << "group change" << group;
showMessage(tr("mission group has changed, current group is %1").arg(group));
}
group_old = group;
}
App/mainwindow.h
+4
View File
@@ -117,6 +117,10 @@ signals:
protected:
int group_old;
int group;
int MainIndex = 0;
Config *config = nullptr;
MavLinkNode/missionprocess.cpp
+27 -11
View File
@@ -59,7 +59,7 @@ void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,int m_group)
mission_status.m_Mode = RecieveMode;//接收模式
mission_status.recieve.group = m_group;
qDebug() << "read mission" << sysid << compid;
qDebug() << "read mission" << sysid << compid << m_group;
}
}
@@ -73,7 +73,7 @@ void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count
mission_status.transmit.group = m_group;
mission_status.m_Mode = TransmitMode;//发送模式
qDebug() << "write mission" << sysid << compid;
qDebug() << "write mission" << m_sysid << m_compid << m_group;
}
}
@@ -125,8 +125,8 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
items.insert(item.seq,item);
/*
/*
foreach (mapcontrol::WayPointItem::_property item, items) {
qDebug() << "Mission Thread: transmit seq"
<< item.seq
@@ -147,8 +147,8 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
<< item.autocontinue
<< item.mission_type;
}
*/
*/
}
@@ -171,7 +171,7 @@ void MissionProcess::Parse(mavlink_message_t msg)
case MAVLINK_MSG_ID_MISSION_REQUEST_INT: {
mavlink_msg_mission_request_int_decode(&msg,&mission_request_int);
qDebug() << "recieve mission_request_int ";
qDebug() << "recieve mission_request_int " << "mision type" << mission_request_int.mission_type;
mission_item_int.seq ++;
emit sendItemOK(mission_item_int.seq,true);
@@ -180,7 +180,7 @@ void MissionProcess::Parse(mavlink_message_t msg)
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_msg_mission_request_decode(&msg,&mission_request);
qDebug() << "recieve mission_request ";
qDebug() << "recieve mission_request " << "mission type" << mission_request.mission_type;
mission_item_int.seq ++;
@@ -209,6 +209,8 @@ void MissionProcess::Parse(mavlink_message_t msg)
mission_item_int.autocontinue,
mission_item_int.mission_type);
qDebug() << "recieve mission type" << mission_item_int.mission_type;
mission_status.recieve.isWaitingforItem = false;//已经收到航点，不用再等待
}break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
@@ -283,10 +285,23 @@ void MissionProcess::ReadStateMachine(void)
qDebug() << "mission count reccieved";
timeout_count = 0;
request_int(0,mission_status.recieve.group);//读取0点
time = QTime::currentTime().msecsSinceStartOfDay();
mission_status.recieve.isWaitingforItem = true;
step ++;
if(mission_count.count > 0)
{
request_int(0,mission_status.recieve.group);//读取0点
time = QTime::currentTime().msecsSinceStartOfDay();
mission_status.recieve.isWaitingforItem = true;
step ++;
qDebug() << "group" << mission_status.recieve.group;
}
else
{
step = 0;
mission_status.m_Mode = Nop_Mode;//切换到什么都不做
timeout_count = 0;
qDebug() << "no mission to read";
emit showMessage(tr("this mission group is empty"));
}
}
}
@@ -468,7 +483,8 @@ void MissionProcess::WriteStateMachine(void)
<< i.x
<< i.y
<< i.z
<< i.seq;
<< i.seq
<< i.mission_type;
bin/Config/config.json
+1 -1
View File
@@ -56,7 +56,7 @@
"Beep": true
},
"commandfile": {
"path": "D:/2_Work/13_KB3/gcs_nf/bin/commands/KB3_FlightCommand(FCmode_gz)210722.json"
"path": "D:/2_Work/13_KB3/gcs_nf/bin/commands/KB3_FlightCommand(FCmode_gz)_20220409_hm.json"
},
"数据链": {
"auto": true,
bin/include/opmapwidget.h
+6 -1
View File
@@ -397,6 +397,8 @@ public:
int currentGroup = 0;//编辑情况
int currentMissionType = 0;
QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
void SetShowUAV(bool const & value);
bool ShowUAV() const
@@ -459,7 +461,7 @@ public:
}
QMap<int,WayPointItem *> waypointgroups;
private:
internals::Core *core;
@@ -630,6 +632,9 @@ signals:
public slots:
void groupchanged(int value);
void find_PointNumber();
void updateMessage(void);
bin/maps/Data.qmdb
BIN
View File
Binary file not shown.
opmap/mapwidget/opmapwidget.cpp
+103 -19
View File
@@ -804,6 +804,7 @@ WayPointItem *OPMapWidget::WPCreate()
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
return item;
@@ -814,12 +815,14 @@ WayPointItem *OPMapWidget::magicWPCreate()
item->SetShowNumber(false);
item->setParentItem(map);
item->SetMissionType(currentGroup);
return item;
}
void OPMapWidget::WPCreate(WayPointItem *item)
{
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
@@ -830,6 +833,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
@@ -841,6 +845,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
@@ -852,6 +857,7 @@ WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, co
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
@@ -917,6 +923,7 @@ void OPMapWidget::WPInsert()
ConnectWP(item);
item->SetNumber(position);
item->setParentItem(map);
item->SetMissionType(currentGroup);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
@@ -988,6 +995,7 @@ void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
}
@@ -998,6 +1006,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
return item;
@@ -1017,6 +1026,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
if (reloc) {
emit WPValuesChanged(item);
@@ -1031,6 +1041,7 @@ WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QStrin
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
return item;
@@ -2000,23 +2011,6 @@ void OPMapWidget::WPUpload(void)
}
}
/*
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
l->setVisible(false);
}
}
*/
//qDebug() << "WPUpload" << list.size();
if(list.size() <= 0)
{
emit showMessage("请先载入任务航线");
@@ -2046,17 +2040,107 @@ void OPMapWidget::WPUpload(void)
}
}
void OPMapWidget::groupchanged(int value)
{
//如果当前是在飞行界面，那么就下载，否则不动
if(isWPCreate == true)//编辑界面
{
}
else//飞行界面
{
WPDeleteAll();
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
emit signal_WPDownload(sysid,compid,value);
}
}
}
}
update();
}
void OPMapWidget::WPGroup(int value)
{
currentGroup = value;
qDebug() << "group" << value;
qDebug() << "group checkout" << value;
//切换当前航线，显示当前航线，其他都隐藏，或者高亮当前
//切换当前航线，其他都隐藏，或者高亮当前
/*
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() != currentGroup)
{
w->setVisible(false);
}
else
{
w->setVisible(true);
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
if(l->MissionType() != currentGroup)
{
l->setVisible(false);
}
}
}
*/
//按照当前的组生成新的航点和航线
/*
WPDeleteAll();
QMap<int,WayPointItem *> group;
group = waypointgroups.value(currentGroup);
*/
WPDeleteAll();
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
emit signal_WPDownload(sysid,compid,currentGroup);
}
}
}
update();
}
opmap/mapwidget/opmapwidget.h
+6 -1
View File
@@ -397,6 +397,8 @@ public:
int currentGroup = 0;//编辑情况
int currentMissionType = 0;
QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
void SetShowUAV(bool const & value);
bool ShowUAV() const
@@ -459,7 +461,7 @@ public:
}
QMap<int,WayPointItem *> waypointgroups;
private:
internals::Core *core;
@@ -630,6 +632,9 @@ signals:
public slots:
void groupchanged(int value);
void find_PointNumber();
void updateMessage(void);
opmap/mapwidget/waypointitem.cpp
+2 -2
View File
@@ -774,14 +774,14 @@ void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
property.y = lng * 10e6;
property.z = alt;
property.seq = seq;
property.group = 0;
property.group = 3;
property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
property.target_system = 0;
property.target_component = 0;
property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
property.current = 0;
property.autocontinue = true;
property.mission_type = 0;
property.mission_type = 3;
if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
{