ground/gcs/src/plugins/opmap/pathcompiler.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pathcompiler.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup OPMapPlugin OpenPilot Map Plugin
   9  * @{
  10  * @brief The OpenPilot Map plugin
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27 #ifndef PATHCOMPILER_H
  28 #define PATHCOMPILER_H
  29
  30 #include <QObject>
  31 #include <uavobject.h>
  32 #include <uavobjectmanager.h>
  33 #include <waypoint.h>
  34
  35 // TODO: Make this a singleton class and separate from map library.  Not sure of the proper design pattern in Qt.
  36 // factory? static variables?
  37
  38 /**
  39  * This class is a two way adapter between a visualization of a path and the
  40  * UAVObject representation on the flight controller.  It also can support multiple
  41  * ways of converting a path from what the user clicked to the underlying representation
  42  * to achieve the desired end flight trajectory
  43  *
  44  * So the chain of data for the map lib is:
  45  *    FC <-> PathCompiler <-> OPMapGadget <-> OPMapLib
  46  *
  47  * The goal is that PathCompiler be as state free as is possible.  Eventually for more
  48  * complicated path compilation this will probably not be achievable.  That means it
  49  * should not cache a copy of waypoints locally if that can be avoided (i.e. it should
  50  * refer directly to what is stored on the FC).
  51  *
  52  * For the visualization to have the ability to manipulate the path though it needs to
  53  * be able to map unambiguously from the graphical items to the internal waypoints. It
  54  * must cache a lookup from the graphical item to the index from this tool.
  55  */
  56 class PathCompiler : public QObject {
  57     Q_OBJECT
  58 public:
  59     explicit PathCompiler(QObject *parent = 0);
  60
  61     // ! This method opens a dialog (if filename is null) and saves the path
  62     int savePath(QString filename = NULL);
  63
  64     // ! This method opens a dialog (if filename is null) and loads the path
  65     int loadPath(QString filename = NULL);
  66
  67     // ! Waypoint representation that is exchanged between visualization
  68     class waypoint {
  69 public:
  70         waypoint() {}
  71
  72         const bool operator==(const waypoint other)
  73         {
  74             return (other.latitude == latitude) && (other.longitude == longitude);
  75         }
  76
  77         double latitude;
  78         double longitude;
  79         double altitude;
  80     };
  81
  82 private:
  83     // ! Helper method to get uavobject manager
  84     UAVObjectManager *getObjectManager();
  85
  86     // ! Convert a UAVO waypoint to the local structure
  87     struct PathCompiler::waypoint UavoToInternal(Waypoint::DataFields);
  88
  89     // ! Convert a UAVO waypoint to the local structure
  90     Waypoint::DataFields InternalToUavo(waypoint);
  91
  92     QList <waypoint> previousWaypoints;
  93 signals:
  94     /**
  95      * Indicates something changed the waypoints and the map should
  96      * update the display
  97      */
  98     void visualizationChanged(QList<PathCompiler::waypoint>);
  99
 100 public slots:
 101     /**
 102      * These are slots that the visualization can call to manipulate the path.
 103      * It is an important design detail that the visualiation _not_ attempt to maintain
 104      * the list of waypoints itself.  This starts the slippery of moving the path logic
 105      * into the view.
 106      */
 107
 108     /**
 109      * Called when new instances are registered
 110      */
 111     void doNewInstance(UAVObject *);
 112
 113     /**
 114      * add a waypoint
 115      * @param waypoint the new waypoint to add
 116      * @param position which position to insert it to, defaults to end
 117      */
 118     void doAddWaypoint(waypoint, int position = -1);
 119
 120     /**
 121      * Update waypoint
 122      */
 123     void doUpdateWaypoints(PathCompiler::waypoint, int position);
 124
 125     /**
 126      * Delete a waypoint
 127      * @param index which waypoint to delete
 128      */
 129     void doDelWaypoint(int index);
 130
 131     /**
 132      * Delete all the waypoints
 133      */
 134     void doDelAllWaypoints();
 135
 136 public slots:
 137     /**
 138      * These are slots that the UAV can call to update the path.
 139      */
 140
 141     /**
 142      * When the UAV waypoints change trigger the pathcompiler to
 143      * get the latest version and then update the visualization
 144      */
 145     void doUpdateFromUAV(UAVObject *);
 146 };
 147
 148 #endif // PATHCOMPILER_H