/**
* @brief ModelUavoProxy::modelToObjects Cast from the internal representation of a path
* to the UAV objects required to represent it
* @return true if all wp were sent ok
*/
bool ModelUavoProxy::modelToObjects()
{
Waypoint *wp = Waypoint::GetInstance(objManager,0);
Q_ASSERT(wp);
if (wp == NULL)
return false;
// Make sure the object is acked
UAVObject::Metadata initialMeta = wp->getMetadata();
UAVObject::Metadata meta = initialMeta;
UAVObject::SetFlightTelemetryAcked(meta, true);
wp->setMetadata(meta);
double homeLLA[3];
double NED[3];
double LLA[3];
getHomeLocation(homeLLA);
bool newInstance;
// Get the number of existing waypoints
int instances = Waypoint::getNumInstances(objManager);
int x;
// Figure out the total amount of work to do.
int progressMax = myModel->rowCount();
if (instances > progressMax) {
progressMax = instances;
}
for(x=0; x<myModel->rowCount(); x++)
{
newInstance = false;
Waypoint *wp = NULL; // Shadows above wp
// Create new instances of waypoints if this is more than exist
if(x >= instances)
{
newInstance = true;
wp=new Waypoint;
wp->initialize(x,wp->getMetaObject());
objManager->registerObject(wp);
}
else
{
wp=Waypoint::GetInstance(objManager,x);
}
Q_ASSERT(wp);
Waypoint::DataFields waypoint = wp->getData();
// Convert from LLA to NED for sending to the model
LLA[0] = myModel->data(myModel->index(x,FlightDataModel::LATPOSITION)).toDouble();
LLA[1] = myModel->data(myModel->index(x,FlightDataModel::LNGPOSITION)).toDouble();
LLA[2] = myModel->data(myModel->index(x,FlightDataModel::ALTITUDE)).toDouble();
Utils::CoordinateConversions().LLA2NED_HomeLLA(LLA, homeLLA, NED);
// Fetch the data from the internal model
waypoint.Velocity=myModel->data(myModel->index(x,FlightDataModel::VELOCITY)).toFloat();
waypoint.Position[Waypoint::POSITION_NORTH] = NED[0];
waypoint.Position[Waypoint::POSITION_EAST] = NED[1];
waypoint.Position[Waypoint::POSITION_DOWN] = NED[2];
waypoint.Mode = myModel->data(myModel->index(x,FlightDataModel::MODE), Qt::UserRole).toInt();
waypoint.ModeParameters = myModel->data(myModel->index(x,FlightDataModel::MODE_PARAMS)).toFloat();
if (robustUpdate(waypoint, x)) {
qDebug() << "Successfully updated";
emit sendPathPlanToUavProgress(100 * (x + 1) / progressMax);
} else {
qDebug() << "Upload failed";
emit sendPathPlanToUavProgress(100 * (x + 1) / progressMax);
return false;
}
if(newInstance)
{
QEventLoop m_eventloop;
QTimer::singleShot(800, &m_eventloop, SLOT(quit()));
m_eventloop.exec();
}
}
/* Continue iterating over any instance indices that aren't needed to
* represent our model, and mark them invalid. */
for (; x < instances; x++) {
Waypoint *wp = Waypoint::GetInstance(objManager, x);
// shadows wp above
Waypoint::DataFields waypoint = wp->getData();
waypoint.Mode = Waypoint::MODE_INVALID;
if (robustUpdate(waypoint, x)) {
qDebug() << "Successfully updated";
emit sendPathPlanToUavProgress(100 * (x + 1) / progressMax);
} else {
qDebug() << "Upload failed";
emit sendPathPlanToUavProgress(100 * (x + 1) / progressMax);
return false;
}
}
wp->setMetadata(initialMeta);
return true;
}
/**
* @brief ModelUavoProxy::modelToObjects Cast from the internal representation of a path
* to the UAV objects required to represent it
*/
void ModelUavoProxy::modelToObjects()
{
Waypoint *wp = Waypoint::GetInstance(objManager,0);
Q_ASSERT(wp);
if (wp == NULL)
return;
// Make sure the object is acked
UAVObject::Metadata initialMeta = wp->getMetadata();
UAVObject::Metadata meta = initialMeta;
UAVObject::SetFlightTelemetryAcked(meta, true);
wp->setMetadata(meta);
double homeLLA[3];
double NED[3];
double LLA[3];
getHomeLocation(homeLLA);
for(int x=0;x<myModel->rowCount();++x)
{
Waypoint *wp = NULL;
// Get the number of existing waypoints
int instances=objManager->getNumInstances(Waypoint::OBJID);
// Create new instances of waypoints if this is more than exist
if(x>instances-1)
{
wp=new Waypoint;
wp->initialize(x,wp->getMetaObject());
objManager->registerObject(wp);
}
else
{
wp=Waypoint::GetInstance(objManager,x);
}
Q_ASSERT(wp);
Waypoint::DataFields waypoint = wp->getData();
// Convert from LLA to NED for sending to the model
LLA[0] = myModel->data(myModel->index(x,FlightDataModel::LATPOSITION)).toDouble();
LLA[1] = myModel->data(myModel->index(x,FlightDataModel::LNGPOSITION)).toDouble();
LLA[2] = myModel->data(myModel->index(x,FlightDataModel::ALTITUDE)).toDouble();
Utils::CoordinateConversions().LLA2NED_HomeLLA(LLA, homeLLA, NED);
// Fetch the data from the internal model
waypoint.Velocity=myModel->data(myModel->index(x,FlightDataModel::VELOCITY)).toFloat();
waypoint.Position[Waypoint::POSITION_NORTH] = NED[0];
waypoint.Position[Waypoint::POSITION_EAST] = NED[1];
waypoint.Position[Waypoint::POSITION_DOWN] = NED[2];
waypoint.Mode = myModel->data(myModel->index(x,FlightDataModel::MODE), Qt::UserRole).toInt();
waypoint.ModeParameters = myModel->data(myModel->index(x,FlightDataModel::MODE_PARAMS)).toFloat();
if (robustUpdate(waypoint, x))
qDebug() << "Successfully updated";
else {
qDebug() << "Upload failed";
break;
}
}
wp->setMetadata(initialMeta);
}
