void sendPath(NODE *rgnNodes, int chNode){
if ((rgnNodes+chNode)->iPrev != NONE){
sendPath(rgnNodes, (rgnNodes+chNode)->iPrev);
}
resultSend[paths] = chNode+1;
paths++;
}
//! Start maneuver function
//! @param[in] maneuver rows maneuver message
void
start(const IMC::Rows* maneuver)
{
Memory::clear(m_parser);
m_parser = new Maneuvers::RowsStages(maneuver, m_task);
// Get it started
m_task->setControl(IMC::CL_PATH);
m_path.speed = maneuver->speed;
m_path.speed_units = maneuver->speed_units;
m_path.end_z = maneuver->z;
m_path.end_z_units = maneuver->z_units;
double lat;
double lon;
if (m_parser->getFirstPoint(&lat, &lon))
{
m_task->signalCompletion();
return;
}
sendPath(lat, lon);
}
void FileController::openFromPath(QString p) {
if(!p.isEmpty()) {
clear();
path = p;
file = new QFile(path);
if(file->open(QIODevice::ReadWrite)) {
copyDataFromFile();
}
emit opennedFile(src, line);
emit sendPath(path);
}
}
void FileController::openDialogEnable() {
QString pathTmp = QFileDialog::getOpenFileName(0, "Открыть файл...", "", "*.stur");
if(!pathTmp.isEmpty()) {
clear();
path = pathTmp;
file = new QFile(path);
if(file->open(QIODevice::ReadWrite)) {
copyDataFromFile();
}
emit opennedFile(src, line);
emit sendPath(path);
}
}
void sendResult(int myID,int chStart, int chEnd){
paths = 3;
int k;
for(k=0; k<33; k++)
resultSend[k] = 0;
resultSend[0] = chStart;
resultSend[1] = chEnd;
resultSend[2] = rgnNodes[myID][chEnd].iDist;
sendPath(rgnNodes[myID], chEnd);
Message msg;
msg.length = 33;
msg.msg[0] = -1;
for(k=0; k<33; k++)
msg.msg[k] = resultSend[k];
Send(&msg, print);
}
void FileController::saveDialogEnable() {
QFileDialog sDialog;
QString pathTmp = sDialog.getSaveFileName(0, tr("Сохранить файл как..."), "", tr("STuring files (*.stur)"));
if(!pathTmp.isEmpty()) {
lines.clear();
path = pathTmp;
emit saveFileSign();
file = new QFile(path);
QFileInfo info(*file);
if(info.suffix().isEmpty()) {
info.suffix() = ".stur";
}
file->open(QIODevice::ReadWrite);
emit sendPath(path);
}
}
//! On PathControlState message
//! @param[in] pcs pointer to PathControlState message
void
onPathControlState(const IMC::PathControlState* pcs)
{
std::stringstream ss;
ss << "waypoint=" << m_parser->getIndex();
m_task->signalProgress(pcs->eta, ss.str());
if (!(pcs->flags & IMC::PathControlState::FL_NEAR))
return;
double lat;
double lon;
if (m_parser->getNextPoint(&lat, &lon))
{
m_task->signalCompletion();
return;
}
sendPath(lat, lon);
}
void FileController::createNewFile() {
clear();
emit opennedFile(src, line);
emit sendPath("Новый");
}