#include <GeoFenceManager.h>

Inheritance diagram for GeoFenceManager:

Collaboration diagram for GeoFenceManager:

Public Types
enum	ErrorCode_t { InternalError , PolygonTooFewPoints , PolygonTooManyPoints , IncompletePolygonLoad , UnsupportedCommand , BadPolygonItemFormat , InvalidCircleRadius }
	Error codes returned in error signal. More...

Public Types inherited from PlanManager
enum	ErrorCode_t { InternalError , AckTimeoutError , ProtocolError , RequestRangeError , ItemMismatchError , VehicleAckError , MissingRequestsError , MaxRetryExceeded , MissionTypeMismatch }
	Error codes returned in error signal. More...

Signals
void	loadComplete (void)

void	inProgressChanged (bool inProgress)

void	error (int errorCode, const QString &errorMsg)

void	removeAllComplete (bool error)

void	sendComplete (bool error)

Signals inherited from PlanManager
void	newMissionItemsAvailable (bool removeAllRequested)

void	inProgressChanged (bool inProgress)

void	error (int errorCode, const QString &errorMsg)

void	currentIndexChanged (int currentIndex)

void	lastCurrentIndexChanged (int lastCurrentIndex)

void	progressPctChanged (double progressPercentPct)

void	removeAllComplete (bool error)

void	sendComplete (bool error)

void	resumeMissionReady (void)

void	resumeMissionUploadFail (void)

Public Member Functions
	GeoFenceManager (Vehicle *vehicle)

	~GeoFenceManager ()

bool	supported (void) const

void	sendToVehicle (const QGeoCoordinate &breachReturn, QmlObjectListModel &polygons, QmlObjectListModel &circles)
	Signals sendComplete when done.

void	removeAll (void)
	Signals removeAllComplete when done.

bool	polygonEnabled (void) const

const QList< QGCFencePolygon > &	polygons (void)

const QList< QGCFenceCircle > &	circles (void)

const QGeoCoordinate &	breachReturnPoint (void) const

Public Member Functions inherited from PlanManager
	PlanManager (Vehicle *vehicle, MAV_MISSION_TYPE planType)

	~PlanManager ()

bool	inProgress (void) const

const QList< MissionItem * > &	missionItems (void)

int	currentIndex (void) const
	Current mission item as reported by MISSION_CURRENT.

int	lastCurrentIndex (void) const
	Last current mission item reported while in Mission flight mode.

void	loadFromVehicle (void)

void	writeMissionItems (const QList< MissionItem * > &missionItems)

void	removeAll (void)

Additional Inherited Members
Static Public Attributes inherited from PlanManager
static constexpr int	_ackTimeoutMilliseconds = 1500

static constexpr int	_retryTimeoutMilliseconds = 250

static constexpr int	_maxRetryCount = 5

static constexpr int	kTestAckTimeoutMs = 50
	Ack timeout used in unit tests (much shorter for faster tests)

Protected Types inherited from PlanManager
enum	AckType_t { AckNone , AckMissionCount , AckMissionItem , AckMissionRequest , AckMissionClearAll , AckGuidedItem }

enum	TransactionType_t { TransactionNone , TransactionRead , TransactionWrite , TransactionRemoveAll }

Protected Member Functions inherited from PlanManager
void	_startAckTimeout (AckType_t ack)

bool	_checkForExpectedAck (AckType_t receivedAck)

void	_readTransactionComplete (void)

void	_handleMissionCount (const mavlink_message_t &message)

void	_handleMissionItem (const mavlink_message_t &message)

void	_handleMissionRequest (const mavlink_message_t &message)

void	_handleMissionAck (const mavlink_message_t &message)

void	_requestNextMissionItem (void)

void	_clearMissionItems (void)

void	_sendError (ErrorCode_t errorCode, const QString &errorMsg)

QString	_ackTypeToString (AckType_t ackType)

QString	_missionResultToString (MAV_MISSION_RESULT result)

void	_finishTransaction (bool success, bool apmGuidedItemWrite=false)

void	_requestList (void)
	Internal call to request list of mission items. May be called during a retry sequence.

void	_writeMissionCount (void)
	This begins the write sequence with the vehicle. This may be called during a retry.

void	_writeMissionItemsWorker (void)

void	_clearAndDeleteMissionItems (void)

void	_clearAndDeleteWriteMissionItems (void)

QString	_lastMissionReqestString (MAV_MISSION_RESULT result)

void	_removeAllWorker (void)

void	_connectToMavlink (void)

void	_disconnectFromMavlink (void)

QString	_planTypeString (void)

Protected Attributes inherited from PlanManager
Vehicle *	_vehicle = nullptr

MAV_MISSION_TYPE	_planType

QTimer *	_ackTimeoutTimer = nullptr

AckType_t	_expectedAck

int	_retryCount

TransactionType_t	_transactionInProgress

bool	_resumeMission

QList< int >	_itemIndicesToWrite
	List of mission items which still need to be written to vehicle.

QList< int >	_itemIndicesToRead
	List of mission items which still need to be requested from vehicle.

int	_lastMissionRequest
	Index of item last requested by MISSION_REQUEST.

int	_missionItemCountToRead
	Count of all mission items to read.

QList< MissionItem * >	_missionItems
	Set of mission items on vehicle.

QList< MissionItem * >	_writeMissionItems
	Set of mission items currently being written to vehicle.

int	_currentMissionIndex

int	_lastCurrentIndex

Detailed Description

This is the base class for firmware specific geofence managers. A geofence manager is responsible for communicating with the vehicle to set/get geofence settings.

Definition at line 18 of file GeoFenceManager.h.

Member Enumeration Documentation

◆ ErrorCode_t

enum GeoFenceManager::ErrorCode_t

Error codes returned in error signal.

Enumerator
InternalError
PolygonTooFewPoints	Too few points for valid fence polygon.
PolygonTooManyPoints	Too many points for valid fence polygon.
IncompletePolygonLoad	Incomplete polygon loaded.
UnsupportedCommand	Usupported command in mission type.
BadPolygonItemFormat	Error re-creating polygons from mission items.
InvalidCircleRadius

Definition at line 45 of file GeoFenceManager.h.

Constructor & Destructor Documentation

◆ GeoFenceManager()

GeoFenceManager::GeoFenceManager ( Vehicle * vehicle )

Definition at line 8 of file GeoFenceManager.cc.

References error(), PlanManager::error(), inProgressChanged(), PlanManager::inProgressChanged(), PlanManager::newMissionItemsAvailable(), removeAllComplete(), PlanManager::removeAllComplete(), and PlanManager::sendComplete().

◆ ~GeoFenceManager()

GeoFenceManager::~GeoFenceManager ( )

Definition at line 18 of file GeoFenceManager.cc.

Member Function Documentation

◆ breachReturnPoint()

const QGeoCoordinate & GeoFenceManager::breachReturnPoint ( void ) const

inline

Definition at line 42 of file GeoFenceManager.h.

◆ circles()

const QList< QGCFenceCircle > & GeoFenceManager::circles ( void )

inline

Definition at line 41 of file GeoFenceManager.h.

Referenced by sendToVehicle().

◆ error

void GeoFenceManager::error	(	int	errorCode,
		const QString &	errorMsg
	)

signal

Referenced by GeoFenceManager().

◆ inProgressChanged

void GeoFenceManager::inProgressChanged ( bool inProgress )

signal

Referenced by GeoFenceManager().

◆ loadComplete

void GeoFenceManager::loadComplete ( void )

signal

◆ polygonEnabled()

bool GeoFenceManager::polygonEnabled ( void ) const

inline

Returns true if polygon fence is currently enabled on this vehicle Signal: polygonEnabledChanged

Definition at line 38 of file GeoFenceManager.h.

◆ polygons()

const QList< QGCFencePolygon > & GeoFenceManager::polygons ( void )

inline

Definition at line 40 of file GeoFenceManager.h.

Referenced by sendToVehicle().

◆ removeAll()

void GeoFenceManager::removeAll ( void )

Signals removeAllComplete when done.

Definition at line 96 of file GeoFenceManager.cc.

References PlanManager::removeAll().

Referenced by GeoFenceController::removeAllFromVehicle().

◆ removeAllComplete

void GeoFenceManager::removeAllComplete ( bool error )

signal

Referenced by GeoFenceManager().

◆ sendComplete

void GeoFenceManager::sendComplete ( bool error )

signal

◆ sendToVehicle()

void GeoFenceManager::sendToVehicle	(	const QGeoCoordinate &	breachReturn,
		QmlObjectListModel &	polygons,
		QmlObjectListModel &	circles
	)

Signals sendComplete when done.

List of QGCFenceCircles

Parameters

breachReturn	Breach return point
polygons	List of QGCFencePolygons

Definition at line 23 of file GeoFenceManager.cc.

References QGCMapCircle::center(), circles(), QGCMapPolygon::count(), QGCFenceCircle::inclusion(), QGCFencePolygon::inclusion(), QGCMapPolygon::path(), polygons(), QGCMapCircle::radius(), and PlanManager::writeMissionItems().

Referenced by GeoFenceController::sendToVehicle().

◆ supported()

bool GeoFenceManager::supported ( void ) const

Definition at line 185 of file GeoFenceManager.cc.

References PlanManager::_vehicle, and Vehicle::capabilityBits().

The documentation for this class was generated from the following files:

src/MissionManager/GeoFenceManager.h
src/MissionManager/GeoFenceManager.cc

Public Types

Signals

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ErrorCode_t

Constructor & Destructor Documentation

◆ GeoFenceManager()

◆ ~GeoFenceManager()

Member Function Documentation

◆ breachReturnPoint()

◆ circles()

◆ error

◆ inProgressChanged

◆ loadComplete

◆ polygonEnabled()

◆ polygons()

◆ removeAll()

◆ removeAllComplete

◆ sendComplete

◆ sendToVehicle()

◆ supported()