Safehome : read

gulpfile.js

@@ -120,6 +120,8 @@ sources.js = [
     './js/appUpdater.js',
     './js/feature_framework.js',
     './js/defaults_dialog.js',
+    './js/safehomeCollection.js',
+    './js/safehome.js',
     './node_modules/openlayers/dist/ol.js'
 ];
 

js/fc.js

@@ -61,7 +61,7 @@ var CONFIG,
     OUTPUT_MAPPING,
     SETTINGS,
     BRAKING_CONFIG,
-    SAFEHOME;
+    SAFEHOMES;
 
 var FC = {
     MAX_SERVO_RATE: 125,
@@ -546,12 +546,15 @@ var FC = {
 
         SETTINGS = {};
         
-        SAFEHOME = {
+/*         SAFEHOME = {
+            bufferPoint : {
                 number: 0,
                 enabled: 0,
                 lon: 0,
                 lat: 0
-        };
+            }
+        }; */
+        SAFEHOMES = new SafehomeCollection();
     },
     getOutputUsages: function() {
         return {

js/msp/MSPCodes.js

@@ -217,6 +217,12 @@ var MSPCodes = {
 
     MSP2_INAV_OPFLOW_CALIBRATION:       0x2032,
     
+    MSP2_INAV_FWUPDT_PREPARE:           0x2033,
+    MSP2_INAV_FWUPDT_STORE:             0x2034,
+    MSP2_INAV_FWUPDT_EXEC:              0x2035,
+    MSP2_INAV_FWUPDT_ROLLBACK_PREPARE:  0x2036,
+    MSP2_INAV_FWUPDT_ROLLBACK_EXEC:     0x2037,
+    
     MSP2_INAV_SAFEHOME:                 0x2038,
     MSP2_INAV_SET_SAFEHOME:             0x2039
 };

js/msp/MSPHelper.js

@@ -440,6 +440,7 @@ var mspHelper = (function (gui) {
                 }
                 break;
             case MSPCodes.MSP_WP:
+                console.log("data : ",data);
                 MISSION_PLANER.bufferPoint.number = data.getUint8(0);
                 MISSION_PLANER.bufferPoint.action = data.getUint8(1);
                 MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
@@ -1461,13 +1462,21 @@ var mspHelper = (function (gui) {
                     SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
                 }
                 break;
+            /* case MSPCodes.MSP2_INAV_SAFEHOME:
+                SAFEHOME.bufferPoint.number = data.getUint8(0);
+                SAFEHOME.bufferPoint.enabled = data.getUint8(1);
+                SAFEHOME.bufferPoint.lon = data.getInt32(2, true);
+                SAFEHOME.bufferPoint.lat = data.getInt32(6, true);
+                break; */
             case MSPCodes.MSP2_INAV_SAFEHOME:
-                console.log(MSPCodes.MSP2_INAV_SAFEHOME);
-                SAFEHOME.number = data.getUint8(0);
-                SAFEHOME.enable = data.getUint8(1);
-                SAFEHOME.lon = data.getInt32(2);
-                SAFEHOME.lat = data.getInt32(3);
+                SAFEHOMES.put(new Safehome(
+                    data.getUint8(0),
+                    data.getUint8(1),
+                    data.getInt32(2, true) / 1e7,
+                    data.getInt32(6, true) / 1e7
+                ));
                 break;    
+            
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -2099,8 +2108,9 @@ var mspHelper = (function (gui) {
                 buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src);      // future: to set nav flag
                 break;
             case MSPCodes.MSP_WP:
-                console.log(MISSION_PLANER.bufferPoint.number);
+                console.log("MISSION_PLANER.bufferPoint.number : ",MISSION_PLANER.bufferPoint.number);
                 buffer.push(MISSION_PLANER.bufferPoint.number+1);
+                console.log("buffer ", buffer);
 
                 break;
             case MSPCodes.MSP_WP_MISSION_SAVE:
@@ -2144,8 +2154,12 @@ var mspHelper = (function (gui) {
                 buffer.push(BRAKING_CONFIG.bankAngle);
                 break;
                 
-            case MSPCodes.MSP2_INAV_SET_SAFEHOME:
+/*             case MSPCodes.MSP2_INAV_SAFEHOME:
+                console.log("SAFEHOME.bufferPoint.number : ",SAFEHOME.bufferPoint.number);
+                buffer.push(SAFEHOME.bufferPoint.number+1);
                 break;
+            case MSPCodes.MSP2_INAV_SET_SAFEHOME:
+                break; */
 
             default:
                 return false;
@@ -2914,6 +2928,26 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
     };
     
+/*     self.getSafehomeInfo = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, false, false, callback);
+    }; */
+    
+    self.loadSafehomes = function (callback) {
+        SAFEHOMES.flush();
+        let safehomeId = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
+        
+        function nextSafehome() {
+            safehomeId++;
+            if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, callback);
+            }
+        };
+    };
+
     self._getSetting = function (name) {
         if (SETTINGS[name]) {
             return Promise.resolve(SETTINGS[name]);

js/safeHome.js

@@ -0,0 +1,68 @@
+/*global $*/
+'use strict';
+
+let Safehome = function (number, enabled, lat, lon) {
+
+    var self = {};
+
+    self.getNumber = function () {
+        return number;
+    };
+
+    self.setNumber = function (data) {
+        number = data;
+    };
+
+    self.getLon = function () {
+        return lon;
+    };
+
+    self.setLon = function (data) {
+        lon = data;
+    };
+    
+    self.getLonToMap = function () {
+        return lon / 1e7;
+    };
+
+    self.setLonFromMap = function (data) {
+        lon = data * 1e7;
+    };
+
+    self.getLat = function () {
+        return lat;
+    };
+
+    self.setLat = function (data) {
+        lat = data;
+    };
+    
+     self.getLatToMap = function () {
+        return lat / 1e7;
+    };
+
+    self.setLatFromMap = function (data) {
+        lat = data * 1e7;
+    };
+
+    self.isUsed = function () {
+        return enabled == 1;
+    };
+    
+    self.getEnabled = function () {
+        return enabled;
+    };
+    
+    self.setEnabled = function (data) {
+        enabled = data;
+    };
+    
+    self.cleanup = function () {
+        number = 0;
+        enabled = 0;
+        lon = 0;
+        lat = 0;
+    };
+
+    return self;
+};

js/safehomeCollection.js

@@ -0,0 +1,86 @@
+/*global ServoMixRule*/
+'use strict';
+
+let SafehomeCollection = function () {
+
+    let self = {},
+        data = [],
+        maxSafehomeCount = 8;
+
+    self.setMaxSafehomeCount = function (value) {
+        maxSafehomeCount = value;
+    };
+
+    self.getMaxSafehomeCount = function () {
+        return maxSafehomeCount;
+    }
+
+    self.put = function (element) {
+        data.push(element);
+    };
+
+    self.get = function () {
+        return data;
+    };
+    
+    self.clean = function (index){
+        data[index].cleanup();
+    };
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.inflate = function () {
+        while (self.hasFreeSlots()) {
+            self.put(new Safehome(0, 0, 0, 0));
+        }
+    };
+
+    self.hasFreeSlots = function () {
+        return data.length < self.getMaxSafehomeCount();
+    };
+
+    self.isSafehomeConfigured = function(safehomeId) {
+
+        for (let safehomeIndex in data) {
+            if (data.hasOwnProperty(safehomeIndex)) {
+                let safehome = data[safehomeIndex];
+
+                if (safehome.getNumber() == safehomeId && safehome.isUsed()) {
+                    return true;
+                }
+            }
+        }
+        return false;
+    };
+
+    self.getNumberOfConfiguredSafehome = function () {
+        let count = 0;
+        for (let i = 0; i < self.getMaxSafehomeCount(); i ++) {
+            if (self.isSafehomeConfigured(i)) {
+                count++;
+            }
+        }
+        return count;
+    };
+
+    self.getUsedSafehomeIndexes = function () {
+        let out = [];
+
+        for (let safehomeIndex in data) {
+            if (data.hasOwnProperty(safehomeIndex)) {
+                let safehome = data[safehomeIndex];
+                out.push(safehome.getNumber());
+            }
+        }
+
+        let unique = [...new Set(out)];
+
+        return unique.sort(function(a, b) {
+            return a-b;
+        });
+    }
+
+    return self;
+};

src/css/tabs/mission_planer.css

@@ -236,29 +236,29 @@
     top: 100px;
 }
 
-.tab-mission-control .missionTable {
+.tab-mission-control .safehomesTable {
     width: 100%;
     text-align: center;
 }
 
-.tab-mission-control .missionTable thead {
+.tab-mission-control .safehomesTable thead {
     display: table-header-group !important;
 }
 
-.tab-mission-control .missionTable thead tr {
+.tab-mission-control .safehomesTable thead tr {
     border-left: 1px solid #e4e4e4;
     border-right: 1px solid #e4e4e4;
     background-color: #828885;
     color: #FFF;
 }
-.tab-mission-control .missionTable td,
-.tab-mission-control .missionTable th {
+.tab-mission-control .safehomesTable td,
+.tab-mission-control .safehomesTable th {
     padding: 2px;
     height: 2.5em;
 }
 
-.tab-mission-control .missionTable tr:nth-child(even) td,
-.tab-mission-control .missionTable tr:nth-child(even) th {
+.tab-mission-control .safehomesTable tr:nth-child(even) td,
+.tab-mission-control .safehomesTable tr:nth-child(even) th {
     background-color: #ebe7e7;
 }
 

tabs/mission_control.html

@@ -32,7 +32,7 @@
                     </div>
                     <div class="spacer">
                         <div>
-                        <table class="mixer-table logic__table">
+                        <table class="safehomesTable">
                             <thead>
                                 <tr>
                                     <th style="width: 50px" data-i18n="SafehomeSelected"></th>

tabs/mission_control.js

@@ -66,7 +66,8 @@ TABS.mission_control.initialize = function (callback) {
     if (CONFIGURATOR.connectionValid) {
         var loadChainer = new MSPChainerClass();
         loadChainer.setChain([
-            mspHelper.getMissionInfo
+            mspHelper.getMissionInfo,
+            mspHelper.loadSafehomes
         ]);
         loadChainer.setExitPoint(loadHtml);
         loadChainer.execute();
@@ -93,6 +94,10 @@ TABS.mission_control.initialize = function (callback) {
             isOffline = true;
         }
         
+        $safehomesTable = $('.safehomesTable');
+        $safehomesTableBody = $safehomesTable.find('tbody');
+        
+
         if (typeof require !== "undefined") {
             loadSettings();
             // let the dom load finish, avoiding the resizing of the map
@@ -327,6 +332,7 @@ TABS.mission_control.initialize = function (callback) {
     var pointForSend = 0;
     var actionPointForSend = 0;
     var settings = { speed: 0, alt: 5000};
+    var safehomeFromBuffer = [];
     
     /////////////////////////////////////////////
     // Reinit Form
@@ -380,14 +386,64 @@ TABS.mission_control.initialize = function (callback) {
     /////////////////////////////////////////////
     // Manage Safehome
     /////////////////////////////////////////////    
-    function getSafeHomePointFromFC() {
-        console.log("Test");
+    function renderSafehomesTable() {
+        /*
+         * Process safehome table UI
+         */
+        let safehomes = SAFEHOMES.get();
+        $safehomesTableBody.find("*").remove();
+        for (let safehomeIndex in safehomes) {
+            if (safehomes.hasOwnProperty(safehomeIndex)) {
+                const safehome = safehomes[safehomeIndex];
+                console.log(safehome.getEnabled());
+
+                $safehomesTableBody.append('\
+                    <tr>\
+                    <td><input type="checkbox" class="toggle safehome-view-value"/></td> \
+                    <td><span class="safehome-number"/></td>\
+                    <td class="safehome-enabled"><input type="checkbox" class="toggle safehome-enabled-value"/></td> \
+                    <td><input type="number" class="safehome-lon" step="1e-7"/></td>\
+                    <td><input type="number" class="safehome-lat" step="1e-7"/></td>\
+                    </tr>\
+                ');
+
+                const $row = $safehomesTableBody.find('tr:last');
+                
+/*                 $row.find(".safehome-view-value").prop('checked',true)).change(function () {
+                    
+                }); */
+                
+                $row.find(".safehome-number").text(safehome.getNumber()+1);
+
+                $row.find(".safehome-enabled-value").prop('checked',safehome.isUsed()).change(function () {
+                    safehome.setEnabled($(this).val());
+                });
+
+                $row.find(".safehome-lon").val(safehome.getLon()).change(function () {
+                    safehome.setLon($(this).val());
+                });
+                
+                $row.find(".safehome-lat").val(safehome.getLat()).change(function () {
+                    safehome.setLat($(this).val());
+                });
+
+                $row.find("[data-role='role-servo-delete']").attr("data-index", safehomeIndex);
+            }
+        }
+        GUI.switchery();
+        localize();
     }
     
-    function loadSafehome() {
-        MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, false, false, getSafeHomePointFromFC);
-    }
     
+    function renderSafehomesOnMap(safehomes) {
+        /*
+         * Process safehome on Map
+         */
+        safehomes.get().forEach(function (safehome) {
+            console.log(safehome.getNumber());
+            map.addLayer(addSafeHomeMarker(safehome));
+        });
+    }
     /////////////////////////////////////////////
     // Manage Plotting functions
     /////////////////////////////////////////////
@@ -411,7 +467,7 @@ TABS.mission_control.initialize = function (callback) {
         $('#missionDistance').text(0);
 
         map.getLayers().forEach(function (t) {
-            if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined') {
+            if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined' && t.kind == "marker") {
                 var geometry = t.getSource().getFeatures()[0].getGeometry();
                 var action = t.action;
                 var markerNumber = t.number;
@@ -548,7 +604,7 @@ TABS.mission_control.initialize = function (callback) {
             population: 4000,
             rainfall: 500
         });
-
+        console.log(_pos);
         iconFeature.setStyle(getPointIcon(_action, false, String(markers.length)));
 
         var vectorSource = new ol.source.Vector({
@@ -559,6 +615,7 @@ TABS.mission_control.initialize = function (callback) {
             source: vectorSource
         });
         
+        vectorLayer.kind = "marker";
         vectorLayer.alt = _alt;
         vectorLayer.number = markers.length;
         vectorLayer.action = _action;
@@ -572,6 +629,55 @@ TABS.mission_control.initialize = function (callback) {
         return vectorLayer;
     }
     
+    function getSafehomeIcon(safehome) {       
+        return new ol.style.Style({
+            image: new ol.style.Icon(({
+                anchor: [0.5, 1],
+                opacity: 1,
+                scale: 0.5,
+                src: '../images/icons/cf_icon_safehome' + (safehome.isUsed() ? '_used' : '')+ '.png'
+            })),
+            text: new ol.style.Text(({
+                text: String(Number(safehome.getNumber())+1),
+                font: '12px sans-serif',
+                offsetY: -15,
+                offsetX: -2,
+                fill: new ol.style.Fill({
+                    color: '#FFFFFF'
+                }),
+                stroke: new ol.style.Stroke({
+                    color: '#FFFFFF'
+                }),
+            }))
+        });
+    }
+    
+    function addSafeHomeMarker(safehome) {
+        
+        var coord = ol.proj.fromLonLat([safehome.getLon(), safehome.getLat()]);
+        console.log(coord);
+        var iconFeature = new ol.Feature({
+            geometry: new ol.geom.Point(coord),
+            name: 'Null Island',
+            population: 4000,
+            rainfall: 500
+        });
+
+        iconFeature.setStyle(getSafehomeIcon(safehome));
+
+        var vectorSource = new ol.source.Vector({
+            features: [iconFeature]
+        });
+
+        var vectorLayer = new ol.layer.Vector({
+            source: vectorSource
+        });
+
+        vectorLayer.kind = "safehome";
+        
+        return vectorLayer;
+    }
+    
     /////////////////////////////////////////////
     // Manage Map construction
     /////////////////////////////////////////////
@@ -671,7 +777,8 @@ TABS.mission_control.initialize = function (callback) {
             var handleShowSafehome = function () {
                 $('#MPeditPoint, #missionPlanerTotalInfo','#missionPlanerTemplate', '#missionPlanerSettings').hide();
                 $('#missionPlanerSafeHome').fadeIn(300);
-                loadSafehome();
+                renderSafehomesTable();
+                renderSafehomesOnMap(SAFEHOMES);
             };
 
             button.addEventListener('click', handleShowSafehome, false);
@@ -1098,6 +1205,17 @@ TABS.mission_control.initialize = function (callback) {
             closeSettingsPanel();
         });
         
+        $('#saveSafehome').on('click', function () {
+            //settings = { speed: $('#MPdefaultPointSpeed').val(), alt: $('#MPdefaultPointAlt').val() };
+            //saveSettings();
+            //closeSettingsPanel();
+        });
+
+        $('#cancelSafehome').on('click', function () {
+            loadSettings();
+            closeSettingsPanel();
+        });
+        
         
         // Add function to update parameter i field in the selected Edit WP Box
         $('#pointType').on('change', function () {