Merge branch 'release/v1.0.4' into main

catec · Jul 5, 2023 · 0111454 · 0111454
2 parents 1fe3824 + 0c940e0
commit 0111454
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diff --git a/README.md b/README.md
@@ -78,7 +78,7 @@ cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
 
 * Via the default way of cmake creating a build folder:
 ```
-git clone https://github.com/fada-catec/piloting_grcs && cd piloting_gcs
+git clone https://github.com/fada-catec/piloting_grcs && cd piloting_grcs
 
 mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release
 

diff --git a/changelog.txt b/changelog.txt
@@ -1,3 +1,19 @@
+----------------------------------------------
+-- Changelog for version 1.0.4 (2023-07-05) --
+----------------------------------------------
+The changes of this version are small improvements after the release of the code and a the fix of a bug in the representation of the Inspection Areas.
+
+* In DDHL, new fields have been added in the Inspection Location properties to define the Inspection Plan orientation in the global 
+  reference frame: quatW, quatX, quatY and quatZ. These fields are read instead of the "repr" matrix to represent the Inspection Area.
+
+* When using "Ctrl + Arrows Keys" to edit a waypoint manually in route editing mode the last one was moved. Now the one that is selected 
+  in the gRCS is edited. 
+
+* Added server response to the logging message when POST call fails during post-mission data upload.
+
+----------------------------------------------------------------------------------------------------------------------------------------------
+----------------------------------------------------------------------------------------------------------------------------------------------
+
 ----------------------------------------------
 -- Changelog for version 1.0.3 (2023-05-21) --
 ----------------------------------------------

diff --git a/cmake_stuff/versions.cmake b/cmake_stuff/versions.cmake
@@ -1,4 +1,4 @@
-SET(VERSION "1.0.3")
+SET(VERSION "1.0.4")
 STRING(REGEX MATCHALL "[0-9]" VERSION_PARTS "${VERSION}")
 LIST(GET VERSION_PARTS 0 VERSION_MAJOR)
 LIST(GET VERSION_PARTS 1 VERSION_MINOR)

diff --git a/data/icons/cloud-icon.png b/data/icons/cloud-icon.png
diff --git a/data/icons/config-visualiz-icon-2.png b/data/icons/config-visualiz-icon-2.png
diff --git a/data/icons/config-visualiz-icon.png b/data/icons/config-visualiz-icon.png
diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
 
    <name>piloting_grcs</name>
-   <version>1.0.3</version>
+   <version>1.0.4</version>
    <description>The piloting_grcs package</description>
 
    <maintainer email="mmontes@catec.aero">Marco A. Montes Grova</maintainer>

diff --git a/src/communications/DDHL/JSon2DTO.cpp b/src/communications/DDHL/JSon2DTO.cpp
@@ -176,34 +176,20 @@ QList<InspectionTaskDTO> JSon2DTO::convertInspectionTaskJsonArrayToList(const QJ
             inspTaskDTO.getLocationType() = InspectionTaskLocationType::POINT;
         } else if (QString::compare(readedType, "InspectionArea", Qt::CaseInsensitive) == 0) {
             inspTaskDTO.getLocationType() = InspectionTaskLocationType::AREA;
-            _jsonKeys.checkIfValidInspTaskAreaDimensions(inspTaskDimensionsJO);
+            _jsonKeys.checkIfValidInspTaskAreaParams(inspTaskDimensionsJO);
             inspTaskDTO.getWidth()  = inspTaskDimensionsJO["width"].toDouble();
             inspTaskDTO.getDepth()  = inspTaskDimensionsJO["depth"].toDouble();
             inspTaskDTO.getHeight() = inspTaskDimensionsJO["height"].toDouble();
 
-            const QJsonObject reprJO = inspTaskDimensionsJO["repr"].toObject();
-            _jsonKeys.checkKeyExist(reprJO, "matrix");
-
-            const QJsonArray matrixJA = reprJO["matrix"].toArray();
-            if (matrixJA.size() != 16) {
-                throw std::runtime_error("Invalid repr matrix size");
-            }
-
-            /// \note. Column-major order arrived matrix
-            Eigen::Matrix3f m(3, 3);
-            m << matrixJA[0].toDouble(), matrixJA[4].toDouble(), matrixJA[8].toDouble(), matrixJA[1].toDouble(),
-                    matrixJA[5].toDouble(), matrixJA[9].toDouble(), matrixJA[2].toDouble(), matrixJA[6].toDouble(),
-                    matrixJA[10].toDouble();
-            Eigen::Quaternionf q(m);
-            inspTaskDTO.getOrientation().getX() = q.x();
-            inspTaskDTO.getOrientation().getY() = q.y();
-            inspTaskDTO.getOrientation().getZ() = q.z();
-            inspTaskDTO.getOrientation().getW() = q.w();
+            inspTaskDTO.getOrientation().getW() = inspTaskDimensionsJO["quatW"].toDouble();
+            inspTaskDTO.getOrientation().getX() = inspTaskDimensionsJO["quatX"].toDouble();
+            inspTaskDTO.getOrientation().getY() = inspTaskDimensionsJO["quatY"].toDouble();
+            inspTaskDTO.getOrientation().getZ() = inspTaskDimensionsJO["quatZ"].toDouble();
         } else {
             throw std::runtime_error("Invalid inspection task type readed from DDHL");
         }
 
-        _jsonKeys.checkIfValidInspTaskPointDimensions(inspTaskDimensionsJO);
+        _jsonKeys.checkIfValidInspTaskPointParams(inspTaskDimensionsJO);
         inspTaskDTO.getPosition().getX() = inspTaskDimensionsJO["posX"].toDouble();
         inspTaskDTO.getPosition().getY() = inspTaskDimensionsJO["posY"].toDouble();
         inspTaskDTO.getPosition().getZ() = inspTaskDimensionsJO["posZ"].toDouble();

diff --git a/src/communications/DDHL/JSonKeys.cpp b/src/communications/DDHL/JSonKeys.cpp
@@ -61,19 +61,22 @@ void JSonKeys::checkIfValidInspTaskLocation(const QJsonObject& inspTaskLocation)
     checkKeyExist(inspTaskLocation, "Properties");
 }
 
-void JSonKeys::checkIfValidInspTaskAreaDimensions(const QJsonObject& inspTaskAreaDimensions)
+void JSonKeys::checkIfValidInspTaskAreaParams(const QJsonObject& inspTaskAreaParams)
 {
-    checkKeyExist(inspTaskAreaDimensions, "width");
-    checkKeyExist(inspTaskAreaDimensions, "depth");
-    checkKeyExist(inspTaskAreaDimensions, "height");
-    checkKeyExist(inspTaskAreaDimensions, "repr");
+    checkKeyExist(inspTaskAreaParams, "width");
+    checkKeyExist(inspTaskAreaParams, "depth");
+    checkKeyExist(inspTaskAreaParams, "height");
+    checkKeyExist(inspTaskAreaParams, "quatW");
+    checkKeyExist(inspTaskAreaParams, "quatX");
+    checkKeyExist(inspTaskAreaParams, "quatY");
+    checkKeyExist(inspTaskAreaParams, "quatZ");
 }
 
-void JSonKeys::checkIfValidInspTaskPointDimensions(const QJsonObject& inspTaskPointDimensions)
+void JSonKeys::checkIfValidInspTaskPointParams(const QJsonObject& inspTaskPointParams)
 {
-    checkKeyExist(inspTaskPointDimensions, "posX");
-    checkKeyExist(inspTaskPointDimensions, "posY");
-    checkKeyExist(inspTaskPointDimensions, "posZ");
+    checkKeyExist(inspTaskPointParams, "posX");
+    checkKeyExist(inspTaskPointParams, "posY");
+    checkKeyExist(inspTaskPointParams, "posZ");
 }
 
 void JSonKeys::checkIfValidInspTaskType(const QJsonObject& inspTaskType)

diff --git a/src/communications/DDHL/JSonKeys.h b/src/communications/DDHL/JSonKeys.h
@@ -19,8 +19,8 @@ class JSonKeys : public QObject
     void checkIfValidInspPlan(const QJsonObject&);
     void checkIfValidInspTask(const QJsonObject&);
     void checkIfValidInspTaskLocation(const QJsonObject&);
-    void checkIfValidInspTaskAreaDimensions(const QJsonObject&);
-    void checkIfValidInspTaskPointDimensions(const QJsonObject&);
+    void checkIfValidInspTaskAreaParams(const QJsonObject&);
+    void checkIfValidInspTaskPointParams(const QJsonObject&);
     void checkIfValidInspTaskType(const QJsonObject&);
     void checkIfValidAsset(const QJsonObject&);
     void checkIfValidSite(const QJsonObject&);

diff --git a/src/communications/DDHL/RestApiClient.cpp b/src/communications/DDHL/RestApiClient.cpp
@@ -177,7 +177,8 @@ void RestApiClient::handlePostResult(HttpRequestWorker* worker)
         QLOG_INFO() << __PRETTY_FUNCTION__ << "Post request response: " << worker->response;
 
         if (worker->error_type != QNetworkReply::NoError) {
-            throw std::runtime_error(worker->error_str.toStdString());
+            throw std::runtime_error(
+                    worker->error_str.toStdString() + " | Server Response: " + worker->response.toStdString());
         }
 
         QJsonParseError* e            = nullptr;

diff --git a/src/gui/MainWindowUi.cpp b/src/gui/MainWindowUi.cpp
@@ -92,11 +92,11 @@ MainWindowUi::MainWindowUi(QWidget* parent) :
     /// \note LeftDockWidgetArea
     setTelemetryTreeDock(Qt::LeftDockWidgetArea);
     setInspectionPlanDock(Qt::LeftDockWidgetArea);
+    setMissionDock(Qt::LeftDockWidgetArea);
 
     /// \note RightDockWidgetArea
     setRobotAlarmsDock(Qt::RightDockWidgetArea);
     setRobotControlDock(Qt::RightDockWidgetArea);
-    setMissionDock(Qt::RightDockWidgetArea);
     setHighLevelActionsDock(Qt::RightDockWidgetArea);
 
     /// \note BottomDockWidgetArea
@@ -427,6 +427,8 @@ void MainWindowUi::manageCoreDTO(QSharedPointer<IDTO> idto)
 
                 _inspectionPlanWidget.setInspectionPlan(dto);
                 _waypointEditorWidget.updateInspectionTaskList(dto->getInspectionTaskList());
+
+                updateMissionButtons();
             }
             break;
         }
@@ -1163,7 +1165,6 @@ void MainWindowUi::updateMissionButtons()
     const auto hasRoutes   = _guiDTO.getHasRoutes();
     const auto isConnected = _guiDTO.getCommsIsConnected();
     const auto isEditMode  = _ui->editModeAct->isChecked();
-    // const auto hasInspPlan = !_guiDTO.getInspectionPlan().getInspectionTaskList().isEmpty();
     const auto hasInspPlan = !_guiDTO.getInspectionPlan().getUUID().isEmpty();
 
     _ui->saveCurrWptsListAct->setEnabled(hasInspPlan && hasRoutes);

diff --git a/src/gui/widgets/robotAlarms/RobotAlarmsWidget.cpp b/src/gui/widgets/robotAlarms/RobotAlarmsWidget.cpp
@@ -140,7 +140,7 @@ void RobotAlarmsWidget::update(const AlarmStatusDTO& alarmStatusDTO)
 
     const auto current_item = _items[alarmStatusDTO.getIndex()];
     if (!current_item) {
-        QLOG_ERROR() << __PRETTY_FUNCTION__ << "Invalid alarm index to update";
+        QLOG_ERROR() << __PRETTY_FUNCTION__ << "Invalid alarm index to update: " << alarmStatusDTO.getIndex();
         return;
     }
 

diff --git a/src/images.qrc b/src/images.qrc
@@ -4,10 +4,9 @@
         <file alias="3d-view">../data/icons/3d-view.png</file>
         <file alias="checkbox_checked">../data/icons/checkbox-icon.png</file>
         <file alias="checklist">../data/icons/checklist.png</file>
-        <file alias="cloud-icon">../data/icons/cloud-icon.png</file>
         <file alias="cloud-cut">../data/icons/cloud-cut.png</file>
         <file alias="config">../data/icons/config.png</file>
-        <file alias="config-visualiz">../data/icons/config-visualiz-icon-2.png</file>
+        <file alias="config-visualiz">../data/icons/config-visualiz-icon.png</file>
         <file alias="connect">../data/icons/connect.png</file>
         <file alias="ddhl-config">../data/icons/ddhl-config.png</file>
         <file alias="disconnect">../data/icons/disconnect.png</file>
@@ -52,6 +51,7 @@
         <file alias="pfd_hsi_marks">../data/svg/pfd/pfd_hsi_marks.svg</file>
         <file alias="pfd_mask">../data/svg/pfd/pfd_mask.svg</file>
     </qresource>
+
     <qresource prefix="/Style">
         <file alias="indoorStyle">../data/styles/indoor_style.qss</file>
         <file alias="outdoorStyle">../data/styles/outdoor_style.qss</file>

diff --git a/src/maps/data_types/tools/QMouseTool.cpp b/src/maps/data_types/tools/QMouseTool.cpp
@@ -227,17 +227,24 @@ int QMouseTool::processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel)
         return Render;
     }
 
-    if (_mapDTO.getVisibleWaypointsList().isEmpty()) {
+    /// \note. Get selected waypoint
+    const auto it = std::find_if(
+            _mapDTO.getVisibleWaypointsList().cbegin(),
+            _mapDTO.getVisibleWaypointsList().cend(),
+            [&](const QSharedPointer<Waypoint3dItem> wp) { return wp->isSelectedWaypoint(); });
+    if (it == _mapDTO.getVisibleWaypointsList().cend()) {
+        QLOG_WARN() << __PRETTY_FUNCTION__ << " - "
+                    << "Unable to move waypoint. No waypoint selected";
         return Render;
     }
 
-    float         targetAngle;
-    const auto    waypoint_id = _mapDTO.getVisibleWaypointsList().back()->id();
-    auto          waypoint_pt = _mapDTO.getVisibleWaypointsList().back()->waypoint().getPosition();
+    const auto    waypoint_id = (*it)->id();
+    const auto    waypoint_pt = (*it)->waypoint().getPosition();
     Ogre::Vector3 updated_waypoint(waypoint_pt.getX(), waypoint_pt.getY(), waypoint_pt.getZ());
 
     /// \note. To be able to move waypoint using arrow keys, must be pressed Control
-    int visible = false;
+    float targetAngle;
+    int   visible = false;
     if (event->type() == QKeyEvent::KeyPress && event->modifiers() & Qt::ControlModifier) {
         visible                       = true;
         const float movementIncrement = 0.1f;