@@ -157,6 +228,7 @@ class MLegInfoComponent extends React.Component {
Property
Parameters
Payload
+ Mission Task
@@ -169,6 +241,9 @@ class MLegInfoComponent extends React.Component {
{Payload}
+
+ {MissionTask}
+
{/* {actionButtons} */}
diff --git a/experiments/WebUI/src/components/content/MapComponent.js b/experiments/WebUI/src/components/content/MapComponent.js
index fd95618..5f53733 100644
--- a/experiments/WebUI/src/components/content/MapComponent.js
+++ b/experiments/WebUI/src/components/content/MapComponent.js
@@ -3,12 +3,13 @@ import { Map as LeafletMap, Marker, Popup, TileLayer, Circle, Polygon, Polyline
import CursorPositionComponent from './CursorPositionComponent';
-import MissionPlanner from './MissionPlanner';
+import MissionTreeViewComponent from './MissionTreeViewComponent';
+import '../../assets/MissionPlanner.css';
import CoordSys from '../../assets/CoordSys.js';
import { FjageHelper } from "../../assets/fjageHelper.js";
-import { Management, TargetLocMT } from "../../assets/jc2.js";
+import { Management } from "../../assets/jc2.js";
import { mapPin, mapPinSelected, readyMarker, notReadyMarker } from "../../assets/MapIcons.js";
// import ManualCommands from '../../assets/ManualCommands.js';
import ToolbarComponent from '../ToolbarComponent';
@@ -65,13 +66,27 @@ function MissionTask() {
this.payload = {};
}
-function SimpleMT() {
- this.taskID = "SimpleMT";
- this.endHeading = 0.0;
+function BioCastMT() {
+ this.taskID = "BioCastMT";
+ this.SourceSLevel = 0.0;
+ this.mtTime = 0;
+ this.resamplingTime = 0;
+ this.sourceX = 0.0;
+ this.sourceY = 0.0;
+ MissionTask.call(this);
+}
+
+function CoopPosMT() {
+ this.taskID = "CoopPosMT";
+ this.lookAheadLevel = [];
+ this.missionNum = [];
+ this.numOfSurveyAuv = 0;
+ this.posInterval = [];
+ this.vehicleID = [];
MissionTask.call(this);
}
-function LawnMoverMT() {
+function LawnMowerMT() {
this.taskID = "LawnMoverMT";
this.xLength = 0.0;
this.yLength = 0.0;
@@ -80,6 +95,38 @@ function LawnMoverMT() {
MissionTask.call(this);
}
+function SimpleMT() {
+ this.taskID = "SimpleMT";
+ this.endHeading = 0.0;
+ MissionTask.call(this);
+}
+
+function StationKeepingMT() {
+ this.taskID = "StationKeepingMT";
+ this.duration = 0.0;
+ MissionTask.call(this);
+}
+
+function SwanArmMT() {
+ this.taskID = "SwanArmMT";
+ this.armDepth = {};
+ this.missionTaskTimeout = {};
+ this.reposeBehavior = {};
+ MissionTask.call(this);
+}
+
+function TargetLocMT() {
+ this.taskID = "TargetLocMT";
+ this.mtTimeOut = 0;
+ MissionTask.call(this);
+}
+
+function WaterSampleMT() {
+ this.taskID = "WaterSampleMT";
+ this.armDepth = 0.0;
+ MissionTask.call(this);
+}
+
class MapComponent extends React.Component {
constructor(props, context) {
super(props, context);
@@ -172,6 +219,8 @@ class MapComponent extends React.Component {
this.abortMission = this.abortMission.bind(this);
this.stationKeep = this.stationKeep.bind(this);
this.goHome = this.goHome.bind(this);
+
+ this.changeMissionType = this.changeMissionType.bind(this);
}
componentDidMount() {
@@ -216,6 +265,7 @@ class MapComponent extends React.Component {
.then(vehicleId => {
console.log('vehicleId', vehicleId);
this.vehicleId = vehicleId;
+ document.title = vehicleId + " StarControl";
})
.catch(reason => {
console.log('could not get vehicle ID', reason);
@@ -301,9 +351,6 @@ class MapComponent extends React.Component {
positionError: this.state.positionError - 1
})},
200);
-
- var x = new TargetLocMT();
- console.log(x);
}
componentDidUpdate() {
@@ -496,6 +543,16 @@ class MapComponent extends React.Component {
var w = window.open(url, tab, "width=600,height=600,menubar=0,toolbar=0,location=0,personalBar=0,status=0,resizable=1").focus();
}
+ closeAllChildWindows(){
+ var windowsArr = ["Dashboard", "Diagnostics", "Sentuators", "ScriptControl"];
+ windowsArr.forEach((tab) => {
+ const href = window.location.href;
+ const url = href.substring(0, href.lastIndexOf('/') + 1) + tab;
+ var w = window.open(url, tab, "width=600,height=600,menubar=0,toolbar=0,location=0,personalBar=0,status=0,resizable=1");
+ w.close();
+ });
+ }
+
checkCollinear(pointArray, point) {
// epsilon accounts for the error in checking if a point is collinear. Larger epsilon will result in wider range of points getting accepted as collinear(even those that lie further from the line segment).
var epsilon = 0.0000005;
@@ -584,7 +641,6 @@ class MapComponent extends React.Component {
}
dragEndGeoFenceMarker(e) {
- // console.log(e);
var newlat = e.target._latlng.lat;
var newlng = e.target._latlng.lng;
var oldlat = e.target.options.position[0];
@@ -640,6 +696,9 @@ class MapComponent extends React.Component {
this.viewMission(this.state.missionNumber);
}
+ onMissionPtClick(i){
+ this.refs.missionTreeView.selectMleg(i+1);
+ }
toggleMissionPlanner(e) {
if (this.state.MissionPlannerEnabled) {
@@ -670,6 +729,46 @@ class MapComponent extends React.Component {
this.management.abortToHome();
}
+ changeMissionType(missionLegIndex, newType) {
+ var currentMissionArr = this.state.currentMission;
+
+ var constructorName = newType + "()";
+ // var mission_task = new window[constructorName]();
+ var mission_task;
+ if (newType === "BioCastMT") {
+ mission_task = new BioCastMT();
+ } else if (newType === "CoopPosMT") {
+ mission_task = new CoopPosMT();
+ } else if (newType === "LawnMowerMT") {
+ mission_task = new LawnMowerMT();
+ } else if (newType === "StationKeepingMT") {
+ mission_task = new StationKeepingMT();
+ } else if (newType === "SwanArmMT") {
+ mission_task = new SwanArmMT();
+ } else if (newType === "TargetLocMT") {
+ mission_task = new TargetLocMT();
+ } else if (newType === "WaterSampleMT") {
+ mission_task = new WaterSampleMT();
+ } else {
+ mission_task = new SimpleMT();
+ }
+
+ var missions = this.state.missions;
+ console.log(mission_task);
+ var oldMissionTask = missions[this.state.missionNumber][missionLegIndex - 1];
+ console.log(oldMissionTask);
+
+ mission_task.mp = oldMissionTask.mp;
+ mission_task.payload = oldMissionTask.payload;
+
+
+ missions[this.state.missionNumber][missionLegIndex - 1] = mission_task;
+
+ this.setState({
+ missions: missions
+ });
+ }
+
render() {
const position = [this.state.vehiclePosition.latitude, this.state.vehiclePosition.longitude];
const mapCenter = [this.state.mapCenter.latitude, this.state.mapCenter.longitude];
@@ -706,7 +805,7 @@ class MapComponent extends React.Component {
);
} else {
MissionPointsMarkers.push(
-
+
Lat: {lat.toFixed(4)}, Long: {long.toFixed(4)}
x: {x.toFixed(4)}, y: {y.toFixed(4)}
@@ -752,7 +851,7 @@ class MapComponent extends React.Component {
const MissionPlannerPanels = (this.state.MissionPlannerEnabled) ?
-
+
:
null;
@@ -785,6 +884,9 @@ class MapComponent extends React.Component {
{missionList}
+
+