Merge e3e8292 into e82c5e0

src/common/struct/Vehicle.ts

@@ -260,11 +260,6 @@ export default class Vehicle {
     this.sendMessage({
       type: 'start',
       jobType,
-      geofence: {
-        topLeft: [0, 0],
-        botRight: [0, 0],
-        keepOut: true,
-      },
     });
 
     this.updateEventHandler.addHandler<VehicleStatus>('status', (value): boolean => {

src/renderer/mainWindow/map/MapContainer.tsx

@@ -101,6 +101,7 @@ export default class MapContainer extends Component<ThemeProps, State> {
    */
   private ref: React.RefObject<Map>;
 
+
   public constructor(props: ThemeProps) {
     super(props);
 
@@ -318,7 +319,7 @@ export default class MapContainer extends Component<ThemeProps, State> {
     boundingBoxes.forEach((boundingBox): void => {
       if (!newBoundingBoxes[boundingBox.name]) {
         newBoundingBoxes[boundingBox.name] = {
-          color: boundingBox.color || 'red',
+          color: boundingBox.color || 'blue',
           bounds: boundingBox.bounds || (viewport.center && {
             top: viewport.center[0],
             bottom: viewport.center[0],

src/renderer/missionWindow/MissionWindow.tsx

@@ -54,13 +54,17 @@ const title: { [missionName in MissionInformation.MissionName]: string } = {
   uuvRescue: 'UUV Rescue',
 };
 
-type GeofenceChecklistType = 'geofenceTop' | 'geofenceLeft' | 'geofenceRight' | 'geofenceBottom';
+type GeofenceChecklistType = 'geofenceTop' | 'geofenceLeft' | 'geofenceRight' | 'geofenceBottom' | 'geofenceTop2' | 'geofenceLeft2' | 'geofenceRight2' | 'geofenceBottom2';
 
 const checklistCache: { [check in GeofenceChecklistType ]: number | undefined} = {
   geofenceTop: undefined,
   geofenceLeft: undefined,
   geofenceRight: undefined,
   geofenceBottom: undefined,
+  geofenceTop2: undefined,
+  geofenceLeft2: undefined,
+  geofenceRight2: undefined,
+  geofenceBottom2: undefined,
 };
 
 type Locked = {
@@ -271,6 +275,54 @@ export default class MissionWindow extends Component<ThemeProps, State> {
         });
         break;
 
+      case 'geofenceTop2':
+        ipc.postUpdateBoundingBoxes(true, {
+          name: 'Geofencing2',
+          bounds: {
+            top: value,
+            bottom: checklist.geofenceBottom2 as number,
+            left: checklist.geofenceLeft2 as number,
+            right: checklist.geofenceRight2 as number,
+          },
+        });
+        break;
+
+      case 'geofenceLeft2':
+        ipc.postUpdateBoundingBoxes(true, {
+          name: 'Geofencing2',
+          bounds: {
+            top: checklist.geofenceTop2 as number,
+            bottom: checklist.geofenceBottom2 as number,
+            left: value,
+            right: checklist.geofenceRight2 as number,
+          },
+        });
+        break;
+
+      case 'geofenceRight2':
+        ipc.postUpdateBoundingBoxes(true, {
+          name: 'Geofencing2',
+          bounds: {
+            top: checklist.geofenceTop2 as number,
+            bottom: checklist.geofenceBottom2 as number,
+            left: checklist.geofenceLeft2 as number,
+            right: value,
+          },
+        });
+        break;
+
+      case 'geofenceBottom2':
+        ipc.postUpdateBoundingBoxes(true, {
+          name: 'Geofencing2',
+          bounds: {
+            top: checklist.geofenceTop2 as number,
+            bottom: value,
+            left: checklist.geofenceLeft2 as number,
+            right: checklist.geofenceRight2 as number,
+          },
+        });
+        break;
+
       default:
         this.updateChecklist({ [name]: value });
         break;
@@ -375,6 +427,13 @@ export default class MissionWindow extends Component<ThemeProps, State> {
           checks.geofenceBottom = boxpoint.bounds.bottom;
           break;
 
+        case 'Geofencing2':
+          checks.geofenceTop2 = boxpoint.bounds.top;
+          checks.geofenceRight2 = boxpoint.bounds.right;
+          checks.geofenceLeft2 = boxpoint.bounds.left;
+          checks.geofenceBottom2 = boxpoint.bounds.bottom;
+          break;
+
         default: break;
       }
     });
@@ -450,6 +509,9 @@ export default class MissionWindow extends Component<ThemeProps, State> {
     if (waypointType === 'geofence') {
       newLocked.geofence = false;
     }
+    if (waypointType === 'geofence2') {
+      newLocked.geofence = false;
+    }
 
     this.setState({ locked: newLocked });
   }
@@ -517,15 +579,26 @@ export default class MissionWindow extends Component<ThemeProps, State> {
           <MissionOptions title={title} missionNames={missionNames} options={options} />
         </div>
         <div className="geofenceContainer">
-          <h1>Geofencing</h1>
+          <h1>Keep-IN</h1>
           <input className="inputFields" type="number" name="geofenceScanTop" value={checklist.geofenceTop || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Top" />
           <br />
           <input className="inputFields" type="number" name="geofenceBottom" value={checklist.geofenceBottom || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Bottom" />
           <br />
           <input className="inputFields" type="number" name="geofenceLeft" value={checklist.geofenceLeft || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Left" />
           <br />
           <input className="inputFields" type="number" name="geofenceRight" value={checklist.geofenceRight || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Right" />
-          <CreateBoundingBoxButton theme={theme} name="geofence" value="Geofencing" />
+          <CreateBoundingBoxButton theme={theme} name="geofence" value="Geofencing" color="green" />
+        </div>
+        <div className="geofenceContainer2">
+          <h1>Keep-OUT</h1>
+          <input className="inputFields" type="number" name="geofenceScanTop" value={checklist.geofenceTop2 || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Top" />
+          <br />
+          <input className="inputFields" type="number" name="geofenceBottom" value={checklist.geofenceBottom2 || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Bottom" />
+          <br />
+          <input className="inputFields" type="number" name="geofenceLeft" value={checklist.geofenceLeft2 || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Left" />
+          <br />
+          <input className="inputFields" type="number" name="geofenceRight" value={checklist.geofenceRight2 || ''} disabled={locked.geofence} onChange={this.onChange} placeholder="Right" />
+          <CreateBoundingBoxButton theme={theme} name="geofence2" value="Geofencing2" color="red" />
         </div>
         <div className="buttonContainer">
           {status === 'ready' && <button type="button" disabled={!unlockStartMissionButton} onClick={this.postStartMissions}>Start Missions</button>}

src/renderer/missionWindow/extra/CreateBoundingBoxButton.tsx

@@ -13,6 +13,8 @@ export interface CreateBoundingBoxButtonProps extends ThemeProps{
    * Name of the box itself, when it shows up on the map.
    */
   value: string;
+
+  color: string;
 }
 
 export default class CreateBoundingBoxButton extends PureComponent<CreateBoundingBoxButtonProps> {
@@ -23,9 +25,9 @@ export default class CreateBoundingBoxButton extends PureComponent<CreateBoundin
   }
 
   private onClick(): void {
-    const { name, value } = this.props;
+    const { name, value, color } = this.props;
     ipc.postUnlockParameterInputs(name);
-    ipc.postCreateBoundingBoxes({ name: value });
+    ipc.postCreateBoundingBoxes({ name: value, color });
   }
 
   public render(): ReactNode {

src/renderer/missionWindow/mission.css

@@ -10,10 +10,10 @@
     'parameter parameter parameter mapping'
     'parameter parameter parameter mapping'
     'parameter parameter parameter mapping'
-    'geofence  geofence  geofence  options'
-    'geofence  geofence  geofence  options'
+    'geofence  geofence  geofence2  options'
+    'geofence  geofence  geofence2  options'
     'button    button    button    options';
-  grid-template-rows: 25px 1fr 1fr 0.8fr 1fr 0.3fr 25px;
+  grid-template-rows: 25px 1fr 1fr 1fr 1fr 0.2fr 25px;
   grid-template-columns: repeat(4, 1fr);
 }
 
@@ -32,6 +32,11 @@
   padding-left: 20px;
 }
 
+.geofenceContainer2 {
+  grid-area: geofence2;
+  padding-left: 20px;
+}
+
 .mappingContainer {
   grid-area: mapping;
   padding-left: 20px;

src/renderer/missionWindow/parameter/VTOLSearch.tsx

@@ -233,7 +233,7 @@ export class VTOLSearch extends Component<VTOLSearchProps, State> {
         <input className="inputFields" type="number" name="quickScanLeft" value={checklist.quickScanLeft || ''} disabled={locked.quickScan} onChange={this.onChange} placeholder="Left" />
         <br />
         <input className="inputFields" type="number" name="quickScanRight" value={checklist.quickScanRight || ''} disabled={locked.quickScan} onChange={this.onChange} placeholder="Right" />
-        <CreateBoundingBoxButton theme={theme} name="quickScan" value="Bounding Box" />
+        <CreateBoundingBoxButton theme={theme} name="quickScan" value="Bounding Box" color="blue" />
       </div>
     );
   }

src/types/message.ts

@@ -20,36 +20,42 @@ interface MessageBase {
 }
 
 // Definitions for all messages from GCS to vehicles.
-
-export interface StartMessage extends MessageBase {
-  type: 'start';
+export interface GeofenceMessage extends MessageBase {
+  type: 'geofence';
 
   /**
    * Name of job to perform.
    */
   jobType: JobType;
 
   /**
-    * Geofencing coordinates in the form of a rectangle, and geofence type sent with start message.
+    * Geofencing coordinates in the form of a rectangle, and geofence type sent
+     along with start message.
     */
-  geofence: {
+  geofence?: {
+    'keepOut': [number, number][],
+    'keepIn': [number, number][]
+  }
+
+}
+
+export interface StartMessage extends MessageBase {
+  type: 'start';
 
-    /**
-     * Top Left coordinate of geofencing rectangle, in form of latitude, longitude.
-     */
-    topLeft: [number, number];
 
-    /**
-     * Bottom right coordinate of geofencing rectangle, in form of latitude, longitude.
-     */
-    botRight: [number, number];
+  /**
+   * Name of job to perform.
+   */
+  jobType: JobType;
+}
 
-    /**
-     * Boolean to specify whether geofence is keep out type (true), or keep in type (false).
-     */
-    keepOut: boolean;
-  };
 
+/**
+ * Type guard for Geofence Message.
+ */
+function isGeofenceMessage(message: Message): boolean {
+  return message.type === 'geofence'
+     && vehicleConfig.isValidJobType(message.jobType);
 }
 
 /**
@@ -280,9 +286,11 @@ export function isBadMessage(message: Message): boolean {
 /**
  * All types of messages sent to and from the GCS.
  */
-export type Message = StartMessage | AddMissionMessage | PauseMessage | ResumeMessage | StopMessage
-| ConnectionAckMessage | UpdateMessage | POIMessage | CompleteMessage | ConnectMessage
-| AcknowledgementMessage | BadMessage;
+
+export type Message = GeofenceMessage | StartMessage | AddMissionMessage
+| PauseMessage | ResumeMessage | StopMessage | ConnectionAckMessage |
+UpdateMessage | POIMessage | CompleteMessage
+| ConnectMessage | AcknowledgementMessage | BadMessage;
 
 /**
  * Simply checks if the message has a valid type field. This is different from the type
@@ -293,6 +301,7 @@ export type Message = StartMessage | AddMissionMessage | PauseMessage | ResumeMe
 // eslint-disable-next-line @typescript-eslint/no-explicit-any
 export function isMessage(message: { [key: string]: any }): boolean {
   return message.type && typeof message.type === 'string' && [
+    'geofence',
     'start',
     'addMission',
     'pause',
@@ -343,6 +352,7 @@ export function isJSONMessage(message: { [key: string]: any }): boolean {
  * Type guards for a message.
  */
 export const TypeGuard = {
+  isGeofenceMessage,
   isStartMessage,
   isAddMissionMessage,
   isPauseMessage,