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174 lines
8.8 KiB
174 lines
8.8 KiB
9 years ago
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/*=====================================================================
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QGroundControl Open Source Ground Control Station
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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QGROUNDCONTROL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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QGROUNDCONTROL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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#ifndef VisualMissionItem_H
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#define VisualMissionItem_H
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#include <QObject>
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#include <QString>
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#include <QtQml>
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#include <QTextStream>
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#include <QJsonObject>
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#include <QGeoCoordinate>
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#include "QGCMAVLink.h"
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#include "QGC.h"
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#include "MavlinkQmlSingleton.h"
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#include "QmlObjectListModel.h"
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#include "Fact.h"
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#include "QGCLoggingCategory.h"
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#include "QmlObjectListModel.h"
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#include "MissionCommands.h"
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// Abstract base class for all Simple and Complex visual mission objects.
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class VisualMissionItem : public QObject
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{
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Q_OBJECT
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public:
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VisualMissionItem(Vehicle* vehicle, QObject* parent = NULL);
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VisualMissionItem(const VisualMissionItem& other, QObject* parent = NULL);
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~VisualMissionItem();
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const VisualMissionItem& operator=(const VisualMissionItem& other);
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// The following properties are calulated/set by the MissionControll recalc methods
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Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
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Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude
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Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
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Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
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// Visual mission items have two coordinates associated with them:
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/// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
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Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
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/// @return true: coordinate.latitude is relative to home altitude
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Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged)
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/// This is the exit point for a waypoint line coming out of the item.
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Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged)
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/// @return true: coordinate.latitude is relative to home altitude
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Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged)
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/// @return true: exitCoordinate and coordinate are the same value
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Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntry)
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// General properties associated with all types of visual mission items
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Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandDescriptionChanged)
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Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged)
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Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< Item is dirty and requires save/send
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Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
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Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
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Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) ///< Item is associated with a coordinate position
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Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged) ///< Wayoint line does not go through item
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Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem
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/// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
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/// are shown next to the exitCoordinate indidcator in the ui.
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Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
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// Property accesors
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double altDifference (void) const { return _altDifference; }
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double altPercent (void) const { return _altPercent; }
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double azimuth (void) const { return _azimuth; }
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double distance (void) const { return _distance; }
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bool isCurrentItem (void) const { return _isCurrentItem; }
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int sequenceNumber (void) const { return _sequenceNumber; }
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QmlObjectListModel* childItems(void) { return &_childItems; }
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void setIsCurrentItem (bool isCurrentItem);
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void setAltDifference (double altDifference);
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void setAltPercent (double altPercent);
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void setAzimuth (double azimuth);
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void setDistance (double distance);
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void setSequenceNumber (int sequenceNumber);
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Vehicle* vehicle(void) { return _vehicle; }
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// Pure virtuals which must be provides by derived classes
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virtual bool dirty (void) const = 0;
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virtual bool isSimpleItem (void) const = 0;
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virtual bool isStandaloneCoordinate (void) const = 0;
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virtual bool specifiesCoordinate (void) const = 0;
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virtual QString commandDescription (void) const = 0;
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virtual QString commandName (void) const = 0;
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virtual QGeoCoordinate coordinate (void) const = 0;
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virtual QGeoCoordinate exitCoordinate (void) const = 0;
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virtual bool coordinateHasRelativeAltitude (void) const = 0;
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virtual bool exitCoordinateHasRelativeAltitude (void) const = 0;
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virtual bool exitCoordinateSameAsEntry (void) const = 0;
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virtual void setDirty (bool dirty) = 0;
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virtual void setCoordinate (const QGeoCoordinate& coordinate) = 0;
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/// Save the item in Json format
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/// @param missionObject Top level object for entire mission file
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/// @param missionItems Array of mission items
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/// @return false: save failed, errorString set
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virtual bool save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) = 0;
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signals:
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void altDifferenceChanged (double altDifference);
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void altPercentChanged (double altPercent);
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void azimuthChanged (double azimuth);
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void commandDescriptionChanged (void);
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void commandNameChanged (void);
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void coordinateChanged (const QGeoCoordinate& coordinate);
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void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate);
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void dirtyChanged (bool dirty);
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void distanceChanged (double distance);
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void isCurrentItemChanged (bool isCurrentItem);
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void sequenceNumberChanged (int sequenceNumber);
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void isSimpleItemChanged (bool isSimpleItem);
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void specifiesCoordinateChanged (void);
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void isStandaloneCoordinateChanged (void);
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void coordinateHasRelativeAltitudeChanged (bool coordinateHasRelativeAltitude);
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void exitCoordinateHasRelativeAltitudeChanged (bool exitCoordinateHasRelativeAltitude);
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void exitCoordinateSameAsEntry (bool exitCoordinateSameAsEntry);
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protected:
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Vehicle* _vehicle;
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int _sequenceNumber;
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bool _isCurrentItem;
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bool _dirty;
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double _altDifference; ///< Difference in altitude from previous waypoint
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double _altPercent; ///< Percent of total altitude change in mission
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double _azimuth; ///< Azimuth to previous waypoint
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double _distance; ///< Distance to previous waypoint
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/// This is used to reference any subsequent mission items which do not specify a coordinate.
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QmlObjectListModel _childItems;
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};
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#endif
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