/ * = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
QGroundControl Open Source Ground Control Station
( c ) 2009 , 2015 QGROUNDCONTROL PROJECT < http: //www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation , either version 3 of the License , or
( at your option ) any later version .
QGROUNDCONTROL is distributed in the hope that it will be useful ,
but WITHOUT ANY WARRANTY ; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
GNU General Public License for more details .
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL . If not , see < http: //www.gnu.org/licenses/>.
=== === === === === === === === === === === === === === === === === === === === === === === = * /
import QtQuick 2.4
import QtQuick . Controls 1.3
import QtQuick . Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl . FlightMap 1.0
import QGroundControl . ScreenTools 1.0
import QGroundControl . Controls 1.0
import QGroundControl . Palette 1.0
import QGroundControl . Mavlink 1.0
import QGroundControl . Controllers 1.0
/// Mission Editor
QGCView {
id: _root
property bool syncNeeded: controller . visualItems . dirty // Unsaved changes, visible to parent container
viewPanel: panel
// zOrder comes from the Loader in MainWindow.qml
z: QGroundControl . zOrderTopMost
readonly property int _decimalPlaces : 8
readonly property real _horizontalMargin : ScreenTools . defaultFontPixelWidth / 2
readonly property real _margin : ScreenTools . defaultFontPixelHeight / 2
readonly property var _activeVehicle : QGroundControl . multiVehicleManager . activeVehicle
readonly property real _editFieldWidth : ScreenTools . defaultFontPixelWidth * 16
readonly property real _rightPanelWidth : Math . min ( parent . width / 3 , ScreenTools . defaultFontPixelWidth * 30 )
readonly property real _rightPanelOpacity : 0.8
readonly property int _toolButtonCount : 6
readonly property string _autoSyncKey : "AutoSync"
readonly property int _addMissionItemsButtonAutoOffTimeout : 10000
readonly property var _defaultVehicleCoordinate : QtPositioning . coordinate ( 37.803784 , - 122.462276 )
property var _visualItems : controller . visualItems
property var _currentMissionItem
property bool _firstVehiclePosition : true
property var activeVehiclePosition: _activeVehicle ? _activeVehicle . coordinate : QtPositioning . coordinate ( )
property bool _lightWidgetBorders : editorMap . isSatelliteMap
onActiveVehiclePositionChanged: updateMapToVehiclePosition ( )
Connections {
target: QGroundControl . multiVehicleManager
onActiveVehicleChanged: {
// When the active vehicle changes we need to allow the first vehicle position to move the map again
_firstVehiclePosition = true
updateMapToVehiclePosition ( )
}
}
function updateMapToVehiclePosition ( ) {
if ( _activeVehicle && _activeVehicle . coordinateValid && _activeVehicle . coordinate . isValid && _firstVehiclePosition ) {
_firstVehiclePosition = false
editorMap . center = _activeVehicle . coordinate
}
}
function loadFromVehicle ( ) {
controller . getMissionItems ( )
}
function loadFromFile ( ) {
if ( ScreenTools . isMobile ) {
_root . showDialog ( mobileFilePicker , qsTr ( "Select Mission File" ) , _root . showDialogDefaultWidth , StandardButton . Yes | StandardButton . Cancel )
} else {
controller . loadMissionFromFilePicker ( )
fitViewportToMissionItems ( )
}
}
function saveToFile ( ) {
if ( ScreenTools . isMobile ) {
_root . showDialog ( mobileFileSaver , qsTr ( "Save Mission File" ) , _root . showDialogDefaultWidth , StandardButton . Save | StandardButton . Cancel )
} else {
controller . saveMissionToFilePicker ( )
}
}
function normalizeLat ( lat ) {
// Normalize latitude to range: 0 to 180, S to N
return lat + 90.0
}
function normalizeLon ( lon ) {
// Normalize longitude to range: 0 to 360, W to E
return lon + 180.0
}
/// Fix the map viewport to the current mission items.
function fitViewportToMissionItems ( ) {
if ( _visualItems . count == 1 ) {
editorMap . center = _visualItems . get ( 0 ) . coordinate
} else {
var missionItem = _visualItems . get ( 0 )
var north = normalizeLat ( missionItem . coordinate . latitude )
var south = north
var east = normalizeLon ( missionItem . coordinate . longitude )
var west = east
for ( var i = 1 ; i < _visualItems . count ; i ++ ) {
missionItem = _visualItems . get ( i )
if ( missionItem . specifiesCoordinate && ! missionItem . isStandaloneCoordinate ) {
var lat = normalizeLat ( missionItem . coordinate . latitude )
var lon = normalizeLon ( missionItem . coordinate . longitude )
north = Math . max ( north , lat )
south = Math . min ( south , lat )
east = Math . max ( east , lon )
west = Math . min ( west , lon )
}
}
editorMap . visibleRegion = QtPositioning . rectangle ( QtPositioning . coordinate ( north - 90.0 , west - 180.0 ) , QtPositioning . coordinate ( south - 90.0 , east - 180.0 ) )
}
}
MissionController {
id: controller
Component.onCompleted: {
start ( true /* editMode */ )
setCurrentItem ( 0 )
}
/ *
FIXME: autoSync is temporarily disconnected since it ' s still buggy
autoSync: QGroundControl . flightMapSettings . loadMapSetting ( editorMap . mapName , _autoSyncKey , true )
onAutoSyncChanged: QGroundControl . flightMapSettings . saveMapSetting ( editorMap . mapName , _autoSyncKey , autoSync )
* /
onVisualItemsChanged: itemDragger . clearItem ( )
onNewItemsFromVehicle: fitViewportToMissionItems ( )
}
QGCPalette { id: qgcPal ; colorGroupEnabled: enabled }
ExclusiveGroup {
id: _mapTypeButtonsExclusiveGroup
}
ExclusiveGroup {
id: _dropButtonsExclusiveGroup
}
function setCurrentItem ( sequenceNumber ) {
_currentMissionItem = undefined
for ( var i = 0 ; i < _visualItems . count ; i ++ ) {
var visualItem = _visualItems . get ( i )
if ( visualItem . sequenceNumber == sequenceNumber ) {
_currentMissionItem = visualItem
_currentMissionItem . isCurrentItem = true
} else {
visualItem . isCurrentItem = false
}
}
}
property int _moveDialogMissionItemIndex
Component {
id: mobileFilePicker
QGCMobileFileDialog {
openDialog: true
fileExtension: QGroundControl . missionFileExtension
onFilenameReturned: {
controller . loadMissionFromFile ( filename )
fitViewportToMissionItems ( )
}
}
}
Component {
id: mobileFileSaver
QGCMobileFileDialog {
openDialog: false
fileExtension: QGroundControl . missionFileExtension
onFilenameReturned: {
controller . saveMissionToFile ( filename )
}
}
}
Component {
id: moveDialog
QGCViewDialog {
function accept ( ) {
var toIndex = toCombo . currentIndex
if ( toIndex == 0 ) {
toIndex = 1
}
controller . moveMissionItem ( _moveDialogMissionItemIndex , toIndex )
hideDialog ( )
}
Column {
anchors.left: parent . left
anchors.right: parent . right
spacing: ScreenTools . defaultFontPixelHeight
QGCLabel {
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: qsTr ( "Move the selected mission item to the be after following mission item:" )
}
QGCComboBox {
id: toCombo
model: _visualItems . count
currentIndex: _moveDialogMissionItemIndex
}
}
}
}
QGCViewPanel {
id: panel
anchors.fill: parent
Item {
anchors.fill: parent
FlightMap {
id: editorMap
anchors.fill: parent
mapName: "MissionEditor"
signal mapClicked ( var coordinate )
readonly property real animationDuration: 500
// Initial map position duplicates Fly view position
Component.onCompleted: editorMap . center = QGroundControl . flightMapPosition
Behavior on zoomLevel {
NumberAnimation {
duration: editorMap . animationDuration
easing.type: Easing . InOutQuad
}
}
MouseArea {
anchors.fill: parent
onClicked: {
var coordinate = editorMap . toCoordinate ( Qt . point ( mouse . x , mouse . y ) )
coordinate . latitude = coordinate . latitude . toFixed ( _decimalPlaces )
coordinate . longitude = coordinate . longitude . toFixed ( _decimalPlaces )
coordinate . altitude = coordinate . altitude . toFixed ( _decimalPlaces )
if ( addMissionItemsButton . checked ) {
var sequenceNumber = controller . insertSimpleMissionItem ( coordinate , controller . visualItems . count )
setCurrentItem ( sequenceNumber )
editorListView . positionViewAtIndex ( editorListView . count - 1 , ListView . Contain )
} else {
editorMap . mapClicked ( coordinate )
}
}
}
// We use this item to support dragging since dragging a MapQuickItem just doesn't seem to work
Rectangle {
id: itemDragger
x: missionItemIndicator ? ( missionItemIndicator . x + missionItemIndicator . anchorPoint . x - ( itemDragger . width / 2 ) ) : 100
y: missionItemIndicator ? ( missionItemIndicator . y + missionItemIndicator . anchorPoint . y - ( itemDragger . height / 2 ) ) : 100
width: ScreenTools . defaultFontPixelHeight * 2
height: ScreenTools . defaultFontPixelHeight * 2
color: "transparent"
visible: false
z: QGroundControl . zOrderMapItems + 1 // Above item icons
property var missionItem
property var missionItemIndicator
property bool preventCoordinateBindingLoop: false
onXChanged: liveDrag ( )
onYChanged: liveDrag ( )
function liveDrag ( ) {
if ( ! itemDragger . preventCoordinateBindingLoop && Drag . active ) {
var point = Qt . point ( itemDragger . x + ( itemDragger . width / 2 ) , itemDragger . y + ( itemDragger . height / 2 ) )
var coordinate = editorMap . toCoordinate ( point )
coordinate . altitude = itemDragger . missionItem . coordinate . altitude
itemDragger . preventCoordinateBindingLoop = true
itemDragger . missionItem . coordinate = coordinate
itemDragger . preventCoordinateBindingLoop = false
}
}
function clearItem ( ) {
itemDragger . visible = false
itemDragger . missionItem = undefined
itemDragger . missionItemIndicator = undefined
}
Drag.active: itemDrag . drag . active
Drag.hotSpot.x: width / 2
Drag.hotSpot.y: height / 2
MouseArea {
id: itemDrag
anchors.fill: parent
drag.target: parent
drag.minimumX: 0
drag.minimumY: 0
drag.maximumX: itemDragger . parent . width - parent . width
drag.maximumY: itemDragger . parent . height - parent . height
}
}
// Add the complex mission item polygon to the map
MapItemView {
model: controller . complexVisualItems
delegate: MapPolygon {
color: 'green'
path: object . polygonPath
opacity: 0.5
}
}
// Add the complex mission item grid to the map
MapItemView {
model: controller . complexVisualItems
delegate: MapPolyline {
line.color: "white"
path: object . gridPoints
}
}
// Add the complex mission item exit coordinates
MapItemView {
model: controller . complexVisualItems
delegate: exitCoordinateComponent
}
Component {
id: exitCoordinateComponent
MissionItemIndicator {
coordinate: object . exitCoordinate
z: QGroundControl . zOrderMapItems
missionItem: object
sequenceNumber: object . lastSequenceNumber
visible: object . specifiesCoordinate
}
}
// Add the simple mission items to the map
MapItemView {
model: controller . visualItems
delegate: missionItemComponent
}
Component {
id: missionItemComponent
MissionItemIndicator {
id: itemIndicator
coordinate: object . coordinate
visible: object . specifiesCoordinate
z: QGroundControl . zOrderMapItems
missionItem: object
sequenceNumber: object . sequenceNumber
onClicked: setCurrentItem ( object . sequenceNumber )
function updateItemIndicator ( ) {
if ( object . isCurrentItem && itemIndicator . visible && object . specifiesCoordinate && object . isSimpleItem ) {
// Setup our drag item
itemDragger . visible = true
itemDragger . missionItem = Qt . binding ( function ( ) { return object } )
itemDragger . missionItemIndicator = Qt . binding ( function ( ) { return itemIndicator } )
}
}
Connections {
target: object
onIsCurrentItemChanged: updateItemIndicator ( )
onSpecifiesCoordinateChanged: updateItemIndicator ( )
}
// These are the non-coordinate child mission items attached to this item
Row {
anchors.top: parent . top
anchors.left: parent . right
Repeater {
model: object . childItems
delegate: MissionItemIndexLabel {
label: object . sequenceNumber
isCurrentItem: object . isCurrentItem
z: 2
onClicked: setCurrentItem ( object . sequenceNumber )
}
}
}
}
}
// Add lines between waypoints
MissionLineView {
model: controller . waypointLines
}
// Add the vehicles to the map
MapItemView {
model: QGroundControl . multiVehicleManager . vehicles
delegate:
VehicleMapItem {
vehicle: object
coordinate: object . coordinate
isSatellite: editorMap . isSatelliteMap
size: ScreenTools . defaultFontPixelHeight * 5
z: QGroundControl . zOrderMapItems - 1
}
}
// Mission Item Editor
Item {
id: missionItemEditor
anchors.top: parent . top
anchors.bottom: parent . bottom
anchors.right: parent . right
width: _rightPanelWidth
opacity: _rightPanelOpacity
z: QGroundControl . zOrderTopMost
MouseArea {
// This MouseArea prevents the Map below it from getting Mouse events. Without this
// things like mousewheel will scroll the Flickable and then scroll the map as well.
anchors.fill: editorListView
onWheel: wheel . accepted = true
}
ListView {
id: editorListView
anchors.left: parent . left
anchors.right: parent . right
anchors.top: parent . top
height: parent . height
spacing: _margin / 2
orientation: ListView . Vertical
model: controller . visualItems
cacheBuffer: height * 2
delegate: MissionItemEditor {
missionItem: object
width: parent . width
qgcView: _root
readOnly: false
onClicked: setCurrentItem ( object . sequenceNumber )
onRemove: {
itemDragger . clearItem ( )
controller . removeMissionItem ( object . sequenceNumber )
}
onInsert: {
var sequenceNumber = controller . insertSimpleMissionItem ( editorMap . center , i )
setCurrentItem ( sequenceNumber )
}
onMoveHomeToMapCenter: controller . visualItems . get ( 0 ) . coordinate = editorMap . center
Connections {
target: object
onIsCurrentItemChanged: {
if ( object . isCurrentItem ) {
editorListView . positionViewAtIndex ( index , ListView . Contain )
}
}
}
}
} // ListView
} // Item - Mission Item editor
//-- Dismiss Drop Down (if any)
MouseArea {
anchors.fill: parent
enabled: _dropButtonsExclusiveGroup . current != null
onClicked: {
if ( _dropButtonsExclusiveGroup . current )
_dropButtonsExclusiveGroup . current . checked = false
_dropButtonsExclusiveGroup . current = null
}
}
//-- Vertical Tool Buttons
Column {
id: toolColumn
anchors.margins: ScreenTools . defaultFontPixelHeight
anchors.left: parent . left
anchors.top: parent . top
spacing: ScreenTools . defaultFontPixelHeight
RoundButton {
id: addMissionItemsButton
buttonImage: "/qmlimages/MapAddMission.svg"
z: QGroundControl . zOrderWidgets
lightBorders: _lightWidgetBorders
}
RoundButton {
id: addShapeButton
buttonImage: "/qmlimages/MapDrawShape.svg"
z: QGroundControl . zOrderWidgets
visible: QGroundControl . experimentalSurvey
lightBorders: _lightWidgetBorders
onClicked: {
var coordinate = editorMap . center
coordinate . latitude = coordinate . latitude . toFixed ( _decimalPlaces )
coordinate . longitude = coordinate . longitude . toFixed ( _decimalPlaces )
coordinate . altitude = coordinate . altitude . toFixed ( _decimalPlaces )
var sequenceNumber = controller . insertComplexMissionItem ( coordinate , controller . visualItems . count )
setCurrentItem ( sequenceNumber )
checked = false
addMissionItemsButton . checked = false
}
}
DropButton {
id: syncButton
dropDirection: dropRight
buttonImage: syncNeeded ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg"
viewportMargins: ScreenTools . defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl . zOrderWidgets
dropDownComponent: syncDropDownComponent
enabled: ! controller . syncInProgress
rotateImage: controller . syncInProgress
lightBorders: _lightWidgetBorders
}
DropButton {
id: centerMapButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapCenter.svg"
viewportMargins: ScreenTools . defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl . zOrderWidgets
lightBorders: _lightWidgetBorders
dropDownComponent: Component {
Column {
QGCLabel { text: qsTr ( "Center map:" ) }
Row {
spacing: ScreenTools . defaultFontPixelWidth
QGCButton {
text: qsTr ( "Home" )
onClicked: {
centerMapButton . hideDropDown ( )
editorMap . center = controller . visualItems . get ( 0 ) . coordinate
}
}
QGCButton {
text: qsTr ( "Mission" )
onClicked: {
centerMapButton . hideDropDown ( )
fitViewportToMissionItems ( )
}
}
QGCButton {
text: qsTr ( "Vehicle" )
enabled: activeVehicle && activeVehicle . latitude != 0 && activeVehicle . longitude != 0
property var activeVehicle: _activeVehicle
onClicked: {
centerMapButton . hideDropDown ( )
editorMap . center = activeVehicle . coordinate
}
}
}
}
}
}
DropButton {
id: mapTypeButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapType.svg"
viewportMargins: ScreenTools . defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl . zOrderWidgets
lightBorders: _lightWidgetBorders
dropDownComponent: Component {
Column {
QGCLabel { text: qsTr ( "Map type:" ) }
Row {
spacing: ScreenTools . defaultFontPixelWidth
Repeater {
model: QGroundControl . flightMapSettings . mapTypes
QGCButton {
checkable: true
checked: editorMap . mapType == text
text: modelData
exclusiveGroup: _mapTypeButtonsExclusiveGroup
onClicked: {
editorMap . mapType = text
checked = true
mapTypeButton . hideDropDown ( )
}
}
}
}
}
}
}
//-- Zoom Map In
RoundButton {
id: mapZoomPlus
visible: ! ScreenTools . isTinyScreen && ! ScreenTools . isShortScreen
buttonImage: "/qmlimages/ZoomPlus.svg"
z: QGroundControl . zOrderWidgets
lightBorders: _lightWidgetBorders
onClicked: {
if ( editorMap )
editorMap . zoomLevel += 0.5
checked = false
}
}
//-- Zoom Map Out
RoundButton {
id: mapZoomMinus
visible: ! ScreenTools . isTinyScreen && ! ScreenTools . isShortScreen
buttonImage: "/qmlimages/ZoomMinus.svg"
z: QGroundControl . zOrderWidgets
lightBorders: _lightWidgetBorders
onClicked: {
if ( editorMap )
editorMap . zoomLevel -= 0.5
checked = false
}
}
}
MissionItemStatus {
id: waypointValuesDisplay
anchors.margins: ScreenTools . defaultFontPixelWidth
anchors.left: parent . left
anchors.bottom: parent . bottom
z: QGroundControl . zOrderTopMost
currentMissionItem: _currentMissionItem
missionItems: controller . visualItems
expandedWidth: missionItemEditor . x - ( ScreenTools . defaultFontPixelWidth * 2 )
visible: ! ScreenTools . isShortScreen
}
} // FlightMap
} // Item - split view container
} // QGCViewPanel
Component {
id: syncLoadFromVehicleOverwrite
QGCViewMessage {
id: syncLoadFromVehicleCheck
message: qsTr ( "You have unsaved/unsent mission changes. Loading the mission from the Vehicle will lose these changes. Are you sure you want to load the mission from the Vehicle?" )
function accept ( ) {
hideDialog ( )
loadFromVehicle ( )
}
}
}
Component {
id: syncLoadFromFileOverwrite
QGCViewMessage {
id: syncLoadFromVehicleCheck
message: qsTr ( "You have unsaved/unsent mission changes. Loading a mission from a file will lose these changes. Are you sure you want to load a mission from a file?" )
function accept ( ) {
hideDialog ( )
loadFromFile ( )
}
}
}
Component {
id: removeAllPromptDialog
QGCViewMessage {
message: qsTr ( "Are you sure you want to delete all mission items?" )
function accept ( ) {
itemDragger . clearItem ( )
controller . removeAllMissionItems ( )
hideDialog ( )
}
}
}
Component {
id: syncDropDownComponent
Column {
id: columnHolder
spacing: _margin
QGCLabel {
width: sendSaveRow . width
wrapMode: Text . WordWrap
text: syncNeeded && ! controller . autoSync ?
qsTr ( "You have unsaved changed to you mission. You should send to your vehicle, or save to a file:" ) :
qsTr ( "Sync:" )
}
Row {
id: sendSaveRow
visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
spacing: ScreenTools . defaultFontPixelWidth
QGCButton {
text: qsTr ( "Send to vehicle" )
enabled: _activeVehicle && ! controller . syncInProgress
onClicked: {
syncButton . hideDropDown ( )
controller . sendMissionItems ( )
}
}
QGCButton {
text: qsTr ( "Load from vehicle" )
enabled: _activeVehicle && ! controller . syncInProgress
onClicked: {
syncButton . hideDropDown ( )
if ( syncNeeded ) {
_root . showDialog ( syncLoadFromVehicleOverwrite , qsTr ( "Mission overwrite" ) , _root . showDialogDefaultWidth , StandardButton . Yes | StandardButton . Cancel )
} else {
loadFromVehicle ( )
}
}
}
}
Row {
spacing: ScreenTools . defaultFontPixelWidth
QGCButton {
text: qsTr ( "Save to file..." )
enabled: ! controller . syncInProgress
onClicked: {
syncButton . hideDropDown ( )
saveToFile ( )
}
}
QGCButton {
text: qsTr ( "Load from file..." )
enabled: ! controller . syncInProgress
onClicked: {
syncButton . hideDropDown ( )
if ( syncNeeded ) {
_root . showDialog ( syncLoadFromFileOverwrite , qsTr ( "Mission overwrite" ) , _root . showDialogDefaultWidth , StandardButton . Yes | StandardButton . Cancel )
} else {
loadFromFile ( )
}
}
}
}
QGCButton {
text: qsTr ( "Remove all" )
onClicked: {
syncButton . hideDropDown ( )
_root . showDialog ( removeAllPromptDialog , qsTr ( "Delete all" ) , _root . showDialogDefaultWidth , StandardButton . Yes | StandardButton . No )
}
}
/ *
FIXME: autoSync is temporarily disconnected since it ' s still buggy
QGCLabel {
id: autoSyncDisallowedLabel
visible: _activeVehicle && _activeVehicle . armed
text: "AutoSync is not allowed whie vehicle is armed"
}
QGCCheckBox {
id: autoSyncCheckBox
checked: controller . autoSync
text: "Automatically sync changes with vehicle"
enabled: _activeVehicle ? ! _activeVehicle . armed : false
onClicked: controller . autoSync = checked
}
* /
}
}
} // QGCVIew
