QG4/src/FlightDisplay/FlyViewMap.qml

/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

import QtQuick                      2.11
import QtQuick.Controls             2.4
import QtLocation                   5.3
import QtPositioning                5.3
import QtQuick.Dialogs              1.2
import QtQuick.Layouts              1.11

import QGroundControl               1.0
import QGroundControl.Controllers   1.0
import QGroundControl.Controls      1.0
import QGroundControl.FlightDisplay 1.0
import QGroundControl.FlightMap     1.0
import QGroundControl.Palette       1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Vehicle       1.0

FlightMap {
    id:                         _root
    allowGCSLocationCenter:     true
    allowVehicleLocationCenter: !_keepVehicleCentered
    planView:                   false
    zoomLevel:                  QGroundControl.flightMapZoom
    center:                     QGroundControl.flightMapPosition

    property Item pipState: _pipState
    QGCPipState {
        id:         _pipState
        pipOverlay: _pipOverlay
        isDark:     _isFullWindowItemDark
    }

    property var    rightPanelWidth
    property var    planMasterController
    property bool   pipMode:                    false   // true: map is shown in a small pip mode
    property var    toolInsets                          // Insets for the center viewport area

    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
    property var    _planMasterController:      planMasterController
    property var    _geoFenceController:        planMasterController.geoFenceController
    property var    _rallyPointController:      planMasterController.rallyPointController
    property var    _activeVehicleCoordinate:   _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
    property real   _toolButtonTopMargin:       parent.height - mainWindow.height + (ScreenTools.defaultFontPixelHeight / 2)
    property real   _toolsMargin:               ScreenTools.defaultFontPixelWidth * 0.75
    property var    _flyViewSettings:           QGroundControl.settingsManager.flyViewSettings
    property bool   _keepMapCenteredOnVehicle:  _flyViewSettings.keepMapCenteredOnVehicle.rawValue

    property bool   _disableVehicleTracking:    false
    property bool   _keepVehicleCentered:       pipMode ? true : false
    property bool   _saveZoomLevelSetting:      true

    function _adjustMapZoomForPipMode() {
        _saveZoomLevelSetting = false
        if (pipMode) {
            if (QGroundControl.flightMapZoom > 3) {
                zoomLevel = QGroundControl.flightMapZoom - 3
            }
        } else {
            zoomLevel = QGroundControl.flightMapZoom
        }
        _saveZoomLevelSetting = true
    }

    onPipModeChanged: _adjustMapZoomForPipMode()

    onVisibleChanged: {
        if (visible) {
            // Synchronize center position with Plan View
            center = QGroundControl.flightMapPosition
        }
    }

    onZoomLevelChanged: {
        if (_saveZoomLevelSetting) {
            QGroundControl.flightMapZoom = zoomLevel
        }
    }
    onCenterChanged: {
        QGroundControl.flightMapPosition = center
    }

    // We track whether the user has panned or not to correctly handle automatic map positioning
    Connections {
        target: gesture

        function onPanStarted() {       _disableVehicleTracking = true }
        function onFlickStarted() {     _disableVehicleTracking = true }
        function onPanFinished() {      panRecenterTimer.restart() }
        function onFlickFinished() {    panRecenterTimer.restart() }
    }

    function pointInRect(point, rect) {
        return point.x > rect.x &&
                point.x < rect.x + rect.width &&
                point.y > rect.y &&
                point.y < rect.y + rect.height;
    }

    property real _animatedLatitudeStart
    property real _animatedLatitudeStop
    property real _animatedLongitudeStart
    property real _animatedLongitudeStop
    property real animatedLatitude
    property real animatedLongitude

    onAnimatedLatitudeChanged: _root.center = QtPositioning.coordinate(animatedLatitude, animatedLongitude)
    onAnimatedLongitudeChanged: _root.center = QtPositioning.coordinate(animatedLatitude, animatedLongitude)

    NumberAnimation on animatedLatitude { id: animateLat; from: _animatedLatitudeStart; to: _animatedLatitudeStop; duration: 1000 }
    NumberAnimation on animatedLongitude { id: animateLong; from: _animatedLongitudeStart; to: _animatedLongitudeStop; duration: 1000 }

    function animatedMapRecenter(fromCoord, toCoord) {
        _animatedLatitudeStart = fromCoord.latitude
        _animatedLongitudeStart = fromCoord.longitude
        _animatedLatitudeStop = toCoord.latitude
        _animatedLongitudeStop = toCoord.longitude
        animateLat.start()
        animateLong.start()
    }

    // returns the rectangle formed by the four center insets
    // used for checking if vehicle is under ui, and as a target for recentering the view
    function _insetCenterRect() {
        return Qt.rect(toolInsets.leftEdgeCenterInset,
                       toolInsets.topEdgeCenterInset,
                       _root.width - toolInsets.leftEdgeCenterInset - toolInsets.rightEdgeCenterInset,
                       _root.height - toolInsets.topEdgeCenterInset - toolInsets.bottomEdgeCenterInset)
    }

    // returns the four rectangles formed by the 8 corner insets
    // used for detecting if the vehicle has flown under the instrument panel, virtual joystick etc
    function _insetCornerRects() {
        var rects = {
        "topleft":      Qt.rect(0,0,
                               toolInsets.leftEdgeTopInset,
                               toolInsets.topEdgeLeftInset),
        "topright":     Qt.rect(_root.width-toolInsets.rightEdgeTopInset,0,
                               toolInsets.rightEdgeTopInset,
                               toolInsets.topEdgeRightInset),
        "bottomleft":   Qt.rect(0,_root.height-toolInsets.bottomEdgeLeftInset,
                               toolInsets.leftEdgeBottomInset,
                               toolInsets.bottomEdgeLeftInset),
        "bottomright":  Qt.rect(_root.width-toolInsets.rightEdgeBottomInset,_root.height-toolInsets.bottomEdgeRightInset,
                               toolInsets.rightEdgeBottomInset,
                               toolInsets.bottomEdgeRightInset)}
        return rects
    }

    function recenterNeeded() {
        var vehiclePoint = _root.fromCoordinate(_activeVehicleCoordinate, false /* clipToViewport */)
        var centerRect = _insetCenterRect()
        //return !pointInRect(vehiclePoint,insetRect)

        // If we are outside the center inset rectangle, recenter
        if(!pointInRect(vehiclePoint, centerRect)){
            return true
        }

        // if we are inside the center inset rectangle
        // then additionally check if we are underneath one of the corner inset rectangles
        var cornerRects = _insetCornerRects()
        if(pointInRect(vehiclePoint, cornerRects["topleft"])){
            return true
        } else if(pointInRect(vehiclePoint, cornerRects["topright"])){
            return true
        } else if(pointInRect(vehiclePoint, cornerRects["bottomleft"])){
            return true
        } else if(pointInRect(vehiclePoint, cornerRects["bottomright"])){
            return true
        }

        // if we are inside the center inset rectangle, and not under any corner elements
        return false
    }

    function updateMapToVehiclePosition() {
        if (animateLat.running || animateLong.running) {
            return
        }
        // We let FlightMap handle first vehicle position
        if (!_keepMapCenteredOnVehicle && firstVehiclePositionReceived && _activeVehicleCoordinate.isValid && !_disableVehicleTracking) {
            if (_keepVehicleCentered) {
                _root.center = _activeVehicleCoordinate
            } else {
                if (firstVehiclePositionReceived && recenterNeeded()) {
                    // Move the map such that the vehicle is centered within the inset area
                    var vehiclePoint = _root.fromCoordinate(_activeVehicleCoordinate, false /* clipToViewport */)
                    var centerInsetRect = _insetCenterRect()
                    var centerInsetPoint = Qt.point(centerInsetRect.x + centerInsetRect.width / 2, centerInsetRect.y + centerInsetRect.height / 2)
                    var centerOffset = Qt.point((_root.width / 2) - centerInsetPoint.x, (_root.height / 2) - centerInsetPoint.y)
                    var vehicleOffsetPoint = Qt.point(vehiclePoint.x + centerOffset.x, vehiclePoint.y + centerOffset.y)
                    var vehicleOffsetCoord = _root.toCoordinate(vehicleOffsetPoint, false /* clipToViewport */)
                    animatedMapRecenter(_root.center, vehicleOffsetCoord)
                }
            }
        }
    }

    on_ActiveVehicleCoordinateChanged: {
        if (_keepMapCenteredOnVehicle && _activeVehicleCoordinate.isValid && !_disableVehicleTracking) {
            _root.center = _activeVehicleCoordinate
        }
    }

    Timer {
        id:         panRecenterTimer
        interval:   10000
        running:    false
        onTriggered: {
            _disableVehicleTracking = false
            updateMapToVehiclePosition()
        }
    }

    Timer {
        interval:       500
        running:        true
        repeat:         true
        onTriggered:    updateMapToVehiclePosition()
    }

    QGCMapPalette { id: mapPal; lightColors: isSatelliteMap }

    Connections {
        target:                 _missionController
        ignoreUnknownSignals:   true
        function onNewItemsFromVehicle() {
            var visualItems = _missionController.visualItems
            if (visualItems && visualItems.count !== 1) {
                mapFitFunctions.fitMapViewportToMissionItems()
                firstVehiclePositionReceived = true
            }
        }
    }

    MapFitFunctions {
        id:                         mapFitFunctions // The name for this id cannot be changed without breaking references outside of this code. Beware!
        map:                        _root
        usePlannedHomePosition:     false
        planMasterController:       _planMasterController
    }

    ObstacleDistanceOverlayMap {
        id: obstacleDistance
        showText: !pipMode
    }

    // Add trajectory lines to the map
    MapPolyline {
        id:         trajectoryPolyline
        line.width: 3
        line.color: "red"
        z:          QGroundControl.zOrderTrajectoryLines
        visible:    !pipMode

        Connections {
            target:                 QGroundControl.multiVehicleManager
            function onActiveVehicleChanged(activeVehicle) {
                trajectoryPolyline.path = _activeVehicle ? _activeVehicle.trajectoryPoints.list() : []
            }
        }

        Connections {
            target:                 _activeVehicle ? _activeVehicle.trajectoryPoints : null
            onPointAdded:           trajectoryPolyline.addCoordinate(coordinate)
            onUpdateLastPoint:      trajectoryPolyline.replaceCoordinate(trajectoryPolyline.pathLength() - 1, coordinate)
            onPointsCleared:        trajectoryPolyline.path = []
        }
    }

    // Add the vehicles to the map
    MapItemView {
        model: QGroundControl.multiVehicleManager.vehicles
        delegate: VehicleMapItem {
            vehicle:        object
            coordinate:     object.coordinate
            map:            _root
            size:           pipMode ? ScreenTools.defaultFontPixelHeight : ScreenTools.defaultFontPixelHeight * 3
            z:              QGroundControl.zOrderVehicles
        }
    }
    // Add distance sensor view
    MapItemView{
        model: QGroundControl.multiVehicleManager.vehicles
        delegate: ProximityRadarMapView {
            vehicle:        object
            coordinate:     object.coordinate
            map:            _root
            z:              QGroundControl.zOrderVehicles
        }
    }
    // Add ADSB vehicles to the map
    MapItemView {
        model: QGroundControl.adsbVehicleManager.adsbVehicles
        delegate: VehicleMapItem {
            coordinate:     object.coordinate
            altitude:       object.altitude
            callsign:       object.callsign
            heading:        object.heading
            alert:          object.alert
            map:            _root
            size:           pipMode ? ScreenTools.defaultFontPixelHeight : ScreenTools.defaultFontPixelHeight * 2.5
            z:              QGroundControl.zOrderVehicles
        }
    }

    // Add the items associated with each vehicles flight plan to the map
    Repeater {
        model: QGroundControl.multiVehicleManager.vehicles

        PlanMapItems {
            map:                    _root
            largeMapView:           !pipMode
            planMasterController:   masterController
            vehicle:                _vehicle

            property var _vehicle: object

            PlanMasterController {
                id: masterController
                Component.onCompleted: startStaticActiveVehicle(object)
            }
        }
    }

    MapItemView {
        model: pipMode ? undefined : _missionController.directionArrows

        delegate: MapLineArrow {
            fromCoord:      object ? object.coordinate1 : undefined
            toCoord:        object ? object.coordinate2 : undefined
            arrowPosition:  2
            z:              QGroundControl.zOrderWaypointLines
        }
    }

    // Allow custom builds to add map items
    CustomMapItems {
        map:            _root
        largeMapView:   !pipMode
    }

    GeoFenceMapVisuals {
        map:                    _root
        myGeoFenceController:   _geoFenceController
        interactive:            false
        planView:               false
        homePosition:           _activeVehicle && _activeVehicle.homePosition.isValid ? _activeVehicle.homePosition :  QtPositioning.coordinate()
    }

    // Rally points on map
    MapItemView {
        model: _rallyPointController.points

        delegate: MapQuickItem {
            id:             itemIndicator
            anchorPoint.x:  sourceItem.anchorPointX
            anchorPoint.y:  sourceItem.anchorPointY
            coordinate:     object.coordinate
            z:              QGroundControl.zOrderMapItems

            sourceItem: MissionItemIndexLabel {
                id:         itemIndexLabel
                label:      qsTr("R", "rally point map item label")
            }
        }
    }

    // Camera trigger points
    MapItemView {
        model: _activeVehicle ? _activeVehicle.cameraTriggerPoints : 0

        delegate: CameraTriggerIndicator {
            coordinate:     object.coordinate
            z:              QGroundControl.zOrderTopMost
        }
    }

    // GoTo Location visuals
    MapQuickItem {
        id:             gotoLocationItem
        visible:        false
        z:              QGroundControl.zOrderMapItems
        anchorPoint.x:  sourceItem.anchorPointX
        anchorPoint.y:  sourceItem.anchorPointY
        sourceItem: MissionItemIndexLabel {
            checked:    true
            index:      -1
            label:      qsTr("Go here", "Go to location waypoint")
        }

        property bool inGotoFlightMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.gotoFlightMode : false

        onInGotoFlightModeChanged: {
            if (!inGotoFlightMode && gotoLocationItem.visible) {
                // Hide goto indicator when vehicle falls out of guided mode
                gotoLocationItem.visible = false
            }
        }

        Connections {
            target: QGroundControl.multiVehicleManager
            function onActiveVehicleChanged(activeVehicle) {
                if (!activeVehicle) {
                    gotoLocationItem.visible = false
                }
            }
        }

        function show(coord) {
            gotoLocationItem.coordinate = coord
            gotoLocationItem.visible = true
        }

        function hide() {
            gotoLocationItem.visible = false
        }

        function actionConfirmed() {
            // We leave the indicator visible. The handling for onInGuidedModeChanged will hide it.
        }

        function actionCancelled() {
            hide()
        }
    }

    // Orbit editing visuals
    QGCMapCircleVisuals {
        id:             orbitMapCircle
        mapControl:     parent
        mapCircle:      _mapCircle
        visible:        false

        property alias center:              _mapCircle.center
        property alias clockwiseRotation:   _mapCircle.clockwiseRotation
        readonly property real defaultRadius: 30

        Connections {
            target: QGroundControl.multiVehicleManager
            function onActiveVehicleChanged(activeVehicle) {
                if (!activeVehicle) {
                    orbitMapCircle.visible = false
                }
            }
        }

        function show(coord) {
            _mapCircle.radius.rawValue = defaultRadius
            orbitMapCircle.center = coord
            orbitMapCircle.visible = true
        }

        function hide() {
            orbitMapCircle.visible = false
        }

        function actionConfirmed() {
            // Live orbit status is handled by telemetry so we hide here and telemetry will show again.
            hide()
        }

        function actionCancelled() {
            hide()
        }

        function radius() {
            return _mapCircle.radius.rawValue
        }

        Component.onCompleted: globals.guidedControllerFlyView.orbitMapCircle = orbitMapCircle

        QGCMapCircle {
            id:                 _mapCircle
            interactive:        true
            radius.rawValue:    30
            showRotation:       true
            clockwiseRotation:  true
        }
    }

    // ROI Location visuals
    MapQuickItem {
        id:             roiLocationItem
        visible:        _activeVehicle && _activeVehicle.isROIEnabled
        z:              QGroundControl.zOrderMapItems
        anchorPoint.x:  sourceItem.anchorPointX
        anchorPoint.y:  sourceItem.anchorPointY

        sourceItem: MissionItemIndexLabel {
            checked:    true
            index:      -1
            label:      qsTr("ROI here", "Make this a Region Of Interest")

            onClicked: (position) => {
                var roiEditMenu = popupMenuComponent.createObject(_root, { coord: roiLocationItem.coordinate, contentItemComponent: roiEditMenuComponent })
                var clickPoint = mapToItem(_root, position.x, position.y)
                roiEditMenu.setPosition(clickPoint.x, clickPoint.y)
                roiEditMenu.open()
            }
        }

        //-- Visibilty controlled by actual state
        function show(coord) {
            roiLocationItem.coordinate = coord
        }
    }

    // Orbit telemetry visuals
    QGCMapCircleVisuals {
        id:             orbitTelemetryCircle
        mapControl:     parent
        mapCircle:      _activeVehicle ? _activeVehicle.orbitMapCircle : null
        visible:        _activeVehicle ? _activeVehicle.orbitActive : false
    }

    MapQuickItem {
        id:             orbitCenterIndicator
        anchorPoint.x:  sourceItem.anchorPointX
        anchorPoint.y:  sourceItem.anchorPointY
        coordinate:     _activeVehicle ? _activeVehicle.orbitMapCircle.center : QtPositioning.coordinate()
        visible:        orbitTelemetryCircle.visible

        sourceItem: MissionItemIndexLabel {
            checked:    true
            index:      -1
            label:      qsTr("Orbit", "Orbit waypoint")
        }
    }

    MouseArea {
        anchors.fill: parent
        
        onClicked: {
            if (!globals.guidedControllerFlyView.guidedUIVisible && 
                (globals.guidedControllerFlyView.showGotoLocation || globals.guidedControllerFlyView.showOrbit || globals.guidedControllerFlyView.showROI || globals.guidedControllerFlyView.showSetHome || globals.guidedControllerFlyView.showSetEstimatorOrigin)) {
                orbitMapCircle.hide()
                gotoLocationItem.hide()
                var clickCoord = _root.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
                var mapClickMenu = popupMenuComponent.createObject(_root, { coord: clickCoord, contentItemComponent: mapClickMenuComponent })
                mapClickMenu.setPosition(mouse.x, mouse.y)
                mapClickMenu.open()
            }
        }
    }
    
    Component {
        id: popupMenuComponent

        Popup {
            id: mapClickMenu
            modal: true

            property var coord
            property var contentItemComponent

            function setPosition(mouseX, mouseY) {
                var newX = mouseX
                var newY = mouseY

                // Filtering coordinates
                if (newX + mapClickMenu.width > _root.width) {
                    newX = _root.width - mapClickMenu.width
                }
                if (newY + mapClickMenu.height > _root.height) {
                    newY = _root.height - mapClickMenu.height
                }

                // Set coordiantes
                x = newX
                y = newY
            }

            background: Rectangle {
                radius: ScreenTools.defaultFontPixelHeight * 0.5
                color: qgcPal.window
                border.color: qgcPal.text
            }

            contentItem: Loader {
                sourceComponent: contentItemComponent

                property var mapClickCoord: mapClickMenu.coord
                property var popup:         mapClickMenu
            }
        }
    }

    Component {
        id: mapClickMenuComponent

        ColumnLayout {
            id: mainLayout
            spacing: ScreenTools.defaultFontPixelWidth / 2

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("Go to location")
                visible:            globals.guidedControllerFlyView.showGotoLocation
                onClicked: {
                    if (popup.opened) {
                        popup.close()
                    }
                    gotoLocationItem.show(mapClickCoord)
                    globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionGoto, mapClickCoord, gotoLocationItem)
                }
            }

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("Orbit at location")
                visible:            globals.guidedControllerFlyView.showOrbit
                onClicked: {
                    if (popup.opened) {
                        popup.close()
                    }
                    orbitMapCircle.show(mapClickCoord)
                    globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionOrbit, mapClickCoord, orbitMapCircle)
                }
            }

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("ROI at location")
                visible:            globals.guidedControllerFlyView.showROI
                onClicked: {
                    if (popup.opened) {
                        popup.close()
                    }
                    roiLocationItem.show(mapClickCoord)
                    globals.guidedControllerFlyView.executeAction(globals.guidedControllerFlyView.actionROI, mapClickCoord, 0, false)
                }
            }

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("Set home here")
                visible:            globals.guidedControllerFlyView.showSetHome
                onClicked: {
                    if (popup.opened) {
                        popup.close()
                    }
                    globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionSetHome, mapClickCoord)
                }
            }
        }
    }

    Component {
        id: roiEditPositionDialogComponent

        EditPositionDialog {
            title:                  qsTr("Edit ROI Position")
            coordinate:             roiLocationItem.coordinate
            onCoordinateChanged: {
                roiLocationItem.coordinate = coordinate
                _activeVehicle.guidedModeROI(coordinate)
            }
        }
    }

    Component {
        id: roiEditMenuComponent

        ColumnLayout {
            id: mainLayout
            spacing: ScreenTools.defaultFontPixelWidth / 2

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("Cancel ROI")
                onClicked: {
                    _activeVehicle.stopGuidedModeROI()
                    popup.close()
                }
            }

            QGCButton {
                Layout.fillWidth:   true
                text:               qsTr("Edit Position")
                onClicked: {         
                    roiEditPositionDialogComponent.createObject(mainWindow, { showSetPositionFromVehicle: false }).open()
                    popup.close()
                }
            }
        }
    }

    MapScale {
        id:                 mapScale
        anchors.margins:    _toolsMargin
        anchors.left:       parent.left
        anchors.top:        parent.top
        mapControl:         _root
        buttonsOnLeft:      true
        visible:            !ScreenTools.isTinyScreen && QGroundControl.corePlugin.options.flyView.showMapScale && mapControl.pipState.state === mapControl.pipState.windowState

        property real centerInset: visible ? parent.height - y : 0
    }

}