/****************************************************************************
*
* ( c ) 2009 - 2016 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 .
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
# pragma once
# include <QObject>
# include <QString>
# include <QtQml>
# include <QTextStream>
# include <QJsonObject>
# include <QGeoCoordinate>
# include "QGCMAVLink.h"
# include "QGC.h"
# include "QmlObjectListModel.h"
# include "Fact.h"
# include "QGCLoggingCategory.h"
# include "QmlObjectListModel.h"
# include "Vehicle.h"
# include "MissionController.h"
class MissionItem ;
// Abstract base class for all Simple and Complex visual mission objects.
class VisualMissionItem : public QObject
{
Q_OBJECT
public :
VisualMissionItem ( Vehicle * vehicle , bool flyView , QObject * parent ) ;
VisualMissionItem ( const VisualMissionItem & other , bool flyView , QObject * parent ) ;
~ VisualMissionItem ( ) ;
const VisualMissionItem & operator = ( const VisualMissionItem & other ) ;
enum ReadyForSaveState {
ReadyForSave ,
NotReadyForSaveTerrain ,
NotReadyForSaveData ,
} ;
Q_ENUM ( ReadyForSaveState )
Q_PROPERTY ( bool homePosition READ homePosition CONSTANT ) ///< true: This item is being used as a home position indicator
Q_PROPERTY ( QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged ) ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
Q_PROPERTY ( double terrainAltitude READ terrainAltitude NOTIFY terrainAltitudeChanged ) ///< The altitude of terrain at the coordinate position, NaN if not known
Q_PROPERTY ( bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged ) ///< true: coordinate.latitude is relative to home altitude
Q_PROPERTY ( QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged ) ///< This is the exit point for a waypoint line coming out of the item.
Q_PROPERTY ( bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged ) ///< true: coordinate.latitude is relative to home altitude
Q_PROPERTY ( bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntryChanged ) ///< true: exitCoordinate and coordinate are the same value
Q_PROPERTY ( QString commandDescription READ commandDescription NOTIFY commandDescriptionChanged )
Q_PROPERTY ( QString commandName READ commandName NOTIFY commandNameChanged )
Q_PROPERTY ( QString abbreviation READ abbreviation NOTIFY abbreviationChanged )
Q_PROPERTY ( bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged ) ///< Item is dirty and requires save/send
Q_PROPERTY ( bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged )
Q_PROPERTY ( int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged )
Q_PROPERTY ( int lastSequenceNumber READ lastSequenceNumber NOTIFY lastSequenceNumberChanged )
Q_PROPERTY ( bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged ) ///< true: Item is associated with a coordinate position
Q_PROPERTY ( bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged ) ///< true: Waypoint line does not go through item
Q_PROPERTY ( bool specifiesAltitudeOnly READ specifiesAltitudeOnly NOTIFY specifiesAltitudeOnlyChanged ) ///< true: Item has altitude only, no full coordinate
Q_PROPERTY ( bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged ) ///< Simple or Complex MissionItem
Q_PROPERTY ( QString editorQml MEMBER _editorQml CONSTANT ) ///< Qml code for editing this item
Q_PROPERTY ( QString mapVisualQML READ mapVisualQML CONSTANT ) ///< QMl code for map visuals
Q_PROPERTY ( QmlObjectListModel * childItems READ childItems CONSTANT )
Q_PROPERTY ( double specifiedFlightSpeed READ specifiedFlightSpeed NOTIFY specifiedFlightSpeedChanged ) ///< NaN if this item does not specify flight speed
Q_PROPERTY ( double specifiedGimbalYaw READ specifiedGimbalYaw NOTIFY specifiedGimbalYawChanged ) ///< Gimbal yaw, NaN for not specified
Q_PROPERTY ( double specifiedGimbalPitch READ specifiedGimbalPitch NOTIFY specifiedGimbalPitchChanged ) ///< Gimbal pitch, NaN for not specified
Q_PROPERTY ( double missionGimbalYaw READ missionGimbalYaw NOTIFY missionGimbalYawChanged ) ///< Current gimbal yaw state at this point in mission
Q_PROPERTY ( double missionVehicleYaw READ missionVehicleYaw NOTIFY missionVehicleYawChanged ) ///< Expected vehicle yaw at this point in mission
Q_PROPERTY ( bool flyView READ flyView CONSTANT )
Q_PROPERTY ( ReadyForSaveState readyForSaveState READ readyForSaveState NOTIFY readyForSaveStateChanged )
Q_PROPERTY ( QGCGeoBoundingCube * boundingCube READ boundingCube NOTIFY boundingCubeChanged )
// The following properties are calculated/set by the MissionController recalc methods
Q_PROPERTY ( double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged ) ///< Change in altitude from previous waypoint
Q_PROPERTY ( double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged ) ///< Percent of total altitude change in mission altitude
Q_PROPERTY ( double terrainPercent READ terrainPercent WRITE setTerrainPercent NOTIFY terrainPercentChanged ) ///< Percent of terrain altitude in mission altitude
Q_PROPERTY ( bool terrainCollision READ terrainCollision WRITE setTerrainCollision NOTIFY terrainCollisionChanged ) ///< true: Item collides with terrain
Q_PROPERTY ( double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged ) ///< Azimuth to previous waypoint
Q_PROPERTY ( double distance READ distance WRITE setDistance NOTIFY distanceChanged ) ///< Distance to previous waypoint
// Property accesors
bool homePosition ( void ) const { return _homePositionSpecialCase ; }
void setHomePositionSpecialCase ( bool homePositionSpecialCase ) { _homePositionSpecialCase = homePositionSpecialCase ; }
double altDifference ( void ) const { return _altDifference ; }
double altPercent ( void ) const { return _altPercent ; }
double terrainPercent ( void ) const { return _terrainPercent ; }
bool terrainCollision ( void ) const { return _terrainCollision ; }
double azimuth ( void ) const { return _azimuth ; }
double distance ( void ) const { return _distance ; }
bool isCurrentItem ( void ) const { return _isCurrentItem ; }
double terrainAltitude ( void ) const { return _terrainAltitude ; }
bool flyView ( void ) const { return _flyView ; }
QmlObjectListModel * childItems ( void ) { return & _childItems ; }
void setIsCurrentItem ( bool isCurrentItem ) ;
void setAltDifference ( double altDifference ) ;
void setAltPercent ( double altPercent ) ;
void setTerrainPercent ( double terrainPercent ) ;
void setTerrainCollision ( bool terrainCollision ) ;
void setAzimuth ( double azimuth ) ;
void setDistance ( double distance ) ;
Vehicle * vehicle ( void ) { return _vehicle ; }
// Pure virtuals which must be provides by derived classes
virtual bool dirty ( void ) const = 0 ;
virtual bool isSimpleItem ( void ) const = 0 ;
virtual bool isStandaloneCoordinate ( void ) const = 0 ;
virtual bool specifiesCoordinate ( void ) const = 0 ;
virtual bool specifiesAltitudeOnly ( void ) const = 0 ;
virtual QString commandDescription ( void ) const = 0 ;
virtual QString commandName ( void ) const = 0 ;
virtual QString abbreviation ( void ) const = 0 ;
virtual QGeoCoordinate coordinate ( void ) const = 0 ;
virtual QGeoCoordinate exitCoordinate ( void ) const = 0 ;
virtual int sequenceNumber ( void ) const = 0 ;
virtual double specifiedFlightSpeed ( void ) = 0 ;
virtual double specifiedGimbalYaw ( void ) = 0 ;
virtual double specifiedGimbalPitch ( void ) = 0 ;
//-- Default implementation returns an invalid bounding cube
virtual QGCGeoBoundingCube * boundingCube ( void ) { return & _boundingCube ; }
/// Update item to mission flight status at point where this item appears in mission.
/// IMPORTANT: Overrides must call base class implementation
virtual void setMissionFlightStatus ( MissionController : : MissionFlightStatus_t & missionFlightStatus ) ;
virtual bool coordinateHasRelativeAltitude ( void ) const = 0 ;
virtual bool exitCoordinateHasRelativeAltitude ( void ) const = 0 ;
virtual bool exitCoordinateSameAsEntry ( void ) const = 0 ;
virtual void setDirty ( bool dirty ) = 0 ;
virtual void setCoordinate ( const QGeoCoordinate & coordinate ) = 0 ;
virtual void setSequenceNumber ( int sequenceNumber ) = 0 ;
virtual int lastSequenceNumber ( void ) const = 0 ;
/// @return Returns whether the item is ready for save and if not, why
virtual ReadyForSaveState readyForSaveState ( void ) const { return ReadyForSave ; }
/// Save the item(s) in Json format
/// @param missionItems Current set of mission items, new items should be appended to the end
virtual void save ( QJsonArray & missionItems ) = 0 ;
/// @return The QML resource file which contains the control which visualizes the item on the map.
virtual QString mapVisualQML ( void ) const = 0 ;
/// Returns the mission items associated with the complex item. Caller is responsible for freeing.
/// @param items List to append to
/// @param missionItemParent Parent object for newly created MissionItems
virtual void appendMissionItems ( QList < MissionItem * > & items , QObject * missionItemParent ) = 0 ;
/// Adjust the altitude of the item if appropriate to the new altitude.
virtual void applyNewAltitude ( double newAltitude ) = 0 ;
/// @return Amount of additional time delay in seconds needed to fly this item
virtual double additionalTimeDelay ( void ) const = 0 ;
double missionGimbalYaw ( void ) const { return _missionGimbalYaw ; }
double missionVehicleYaw ( void ) const { return _missionVehicleYaw ; }
void setMissionVehicleYaw ( double vehicleYaw ) ;
static const char * jsonTypeKey ; ///< Json file attribute which specifies the item type
static const char * jsonTypeSimpleItemValue ; ///< Item type is MISSION_ITEM
static const char * jsonTypeComplexItemValue ; ///< Item type is Complex Item
signals :
void altDifferenceChanged ( double altDifference ) ;
void altPercentChanged ( double altPercent ) ;
void terrainPercentChanged ( double terrainPercent ) ;
void terrainCollisionChanged ( double terrainCollision ) ;
void azimuthChanged ( double azimuth ) ;
void commandDescriptionChanged ( void ) ;
void commandNameChanged ( void ) ;
void abbreviationChanged ( void ) ;
void coordinateChanged ( const QGeoCoordinate & coordinate ) ;
void exitCoordinateChanged ( const QGeoCoordinate & exitCoordinate ) ;
void dirtyChanged ( bool dirty ) ;
void distanceChanged ( double distance ) ;
void isCurrentItemChanged ( bool isCurrentItem ) ;
void sequenceNumberChanged ( int sequenceNumber ) ;
void isSimpleItemChanged ( bool isSimpleItem ) ;
void specifiesCoordinateChanged ( void ) ;
void isStandaloneCoordinateChanged ( void ) ;
void specifiesAltitudeOnlyChanged ( void ) ;
void specifiedFlightSpeedChanged ( void ) ;
void specifiedGimbalYawChanged ( void ) ;
void specifiedGimbalPitchChanged ( void ) ;
void lastSequenceNumberChanged ( int sequenceNumber ) ;
void missionGimbalYawChanged ( double missionGimbalYaw ) ;
void missionVehicleYawChanged ( double missionVehicleYaw ) ;
void terrainAltitudeChanged ( double terrainAltitude ) ;
void additionalTimeDelayChanged ( void ) ;
void boundingCubeChanged ( void ) ;
void readyForSaveStateChanged ( void ) ;
void coordinateHasRelativeAltitudeChanged ( bool coordinateHasRelativeAltitude ) ;
void exitCoordinateHasRelativeAltitudeChanged ( bool exitCoordinateHasRelativeAltitude ) ;
void exitCoordinateSameAsEntryChanged ( bool exitCoordinateSameAsEntry ) ;
protected :
Vehicle * _vehicle ;
bool _flyView ;
bool _isCurrentItem ;
bool _dirty ;
bool _homePositionSpecialCase ; ///< true: This item is being used as a ui home position indicator
double _terrainAltitude ; ///< Altitude of terrain at coordinate position, NaN for not known
double _altDifference ; ///< Difference in altitude from previous waypoint
double _altPercent ; ///< Percent of total altitude change in mission
double _terrainPercent ; ///< Percent of terrain altitude for coordinate
bool _terrainCollision ; ///< true: item collides with terrain
double _azimuth ; ///< Azimuth to previous waypoint
double _distance ; ///< Distance to previous waypoint
QString _editorQml ; ///< Qml resource for editing item
double _missionGimbalYaw ;
double _missionVehicleYaw ;
QGCGeoBoundingCube _boundingCube ; ///< The bounding "cube" of this element.
MissionController : : MissionFlightStatus_t _missionFlightStatus ;
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems ;
protected :
void _setBoundingCube ( QGCGeoBoundingCube bc ) ;
private slots :
void _updateTerrainAltitude ( void ) ;
void _reallyUpdateTerrainAltitude ( void ) ;
void _terrainDataReceived ( bool success , QList < double > heights ) ;
private :
void _commonInit ( void ) ;
QTimer _updateTerrainTimer ;
double _lastLatTerrainQuery ;
double _lastLonTerrainQuery ;
} ;
