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229 lines
11 KiB
229 lines
11 KiB
8 years ago
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/****************************************************************************
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*
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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import QtQuick 2.3
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import QtQuick.Controls 1.2
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import QtQuick.Controls.Styles 1.4
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import QtQuick.Dialogs 1.2
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import QtLocation 5.3
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import QtPositioning 5.3
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import QtQuick.Layouts 1.2
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import QGroundControl 1.0
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import QGroundControl.ScreenTools 1.0
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import QGroundControl.Controls 1.0
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import QGroundControl.Palette 1.0
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import QGroundControl.Vehicle 1.0
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import QGroundControl.FlightMap 1.0
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/// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI
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/// without affecting the underlying functionality.
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Item {
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id: _root
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property var missionController
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signal showConfirmAction(string title, string message, int action, var actionData)
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readonly property string emergencyStopTitle: qsTr("Emergency Stop")
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readonly property string armTitle: qsTr("Arm")
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readonly property string disarmTitle: qsTr("Disarm")
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readonly property string rtlTitle: qsTr("RTL")
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readonly property string takeoffTitle: qsTr("Takeoff")
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readonly property string landTitle: qsTr("Land")
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readonly property string startMissionTitle: qsTr("Start Mission")
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readonly property string resumeMissionTitle: qsTr("Resume Mission")
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readonly property string pauseTitle: qsTr("Pause")
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readonly property string changeAltTitle: qsTr("Change Altitude")
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readonly property string orbitTitle: qsTr("Orbit")
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readonly property string landAbortTitle: qsTr("Land Abort")
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readonly property string setWaypointTitle: qsTr("Set Waypoint")
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readonly property string gotoTitle: qsTr("Goto Location")
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readonly property string armMessage: qsTr("arm")
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readonly property string disarmMessage: qsTr("disarm")
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readonly property string emergencyStopMessage: qsTr("WARNING: This still stop all motors. If vehicle is currently in air it will crash.")
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readonly property string takeoffMessage: qsTr("Takeoff from ground and hold position.")
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readonly property string startMissionMessage: qsTr("Start the mission which is currently displayed above. If the vehicle is on the ground it will takeoff.")
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property string resumeMissionMessage: qsTr("Resume the mission which is displayed above. This will re-generate the mission from waypoint %1, takeoff and continue the mission.").arg(_resumeMissionItem)
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readonly property string resumeMissionReadyMessage: qsTr("Review the modified mission above. Confirm if you want to takeoff and begin mission.")
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readonly property string landMessage: qsTr("Land the vehicle at the current position.")
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readonly property string rtlMessage: qsTr("Return to the home position of the vehicle.")
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readonly property string changeAltMessage: qsTr("Change the altitude of the vehicle up or down.")
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readonly property string gotoMessage: qsTr("Move the vehicle to the location clicked on the map.")
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property string setWaypointMessage: qsTr("Adjust current waypoint to %1.").arg(_actionData)
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readonly property string orbitMessage: qsTr("Orbit the vehicle around the current location.")
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readonly property string landAbortMessage: qsTr("Abort the landing sequence.")
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readonly property string pauseMessage: qsTr("Pause the vehicle at it's current position.")
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readonly property int actionRTL: 1
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readonly property int actionLand: 2
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readonly property int actionTakeoff: 3
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readonly property int actionArm: 4
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readonly property int actionDisarm: 5
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readonly property int actionEmergencyStop: 6
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readonly property int actionChangeAlt: 7
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readonly property int actionGoto: 8
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readonly property int actionSetWaypoint: 9
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readonly property int actionOrbit: 10
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readonly property int actionLandAbort: 11
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readonly property int actionStartMission: 12
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readonly property int actionResumeMission: 13
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readonly property int actionResumeMissionReady: 14
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readonly property int actionPause: 15
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property bool showEmergenyStop: !_hideEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying
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property bool showDisarm: _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying
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property bool showRTL: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying && !_vehicleInRTLMode
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property bool showTakeoff: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && !_activeVehicle.fixedWing
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property bool showLand: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing && !_vehicleInLandMode
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property bool showStartMission: _activeVehicle && _missionAvailable && !_missionActive
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property bool showResumeMission: _activeVehicle && !_activeVehicle.flying && _missionAvailable && _resumeMissionItem > 1
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property bool showPause: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying && !_vehiclePaused
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property bool showChangeAlt: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_missionActive
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property bool showOrbit: !_hideOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed && !_missionActive
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property bool showLandAbort: _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing
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property bool showGotoLocation: _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying
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property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
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property bool _missionAvailable: missionController.containsItems
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property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false
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property bool _vehiclePaused: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.pauseFlightMode : false
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property bool _vehicleInRTLMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.rtlFlightMode : false
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property bool _vehicleInLandMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.landFlightMode : false
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property int _resumeMissionItem: missionController.resumeMissionItem
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property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
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property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
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property var _actionData
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// Called when an action is about to be executed in order to confirm
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function confirmAction(actionCode, actionData) {
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var title
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var message
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_actionData = actionData
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switch (actionCode) {
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case actionArm:
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title = armTitle
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message = armMessage
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break;
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case actionDisarm:
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title = disarmTitle
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message = disarmMessage
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break;
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case actionEmergencyStop:
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title = emergencyStopTitle
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message = emergencyStopMessage
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break;
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case actionTakeoff:
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title = takeoffTitle
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message = takeoffMessage
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break;
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case actionStartMission:
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title = startMissionTitle
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message = startMissionMessage
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break;
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case actionResumeMission:
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title = resumeMissionTitle
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message = resumeMissionMessage
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break;
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case actionResumeMissionReady:
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title = resumeMissionTitle
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message = resumeMissionReadyMessage
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break;
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case actionLand:
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title = landTitle
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message = landMessage
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break;
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case actionRTL:
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title = rtlTitle
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message = rtlMessage
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break;
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case actionChangeAlt:
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title = changeAltTitle
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message = changeAltMessage
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break;
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case actionGoto:
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title = gotoTitle
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message = gotoMessage
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break;
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case actionSetWaypoint:
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title = setWaypointTitle
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message = setWaypointMessage
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break;
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case actionOrbit:
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title = orbitTitle
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message = orbitMessage
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break;
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case actionLandAbort:
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title = landAbortTitle
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message = landAbortMessage
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break;
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case actionPause:
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title = pauseTitle
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message = pauseMessage
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break;
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}
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showConfirmAction(title, message, actionCode, actionData)
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}
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// Executes the specified action
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function executeAction(actionCode, actionData) {
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switch (actionCode) {
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case actionRTL:
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_activeVehicle.guidedModeRTL()
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break
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case actionLand:
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_activeVehicle.guidedModeLand()
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break
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case actionTakeoff:
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_activeVehicle.guidedModeTakeoff()
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break
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case actionResumeMission:
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missionController.resumeMission(missionController.resumeMissionItem)
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break
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case actionResumeMissionReady:
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_activeVehicle.startMission()
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break
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case actionStartMission:
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_activeVehicle.startMission()
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break
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case actionArm:
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_activeVehicle.armed = true
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break
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case actionDisarm:
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_activeVehicle.armed = false
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break
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case actionEmergencyStop:
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_activeVehicle.emergencyStop()
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break
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case actionChangeAlt:
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_activeVehicle.guidedModeChangeAltitude(actionData)
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break
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case actionGoto:
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_activeVehicle.guidedModeGotoLocation(actionData)
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break
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case actionSetWaypoint:
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_activeVehicle.setCurrentMissionSequence(actionData)
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break
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case actionOrbit:
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_activeVehicle.guidedModeOrbit()
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break
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case actionLandAbort:
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_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
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break
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case actionPause:
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_activeVehicle.pauseVehicle()
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break
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default:
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console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
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break
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}
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}
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}
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