/ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*
* ( 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 .
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * /
import QtQuick 2.3
import QtQuick . Controls 1.2
import QtQuick . Controls . Styles 1.4
import QtQuick . Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QtQuick . Layouts 1.2
import QGroundControl 1.0
import QGroundControl . ScreenTools 1.0
import QGroundControl . Controls 1.0
import QGroundControl . Palette 1.0
import QGroundControl . Vehicle 1.0
import QGroundControl . FlightMap 1.0
/// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI
/// without affecting the underlying functionality.
Item {
id: _root
property var missionController
signal showConfirmAction ( string title , string message , int action , var actionData )
readonly property string emergencyStopTitle: qsTr ( "Emergency Stop" )
readonly property string armTitle: qsTr ( "Arm" )
readonly property string disarmTitle: qsTr ( "Disarm" )
readonly property string rtlTitle: qsTr ( "RTL" )
readonly property string takeoffTitle: qsTr ( "Takeoff" )
readonly property string landTitle: qsTr ( "Land" )
readonly property string startMissionTitle: qsTr ( "Start Mission" )
readonly property string resumeMissionTitle: qsTr ( "Resume Mission" )
readonly property string pauseTitle: qsTr ( "Pause" )
readonly property string changeAltTitle: qsTr ( "Change Altitude" )
readonly property string orbitTitle: qsTr ( "Orbit" )
readonly property string landAbortTitle: qsTr ( "Land Abort" )
readonly property string setWaypointTitle: qsTr ( "Set Waypoint" )
readonly property string gotoTitle: qsTr ( "Goto Location" )
readonly property string armMessage: qsTr ( "Arm the vehicle." )
readonly property string disarmMessage: qsTr ( "Disarm the vehicle" )
readonly property string emergencyStopMessage: qsTr ( "WARNING: This still stop all motors. If vehicle is currently in air it will crash." )
readonly property string takeoffMessage: qsTr ( "Takeoff from ground and hold position." )
readonly property string startMissionMessage: qsTr ( "Start the mission which is currently displayed above. If the vehicle is on the ground it will takeoff." )
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 ( _resumeMissionIndex )
readonly property string resumeMissionReadyMessage: qsTr ( "Review the modified mission above. Confirm if you want to takeoff and begin mission." )
readonly property string landMessage: qsTr ( "Land the vehicle at the current position." )
readonly property string rtlMessage: qsTr ( "Return to the home position of the vehicle." )
readonly property string changeAltMessage: qsTr ( "Change the altitude of the vehicle up or down." )
readonly property string gotoMessage: qsTr ( "Move the vehicle to the location clicked on the map." )
property string setWaypointMessage: qsTr ( "Adjust current waypoint to %1." ) . arg ( _actionData )
readonly property string orbitMessage: qsTr ( "Orbit the vehicle around the current location." )
readonly property string landAbortMessage: qsTr ( "Abort the landing sequence." )
readonly property string pauseMessage: qsTr ( "Pause the vehicle at it's current position." )
readonly property int actionRTL: 1
readonly property int actionLand: 2
readonly property int actionTakeoff: 3
readonly property int actionArm: 4
readonly property int actionDisarm: 5
readonly property int actionEmergencyStop: 6
readonly property int actionChangeAlt: 7
readonly property int actionGoto: 8
readonly property int actionSetWaypoint: 9
readonly property int actionOrbit: 10
readonly property int actionLandAbort: 11
readonly property int actionStartMission: 12
readonly property int actionResumeMission: 13
readonly property int actionResumeMissionReady: 14
readonly property int actionPause: 15
property bool showEmergenyStop: ! _hideEmergenyStop && _activeVehicle && _vehicleArmed && _activeVehicle . flying
property bool showDisarm: _activeVehicle && _vehicleArmed && ! _activeVehicle . flying
property bool showRTL: _activeVehicle && _vehicleArmed && _activeVehicle . guidedModeSupported && _activeVehicle . flying && ! _vehicleInRTLMode
property bool showTakeoff: _activeVehicle && _activeVehicle . guidedModeSupported && ! _activeVehicle . flying && ! _activeVehicle . fixedWing
property bool showLand: _activeVehicle && _activeVehicle . guidedModeSupported && _vehicleArmed && ! _activeVehicle . fixedWing && ! _vehicleInLandMode
property bool showStartMission: _activeVehicle && _missionAvailable && ! _missionActive
property bool showResumeMission: _activeVehicle && ! _activeVehicle . flying && _missionAvailable && _resumeMissionIndex > 0
property bool showPause: _activeVehicle && _vehicleArmed && _activeVehicle . pauseVehicleSupported && _activeVehicle . flying && ! _vehiclePaused
property bool showChangeAlt: ( _activeVehicle && _activeVehicle . flying ) && _activeVehicle . guidedModeSupported && _vehicleArmed && ! _missionActive
property bool showOrbit: ! _hideOrbit && _activeVehicle && _activeVehicle . flying && _activeVehicle . orbitModeSupported && _vehicleArmed && ! _missionActive
property bool showLandAbort: _activeVehicle && _activeVehicle . flying && _activeVehicle . fixedWing
property bool showGotoLocation: _activeVehicle && _activeVehicle . guidedMode && _activeVehicle . flying
onShowStartMissionChanged: console . log ( showStartMission , _activeVehicle , _missionAvailable , _missionActive , _vehicleArmed , _vehicleInLandMode , _vehicleInRTLMode )
property var _activeVehicle : QGroundControl . multiVehicleManager . activeVehicle
property string _flightMode : _activeVehicle ? _activeVehicle . flightMode : ""
property bool _missionAvailable : missionController . containsItems
property bool _missionActive : _activeVehicle ? _vehicleArmed && ( _vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode ) : false
property bool _vehicleArmed : _activeVehicle ? _activeVehicle . armed : false
property bool _vehiclePaused : false
property bool _vehicleInMissionMode : false
property bool _vehicleInRTLMode : false
property bool _vehicleInLandMode : false
property int _resumeMissionIndex : missionController . resumeMissionIndex
property bool _hideEmergenyStop : ! QGroundControl . corePlugin . options . guidedBarShowEmergencyStop
property bool _hideOrbit : ! QGroundControl . corePlugin . options . guidedBarShowOrbit
property var _actionData
on_FlightModeChanged: {
_vehiclePaused = _flightMode === _activeVehicle . pauseFlightMode
_vehicleInRTLMode = _flightMode === _activeVehicle . rtlFlightMode
_vehicleInLandMode = _flightMode === _activeVehicle . landFlightMode
_vehicleInMissionMode = _flightMode === _activeVehicle . missionFlightMode // Must be last to get correct signalling for showStartMission popups
}
// Called when an action is about to be executed in order to confirm
function confirmAction ( actionCode , actionData ) {
var title
var message
_actionData = actionData
switch ( actionCode ) {
case actionArm:
if ( _activeVehicle . flying ) {
return
}
title = armTitle
message = armMessage
break ;
case actionDisarm:
if ( _activeVehicle . flying ) {
return
}
title = disarmTitle
message = disarmMessage
break ;
case actionEmergencyStop:
title = emergencyStopTitle
message = emergencyStopMessage
break ;
case actionTakeoff:
title = takeoffTitle
message = takeoffMessage
break ;
case actionStartMission:
title = startMissionTitle
message = startMissionMessage
break ;
case actionResumeMission:
title = resumeMissionTitle
message = resumeMissionMessage
break ;
case actionResumeMissionReady:
title = resumeMissionTitle
message = resumeMissionReadyMessage
break ;
case actionLand:
title = landTitle
message = landMessage
break ;
case actionRTL:
title = rtlTitle
message = rtlMessage
break ;
case actionChangeAlt:
title = changeAltTitle
message = changeAltMessage
break ;
case actionGoto:
title = gotoTitle
message = gotoMessage
break ;
case actionSetWaypoint:
title = setWaypointTitle
message = setWaypointMessage
break ;
case actionOrbit:
title = orbitTitle
message = orbitMessage
break ;
case actionLandAbort:
title = landAbortTitle
message = landAbortMessage
break ;
case actionPause:
title = pauseTitle
message = pauseMessage
break ;
default:
console . warn ( "Unknown actionCode" , actionCode )
return
}
showConfirmAction ( title , message , actionCode , actionData )
}
// Executes the specified action
function executeAction ( actionCode , actionData ) {
switch ( actionCode ) {
case actionRTL:
_activeVehicle . guidedModeRTL ( )
break
case actionLand:
_activeVehicle . guidedModeLand ( )
break
case actionTakeoff:
_activeVehicle . guidedModeTakeoff ( )
break
case actionResumeMission:
missionController . resumeMission ( missionController . resumeMissionIndex )
break
case actionResumeMissionReady:
_activeVehicle . startMission ( )
break
case actionStartMission:
_activeVehicle . startMission ( )
break
case actionArm:
_vehicleArmed = true
break
case actionDisarm:
_vehicleArmed = false
break
case actionEmergencyStop:
_activeVehicle . emergencyStop ( )
break
case actionChangeAlt:
_activeVehicle . guidedModeChangeAltitude ( actionData )
break
case actionGoto:
_activeVehicle . guidedModeGotoLocation ( actionData )
break
case actionSetWaypoint:
_activeVehicle . setCurrentMissionSequence ( actionData )
break
case actionOrbit:
_activeVehicle . guidedModeOrbit ( )
break
case actionLandAbort:
_activeVehicle . abortLanding ( 50 ) // hardcoded value for climbOutAltitude that is currently ignored
break
case actionPause:
_activeVehicle . pauseVehicle ( )
break
default:
console . warn ( qsTr ( "Internal error: unknown actionCode" ) , actionCode )
break
}
}
}
