Don Gagne
10 years ago
14 changed files with 387 additions and 102 deletions
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/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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import QtQuick 2.4 |
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import QtQuick.Controls 1.3 |
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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 QGroundControl 1.0 |
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import QGroundControl.FlightMap 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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/// The MissionItemView control is used to add Mission Item Indicators to a FlightMap. |
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MapItemView { |
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id: _root |
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property real zOrderMapItems ///< Z order for indicator |
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property var itemDragger ///< Set to item drag control if you want to support drag |
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delegate: MissionItemIndicator { |
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id: itemIndicator |
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label: object.sequenceNumber == 0 ? "H" : object.sequenceNumber |
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isCurrentItem: object.isCurrentItem |
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coordinate: object.coordinate |
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z: zOrderMapItems |
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visible: object.specifiesCoordinate |
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onClicked: setCurrentItem(object.sequenceNumber) |
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Connections { |
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target: object |
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onIsCurrentItemChanged: { |
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if (isCurrentItem) { |
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if (_root.itemDragger) { |
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// Setup our drag item |
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if (object.sequenceNumber != 0) { |
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_root.itemDragger.visible = true |
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_root.itemDragger.missionItem = Qt.binding(function() { return object }) |
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_root.itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator }) |
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} else { |
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_root.itemDragger.clearItem() |
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} |
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} |
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// Zoom the map and move to the new position |
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_root.parent.zoomLevel = _root.parent.maxZoomLevel |
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_root.parent.latitude = object.coordinate.latitude |
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_root.parent.longitude = object.coordinate.longitude |
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} |
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} |
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} |
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// These are the non-coordinate child mission items attached to this item |
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Row { |
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anchors.top: parent.top |
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anchors.left: parent.right |
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Repeater { |
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model: object.childItems |
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delegate: MissionItemIndexLabel { |
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label: object.sequenceNumber |
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isCurrentItem: object.isCurrentItem |
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z: 2 |
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onClicked: setCurrentItem(object.sequenceNumber) |
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} |
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} |
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} |
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} |
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} |
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@ -0,0 +1,158 @@ |
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#include "MissionController.h" |
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#include "ScreenToolsController.h" |
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#include "MultiVehicleManager.h" |
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#include "MissionManager.h" |
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#include "CoordinateVector.h" |
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MissionController::MissionController(QObject *parent) |
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: QObject(parent) |
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, _missionItems(NULL) |
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, _activeVehicle(NULL) |
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{ |
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MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance(); |
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connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged); |
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Vehicle* activeVehicle = multiVehicleMgr->activeVehicle(); |
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if (activeVehicle) { |
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_activeVehicleChanged(activeVehicle); |
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} else { |
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_newMissionItemsAvailable(); |
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} |
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} |
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MissionController::~MissionController() |
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{ |
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} |
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void MissionController::_newMissionItemsAvailable(void) |
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{ |
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if (_missionItems) { |
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_missionItems->deleteLater(); |
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} |
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MissionManager* missionManager = NULL; |
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Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle(); |
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if (activeVehicle) { |
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missionManager = activeVehicle->missionManager(); |
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} |
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if (!missionManager || missionManager->inProgress()) { |
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_missionItems = new QmlObjectListModel(this); |
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} else { |
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_missionItems = missionManager->copyMissionItems(); |
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} |
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_initAllMissionItems(); |
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} |
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void MissionController::_recalcWaypointLines(void) |
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{ |
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bool firstCoordinateItem = true; |
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MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0)); |
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_waypointLines.clear(); |
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for (int i=1; i<_missionItems->count(); i++) { |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); |
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if (item->specifiesCoordinate()) { |
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if (firstCoordinateItem) { |
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if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) { |
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// The first coordinate we hit is a takeoff command so link back to home position
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_waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate())); |
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} else { |
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// First coordiante is not a takeoff command, it does not link backwards to anything
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} |
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firstCoordinateItem = false; |
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} else { |
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// Subsequent coordinate items link to last coordinate item
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_waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate())); |
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} |
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lastCoordinateItem = item; |
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} |
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} |
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emit waypointLinesChanged(); |
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} |
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// This will update the child item hierarchy
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void MissionController::_recalcChildItems(void) |
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{ |
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MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0)); |
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currentParentItem->childItems()->clear(); |
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for (int i=1; i<_missionItems->count(); i++) { |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); |
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// Set up non-coordinate item child hierarchy
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if (item->specifiesCoordinate()) { |
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item->childItems()->clear(); |
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currentParentItem = item; |
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} else { |
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currentParentItem->childItems()->append(item); |
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} |
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} |
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} |
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void MissionController::_recalcAll(void) |
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{ |
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_recalcChildItems(); |
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_recalcWaypointLines(); |
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} |
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/// Initializes a new set of mission items which may have come from the vehicle or have been loaded from a file
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void MissionController::_initAllMissionItems(void) |
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{ |
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// Add the home position item to the front
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MissionItem* homeItem = new MissionItem(this); |
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homeItem->setHomePositionSpecialCase(true); |
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homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); |
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_missionItems->insert(0, homeItem); |
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_recalcChildItems(); |
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_recalcWaypointLines(); |
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emit missionItemsChanged(); |
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} |
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void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) |
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{ |
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if (_activeVehicle) { |
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MissionManager* missionManager = _activeVehicle->missionManager(); |
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disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable); |
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_activeVehicle = NULL; |
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} |
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_activeVehicle = activeVehicle; |
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if (_activeVehicle) { |
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MissionManager* missionManager = activeVehicle->missionManager(); |
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connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable); |
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_newMissionItemsAvailable(); |
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} |
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} |
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@ -0,0 +1,69 @@ |
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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|
it under the terms of the GNU General Public License as published by |
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|
the Free Software Foundation, either version 3 of the License, or |
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|
(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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|
GNU General Public License for more details. |
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|
|
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You should have received a copy of the GNU General Public License |
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|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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|
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======================================================================*/ |
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#ifndef MissionController_H |
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#define MissionController_H |
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#include <QObject> |
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#include "QmlObjectListModel.h" |
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#include "Vehicle.h" |
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/// MissionController is a read only controller for Mission Items
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class MissionController : public QObject |
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{ |
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Q_OBJECT |
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public: |
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MissionController(QObject* parent = NULL); |
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~MissionController(); |
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Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged) |
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Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) |
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// Property accessors
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QmlObjectListModel* missionItems(void) { return _missionItems; } |
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QmlObjectListModel* waypointLines(void) { return &_waypointLines; } |
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signals: |
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void missionItemsChanged(void); |
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void waypointLinesChanged(void); |
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private slots: |
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void _newMissionItemsAvailable(); |
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void _activeVehicleChanged(Vehicle* activeVehicle); |
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private: |
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void _recalcWaypointLines(void); |
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void _recalcChildItems(void); |
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void _recalcAll(void); |
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void _initAllMissionItems(void); |
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private: |
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QmlObjectListModel* _missionItems; |
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QmlObjectListModel _waypointLines; |
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Vehicle* _activeVehicle; |
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}; |
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#endif |
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