Don Gagne
8 years ago
committed by
GitHub
13 changed files with 372 additions and 27 deletions
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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 2.2 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Dialogs 1.2 |
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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.Vehicle 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.Palette 1.0 |
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// Editor for Fixed Wing Landing Pattern complex mission item |
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Rectangle { |
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id: _root |
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height: visible ? (editorColumn.height + (_margin * 2)) : 0 |
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width: availableWidth |
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color: qgcPal.windowShadeDark |
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radius: _radius |
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// The following properties must be available up the hierarchy chain |
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//property real availableWidth ///< Width for control |
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//property var missionItem ///< Mission Item for editor |
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property real _margin: ScreenTools.defaultFontPixelWidth * 0.25 |
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Column { |
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id: editorColumn |
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QGCLabel { text: "WIP" } |
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} |
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} |
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[ |
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] |
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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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#include "FixedWingLandingComplexItem.h" |
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#include "JsonHelper.h" |
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#include "MissionController.h" |
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#include "QGCGeo.h" |
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#include "QGroundControlQmlGlobal.h" |
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#include <QPolygonF> |
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QGC_LOGGING_CATEGORY(FixedWingLandingComplexItemLog, "FixedWingLandingComplexItemLog") |
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const char* FixedWingLandingComplexItem::jsonComplexItemTypeValue = "fwLandingPattern"; |
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QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap; |
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FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent) |
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: ComplexMissionItem(vehicle, parent) |
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, _sequenceNumber(0) |
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, _dirty(false) |
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{ |
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_editorQml = "qrc:/qml/FWLandingPatternEditor.qml"; |
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if (_metaDataMap.isEmpty()) { |
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_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), NULL /* metaDataParent */); |
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} |
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} |
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int FixedWingLandingComplexItem::lastSequenceNumber(void) const |
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{ |
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return _sequenceNumber; |
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} |
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void FixedWingLandingComplexItem::setCoordinate(const QGeoCoordinate& coordinate) |
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{ |
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if (_coordinate != coordinate) { |
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_coordinate = coordinate; |
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emit coordinateChanged(_coordinate); |
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} |
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} |
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void FixedWingLandingComplexItem::setDirty(bool dirty) |
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{ |
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if (_dirty != dirty) { |
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_dirty = dirty; |
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emit dirtyChanged(_dirty); |
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} |
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} |
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void FixedWingLandingComplexItem::save(QJsonObject& saveObject) const |
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{ |
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saveObject[JsonHelper::jsonVersionKey] = 1; |
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saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; |
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saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; |
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// FIXME: Need real implementation
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} |
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void FixedWingLandingComplexItem::setSequenceNumber(int sequenceNumber) |
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{ |
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if (_sequenceNumber != sequenceNumber) { |
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_sequenceNumber = sequenceNumber; |
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emit sequenceNumberChanged(sequenceNumber); |
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emit lastSequenceNumberChanged(lastSequenceNumber()); |
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} |
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} |
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bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString) |
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{ |
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// FIXME: Need real implementation
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Q_UNUSED(complexObject); |
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Q_UNUSED(sequenceNumber); |
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errorString = "NYI"; |
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return false; |
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} |
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double FixedWingLandingComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const |
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{ |
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// FIXME: Need real implementation
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Q_UNUSED(other); |
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double greatestDistance = 0.0; |
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#if 0 |
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for (int i=0; i<_gridPoints.count(); i++) { |
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QGeoCoordinate currentCoord = _gridPoints[i].value<QGeoCoordinate>(); |
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double distance = currentCoord.distanceTo(other); |
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if (distance > greatestDistance) { |
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greatestDistance = distance; |
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} |
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} |
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#endif |
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return greatestDistance; |
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} |
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void FixedWingLandingComplexItem::_setExitCoordinate(const QGeoCoordinate& coordinate) |
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{ |
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if (_exitCoordinate != coordinate) { |
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_exitCoordinate = coordinate; |
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emit exitCoordinateChanged(coordinate); |
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} |
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} |
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bool FixedWingLandingComplexItem::specifiesCoordinate(void) const |
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{ |
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return true; |
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} |
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QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const |
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{ |
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// FIXME: Need real implementation
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QmlObjectListModel* pMissionItems = new QmlObjectListModel; |
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#if 0 |
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int seqNum = _sequenceNumber; |
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for (int i=0; i<_gridPoints.count(); i++) { |
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QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>(); |
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double altitude = _gridAltitudeFact.rawValue().toDouble(); |
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MissionItem* item = new MissionItem(seqNum++, // sequence number
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MAV_CMD_NAV_WAYPOINT, // MAV_CMD
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_gridAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, // MAV_FRAME
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0.0, 0.0, 0.0, 0.0, // param 1-4
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coord.latitude(), |
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coord.longitude(), |
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altitude, |
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true, // autoContinue
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false, // isCurrentItem
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pMissionItems); // parent - allow delete on pMissionItems to delete everthing
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pMissionItems->append(item); |
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if (_cameraTrigger && i == 0) { |
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// Turn on camera
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MissionItem* item = new MissionItem(seqNum++, // sequence number
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MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
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MAV_FRAME_MISSION, // MAV_FRAME
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_cameraTriggerDistanceFact.rawValue().toDouble(), // trigger distance
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
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true, // autoContinue
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false, // isCurrentItem
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pMissionItems); // parent - allow delete on pMissionItems to delete everthing
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pMissionItems->append(item); |
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} |
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} |
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if (_cameraTrigger) { |
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// Turn off camera
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MissionItem* item = new MissionItem(seqNum++, // sequence number
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MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
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MAV_FRAME_MISSION, // MAV_FRAME
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0.0, // trigger distance
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
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true, // autoContinue
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false, // isCurrentItem
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pMissionItems); // parent - allow delete on pMissionItems to delete everthing
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pMissionItems->append(item); |
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} |
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#endif |
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return pMissionItems; |
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} |
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double FixedWingLandingComplexItem::complexDistance(void) const |
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{ |
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// FIXME: Need real implementation
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return 0; |
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} |
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void FixedWingLandingComplexItem::setCruiseSpeed(double cruiseSpeed) |
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{ |
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// FIXME: Need real implementation
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Q_UNUSED(cruiseSpeed); |
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} |
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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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#ifndef FixedWingLandingComplexItem_H |
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#define FixedWingLandingComplexItem_H |
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#include "ComplexMissionItem.h" |
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#include "MissionItem.h" |
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#include "Fact.h" |
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#include "QGCLoggingCategory.h" |
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Q_DECLARE_LOGGING_CATEGORY(FixedWingLandingComplexItemLog) |
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class FixedWingLandingComplexItem : public ComplexMissionItem |
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{ |
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Q_OBJECT |
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public: |
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FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL); |
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// Overrides from ComplexMissionItem
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double complexDistance (void) const final; |
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int lastSequenceNumber (void) const final; |
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QmlObjectListModel* getMissionItems (void) const final; |
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bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final; |
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double greatestDistanceTo (const QGeoCoordinate &other) const final; |
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void setCruiseSpeed (double cruiseSpeed) final; |
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// Overrides from VisualMissionItem
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bool dirty (void) const final { return _dirty; } |
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bool isSimpleItem (void) const final { return false; } |
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bool isStandaloneCoordinate (void) const final { return false; } |
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bool specifiesCoordinate (void) const final; |
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QString commandDescription (void) const final { return "Landing Pattern"; } |
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QString commandName (void) const final { return "Landing Pattern"; } |
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QString abbreviation (void) const final { return "L"; } |
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QGeoCoordinate coordinate (void) const final { return _coordinate; } |
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QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; } |
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int sequenceNumber (void) const final { return _sequenceNumber; } |
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double flightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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bool coordinateHasRelativeAltitude (void) const final { return true; } |
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bool exitCoordinateHasRelativeAltitude (void) const final { return true; } |
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bool exitCoordinateSameAsEntry (void) const final { return true; } |
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void setDirty (bool dirty) final; |
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void setCoordinate (const QGeoCoordinate& coordinate) final; |
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void setSequenceNumber (int sequenceNumber) final; |
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void save (QJsonObject& saveObject) const final; |
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static const char* jsonComplexItemTypeValue; |
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signals: |
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private slots: |
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private: |
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void _setExitCoordinate(const QGeoCoordinate& coordinate); |
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int _sequenceNumber; |
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bool _dirty; |
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QGeoCoordinate _coordinate; |
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QGeoCoordinate _exitCoordinate; |
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static QMap<QString, FactMetaData*> _metaDataMap; |
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}; |
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#endif |
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