Merge pull request #1853 from DonLakeFlyer/MissionEdit

More mission editing work

src/FactSystem/Fact.h

@@ -92,6 +92,9 @@ public:
     
     void _containerSetValue(const QVariant& value);
     
+    /// Generally you should not change the name of a fact. But if you know what you are doing, you can.
+    void _setName(const QString& name) { _name = name; }
+    
 signals:
     /// QObject Property System signal for value property changes
     ///

src/MissionItem.cc

@@ -38,7 +38,7 @@ const MissionItem::MavCmd2Name_t  MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
     { MAV_CMD_NAV_WAYPOINT,         "Waypoint" },
     { MAV_CMD_NAV_LOITER_UNLIM,     "Loiter" },
     { MAV_CMD_NAV_LOITER_TURNS,     "Loiter (turns)" },
-    { MAV_CMD_NAV_LOITER_TIME,      "Loiter (unlimited)" },
+    { MAV_CMD_NAV_LOITER_TIME,      "Loiter (seconds)" },
     { MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" },
     { MAV_CMD_NAV_LAND,             "Land" },
     { MAV_CMD_NAV_TAKEOFF,          "Takeoff" },
@@ -60,7 +60,7 @@ MissionItem::MissionItem(QObject*       parent,
     : QObject(parent)
     , _sequenceNumber(sequenceNumber)
     , _coordinate(coordinate)
-    , _yaw(param4)
+    , _yawRadians(param4)
     , _frame(frame)
     , _action(action)
     , _autocontinue(autocontinue)
@@ -69,8 +69,50 @@ MissionItem::MissionItem(QObject*       parent,
     , _param1(param1)
     , _param2(param2)
     , _reachedTime(0)
+    , _yawFact(NULL)
 {
 
+    _yawFact =          new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
+    _pitchFact =        new Fact(0, "Pitch:",   FactMetaData::valueTypeDouble, this);
+    _loiterRadiusFact = new Fact(0, "Radius:",  FactMetaData::valueTypeDouble, this);
+    _param1Fact =       new Fact(0, QString(),  FactMetaData::valueTypeDouble, this);
+    _param2Fact =       new Fact(0, QString(),  FactMetaData::valueTypeDouble, this);
+    
+    // FIXME: Need to fill out more meta data
+    
+    _yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _yawMetaData->setUnits("degrees");
+    
+    _pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _pitchMetaData->setUnits("degrees");
+    
+    _acceptanceRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _acceptanceRadiusMetaData->setUnits("meters");
+    
+    _holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _holdTimeMetaData->setUnits("seconds");
+    
+    _loiterRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _loiterRadiusMetaData->setUnits("meters");
+    
+    _loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
+    _loiterTurnsMetaData->setUnits("count");
+    
+    _loiterSecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _loiterSecondsMetaData->setUnits("seconds");
+    
+    _delaySecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    _delaySecondsMetaData->setUnits("seconds");
+    
+    _jumpSequenceMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
+    _jumpSequenceMetaData->setUnits("#");
+    
+    _jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
+    _jumpRepeatMetaData->setUnits("count");
+    
+    _yawFact->setMetaData(_yawMetaData);
+    _pitchFact->setMetaData(_pitchMetaData);
+    _loiterRadiusFact->setMetaData(_loiterRadiusMetaData);
 }
 
 MissionItem::MissionItem(const MissionItem& other)
@@ -88,7 +130,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     _sequenceNumber = other._sequenceNumber;
     _isCurrentItem  = other._isCurrentItem;
     _coordinate     = other._coordinate;
-    _yaw            = other._yaw;
+    _yawRadians            = other._yawRadians;
     _frame          = other._frame;
     _action         = other._action;
     _autocontinue   = other._autocontinue;
@@ -112,7 +154,7 @@ void MissionItem::save(QTextStream &saveStream)
     position = position.arg(y(), 0, 'g', 18);
     position = position.arg(z(), 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
-    parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yaw, 0, 'g', 18);
+    parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yawRadians, 0, 'g', 18);
     // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
     saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
@@ -129,7 +171,7 @@ bool MissionItem::load(QTextStream &loadStream)
         _param1 = wpParams[4].toDouble();
         _param2 = wpParams[5].toDouble();
         _orbit = wpParams[6].toDouble();
-        setYaw(wpParams[7].toDouble());
+        setYawRadians(wpParams[7].toDouble());
         setLatitude(wpParams[8].toDouble());
         setLongitude(wpParams[9].toDouble());
         setAltitude(wpParams[10].toDouble());
@@ -202,17 +244,6 @@ void MissionItem::setAltitude(double altitude)
     }
 }
 
-void MissionItem::setYaw(double yaw)
-{
-    if (_yaw != yaw)
-    {
-        _yaw = yaw;
-        emit yawChanged(yaw);
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
-}
-
 void MissionItem::setAction(int /*MAV_CMD*/ action)
 {
     if (_action != action) {
@@ -301,8 +332,8 @@ void MissionItem::setParam3(double param3)
 
 void MissionItem::setParam4(double param4)
 {
-    if (_yaw != param4) {
-        _yaw = param4;
+    if (_yawRadians != param4) {
+        _yawRadians = param4;
         emit changed(this);
         emit valueStringsChanged(valueStrings());
     }
@@ -362,15 +393,6 @@ void MissionItem::setHoldTime(double holdTime)
     }
 }
 
-void MissionItem::setTurns(int turns)
-{
-    if (_param1 != turns) {
-        _param1 = turns;
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
-}
-
 bool MissionItem::specifiesCoordinate(void) const
 {
     switch (_action) {
@@ -486,24 +508,24 @@ QStringList MissionItem::valueStrings(void)
     
     switch (_action) {
         case MAV_CMD_NAV_WAYPOINT:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
-            list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit);
+            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit);
             break;
         case MAV_CMD_NAV_LOITER_TURNS:
-            list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_turns);
+            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_NAV_LOITER_TIME:
-            list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_NAV_RETURN_TO_LAUNCH:
             break;
         case MAV_CMD_NAV_LAND:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI));
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI));
             break;
         case MAV_CMD_NAV_TAKEOFF:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_CONDITION_DELAY:
             list << _oneDecimalString(_param1);
@@ -555,3 +577,90 @@ void MissionItem::setCommandByIndex(int index)
     
     setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
 }
+
+QmlObjectListModel* MissionItem::facts(void)
+{
+    QmlObjectListModel* model = new QmlObjectListModel(this);
+    
+    switch (_action) {
+        case MAV_CMD_NAV_WAYPOINT:
+            _param2Fact->_setName("Radius:");
+            _param2Fact->setMetaData(_acceptanceRadiusMetaData);
+            _param1Fact->_setName("Hold:");
+            _param1Fact->setMetaData(_holdTimeMetaData);
+            model->append(_yawFact);
+            model->append(_param2Fact);
+            model->append(_param1Fact);
+            break;
+        case MAV_CMD_NAV_LOITER_UNLIM:
+            model->append(_yawFact);
+            model->append(_loiterRadiusFact);
+            break;
+        case MAV_CMD_NAV_LOITER_TURNS:
+            _param1Fact->_setName("Turns:");
+            _param1Fact->setMetaData(_loiterTurnsMetaData);
+            model->append(_yawFact);
+            model->append(_loiterRadiusFact);
+            model->append(_param1Fact);
+            break;
+        case MAV_CMD_NAV_LOITER_TIME:
+            _param1Fact->_setName("Seconds:");
+            _param1Fact->setMetaData(_loiterSecondsMetaData);
+            model->append(_yawFact);
+            model->append(_loiterRadiusFact);
+            model->append(_param1Fact);
+            break;
+        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+            break;
+        case MAV_CMD_NAV_LAND:
+            model->append(_yawFact);
+            break;
+        case MAV_CMD_NAV_TAKEOFF:
+            model->append(_yawFact);
+            model->append(_pitchFact);
+            break;
+        case MAV_CMD_CONDITION_DELAY:
+            _param1Fact->_setName("Seconds:");
+            _param1Fact->setMetaData(_delaySecondsMetaData);
+            model->append(_param1Fact);
+            break;
+        case MAV_CMD_DO_JUMP:
+            _param1Fact->_setName("Seq #:");
+            _param1Fact->setMetaData(_jumpSequenceMetaData);
+            _param2Fact->_setName("Repeat:");
+            _param2Fact->setMetaData(_jumpRepeatMetaData);
+            model->append(_param1Fact);
+            model->append(_param2Fact);
+            break;
+    }
+    
+    return model;
+}
+
+double MissionItem::yawRadians(void) const
+{
+    return _yawRadians;
+}
+
+void MissionItem::setYawRadians(double yaw)
+{
+    if (_yawRadians != yaw)
+    {
+        _yawRadians = yaw;
+        emit yawChanged(yaw);
+        emit changed(this);
+        emit valueStringsChanged(valueStrings());
+    }
+}
+
+
+double MissionItem::yawDegrees(void) const
+{
+    return _yawRadians * (180.0 / M_PI);
+}
+
+void MissionItem::setYawDegrees(double yaw)
+{
+    setYawRadians(yaw * (M_PI / 180.0));
+}
+

src/MissionItem.h

@@ -33,6 +33,8 @@
 #include "QGCMAVLink.h"
 #include "QGC.h"
 #include "MavlinkQmlSingleton.h"
+#include "QmlObjectListModel.h"
+#include "Fact.h"
 
 class MissionItem : public QObject
 {
@@ -56,17 +58,18 @@ public:
 
     const MissionItem& operator=(const MissionItem& other);
     
-    Q_PROPERTY(int              sequenceNumber      READ sequenceNumber         WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
-    Q_PROPERTY(bool             isCurrentItem       READ isCurrentItem          WRITE setIsCurrentItem  NOTIFY isCurrentItemChanged)
-    Q_PROPERTY(bool             specifiesCoordinate READ specifiesCoordinate                            NOTIFY specifiesCoordinateChanged)
-    Q_PROPERTY(QGeoCoordinate   coordinate          READ coordinate             WRITE setCoordinate     NOTIFY coordinateChanged)
-    Q_PROPERTY(double           yaw                 READ yaw                    WRITE setYaw            NOTIFY yawChanged)
-    Q_PROPERTY(QStringList      commandNames        READ commandNames                                   CONSTANT)
-    Q_PROPERTY(QString          commandName         READ commandName                                    NOTIFY commandChanged)
-    Q_PROPERTY(QStringList      valueLabels         READ valueLabels                                    NOTIFY commandChanged)
-    Q_PROPERTY(QStringList      valueStrings        READ valueStrings                                   NOTIFY valueStringsChanged)
-    Q_PROPERTY(int              commandByIndex      READ commandByIndex         WRITE setCommandByIndex NOTIFY commandChanged)
-    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command            WRITE setCommand        NOTIFY commandChanged)
+    Q_PROPERTY(int                  sequenceNumber      READ sequenceNumber         WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
+    Q_PROPERTY(bool                 isCurrentItem       READ isCurrentItem          WRITE setIsCurrentItem  NOTIFY isCurrentItemChanged)
+    Q_PROPERTY(bool                 specifiesCoordinate READ specifiesCoordinate                            NOTIFY specifiesCoordinateChanged)
+    Q_PROPERTY(QGeoCoordinate       coordinate          READ coordinate             WRITE setCoordinate     NOTIFY coordinateChanged)
+    Q_PROPERTY(double               yaw                 READ yawDegrees             WRITE setYawDegrees     NOTIFY yawChanged)
+    Q_PROPERTY(QStringList          commandNames        READ commandNames                                   CONSTANT)
+    Q_PROPERTY(QString              commandName         READ commandName                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList          valueLabels         READ valueLabels                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList          valueStrings        READ valueStrings                                   NOTIFY valueStringsChanged)
+    Q_PROPERTY(int                  commandByIndex      READ commandByIndex         WRITE setCommandByIndex NOTIFY commandChanged)
+    Q_PROPERTY(QmlObjectListModel*  facts               READ facts                                          NOTIFY commandChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand        NOTIFY commandChanged)
     
     // Property accesors
     
@@ -93,6 +96,11 @@ public:
     QStringList valueLabels(void);
     QStringList valueStrings(void);
     
+    QmlObjectListModel* facts(void);
+    
+    double yawDegrees(void) const;
+    void setYawDegrees(double yaw);
+    
     // C++ only methods
 
     double latitude(void)  const { return _coordinate.latitude(); }
@@ -111,8 +119,8 @@ public:
     void setY(double y);
     void setZ(double z);
     
-    double yaw(void) const { return _yaw; }
-    void setYaw(double yaw);
+    double yawRadians(void) const;
+    void setYawRadians(double yaw);
     
     bool getAutoContinue() const {
         return _autocontinue;
@@ -136,7 +144,7 @@ public:
         return _orbit;
     }
     double getParam4() const {
-        return yaw();
+        return yawRadians();
     }
     double getParam5() const {
         return latitude();
@@ -147,9 +155,6 @@ public:
     double getParam7() const {
         return altitude();
     }
-    int getTurns() const {
-        return _param1;
-    }
     // MAV_FRAME
     int getFrame() const {
         return _frame;
@@ -201,8 +206,6 @@ public:
     void setAcceptanceRadius(double radius);
     void setHoldTime    (int holdTime);
     void setHoldTime    (double holdTime);
-    /** @brief Number of turns for loiter waypoints */
-    void setTurns       (int _turns);
     /** @brief Set waypoint as reached */
     void setReached     () { _reachedTime = QGC::groundTimeMilliseconds(); }
     /** @brief Wether this waypoint has been reached yet */
@@ -223,7 +226,7 @@ private:
     
     int             _sequenceNumber;
     QGeoCoordinate  _coordinate;
-    double          _yaw;
+    double          _yawRadians;
     int             _frame;
     int             _action;
     bool            _autocontinue;
@@ -231,9 +234,25 @@ private:
     double          _orbit;
     double          _param1;
     double          _param2;
-    int             _turns;
     quint64         _reachedTime;
     
+    Fact*           _yawFact;
+    Fact*           _pitchFact;
+    Fact*           _loiterRadiusFact;
+    Fact*           _param1Fact;
+    Fact*           _param2Fact;
+    
+    FactMetaData*   _yawMetaData;
+    FactMetaData*   _pitchMetaData;
+    FactMetaData*   _acceptanceRadiusMetaData;
+    FactMetaData*   _holdTimeMetaData;
+    FactMetaData*   _loiterRadiusMetaData;
+    FactMetaData*   _loiterTurnsMetaData;
+    FactMetaData*   _loiterSecondsMetaData;
+    FactMetaData*   _delaySecondsMetaData;
+    FactMetaData*   _jumpSequenceMetaData;
+    FactMetaData*   _jumpRepeatMetaData;
+    
     static const int            _cMavCmd2Name = 9;
     static const MavCmd2Name_t  _rgMavCmd2Name[_cMavCmd2Name];
 };

src/QmlControls/MissionItemEditor.qml

@@ -4,6 +4,8 @@ import QtQuick.Controls.Styles  1.2
 
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactControls  1.0
 
 /// Mission item edit control
 Rectangle {
@@ -117,32 +119,29 @@ Rectangle {
         anchors.left:       parent.left
         anchors.right:      parent.right
         anchors.top:        missionItem.specifiesCoordinate ? _altitudeField.bottom : _commandCombo.bottom
+        spacing:            parent.radius / 2
 
         Repeater {
-            model: missionItem.valueLabels
-
-            QGCLabel {
-                color:  "black"
-                text:   modelData
+            model: missionItem.facts
+
+            Item {
+                width:  _valueColumn.width
+                height: textField.height
+
+                QGCLabel {
+                    anchors.baseline:   textField.baseline
+                    color:              "black"
+                    text:               object.name
+                }
+
+                FactTextField {
+                    id:             textField
+                    anchors.right:  parent.right
+                    width:          _editFieldWidth
+                    showUnits:      true
+                    fact:           object
+                }
             }
         }
-    }
-
-    Column {
-        anchors.margins:    parent.radius / 2
-        anchors.left:       parent.left
-        anchors.right:      parent.right
-        anchors.top:        _valueColumn.top
-
-        Repeater {
-            model: missionItem.valueStrings
-
-            QGCLabel {
-                width:                  _valueColumn.width
-                color:                  "black"
-                text:                   modelData
-                horizontalAlignment:    Text.AlignRight
-            }
-        }
-    }
-}
+    } // Column - Values column
+} // Rectangle

src/ui/HSIDisplay.cc

@@ -1313,7 +1313,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt
 
     float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
     float acceptRadius = w->getAcceptanceRadius();
-    double yawDiff = w->yaw()/180.0*M_PI-yaw;
+    double yawDiff = w->yawRadians()/180.0*M_PI-yaw;
 
     // Draw background
     pen.setColor(Qt::black);

src/ui/map/QGCMapWidget.cc

@@ -750,7 +750,7 @@ void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp)
                     // Use safe standard interfaces for non MissionItem-class based wps
                     icon->SetCoord(internals::PointLatLng(wp->latitude(), wp->longitude()));
                     icon->SetAltitude(wp->altitude());
-                    icon->SetHeading(wp->yaw());
+                    icon->SetHeading(wp->yawRadians());
                     icon->SetNumber(wpindex);
                 }
                 // Re-enable signals again

src/ui/map/Waypoint2DIcon.cc

@@ -33,7 +33,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
     showOrbit(false),
     color(color)
 {
-    SetHeading(wp->yaw());
+    SetHeading(wp->yawRadians());
     SetNumber(listindex);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
     picture = QPixmap(radius+1, radius+1);
@@ -59,7 +59,7 @@ void Waypoint2DIcon::updateWaypoint()
         // Store old size
         static QRectF oldSize;
 
-        SetHeading(waypoint->yaw());
+        SetHeading(waypoint->yawRadians());
         SetCoord(internals::PointLatLng(waypoint->latitude(), waypoint->longitude()));
 
         // qDebug() << "UPDATING WP:" << waypoint->sequenceNumber() << "LAT:" << waypoint->latitude() << "LON:" << waypoint->longitude();