Don Gagne
8 years ago
9 changed files with 354 additions and 77 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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#ifndef MissionController_H |
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#define MissionController_H |
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#include "PlanElementController.h" |
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#include "QmlObjectListModel.h" |
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#include "Vehicle.h" |
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#include "QGCLoggingCategory.h" |
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#include "MavlinkQmlSingleton.h" |
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#include "VisualMissionItem.h" |
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#include <QHash> |
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class CoordinateVector; |
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Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) |
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typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair; |
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typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable; |
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class MissionController : public PlanElementController |
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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(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged) |
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Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) |
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Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged) |
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Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) |
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Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged) |
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Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged) |
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Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged) |
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Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged) |
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Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged) |
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Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged) |
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Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged) |
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Q_INVOKABLE void removeMissionItem(int index); |
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/// Add a new simple mission item to the list
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/// @param i: index to insert at
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/// @return Sequence number for new item
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Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i); |
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/// Add a new complex mission item to the list
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/// @param i: index to insert at
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/// @return Sequence number for new item
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Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i); |
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// Overrides from PlanElementController
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void start (bool editMode) final; |
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void startStaticActiveVehicle (Vehicle* vehicle) final; |
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void loadFromVehicle (void) final; |
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void sendToVehicle (void) final; |
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void loadFromFilePicker (void) final; |
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void loadFromFile (const QString& filename) final; |
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void saveToFilePicker (void) final; |
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void saveToFile (const QString& filename) final; |
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void removeAll (void) final; |
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bool syncInProgress (void) const final; |
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bool dirty (void) const final; |
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void setDirty (bool dirty) final; |
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QString fileExtension(void) const final; |
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// Property accessors
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QGeoCoordinate plannedHomePosition (void); |
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QmlObjectListModel* visualItems (void) { return _visualItems; } |
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QmlObjectListModel* complexVisualItems (void) { return _complexItems; } |
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QmlObjectListModel* waypointLines (void) { return &_waypointLines; } |
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double missionDistance (void) const { return _missionDistance; } |
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double missionTime (void) const { return _missionTime; } |
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double missionHoverDistance (void) const { return _missionHoverDistance; } |
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double missionHoverTime (void) const { return _missionHoverTime; } |
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double missionCruiseDistance (void) const { return _missionCruiseDistance; } |
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double missionCruiseTime (void) const { return _missionCruiseTime; } |
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double missionMaxTelemetry (void) const { return _missionMaxTelemetry; } |
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double cruiseSpeed (void) const; |
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double hoverSpeed (void) const; |
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static void createVisualItemsFromFile(const QString& filename); |
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signals: |
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void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition); |
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void visualItemsChanged(void); |
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void complexVisualItemsChanged(void); |
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void waypointLinesChanged(void); |
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void newItemsFromVehicle(void); |
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void missionDistanceChanged(double missionDistance); |
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void missionTimeChanged(void); |
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void missionHoverDistanceChanged(double missionHoverDistance); |
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void missionHoverTimeChanged(void); |
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void missionCruiseDistanceChanged(double missionCruiseDistance); |
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void missionCruiseTimeChanged(void); |
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void missionMaxTelemetryChanged(double missionMaxTelemetry); |
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void cruiseDistanceChanged(double cruiseDistance); |
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void hoverDistanceChanged(double hoverDistance); |
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void cruiseSpeedChanged(double cruiseSpeed); |
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void hoverSpeedChanged(double hoverSpeed); |
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private slots: |
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void _newMissionItemsAvailableFromVehicle(); |
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void _itemCommandChanged(void); |
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void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable); |
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void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); |
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void _inProgressChanged(bool inProgress); |
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void _currentMissionItemChanged(int sequenceNumber); |
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void _recalcWaypointLines(void); |
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void _recalcAltitudeRangeBearing(void); |
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void _homeCoordinateChanged(void); |
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private: |
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void _init(void); |
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void _recalcSequence(void); |
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void _recalcChildItems(void); |
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void _recalcAll(void); |
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void _initAllVisualItems(void); |
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void _deinitAllVisualItems(void); |
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void _initVisualItem(VisualMissionItem* item); |
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void _deinitVisualItem(VisualMissionItem* item); |
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void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle); |
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static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference); |
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static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem); |
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bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame); |
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bool _findLastAcceptanceRadius(double* lastAcceptanceRadius); |
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void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter); |
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double _normalizeLat(double lat); |
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double _normalizeLon(double lon); |
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bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString); |
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bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString); |
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bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString); |
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bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString); |
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int _nextSequenceNumber(void); |
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void _setMissionDistance(double missionDistance); |
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void _setMissionTime(double missionTime); |
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void _setMissionHoverDistance(double missionHoverDistance); |
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void _setMissionHoverTime(double missionHoverTime); |
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void _setMissionCruiseDistance(double missionCruiseDistance); |
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void _setMissionCruiseTime(double missionCruiseTime); |
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void _setMissionMaxTelemetry(double missionMaxTelemetry); |
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// Overrides from PlanElementController
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void _activeVehicleBeingRemoved(void) final; |
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void _activeVehicleSet(void) final; |
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private: |
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QmlObjectListModel* _visualItems; |
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QmlObjectListModel* _complexItems; |
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QmlObjectListModel _waypointLines; |
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CoordVectHashTable _linesTable; |
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bool _firstItemsFromVehicle; |
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bool _missionItemsRequested; |
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bool _queuedSend; |
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double _missionDistance; |
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double _missionTime; |
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double _missionHoverDistance; |
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double _missionHoverTime; |
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double _missionCruiseDistance; |
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double _missionCruiseTime; |
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double _missionMaxTelemetry; |
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static const char* _settingsGroup; |
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static const char* _jsonFileTypeValue; |
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static const char* _jsonFirmwareTypeKey; |
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static const char* _jsonVehicleTypeKey; |
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static const char* _jsonCruiseSpeedKey; |
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static const char* _jsonHoverSpeedKey; |
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static const char* _jsonItemsKey; |
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static const char* _jsonPlannedHomePositionKey; |
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static const char* _jsonParamsKey; |
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// Deprecated V1 format keys
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static const char* _jsonMavAutopilotKey; |
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static const char* _jsonComplexItemsKey; |
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static const int _missionFileVersion; |
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}; |
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#endif |
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