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@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project
@@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project
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#include "QGCMessageBox.h" |
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#include "FirmwarePlugin.h" |
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QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog") |
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const char* MissionController::_settingsGroup = "MissionController"; |
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MissionController::MissionController(QObject *parent) |
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@ -39,7 +41,7 @@ MissionController::MissionController(QObject *parent)
@@ -39,7 +41,7 @@ MissionController::MissionController(QObject *parent)
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, _activeVehicle(NULL) |
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, _liveHomePositionAvailable(false) |
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, _autoSync(false) |
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, _firstMissionItemSync(false) |
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, _firstItemsFromVehicle(false) |
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, _missionItemsRequested(false) |
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, _queuedSend(false) |
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{ |
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@ -48,50 +50,75 @@ MissionController::MissionController(QObject *parent)
@@ -48,50 +50,75 @@ MissionController::MissionController(QObject *parent)
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MissionController::~MissionController() |
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{ |
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// Start with empty list
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_canEdit = true; |
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_missionItems = new QmlObjectListModel(this); |
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_initAllMissionItems(); |
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} |
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void MissionController::start(bool editMode) |
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{ |
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qCDebug(MissionControllerLog) << "start editMode" << editMode; |
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_editMode = editMode; |
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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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_missionItemsRequested = true; |
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_newMissionItemsAvailable(); |
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} |
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_setupMissionItems(true /* fromVehicle */, true /* force */); |
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} |
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void MissionController::_newMissionItemsAvailable(void) |
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void MissionController::_newMissionItemsAvailableFromVehicle(void) |
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{ |
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if (_editMode) { |
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if (_firstMissionItemSync) { |
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// This is the first time the vehicle is seeing items. We have to be careful of transitioning from offline
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// to online.
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_firstMissionItemSync = false; |
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if (_missionItems && _missionItems->count() > 1) { |
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QGCMessageBox::StandardButton button = QGCMessageBox::warning("Mission Editing", |
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"The vehicle has sent a new set of Mission Items. " |
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"Do you want to discard your current set of unsaved items and use the ones from the vehicle instead?", |
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QGCMessageBox::Yes | QGCMessageBox::No, |
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QGCMessageBox::No); |
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if (button == QGCMessageBox::No) { |
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return; |
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qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle"; |
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_setupMissionItems(true /* fromVehicle */, false /* force */); |
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} |
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/// @param fromVehicle true: load items from vehicle
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/// @param force true: disregard any flags which may prevent load
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void MissionController::_setupMissionItems(bool fromVehicle, bool force) |
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{ |
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qCDebug(MissionControllerLog) << "_setupMissionItems fromVehicle:force:_editMode:_firstItemsFromVehicle" << fromVehicle << force << _editMode << _firstItemsFromVehicle; |
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MissionManager* missionManager = NULL; |
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if (_activeVehicle) { |
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missionManager = _activeVehicle->missionManager(); |
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} else { |
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qCDebug(MissionControllerLog) << "running offline"; |
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} |
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if (!force) { |
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if (_editMode && fromVehicle) { |
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if (_firstItemsFromVehicle) { |
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if (missionManager) { |
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if (missionManager->inProgress()) { |
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// Still in progress of retrieving items from vehicle, leave current set alone and wait for
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// mission manager to finish
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qCDebug(MissionControllerLog) << "disregarding due to MissionManager in progress"; |
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return; |
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} else { |
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// We have the first set of items from the vehicle. If we haven't already started creating a
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// new mission, switch to the items from the vehicle
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_firstItemsFromVehicle = false; |
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if (_missionItems->count() != 1) { |
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qCDebug(MissionControllerLog) << "disregarding due to existing items"; |
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return; |
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} |
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} |
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} |
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} else if (!_missionItemsRequested) { |
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// We didn't specifically ask for new mission items. Disregard the new set since it is
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// the most likely the set we just sent to the vehicle.
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qCDebug(MissionControllerLog) << "disregarding due to unrequested notification"; |
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return; |
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} |
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} else if (!_missionItemsRequested) { |
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// We didn't specifically ask for new mission items. Disregard the new set since it is
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// the most likely the set we just sent to the vehicle.
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return; |
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} |
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} |
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qCDebug(MissionControllerLog) << "fell through to main setup"; |
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_missionItemsRequested = false; |
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if (_missionItems) { |
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@ -99,17 +126,14 @@ void MissionController::_newMissionItemsAvailable(void)
@@ -99,17 +126,14 @@ void MissionController::_newMissionItemsAvailable(void)
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_missionItems->deleteLater(); |
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} |
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MissionManager* missionManager = NULL; |
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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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if (!missionManager || !fromVehicle || missionManager->inProgress()) { |
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_canEdit = true; |
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_missionItems = new QmlObjectListModel(this); |
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qCDebug(MissionControllerLog) << "creating empty set"; |
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} else { |
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_canEdit = missionManager->canEdit(); |
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_missionItems = missionManager->copyMissionItems(); |
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qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count(); |
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} |
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_initAllMissionItems(); |
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@ -121,8 +145,6 @@ void MissionController::getMissionItems(void)
@@ -121,8 +145,6 @@ void MissionController::getMissionItems(void)
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if (activeVehicle) { |
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_missionItemsRequested = true; |
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MissionManager* missionManager = activeVehicle->missionManager(); |
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connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable); |
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activeVehicle->missionManager()->requestMissionItems(); |
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} |
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} |
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@ -406,15 +428,19 @@ void MissionController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD com
@@ -406,15 +428,19 @@ void MissionController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD com
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void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) |
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{ |
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qCDebug(MissionControllerLog) << "_activeVehicleChanged activeVehicle" << activeVehicle; |
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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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disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); |
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disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); |
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disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); |
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disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); |
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_activeVehicle = NULL; |
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_newMissionItemsAvailable(); |
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// When the active vehicle goes away we toss the editor items
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_setupMissionItems(false /* fromVehicle */, true /* force */); |
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_activeVehicleHomePositionAvailableChanged(false); |
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} |
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@ -423,21 +449,13 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
@@ -423,21 +449,13 @@ void MissionController::_activeVehicleChanged(Vehicle* 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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connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); |
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connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); |
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connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); |
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connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); |
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if (missionManager->inProgress()) { |
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// Vehicle is still in process of requesting mission items
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_firstMissionItemSync = true; |
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} else { |
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// Vehicle already has mission items
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_firstMissionItemSync = false; |
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} |
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_missionItemsRequested = true; |
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_newMissionItemsAvailable(); |
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_firstItemsFromVehicle = true; |
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_setupMissionItems(true /* fromVehicle */, false /* force */); |
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_activeVehicleHomePositionChanged(_activeVehicle->homePosition()); |
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_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable()); |
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Don Gagne
10 years ago