Browse Source
Also merged MissionController and MissionEditorController into single MissionController implementationQGC4.4
Don Gagne
10 years ago
14 changed files with 492 additions and 721 deletions
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@@ -1,493 +0,0 @@
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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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|
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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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#include "MissionEditorController.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 "QGCFileDialog.h" |
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#include "CoordinateVector.h" |
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#include "QGCMessageBox.h" |
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#include <QQmlContext> |
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#include <QQmlEngine> |
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#include <QSettings> |
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const char* MissionEditorController::_settingsGroup = "MissionEditorController"; |
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MissionEditorController::MissionEditorController(QObject *parent) |
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: QObject(parent) |
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, _missionItems(NULL) |
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, _canEdit(true) |
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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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, _missionItemsRequested(false) |
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{ |
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MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance(); |
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connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionEditorController::_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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} |
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MissionEditorController::~MissionEditorController() |
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{ |
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} |
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void MissionEditorController::_newMissionItemsAvailable(void) |
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{ |
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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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} |
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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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_missionItemsRequested = false; |
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if (_missionItems) { |
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_deinitAllMissionItems(); |
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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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_canEdit = true; |
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_missionItems = new QmlObjectListModel(this); |
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} else { |
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_canEdit = missionManager->canEdit(); |
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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 MissionEditorController::getMissionItems(void) |
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{ |
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Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle(); |
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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, &MissionEditorController::_newMissionItemsAvailable); |
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activeVehicle->missionManager()->requestMissionItems(); |
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} |
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} |
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void MissionEditorController::sendMissionItems(void) |
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{ |
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Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle(); |
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if (activeVehicle) { |
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activeVehicle->missionManager()->writeMissionItems(*_missionItems, true /* skipFirstItem */); |
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_missionItems->setDirty(false); |
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} |
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} |
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int MissionEditorController::addMissionItem(QGeoCoordinate coordinate) |
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{ |
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if (!_canEdit) { |
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qWarning() << "addMissionItem called with _canEdit == false"; |
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} |
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// Coordinate will come through without altitude
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coordinate.setAltitude(MissionItem::defaultAltitude); |
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MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT); |
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_initMissionItem(newItem); |
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if (_missionItems->count() == 1) { |
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newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); |
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} |
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_missionItems->append(newItem); |
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_recalcAll(); |
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return _missionItems->count() - 1; |
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} |
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void MissionEditorController::removeMissionItem(int index) |
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{ |
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if (!_canEdit) { |
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qWarning() << "addMissionItem called with _canEdit == false"; |
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return; |
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} |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index)); |
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_deinitMissionItem(item); |
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_recalcAll(); |
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// Set the new current item
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if (index >= _missionItems->count()) { |
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index--; |
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} |
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for (int i=0; i<_missionItems->count(); i++) { |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); |
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item->setIsCurrentItem(i == index); |
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} |
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} |
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void MissionEditorController::loadMissionFromFile(void) |
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{ |
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QString errorString; |
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QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load"); |
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if (filename.isEmpty()) { |
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return; |
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} |
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if (_missionItems) { |
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_deinitAllMissionItems(); |
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_missionItems->deleteLater(); |
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} |
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_missionItems = new QmlObjectListModel(this); |
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_canEdit = true; |
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QFile file(filename); |
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { |
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errorString = file.errorString(); |
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} else { |
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QTextStream in(&file); |
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const QStringList& version = in.readLine().split(" "); |
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if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) { |
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errorString = "The mission file is not compatible with the current version of QGroundControl."; |
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} else { |
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while (!in.atEnd()) { |
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MissionItem* item = new MissionItem(); |
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if (item->load(in)) { |
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_missionItems->append(item); |
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if (!item->canEdit()) { |
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_canEdit = false; |
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} |
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} else { |
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errorString = "The mission file is corrupted."; |
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break; |
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} |
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} |
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} |
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} |
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if (!errorString.isEmpty()) { |
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_missionItems->clear(); |
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} |
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_initAllMissionItems(); |
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} |
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void MissionEditorController::saveMissionToFile(void) |
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{ |
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QString errorString; |
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QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to"); |
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if (filename.isEmpty()) { |
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return; |
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} |
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QFile file(filename); |
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { |
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errorString = file.errorString(); |
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} else { |
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QTextStream out(&file); |
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out << "QGC WPL 120\r\n"; // Version string
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for (int i=0; i<_missionItems->count(); i++) { |
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qobject_cast<MissionItem*>(_missionItems->get(i))->save(out); |
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} |
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} |
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_missionItems->setDirty(false); |
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} |
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void MissionEditorController::_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 sequence numbers to be sequential starting from 0
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void MissionEditorController::_recalcSequence(void) |
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{ |
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for (int i=0; i<_missionItems->count(); i++) { |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); |
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// Setup ascending sequence numbers
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item->setSequenceNumber(i); |
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} |
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} |
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// This will update the child item hierarchy
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void MissionEditorController::_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 MissionEditorController::_recalcAll(void) |
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{ |
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_recalcSequence(); |
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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 MissionEditorController::_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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for (int i=0; i<_missionItems->count(); i++) { |
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_initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i))); |
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} |
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_recalcAll(); |
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emit missionItemsChanged(); |
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emit canEditChanged(_canEdit); |
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_missionItems->setDirty(false); |
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connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditorController::_dirtyChanged); |
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} |
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void MissionEditorController::_deinitAllMissionItems(void) |
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{ |
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for (int i=0; i<_missionItems->count(); i++) { |
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_deinitMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i))); |
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} |
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connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditorController::_dirtyChanged); |
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} |
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void MissionEditorController::_initMissionItem(MissionItem* item) |
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{ |
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_missionItems->setDirty(false); |
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connect(item, &MissionItem::commandChanged, this, &MissionEditorController::_itemCommandChanged); |
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connect(item, &MissionItem::coordinateChanged, this, &MissionEditorController::_itemCoordinateChanged); |
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} |
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void MissionEditorController::_deinitMissionItem(MissionItem* item) |
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{ |
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disconnect(item, &MissionItem::commandChanged, this, &MissionEditorController::_itemCommandChanged); |
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disconnect(item, &MissionItem::coordinateChanged, this, &MissionEditorController::_itemCoordinateChanged); |
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} |
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void MissionEditorController::_itemCoordinateChanged(const QGeoCoordinate& coordinate) |
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{ |
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Q_UNUSED(coordinate); |
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_recalcWaypointLines(); |
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} |
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void MissionEditorController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command) |
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{ |
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Q_UNUSED(command);; |
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_recalcChildItems(); |
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_recalcWaypointLines(); |
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} |
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void MissionEditorController::_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, &MissionEditorController::_newMissionItemsAvailable); |
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disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionEditorController::_inProgressChanged); |
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disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditorController::_activeVehicleHomePositionAvailableChanged); |
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disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditorController::_activeVehicleHomePositionChanged); |
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_activeVehicle = NULL; |
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_newMissionItemsAvailable(); |
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_activeVehicleHomePositionAvailableChanged(false); |
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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, &MissionEditorController::_newMissionItemsAvailable); |
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connect(missionManager, &MissionManager::inProgressChanged, this, &MissionEditorController::_inProgressChanged); |
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connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditorController::_activeVehicleHomePositionAvailableChanged); |
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connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditorController::_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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_activeVehicleHomePositionChanged(_activeVehicle->homePosition()); |
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_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable()); |
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} |
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} |
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void MissionEditorController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable) |
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{ |
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_liveHomePositionAvailable = homePositionAvailable; |
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emit liveHomePositionAvailableChanged(_liveHomePositionAvailable); |
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} |
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void MissionEditorController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition) |
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{ |
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_liveHomePosition = homePosition; |
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emit liveHomePositionChanged(_liveHomePosition); |
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} |
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void MissionEditorController::deleteCurrentMissionItem(void) |
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{ |
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for (int i=0; i<_missionItems->count(); i++) { |
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MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); |
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if (item->isCurrentItem() && i != 0) { |
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removeMissionItem(i); |
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return; |
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} |
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} |
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} |
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void MissionEditorController::setAutoSync(bool autoSync) |
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{ |
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_autoSync = autoSync; |
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emit autoSyncChanged(_autoSync); |
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if (_autoSync) { |
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_dirtyChanged(true); |
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} |
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} |
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void MissionEditorController::_dirtyChanged(bool dirty) |
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{ |
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if (dirty && _autoSync) { |
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Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle(); |
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if (activeVehicle && !activeVehicle->armed()) { |
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if (_activeVehicle->missionManager()->inProgress()) { |
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_queuedSend = true; |
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} else { |
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_autoSyncSend(); |
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} |
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} |
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} |
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} |
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void MissionEditorController::_autoSyncSend(void) |
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{ |
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qDebug() << "Auto-syncing with vehicle"; |
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_queuedSend = false; |
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if (_missionItems) { |
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sendMissionItems(); |
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_missionItems->setDirty(false); |
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} |
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} |
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void MissionEditorController::_inProgressChanged(bool inProgress) |
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{ |
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if (!inProgress && _queuedSend) { |
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_autoSyncSend(); |
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} |
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} |
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QmlObjectListModel* MissionEditorController::missionItems(void) |
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{ |
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return _missionItems; |
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} |
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@ -1,109 +0,0 @@
@@ -1,109 +0,0 @@
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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 MissionEditorController_H |
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#define MissionEditorController_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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class MissionEditorController : public QObject |
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{ |
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Q_OBJECT |
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public: |
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MissionEditorController(QObject* parent = NULL); |
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~MissionEditorController(); |
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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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Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged) |
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Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged) |
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Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged) |
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Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged) |
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Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate); |
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Q_INVOKABLE void getMissionItems(void); |
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Q_INVOKABLE void sendMissionItems(void); |
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Q_INVOKABLE void loadMissionFromFile(void); |
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Q_INVOKABLE void saveMissionToFile(void); |
||||
Q_INVOKABLE void removeMissionItem(int index); |
||||
Q_INVOKABLE void deleteCurrentMissionItem(void); |
||||
|
||||
// Property accessors
|
||||
|
||||
QmlObjectListModel* missionItems(void); |
||||
QmlObjectListModel* waypointLines(void) { return &_waypointLines; } |
||||
bool canEdit(void) { return _canEdit; } |
||||
bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; } |
||||
QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; } |
||||
bool autoSync(void) { return _autoSync; } |
||||
void setAutoSync(bool autoSync); |
||||
|
||||
signals: |
||||
void missionItemsChanged(void); |
||||
void canEditChanged(bool canEdit); |
||||
void waypointLinesChanged(void); |
||||
void liveHomePositionAvailableChanged(bool homePositionAvailable); |
||||
void liveHomePositionChanged(const QGeoCoordinate& homePosition); |
||||
void autoSyncChanged(bool autoSync); |
||||
|
||||
private slots: |
||||
void _newMissionItemsAvailable(); |
||||
void _itemCoordinateChanged(const QGeoCoordinate& coordinate); |
||||
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command); |
||||
void _activeVehicleChanged(Vehicle* activeVehicle); |
||||
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable); |
||||
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); |
||||
void _dirtyChanged(bool dirty); |
||||
void _inProgressChanged(bool inProgress); |
||||
|
||||
private: |
||||
void _recalcSequence(void); |
||||
void _recalcWaypointLines(void); |
||||
void _recalcChildItems(void); |
||||
void _recalcAll(void); |
||||
void _initAllMissionItems(void); |
||||
void _deinitAllMissionItems(void); |
||||
void _initMissionItem(MissionItem* item); |
||||
void _deinitMissionItem(MissionItem* item); |
||||
void _autoSyncSend(void); |
||||
|
||||
private: |
||||
QmlObjectListModel* _missionItems; |
||||
QmlObjectListModel _waypointLines; |
||||
bool _canEdit; ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
|
||||
Vehicle* _activeVehicle; |
||||
bool _liveHomePositionAvailable; |
||||
QGeoCoordinate _liveHomePosition; |
||||
bool _autoSync; |
||||
bool _firstMissionItemSync; |
||||
bool _missionItemsRequested; |
||||
bool _queuedSend; |
||||
|
||||
static const char* _settingsGroup; |
||||
}; |
||||
|
||||
#endif |
||||
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Reference in new issue