diff --git a/QGCApplication.pro b/QGCApplication.pro
index cd24b64..9bf7968 100644
--- a/QGCApplication.pro
+++ b/QGCApplication.pro
@@ -228,7 +228,6 @@ HEADERS += \
src/Joystick/JoystickManager.h \
src/LogCompressor.h \
src/MG.h \
- src/MissionEditor/MissionEditorController.h \
src/MissionManager/MissionManager.h \
src/MissionManager/MissionController.h \
src/QGC.h \
@@ -347,7 +346,6 @@ SOURCES += \
src/Joystick/JoystickManager.cc \
src/LogCompressor.cc \
src/main.cc \
- src/MissionEditor/MissionEditorController.cc \
src/MissionManager/MissionManager.cc \
src/MissionManager/MissionController.cc \
src/QGC.cc \
diff --git a/src/FactSystem/FactSystemTestBase.cc b/src/FactSystem/FactSystemTestBase.cc
index 01168f0..cc1b1b2 100644
--- a/src/FactSystem/FactSystemTestBase.cc
+++ b/src/FactSystem/FactSystemTestBase.cc
@@ -45,7 +45,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
UnitTest::init();
MockLink* link = new MockLink();
- link->setAutopilotType(autopilot);
+ link->setFirmwareType(autopilot);
LinkManager::instance()->_addLink(link);
LinkManager::instance()->connectLink(link);
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index 2c2faef..2b8a2c0 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -73,21 +73,26 @@ Item {
readonly property var _flightMap: flightMap
- property real _roll: _activeVehicle ? (isNaN(_activeVehicle.roll) ? _defaultRoll : _activeVehicle.roll) : _defaultRoll
- property real _pitch: _activeVehicle ? (isNaN(_activeVehicle.pitch) ? _defaultPitch : _activeVehicle.pitch) : _defaultPitch
- property real _heading: _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading
+ property real _roll: _activeVehicle ? (isNaN(_activeVehicle.roll) ? _defaultRoll : _activeVehicle.roll) : _defaultRoll
+ property real _pitch: _activeVehicle ? (isNaN(_activeVehicle.pitch) ? _defaultPitch : _activeVehicle.pitch) : _defaultPitch
+ property real _heading: _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading
- property var _vehicleCoordinate: _activeVehicle ? _activeVehicle.coordinate : _defaultVehicleCoordinate
+ property var _vehicleCoordinate: _activeVehicle ? (_activeVehicle.satelliteLock >= 2 ? _activeVehicle.coordinate : _defaultVehicleCoordinate) : _defaultVehicleCoordinate
- property real _altitudeWGS84: _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84
- property real _groundSpeed: _activeVehicle ? _activeVehicle.groundSpeed : _defaultGroundSpeed
- property real _airSpeed: _activeVehicle ? _activeVehicle.airSpeed : _defaultAirSpeed
- property real _climbRate: _activeVehicle ? _activeVehicle.climbRate : _defaultClimbRate
+ property real _altitudeWGS84: _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84
+ property real _groundSpeed: _activeVehicle ? _activeVehicle.groundSpeed : _defaultGroundSpeed
+ property real _airSpeed: _activeVehicle ? _activeVehicle.airSpeed : _defaultAirSpeed
+ property real _climbRate: _activeVehicle ? _activeVehicle.climbRate : _defaultClimbRate
property bool _showMap: getBool(QGroundControl.flightMapSettings.loadMapSetting(flightMap.mapName, _showMapBackgroundKey, "1"))
FlightDisplayViewController { id: _controller }
- MissionController { id: _missionController }
+
+ MissionController {
+ id: _missionController
+
+ Component.onCompleted: start(false /* editMode */)
+ }
ExclusiveGroup {
id: _dropButtonsExclusiveGroup
diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index 0ffbae7..3e20773 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -54,24 +54,27 @@ QGCView {
readonly property string _autoSyncKey: "AutoSync"
readonly property string _showHelpKey: "ShowHelp"
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
+ readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems
- property var _homePositionManager: QGroundControl.homePositionManager
- property string _homePositionName: _homePositionManager.homePositions.get(0).name
-
+ //property var _homePositionManager: QGroundControl.homePositionManager
+ //property string _homePositionName: _homePositionManager.homePositions.get(0).name
//property var offlineHomePosition: _homePositionManager.homePositions.get(0).coordinate
+
property var liveHomePosition: controller.liveHomePosition
property var liveHomePositionAvailable: controller.liveHomePositionAvailable
- //property var homePosition: offlineHomePosition // live or offline depending on state
+ property var homePosition: _defaultVehicleCoordinate
property bool _syncNeeded: controller.missionItems.dirty
property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false
property bool _showHelp: QGroundControl.flightMapSettings.loadBoolMapSetting(editorMap.mapName, _showHelpKey, true)
- MissionEditorController {
+ MissionController {
id: controller
+
+ Component.onCompleted: start(true /* editMode */)
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
@@ -104,6 +107,7 @@ QGCView {
function updateHomePosition() {
if (liveHomePositionAvailable) {
+ homePosition = liveHomePosition
_missionItems.get(0).coordinate = liveHomePosition
_missionItems.get(0).homePositionValid = true
}
@@ -282,8 +286,8 @@ QGCView {
}
} // Item - Mission Item editor
-/*
-Home Position Manager is commented out for now until a better implementation is completed
+ /*
+ Home Position Manager temporarily disbled till more work is done on it
// Home Position Manager
Rectangle {
@@ -556,7 +560,7 @@ Home Position Manager is commented out for now until a better implementation is
}
} // Column - Online view
} // Item - Home Position Manager
-*/
+ */
// Help Panel
Rectangle {
@@ -656,7 +660,7 @@ Home Position Manager is commented out for now until a better implementation is
}
/*
- Home Position Manager commented until more complete implementation is done
+ Home Position Manager disabled
Image {
id: homePositionManagerHelpIcon
@@ -680,7 +684,7 @@ Home Position Manager is commented out for now until a better implementation is
"When enabled, allows you to select/add/update flying field locations. " +
"You can save multiple flying field locations for use while creating missions while you are not connected to your vehicle."
}
-*/
+ */
Image {
id: mapCenterHelpIcon
@@ -803,8 +807,7 @@ Home Position Manager is commented out for now until a better implementation is
}
/*
- Home Position Manager commented until more complete implementation is done
-
+ Home Position manager temporarily disable
RoundButton {
id: homePositionManagerButton
anchors.margins: _margin
diff --git a/src/MissionEditor/MissionEditorController.cc b/src/MissionEditor/MissionEditorController.cc
deleted file mode 100644
index e1e7522..0000000
--- a/src/MissionEditor/MissionEditorController.cc
+++ /dev/null
@@ -1,493 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#include "MissionEditorController.h"
-#include "ScreenToolsController.h"
-#include "MultiVehicleManager.h"
-#include "MissionManager.h"
-#include "QGCFileDialog.h"
-#include "CoordinateVector.h"
-#include "QGCMessageBox.h"
-
-#include <QQmlContext>
-#include <QQmlEngine>
-#include <QSettings>
-
-const char* MissionEditorController::_settingsGroup = "MissionEditorController";
-
-MissionEditorController::MissionEditorController(QObject *parent)
- : QObject(parent)
- , _missionItems(NULL)
- , _canEdit(true)
- , _activeVehicle(NULL)
- , _liveHomePositionAvailable(false)
- , _autoSync(false)
- , _firstMissionItemSync(false)
- , _missionItemsRequested(false)
-{
- MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance();
-
- connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionEditorController::_activeVehicleChanged);
-
- Vehicle* activeVehicle = multiVehicleMgr->activeVehicle();
- if (activeVehicle) {
- _activeVehicleChanged(activeVehicle);
- } else {
- _missionItemsRequested = true;
- _newMissionItemsAvailable();
- }
-}
-
-MissionEditorController::~MissionEditorController()
-{
-}
-
-void MissionEditorController::_newMissionItemsAvailable(void)
-{
- if (_firstMissionItemSync) {
- // This is the first time the vehicle is seeing items. We have to be careful of transitioning from offline
- // to online.
-
- _firstMissionItemSync = false;
- if (_missionItems && _missionItems->count() > 1) {
- QGCMessageBox::StandardButton button = QGCMessageBox::warning("Mission Editing",
- "The vehicle has sent a new set of Mission Items. "
- "Do you want to discard your current set of unsaved items and use the ones from the vehicle instead?",
- QGCMessageBox::Yes | QGCMessageBox::No,
- QGCMessageBox::No);
- if (button == QGCMessageBox::No) {
- return;
- }
- }
- } else if (!_missionItemsRequested) {
- // We didn't specifically ask for new mission items. Disregard the new set since it is
- // the most likely the set we just sent to the vehicle.
- return;
- }
-
- _missionItemsRequested = false;
-
- if (_missionItems) {
- _deinitAllMissionItems();
- _missionItems->deleteLater();
- }
-
- MissionManager* missionManager = NULL;
- if (_activeVehicle) {
- missionManager = _activeVehicle->missionManager();
- }
-
- if (!missionManager || missionManager->inProgress()) {
- _canEdit = true;
- _missionItems = new QmlObjectListModel(this);
- } else {
- _canEdit = missionManager->canEdit();
- _missionItems = missionManager->copyMissionItems();
- }
-
- _initAllMissionItems();
-}
-
-void MissionEditorController::getMissionItems(void)
-{
- Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
-
- if (activeVehicle) {
- _missionItemsRequested = true;
- MissionManager* missionManager = activeVehicle->missionManager();
- connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditorController::_newMissionItemsAvailable);
- activeVehicle->missionManager()->requestMissionItems();
- }
-}
-
-void MissionEditorController::sendMissionItems(void)
-{
- Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
-
- if (activeVehicle) {
- activeVehicle->missionManager()->writeMissionItems(*_missionItems, true /* skipFirstItem */);
- _missionItems->setDirty(false);
- }
-}
-
-int MissionEditorController::addMissionItem(QGeoCoordinate coordinate)
-{
- if (!_canEdit) {
- qWarning() << "addMissionItem called with _canEdit == false";
- }
-
- // Coordinate will come through without altitude
- coordinate.setAltitude(MissionItem::defaultAltitude);
-
- MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT);
- _initMissionItem(newItem);
- if (_missionItems->count() == 1) {
- newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
- }
- _missionItems->append(newItem);
-
- _recalcAll();
-
- return _missionItems->count() - 1;
-}
-
-void MissionEditorController::removeMissionItem(int index)
-{
- if (!_canEdit) {
- qWarning() << "addMissionItem called with _canEdit == false";
- return;
- }
-
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index));
-
- _deinitMissionItem(item);
-
- _recalcAll();
-
- // Set the new current item
-
- if (index >= _missionItems->count()) {
- index--;
- }
- for (int i=0; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
- item->setIsCurrentItem(i == index);
- }
-}
-
-void MissionEditorController::loadMissionFromFile(void)
-{
- QString errorString;
- QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load");
-
- if (filename.isEmpty()) {
- return;
- }
-
- if (_missionItems) {
- _deinitAllMissionItems();
- _missionItems->deleteLater();
- }
- _missionItems = new QmlObjectListModel(this);
-
- _canEdit = true;
-
- QFile file(filename);
-
- if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
- errorString = file.errorString();
- } else {
- QTextStream in(&file);
-
- const QStringList& version = in.readLine().split(" ");
-
- if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) {
- errorString = "The mission file is not compatible with the current version of QGroundControl.";
- } else {
- while (!in.atEnd()) {
- MissionItem* item = new MissionItem();
-
- if (item->load(in)) {
- _missionItems->append(item);
-
- if (!item->canEdit()) {
- _canEdit = false;
- }
- } else {
- errorString = "The mission file is corrupted.";
- break;
- }
- }
- }
-
- }
-
- if (!errorString.isEmpty()) {
- _missionItems->clear();
- }
-
- _initAllMissionItems();
-}
-
-void MissionEditorController::saveMissionToFile(void)
-{
- QString errorString;
- QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to");
-
- if (filename.isEmpty()) {
- return;
- }
-
- QFile file(filename);
-
- if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
- errorString = file.errorString();
- } else {
- QTextStream out(&file);
-
- out << "QGC WPL 120\r\n"; // Version string
-
- for (int i=0; i<_missionItems->count(); i++) {
- qobject_cast<MissionItem*>(_missionItems->get(i))->save(out);
- }
- }
-
- _missionItems->setDirty(false);
-}
-
-void MissionEditorController::_recalcWaypointLines(void)
-{
- bool firstCoordinateItem = true;
- MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0));
-
- _waypointLines.clear();
-
- for (int i=1; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
-
- if (item->specifiesCoordinate()) {
- if (firstCoordinateItem) {
- if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
- // The first coordinate we hit is a takeoff command so link back to home position
- _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
- } else {
- // First coordiante is not a takeoff command, it does not link backwards to anything
- }
- firstCoordinateItem = false;
- } else {
- // Subsequent coordinate items link to last coordinate item
- _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
- }
- lastCoordinateItem = item;
- }
- }
-
- emit waypointLinesChanged();
-}
-
-// This will update the sequence numbers to be sequential starting from 0
-void MissionEditorController::_recalcSequence(void)
-{
- for (int i=0; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
-
- // Setup ascending sequence numbers
- item->setSequenceNumber(i);
- }
-}
-
-// This will update the child item hierarchy
-void MissionEditorController::_recalcChildItems(void)
-{
- MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
-
- currentParentItem->childItems()->clear();
-
- for (int i=1; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
-
- // Set up non-coordinate item child hierarchy
- if (item->specifiesCoordinate()) {
- item->childItems()->clear();
- currentParentItem = item;
- } else {
- currentParentItem->childItems()->append(item);
- }
- }
-}
-
-void MissionEditorController::_recalcAll(void)
-{
- _recalcSequence();
- _recalcChildItems();
- _recalcWaypointLines();
-}
-
-/// Initializes a new set of mission items which may have come from the vehicle or have been loaded from a file
-void MissionEditorController::_initAllMissionItems(void)
-{
- // Add the home position item to the front
- MissionItem* homeItem = new MissionItem(this);
- homeItem->setHomePositionSpecialCase(true);
- homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
- _missionItems->insert(0, homeItem);
-
- for (int i=0; i<_missionItems->count(); i++) {
- _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
- }
-
- _recalcAll();
-
- emit missionItemsChanged();
- emit canEditChanged(_canEdit);
-
- _missionItems->setDirty(false);
-
- connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditorController::_dirtyChanged);
-}
-
-void MissionEditorController::_deinitAllMissionItems(void)
-{
- for (int i=0; i<_missionItems->count(); i++) {
- _deinitMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
- }
-
- connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditorController::_dirtyChanged);
-}
-
-void MissionEditorController::_initMissionItem(MissionItem* item)
-{
- _missionItems->setDirty(false);
-
- connect(item, &MissionItem::commandChanged, this, &MissionEditorController::_itemCommandChanged);
- connect(item, &MissionItem::coordinateChanged, this, &MissionEditorController::_itemCoordinateChanged);
-}
-
-void MissionEditorController::_deinitMissionItem(MissionItem* item)
-{
- disconnect(item, &MissionItem::commandChanged, this, &MissionEditorController::_itemCommandChanged);
- disconnect(item, &MissionItem::coordinateChanged, this, &MissionEditorController::_itemCoordinateChanged);
-}
-
-void MissionEditorController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
-{
- Q_UNUSED(coordinate);
- _recalcWaypointLines();
-}
-
-void MissionEditorController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command)
-{
- Q_UNUSED(command);;
- _recalcChildItems();
- _recalcWaypointLines();
-}
-
-void MissionEditorController::_activeVehicleChanged(Vehicle* activeVehicle)
-{
- if (_activeVehicle) {
- MissionManager* missionManager = _activeVehicle->missionManager();
-
- disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditorController::_newMissionItemsAvailable);
- disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionEditorController::_inProgressChanged);
- disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditorController::_activeVehicleHomePositionAvailableChanged);
- disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditorController::_activeVehicleHomePositionChanged);
- _activeVehicle = NULL;
- _newMissionItemsAvailable();
- _activeVehicleHomePositionAvailableChanged(false);
- }
-
- _activeVehicle = activeVehicle;
-
- if (_activeVehicle) {
- MissionManager* missionManager = activeVehicle->missionManager();
-
- connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditorController::_newMissionItemsAvailable);
- connect(missionManager, &MissionManager::inProgressChanged, this, &MissionEditorController::_inProgressChanged);
- connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditorController::_activeVehicleHomePositionAvailableChanged);
- connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditorController::_activeVehicleHomePositionChanged);
-
- if (missionManager->inProgress()) {
- // Vehicle is still in process of requesting mission items
- _firstMissionItemSync = true;
- } else {
- // Vehicle already has mission items
- _firstMissionItemSync = false;
- }
-
- _missionItemsRequested = true;
- _newMissionItemsAvailable();
-
- _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
- _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
- }
-}
-
-void MissionEditorController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
-{
- _liveHomePositionAvailable = homePositionAvailable;
- emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
-}
-
-void MissionEditorController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
-{
- _liveHomePosition = homePosition;
- emit liveHomePositionChanged(_liveHomePosition);
-}
-
-void MissionEditorController::deleteCurrentMissionItem(void)
-{
- for (int i=0; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
- if (item->isCurrentItem() && i != 0) {
- removeMissionItem(i);
- return;
- }
- }
-}
-
-void MissionEditorController::setAutoSync(bool autoSync)
-{
- _autoSync = autoSync;
- emit autoSyncChanged(_autoSync);
-
- if (_autoSync) {
- _dirtyChanged(true);
- }
-}
-
-void MissionEditorController::_dirtyChanged(bool dirty)
-{
- if (dirty && _autoSync) {
- Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
-
- if (activeVehicle && !activeVehicle->armed()) {
- if (_activeVehicle->missionManager()->inProgress()) {
- _queuedSend = true;
- } else {
- _autoSyncSend();
- }
- }
- }
-}
-
-void MissionEditorController::_autoSyncSend(void)
-{
- qDebug() << "Auto-syncing with vehicle";
- _queuedSend = false;
- if (_missionItems) {
- sendMissionItems();
- _missionItems->setDirty(false);
- }
-}
-
-void MissionEditorController::_inProgressChanged(bool inProgress)
-{
- if (!inProgress && _queuedSend) {
- _autoSyncSend();
- }
-}
-
-QmlObjectListModel* MissionEditorController::missionItems(void)
-{
- return _missionItems;
-}
diff --git a/src/MissionEditor/MissionEditorController.h b/src/MissionEditor/MissionEditorController.h
deleted file mode 100644
index e74e6da..0000000
--- a/src/MissionEditor/MissionEditorController.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#ifndef MissionEditorController_H
-#define MissionEditorController_H
-
-#include <QObject>
-
-#include "QmlObjectListModel.h"
-#include "Vehicle.h"
-
-class MissionEditorController : public QObject
-{
- Q_OBJECT
-
-public:
- MissionEditorController(QObject* parent = NULL);
- ~MissionEditorController();
-
- Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
- Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
- Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
- Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
- Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
- Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
-
- Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
- Q_INVOKABLE void getMissionItems(void);
- Q_INVOKABLE void sendMissionItems(void);
- Q_INVOKABLE void loadMissionFromFile(void);
- 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
diff --git a/src/MissionItem.h b/src/MissionItem.h
index 91ef639..11005d2 100644
--- a/src/MissionItem.h
+++ b/src/MissionItem.h
@@ -86,7 +86,7 @@ public:
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
/// true: this item is being used as a home position indicator
- Q_PROPERTY(bool homePosition MEMBER _homePositionSpecialCase CONSTANT)
+ Q_PROPERTY(bool homePosition READ homePosition CONSTANT)
/// true: home position should be shown
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
@@ -131,6 +131,7 @@ public:
QmlObjectListModel* childItems(void) { return &_childItems; }
+ bool homePosition(void) { return _homePositionSpecialCase; }
bool homePositionValid(void) { return _homePositionValid; }
void setHomePositionValid(bool homePositionValid);
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 41da713..0e05c17 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -22,109 +22,281 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#include "MissionController.h"
-#include "ScreenToolsController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
+#include "QGCFileDialog.h"
#include "CoordinateVector.h"
+#include "QGCMessageBox.h"
+#include "FirmwarePlugin.h"
+
+const char* MissionController::_settingsGroup = "MissionController";
MissionController::MissionController(QObject *parent)
: QObject(parent)
+ , _editMode(false)
, _missionItems(NULL)
+ , _canEdit(true)
, _activeVehicle(NULL)
+ , _liveHomePositionAvailable(false)
+ , _autoSync(false)
+ , _firstMissionItemSync(false)
+ , _missionItemsRequested(false)
+ , _queuedSend(false)
{
+
+}
+
+MissionController::~MissionController()
+{
+}
+
+void MissionController::start(bool editMode)
+{
+ _editMode = editMode;
+
MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance();
-
+
connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged);
-
+
Vehicle* activeVehicle = multiVehicleMgr->activeVehicle();
if (activeVehicle) {
_activeVehicleChanged(activeVehicle);
} else {
+ _missionItemsRequested = true;
_newMissionItemsAvailable();
}
}
-MissionController::~MissionController()
-{
-}
-
void MissionController::_newMissionItemsAvailable(void)
{
+ if (_editMode) {
+ if (_firstMissionItemSync) {
+ // This is the first time the vehicle is seeing items. We have to be careful of transitioning from offline
+ // to online.
+
+ _firstMissionItemSync = false;
+ if (_missionItems && _missionItems->count() > 1) {
+ QGCMessageBox::StandardButton button = QGCMessageBox::warning("Mission Editing",
+ "The vehicle has sent a new set of Mission Items. "
+ "Do you want to discard your current set of unsaved items and use the ones from the vehicle instead?",
+ QGCMessageBox::Yes | QGCMessageBox::No,
+ QGCMessageBox::No);
+ if (button == QGCMessageBox::No) {
+ return;
+ }
+ }
+ } else if (!_missionItemsRequested) {
+ // We didn't specifically ask for new mission items. Disregard the new set since it is
+ // the most likely the set we just sent to the vehicle.
+ return;
+ }
+ }
+
+ _missionItemsRequested = false;
+
if (_missionItems) {
+ _deinitAllMissionItems();
_missionItems->deleteLater();
}
-
+
MissionManager* missionManager = NULL;
- Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
- if (activeVehicle) {
- missionManager = activeVehicle->missionManager();
+ if (_activeVehicle) {
+ missionManager = _activeVehicle->missionManager();
}
if (!missionManager || missionManager->inProgress()) {
+ _canEdit = true;
_missionItems = new QmlObjectListModel(this);
} else {
+ _canEdit = missionManager->canEdit();
_missionItems = missionManager->copyMissionItems();
}
_initAllMissionItems();
}
-void MissionController::_recalcWaypointLines(void)
+void MissionController::getMissionItems(void)
{
- int firstIndex = _homePositionValid ? 0 : 1;
+ Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
- _waypointLines.clear();
+ if (activeVehicle) {
+ _missionItemsRequested = true;
+ MissionManager* missionManager = activeVehicle->missionManager();
+ connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable);
+ activeVehicle->missionManager()->requestMissionItems();
+ }
+}
+
+void MissionController::sendMissionItems(void)
+{
+ Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
- if (firstIndex < _missionItems->count()) {
- bool firstCoordinateItem = true;
- MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
+ if (activeVehicle) {
+ activeVehicle->missionManager()->writeMissionItems(*_missionItems);
+ _missionItems->setDirty(false);
+ }
+}
- for (int i=firstIndex; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+int MissionController::addMissionItem(QGeoCoordinate coordinate)
+{
+ if (!_canEdit) {
+ qWarning() << "addMissionItem called with _canEdit == false";
+ }
- if (item->specifiesCoordinate()) {
- if (firstCoordinateItem) {
- if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF && _homePositionValid) {
- // The first coordinate we hit is a takeoff command so link back to home position if we have one
- _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
- } else {
- // First coordiante is not a takeoff command, it does not link backwards to anything
+ // Coordinate will come through without altitude
+ coordinate.setAltitude(MissionItem::defaultAltitude);
+
+ MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT);
+ _initMissionItem(newItem);
+ if (_missionItems->count() == 1) {
+ newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+ }
+ _missionItems->append(newItem);
+
+ _recalcAll();
+
+ return _missionItems->count() - 1;
+}
+
+void MissionController::removeMissionItem(int index)
+{
+ if (!_canEdit) {
+ qWarning() << "addMissionItem called with _canEdit == false";
+ return;
+ }
+
+ MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index));
+
+ _deinitMissionItem(item);
+
+ _recalcAll();
+
+ // Set the new current item
+
+ if (index >= _missionItems->count()) {
+ index--;
+ }
+ for (int i=0; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+ item->setIsCurrentItem(i == index);
+ }
+}
+
+void MissionController::loadMissionFromFile(void)
+{
+ QString errorString;
+ QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load");
+
+ if (filename.isEmpty()) {
+ return;
+ }
+
+ if (_missionItems) {
+ _deinitAllMissionItems();
+ _missionItems->deleteLater();
+ }
+ _missionItems = new QmlObjectListModel(this);
+
+ _canEdit = true;
+
+ // FIXME: This needs to handle APM files which have WP 0 in them
+
+ QFile file(filename);
+
+ if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+ errorString = file.errorString();
+ } else {
+ QTextStream in(&file);
+
+ const QStringList& version = in.readLine().split(" ");
+
+ if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) {
+ errorString = "The mission file is not compatible with the current version of QGroundControl.";
+ } else {
+ while (!in.atEnd()) {
+ MissionItem* item = new MissionItem();
+
+ if (item->load(in)) {
+ _missionItems->append(item);
+
+ if (!item->canEdit()) {
+ _canEdit = false;
}
- firstCoordinateItem = false;
} else {
- // Subsequent coordinate items link to last coordinate item
- _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
+ errorString = "The mission file is corrupted.";
+ break;
}
- lastCoordinateItem = item;
}
}
+
}
-
- emit waypointLinesChanged();
+
+ if (!errorString.isEmpty()) {
+ _missionItems->clear();
+ }
+
+ _initAllMissionItems();
}
-// This will update the child item hierarchy
-void MissionController::_recalcChildItems(void)
+void MissionController::saveMissionToFile(void)
{
- int firstIndex = _homePositionValid ? 0 : 1;
+ QString errorString;
+ QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to");
+
+ if (filename.isEmpty()) {
+ return;
+ }
- if (_missionItems->count() > firstIndex) {
- MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
+ QFile file(filename);
- currentParentItem->childItems()->clear();
+ if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+ errorString = file.errorString();
+ } else {
+ QTextStream out(&file);
- for (int i=firstIndex+1; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+ out << "QGC WPL 120\r\n"; // Version string
- // Set up non-coordinate item child hierarchy
- if (item->specifiesCoordinate()) {
- item->childItems()->clear();
- currentParentItem = item;
- } else {
- currentParentItem->childItems()->append(item);
+ for (int i=1; i<_missionItems->count(); i++) {
+ qobject_cast<MissionItem*>(_missionItems->get(i))->save(out);
+ }
+ }
+
+ _missionItems->setDirty(false);
+}
+
+void MissionController::_recalcWaypointLines(void)
+{
+ MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+ bool firstCoordinateItem = true;
+
+ _waypointLines.clear();
+
+ for (int i=1; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+
+ if (item->specifiesCoordinate()) {
+ if (firstCoordinateItem) {
+ if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
+ MissionItem* homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+
+ // The first coordinate we hit is a takeoff command so link back to home position if valid
+ if (homeItem->homePositionValid()) {
+ _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
+ }
+ } else {
+ // First coordiante is not a takeoff command, it does not link backwards to anything
+ }
+ firstCoordinateItem = false;
+ } else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) {
+ // Subsequent coordinate items link to last coordinate item. If the last coordinate item
+ // is an invalid home position we skip the line
+ _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
}
+ lastCoordinateItem = item;
}
}
+
+ emit waypointLinesChanged();
}
// This will update the sequence numbers to be sequential starting from 0
@@ -138,6 +310,26 @@ void MissionController::_recalcSequence(void)
}
}
+// This will update the child item hierarchy
+void MissionController::_recalcChildItems(void)
+{
+ MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+
+ currentParentItem->childItems()->clear();
+
+ for (int i=1; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+
+ // Set up non-coordinate item child hierarchy
+ if (item->specifiesCoordinate()) {
+ item->childItems()->clear();
+ currentParentItem = item;
+ } else {
+ currentParentItem->childItems()->append(item);
+ }
+ }
+}
+
void MissionController::_recalcAll(void)
{
_recalcSequence();
@@ -148,41 +340,181 @@ void MissionController::_recalcAll(void)
/// Initializes a new set of mission items which may have come from the vehicle or have been loaded from a file
void MissionController::_initAllMissionItems(void)
{
- // Add the home position item to the front
- MissionItem* homeItem = new MissionItem(this);
- homeItem->setHomePositionSpecialCase(true);
+ MissionItem* homeItem = NULL;
+
+ if (_activeVehicle && _activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && _missionItems->count() != 0) {
+ homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+ homeItem->setHomePositionSpecialCase(true);
+ } else {
+ // Add the home position item to the front
+ homeItem = new MissionItem(this);
+ homeItem->setHomePositionSpecialCase(true);
+ homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+ _missionItems->insert(0, homeItem);
+ }
homeItem->setHomePositionValid(false);
- homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
- homeItem->setLatitude(47.3769);
- homeItem->setLongitude(8.549444);
- _missionItems->insert(0, homeItem);
-
+
+ for (int i=0; i<_missionItems->count(); i++) {
+ _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
+ }
+
_recalcAll();
-
+
emit missionItemsChanged();
+ emit canEditChanged(_canEdit);
+
+ _missionItems->setDirty(false);
+
+ connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
+}
+
+void MissionController::_deinitAllMissionItems(void)
+{
+ for (int i=0; i<_missionItems->count(); i++) {
+ _deinitMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
+ }
+
+ connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
+}
+
+void MissionController::_initMissionItem(MissionItem* item)
+{
+ _missionItems->setDirty(false);
+
+ connect(item, &MissionItem::commandChanged, this, &MissionController::_itemCommandChanged);
+ connect(item, &MissionItem::coordinateChanged, this, &MissionController::_itemCoordinateChanged);
+}
+
+void MissionController::_deinitMissionItem(MissionItem* item)
+{
+ disconnect(item, &MissionItem::commandChanged, this, &MissionController::_itemCommandChanged);
+ disconnect(item, &MissionItem::coordinateChanged, this, &MissionController::_itemCoordinateChanged);
+}
+
+void MissionController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
+{
+ Q_UNUSED(coordinate);
+ _recalcWaypointLines();
+}
+
+void MissionController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command)
+{
+ Q_UNUSED(command);;
+ _recalcChildItems();
+ _recalcWaypointLines();
}
void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
MissionManager* missionManager = _activeVehicle->missionManager();
+
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable);
+ disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
+ disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
+ disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
_activeVehicle = NULL;
+ _newMissionItemsAvailable();
+ _activeVehicleHomePositionAvailableChanged(false);
}
-
+
_activeVehicle = activeVehicle;
-
+
if (_activeVehicle) {
MissionManager* missionManager = activeVehicle->missionManager();
+
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailable);
+ connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
+ connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
+ connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
+
+ if (missionManager->inProgress()) {
+ // Vehicle is still in process of requesting mission items
+ _firstMissionItemSync = true;
+ } else {
+ // Vehicle already has mission items
+ _firstMissionItemSync = false;
+ }
+
+ _missionItemsRequested = true;
_newMissionItemsAvailable();
+
+ _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
+ _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
+ }
+}
+
+void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
+{
+ _liveHomePositionAvailable = homePositionAvailable;
+ emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
+}
+
+void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
+{
+ _liveHomePosition = homePosition;
+ emit liveHomePositionChanged(_liveHomePosition);
+}
+
+void MissionController::deleteCurrentMissionItem(void)
+{
+ for (int i=0; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+ if (item->isCurrentItem() && i != 0) {
+ removeMissionItem(i);
+ return;
+ }
+ }
+}
+
+void MissionController::setAutoSync(bool autoSync)
+{
+ // FIXME: AutoSync temporarily turned off
+#if 0
+ _autoSync = autoSync;
+ emit autoSyncChanged(_autoSync);
+
+ if (_autoSync) {
+ _dirtyChanged(true);
+ }
+#else
+ Q_UNUSED(autoSync)
+#endif
+}
+
+void MissionController::_dirtyChanged(bool dirty)
+{
+ if (dirty && _autoSync) {
+ Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+
+ if (activeVehicle && !activeVehicle->armed()) {
+ if (_activeVehicle->missionManager()->inProgress()) {
+ _queuedSend = true;
+ } else {
+ _autoSyncSend();
+ }
+ }
+ }
+}
+
+void MissionController::_autoSyncSend(void)
+{
+ qDebug() << "Auto-syncing with vehicle";
+ _queuedSend = false;
+ if (_missionItems) {
+ sendMissionItems();
+ _missionItems->setDirty(false);
}
}
-void MissionController::setHomePositionValid(bool homePositionValid)
+void MissionController::_inProgressChanged(bool inProgress)
{
- _homePositionValid = homePositionValid;
- qobject_cast<MissionItem*>(_missionItems->get(0))->setHomePositionValid(homePositionValid);
+ if (!inProgress && _queuedSend) {
+ _autoSyncSend();
+ }
+}
- emit homePositionValidChanged(_homePositionValid);
+QmlObjectListModel* MissionController::missionItems(void)
+{
+ return _missionItems;
}
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 43a96ae..fba66c9 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -29,37 +29,57 @@ This file is part of the QGROUNDCONTROL project
#include "QmlObjectListModel.h"
#include "Vehicle.h"
-/// MissionController is a read only controller for Mission Items
class MissionController : public QObject
{
Q_OBJECT
-
+
public:
MissionController(QObject* parent = NULL);
~MissionController();
- Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
- Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
+ Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
+ Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
+ Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
+ Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
+ Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
+ Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
+
+ Q_INVOKABLE void start(bool editMode) ;
+ Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
+ Q_INVOKABLE void getMissionItems(void);
+ Q_INVOKABLE void sendMissionItems(void);
+ Q_INVOKABLE void loadMissionFromFile(void);
+ Q_INVOKABLE void saveMissionToFile(void);
+ Q_INVOKABLE void removeMissionItem(int index);
+ Q_INVOKABLE void deleteCurrentMissionItem(void);
- /// true: home position should be shown on map, false: home position not shown on map
- Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
-
// Property accessors
-
- QmlObjectListModel* missionItems(void) { return _missionItems; }
- QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
- bool homePositionValid(void) { return _homePositionValid; }
- void setHomePositionValid(bool homPositionValid);
+ 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 homePositionValidChanged(bool homePositionValid);
-
+ 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);
@@ -67,12 +87,25 @@ private:
void _recalcChildItems(void);
void _recalcAll(void);
void _initAllMissionItems(void);
+ void _deinitAllMissionItems(void);
+ void _initMissionItem(MissionItem* item);
+ void _deinitMissionItem(MissionItem* item);
+ void _autoSyncSend(void);
private:
+ bool _editMode;
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 _homePositionValid;
+ bool _liveHomePositionAvailable;
+ QGeoCoordinate _liveHomePosition;
+ bool _autoSync;
+ bool _firstMissionItemSync;
+ bool _missionItemsRequested;
+ bool _queuedSend;
+
+ static const char* _settingsGroup;
};
#endif
diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc
index 3647744..f17b699 100644
--- a/src/MissionManager/MissionManager.cc
+++ b/src/MissionManager/MissionManager.cc
@@ -26,6 +26,7 @@
#include "MissionManager.h"
#include "Vehicle.h"
+#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
@@ -53,8 +54,10 @@ MissionManager::~MissionManager()
}
-void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, bool skipFirstItem)
+void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
{
+ bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();
+
_retryCount = 0;
_missionItems.clear();
@@ -65,10 +68,12 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, b
MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
- // Editor uses 1-based sequence numbers, adjust them before going out
- item->setSequenceNumber(item->sequenceNumber() - 1);
- if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
- item->setParam1((int)item->param1() - 1);
+ if (skipFirstItem) {
+ // Home is in sequence 1, remainder of items start at sequence 1
+ item->setSequenceNumber(item->sequenceNumber() - 1);
+ if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
+ item->setParam1((int)item->param1() - 1);
+ }
}
}
emit newMissionItemsAvailable();
@@ -200,9 +205,9 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
return success;
}
-void MissionManager::_sendTransactionComplete(void)
+void MissionManager::_readTransactionComplete(void)
{
- qCDebug(MissionManagerLog) << "_sendTransactionComplete read sequence complete";
+ qCDebug(MissionManagerLog) << "_readTransactionComplete read sequence complete";
mavlink_message_t message;
mavlink_mission_ack_t missionAck;
@@ -233,8 +238,7 @@ void MissionManager::_handleMissionCount(const mavlink_message_t& message)
qCDebug(MissionManagerLog) << "_handleMissionCount count:" << _cMissionItems;
if (_cMissionItems == 0) {
- emit newMissionItemsAvailable();
- emit inProgressChanged(false);
+ _readTransactionComplete();
} else {
_requestNextMissionItem(0);
}
@@ -304,7 +308,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
int nextSequenceNumber = missionItem.seq + 1;
if (nextSequenceNumber == _cMissionItems) {
- _sendTransactionComplete();
+ _readTransactionComplete();
} else {
_requestNextMissionItem(nextSequenceNumber);
}
diff --git a/src/MissionManager/MissionManager.h b/src/MissionManager/MissionManager.h
index 964d72a..ab9c83a 100644
--- a/src/MissionManager/MissionManager.h
+++ b/src/MissionManager/MissionManager.h
@@ -63,8 +63,7 @@ public:
/// Writes the specified set of mission items to the vehicle
/// @oaram missionItems Items to send to vehicle
- /// @param skipFirstItem true: Don't send first item
- void writeMissionItems(const QmlObjectListModel& missionItems, bool skipFirstItem);
+ void writeMissionItems(const QmlObjectListModel& missionItems);
/// Returns a copy of the current set of mission items. Caller is responsible for
/// freeing returned object.
@@ -106,7 +105,7 @@ private:
void _startAckTimeout(AckType_t ack);
bool _stopAckTimeout(AckType_t expectedAck);
- void _sendTransactionComplete(void);
+ void _readTransactionComplete(void);
void _handleMissionCount(const mavlink_message_t& message);
void _handleMissionItem(const mavlink_message_t& message);
void _handleMissionRequest(const mavlink_message_t& message);
@@ -137,4 +136,4 @@ private:
QmlObjectListModel _missionItems;
};
-#endif
\ No newline at end of file
+#endif
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 51baaad..3f34623 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -89,7 +89,6 @@
#include "CoordinateVector.h"
#include "MainToolBarController.h"
#include "MissionController.h"
-#include "MissionEditorController.h"
#include "FlightDisplayViewController.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
@@ -355,7 +354,6 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<ScreenToolsController> ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
qmlRegisterType<MainToolBarController> ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
qmlRegisterType<MissionController> ("QGroundControl.Controllers", 1, 0, "MissionController");
- qmlRegisterType<MissionEditorController> ("QGroundControl.Controllers", 1, 0, "MissionEditorController");
qmlRegisterType<FlightDisplayViewController> ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController");
#ifndef __mobile__
diff --git a/src/VehicleSetup/SetupViewTest.cc b/src/VehicleSetup/SetupViewTest.cc
index e430316..3891dc4 100644
--- a/src/VehicleSetup/SetupViewTest.cc
+++ b/src/VehicleSetup/SetupViewTest.cc
@@ -60,7 +60,7 @@ void SetupViewTest::_clickThrough_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
- link->setAutopilotType(MAV_AUTOPILOT_PX4);
+ link->setFirmwareType(MAV_AUTOPILOT_PX4);
LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
diff --git a/src/qgcunittest/MainWindowTest.cc b/src/qgcunittest/MainWindowTest.cc
index 6288292..95d0b0d 100644
--- a/src/qgcunittest/MainWindowTest.cc
+++ b/src/qgcunittest/MainWindowTest.cc
@@ -63,7 +63,7 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
- link->setAutopilotType(autopilot);
+ link->setFirmwareType(autopilot);
LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);