/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "MissionController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
#include "SurveyMissionItem.h"
#include "FixedWingLandingComplexItem.h"
#include "JsonHelper.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "MissionSettingsComplexItem.h"
#ifndef __mobile__
#include "MainWindow.h"
#include "QGCFileDialog.h"
#endif
QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
const char* MissionController::_settingsGroup = "MissionController";
const char* MissionController::_jsonFileTypeValue = "Mission";
const char* MissionController::_jsonItemsKey = "items";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
const char* MissionController::_jsonFirmwareTypeKey = "firmwareType";
const char* MissionController::_jsonVehicleTypeKey = "vehicleType";
const char* MissionController::_jsonCruiseSpeedKey = "cruiseSpeed";
const char* MissionController::_jsonHoverSpeedKey = "hoverSpeed";
const char* MissionController::_jsonParamsKey = "params";
// Deprecated V1 format keys
const char* MissionController::_jsonComplexItemsKey = "complexItems";
const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";
const int MissionController::_missionFileVersion = 2;
MissionController::MissionController(QObject *parent)
: PlanElementController(parent)
, _visualItems(NULL)
, _firstItemsFromVehicle(false)
, _missionItemsRequested(false)
, _queuedSend(false)
, _missionDistance(0.0)
, _missionTime(0.0)
, _missionHoverDistance(0.0)
, _missionHoverTime(0.0)
, _missionCruiseDistance(0.0)
, _missionCruiseTime(0.0)
, _missionMaxTelemetry(0.0)
{
_surveyMissionItemName = tr("Survey");
_fwLandingMissionItemName = tr("Fixed Wing Landing");
_complexMissionItemNames << _surveyMissionItemName << _fwLandingMissionItemName;
}
MissionController::~MissionController()
{
}
void MissionController::start(bool editMode)
{
qCDebug(MissionControllerLog) << "start editMode" << editMode;
PlanElementController::start(editMode);
_init();
}
void MissionController::startStaticActiveVehicle(Vehicle *vehicle)
{
qCDebug(MissionControllerLog) << "startStaticActiveVehicle";
PlanElementController::startStaticActiveVehicle(vehicle);
_init();
}
void MissionController::_init(void)
{
// We start with an empty mission
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems();
}
// Called when new mission items have completed downloading from Vehicle
void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllRequested)
{
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle";
if (!_editMode || removeAllRequested || _missionItemsRequested || _visualItems->count() == 1) {
// Fly Mode (accept if):
// - Always accepts new items from the vehicle so Fly view is kept up to date
// Edit Mode (accept if):
// - Either a load from vehicle was manually requested or
// - The initial automatic load from a vehicle completed and the current editor is empty
// - Remove all way requested from Fly view (clear mission on flight end)
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _activeVehicle->missionManager()->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
int i = 0;
if (_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position
_addMissionSettings(_activeVehicle, newControllerMissionItems, false /* addToCenter */);
MissionSettingsComplexItem* settingsItem = newControllerMissionItems->value<MissionSettingsComplexItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not settings item";
return;
}
settingsItem->setCoordinate(newMissionItems[0]->coordinate());
i = 1;
}
for (; i<newMissionItems.count(); i++) {
const MissionItem* missionItem = newMissionItems[i];
newControllerMissionItems->append(new SimpleMissionItem(_activeVehicle, *missionItem, this));
}
_deinitAllVisualItems();
_visualItems->deleteLater();
_visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */);
}
_missionItemsRequested = false;
if (_editMode) {
MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle);
}
_initAllVisualItems();
emit newItemsFromVehicle();
}
}
void MissionController::loadFromVehicle(void)
{
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (activeVehicle) {
_missionItemsRequested = true;
activeVehicle->missionManager()->requestMissionItems();
}
}
void MissionController::sendToVehicle(void)
{
sendItemsToVehicle(_activeVehicle, _visualItems);
_visualItems->setDirty(false);
}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
// Convert to MissionItems so we can send to vehicle
QList<MissionItem*> missionItems;
for (int i=0; i<visualMissionItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(visualMissionItems->get(i));
visualItem->appendMissionItems(missionItems, NULL);
}
vehicle->missionManager()->writeMissionItems(missionItems);
for (int i=0; i<missionItems.count(); i++) {
missionItems[i]->deleteLater();
}
}
}
int MissionController::_nextSequenceNumber(void)
{
if (_visualItems->count() == 0) {
qWarning() << "Internal error: Empty visual item list";
return 0;
} else {
VisualMissionItem* lastItem = _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1);
return lastItem->lastSequenceNumber() + 1;
}
}
int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
if (_visualItems->count() == 1) {
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
}
newItem->setDefaultsForCommand();
if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
double prevAltitude;
MAV_FRAME prevFrame;
if (_findPreviousAltitude(i, &prevAltitude, &prevFrame)) {
newItem->missionItem().setFrame(prevFrame);
newItem->missionItem().setParam7(prevAltitude);
}
}
_visualItems->insert(i, newItem);
_recalcAll();
return newItem->sequenceNumber();
}
int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i)
{
ComplexMissionItem* newItem;
int sequenceNumber = _nextSequenceNumber();
if (itemName == _surveyMissionItemName) {
newItem = new SurveyMissionItem(_activeVehicle, _visualItems);
newItem->setCoordinate(mapCenterCoordinate);
} else if (itemName == _fwLandingMissionItemName) {
newItem = new FixedWingLandingComplexItem(_activeVehicle, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber;
}
newItem->setSequenceNumber(sequenceNumber);
_initVisualItem(newItem);
_visualItems->insert(i, newItem);
_recalcAll();
return newItem->sequenceNumber();
}
void MissionController::removeMissionItem(int index)
{
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
_deinitVisualItem(item);
item->deleteLater();
_recalcAll();
_visualItems->setDirty(true);
}
void MissionController::removeAll(void)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems();
_visualItems->setDirty(true);
}
}
bool MissionController::_loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString)
{
QJsonParseError jsonParseError;
QJsonDocument jsonDoc(QJsonDocument::fromJson(bytes, &jsonParseError));
if (jsonParseError.error != QJsonParseError::NoError) {
errorString = jsonParseError.errorString();
return false;
}
QJsonObject json = jsonDoc.object();
// V1 file format has no file type key and version key is string. Convert to new format.
if (!json.contains(JsonHelper::jsonFileTypeKey)) {
json[JsonHelper::jsonFileTypeKey] = _jsonFileTypeValue;
}
int fileVersion;
if (!JsonHelper::validateQGCJsonFile(json,
_jsonFileTypeValue, // expected file type
1, // minimum supported version
2, // maximum supported version
fileVersion,
errorString)) {
return false;
}
if (fileVersion == 1) {
return _loadJsonMissionFileV1(vehicle, json, visualItems, errorString);
} else {
return _loadJsonMissionFileV2(vehicle, json, visualItems, errorString);
}
}
bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Object, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonMavAutopilotKey, QJsonValue::Double, true },
{ _jsonComplexItemsKey, QJsonValue::Array, true },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
// Read complex items
QList<SurveyMissionItem*> surveyItems;
QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
for (int i=0; i<complexArray.count(); i++) {
const QJsonValue& itemValue = complexArray[i];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
SurveyMissionItem* item = new SurveyMissionItem(vehicle, visualItems);
const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
surveyItems.append(item);
} else {
return false;
}
}
// Read simple items, interspersing complex items into the full list
int nextSimpleItemIndex= 0;
int nextComplexItemIndex= 0;
int nextSequenceNumber = 1; // Start with 1 since home is in 0
QJsonArray itemArray(json[_jsonItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << surveyItems.count();
do {
qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
// If there is a complex item that should be next in sequence add it in
if (nextComplexItemIndex < surveyItems.count()) {
SurveyMissionItem* complexItem = surveyItems[nextComplexItemIndex];
if (complexItem->sequenceNumber() == nextSequenceNumber) {
qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
visualItems->append(complexItem);
nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
nextComplexItemIndex++;
continue;
}
}
// Add the next available simple item
if (nextSimpleItemIndex < itemArray.count()) {
const QJsonValue& itemValue = itemArray[nextSimpleItemIndex++];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
const QJsonObject itemObject = itemValue.toObject();
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
nextSequenceNumber = item->lastSequenceNumber() + 1;
visualItems->append(item);
} else {
return false;
}
}
} while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
settingsItem->setCoordinate(item->coordinate());
visualItems->insert(0, settingsItem);
item->deleteLater();
} else {
return false;
}
} else {
_addMissionSettings(vehicle, visualItems, true /* addToCenter */);
}
return true;
}
bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFirmwareTypeKey, QJsonValue::Double, true },
{ _jsonVehicleTypeKey, QJsonValue::Double, false },
{ _jsonCruiseSpeedKey, QJsonValue::Double, false },
{ _jsonHoverSpeedKey, QJsonValue::Double, false },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
// Mission Settings
QGeoCoordinate homeCoordinate;
SettingsManager* settingsManager = qgcApp()->toolbox()->settingsManager();
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
if (json.contains(_jsonVehicleTypeKey) && vehicle->isOfflineEditingVehicle()) {
settingsManager->appSettings()->offlineEditingVehicleType()->setRawValue(json[_jsonVehicleTypeKey].toDouble());
}
if (json.contains(_jsonCruiseSpeedKey)) {
settingsManager->appSettings()->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
}
if (json.contains(_jsonHoverSpeedKey)) {
settingsManager->appSettings()->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
settingsItem->setCoordinate(homeCoordinate);
visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
// Read mission items
int nextSequenceNumber = 1; // Start with 1 since home is in 0
const QJsonArray rgMissionItems(json[_jsonItemsKey].toArray());
for (int i=0; i<rgMissionItems.count(); i++) {
// Convert to QJsonObject
const QJsonValue& itemValue = rgMissionItems[i];
if (!itemValue.isObject()) {
errorString = tr("Mission item %1 is not an object").arg(i);
return false;
}
const QJsonObject itemObject = itemValue.toObject();
// Load item based on type
QList<JsonHelper::KeyValidateInfo> itemKeyInfoList = {
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, itemKeyInfoList, errorString)) {
return false;
}
QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
qCDebug(MissionControllerLog) << "Loading MISSION_ITEM: nextSequenceNumber" << nextSequenceNumber;
SimpleMissionItem* simpleItem = new SimpleMissionItem(vehicle, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
visualItems->append(simpleItem);
} else {
return false;
}
} else if (itemType == VisualMissionItem::jsonTypeComplexItemValue) {
QList<JsonHelper::KeyValidateInfo> complexItemKeyInfoList = {
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, complexItemKeyInfoList, errorString)) {
return false;
}
QString complexItemType = itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (complexItemType == SurveyMissionItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyMissionItem* surveyItem = new SurveyMissionItem(vehicle, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = surveyItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Survey load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(surveyItem);
} else if (complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Fixed Wing Landing Pattern: nextSequenceNumber" << nextSequenceNumber;
FixedWingLandingComplexItem* landingItem = new FixedWingLandingComplexItem(vehicle, visualItems);
if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(landingItem);
} else if (complexItemType == MissionSettingsComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = settingsItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Mission Settings load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(settingsItem);
} else {
errorString = tr("Unsupported complex item type: %1").arg(complexItemType);
}
} else {
errorString = tr("Unknown item type: %1").arg(itemType);
return false;
}
}
// Fix up the DO_JUMP commands jump sequence number by finding the item with the matching doJumpId
for (int i=0; i<visualItems->count(); i++) {
if (visualItems->value<VisualMissionItem*>(i)->isSimpleItem()) {
SimpleMissionItem* doJumpItem = visualItems->value<SimpleMissionItem*>(i);
if ((MAV_CMD)doJumpItem->command() == MAV_CMD_DO_JUMP) {
bool found = false;
int findDoJumpId = doJumpItem->missionItem().param1();
for (int j=0; j<visualItems->count(); j++) {
if (visualItems->value<VisualMissionItem*>(j)->isSimpleItem()) {
SimpleMissionItem* targetItem = visualItems->value<SimpleMissionItem*>(j);
if (targetItem->missionItem().doJumpId() == findDoJumpId) {
doJumpItem->missionItem().setParam1(targetItem->sequenceNumber());
found = true;
break;
}
}
}
if (!found) {
errorString = tr("Could not find doJumpId: %1").arg(findDoJumpId);
return false;
}
}
}
}
return true;
}
bool MissionController::_loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{
bool addPlannedHomePosition = false;
QString firstLine = stream.readLine();
const QStringList& version = firstLine.split(" ");
bool versionOk = false;
if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") {
if (version[2] == "110") {
// ArduPilot file, planned home position is already in position 0
versionOk = true;
} else if (version[2] == "120") {
// Old QGC file, no planned home position
versionOk = true;
addPlannedHomePosition = true;
}
}
if (versionOk) {
while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(stream)) {
visualItems->append(item);
} else {
errorString = QStringLiteral("The mission file is corrupted.");
return false;
}
}
} else {
errorString = QStringLiteral("The mission file is not compatible with this version of QGroundControl.");
return false;
}
if (addPlannedHomePosition || visualItems->count() == 0) {
_addMissionSettings(vehicle, visualItems, true /* addToCenter */);
// Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
for (int i=1; i<visualItems->count(); i++) {
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
if (item && item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->missionItem().setParam1((int)item->missionItem().param1() + 1);
}
}
}
return true;
}
void MissionController::loadFromFile(const QString& filename)
{
QmlObjectListModel* newVisualItems = NULL;
if (!loadItemsFromFile(_activeVehicle, filename, &newVisualItems)) {
return;
}
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
}
_visualItems = newVisualItems;
if (_visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */);
}
MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle);
_initAllVisualItems();
}
bool MissionController::loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems)
{
*visualItems = NULL;
QString errorString;
if (filename.isEmpty()) {
return false;
}
*visualItems = new QmlObjectListModel();
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString() + QStringLiteral(" ") + filename;
} else {
QByteArray bytes = file.readAll();
QTextStream stream(&bytes);
QString firstLine = stream.readLine();
if (firstLine.contains(QRegExp("QGC.*WPL"))) {
stream.seek(0);
_loadTextMissionFile(vehicle, stream, *visualItems, errorString);
} else {
_loadJsonMissionFile(vehicle, bytes, *visualItems, errorString);
}
}
if (!errorString.isEmpty()) {
(*visualItems)->deleteLater();
qgcApp()->showMessage(errorString);
return false;
}
return true;
}
void MissionController::loadFromFilePicker(void)
{
#ifndef __mobile__
QString filename = QGCFileDialog::getOpenFileName(MainWindow::instance(), "Select Mission File to load", QString(), "Mission file (*.mission);;All Files (*.*)");
if (filename.isEmpty()) {
return;
}
loadFromFile(filename);
#endif
}
void MissionController::saveToFile(const QString& filename)
{
qDebug() << filename;
if (filename.isEmpty()) {
return;
}
QString missionFilename = filename;
if (!QFileInfo(filename).fileName().contains(".")) {
missionFilename += QString(".%1").arg(QGCApplication::missionFileExtension);
}
QFile file(missionFilename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qgcApp()->showMessage(file.errorString());
} else {
QJsonObject missionFileObject; // top level json object
missionFileObject[JsonHelper::jsonVersionKey] = _missionFileVersion;
missionFileObject[JsonHelper::jsonGroundStationKey] = JsonHelper::jsonGroundStationValue;
// Mission settings
MissionSettingsComplexItem* settingsItem = _visualItems->value<MissionSettingsComplexItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
return;
}
QJsonValue coordinateValue;
JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue);
missionFileObject[_jsonPlannedHomePositionKey] = coordinateValue;
missionFileObject[_jsonFirmwareTypeKey] = _activeVehicle->firmwareType();
missionFileObject[_jsonVehicleTypeKey] = _activeVehicle->vehicleType();
missionFileObject[_jsonCruiseSpeedKey] = _activeVehicle->cruiseSpeed();
missionFileObject[_jsonHoverSpeedKey] = _activeVehicle->hoverSpeed();
// Save the visual items
QJsonArray rgMissionItems;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
visualItem->save(rgMissionItems);
}
missionFileObject[_jsonItemsKey] = rgMissionItems;
QJsonDocument saveDoc(missionFileObject);
file.write(saveDoc.toJson());
}
_visualItems->setDirty(false);
}
void MissionController::saveToFilePicker(void)
{
#ifndef __mobile__
QString filename = QGCFileDialog::getSaveFileName(MainWindow::instance(), "Select file to save mission to", QString(), "Mission file (*.mission);;All Files (*.*)");
if (filename.isEmpty()) {
return;
}
saveToFile(filename);
#endif
}
void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->exitCoordinate();
bool distanceOk = false;
// Convert to fixed altitudes
qCDebug(MissionControllerLog) << homeAlt
<< currentItem->coordinateHasRelativeAltitude() << currentItem->coordinate().altitude()
<< prevItem->exitCoordinateHasRelativeAltitude() << prevItem->exitCoordinate().altitude();
distanceOk = true;
if (currentItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude());
}
if (prevItem->exitCoordinateHasRelativeAltitude()) {
prevCoord.setAltitude(homeAlt + prevCoord.altitude());
}
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
if (distanceOk) {
*altDifference = currentCoord.altitude() - prevCoord.altitude();
*distance = prevCoord.distanceTo(currentCoord);
*azimuth = prevCoord.azimuthTo(currentCoord);
} else {
*altDifference = 0.0;
*azimuth = 0.0;
*distance = 0.0;
}
}
double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate homeCoord = homeItem->exitCoordinate();
bool distanceOk = false;
distanceOk = true;
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
}
void MissionController::_recalcWaypointLines(void)
{
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
}
bool showHomePosition = false; // FIXME: settingsItem->showHomePosition();
qCDebug(MissionControllerLog) << "_recalcWaypointLines";
CoordVectHashTable old_table = _linesTable;
_linesTable.clear();
_waypointLines.clear();
bool linkBackToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// If we still haven't found the first coordinate item and we hit a takeoff command, link back to home
if (firstCoordinateItem &&
item->isSimpleItem() &&
(qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF)) {
linkBackToHome = true;
}
if (item->specifiesCoordinate()) {
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
VisualItemPair pair(lastCoordinateItem, item);
if (lastCoordinateItem != settingsItem || (showHomePosition && linkBackToHome)) {
if (old_table.contains(pair)) {
// Do nothing, this segment already exists and is wired up
_linesTable[pair] = old_table.take(pair);
} else {
// Create a new segment and wire update notifiers
auto linevect = new CoordinateVector(lastCoordinateItem->isSimpleItem() ? lastCoordinateItem->coordinate() : lastCoordinateItem->exitCoordinate(), item->coordinate(), this);
auto originNotifier = lastCoordinateItem->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged,
endNotifier = &VisualMissionItem::coordinateChanged;
// Use signals/slots to update the coordinate endpoints
connect(lastCoordinateItem, originNotifier, linevect, &CoordinateVector::setCoordinate1);
connect(item, endNotifier, linevect, &CoordinateVector::setCoordinate2);
// FIXME: We should ideally have signals for 2D position change, alt change, and 3D position change
// Not optimal, but still pretty fast, do a full update of range/bearing/altitudes
connect(item, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcAltitudeRangeBearing);
_linesTable[pair] = linevect;
}
}
lastCoordinateItem = item;
}
}
}
{
// Create a temporary QObjectList and replace the model data
QObjectList objs;
objs.reserve(_linesTable.count());
foreach(CoordinateVector *vect, _linesTable.values()) {
objs.append(vect);
}
// We don't delete here because many links may still be valid
_waypointLines.swapObjectList(objs);
}
// Anything left in the old table is an obsolete line object that can go
qDeleteAll(old_table);
_recalcAltitudeRangeBearing();
emit waypointLinesChanged();
}
void MissionController::_recalcAltitudeRangeBearing()
{
if (!_visualItems->count()) {
return;
}
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
}
bool showHomePosition = settingsItem->showHomePosition();
qCDebug(MissionControllerLog) << "_recalcAltitudeRangeBearing";
// If home position is valid we can calculate distances between all waypoints.
// If home position is not valid we can only calculate distances between waypoints which are
// both relative altitude.
// No values for first item
lastCoordinateItem->setAltDifference(0.0);
lastCoordinateItem->setAzimuth(0.0);
lastCoordinateItem->setDistance(0.0);
double minAltSeen = 0.0;
double maxAltSeen = 0.0;
const double homePositionAltitude = settingsItem->coordinate().altitude();
minAltSeen = maxAltSeen = settingsItem->coordinate().altitude();
double missionDistance = 0.0;
double missionMaxTelemetry = 0.0;
double missionTime = 0.0;
double vtolHoverTime = 0.0;
double vtolCruiseTime = 0.0;
double vtolHoverDistance = 0.0;
double vtolCruiseDistance = 0.0;
double currentCruiseSpeed = _activeVehicle->cruiseSpeed();
double currentHoverSpeed = _activeVehicle->hoverSpeed();
bool vtolVehicle = _activeVehicle->vtol();
bool vtolInHover = true;
bool linkBackToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(0.0);
if (simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_DO_CHANGE_SPEED) {
// Adjust cruise speed for time calculations
double newSpeed = simpleItem->missionItem().param2();
if (newSpeed > 0) {
if (_activeVehicle->multiRotor()) {
currentHoverSpeed = newSpeed;
} else {
currentCruiseSpeed = newSpeed;
}
}
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
if (showHomePosition) {
linkBackToHome = true;
}
}
// Update VTOL state
if (simpleItem && vtolVehicle) {
switch (simpleItem->command()) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
vtolInHover = false;
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LAND:
vtolInHover = false;
break;
case MavlinkQmlSingleton::MAV_CMD_DO_VTOL_TRANSITION:
{
int transitionState = simpleItem->missionItem().param1();
if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
vtolInHover = true;
} else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
vtolInHover = false;
}
}
break;
default:
break;
}
}
if (item->specifiesCoordinate()) {
// Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
if (!item->exitCoordinateSameAsEntry()) {
absoluteAltitude = item->exitCoordinate().altitude();
if (item->exitCoordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
}
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (lastCoordinateItem != settingsItem || linkBackToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
missionDistance += distance;
missionMaxTelemetry = qMax(missionMaxTelemetry, _calcDistanceToHome(item, settingsItem));
// Calculate mission time
if (vtolVehicle) {
if (vtolInHover) {
double hoverTime = distance / _activeVehicle->hoverSpeed();
missionTime += hoverTime;
vtolHoverTime += hoverTime;
vtolHoverDistance += distance;
} else {
double cruiseTime = distance / currentCruiseSpeed;
missionTime += cruiseTime;
vtolCruiseTime += cruiseTime;
vtolCruiseDistance += distance;
}
} else {
missionTime += distance / (_activeVehicle->multiRotor() ? currentHoverSpeed : currentCruiseSpeed);
}
}
if (complexItem) {
// Add in distance/time inside survey as well
// This code assumes all surveys are done cruise not hover
double complexDistance = complexItem->complexDistance();
double cruiseSpeed = _activeVehicle->multiRotor() ? currentHoverSpeed : currentCruiseSpeed;
missionDistance += complexDistance;
missionTime += complexDistance / cruiseSpeed;
missionMaxTelemetry = qMax(missionMaxTelemetry, complexItem->greatestDistanceTo(settingsItem->exitCoordinate()));
// Let the complex item know the current cruise speed
complexItem->setCruiseSpeed(cruiseSpeed);
}
}
lastCoordinateItem = item;
}
}
_setMissionMaxTelemetry(missionMaxTelemetry);
_setMissionDistance(missionDistance);
_setMissionTime(missionTime);
_setMissionHoverDistance(vtolHoverDistance);
_setMissionHoverTime(vtolHoverTime);
_setMissionCruiseDistance(vtolCruiseDistance);
_setMissionCruiseTime(vtolCruiseTime);
// Walk the list again calculating altitude percentages
double altRange = maxAltSeen - minAltSeen;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate()) {
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
if (altRange == 0.0) {
item->setAltPercent(0.0);
} else {
item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
}
}
}
}
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
// Setup ascending sequence numbers for all visual items
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
}
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
VisualMissionItem* currentParentItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
currentParentItem->childItems()->clear();
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else if (item->isSimpleItem()) {
currentParentItem->childItems()->append(item);
}
}
}
void MissionController::_recalcAll(void)
{
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
}
/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void)
{
MissionSettingsComplexItem* settingsItem = NULL;
// Setup home position at index 0
settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (!settingsItem) {
qWarning() << "First item not MissionSettingsComplexItem";
return;
}
settingsItem->setShowHomePosition(_editMode);
settingsItem->setIsCurrentItem(true);
if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) {
settingsItem->setCoordinate(_activeVehicle->homePosition());
settingsItem->setShowHomePosition(true);
}
emit plannedHomePositionChanged(plannedHomePosition());
connect(settingsItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_homeCoordinateChanged);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
_initVisualItem(item);
}
_recalcAll();
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
emit visualItemsChanged();
_visualItems->setDirty(false);
}
void MissionController::_deinitAllVisualItems(void)
{
for (int i=0; i<_visualItems->count(); i++) {
_deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
}
disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
}
void MissionController::_initVisualItem(VisualMissionItem* visualItem)
{
_visualItems->setDirty(false);
connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::flightSpeedChanged, this, &MissionController::_recalcAltitudeRangeBearing);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
if (visualItem->isSimpleItem()) {
// We need to track commandChanged on simple item since recalc has special handling for takeoff command
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
} else {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
if (complexItem) {
connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcAltitudeRangeBearing);
} else {
qWarning() << "ComplexMissionItem not found";
}
}
}
void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
{
// Disconnect all signals
disconnect(visualItem, 0, 0, 0);
}
void MissionController::_itemCommandChanged(void)
{
_recalcChildItems();
_recalcWaypointLines();
}
void MissionController::_activeVehicleBeingRemoved(void)
{
qCDebug(MissionControllerLog) << "MissionController::_activeVehicleBeingRemoved";
MissionManager* missionManager = _activeVehicle->missionManager();
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
// We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them
removeAll();
}
void MissionController::_activeVehicleSet(void)
{
// We always remove all items on vehicle change. This leaves a user model hole:
// If the user has unsaved changes in the Plan view they will lose them
removeAll();
MissionManager* missionManager = _activeVehicle->missionManager();
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::cruiseSpeedChanged, this, &MissionController::_recalcAltitudeRangeBearing);
connect(_activeVehicle, &Vehicle::hoverSpeedChanged, this, &MissionController::_recalcAltitudeRangeBearing);
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
// We don't request mission items for new vehicles since that will happen autamatically.
loadFromVehicle();
}
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
}
void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{
if (!_editMode && _visualItems) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (settingsItem) {
settingsItem->setShowHomePosition(homePositionAvailable);
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
} else {
qWarning() << "First item is not MissionSettingsComplexItem";
}
}
}
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (!_editMode && _visualItems) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (settingsItem) {
if (settingsItem->coordinate() != homePosition) {
settingsItem->setCoordinate(homePosition);
settingsItem->setShowHomePosition(true);
qCDebug(MissionControllerLog) << "Home position update" << homePosition;
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
}
} else {
qWarning() << "First item is not MissionSettingsComplexItem";
}
}
}
void MissionController::_setMissionMaxTelemetry(double missionMaxTelemetry)
{
if (!qFuzzyCompare(_missionMaxTelemetry, missionMaxTelemetry)) {
_missionMaxTelemetry = missionMaxTelemetry;
emit missionMaxTelemetryChanged(_missionMaxTelemetry);
}
}
void MissionController::_setMissionDistance(double missionDistance)
{
if (!qFuzzyCompare(_missionDistance, missionDistance)) {
_missionDistance = missionDistance;
emit missionDistanceChanged(_missionDistance);
}
}
void MissionController::_setMissionTime(double missionTime)
{
if (!qFuzzyCompare(_missionTime, missionTime)) {
_missionTime = missionTime;
emit missionTimeChanged();
}
}
void MissionController::_setMissionHoverTime(double missionHoverTime)
{
if (!qFuzzyCompare(_missionHoverTime, missionHoverTime)) {
_missionHoverTime = missionHoverTime;
emit missionHoverTimeChanged();
}
}
void MissionController::_setMissionHoverDistance(double missionHoverDistance)
{
if (!qFuzzyCompare(_missionHoverDistance, missionHoverDistance)) {
_missionHoverDistance = missionHoverDistance;
emit missionHoverDistanceChanged(_missionHoverDistance);
}
}
void MissionController::_setMissionCruiseTime(double missionCruiseTime)
{
if (!qFuzzyCompare(_missionCruiseTime, missionCruiseTime)) {
_missionCruiseTime = missionCruiseTime;
emit missionCruiseTimeChanged();
}
}
void MissionController::_setMissionCruiseDistance(double missionCruiseDistance)
{
if (!qFuzzyCompare(_missionCruiseDistance, missionCruiseDistance)) {
_missionCruiseDistance = missionCruiseDistance;
emit missionCruiseDistanceChanged(_missionCruiseDistance);
}
}
void MissionController::_inProgressChanged(bool inProgress)
{
emit syncInProgressChanged(inProgress);
}
bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame)
{
bool found = false;
double foundAltitude;
MAV_FRAME foundFrame;
if (newIndex > _visualItems->count()) {
return false;
}
newIndex--;
for (int i=newIndex; i>0; i--) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
if (visualItem->isSimpleItem()) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_WAYPOINT) {
foundAltitude = simpleItem->exitCoordinate().altitude();
foundFrame = simpleItem->missionItem().frame();
found = true;
break;
}
}
}
}
if (found) {
*prevAltitude = foundAltitude;
*prevFrame = foundFrame;
}
return found;
}
double MissionController::_normalizeLat(double lat)
{
// Normalize latitude to range: 0 to 180, S to N
return lat + 90.0;
}
double MissionController::_normalizeLon(double lon)
{
// Normalize longitude to range: 0 to 360, W to E
return lon + 180.0;
}
/// Add the Mission Settings complex item to the front of the items
void MissionController::_addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter)
{
bool homePositionSet = false;
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
visualItems->insert(0, settingsItem);
if (visualItems->count() > 1 && addToCenter) {
double north = 0.0;
double south = 0.0;
double east = 0.0;
double west = 0.0;
bool firstCoordSet = false;
for (int i=1; i<visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordSet) {
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
} else {
firstCoordSet = true;
north = _normalizeLat(item->coordinate().latitude());
south = north;
east = _normalizeLon(item->coordinate().longitude());
west = east;
}
}
}
if (firstCoordSet) {
homePositionSet = true;
settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
}
}
if (!homePositionSet) {
settingsItem->setCoordinate(qgcApp()->lastKnownHomePosition());
}
}
void MissionController::_currentMissionItemChanged(int sequenceNumber)
{
if (!_editMode) {
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
sequenceNumber++;
}
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
}
}
}
bool MissionController::syncInProgress(void) const
{
return _activeVehicle ? _activeVehicle->missionManager()->inProgress() : false;
}
bool MissionController::dirty(void) const
{
return _visualItems ? _visualItems->dirty() : false;
}
void MissionController::setDirty(bool dirty)
{
if (_visualItems) {
_visualItems->setDirty(dirty);
}
}
QGeoCoordinate MissionController::plannedHomePosition(void)
{
if (_visualItems && _visualItems->count() > 0) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (settingsItem && settingsItem->showHomePosition()) {
return settingsItem->coordinate();
}
}
return QGeoCoordinate();
}
void MissionController::_homeCoordinateChanged(void)
{
emit plannedHomePositionChanged(plannedHomePosition());
_recalcAltitudeRangeBearing();
}
QString MissionController::fileExtension(void) const
{
return QGCApplication::missionFileExtension;
}
double MissionController::cruiseSpeed(void) const
{
if (_activeVehicle) {
return _activeVehicle->cruiseSpeed();
} else {
return 0.0f;
}
}
double MissionController::hoverSpeed(void) const
{
if (_activeVehicle) {
return _activeVehicle->hoverSpeed();
} else {
return 0.0f;
}
}
void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle)
{
int scanIndex = 0;
while (scanIndex < visualItems->count()) {
VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(scanIndex);
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(visualItem);
if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex, vehicle)) {
continue;
}
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem && simpleItem->cameraSection()->available()) {
scanIndex++;
simpleItem->scanForSections(visualItems, scanIndex, vehicle);
continue;
}
scanIndex++;
}
}
void MissionController::_updateContainsItems(void)
{
emit containsItemsChanged(containsItems());
}
bool MissionController::containsItems(void) const
{
return _visualItems ? _visualItems->count() > 1 : false;
}
void MissionController::removeAllFromVehicle(void)
{
_missionItemsRequested = true;
_activeVehicle->missionManager()->removeAll();
}