247 lines
12 KiB
247 lines
12 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#ifndef MissionController_H |
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#define MissionController_H |
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#include "PlanElementController.h" |
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#include "QmlObjectListModel.h" |
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#include "Vehicle.h" |
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#include "QGCLoggingCategory.h" |
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#include "MavlinkQmlSingleton.h" |
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#include <QHash> |
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class CoordinateVector; |
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class VisualMissionItem; |
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class MissionItem; |
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class MissionSettingsItem; |
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class AppSettings; |
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class MissionManager; |
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Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) |
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typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair; |
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typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable; |
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class MissionController : public PlanElementController |
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{ |
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Q_OBJECT |
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public: |
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MissionController(PlanMasterController* masterController, QObject* parent = NULL); |
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~MissionController(); |
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typedef struct { |
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double maxTelemetryDistance; |
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double totalDistance; |
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double totalTime; |
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double hoverDistance; |
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double hoverTime; |
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double cruiseDistance; |
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double cruiseTime; |
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double cruiseSpeed; |
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double hoverSpeed; |
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double vehicleSpeed; ///< Either cruise or hover speed based on vehicle type and vtol state |
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double vehicleYaw; |
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double gimbalYaw; ///< NaN signals yaw was never changed |
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int mAhBattery; ///< 0 for not available |
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double hoverAmps; ///< Amp consumption during hover |
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double cruiseAmps; ///< Amp consumption during cruise |
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double ampMinutesAvailable; ///< Amp minutes available from single battery |
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double hoverAmpsTotal; ///< Total hover amps used |
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double cruiseAmpsTotal; ///< Total cruise amps used |
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int batteryChangePoint; ///< -1 for not supported, 0 for not needed |
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int batteriesRequired; ///< -1 for not supported |
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} MissionFlightStatus_t; |
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Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) |
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Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) |
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Q_PROPERTY(QmlObjectListModel* cameraPoints READ cameraPoints CONSTANT) |
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Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged) |
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Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged) |
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Q_PROPERTY(double progressPct READ progressPct NOTIFY progressPctChanged) |
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Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) |
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Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged) |
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Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged) |
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Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged) |
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Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged) |
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Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged) |
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Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged) |
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Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged) |
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Q_PROPERTY(int batteryChangePoint READ batteryChangePoint NOTIFY batteryChangePointChanged) |
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Q_PROPERTY(int batteriesRequired READ batteriesRequired NOTIFY batteriesRequiredChanged) |
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Q_INVOKABLE void removeMissionItem(int index); |
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/// Add a new simple mission item to the list |
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/// @param i: index to insert at |
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/// @return Sequence number for new item |
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Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i); |
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/// Add a new complex mission item to the list |
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/// @param itemName: Name of complex item to create (from complexMissionItemNames) |
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/// @param mapCenterCoordinate: coordinate for current center of map |
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/// @param i: index to insert at |
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/// @return Sequence number for new item |
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Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i); |
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Q_INVOKABLE void resumeMission(int resumeIndex); |
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/// Updates the altitudes of the items in the current mission to the new default altitude |
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Q_INVOKABLE void applyDefaultMissionAltitude(void); |
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/// Sends the mission items to the specified vehicle |
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static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems); |
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Q_INVOKABLE void clearCameraPoints(void); |
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bool loadJsonFile(QFile& file, QString& errorString); |
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bool loadTextFile(QFile& file, QString& errorString); |
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// Overrides from PlanElementController |
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void start (bool editMode) final; |
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void save (QJsonObject& json) final; |
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bool load (const QJsonObject& json, QString& errorString) final; |
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void loadFromVehicle (void) final; |
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void sendToVehicle (void) final; |
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void removeAll (void) final; |
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void removeAllFromVehicle (void) final; |
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bool syncInProgress (void) const final; |
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bool dirty (void) const final; |
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void setDirty (bool dirty) final; |
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bool containsItems (void) const final; |
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void managerVehicleChanged (Vehicle* managerVehicle) final; |
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// Property accessors |
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QmlObjectListModel* visualItems (void) { return _visualItems; } |
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QmlObjectListModel* waypointLines (void) { return &_waypointLines; } |
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QmlObjectListModel* cameraPoints (void) { return &_cameraPoints; } |
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QStringList complexMissionItemNames (void) const; |
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QGeoCoordinate plannedHomePosition (void) const; |
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double progressPct (void) const { return _progressPct; } |
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/// Returns the item index two which a mission should be resumed. -1 indicates resume mission not available. |
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int resumeMissionIndex(void) const; |
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double missionDistance (void) const { return _missionFlightStatus.totalDistance; } |
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double missionTime (void) const { return _missionFlightStatus.totalTime; } |
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double missionHoverDistance (void) const { return _missionFlightStatus.hoverDistance; } |
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double missionHoverTime (void) const { return _missionFlightStatus.hoverTime; } |
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double missionCruiseDistance (void) const { return _missionFlightStatus.cruiseDistance; } |
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double missionCruiseTime (void) const { return _missionFlightStatus.cruiseTime; } |
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double missionMaxTelemetry (void) const { return _missionFlightStatus.maxTelemetryDistance; } |
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int batteryChangePoint (void) const { return _missionFlightStatus.batteryChangePoint; } ///< -1 for not supported, 0 for not needed |
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int batteriesRequired (void) const { return _missionFlightStatus.batteriesRequired; } ///< -1 for not supported |
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signals: |
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void visualItemsChanged(void); |
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void waypointLinesChanged(void); |
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void newItemsFromVehicle(void); |
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void missionDistanceChanged(double missionDistance); |
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void missionTimeChanged(void); |
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void missionHoverDistanceChanged(double missionHoverDistance); |
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void missionHoverTimeChanged(void); |
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void missionCruiseDistanceChanged(double missionCruiseDistance); |
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void missionCruiseTimeChanged(void); |
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void missionMaxTelemetryChanged(double missionMaxTelemetry); |
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void complexMissionItemNamesChanged(void); |
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void resumeMissionIndexChanged(void); |
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void resumeMissionReady(void); |
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void batteryChangePointChanged(int batteryChangePoint); |
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void batteriesRequiredChanged(int batteriesRequired); |
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void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition); |
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void progressPctChanged(double progressPct); |
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private slots: |
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void _newMissionItemsAvailableFromVehicle(bool removeAllRequested); |
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void _itemCommandChanged(void); |
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void _managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition); |
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void _inProgressChanged(bool inProgress); |
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void _currentMissionIndexChanged(int sequenceNumber); |
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void _recalcWaypointLines(void); |
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void _recalcMissionFlightStatus(void); |
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void _updateContainsItems(void); |
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void _cameraFeedback(QGeoCoordinate imageCoordinate, int index); |
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void _progressPctChanged(double progressPct); |
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void _visualItemsDirtyChanged(bool dirty); |
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private: |
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void _init(void); |
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void _recalcSequence(void); |
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void _recalcChildItems(void); |
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void _recalcAll(void); |
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void _initAllVisualItems(void); |
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void _deinitAllVisualItems(void); |
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void _initVisualItem(VisualMissionItem* item); |
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void _deinitVisualItem(VisualMissionItem* item); |
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void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle); |
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static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference); |
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static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem); |
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bool _findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame); |
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static double _normalizeLat(double lat); |
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static double _normalizeLon(double lon); |
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static void _addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter); |
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bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString); |
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bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString); |
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bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString); |
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bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString); |
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int _nextSequenceNumber(void); |
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static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle); |
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static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent); |
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void _setPlannedHomePositionFromFirstCoordinate(void); |
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void _resetMissionFlightStatus(void); |
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void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex); |
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void _addCruiseTime(double cruiseTime, double cruiseDistance, int wayPointIndex); |
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void _updateBatteryInfo(int waypointIndex); |
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bool _loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString); |
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void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems); |
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private: |
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MissionManager* _missionManager; |
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QmlObjectListModel* _visualItems; |
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MissionSettingsItem* _settingsItem; |
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QmlObjectListModel _waypointLines; |
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QmlObjectListModel _cameraPoints; |
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CoordVectHashTable _linesTable; |
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bool _firstItemsFromVehicle; |
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bool _missionItemsRequested; |
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MissionFlightStatus_t _missionFlightStatus; |
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QString _surveyMissionItemName; |
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QString _fwLandingMissionItemName; |
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AppSettings* _appSettings; |
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double _progressPct; |
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static const char* _settingsGroup; |
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// Json file keys for persistence |
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static const char* _jsonFileTypeValue; |
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static const char* _jsonFirmwareTypeKey; |
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static const char* _jsonVehicleTypeKey; |
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static const char* _jsonCruiseSpeedKey; |
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static const char* _jsonHoverSpeedKey; |
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static const char* _jsonItemsKey; |
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static const char* _jsonPlannedHomePositionKey; |
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static const char* _jsonParamsKey; |
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// Deprecated V1 format keys |
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static const char* _jsonMavAutopilotKey; |
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static const char* _jsonComplexItemsKey; |
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static const int _missionFileVersion; |
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}; |
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#endif
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