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293 lines
20 KiB
293 lines
20 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2020 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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#pragma once |
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#include <QObject> |
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#include <QString> |
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#include <QtQml> |
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#include <QTextStream> |
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#include <QJsonObject> |
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#include <QGeoCoordinate> |
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#include "QGCMAVLink.h" |
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#include "QGC.h" |
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#include "QmlObjectListModel.h" |
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#include "Fact.h" |
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#include "QGCLoggingCategory.h" |
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#include "QmlObjectListModel.h" |
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#include "Vehicle.h" |
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#include "MissionController.h" |
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class MissionItem; |
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class PlanMasterController; |
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class MissionController; |
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class TerrainAtCoordinateQuery; |
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// Abstract base class for all Simple and Complex visual mission objects. |
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class VisualMissionItem : public QObject |
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{ |
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Q_OBJECT |
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public: |
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VisualMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent); |
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VisualMissionItem(const VisualMissionItem& other, bool flyView, QObject* parent); |
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~VisualMissionItem(); |
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const VisualMissionItem& operator=(const VisualMissionItem& other); |
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enum ReadyForSaveState { |
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ReadyForSave, |
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NotReadyForSaveTerrain, |
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NotReadyForSaveData, |
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}; |
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Q_ENUM(ReadyForSaveState) |
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Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator |
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Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) ///< Does not include altitude |
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Q_PROPERTY(double amslEntryAlt READ amslEntryAlt NOTIFY amslEntryAltChanged) |
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Q_PROPERTY(double terrainAltitude READ terrainAltitude NOTIFY terrainAltitudeChanged) ///< The altitude of terrain at the coordinate position, NaN if not known |
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Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged) ///< Does not include altitude |
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Q_PROPERTY(double amslExitAlt READ amslExitAlt NOTIFY amslExitAltChanged) |
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Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntryChanged) ///< true: exitCoordinate and coordinate are the same value |
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Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandDescriptionChanged) |
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Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged) |
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Q_PROPERTY(QString abbreviation READ abbreviation NOTIFY abbreviationChanged) |
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Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< Item is dirty and requires save/send |
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Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged) |
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Q_PROPERTY(bool hasCurrentChildItem READ hasCurrentChildItem WRITE setHasCurrentChildItem NOTIFY hasCurrentChildItemChanged) ///< true: On of this items children is current |
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Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged) |
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Q_PROPERTY(int lastSequenceNumber READ lastSequenceNumber NOTIFY lastSequenceNumberChanged) |
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Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) ///< true: Item is associated with a coordinate position |
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Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged) ///< true: Waypoint line does not go through item |
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Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly NOTIFY specifiesAltitudeOnlyChanged) ///< true: Item has altitude only, no full coordinate |
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Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem |
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Q_PROPERTY(bool isTakeoffItem READ isTakeoffItem NOTIFY isTakeoffItemChanged) ///< true: Takeoff item special case |
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Q_PROPERTY(bool isLandCommand READ isLandCommand NOTIFY isLandCommandChanged) |
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Q_PROPERTY(QString editorQml MEMBER _editorQml CONSTANT) ///< Qml code for editing this item |
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Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT) ///< QMl code for map visuals |
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Q_PROPERTY(double specifiedFlightSpeed READ specifiedFlightSpeed NOTIFY specifiedFlightSpeedChanged) ///< NaN for not specified |
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Q_PROPERTY(double specifiedGimbalYaw READ specifiedGimbalYaw NOTIFY specifiedGimbalYawChanged) ///< NaN for not specified |
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Q_PROPERTY(double specifiedGimbalPitch READ specifiedGimbalPitch NOTIFY specifiedGimbalPitchChanged) ///< NaN for not specified |
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Q_PROPERTY(double specifiedVehicleYaw READ specifiedVehicleYaw NOTIFY specifiedVehicleYawChanged) ///< NaN for not specified |
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Q_PROPERTY(double missionGimbalYaw READ missionGimbalYaw NOTIFY missionGimbalYawChanged) ///< Current gimbal yaw state at this point in mission |
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Q_PROPERTY(double missionVehicleYaw READ missionVehicleYaw NOTIFY missionVehicleYawChanged) ///< Expected vehicle yaw at this point in mission |
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Q_PROPERTY(bool flyView READ flyView CONSTANT) |
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Q_PROPERTY(bool wizardMode READ wizardMode WRITE setWizardMode NOTIFY wizardModeChanged) |
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Q_PROPERTY(PlanMasterController* masterController READ masterController CONSTANT) |
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Q_PROPERTY(ReadyForSaveState readyForSaveState READ readyForSaveState NOTIFY readyForSaveStateChanged) |
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Q_PROPERTY(VisualMissionItem* parentItem READ parentItem WRITE setParentItem NOTIFY parentItemChanged) |
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Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT) |
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Q_PROPERTY(QGCGeoBoundingCube* boundingCube READ boundingCube NOTIFY boundingCubeChanged) |
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// The following properties are calculated/set by the MissionController recalc methods |
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Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint |
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Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude |
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Q_PROPERTY(double terrainPercent READ terrainPercent WRITE setTerrainPercent NOTIFY terrainPercentChanged) ///< Percent of terrain altitude in mission altitude |
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Q_PROPERTY(bool terrainCollision READ terrainCollision WRITE setTerrainCollision NOTIFY terrainCollisionChanged) ///< true: Item collides with terrain |
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Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint |
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Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint |
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Q_PROPERTY(double distanceFromStart READ distanceFromStart WRITE setDistanceFromStart NOTIFY distanceFromStartChanged) ///< Flight path cumalative horizontal distance from home point to this item |
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// Property accesors |
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bool homePosition (void) const { return _homePositionSpecialCase; } |
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double altDifference (void) const { return _altDifference; } |
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double altPercent (void) const { return _altPercent; } |
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double terrainPercent (void) const { return _terrainPercent; } |
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bool terrainCollision (void) const { return _terrainCollision; } |
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double azimuth (void) const { return _azimuth; } |
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double distance (void) const { return _distance; } |
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double distanceFromStart (void) const { return _distanceFromStart; } |
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bool isCurrentItem (void) const { return _isCurrentItem; } |
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bool hasCurrentChildItem (void) const { return _hasCurrentChildItem; } |
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double terrainAltitude (void) const { return _terrainAltitude; } |
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bool flyView (void) const { return _flyView; } |
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bool wizardMode (void) const { return _wizardMode; } |
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VisualMissionItem* parentItem(void) { return _parentItem; } |
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QmlObjectListModel* childItems(void) { return &_childItems; } |
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void setIsCurrentItem (bool isCurrentItem); |
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void setHasCurrentChildItem (bool hasCurrentChildItem); |
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void setAltDifference (double altDifference); |
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void setAltPercent (double altPercent); |
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void setTerrainPercent (double terrainPercent); |
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void setTerrainCollision (bool terrainCollision); |
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void setAzimuth (double azimuth); |
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void setDistance (double distance); |
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void setDistanceFromStart (double distanceFromStart); |
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void setWizardMode (bool wizardMode); |
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void setParentItem (VisualMissionItem* parentItem); |
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void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; } |
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FlightPathSegment* simpleFlightPathSegment(void) { return _simpleFlightPathSegment; } |
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void setSimpleFlighPathSegment (FlightPathSegment* segment) { _simpleFlightPathSegment = segment; } |
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PlanMasterController* masterController(void) { return _masterController; } |
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// Pure virtuals which must be provides by derived classes |
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virtual bool dirty (void) const = 0; |
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virtual bool isSimpleItem (void) const = 0; |
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virtual bool isTakeoffItem (void) const { return false; } |
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virtual bool isLandCommand (void) const { return false; } |
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virtual bool isStandaloneCoordinate (void) const = 0; |
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virtual bool specifiesCoordinate (void) const = 0; |
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virtual bool specifiesAltitudeOnly (void) const = 0; |
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virtual QString commandDescription (void) const = 0; |
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virtual QString commandName (void) const = 0; |
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virtual QString abbreviation (void) const = 0; |
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virtual QGeoCoordinate coordinate (void) const = 0; |
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virtual QGeoCoordinate exitCoordinate (void) const = 0; |
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virtual double amslEntryAlt (void) const = 0; |
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virtual double amslExitAlt (void) const = 0; |
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virtual int sequenceNumber (void) const = 0; |
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virtual double specifiedFlightSpeed (void) = 0; |
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virtual double specifiedGimbalYaw (void) = 0; |
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virtual double specifiedGimbalPitch (void) = 0; |
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virtual double specifiedVehicleYaw (void) { return qQNaN(); } |
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//-- Default implementation returns an invalid bounding cube |
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virtual QGCGeoBoundingCube* boundingCube (void) { return &_boundingCube; } |
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/// Update item to mission flight status at point where this item appears in mission. |
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/// IMPORTANT: Overrides must call base class implementation |
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virtual void setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus); |
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virtual bool exitCoordinateSameAsEntry (void) const = 0; |
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virtual void setDirty (bool dirty) = 0; |
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virtual void setCoordinate (const QGeoCoordinate& coordinate) = 0; |
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virtual void setSequenceNumber (int sequenceNumber) = 0; |
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virtual int lastSequenceNumber (void) const = 0; |
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/// @return Returns whether the item is ready for save and if not, why |
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virtual ReadyForSaveState readyForSaveState(void) const { return ReadyForSave; } |
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/// Save the item(s) in Json format |
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/// @param missionItems Current set of mission items, new items should be appended to the end |
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virtual void save(QJsonArray& missionItems) = 0; |
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/// @return The QML resource file which contains the control which visualizes the item on the map. |
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virtual QString mapVisualQML(void) const = 0; |
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/// Returns the mission items associated with the complex item. Caller is responsible for freeing. |
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/// @param items List to append to |
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/// @param missionItemParent Parent object for newly created MissionItems |
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virtual void appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) = 0; |
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/// Adjust the altitude of the item if appropriate to the new altitude. |
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virtual void applyNewAltitude(double newAltitude) = 0; |
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/// @return Amount of additional time delay in seconds needed to fly this item |
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virtual double additionalTimeDelay(void) const = 0; |
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double missionGimbalYaw (void) const { return _missionGimbalYaw; } |
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double missionVehicleYaw (void) const { return _missionVehicleYaw; } |
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void setMissionVehicleYaw(double vehicleYaw); |
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static const char* jsonTypeKey; ///< Json file attribute which specifies the item type |
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static const char* jsonTypeSimpleItemValue; ///< Item type is MISSION_ITEM |
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static const char* jsonTypeComplexItemValue; ///< Item type is Complex Item |
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signals: |
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void altDifferenceChanged (double altDifference); |
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void altPercentChanged (double altPercent); |
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void terrainPercentChanged (double terrainPercent); |
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void terrainCollisionChanged (bool terrainCollision); |
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void azimuthChanged (double azimuth); |
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void commandDescriptionChanged (void); |
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void commandNameChanged (void); |
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void abbreviationChanged (void); |
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void coordinateChanged (const QGeoCoordinate& coordinate); |
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void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate); |
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void dirtyChanged (bool dirty); |
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void distanceChanged (double distance); |
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void distanceFromStartChanged (double distanceFromStart); |
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void isCurrentItemChanged (bool isCurrentItem); |
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void hasCurrentChildItemChanged (bool hasCurrentChildItem); |
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void sequenceNumberChanged (int sequenceNumber); |
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void isSimpleItemChanged (bool isSimpleItem); |
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void isTakeoffItemChanged (bool isTakeoffItem); |
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void isLandCommandChanged (void); |
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void specifiesCoordinateChanged (void); |
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void isStandaloneCoordinateChanged (void); |
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void specifiesAltitudeOnlyChanged (void); |
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void specifiedFlightSpeedChanged (void); |
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void specifiedGimbalYawChanged (void); |
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void specifiedGimbalPitchChanged (void); |
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void specifiedVehicleYawChanged (void); |
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void lastSequenceNumberChanged (int sequenceNumber); |
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void missionGimbalYawChanged (double missionGimbalYaw); |
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void missionVehicleYawChanged (double missionVehicleYaw); |
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void terrainAltitudeChanged (double terrainAltitude); |
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void additionalTimeDelayChanged (void); |
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void boundingCubeChanged (void); |
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void readyForSaveStateChanged (void); |
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void wizardModeChanged (bool wizardMode); |
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void parentItemChanged (VisualMissionItem* parentItem); |
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void amslEntryAltChanged (double alt); |
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void amslExitAltChanged (double alt); |
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void exitCoordinateSameAsEntryChanged (bool exitCoordinateSameAsEntry); |
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protected slots: |
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void _amslEntryAltChanged(void); // signals new amslEntryAlt value |
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void _amslExitAltChanged(void); // signals new amslExitAlt value |
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protected: |
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bool _flyView = false; |
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bool _isCurrentItem = false; |
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bool _hasCurrentChildItem = false; |
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bool _dirty = false; |
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bool _homePositionSpecialCase = false; ///< true: This item is being used as a ui home position indicator |
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bool _wizardMode = false; ///< true: Item editor is showing wizard completion panel |
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double _terrainAltitude = qQNaN(); ///< Altitude of terrain at coordinate position, NaN for not known |
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double _altDifference = 0; ///< Difference in altitude from previous waypoint |
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double _altPercent = 0; ///< Percent of total altitude change in mission |
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double _terrainPercent = qQNaN(); ///< Percent of terrain altitude for coordinate |
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bool _terrainCollision = false; ///< true: item collides with terrain |
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double _azimuth = 0; ///< Azimuth to previous waypoint |
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double _distance = 0; ///< Distance to previous waypoint |
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double _distanceFromStart = 0; ///< Flight path cumalative horizontal distance from home point to this item |
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QString _editorQml; ///< Qml resource for editing item |
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double _missionGimbalYaw = qQNaN(); |
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double _missionVehicleYaw = qQNaN(); |
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PlanMasterController* _masterController = nullptr; |
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MissionController* _missionController = nullptr; |
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Vehicle* _controllerVehicle = nullptr; |
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FlightPathSegment * _simpleFlightPathSegment = nullptr; ///< The simple item flight segment (if any) which starts with this visual item. |
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VisualMissionItem* _parentItem = nullptr; |
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QGCGeoBoundingCube _boundingCube; ///< The bounding "cube" of this element. |
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/// This is used to reference any subsequent mission items which do not specify a coordinate. |
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QmlObjectListModel _childItems; |
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protected: |
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void _setBoundingCube (QGCGeoBoundingCube bc); |
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private slots: |
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void _updateTerrainAltitude (void); |
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void _reallyUpdateTerrainAltitude (void); |
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void _terrainDataReceived (bool success, QList<double> heights); |
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private: |
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void _commonInit(void); |
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QTimer _updateTerrainTimer; |
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TerrainAtCoordinateQuery* _currentTerrainAtCoordinateQuery = nullptr; |
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double _lastLatTerrainQuery = 0; |
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double _lastLonTerrainQuery = 0; |
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};
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