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