120 lines
5.9 KiB
C++
120 lines
5.9 KiB
C++
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/****************************************************************************
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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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#ifndef MissionSettingsComplexItem_H
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#define MissionSettingsComplexItem_H
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#include "ComplexMissionItem.h"
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#include "MissionItem.h"
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#include "Fact.h"
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#include "QGCLoggingCategory.h"
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#include "CameraSection.h"
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#include "SpeedSection.h"
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Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
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class MissionSettingsItem : public ComplexMissionItem
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{
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Q_OBJECT
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public:
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MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent);
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Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
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Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
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Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT)
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Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
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CameraSection* cameraSection (void) { return &_cameraSection; }
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SpeedSection* speedSection (void) { return &_speedSection; }
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/// Scans the loaded items for settings items
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bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
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/// Adds the optional mission end action to the list
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/// @param items Mission items list to append to
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/// @param seqNum Sequence number for new item
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/// @param missionItemParent Parent for newly allocated MissionItems
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/// @return true: Mission end action was added
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bool addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent);
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/// Called to update home position coordinate when it comes from a connected vehicle
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void setHomePositionFromVehicle(Vehicle* vehicle);
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// Called to set the initial home position. Vehicle can still update home position after this.
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void setInitialHomePosition(const QGeoCoordinate& coordinate);
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// Called to set the initial home position specified by user. Vehicle will no longer affect home position.
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void setInitialHomePositionFromUser(const QGeoCoordinate& coordinate);
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// Overrides from ComplexMissionItem
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double complexDistance (void) const final;
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int lastSequenceNumber (void) const final;
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bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
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double greatestDistanceTo (const QGeoCoordinate &other) const final;
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QString mapVisualQML (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
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// Overrides from VisualMissionItem
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bool dirty (void) const final { return _dirty; }
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bool isSimpleItem (void) const final { return false; }
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bool isStandaloneCoordinate (void) const final { return false; }
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bool specifiesCoordinate (void) const final;
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bool specifiesAltitudeOnly (void) const final { return false; }
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QString commandDescription (void) const final { return "Mission Start"; }
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QString commandName (void) const final { return "Mission Start"; }
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QString abbreviation (void) const final;
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QGeoCoordinate coordinate (void) const final { return _plannedHomePositionCoordinate; }
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QGeoCoordinate exitCoordinate (void) const final { return _plannedHomePositionCoordinate; }
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int sequenceNumber (void) const final { return _sequenceNumber; }
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double specifiedGimbalYaw (void) final;
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double specifiedGimbalPitch (void) final;
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void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
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void applyNewAltitude (double /*newAltitude*/) final { /* no action */ }
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double specifiedFlightSpeed (void) final;
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double additionalTimeDelay (void) const final { return 0; }
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bool coordinateHasRelativeAltitude (void) const final { return false; }
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bool exitCoordinateHasRelativeAltitude (void) const final { return false; }
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bool exitCoordinateSameAsEntry (void) const final { return true; }
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void setDirty (bool dirty) final;
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void setCoordinate (const QGeoCoordinate& coordinate) final; // Should only be called if the end user is moving
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void setSequenceNumber (int sequenceNumber) final;
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void save (QJsonArray& missionItems) final;
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signals:
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void specifyMissionFlightSpeedChanged (bool specifyMissionFlightSpeed);
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private slots:
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void _setDirtyAndUpdateLastSequenceNumber (void);
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void _setDirty (void);
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void _sectionDirtyChanged (bool dirty);
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void _updateAltitudeInCoordinate (QVariant value);
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void _setHomeAltFromTerrain (double terrainAltitude);
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void _setCoordinateWorker (const QGeoCoordinate& coordinate);
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void _updateHomePosition (const QGeoCoordinate& homePosition);
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private:
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QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitude
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Fact _plannedHomePositionAltitudeFact;
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int _sequenceNumber = 0;
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bool _plannedHomePositionFromVehicle = false;
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bool _plannedHomePositionMovedByUser = false;
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CameraSection _cameraSection;
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SpeedSection _speedSection;
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static QMap<QString, FactMetaData*> _metaDataMap;
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static const char* _plannedHomePositionAltitudeName;
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};
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#endif
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