MissionItem.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QTextStream>
#include <QtCore/QJsonObject>
#include <QtPositioning/QGeoCoordinate>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "Fact.h"
#include "QGCMAVLink.h"
 
class SurveyComplexItem;
class SimpleMissionItem;
class MissionController;
#ifdef QGC_UNITTEST_BUILD
    class MissionItemTest;
#endif
 
// Represents a Mavlink mission command.
class MissionItem : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
public:
    MissionItem(QObject* parent = nullptr);
 
    MissionItem(int             sequenceNumber,
                MAV_CMD         command,
                MAV_FRAME       frame,
                double          param1,
                double          param2,
                double          param3,
                double          param4,
                double          param5,
                double          param6,
                double          param7,
                bool            autoContinue,
                bool            isCurrentItem,
                QObject*        parent = nullptr);
 
    MissionItem(const MissionItem& other, QObject* parent = nullptr);
 
    ~MissionItem();
 
    const MissionItem& operator=(const MissionItem& other);
 
    MAV_CMD         command         (void) const { return (MAV_CMD)_commandFact.rawValue().toInt(); }
    bool            isCurrentItem   (void) const { return _isCurrentItem; }
    int             sequenceNumber  (void) const { return _sequenceNumber; }
    MAV_FRAME       frame           (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
    bool            autoContinue    (void) const { return _autoContinueFact.rawValue().toBool(); }
    double          param1          (void) const { return _param1Fact.rawValue().toDouble(); }
    double          param2          (void) const { return _param2Fact.rawValue().toDouble(); }
    double          param3          (void) const { return _param3Fact.rawValue().toDouble(); }
    double          param4          (void) const { return _param4Fact.rawValue().toDouble(); }
    double          param5          (void) const { return _param5Fact.rawValue().toDouble(); }
    double          param6          (void) const { return _param6Fact.rawValue().toDouble(); }
    double          param7          (void) const { return _param7Fact.rawValue().toDouble(); }
    QGeoCoordinate  coordinate      (void) const;
    int             doJumpId        (void) const { return _doJumpId; }
 
    double specifiedFlightSpeed(void) const;
 
    double specifiedGimbalYaw(void) const;
 
    double specifiedGimbalPitch(void) const;
 
    void setCommand         (MAV_CMD command);
    void setSequenceNumber  (int sequenceNumber);
    void setIsCurrentItem   (bool isCurrentItem);
    void setFrame           (MAV_FRAME frame);
    void setAutoContinue    (bool autoContinue);
    void setParam1          (double param1);
    void setParam2          (double param2);
    void setParam3          (double param3);
    void setParam4          (double param4);
    void setParam5          (double param5);
    void setParam6          (double param6);
    void setParam7          (double param7);
 
    void save(QJsonObject& json) const;
    bool load(QTextStream &loadStream);
    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
    bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
signals:
    void isCurrentItemChanged       (bool isCurrentItem);
    void sequenceNumberChanged      (int sequenceNumber);
    void specifiedFlightSpeedChanged(double flightSpeed);
    void specifiedGimbalYawChanged  (double gimbalYaw);
    void specifiedGimbalPitchChanged(double gimbalPitch);
 
private slots:
    void _param1Changed(QVariant value);
    void _param2Changed(QVariant value);
    void _param3Changed(QVariant value);
 
private:
    bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
    bool _convertJsonV2ToV3(QJsonObject& json, QString& errorString);
 
    int     _sequenceNumber;
    int     _doJumpId;
    bool    _isCurrentItem;
 
    Fact    _autoContinueFact;
    Fact    _commandFact;
    Fact    _frameFact;
    Fact    _param1Fact;
    Fact    _param2Fact;
    Fact    _param3Fact;
    Fact    _param4Fact;
    Fact    _param5Fact;
    Fact    _param6Fact;
    Fact    _param7Fact;
 
    // Keys for Json save
    static constexpr const char*  _jsonFrameKey =           "frame";
    static constexpr const char*  _jsonCommandKey =         "command";
    static constexpr const char*  _jsonAutoContinueKey =    "autoContinue";
    static constexpr const char*  _jsonParamsKey =          "params";
    static constexpr const char*  _jsonDoJumpIdKey =        "doJumpId";
 
    // Deprecated V1 format keys
    static constexpr const char*  _jsonParam1Key =          "param1";
    static constexpr const char*  _jsonParam2Key =          "param2";
    static constexpr const char*  _jsonParam3Key =          "param3";
    static constexpr const char*  _jsonParam4Key =          "param4";
 
    // Deprecated V2 format keys
    static constexpr const char*  _jsonCoordinateKey =      "coordinate";
 
    friend class SurveyComplexItem;
    friend class SimpleMissionItem;
    friend class MissionController;
#ifdef QGC_UNITTEST_BUILD
    friend class MissionItemTest;
#endif
};