PlanMasterController.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MissionController.h"
#include "GeoFenceController.h"
#include "RallyPointController.h"
#include "QGCMAVLinkTypes.h"
 
class QmlObjectListModel;
class MultiVehicleManager;
class Vehicle;
#ifdef QGC_UNITTEST_BUILD
class PlanMasterControllerTest;
#endif
 
class PlanMasterController : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    Q_MOC_INCLUDE("QmlObjectListModel.h")
    Q_MOC_INCLUDE("Vehicle.h")
 
#ifdef QGC_UNITTEST_BUILD
    friend class PlanMasterControllerTest;
#endif
 
public:
    PlanMasterController(QObject* parent = nullptr);
#ifdef QGC_UNITTEST_BUILD
    // Used by test code to create master controller with specific firmware/vehicle type
    PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent = nullptr);
#endif
 
    ~PlanMasterController();
 
    Q_PROPERTY(bool                     flyView                 MEMBER _flyView)
    Q_PROPERTY(Vehicle*                 controllerVehicle       READ controllerVehicle                      CONSTANT)                               
    Q_PROPERTY(Vehicle*                 managerVehicle          READ managerVehicle                         NOTIFY managerVehicleChanged)           
    Q_PROPERTY(MissionController*       missionController       READ missionController                      CONSTANT)
    Q_PROPERTY(GeoFenceController*      geoFenceController      READ geoFenceController                     CONSTANT)
    Q_PROPERTY(RallyPointController*    rallyPointController    READ rallyPointController                   CONSTANT)
    Q_PROPERTY(bool                     offline                 READ offline                                NOTIFY offlineChanged)                  
    Q_PROPERTY(bool                     containsItems           READ containsItems                          NOTIFY containsItemsChanged)            
    Q_PROPERTY(bool                     showCreateFromTemplate  READ showCreateFromTemplate                 NOTIFY showCreateFromTemplateChanged)   
    Q_PROPERTY(bool                     syncInProgress          READ syncInProgress                         NOTIFY syncInProgressChanged)           
    Q_PROPERTY(bool                     dirtyForSave            READ dirtyForSave                           NOTIFY dirtyForSaveChanged)             
    Q_PROPERTY(bool                     dirtyForUpload          READ dirtyForUpload                         NOTIFY dirtyForUploadChanged)           
    Q_PROPERTY(QString                  fileExtension           READ fileExtension                          CONSTANT)                               
    Q_PROPERTY(QString                  kmlFileExtension        READ kmlFileExtension                       CONSTANT)
    Q_PROPERTY(QString                  currentPlanFile         READ currentPlanFile                        NOTIFY currentPlanFileChanged)          
    Q_PROPERTY(QString                  currentPlanFileName     READ currentPlanFileName                    NOTIFY currentPlanFileChanged)          
    Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                        CONSTANT)                               
    Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                        CONSTANT)                               
    Q_PROPERTY(QmlObjectListModel*      planCreators            READ planCreators                           NOTIFY planCreatorsChanged)
    Q_PROPERTY(bool                     userSelectedManualCreation READ userSelectedManualCreation WRITE setUserSelectedManualCreation NOTIFY userSelectedManualCreationChanged) 
 
    
    Q_INVOKABLE void start(void);
 
    Q_INVOKABLE void startStaticActiveVehicle(Vehicle* vehicle, bool deleteWhenSendCompleted = false);
 
    Q_INVOKABLE int readyForSaveState(void) const { return _missionController.readyForSaveState(); }
 
    Q_INVOKABLE void showPlanFromManagerVehicle(void);
 
    static void sendPlanToVehicle(Vehicle* vehicle, const QString& filename);
 
    Q_INVOKABLE void loadFromVehicle(void);
    Q_INVOKABLE void sendToVehicle(void);
    Q_INVOKABLE void loadFromFile(const QString& filename);
    Q_INVOKABLE bool saveToCurrent();
    Q_INVOKABLE bool saveToFile(const QString& filename);
    Q_INVOKABLE void saveToKml(const QString& filename);
 
    Q_INVOKABLE void removeAll(void); 
    Q_INVOKABLE void removeAllFromVehicle(void); 
 
    MissionController* missionController(void) { return &_missionController; }
    GeoFenceController* geoFenceController(void) { return &_geoFenceController; }
    RallyPointController* rallyPointController(void) { return &_rallyPointController; }
 
    bool offline(void) const { return _offline; }
    bool containsItems(void) const;
    bool showCreateFromTemplate(void) const { return !containsItems() && !_userSelectedManualCreation; }
    bool syncInProgress(void) const;
    bool dirtyForSave(void) const { return _dirtyForSave; }
    bool dirtyForUpload(void) const { return _dirtyForUpload; }
    QString fileExtension(void) const;
    QString kmlFileExtension(void) const;
    QString currentPlanFile(void) const { return _currentPlanFile; }
    QString currentPlanFileName(void) const;
    QStringList loadNameFilters(void) const;
    QStringList saveNameFilters(void) const;
    bool isEmpty(void) const;
    bool userSelectedManualCreation(void) const { return _userSelectedManualCreation; }
    QmlObjectListModel* planCreators(void) const { return _planCreators; }
 
    void setFlyView(bool flyView) { _flyView = flyView; }
    void setUserSelectedManualCreation(bool userSelectedManualCreation);
 
    QJsonDocument saveToJson();
 
    Vehicle* controllerVehicle(void) { return _controllerVehicle; }
    Vehicle* managerVehicle(void) { return _managerVehicle; }
 
    static constexpr int kPlanFileVersion = 1;
    static constexpr const char* kPlanFileType = "Plan";
    static constexpr const char* kJsonMissionObjectKey = "mission";
    static constexpr const char* kJsonGeoFenceObjectKey = "geoFence";
    static constexpr const char* kJsonRallyPointsObjectKey = "rallyPoints";
 
signals:
    void containsItemsChanged();
    void showCreateFromTemplateChanged();
    void syncInProgressChanged(void);
    void dirtyForSaveChanged(bool dirtyForSave);
    void dirtyForUploadChanged(bool dirtyForUpload);
    void offlineChanged(bool offlineEditing);
    void currentPlanFileChanged(void);
    void planCreatorsChanged(QmlObjectListModel* planCreators);
    void managerVehicleChanged(Vehicle* managerVehicle);
    void promptForPlanUsageOnVehicleChange(void);
    void userSelectedManualCreationChanged();
 
private slots:
    void _activeVehicleChanged(Vehicle* activeVehicle);
    void _loadMissionComplete(void);
    void _loadGeoFenceComplete(void);
    void _loadRallyPointsComplete(void);
    void _sendMissionComplete(void);
    void _sendGeoFenceComplete(void);
    void _sendRallyPointsComplete(void);
    void _updateOverallDirty(void);
    void _updateShowCreateFromTemplate(void);
    void _updatePlanCreatorsList(void);
 
private:
    enum class SyncSequence {
        Idle,
        Mission,
        GeoFence,
        RallyPoints,
        InitialPlanLoad,
    };
 
    void _commonInit(void);
    void _showPlanFromManagerVehicle(void);
    void _initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
    void _setDirtyForSave(bool dirtyForSave);
    void _setDirtyForUpload(bool dirtyForUpload);
    void _setDirtyStates(bool dirtyForSave, bool dirtyForUpload);
    void _clearElementDirtyStates();
    void _clearCurrentPlanFile();
    bool _loadPlanJson(const QByteArray& bytes, QString& errorString);
 
#ifdef QGC_UNITTEST_BUILD
    // Used by unit tests to set dirty flags for initial state
    void _setDirtyForSaveUnitTest(bool dirtyForSave) { _dirtyForSave = dirtyForSave; }
    void _setDirtyForUploadUnitTest(bool dirtyForUpload) { _dirtyForUpload = dirtyForUpload; }
#endif
 
    MultiVehicleManager* _multiVehicleMgr = nullptr;
    Vehicle* _controllerVehicle = nullptr;    
    Vehicle* _managerVehicle = nullptr;       
    bool _flyView = true;
    bool _offline = true;
    MissionController _missionController;
    GeoFenceController _geoFenceController;
    RallyPointController _rallyPointController;
    SyncSequence _loadSequence = SyncSequence::Idle;
    SyncSequence _sendSequence = SyncSequence::Idle;
    QString _currentPlanFile;
    bool _deleteWhenSendCompleted = false;
    bool _dirtyForSave = false;
    bool _dirtyForUpload = false;
    bool _showCreateFromTemplate = true;
    bool _suppressOverallDirtyUpdate = false;
    QmlObjectListModel* _planCreators = nullptr;
    QGCMAVLinkTypes::VehicleClass_t _planCreatorsVehicleClass = -1;
    bool _userSelectedManualCreation = false;
};