PlanView.qml

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import QtQuick
import QtQuick.Controls
import QtQuick.Dialogs
import QtLocation
import QtPositioning
import QtQuick.Layouts
import QtQuick.Window
 
import QGroundControl
import QGroundControl.FlightMap
import QGroundControl.Controls
import QGroundControl.FactControls
import QGroundControl.FlyView
import QGroundControl.Geo
import QGroundControl.Toolbar
 
Item {
    id: _root
 
    readonly property int   _decimalPlaces: 8
    readonly property real  _margin: ScreenTools.defaultFontPixelHeight * 0.5
    readonly property real  _toolsMargin: ScreenTools.defaultFontPixelWidth * 0.75
    readonly property real  _rightPanelWidth: Math.min(width / 3, ScreenTools.defaultFontPixelWidth * 30)
 
    property var    _planMasterController: planMasterController
    property var    _missionController: _planMasterController.missionController
    property var    _geoFenceController: _planMasterController.geoFenceController
    property var    _rallyPointController: _planMasterController.rallyPointController
    property var    _visualItems: _missionController.visualItems
    property bool   _singleComplexItem: _missionController.complexMissionItems.length === 1
    property int    _editingLayer: _layerMission
    property var    _appSettings: QGroundControl.settingsManager.appSettings
    property var    _planViewSettings: QGroundControl.settingsManager.planViewSettings
    property bool   _promptForPlanUsageShowing: false
    property bool   _addROIOnClick: false
    property bool   _addWaypointOnClick: false
 
    readonly property int _layerMission: PlanEditLayers.layerMission
    readonly property int _layerFence: PlanEditLayers.layerFence
    readonly property int _layerRally: PlanEditLayers.layerRally
 
    onVisibleChanged: {
        if(visible) {
            editorMap.zoomLevel = QGroundControl.flightMapZoom
            editorMap.center    = QGroundControl.flightMapPosition
        }
    }
 
    Connections {
        target: planToolBar
        function onToolbarButtonClicked() {
            _addWaypointOnClick = false
            _addROIOnClick = false
        }
    }
 
    function mapCenter() {
        var coordinate = editorMap.center
        coordinate.latitude  = coordinate.latitude.toFixed(_decimalPlaces)
        coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
        coordinate.altitude  = coordinate.altitude.toFixed(_decimalPlaces)
        return coordinate
    }
 
    MapFitFunctions {
        id: mapFitFunctions  // The name for this id cannot be changed without breaking references outside of this code. Beware!
        map: editorMap
        usePlannedHomePosition: true
        planMasterController: _planMasterController
    }
 
    PlanMasterController {
        id: planMasterController
        flyView: false
 
        Component.onCompleted: {
            _planMasterController.start()
            _missionController.setCurrentPlanViewSeqNum(0, true)
        }
 
        onPromptForPlanUsageOnVehicleChange: {
            if (!_promptForPlanUsageShowing) {
                _promptForPlanUsageShowing = true
                promptForPlanUsageOnVehicleChangePopupFactory.open()
            }
        }
 
        function waitingOnIncompleteDataMessage(save) {
            var saveOrUpload = save ? qsTr("Save") : qsTr("Upload")
            QGroundControl.showMessageDialog(_root, qsTr("Unable to %1").arg(saveOrUpload), qsTr("Plan has incomplete items. Complete all items and %1 again.").arg(saveOrUpload))
        }
 
        function waitingOnTerrainDataMessage(save) {
            var saveOrUpload = save ? qsTr("Save") : qsTr("Upload")
            QGroundControl.showMessageDialog(_root, qsTr("Unable to %1").arg(saveOrUpload), qsTr("Plan is waiting on terrain data from server for correct altitude values."))
        }
 
        function checkReadyForSaveUpload(save) {
            if (readyForSaveState() == VisualMissionItem.NotReadyForSaveData) {
                waitingOnIncompleteDataMessage(save)
                return false
            } else if (readyForSaveState() == VisualMissionItem.NotReadyForSaveTerrain) {
                waitingOnTerrainDataMessage(save)
                return false
            }
            return true
        }
 
        function upload() {
            if (!checkReadyForSaveUpload(false /* save */)) {
                return
            }
            switch (_missionController.sendToVehiclePreCheck()) {
                case MissionController.SendToVehiclePreCheckStateOk: sendToVehicle()
                    break
                case MissionController.SendToVehiclePreCheckStateActiveMission: QGroundControl.showMessageDialog(_root, qsTr("Send To Vehicle"), qsTr("Current mission must be paused prior to uploading a new Plan"))
                    break
                case MissionController.SendToVehiclePreCheckStateFirwmareVehicleMismatch: QGroundControl.showMessageDialog(_root, qsTr("Plan Upload"),
                                                 qsTr("This Plan was created for a different firmware or vehicle type than the firmware/vehicle type of vehicle you are uploading to. " +
                                                      "This can lead to errors or incorrect behavior. " +
                                                      "It is recommended to recreate the Plan for the correct firmware/vehicle type.\n\n" +
                                                      "Click 'Ok' to upload the Plan anyway."),
                                                 Dialog.Ok | Dialog.Cancel,
                                                 function() { _planMasterController.sendToVehicle() })
                    break
            }
        }
 
        function loadFromSelectedFile() {
            fileDialog.title =          qsTr("Select Plan File")
            fileDialog.planFiles =      true
            fileDialog.nameFilters =    _planMasterController.loadNameFilters
            fileDialog.openForLoad()
        }
 
        function saveToSelectedFile() {
            if (!checkReadyForSaveUpload(true /* save */)) {
                return
            }
            fileDialog.title =          qsTr("Save Plan")
            fileDialog.planFiles =      true
            fileDialog.nameFilters =    _planMasterController.saveNameFilters
            fileDialog.openForSave()
        }
 
        function fitViewportToItems() {
            mapFitFunctions.fitMapViewportToMissionItems()
        }
 
        function saveKmlToSelectedFile() {
            if (!checkReadyForSaveUpload(true /* save */)) {
                return
            }
            fileDialog.title =          qsTr("Save KML")
            fileDialog.planFiles =      false
            fileDialog.nameFilters =    ShapeFileHelper.fileDialogKMLFilters
            fileDialog.openForSave()
        }
    }
 
    Connections {
        target: _missionController
 
        function onNewItemsFromVehicle() {
            if (_visualItems && _visualItems.count !== 1) {
                mapFitFunctions.fitMapViewportToMissionItems()
            }
            _missionController.setCurrentPlanViewSeqNum(0, true)
        }
    }
 
    function insertSimpleItemAfterCurrent(coordinate) {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertSimpleMissionItem(coordinate, nextIndex, true /* makeCurrentItem */)
    }
 
    function insertROIAfterCurrent(coordinate) {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertROIMissionItem(coordinate, nextIndex, true /* makeCurrentItem */)
    }
 
    function insertCancelROIAfterCurrent() {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertCancelROIMissionItem(nextIndex, true /* makeCurrentItem */)
    }
 
    function insertComplexItemAfterCurrent(complexItemName) {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertComplexMissionItem(complexItemName, mapCenter(), nextIndex, true /* makeCurrentItem */)
    }
 
    function insertTakeoffItemAfterCurrent() {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertTakeoffItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
    }
 
    function insertVTOLMulticopterTakeoffItemAfterCurrent() {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertVTOLMulticopterTakeoffItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
    }
 
    function insertLandItemAfterCurrent() {
        var nextIndex = _missionController.currentPlanViewVIIndex + 1
        _missionController.insertLandItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
    }
 
    function _landButtonText() {
        // Must mirror MissionController::insertLandItem: only fixed-wing/VTOL get landing patterns
        if (!_planMasterController.controllerVehicle.fixedWing && !_planMasterController.controllerVehicle.vtol) {
            return qsTr("Return")
        }
        if (_missionController.isInsertLandValid && _missionController.hasLandItem) {
            return qsTr("Alt Land")
        }
        return qsTr("Land")
    }
 
    QGCFileDialog {
        id: fileDialog
        folder: _appSettings ? _appSettings.missionSavePath : ""
 
        property bool planFiles: true    ///< true: working with plan files, false: working with kml file
 
        onAcceptedForSave: (file) => {
            if (planFiles) {
                if (_planMasterController.saveToFile(file)) {
                    close()
                }
            } else {
                _planMasterController.saveToKml(file)
                close()
            }
        }
 
        onAcceptedForLoad: (file) => {
            _planMasterController.loadFromFile(file)
            _planMasterController.fitViewportToItems()
            _missionController.setCurrentPlanViewSeqNum(0, true)
            close()
        }
    }
 
    PlanViewToolBar {
        id: planToolBar
        planMasterController: _planMasterController
        showRallyPointsHelp: _editingLayer === _layerRally
    }
 
    Item {
        id: mainPlanViewArea
        anchors.left: parent.left
        anchors.right: parent.right
        anchors.top: planToolBar.bottom
        anchors.bottom: parent.bottom
 
        FlightMap {
            id: editorMap
            objectName: "planView_map"
            anchors.fill: parent
            mapName: "MissionEditor"
            allowGCSLocationCenter: true
            allowVehicleLocationCenter: true
            planView: true
 
            zoomLevel: QGroundControl.flightMapZoom
            center: QGroundControl.flightMapPosition
 
            // This is the center rectangle of the map which is not obscured by tools
            property rect centerViewport: Qt.rect(_leftToolWidth + _margin,  _margin, editorMap.width - _leftToolWidth - _rightToolWidth - (_margin * 2), (missionStatus.visible ? missionStatus.y : height - _margin) - _margin)
 
            property real _leftToolWidth: toolStrip.x + toolStrip.width
            property real _rightToolWidth: rightPanel.width + rightPanel.anchors.rightMargin
            property real _nonInteractiveOpacity: 0.5
 
            // Initial map position duplicates Fly view position
            Component.onCompleted: editorMap.center = QGroundControl.flightMapPosition
 
            onZoomLevelChanged: {
                QGroundControl.flightMapZoom = editorMap.zoomLevel
            }
            onCenterChanged: {
                QGroundControl.flightMapPosition = editorMap.center
            }
 
            onMapClicked: (mouse) => {
                // Take focus to close any previous editing
                editorMap.focus = true
 
                // Collapse layer switcher on any map click
                layerSwitcher.expanded = false
                collapseTimer.stop()
 
                if (!mainWindow.allowViewSwitch()) {
                    return
                }
                var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
                coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
 
                switch (_editingLayer) {
                case _layerMission:
                    if (_planMasterController.showCreateFromTemplate) {
                        _missionController.setHomePosition(coordinate)
                    } else if (_addROIOnClick) {
                        _addROIOnClick = false
                        if (_missionController.isROIActive) {
                            var pos = Qt.point(mouse.x, mouse.y)
                            // For some strange reason using mainWindow in mapToItem doesn't work, so we use globals.parent instead which also gets us mainWindow
                            pos = editorMap.mapToItem(globals.parent, pos)
                            var dropPanel = insertOrCancelROIDropPanelComponent.createObject(mainWindow, { mapClickCoord: coordinate, clickRect: Qt.rect(pos.x, pos.y, 0, 0) })
                            dropPanel.open()
                        } else {
                            insertROIAfterCurrent(coordinate)
                        }
                    } else if (_addWaypointOnClick) {
                        insertSimpleItemAfterCurrent(coordinate)
                    }
                    break
                case _layerRally:
                    if (_rallyPointController.supported) {
                        _rallyPointController.addPoint(coordinate)
                    }
                    break
                }
            }
 
            MissionItemIndicatorGroup {
                id: _missionItemIndicatorGroup
 
                map: editorMap
                missionItems: _root._missionController.visualItems
                onItemSelected: (sequenceNumber) => {
                    _root._missionController.setCurrentPlanViewSeqNum(sequenceNumber, false)
                }
            }
 
            // Add the mission item visuals to the map
            Repeater {
                model: _missionController.visualItems
                delegate: MissionItemMapVisual {
                    map: editorMap
                    opacity: _editingLayer == _layerMission ? 1 : editorMap._nonInteractiveOpacity
                    interactive: _editingLayer == _layerMission
                    vehicle: _planMasterController.controllerVehicle
                    indicatorGroup: _missionItemIndicatorGroup
                    onClicked: (sequenceNumber) => {
                        _root._missionController.setCurrentPlanViewSeqNum(sequenceNumber, false)
                    }
                }
            }
 
            // Add lines between waypoints
            MissionLineView {
                showSpecialVisual: _missionController.isROIBeginCurrentItem
                model: _missionController.simpleFlightPathSegments
                opacity: _editingLayer == _layerMission ? 1 : editorMap._nonInteractiveOpacity
            }
 
            // Direction arrows in waypoint lines
            MapItemView {
                model: _editingLayer == _layerMission ? _missionController.directionArrows : undefined
 
                delegate: MapLineArrow {
                    fromCoord: object ? object.coordinate1 : undefined
                    toCoord: object ? object.coordinate2 : undefined
                    arrowPosition: 3
                    mapControl: editorMap
                    z: QGroundControl.zOrderWaypointLines + 1
                }
            }
 
            // UI for splitting the current segment
            MapQuickItem {
                id: splitSegmentItem
 
                property real _screenLegLength: 0
 
                anchorPoint.x: sourceItem.width / 2
                anchorPoint.y: sourceItem.height / 2
                z: QGroundControl.zOrderWaypointLines + 1
                visible: _editingLayer == _layerMission
                         && _screenLegLength > _missionItemIndicatorGroup.groupingDistance * 2
 
                sourceItem: SplitIndicator {
                    onClicked: _missionController.insertSimpleMissionItem(splitSegmentItem.coordinate,
                                                                           _missionController.currentPlanViewVIIndex,
                                                                           true /* makeCurrentItem */)
                }
 
                function _updateScreenLegLength() {
                    const segment = _root._missionController.splitSegment
                    if (segment && segment.coordinate1.isValid && segment.coordinate2.isValid) {
                        const fromPoint = editorMap.fromCoordinate(segment.coordinate1, false /* clipToViewPort */)
                        const toPoint = editorMap.fromCoordinate(segment.coordinate2, false /* clipToViewPort */)
                        _screenLegLength = Math.hypot(toPoint.x - fromPoint.x, toPoint.y - fromPoint.y)
                    } else {
                        _screenLegLength = 0
                    }
                }
 
                function _updateSplitCoord() {
                    if (_missionController.splitSegment) {
                        var distance = _missionController.splitSegment.coordinate1.distanceTo(_missionController.splitSegment.coordinate2)
                        var azimuth = _missionController.splitSegment.coordinate1.azimuthTo(_missionController.splitSegment.coordinate2)
                        splitSegmentItem.coordinate = _missionController.splitSegment.coordinate1.atDistanceAndAzimuth(distance / 2, azimuth)
                    } else {
                        coordinate = QtPositioning.coordinate()
                    }
                    _updateScreenLegLength()
                }
 
                Connections {
                    target: _missionController
                    function onSplitSegmentChanged()  { splitSegmentItem._updateSplitCoord() }
                }
 
                Connections {
                    target: _missionController.splitSegment
                    function onCoordinate1Changed()   { splitSegmentItem._updateSplitCoord() }
                    function onCoordinate2Changed()   { splitSegmentItem._updateSplitCoord() }
                }
 
                Connections {
                    target: editorMap
                    function onCenterChanged() { splitSegmentItem._updateScreenLegLength() }
                    function onZoomLevelChanged() { splitSegmentItem._updateScreenLegLength() }
                }
            }
 
            // Add the vehicles to the map
            MapItemView {
                model: QGroundControl.multiVehicleManager.vehicles
                delegate: VehicleMapItem {
                    vehicle: object
                    coordinate: object.coordinate
                    map: editorMap
                    size: ScreenTools.defaultFontPixelHeight * 3
                    z: QGroundControl.zOrderMapItems - 1
                }
            }
 
            GeoFenceMapVisuals {
                objectName: "planView_geoFenceMapVisuals"
                map: editorMap
                myGeoFenceController: _geoFenceController
                interactive: _editingLayer == _layerFence
                homePosition: _missionController.plannedHomePosition
                planView: true
                opacity: _editingLayer != _layerFence ? editorMap._nonInteractiveOpacity : 1
            }
 
            RallyPointMapVisuals {
                objectName: "planView_rallyPointMapVisuals"
                map: editorMap
                myRallyPointController: _rallyPointController
                interactive: _editingLayer == _layerRally
                planView: true
                opacity: _editingLayer != _layerRally ? editorMap._nonInteractiveOpacity : 1
            }
 
        }
 
        //-----------------------------------------------------------
        // Left tool strip
        ToolStrip {
            id: toolStrip
            anchors.margins: _toolsMargin
            anchors.left: parent.left
            anchors.top: parent.top
            z: QGroundControl.zOrderWidgets
            maxHeight: parent.height - toolStrip.y
            visible: _editingLayer == _layerMission
 
            property bool _isMissionLayer: _editingLayer == _layerMission
 
            Binding {
                target: waypointButton
                property: "checked"
                value: _addWaypointOnClick
            }
 
            Binding {
                target: roiButton
                property: "checked"
                value: _addROIOnClick
            }
 
            ToolStripActionList {
                id: toolStripActionList
                model: [
                    ToolStripAction {
                        objectName: "planToolStrip_takeoffButton"
                        text: qsTr("Takeoff")
                        iconSource: "/res/takeoff.svg"
                        enabled: _missionController.isInsertTakeoffValid
                        visible: toolStrip._isMissionLayer && !_planMasterController.controllerVehicle.rover
                        dropPanelComponent: _planMasterController.controllerVehicle.supports.vtolMulticopterTakeoff
                                            ? vtolTakeoffDropPanel
                                            : null
                        onTriggered: {
                            insertTakeoffItemAfterCurrent()
                        }
                    },
                    ToolStripAction {
                        objectName: "planToolStrip_patternButton"
                        text: _singleComplexItem ? _missionController.complexMissionItems[0].translatedName : qsTr("Pattern")
                        iconSource: "/qmlimages/MapDrawShape.svg"
                        enabled: _missionController.flyThroughCommandsAllowed
                        visible: toolStrip._isMissionLayer
                        dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
                        onTriggered: {
                            if (_singleComplexItem) {
                                insertComplexItemAfterCurrent(_missionController.complexMissionItems[0].canonicalName)
                            }
                        }
                    },
                    ToolStripAction {
                        id: waypointButton
                        objectName: "planToolStrip_waypointButton"
                        text: qsTr("Waypoint")
                        iconSource: "/res/waypoint.svg"
                        enabled: _missionController.flyThroughCommandsAllowed
                        visible: toolStrip._isMissionLayer
                        checkable: true
                        onTriggered: {
                            _addWaypointOnClick = !_addWaypointOnClick
                            if (_addWaypointOnClick) {
                                _addROIOnClick = false
                                // Arming an insert tool leaves template-creation mode, otherwise
                                // map clicks keep moving the home position instead of inserting
                                _planMasterController.userSelectedManualCreation = true
                            }
                        }
                    },
                    ToolStripAction {
                        id: roiButton
                        objectName: "planToolStrip_roiButton"
                        text: _missionController.isROIActive ? qsTr("Cancel ROI") : qsTr("ROI")
                        iconSource: "/qmlimages/roi.svg"
                        enabled: _missionController.isInsertROIValid
                        visible: toolStrip._isMissionLayer && _planMasterController.controllerVehicle.supports.roiMode
                        checkable: true
                        onTriggered: {
                            _addROIOnClick = !_addROIOnClick
                            if (_addROIOnClick) {
                                _addWaypointOnClick = false
                                _planMasterController.userSelectedManualCreation = true
                            }
                        }
                    },
                    ToolStripAction {
                        objectName: "planToolStrip_landButton"
                        text: _landButtonText()
                        iconSource: "/res/rtl.svg"
                        enabled: _missionController.isInsertLandValid
                        visible: toolStrip._isMissionLayer
                        onTriggered: {
                            insertLandItemAfterCurrent()
                        }
                    },
                    ToolStripAction {
                        text: qsTr("Stats")
                        iconSource: "/res/chevron-double-right.svg"
                        visible: missionStatus.hidden && QGroundControl.corePlugin.options.showMissionStatus
                        onTriggered: missionStatus.showMissionStatus()
                    }
                ]
            }
 
            model: toolStripActionList.model
        }
 
        MapScale {
            anchors.margins: _toolsMargin
            anchors.left: toolStrip.right
            anchors.top: parent.top
            mapControl: editorMap
            autoHide: true
        }
 
        PlanViewRightPanel {
            id: rightPanel
            anchors.top: parent.top
            anchors.bottom: parent.bottom
            anchors.right: parent.right
            width: _rightPanelWidth
            planMasterController: _planMasterController
            editorMap: editorMap
            onEditingLayerChangeRequested: (layer) => _editingLayer = layer
        }
 
        // Layer switching icons — only active icon visible; click to expand choices leftward
        Item {
            id:                     layerSwitcher
            objectName:             "planView_layerSwitcher"
            anchors.right:          rightPanel.left
            anchors.rightMargin:    _toolsMargin
            anchors.top:            parent.top
            anchors.topMargin:      _toolsMargin
            width:                  layerRow.width
            height:                 _layerButtonSize
            z:                      QGroundControl.zOrderWidgets
            visible:                !_planMasterController.showCreateFromTemplate
 
            property bool   expanded: false
            property real   _layerButtonSize: ScreenTools.defaultFontPixelHeight * 2.0
            property real   _spacing: ScreenTools.defaultFontPixelHeight * 0.25
 
            Timer {
                id: collapseTimer
                interval: 5000
                onTriggered: layerSwitcher.expanded = false
            }
 
            function toggle() {
                expanded = !expanded
                if (expanded) {
                    collapseTimer.restart()
                } else {
                    collapseTimer.stop()
                }
            }
 
            function choose(nodeType) {
                expanded = false
                collapseTimer.stop()
                rightPanel.selectLayer(nodeType)
            }
 
            // Row laid out right-to-left: active icon on the right, choices expand left
            Row {
                id:             layerRow
                anchors.right:  parent.right
                spacing:        layerSwitcher._spacing
                layoutDirection: Qt.RightToLeft
 
                // Active layer button (always visible)
                Rectangle {
                    objectName: "layerSwitcher_activeButton"
                    width:  layerSwitcher._layerButtonSize
                    height: width
                    radius: ScreenTools.defaultBorderRadius
                    color:  QGroundControl.globalPalette.buttonHighlight
 
                    QGCColoredImage {
                        anchors.centerIn:   parent
                        width:              parent.width * 0.6
                        height:             width
                        source:             PlanEditLayers.layerInfos.find(l => l.layer === _editingLayer)?.icon ?? "/res/waypoint.svg"
                        color:              QGroundControl.globalPalette.buttonHighlightText
                    }
 
                    QGCMouseArea {
                        anchors.fill: parent
                        onClicked:    layerSwitcher.toggle()
                    }
                }
 
                // Choice buttons (only layers that are NOT the current one)
                Repeater {
                    model: PlanEditLayers.layerInfos.filter(l => l.layer !== _editingLayer)
 
                    Rectangle {
                        required property var modelData
                        objectName: "layerSwitcher_choice_" + modelData.nodeType
                        width:   choiceRow.implicitWidth + layerSwitcher._spacing * 2
                        height:  layerSwitcher._layerButtonSize
                        radius:  ScreenTools.defaultBorderRadius
                        color:   QGroundControl.globalPalette.button
                        visible: opacity > 0
                        opacity: layerSwitcher.expanded ? 1 : 0
 
                        Behavior on opacity { NumberAnimation { duration: 150 } }
 
                        Row {
                            id:                     choiceRow
                            anchors.centerIn:       parent
                            spacing:                layerSwitcher._spacing
 
                            QGCColoredImage {
                                anchors.verticalCenter: parent.verticalCenter
                                width:                  layerSwitcher._layerButtonSize * 0.6
                                height:                 width
                                source:                 modelData.icon
                                color:                  QGroundControl.globalPalette.buttonText
                            }
 
                            QGCLabel {
                                anchors.verticalCenter: parent.verticalCenter
                                text:                   modelData.name
                                color:                  QGroundControl.globalPalette.buttonText
                            }
                        }
 
                        QGCMouseArea {
                            anchors.fill: parent
                            onClicked:    layerSwitcher.choose(modelData.nodeType)
                        }
                    }
                }
            }
        }
 
        RowLayout {
            id: missionStatus
            anchors.margins: _toolsMargin
            anchors.left: _calcLeftAnchor()
            anchors.right: rightPanel.left
            anchors.bottom: parent.bottom
            spacing: 0
            visible: !hidden && _editingLayer == _layerMission && QGroundControl.corePlugin.options.showMissionStatus
 
            readonly property bool hidden: _planViewSettings.showMissionItemStatus.rawValue ? false : true
 
            function showMissionStatus() {
                _planViewSettings.showMissionItemStatus.rawValue = true
            }
 
            function _calcLeftAnchor() {
                let bottomOfToolStrip = toolStrip.y + toolStrip.height
                let largestStatsHeight = Math.max(terrainStatus.height, missionStats.height)
                if (bottomOfToolStrip + largestStatsHeight > parent.height - missionStatus.anchors.margins) {
                    return toolStrip.right
                }
                return parent.left
            }
 
            function _toggleMissionStatusVisibility() {
                _planViewSettings.showMissionItemStatus.rawValue = _planViewSettings.showMissionItemStatus.rawValue ? false : true
            }
 
            ColumnLayout {
                id: missionStatsButtonLayout
                Layout.alignment: Qt.AlignBottom
                spacing: 0
 
                property real _buttonImplicitWidth: ScreenTools.defaultFontPixelHeight * 1.5
                property real _buttonImageMargins: _buttonImplicitWidth * 0.15
 
                Rectangle {
                    id: terrainButton
                    implicitWidth: missionStatsButtonLayout._buttonImplicitWidth
                    implicitHeight: implicitWidth
                    color: checked ? QGroundControl.globalPalette.buttonHighlight : QGroundControl.globalPalette.button
 
                    property bool checked: true
 
                    QGCColoredImage {
                        anchors.margins: missionStatsButtonLayout._buttonImageMargins
                        anchors.fill: parent
                        source: "/res/terrain.svg"
                        color: parent.checked ? QGroundControl.globalPalette.buttonHighlightText : QGroundControl.globalPalette.buttonText
                    }
 
                    QGCMouseArea {
                        anchors.fill: parent
                        onClicked: {
                            terrainButton.checked = true
                            missionStatsButton.checked = false
                        }
                    }
                }
 
                Rectangle {
                    id: missionStatsButton
                    implicitWidth: missionStatsButtonLayout._buttonImplicitWidth
                    implicitHeight: implicitWidth
                    color: checked ? QGroundControl.globalPalette.buttonHighlight : QGroundControl.globalPalette.button
 
                    property bool checked: false
 
                    QGCColoredImage {
                        anchors.margins: missionStatsButtonLayout._buttonImageMargins
                        anchors.fill: parent
                        source: "/res/sliders.svg"
                        color: parent.checked ? QGroundControl.globalPalette.buttonHighlightText : QGroundControl.globalPalette.buttonText
                    }
 
                    QGCMouseArea {
                        anchors.fill: parent
                        onClicked: {
                            missionStatsButton.checked = true
                            terrainButton.checked = false
                        }
                    }
                }
 
                Rectangle {
                    id: bottomStatusOpenCloseButton
                    implicitWidth: missionStatsButtonLayout._buttonImplicitWidth
                    implicitHeight: implicitWidth
                    color: QGroundControl.globalPalette.button
 
                    QGCColoredImage {
                        anchors.margins: missionStatsButtonLayout._buttonImageMargins
                        anchors.fill: parent
                        source: "/res/chevron-double-left.svg"
                        color: QGroundControl.globalPalette.buttonText
                    }
 
                    QGCMouseArea {
                        anchors.fill: parent
                        onClicked: missionStatus._toggleMissionStatusVisibility()
                    }
                }
            }
 
            TerrainStatus {
                id: terrainStatus
                Layout.alignment: Qt.AlignBottom
                Layout.fillWidth: true
                height: ScreenTools.defaultFontPixelHeight * 7
                missionController: _missionController
                visible: terrainButton.checked
                onSetCurrentSeqNum: _missionController.setCurrentPlanViewSeqNum(seqNum, true)
            }
 
            MissionStats {
                id: missionStats
                Layout.alignment: Qt.AlignBottom
                Layout.fillWidth: true
                visible: missionStatsButton.checked
                planMasterController: _root._planMasterController
            }
        }
    }
 
        //- ToolStrip ToolStripDropPanel Components
 
    Component {
        id: patternDropPanel
 
        ColumnLayout {
            spacing: ScreenTools.defaultFontPixelWidth * 0.5
 
            QGCLabel { text: qsTr("Create complex pattern:") }
 
            Repeater {
                model: _missionController.complexMissionItems
 
                QGCButton {
                    text: modelData.translatedName
                    Layout.fillWidth: true
 
                    onClicked: {
                        insertComplexItemAfterCurrent(modelData.canonicalName)
                        dropPanel.hide()
                    }
                }
            }
        } // Column
    }
 
    Component {
        id: vtolTakeoffDropPanel
 
        ColumnLayout {
            spacing: ScreenTools.defaultFontPixelWidth * 0.5
 
            QGCLabel { text: qsTr("Choose takeoff mode:") }
 
            QGCButton {
                objectName: "planTakeoff_vtolButton"
                text: qsTr("VTOL takeoff")
                Layout.fillWidth: true
                primary: true
 
                onClicked: {
                    insertTakeoffItemAfterCurrent()
                    dropPanel.hide()
                }
            }
 
            QGCButton {
                objectName: "planTakeoff_mcButton"
                text: qsTr("Multicopter takeoff")
                Layout.fillWidth: true
 
                onClicked: {
                    insertVTOLMulticopterTakeoffItemAfterCurrent()
                    dropPanel.hide()
                }
            }
        }
    }
 
    QGCPopupDialogFactory {
        id: promptForPlanUsageOnVehicleChangePopupFactory
 
        dialogComponent: promptForPlanUsageOnVehicleChangePopupComponent
    }
 
    Component {
        id: promptForPlanUsageOnVehicleChangePopupComponent
        QGCPopupDialog {
            title: _planMasterController.managerVehicle.isOfflineEditingVehicle ? qsTr("Plan View - Vehicle Disconnected") : qsTr("Plan View - Vehicle Changed")
            buttons: Dialog.NoButton
 
            ColumnLayout {
                QGCLabel {
                    Layout.maximumWidth: parent.width
                    wrapMode: QGCLabel.WordWrap
                    text: _planMasterController.managerVehicle.isOfflineEditingVehicle ?
                                                qsTr("The vehicle associated with the plan in the Plan View is no longer available. What would you like to do with that plan?") : qsTr("The plan being worked on in the Plan View is not from the current vehicle. What would you like to do with that plan?")
                }
 
                QGCButton {
                    Layout.fillWidth: true
                    text: (_planMasterController.dirtyForSave) ?
                                            (_planMasterController.managerVehicle.isOfflineEditingVehicle ?
                                                 qsTr("Discard Unsaved Changes") : qsTr("Discard Unsaved Changes, Load New Plan From Vehicle")) : qsTr("Load New Plan From Vehicle")
                    onClicked: {
                        _planMasterController.showPlanFromManagerVehicle()
                        _promptForPlanUsageShowing = false
                        close();
                    }
                }
 
                QGCButton {
                    Layout.fillWidth: true
                    text: _planMasterController.managerVehicle.isOfflineEditingVehicle ?
                                            qsTr("Keep Current Plan") : qsTr("Keep Current Plan, Don't Update From Vehicle")
                    onClicked: {
                        _promptForPlanUsageShowing = false
                        close()
                    }
                }
            }
        }
    }
 
    Component {
        id: insertOrCancelROIDropPanelComponent
 
        DropPanel {
            id: insertOrCancelROIDropPanel
            onClosed: destroy()
 
            property var mapClickCoord
 
            sourceComponent: Component {
                ColumnLayout {
                    spacing: ScreenTools.defaultFontPixelWidth / 2
 
                    QGCButton {
                        Layout.fillWidth: true
                        text: qsTr("Insert ROI")
 
                        onClicked: {
                            insertOrCancelROIDropPanel.close()
                            insertROIAfterCurrent(mapClickCoord)
                        }
                    }
 
                    QGCButton {
                        Layout.fillWidth: true
                        text: qsTr("Insert Cancel ROI")
 
                        onClicked: {
                            insertOrCancelROIDropPanel.close()
                            insertCancelROIAfterCurrent()
                        }
                    }
                }
            }
        }
    }
}