QGCCorePlugin.cc

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#include "QGCCorePlugin.h"
#include "AppSettings.h"
#include "MavlinkSettings.h"
#include "FactMetaData.h"
#include "QGCMAVLink.h"
#ifdef QGC_GST_STREAMING
#include "GStreamer.h"
#endif
#include "HorizontalFactValueGrid.h"
#include "InstrumentValueData.h"
#include "JoystickManager.h"
#include "MAVLinkMessageType.h"
#include "QGCLoggingCategory.h"
#include "QGCOptions.h"
#include "QmlComponentInfo.h"
#include "QmlObjectListModel.h"
#ifdef QGC_QT_STREAMING
#include "QtMultimediaReceiver.h"
#endif
#include "SettingsManager.h"
#include "VideoReceiver.h"
#include "SurveyPlanCreator.h"
#include "CorridorScanPlanCreator.h"
#include "StructureScanPlanCreator.h"
#include "SurveyComplexItem.h"
#include "CorridorScanComplexItem.h"
#include "StructureScanComplexItem.h"
#include "FixedWingLandingComplexItem.h"
#include "VTOLLandingComplexItem.h"
#include "Vehicle.h"
#include "BlankPlanCreator.h"
#include "ComplexMissionItem.h"
#include "PlanMasterController.h"
 
#ifdef QGC_CUSTOM_BUILD
#include CUSTOMHEADER
#endif
 
#include <QtCore/QApplicationStatic>
#include <QtCore/QFile>
#include <QtQml/QQmlApplicationEngine>
#include <QtQml/QQmlContext>
#include <QtQuick/QQuickItem>
 
QGC_LOGGING_CATEGORY(QGCCorePluginLog, "API.QGCCorePlugin");
 
#ifndef QGC_CUSTOM_BUILD
Q_APPLICATION_STATIC(QGCCorePlugin, _qgcCorePluginInstance);
#endif
 
QGCCorePlugin::QGCCorePlugin(QObject *parent)
    : QObject(parent)
    , _defaultOptions(new QGCOptions(this))
    , _emptyCustomMapItems(new QmlObjectListModel(this))
{
    qCDebug(QGCCorePluginLog) << this;
}
 
QGCCorePlugin::~QGCCorePlugin()
{
    qCDebug(QGCCorePluginLog) << this;
}
 
QGCCorePlugin *QGCCorePlugin::instance()
{
#ifndef QGC_CUSTOM_BUILD
    return _qgcCorePluginInstance();
#else
    return CUSTOMCLASS::instance();
#endif
}
 
const QVariantList &QGCCorePlugin::analyzePages()
{
    static const QVariantList analyzeList = {
        QVariant::fromValue(new QmlComponentInfo(
            tr("Log Viewer"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/LogViewer/LogViewerPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/MAVLinkInspector.svg")))),
        QVariant::fromValue(new QmlComponentInfo(
            tr("Onboard Logs"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/OnboardLogs/OnboardLogPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/OnboardLogIcon.svg")),
            nullptr, true /* requiresVehicle */)),
        QVariant::fromValue(new QmlComponentInfo(
            tr("Onboard Logs (FTP)"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/OnboardLogsFtp/OnboardLogFtpPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/OnboardLogIcon.svg")),
            nullptr, true /* requiresVehicle */)),
        QVariant::fromValue(new QmlComponentInfo(
            tr("GeoTag Images"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/GeoTag/GeoTagPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/GeoTag/GeoTagIcon.svg")))),
        QVariant::fromValue(new QmlComponentInfo(
            tr("MAVLink Console"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkConsole/MAVLinkConsolePage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/MAVLinkConsoleIcon.svg")),
            nullptr, true /* requiresVehicle */)),
        QVariant::fromValue(new QmlComponentInfo(
            tr("MAVLink Inspector"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkInspector/MAVLinkInspectorPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/MAVLinkInspector.svg")),
            nullptr, true /* requiresVehicle */)),
        QVariant::fromValue(new QmlComponentInfo(
            tr("Vibration"),
            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/Vibration/VibrationPage.qml")),
            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/VibrationPageIcon")),
            nullptr, true /* requiresVehicle */)),
    };
 
    return analyzeList;
}
 
QGCOptions *QGCCorePlugin::options()
{
    return _defaultOptions;
}
 
const QmlObjectListModel *QGCCorePlugin::customMapItems()
{
    return _emptyCustomMapItems;
}
 
void QGCCorePlugin::adjustSettingMetaData(const QString &settingsGroup, FactMetaData &metaData, bool &userVisible)
{
#ifdef Q_OS_ANDROID
    Q_UNUSED(userVisible);
#endif
 
    if (settingsGroup == AppSettings::settingsGroup) {
        if (metaData.name() == AppSettings::indoorPaletteName) {
            QVariant outdoorPalette;
#if defined(Q_OS_ANDROID) || defined(Q_OS_IOS)
            outdoorPalette = 0;
#else
            outdoorPalette = 1;
#endif
            metaData.setRawDefaultValue(outdoorPalette);
            return;
        }
#if defined(Q_OS_ANDROID) || defined(Q_OS_IOS)
        else if (metaData.name() == MavlinkSettings::telemetrySaveName) {
            metaData.setRawDefaultValue(false);
            return;
        }
#endif
#ifndef Q_OS_ANDROID
        else if (metaData.name() == AppSettings::androidDontSaveToSDCardName) {
            userVisible = false;
            return;
        }
#endif
    }
}
 
QString QGCCorePlugin::showAdvancedUIMessage() const
{
    return tr("WARNING: You are about to enter Advanced Mode. "
              "If used incorrectly, this may cause your vehicle to malfunction thus voiding your warranty. "
              "You should do so only if instructed by customer support. "
              "Are you sure you want to enable Advanced Mode?");
}
 
void QGCCorePlugin::factValueGridCreateDefaultSettings(FactValueGrid* factValueGrid)
{
#if defined(Q_OS_ANDROID) || defined(Q_OS_IOS)
    FactValueGrid::FontSize defaultFontSize = FactValueGrid::DefaultFontSize;
#else
    FactValueGrid::FontSize defaultFontSize = FactValueGrid::MediumFontSize;
#endif
 
    if (factValueGrid->specificVehicleForCard()) {
        bool includeFWValues = factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassFixedWing || factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassVTOL || factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassAirship;
 
        factValueGrid->setFontSize(defaultFontSize);
        factValueGrid->appendColumn();
        factValueGrid->appendColumn();
 
        int rowIndex = 0;
        int colIndex = 0;
 
        // first cell
        QmlObjectListModel* column = factValueGrid->columns()->value<QmlObjectListModel*>(colIndex++);
        InstrumentValueData* value = column->value<InstrumentValueData*>(rowIndex);
        value->setFact("Vehicle", "AltitudeRelative");
        value->setIcon("arrow-thick-up.svg");
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
 
        // second cell
        column = factValueGrid->columns()->value<QmlObjectListModel*>(colIndex++);
        value = column->value<InstrumentValueData*>(rowIndex);
        if (includeFWValues) {
            value->setFact("Vehicle", "AirSpeed");
            value->setText("AirSpd");
            value->setShowUnits(true);
        } else {
            value->setFact("Vehicle", "GroundSpeed");
            value->setIcon("arrow-simple-right.svg");
            value->setText(value->fact()->shortDescription());
            value->setShowUnits(true);
        }
    } else {
        const bool includeFWValues = ((factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassFixedWing) || (factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassVTOL) || (factValueGrid->vehicleClass() == QGCMAVLink::VehicleClassAirship));
 
        factValueGrid->setFontSize(defaultFontSize);
 
        (void) factValueGrid->appendColumn();
        (void) factValueGrid->appendColumn();
        (void) factValueGrid->appendColumn();
        if (includeFWValues) {
            (void) factValueGrid->appendColumn();
        }
        factValueGrid->appendRow();
 
        int rowIndex = 0;
        QmlObjectListModel *column = factValueGrid->columns()->value<QmlObjectListModel*>(0);
 
        InstrumentValueData *value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("AltitudeRelative"));
        value->setIcon(QStringLiteral("arrow-thick-up.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
 
        value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("DistanceToHome"));
        value->setIcon(QStringLiteral("bookmark copy 3.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
 
        rowIndex = 0;
        column = factValueGrid->columns()->value<QmlObjectListModel*>(1);
 
        value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("ClimbRate"));
        value->setIcon(QStringLiteral("arrow-simple-up.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
 
        value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("GroundSpeed"));
        value->setIcon(QStringLiteral("arrow-simple-right.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
 
        if (includeFWValues) {
            rowIndex = 0;
            column = factValueGrid->columns()->value<QmlObjectListModel*>(2);
 
            value = column->value<InstrumentValueData*>(rowIndex++);
            value->setFact(QStringLiteral("Vehicle"), QStringLiteral("AirSpeed"));
            value->setText(QStringLiteral("AirSpd"));
            value->setShowUnits(true);
 
            value = column->value<InstrumentValueData*>(rowIndex++);
            value->setFact(QStringLiteral("Vehicle"), QStringLiteral("ThrottlePct"));
            value->setText(QStringLiteral("Thr"));
            value->setShowUnits(true);
        }
 
        rowIndex = 0;
        column = factValueGrid->columns()->value<QmlObjectListModel*>(includeFWValues ? 3 : 2);
 
        value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("FlightTime"));
        value->setIcon(QStringLiteral("timer.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(false);
 
        value = column->value<InstrumentValueData*>(rowIndex++);
        value->setFact(QStringLiteral("Vehicle"), QStringLiteral("FlightDistance"));
        value->setIcon(QStringLiteral("travel-walk.svg"));
        value->setText(value->fact()->shortDescription());
        value->setShowUnits(true);
    }
}
 
QQmlApplicationEngine *QGCCorePlugin::createQmlApplicationEngine(QObject *parent)
{
    QQmlApplicationEngine *const qmlEngine = new QQmlApplicationEngine(parent);
    qmlEngine->addImportPath(QStringLiteral("qrc:/qml"));
    qmlEngine->rootContext()->setContextProperty(QStringLiteral("joystickManager"), JoystickManager::instance());
    return qmlEngine;
}
 
void QGCCorePlugin::createRootWindow(QQmlApplicationEngine *qmlEngine)
{
    qmlEngine->load(QUrl(QStringLiteral("qrc:/qml/QGroundControl/MainWindow.qml")));
}
 
VideoReceiver *QGCCorePlugin::createVideoReceiver(QObject *parent)
{
#ifdef QGC_GST_STREAMING
    return GStreamer::createVideoReceiver(parent);
#elif defined(QGC_QT_STREAMING)
    return QtMultimediaReceiver::createVideoReceiver(parent);
#else
    Q_UNUSED(parent);
    return nullptr;
#endif
}
 
void *QGCCorePlugin::createVideoSink(QQuickItem *widget, QObject *parent)
{
#ifdef QGC_GST_STREAMING
    return GStreamer::createVideoSink(widget, parent);
#elif defined(QGC_QT_STREAMING)
    return QtMultimediaReceiver::createVideoSink(widget, parent);
#else
    Q_UNUSED(widget); Q_UNUSED(parent);
    return nullptr;
#endif
}
void QGCCorePlugin::releaseVideoSink(void *sink)
{
#ifdef QGC_GST_STREAMING
    GStreamer::releaseVideoSink(sink);
#elif defined(QGC_QT_STREAMING)
    QtMultimediaReceiver::releaseVideoSink(sink);
#else
    Q_UNUSED(sink);
#endif
}
 
const QVariantList &QGCCorePlugin::toolBarIndicators()
{
    static const QVariantList toolBarIndicatorList = QVariantList(
        {
            QVariant::fromValue(QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/Toolbar/RTKGPSIndicator.qml"))),
        }
    );
 
    return toolBarIndicatorList;
}
 
QVariantList QGCCorePlugin::firstRunPromptsToShow()
{
    QList<int> rgIdsToShow;
 
    rgIdsToShow.append(firstRunPromptStdIds());
    rgIdsToShow.append(firstRunPromptCustomIds());
 
    const QList<int> rgAlreadyShownIds = AppSettings::firstRunPromptsIdsVariantToList(SettingsManager::instance()->appSettings()->firstRunPromptIdsShown()->rawValue());
    for (int idToRemove: rgAlreadyShownIds) {
        (void) rgIdsToShow.removeOne(idToRemove);
    }
 
    QVariantList rgVarIdsToShow;
    for (int id: rgIdsToShow) {
        rgVarIdsToShow.append(id);
    }
 
    return rgVarIdsToShow;
}
 
QString QGCCorePlugin::firstRunPromptResource(int id) const
{
    switch (id) {
    case kInitialSetupPromptId:
        return QStringLiteral("/qml/QGroundControl/FirstRunPromptDialogs/InitialSetupPrompt.qml");
    default:
        return QString();
    }
}
 
void QGCCorePlugin::_setShowTouchAreas(bool show)
{
    if (show != _showTouchAreas) {
        _showTouchAreas = show;
        emit showTouchAreasChanged(show);
    }
}
 
void QGCCorePlugin::_setShowAdvancedUI(bool show)
{
    if (show != _showAdvancedUI) {
        _showAdvancedUI = show;
        emit showAdvancedUIChanged(show);
    }
}
 
QVariantList QGCCorePlugin::complexMissionItemNames(Vehicle *vehicle)
{
    auto makeEntry = [](const char* canonical, const QString& translated) {
        QVariantMap entry;
        entry[QStringLiteral("canonicalName")]  = QString(canonical);
        entry[QStringLiteral("translatedName")] = translated;
        return entry;
    };
 
    QVariantList items;
    items.append(makeEntry(SurveyComplexItem::canonicalName,       SurveyComplexItem::tr(SurveyComplexItem::canonicalName)));
    items.append(makeEntry(CorridorScanComplexItem::canonicalName, CorridorScanComplexItem::tr(CorridorScanComplexItem::canonicalName)));
    if (vehicle->multiRotor() || vehicle->vtol()) {
        items.append(makeEntry(StructureScanComplexItem::canonicalName, StructureScanComplexItem::tr(StructureScanComplexItem::canonicalName)));
    }
    // Note: Landing pattern items are not added here — they have their own dedicated button
    return items;
}
 
QList<PlanCreator*> QGCCorePlugin::planCreators(PlanMasterController *planMasterController)
{
    return {
        new SurveyPlanCreator(planMasterController),
        new CorridorScanPlanCreator(planMasterController),
        new StructureScanPlanCreator(planMasterController),
        new BlankPlanCreator(planMasterController),
    };
}
 
ComplexMissionItem *QGCCorePlugin::createComplexMissionItem(
    const QString &complexItemType,
    PlanMasterController *masterController,
    bool flyView,
    const QString &kmlOrShpFile)
{
    if (complexItemType == SurveyComplexItem::canonicalName || complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
        return new SurveyComplexItem(masterController, flyView, kmlOrShpFile);
    } else if (complexItemType == CorridorScanComplexItem::canonicalName || complexItemType == CorridorScanComplexItem::jsonComplexItemTypeValue) {
        return new CorridorScanComplexItem(masterController, flyView, kmlOrShpFile);
    } else if (complexItemType == StructureScanComplexItem::canonicalName || complexItemType == StructureScanComplexItem::jsonComplexItemTypeValue) {
        return new StructureScanComplexItem(masterController, flyView, kmlOrShpFile);
    } else if (complexItemType == FixedWingLandingComplexItem::canonicalName || complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
        return new FixedWingLandingComplexItem(masterController, flyView);
    } else if (complexItemType == VTOLLandingComplexItem::canonicalName || complexItemType == VTOLLandingComplexItem::jsonComplexItemTypeValue) {
        return new VTOLLandingComplexItem(masterController, flyView);
    }
 
    qCWarning(QGCCorePluginLog) << "QGCCorePlugin::createComplexMissionItem - Unknown complex item type:" << complexItemType;
    return nullptr;
}