SimpleMissionItem.h

Go to the documentation of this file.

#pragma once
 
#include "VisualMissionItem.h"
#include "MissionItem.h"
#include "QGroundControlQmlGlobal.h"
 
class SpeedSection;
class CameraSection;
 
class SimpleMissionItem : public VisualMissionItem
{
    Q_OBJECT
    Q_MOC_INCLUDE("SpeedSection.h")
    Q_MOC_INCLUDE("CameraSection.h")
 
public:
    SimpleMissionItem(PlanMasterController* masterController, bool flyView, bool forLoad);
    SimpleMissionItem(PlanMasterController* masterController, bool flyView, const MissionItem& missionItem);
 
    ~SimpleMissionItem();
 
    Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
    Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
    Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              
    Q_PROPERTY(bool             specifiesAltitude       READ specifiesAltitude                                  NOTIFY commandChanged)
    Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           
    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame READ altitudeFrame WRITE setAltitudeFrame       NOTIFY altitudeFrameChanged)
    Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           
    Q_PROPERTY(int              command                 READ command                WRITE setCommand            NOTIFY commandChanged)
    Q_PROPERTY(bool             isLoiterItem            READ isLoiterItem                                       NOTIFY isLoiterItemChanged)
    Q_PROPERTY(bool             showLoiterRadius        READ showLoiterRadius                                   NOTIFY showLoiterRadiusChanged)
    Q_PROPERTY(double           loiterRadius            READ loiterRadius           WRITE setRadius             NOTIFY loiterRadiusChanged)
 
    
    Q_PROPERTY(QObject*         speedSection            READ speedSection                                       NOTIFY speedSectionChanged)
    Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)
 
    // These properties are used to display the editing ui
    Q_PROPERTY(QmlObjectListModel*  comboboxFacts           READ comboboxFacts           CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  comboboxFactsAdvanced   READ comboboxFactsAdvanced   CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  textFieldFacts          READ textFieldFacts          CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  textFieldFactsAdvanced  READ textFieldFactsAdvanced  CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  nanFacts                READ nanFacts                CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  nanFactsAdvanced        READ nanFactsAdvanced        CONSTANT)
 
    
    Q_INVOKABLE void setMapCenterHintForCommandChange(QGeoCoordinate mapCenter) { _mapCenterHint = mapCenter; }
 
    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, PlanMasterController* masterController);
 
    // Property accesors
 
    QString         category            (void) const;
    int             command             (void) const { return _missionItem._commandFact.cookedValue().toInt(); }
    MAV_CMD         mavCommand          (void) const { return static_cast<MAV_CMD>(command()); }
    bool            friendlyEditAllowed (void) const;
    bool            rawEdit             (void) const;
    bool            specifiesAltitude   (void) const;
    QGroundControlQmlGlobal::AltitudeFrame altitudeFrame(void) const { return _altitudeFrame; }
    Fact*           altitude            (void) { return &_altitudeFact; }
    Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
    bool            isLoiterItem        (void) const;
    bool            showLoiterRadius    (void) const;
    double          loiterRadius        (void) const;
 
    CameraSection*  cameraSection       (void) { return _cameraSection; }
    SpeedSection*   speedSection        (void) { return _speedSection; }
 
    QmlObjectListModel* textFieldFacts  (void) { return &_textFieldFacts; }
    QmlObjectListModel* textFieldFactsAdvanced (void) { return &_textFieldFactsAdvanced; }
    QmlObjectListModel* nanFacts        (void) { return &_nanFacts; }
    QmlObjectListModel* nanFactsAdvanced (void) { return &_nanFactsAdvanced; }
    QmlObjectListModel* comboboxFacts   (void) { return &_comboboxFacts; }
    QmlObjectListModel* comboboxFactsAdvanced (void) { return &_comboboxFactsAdvanced; }
 
    void setRawEdit(bool rawEdit);
    void setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame);
 
    void setCommandByIndex(int index);
 
    void setCommand(int command);
 
    void setAltDifference   (double altDifference);
    void setAltPercent      (double altPercent);
    void setAzimuth         (double azimuth);
    void setDistance        (double distance);
    void setRadius          (double loiterRadius);
 
    virtual bool load(QTextStream &loadStream);
    virtual bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
    MissionItem& missionItem(void) { return _missionItem; }
    const MissionItem& missionItem(void) const { return _missionItem; }
 
    // Overrides from VisualMissionItem
    bool            dirty                       (void) const override { return _dirty; }
    bool            isSimpleItem                (void) const final { return true; }
    bool            isStandaloneCoordinate      (void) const final;
    bool            isLandCommand               (void) const final;
    bool            specifiesCoordinate         (void) const final;
    bool            specifiesAltitudeOnly       (void) const final;
    QString         commandDescription          (void) const final;
    QString         commandName                 (void) const final;
    QString         abbreviation                (void) const final;
    QGeoCoordinate  coordinate                  (void) const final;
    QGeoCoordinate  entryCoordinate             (void) const final { return coordinate(); }
    QGeoCoordinate  exitCoordinate              (void) const final { return coordinate(); }
    double          editableAlt                 (void) const final;
    double          amslEntryAlt                (void) const final;
    double          amslExitAlt                 (void) const final { return amslEntryAlt(); }
    int             sequenceNumber              (void) const final { return _missionItem.sequenceNumber(); }
    double          specifiedFlightSpeed        (void) override;
    double          specifiedGimbalYaw          (void) override;
    double          specifiedGimbalPitch        (void) override;
    double          specifiedVehicleYaw         (void) override;
    QString         mapVisualQML                (void) const override { return QStringLiteral("SimpleItemMapVisual.qml"); }
    void            appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
    void            applyNewAltitude            (double newAltitude) final;
    void            setMissionFlightStatus      (MissionFlightStatus_t& missionFlightStatus) final;
    ReadyForSaveState readyForSaveState         (void) const final;
    double          additionalTimeDelay         (void) const final;
    bool            exitCoordinateSameAsEntry   (void) const final { return true; }
 
    void setDirty           (bool dirty) final;
    void setCoordinate      (const QGeoCoordinate& coordinate) override;
    void setSequenceNumber  (int sequenceNumber) final;
    int  lastSequenceNumber (void) const final;
    void save               (QJsonArray&  missionItems) final;
 
signals:
    void commandChanged             (int command);
    void friendlyEditAllowedChanged (bool friendlyEditAllowed);
    void headingDegreesChanged      (double heading);
    void rawEditChanged             (bool rawEdit);
    void cameraSectionChanged       (QObject* cameraSection);
    void speedSectionChanged        (QObject* cameraSection);
    void altitudeFrameChanged        (void);
    void isLoiterItemChanged        (void);
    void showLoiterRadiusChanged    (void);
    void loiterRadiusChanged        (double loiterRadius);
 
private slots:
    void _setDirty                              (void);
    void _sectionDirtyChanged                   (bool dirty);
    void _sendCommandChanged                    (void);
    void _sendCoordinateChanged                 (void);
    void _sendFriendlyEditAllowedChanged        (void);
    void _altitudeChanged                       (void);
    void _altitudeFrameChanged                   (void);
    void _terrainAltChanged                     (void);
    void _updateLastSequenceNumber              (void);
    void _rebuildFacts                          (void);
    void _rebuildTextFieldFacts                 (void);
    void _possibleAdditionalTimeDelayChanged    (void);
    void _setDefaultsForCommand                 (void);
    void _possibleVehicleYawChanged             (void);
    void _signalIfVTOLTransitionCommand         (void);
    void _possibleRadiusChanged                 (void);
 
private:
    void _connectSignals        (void);
    void _setupMetaData         (void);
    void _updateOptionalSections(void);
    void _rebuildNaNFacts       (void);
    void _rebuildComboBoxFacts  (void);
 
    MissionItem     _missionItem;
    bool            _rawEdit =                  false;
    bool            _dirty =                    false;
    bool            _ignoreDirtyChangeSignals = false;
    QGeoCoordinate  _mapCenterHint;
    SpeedSection*   _speedSection =             nullptr;
    CameraSection*  _cameraSection =             nullptr;
 
    bool _syncingHeadingDegreesAndParam4 = false;   
 
    Fact                _supportedCommandFact;
 
    QGroundControlQmlGlobal::AltitudeFrame    _altitudeFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
    Fact                                _altitudeFact;
    Fact                                _amslAltAboveTerrainFact;
 
    QmlObjectListModel  _textFieldFacts;
    QmlObjectListModel  _textFieldFactsAdvanced;
    QmlObjectListModel  _nanFacts;
    QmlObjectListModel  _nanFactsAdvanced;
    QmlObjectListModel  _comboboxFacts;
    QmlObjectListModel  _comboboxFactsAdvanced;
 
    static FactMetaData*    _altitudeMetaData;
    static FactMetaData*    _commandMetaData;
    static FactMetaData*    _defaultParamMetaData;
    static FactMetaData*    _frameMetaData;
    static FactMetaData*    _latitudeMetaData;
    static FactMetaData*    _longitudeMetaData;
 
    FactMetaData    _param1MetaData;
    FactMetaData    _param2MetaData;
    FactMetaData    _param3MetaData;
    FactMetaData    _param4MetaData;
    FactMetaData    _param5MetaData;
    FactMetaData    _param6MetaData;
    FactMetaData    _param7MetaData;
 
    static constexpr const char* _jsonAltitudeModeKey =           "AltitudeMode";
    static constexpr const char* _jsonAltitudeKey =               "Altitude";
    static constexpr const char* _jsonAMSLAltAboveTerrainKey =    "AMSLAltAboveTerrain";
 
    struct EnumInfo_s {
        const char *    label;
        MAV_FRAME       frame;
    };
 
    static constexpr const struct EnumInfo_s _rgMavFrameInfo[] = {
        { "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
        { "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
        { "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
        { "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
        { "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
        { "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
        { "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
        { "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
        { "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
        { "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
        { "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
        { "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
    };
};