TakeoffMissionItem.h

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#pragma once
 
#include "SimpleMissionItem.h"
 
class PlanMasterController;
class MissionSettingsItem;
class Vehicle;
 
 
class TakeoffMissionItem : public SimpleMissionItem
{
    Q_OBJECT
 
public:
    // Note: forLoad = true indicates that TakeoffMissionItem::load will be called onthe item
    TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
    TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
    TakeoffMissionItem(const MissionItem& missionItem, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
 
    Q_PROPERTY(QGeoCoordinate   launchCoordinate            READ launchCoordinate               WRITE _setLaunchCoordinate              NOTIFY launchCoordinateChanged)
    Q_PROPERTY(bool             launchTakeoffAtSameLocation READ launchTakeoffAtSameLocation    WRITE _setLaunchTakeoffAtSameLocation   NOTIFY launchTakeoffAtSameLocationChanged)
 
    QGeoCoordinate launchCoordinate(void) const;
    bool launchTakeoffAtSameLocation(void) const { return _launchTakeoffAtSameLocation; }
 
    static bool isTakeoffCommand(MAV_CMD command);
    static bool isVTOLMulticopterTakeoff(Vehicle* vehicle, MAV_CMD command);
 
    ~TakeoffMissionItem();
 
    // Overrides from VisualMissionItem
    void setCoordinate(const QGeoCoordinate& coordinate) override;
    bool isTakeoffItem(void) const final { return true; }
    QString commandDescription(void) const final;
    QString commandName(void) const final;
    double specifiedFlightSpeed(void) final { return std::numeric_limits<double>::quiet_NaN(); }
    double specifiedGimbalYaw(void) final { return std::numeric_limits<double>::quiet_NaN(); }
    double specifiedGimbalPitch(void) final { return std::numeric_limits<double>::quiet_NaN(); }
    QString mapVisualQML(void) const override { return QStringLiteral("TakeoffItemMapVisual.qml"); }
 
    // Overrides from SimpleMissionItem
    bool load(QTextStream &loadStream) final;
    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString) final;
 
    //void setDirty(bool dirty) final;
 
signals:
    void launchCoordinateChanged(const QGeoCoordinate& launchCoordinate);
    void launchTakeoffAtSameLocationChanged(bool launchTakeoffAtSameLocation);
 
private:
    void _init(bool forLoad);
    void _initLaunchTakeoffAtSameLocation(void);
    void _setLaunchCoordinate(const QGeoCoordinate& launchCoordinate);
    void _setLaunchTakeoffAtSameLocation(bool launchTakeoffAtSameLocation);
 
 
    MissionSettingsItem* _settingsItem;
    bool _launchTakeoffAtSameLocation = true;
};