VTOLLandingPatternMapVisual.qml

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import QtQuick
import QtQuick.Controls
import QtLocation
import QtPositioning
import QtQuick.Layouts
 
import QGroundControl
import QGroundControl.Controls
import QGroundControl.FlightMap
 
Item {
    id: _root
 
    property var map        ///< Map control to place item in
 
    signal clicked(int sequenceNumber)
 
    readonly property real _landingWidthMeters:     15
    readonly property real _landingLengthMeters:    100
 
    property var    _missionItem:               object
    property var    _mouseArea
    property var    _dragAreas:                 [ ]
    property var    _flightPath
    property var    _loiterPointObject
    property var    _landingPointObject
    property bool   _useLoiterToAlt:            _missionItem.useLoiterToAlt.rawValue
    property real   _landingAreaBearing:        _missionItem.landingCoordinate.azimuthTo(_missionItem.slopeStartCoordinate)
 
    function hideItemVisuals() {
        objMgr.destroyObjects()
    }
 
    function showItemVisuals() {
        if (objMgr.rgDynamicObjects.length === 0) {
            _loiterPointObject = objMgr.createObject(finalApproachPointComponent, map, true /* parentObjectIsMap */)
            _landingPointObject = objMgr.createObject(landingPointComponent, map, true /* parentObjectIsMap */)
 
            var rgComponents = [ flightPathComponent, loiterRadiusComponent ]
            objMgr.createObjects(rgComponents, map, true /* parentObjectIsMap */)
        }
    }
 
    function hideMouseArea() {
        if (_mouseArea) {
            _mouseArea.destroy()
            _mouseArea = undefined
        }
    }
 
    function showMouseArea() {
        if (!_mouseArea) {
            _mouseArea = mouseAreaComponent.createObject(map)
        }
    }
 
    function hideDragAreas() {
        for (var i=0; i<_dragAreas.length; i++) {
            _dragAreas[i].destroy()
        }
        _dragAreas = [ ]
    }
 
    function showDragAreas() {
        if (_dragAreas.length === 0) {
            _dragAreas.push(loiterDragAreaComponent.createObject(map))
            _dragAreas.push(landDragAreaComponent.createObject(map))
        }
    }
 
    function _setFlightPath() {
        if (_useLoiterToAlt) {
            _flightPath = [ _missionItem.slopeStartCoordinate, _missionItem.landingCoordinate ]
        } else {
            _flightPath = [ _missionItem.finalApproachCoordinate, _missionItem.landingCoordinate ]
        }
    }
 
    QGCDynamicObjectManager {
        id: objMgr
    }
 
    Component.onCompleted: {
        if (_missionItem.landingCoordSet) {
            showItemVisuals()
            if (!_missionItem.flyView && _missionItem.isCurrentItem) {
                showDragAreas()
            }
            _setFlightPath()
        } else if (!_missionItem.flyView && _missionItem.isCurrentItem) {
            showMouseArea()
        }
    }
 
    Component.onDestruction: {
        hideDragAreas()
        hideMouseArea()
        hideItemVisuals()
    }
 
    on_UseLoiterToAltChanged: _setFlightPath()
 
    Connections {
        target: _missionItem
 
        onIsCurrentItemChanged: {
            if (_missionItem.flyView) {
                return
            }
            if (_missionItem.isCurrentItem) {
                if (_missionItem.landingCoordSet) {
                    showDragAreas()
                } else {
                    showMouseArea()
                }
            } else {
                hideMouseArea()
                hideDragAreas()
            }
        }
 
        onLandingCoordSetChanged: {
            if (_missionItem.flyView) {
                return
            }
            if (_missionItem.landingCoordSet) {
                hideMouseArea()
                showItemVisuals()
                showDragAreas()
                _setFlightPath()
            } else if (_missionItem.isCurrentItem) {
                hideDragAreas()
                showMouseArea()
            }
        }
 
        onLandingCoordinateChanged:         _setFlightPath()
        onSlopeStartCoordinateChanged:      _setFlightPath()
        onFinalApproachCoordinateChanged:   _setFlightPath()
    }
 
    // Mouse area to capture landing point coordindate
    Component {
        id:  mouseAreaComponent
 
        MouseArea {
            anchors.fill:   map
            z:              QGroundControl.zOrderMapItems + 1   // Over item indicators
 
            readonly property int   _decimalPlaces:             8
 
            onClicked: (mouse) => {
                var coordinate = map.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)
                _missionItem.landingCoordinate = coordinate
                _missionItem.setLandingHeadingToTakeoffHeading()
            }
        }
    }
 
    // Control which is used to drag the final approach point
    Component {
        id: loiterDragAreaComponent
 
        MissionItemIndicatorDrag {
            mapControl:     _root.map
            itemIndicator:  _loiterPointObject
            itemCoordinate: _missionItem.finalApproachCoordinate
 
            property bool _preventReentrancy: false
 
            onItemCoordinateChanged: {
                if (!_preventReentrancy) {
                    if (Drag.active) {
                        _preventReentrancy = true
                        var angle = _missionItem.landingCoordinate.azimuthTo(itemCoordinate)
                        var distance = _missionItem.landingCoordinate.distanceTo(_missionItem.finalApproachCoordinate)
                        _missionItem.finalApproachCoordinate = _missionItem.landingCoordinate.atDistanceAndAzimuth(distance, angle)
                        _preventReentrancy = false
                    }
                }
            }
        }
    }
 
    // Control which is used to drag the landing point
    Component {
        id: landDragAreaComponent
 
        MissionItemIndicatorDrag {
            mapControl:     _root.map
            itemIndicator:  _landingPointObject
            itemCoordinate: _missionItem.landingCoordinate
 
            onItemCoordinateChanged: _missionItem.landingCoordinate = itemCoordinate
        }
    }
 
    // Flight path
    Component {
        id: flightPathComponent
 
        MapPolyline {
            z:          QGroundControl.zOrderMapItems - 1   // Under item indicators
            line.color: "#be781c"
            line.width: 2
            path:       _flightPath
        }
    }
 
    // Final approach point
    Component {
        id: finalApproachPointComponent
 
        MapQuickItem {
            anchorPoint.x:  sourceItem.anchorPointX
            anchorPoint.y:  sourceItem.anchorPointY
            z:              QGroundControl.zOrderMapItems
            coordinate:     _missionItem.finalApproachCoordinate
 
            sourceItem:
                MissionItemIndexLabel {
                index:      _missionItem.sequenceNumber
                label:      _useLoiterToAlt ? qsTr("Loiter") : qsTr("Approach")
                checked:    _missionItem.isCurrentItem
 
                onClicked: _root.clicked(_missionItem.sequenceNumber)
            }
        }
    }
 
    // Landing point
    Component {
        id: landingPointComponent
 
        MapQuickItem {
            anchorPoint.x:  sourceItem.anchorPointX
            anchorPoint.y:  sourceItem.anchorPointY
            z:              QGroundControl.zOrderMapItems
            coordinate:     _missionItem.landingCoordinate
 
            sourceItem:
                MissionItemIndexLabel {
                index:      _missionItem.lastSequenceNumber
                label:      qsTr("Land")
                checked:    _missionItem.isCurrentItem
 
                onClicked: _root.clicked(_missionItem.sequenceNumber)
            }
        }
    }
 
    Component {
        id: loiterRadiusComponent
 
        MapCircle {
            z:              QGroundControl.zOrderMapItems
            center:         _missionItem.finalApproachCoordinate
            radius:         _missionItem.loiterRadius.rawValue
            border.width:   2
            border.color:   "green"
            color:          "transparent"
            visible:        _useLoiterToAlt
        }
    }
}