VisualMissionItem.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtPositioning/QGeoCoordinate>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MissionFlightStatus.h"
#include "QGCGeoBoundingCube.h"
#include "QGCMAVLinkTypes.h"
#include "QmlObjectListModel.h"
 
class FlightPathSegment;
class MissionController;
class MissionItem;
class PlanMasterController;
class TerrainAtCoordinateQuery;
class Vehicle;
 
// Abstract base class for all Simple and Complex visual mission objects.
class VisualMissionItem : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    Q_MOC_INCLUDE("PlanMasterController.h")
 
public:
    VisualMissionItem(PlanMasterController* masterController, bool flyView);
    VisualMissionItem(const VisualMissionItem& other, bool flyView);
 
    ~VisualMissionItem();
 
    const VisualMissionItem& operator=(const VisualMissionItem& other);
 
    enum ReadyForSaveState {
        ReadyForSave,
        NotReadyForSaveTerrain,
        NotReadyForSaveData,
    };
    Q_ENUM(ReadyForSaveState)
 
    Q_PROPERTY(bool             homePosition                        READ homePosition                                                       CONSTANT)                                           
    Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate             NOTIFY coordinateChanged)                           
    Q_PROPERTY(double           amslEntryAlt                        READ amslEntryAlt                                                       NOTIFY amslEntryAltChanged)
    Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                    NOTIFY terrainAltitudeChanged)                      
    Q_PROPERTY(bool             terrainQueryFailed                  READ terrainQueryFailed                                                 NOTIFY terrainQueryFailedChanged)                    
    Q_PROPERTY(QGeoCoordinate   entryCoordinate                     READ entryCoordinate                                                    NOTIFY entryCoordinateChanged)                      
    Q_PROPERTY(QGeoCoordinate   exitCoordinate                      READ exitCoordinate                                                     NOTIFY exitCoordinateChanged)                       
    Q_PROPERTY(double           amslExitAlt                         READ amslExitAlt                                                        NOTIFY amslExitAltChanged)
    Q_PROPERTY(bool             exitCoordinateSameAsEntry           READ exitCoordinateSameAsEntry                                          NOTIFY exitCoordinateSameAsEntryChanged)            
    Q_PROPERTY(QString          commandDescription                  READ commandDescription                                                 NOTIFY commandDescriptionChanged)
    Q_PROPERTY(QString          commandName                         READ commandName                                                        NOTIFY commandNameChanged)
    Q_PROPERTY(QString          abbreviation                        READ abbreviation                                                       NOTIFY abbreviationChanged)
    Q_PROPERTY(bool             dirty                               READ dirty                              WRITE setDirty                  NOTIFY dirtyChanged)                                
    Q_PROPERTY(bool             isCurrentItem                       READ isCurrentItem                      WRITE setIsCurrentItem          NOTIFY isCurrentItemChanged)
    Q_PROPERTY(bool             hasCurrentChildItem                 READ hasCurrentChildItem                WRITE setHasCurrentChildItem    NOTIFY hasCurrentChildItemChanged)                  
    Q_PROPERTY(int              sequenceNumber                      READ sequenceNumber                     WRITE setSequenceNumber         NOTIFY sequenceNumberChanged)
    Q_PROPERTY(int              lastSequenceNumber                  READ lastSequenceNumber                                                 NOTIFY lastSequenceNumberChanged)
    Q_PROPERTY(bool             specifiesCoordinate                 READ specifiesCoordinate                                                NOTIFY specifiesCoordinateChanged)                  
    Q_PROPERTY(bool             isStandaloneCoordinate              READ isStandaloneCoordinate                                             NOTIFY isStandaloneCoordinateChanged)               
    Q_PROPERTY(bool             specifiesAltitudeOnly               READ specifiesAltitudeOnly                                              NOTIFY specifiesAltitudeOnlyChanged)                
    Q_PROPERTY(bool             isSimpleItem                        READ isSimpleItem                                                       NOTIFY isSimpleItemChanged)                         
    Q_PROPERTY(bool             isTakeoffItem                       READ isTakeoffItem                                                      NOTIFY isTakeoffItemChanged)                        
    Q_PROPERTY(bool             isLandCommand                       READ isLandCommand                                                      NOTIFY isLandCommandChanged)
    Q_PROPERTY(bool             isSurveyItem                        READ isSurveyItem                                                       )                                                   
    Q_PROPERTY(QString          editorQml                           MEMBER _editorQml                                                       CONSTANT)                                           
    Q_PROPERTY(QString          mapVisualQML                        READ mapVisualQML                                                       CONSTANT)                                           
    Q_PROPERTY(QString          geoMapVisualQML                     READ geoMapVisualQML                                                    CONSTANT)                                           
    Q_PROPERTY(double           specifiedFlightSpeed                READ specifiedFlightSpeed                                               NOTIFY specifiedFlightSpeedChanged)                 
    Q_PROPERTY(double           specifiedGimbalYaw                  READ specifiedGimbalYaw                                                 NOTIFY specifiedGimbalYawChanged)                   
    Q_PROPERTY(double           specifiedGimbalPitch                READ specifiedGimbalPitch                                               NOTIFY specifiedGimbalPitchChanged)                 
    Q_PROPERTY(double           specifiedVehicleYaw                 READ specifiedVehicleYaw                                                NOTIFY specifiedVehicleYawChanged)                  
    Q_PROPERTY(double           missionGimbalYaw                    READ missionGimbalYaw                                                   NOTIFY missionGimbalYawChanged)                     
    Q_PROPERTY(double           missionVehicleYaw                   READ missionVehicleYaw                                                  NOTIFY missionVehicleYawChanged)                    
    Q_PROPERTY(bool             flyView                             READ flyView                                                            CONSTANT)
    Q_PROPERTY(bool             wizardMode                          READ wizardMode                         WRITE setWizardMode             NOTIFY wizardModeChanged)
    Q_PROPERTY(int              previousVTOLMode                    MEMBER _previousVTOLMode                                                NOTIFY previousVTOLModeChanged)                     
 
    Q_PROPERTY(PlanMasterController*    masterController    READ masterController                                                   CONSTANT)
    Q_PROPERTY(ReadyForSaveState        readyForSaveState   READ readyForSaveState                                                  NOTIFY readyForSaveStateChanged)
    Q_PROPERTY(VisualMissionItem*       parentItem          READ parentItem                        WRITE setParentItem              NOTIFY parentItemChanged)
    Q_PROPERTY(QmlObjectListModel*      childItems          READ childItems                                                         CONSTANT)
    Q_PROPERTY(QGCGeoBoundingCube*      boundingCube        READ boundingCube                                                       NOTIFY boundingCubeChanged)
 
    // The following properties are calculated/set by the MissionController recalc methods
 
    Q_PROPERTY(double altDifference     READ altDifference          WRITE setAltDifference      NOTIFY altDifferenceChanged)        
    Q_PROPERTY(double altPercent        READ altPercent             WRITE setAltPercent         NOTIFY altPercentChanged)           
    Q_PROPERTY(double terrainPercent    READ terrainPercent         WRITE setTerrainPercent     NOTIFY terrainPercentChanged)       
    Q_PROPERTY(bool   terrainCollision  READ terrainCollision       WRITE setTerrainCollision   NOTIFY terrainCollisionChanged)     
    Q_PROPERTY(double azimuth           READ azimuth                WRITE setAzimuth            NOTIFY azimuthChanged)              
    Q_PROPERTY(double distance          READ distance               WRITE setDistance           NOTIFY distanceChanged)             
    Q_PROPERTY(double distanceFromStart READ distanceFromStart      WRITE setDistanceFromStart  NOTIFY distanceFromStartChanged)    
 
    // Property accesors
    bool    homePosition        (void) const { return _homePositionSpecialCase; }
    double  altDifference       (void) const { return _altDifference; }
    double  altPercent          (void) const { return _altPercent; }
    double  terrainPercent      (void) const { return _terrainPercent; }
    bool    terrainCollision    (void) const { return _terrainCollision; }
    double  azimuth             (void) const { return _azimuth; }
    double  distance            (void) const { return _distance; }
    double  distanceFromStart   (void) const { return _distanceFromStart; }
    bool    isCurrentItem       (void) const { return _isCurrentItem; }
    bool    hasCurrentChildItem (void) const { return _hasCurrentChildItem; }
    double  terrainAltitude     (void) const { return _terrainAltitude; }
    bool    terrainQueryFailed   (void) const { return _terrainQueryFailed; }
    bool    flyView             (void) const { return _flyView; }
    bool    wizardMode          (void) const { return _wizardMode; }
    VisualMissionItem* parentItem(void) { return _parentItem; }
 
    QmlObjectListModel* childItems(void) { return &_childItems; }
 
    void setIsCurrentItem           (bool isCurrentItem);
    void setHasCurrentChildItem     (bool hasCurrentChildItem);
    void setAltDifference           (double altDifference);
    void setAltPercent              (double altPercent);
    void setTerrainPercent          (double terrainPercent);
    void setTerrainCollision        (bool terrainCollision);
    void setAzimuth                 (double azimuth);
    void setDistance                (double distance);
    void setDistanceFromStart       (double distanceFromStart);
    void setWizardMode              (bool wizardMode);
    void setParentItem              (VisualMissionItem* parentItem);
 
    void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
 
    FlightPathSegment* simpleFlightPathSegment(void) { return _simpleFlightPathSegment; }
    void setSimpleFlighPathSegment  (FlightPathSegment* segment) { _simpleFlightPathSegment = segment; }
    void clearSimpleFlighPathSegment(void) { _simpleFlightPathSegment = nullptr; }
 
    PlanMasterController* masterController(void) { return _masterController; }
 
    // Pure virtuals which must be provides by derived classes
 
    virtual bool            dirty                   (void) const = 0;
    virtual bool            isSimpleItem            (void) const = 0;
    virtual bool            isTakeoffItem           (void) const { return false; }
    virtual bool            isLandCommand           (void) const { return false; }
    virtual bool            isSurveyItem            (void) const { return false; }
    virtual bool            isStandaloneCoordinate  (void) const = 0;
    virtual bool            specifiesCoordinate     (void) const = 0;
    virtual bool            specifiesAltitudeOnly   (void) const = 0;
    virtual QString         commandDescription      (void) const = 0;
    virtual QString         commandName             (void) const = 0;
    virtual QString         abbreviation            (void) const = 0;
    virtual QGeoCoordinate  coordinate              (void) const = 0;
    virtual QGeoCoordinate  entryCoordinate         (void) const = 0;
    virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
    virtual double          editableAlt             (void) const = 0;
    virtual double          amslEntryAlt            (void) const = 0;
    virtual double          amslExitAlt             (void) const = 0;
    virtual int             sequenceNumber          (void) const = 0;
    virtual double          specifiedFlightSpeed    (void) = 0;
    virtual double          specifiedGimbalYaw      (void) = 0;
    virtual double          specifiedGimbalPitch    (void) = 0;
    virtual double          specifiedVehicleYaw     (void) { return qQNaN(); }
 
    //-- Default implementation returns an invalid bounding cube
    virtual QGCGeoBoundingCube* boundingCube        (void) { return &_boundingCube; }
 
    virtual void setMissionFlightStatus(MissionFlightStatus_t& missionFlightStatus);
 
    virtual bool exitCoordinateSameAsEntry          (void) const = 0;
 
    virtual void setDirty           (bool dirty) = 0;
    virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
    virtual void setSequenceNumber  (int sequenceNumber) = 0;
    virtual int  lastSequenceNumber (void) const = 0;
 
    virtual ReadyForSaveState readyForSaveState(void) const { return ReadyForSave; }
 
    virtual void save(QJsonArray&  missionItems) = 0;
 
    virtual QString mapVisualQML(void) const = 0;
 
    virtual QString geoMapVisualQML(void) const { return QString(); }
 
    virtual bool terrainAltitudeRequiredInFlyView(void) const { return false; }
 
    virtual void appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) = 0;
 
    virtual void applyNewAltitude(double newAltitude) = 0;
 
    virtual double additionalTimeDelay(void) const = 0;
 
    double  missionGimbalYaw    (void) const { return _missionGimbalYaw; }
    double  missionVehicleYaw   (void) const { return _missionVehicleYaw; }
    void    setMissionVehicleYaw(double vehicleYaw);
 
    static constexpr const char* jsonTypeKey =                "type"; 
    static constexpr const char* jsonTypeSimpleItemValue =    "SimpleItem"; 
    static constexpr const char* jsonTypeComplexItemValue =   "ComplexItem"; 
 
signals:
    void altDifferenceChanged           (double altDifference);
    void altPercentChanged              (double altPercent);
    void terrainPercentChanged          (double terrainPercent);
    void terrainCollisionChanged        (bool terrainCollision);
    void azimuthChanged                 (double azimuth);
    void commandDescriptionChanged      (void);
    void commandNameChanged             (void);
    void abbreviationChanged            (void);
    void coordinateChanged              (const QGeoCoordinate& coordinate);
    void entryCoordinateChanged         (const QGeoCoordinate& entryCoordinate);
    void exitCoordinateChanged          (const QGeoCoordinate& exitCoordinate);
    void dirtyChanged                   (bool dirty);
    void distanceChanged                (double distance);
    void distanceFromStartChanged       (double distanceFromStart);
    void isCurrentItemChanged           (bool isCurrentItem);
    void hasCurrentChildItemChanged     (bool hasCurrentChildItem);
    void sequenceNumberChanged          (int sequenceNumber);
    void isSimpleItemChanged            (bool isSimpleItem);
    void isTakeoffItemChanged           (bool isTakeoffItem);
    void isLandCommandChanged           (void);
    void specifiesCoordinateChanged     (void);
    void isStandaloneCoordinateChanged  (void);
    void specifiesAltitudeOnlyChanged   (void);
    void specifiedFlightSpeedChanged    (void);
    void specifiedGimbalYawChanged      (void);
    void specifiedGimbalPitchChanged    (void);
    void specifiedVehicleYawChanged     (void);
    void lastSequenceNumberChanged      (int sequenceNumber);
    void missionGimbalYawChanged        (double missionGimbalYaw);
    void missionVehicleYawChanged       (double missionVehicleYaw);
    void terrainAltitudeChanged         (double terrainAltitude);
    void terrainQueryFailedChanged       (bool terrainQueryFailed);
    void additionalTimeDelayChanged     (void);
    void boundingCubeChanged            (void);
    void readyForSaveStateChanged       (void);
    void wizardModeChanged              (bool wizardMode);
    void parentItemChanged              (VisualMissionItem* parentItem);
    void amslEntryAltChanged            (double alt);
    void amslExitAltChanged             (double alt);
    void previousVTOLModeChanged        (void);
    void currentVTOLModeChanged         (void);                             
 
    void exitCoordinateSameAsEntryChanged           (bool exitCoordinateSameAsEntry);
 
protected slots:
    void _amslEntryAltChanged(void);    // signals new amslEntryAlt value
    void _amslExitAltChanged(void);     // signals new amslExitAlt value
 
protected:
    bool                         _flyView                   = false;
    bool                        _isCurrentItem              = false;
    bool                        _hasCurrentChildItem        = false;
    bool                        _dirty                      = false;
    bool                        _homePositionSpecialCase    = false;                            
    bool                        _wizardMode                 = false;                            
    double                      _terrainAltitude            = qQNaN();                          
    bool                        _terrainQueryFailed         = false;                            
    double                      _altDifference              = 0;                                
    double                      _altPercent                 = 0;                                
    double                      _terrainPercent             = qQNaN();                          
    bool                        _terrainCollision           = false;                            
    double                      _azimuth                    = 0;                                
    double                      _distance                   = 0;                                
    double                      _distanceFromStart          = 0;                                
    QString                     _editorQml;                                                     
    double                      _missionGimbalYaw           = qQNaN();
    double                      _missionVehicleYaw          = qQNaN();
    QGCMAVLinkTypes::VehicleClass_t  _previousVTOLMode           = QGCMAVLinkTypes::VehicleClassGeneric;  
 
    PlanMasterController*   _masterController           = nullptr;
    MissionController*      _missionController          = nullptr;
    Vehicle*                _controllerVehicle          = nullptr;
    FlightPathSegment *     _simpleFlightPathSegment    = nullptr;  
    VisualMissionItem*      _parentItem                 = nullptr;
    QGCGeoBoundingCube      _boundingCube;                          
 
    QmlObjectListModel  _childItems;
 
protected:
    void    _setBoundingCube                (QGCGeoBoundingCube bc);
 
private slots:
    void _updateTerrainAltitude (void);
    void _reallyUpdateTerrainAltitude (void);
    void _terrainDataReceived   (bool success, QList<double> heights);
 
private:
    void _commonInit(void);
 
    QTimer                      _updateTerrainTimer;
    TerrainAtCoordinateQuery*   _currentTerrainAtCoordinateQuery = nullptr;
 
    double _lastLatTerrainQuery = 0;
    double _lastLonTerrainQuery = 0;
};