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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "FixedWingLandingComplexItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
#include "QGroundControlQmlGlobal.h"
#include <QPolygonF>
QGC_LOGGING_CATEGORY(FixedWingLandingComplexItemLog, "FixedWingLandingComplexItemLog")
const char* FixedWingLandingComplexItem::jsonComplexItemTypeValue = "fwLandingPattern";
QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
{
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), NULL /* metaDataParent */);
}
}
int FixedWingLandingComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber;
}
void FixedWingLandingComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_coordinate != coordinate) {
_coordinate = coordinate;
emit coordinateChanged(_coordinate);
}
}
void FixedWingLandingComplexItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
}
void FixedWingLandingComplexItem::save(QJsonObject& saveObject) const
{
saveObject[JsonHelper::jsonVersionKey] = 1;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
// FIXME: Need real implementation
}
void FixedWingLandingComplexItem::setSequenceNumber(int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(sequenceNumber);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
}
bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
// FIXME: Need real implementation
Q_UNUSED(complexObject);
Q_UNUSED(sequenceNumber);
errorString = "NYI";
return false;
}
double FixedWingLandingComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
// FIXME: Need real implementation
Q_UNUSED(other);
double greatestDistance = 0.0;
#if 0
for (int i=0; i<_gridPoints.count(); i++) {
QGeoCoordinate currentCoord = _gridPoints[i].value<QGeoCoordinate>();
double distance = currentCoord.distanceTo(other);
if (distance > greatestDistance) {
greatestDistance = distance;
}
}
#endif
return greatestDistance;
}
void FixedWingLandingComplexItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
{
if (_exitCoordinate != coordinate) {
_exitCoordinate = coordinate;
emit exitCoordinateChanged(coordinate);
}
}
bool FixedWingLandingComplexItem::specifiesCoordinate(void) const
{
return true;
}
QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
{
// FIXME: Need real implementation
QmlObjectListModel* pMissionItems = new QmlObjectListModel;
#if 0
int seqNum = _sequenceNumber;
for (int i=0; i<_gridPoints.count(); i++) {
QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
double altitude = _gridAltitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_NAV_WAYPOINT, // MAV_CMD
_gridAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, // param 1-4
coord.latitude(),
coord.longitude(),
altitude,
true, // autoContinue
false, // isCurrentItem
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
if (_cameraTrigger && i == 0) {
// Turn on camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
_cameraTriggerDistanceFact.rawValue().toDouble(), // trigger distance
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
true, // autoContinue
false, // isCurrentItem
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
}
}
if (_cameraTrigger) {
// Turn off camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
0.0, // trigger distance
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
true, // autoContinue
false, // isCurrentItem
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
}
#endif
return pMissionItems;
}
double FixedWingLandingComplexItem::complexDistance(void) const
{
// FIXME: Need real implementation
return 0;
}
void FixedWingLandingComplexItem::setCruiseSpeed(double cruiseSpeed)
{
// FIXME: Need real implementation
Q_UNUSED(cruiseSpeed);
}