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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MissionItem_H
#define MissionItem_H
#include <QObject>
#include <QString>
#include <QtQml>
#include <QTextStream>
#include <QGeoCoordinate>
#include <QJsonObject>
#include <QJsonValue>
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MavlinkQmlSingleton.h"
#include "QmlObjectListModel.h"
#include "Fact.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
class MissionItem : public QObject
{
Q_OBJECT
public:
MissionItem(QObject* parent = NULL);
MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent = NULL);
MissionItem(const MissionItem& other, QObject* parent = NULL);
~MissionItem();
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged) ///< true: Home position should be shown
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(Fact* supportedCommand READ supportedCommand NOTIFY commandChanged)
// These properties are used to display the editing ui
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* comboboxFacts READ comboboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* textFieldFacts READ textFieldFacts NOTIFY uiModelChanged)
/// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
/// are shown next to the part item in the ui.
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
Q_INVOKABLE void setDefaultsForCommand(void);
// Property accesors
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
QString commandDescription (void) const;
QString commandName (void) const;
QGeoCoordinate coordinate (void) const;
bool dirty (void) const { return _dirty; }
double distance (void) const { return _distance; }
bool friendlyEditAllowed (void) const;
bool homePosition (void) const { return _homePositionSpecialCase; }
bool homePositionValid (void) const { return _homePositionValid; }
bool isCurrentItem (void) const { return _isCurrentItem; }
bool rawEdit (void) const;
int sequenceNumber (void) const { return _sequenceNumber; }
bool specifiesCoordinate (void) const;
Fact* supportedCommand (void) { return &_supportedCommandFact; }
QmlObjectListModel* textFieldFacts (void);
QmlObjectListModel* checkboxFacts (void);
QmlObjectListModel* comboboxFacts (void);
QmlObjectListModel* childItems (void) { return &_childItems; }
void setRawEdit(bool rawEdit);
void setDirty(bool dirty);
void setSequenceNumber(int sequenceNumber);
void setIsCurrentItem(bool isCurrentItem);
void setCoordinate(const QGeoCoordinate& coordinate);
void setCommandByIndex(int index);
void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
void setHomePositionValid(bool homePositionValid);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setDistance(double distance);
// C++ only methods
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.value().toInt(); }
bool autoContinue(void) const { return _autoContinueFact.value().toBool(); }
double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
double param4 (void) const { return _param4Fact.rawValue().toDouble(); }
double param5 (void) const { return _param5Fact.rawValue().toDouble(); }
double param6 (void) const { return _param6Fact.rawValue().toDouble(); }
double param7 (void) const { return _param7Fact.rawValue().toDouble(); }
void setCommand (MAV_CMD command);
void setFrame (MAV_FRAME frame);
void setAutoContinue(bool autoContinue);
void setParam1 (double param1);
void setParam2 (double param2);
void setParam3 (double param3);
void setParam4 (double param4);
void setParam5 (double param5);
void setParam6 (double param6);
void setParam7 (double param7);
// C++ only methods
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
static const double defaultTakeoffPitch;
static const double defaultHeading;
static const double defaultAltitude;
static const double defaultAcceptanceRadius;
static const double defaultLoiterOrbitRadius;
static const double defaultLoiterTurns;
signals:
void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command);
void coordinateChanged (const QGeoCoordinate& coordinate);
void dirtyChanged (bool dirty);
void distanceChanged (float distance);
void frameChanged (int frame);
void friendlyEditAllowedChanged (bool friendlyEditAllowed);
void headingDegreesChanged (double heading);
void homePositionValidChanged (bool homePostionValid);
void isCurrentItemChanged (bool isCurrentItem);
void rawEditChanged (bool rawEdit);
void sequenceNumberChanged (int sequenceNumber);
void uiModelChanged (void);
private slots:
void _setDirtyFromSignal(void);
void _sendCommandChanged(void);
void _sendCoordinateChanged(void);
void _sendFrameChanged(void);
void _sendFriendlyEditAllowedChanged(void);
void _sendUiModelChanged(void);
void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
void _syncCommandToSupportedCommand(const QVariant& value);
void _syncFrameToAltitudeRelativeToHome(void);
void _syncSupportedCommandToCommand(const QVariant& value);
private:
void _clearParamMetaData(void);
void _connectSignals(void);
bool _loadMavCmdInfoJson(void);
void _setupMetaData(void);
bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types);
static QVariant _degreesToRadians(const QVariant& degrees);
static QVariant _radiansToDegrees(const QVariant& radians);
private:
typedef struct {
QString label;
QString units;
int decimalPlaces;
} ParamInfo_t;
typedef struct {
MAV_CMD command;
QString rawName;
QString friendlyName;
QString description;
bool specifiesCoordinate;
bool friendlyEdit;
QMap<int, ParamInfo_t> paramInfoMap;
} MavCmdInfo_t;
bool _rawEdit;
bool _dirty;
int _sequenceNumber;
bool _isCurrentItem;
double _distance; ///< Distance to previous waypoint
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
bool _homePositionValid; ///< true: Home psition should be displayed
Fact _altitudeRelativeToHomeFact;
Fact _autoContinueFact;
Fact _commandFact;
Fact _frameFact;
Fact _param1Fact;
Fact _param2Fact;
Fact _param3Fact;
Fact _param4Fact;
Fact _param5Fact;
Fact _param6Fact;
Fact _param7Fact;
Fact _supportedCommandFact;
static FactMetaData* _altitudeMetaData;
static FactMetaData* _commandMetaData;
static FactMetaData* _defaultParamMetaData;
static FactMetaData* _frameMetaData;
static FactMetaData* _latitudeMetaData;
static FactMetaData* _longitudeMetaData;
static FactMetaData* _supportedCommandMetaData;
FactMetaData _param1MetaData;
FactMetaData _param2MetaData;
FactMetaData _param3MetaData;
FactMetaData _param4MetaData;
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
bool _syncingAltitudeRelativeToHomeAndFrame; ///< true: already in a sync signal, prevents signal loop
bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop
bool _syncingSupportedCommandAndCommand; ///< true: already in a sync signal, prevents signal loop
static QMap<MAV_CMD, MavCmdInfo_t> _mavCmdInfoMap;
static const QString _decimalPlacesJsonKey;
static const QString _descriptionJsonKey;
static const QString _friendlyNameJsonKey;
static const QString _friendlyEditJsonKey;
static const QString _idJsonKey;
static const QString _labelJsonKey;
static const QString _mavCmdInfoJsonKey;
static const QString _param1JsonKey;
static const QString _param2JsonKey;
static const QString _param3JsonKey;
static const QString _param4JsonKey;
static const QString _paramJsonKeyFormat;
static const QString _rawNameJsonKey;
static const QString _specifiesCoordinateJsonKey;
static const QString _unitsJsonKey;
static const QString _versionJsonKey;
static const QString _degreesUnits;
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem);
QDebug operator<<(QDebug dbg, const MissionItem* missionItem);
#endif