PlanView.qml

/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/


import QtQuick          2.3
import QtQuick.Controls 1.2
import QtQuick.Dialogs  1.2
import QtLocation       5.3
import QtPositioning    5.3
import QtQuick.Layouts  1.2
import QtQuick.Window   2.2

import QGroundControl                   1.0
import QGroundControl.FlightMap         1.0
import QGroundControl.ScreenTools       1.0
import QGroundControl.Controls          1.0
import QGroundControl.FactSystem        1.0
import QGroundControl.FactControls      1.0
import QGroundControl.Palette           1.0
import QGroundControl.Controllers       1.0
import QGroundControl.ShapeFileHelper   1.0
import QGroundControl.Airspace          1.0
import QGroundControl.Airmap            1.0

/// Mission Editor

Item {

    property bool planControlColapsed: false

    readonly property int   _decimalPlaces:             8
    readonly property real  _horizontalMargin:          ScreenTools.defaultFontPixelWidth  * 0.5
    readonly property real  _margin:                    ScreenTools.defaultFontPixelHeight * 0.5
    readonly property real  _radius:                    ScreenTools.defaultFontPixelWidth  * 0.5
    readonly property real  _rightPanelWidth:           Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
    readonly property real  _toolButtonTopMargin:       ScreenTools.defaultFontPixelHeight * 0.5
    readonly property var   _defaultVehicleCoordinate:  QtPositioning.coordinate(37.803784, -122.462276)
    readonly property bool  _waypointsOnlyMode:         QGroundControl.corePlugin.options.missionWaypointsOnly

    property bool   _airspaceEnabled:                    QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
    property var    _missionController:                 _planMasterController.missionController
    property var    _geoFenceController:                _planMasterController.geoFenceController
    property var    _rallyPointController:              _planMasterController.rallyPointController
    property var    _visualItems:                       _missionController.visualItems
    property bool   _lightWidgetBorders:                editorMap.isSatelliteMap
    property bool   _addWaypointOnClick:                false
    property bool   _addROIOnClick:                     false
    property bool   _singleComplexItem:                 _missionController.complexMissionItemNames.length === 1
    property int    _editingLayer:                      _layerMission
    property int    _toolStripBottom:                   toolStrip.height + toolStrip.y
    property var    _appSettings:                       QGroundControl.settingsManager.appSettings

    readonly property int       _layerMission:              1
    readonly property int       _layerGeoFence:             2
    readonly property int       _layerRallyPoints:          3
    readonly property string    _armedVehicleUploadPrompt:  qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?")

    function addComplexItem(complexItemName) {
        var coordinate = editorMap.center
        coordinate.latitude  = coordinate.latitude.toFixed(_decimalPlaces)
        coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
        coordinate.altitude  = coordinate.altitude.toFixed(_decimalPlaces)
        insertComplexMissionItem(complexItemName, coordinate, _missionController.visualItems.count)
    }

    function insertComplexMissionItem(complexItemName, coordinate, index) {
        var sequenceNumber = _missionController.insertComplexMissionItem(complexItemName, coordinate, index)
        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
    }

    function insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index) {
        var sequenceNumber = _missionController.insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index)
        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
    }

    function updateAirspace(reset) {
        if(_airspaceEnabled) {
            var coordinateNW = editorMap.toCoordinate(Qt.point(0,0), false /* clipToViewPort */)
            var coordinateSE = editorMap.toCoordinate(Qt.point(width,height), false /* clipToViewPort */)
            if(coordinateNW.isValid && coordinateSE.isValid) {
                QGroundControl.airspaceManager.setROI(coordinateNW, coordinateSE, true /*planView*/, reset)
            }
        }
    }

    property bool _firstMissionLoadComplete:    false
    property bool _firstFenceLoadComplete:      false
    property bool _firstRallyLoadComplete:      false
    property bool _firstLoadComplete:           false

    MapFitFunctions {
        id:                         mapFitFunctions  // The name for this id cannot be changed without breaking references outside of this code. Beware!
        map:                        editorMap
        usePlannedHomePosition:     true
        planMasterController:       _planMasterController
    }

    on_AirspaceEnabledChanged: {
        if(QGroundControl.airmapSupported) {
            if(_airspaceEnabled) {
                planControlColapsed = QGroundControl.airspaceManager.airspaceVisible
                updateAirspace(true)
            } else {
                planControlColapsed = false
            }
        } else {
            planControlColapsed = false
        }
    }

    Connections {
        target: _appSettings ? _appSettings.defaultMissionItemAltitude : null
        onRawValueChanged: {
            if (_visualItems.count > 1) {
                mainWindow.showComponentDialog(applyNewAltitude, qsTr("Apply new alititude"), mainWindow.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
            }
        }
    }

    Component {
        id: applyNewAltitude
        QGCViewMessage {
            message:    qsTr("You have changed the default altitude for mission items. Would you like to apply that altitude to all the items in the current mission?")
            function accept() {
                hideDialog()
                _missionController.applyDefaultMissionAltitude()
            }
        }
    }

    Component {
        id: activeMissionUploadDialogComponent
        QGCViewDialog {
            Column {
                anchors.fill:   parent
                spacing:        ScreenTools.defaultFontPixelHeight
                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       qsTr("Your vehicle is currently flying a mission. In order to upload a new or modified mission the current mission will be paused.")
                }
                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       qsTr("After the mission is uploaded you can adjust the current waypoint and start the mission.")
                }
                QGCButton {
                    text:       qsTr("Pause and Upload")
                    onClicked: {
                        activeVehicle.flightMode = activeVehicle.pauseFlightMode
                        _planMasterController.sendToVehicle()
                        hideDialog()
                    }
                }
            }
        }
    }

    Connections {
        target: QGroundControl.airspaceManager
        onAirspaceVisibleChanged: {
            planControlColapsed = QGroundControl.airspaceManager.airspaceVisible
        }
    }

    Component {
        id: noItemForKML
        QGCViewMessage {
            message:    qsTr("You need at least one item to create a KML.")
        }
    }

    PlanMasterController {
        id: _planMasterController

        Component.onCompleted: {
            _planMasterController.start(false /* flyView */)
            _missionController.setCurrentPlanViewIndex(0, true)
            mainWindow.planMasterControllerPlan = _planMasterController
        }

        function waitingOnDataMessage() {
            mainWindow.showMessageDialog(qsTr("Unable to Save/Upload"), qsTr("Plan is waiting on terrain data from server for correct altitude values."))
        }

        function upload() {
            if (!readyForSaveSend()) {
                waitingOnDataMessage()
                return
            }
            if (activeVehicle && activeVehicle.armed && activeVehicle.flightMode === activeVehicle.missionFlightMode) {
                mainWindow.showComponentDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), mainWindow.showDialogDefaultWidth, StandardButton.Cancel)
            } else {
                sendToVehicle()