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.KMLFileHelper 1.0

/// Mission Editor

QGCView {
    id:         _qgcView
    viewPanel:  panel
    z:          QGroundControl.zOrderTopMost

    readonly property int   _decimalPlaces:             8
    readonly property real  _horizontalMargin:          ScreenTools.defaultFontPixelWidth  / 2
    readonly property real  _margin:                    ScreenTools.defaultFontPixelHeight * 0.5
    readonly property var   _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
    readonly property real  _rightPanelWidth:           Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
    readonly property real  _toolButtonTopMargin:       parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
    readonly property var   _defaultVehicleCoordinate:  QtPositioning.coordinate(37.803784, -122.462276)
    readonly property bool  _waypointsOnlyMode:         QGroundControl.corePlugin.options.missionWaypointsOnly

    property var    _planMasterController:      masterController
    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 real   _toolbarHeight:             _qgcView.height - ScreenTools.availableHeight
    property int    _editingLayer:              _layerMission
    property int    _toolStripBottom:           toolStrip.height + toolStrip.y

    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?")

    Component.onCompleted: {
        toolbar.planMasterController =  Qt.binding(function () { return _planMasterController })
        toolbar.currentMissionItem =    Qt.binding(function () { return _missionController.currentPlanViewItem })
    }

    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 insertComplexMissionItemFromKML(complexItemName, kmlFile, index) {
        var sequenceNumber = _missionController.insertComplexMissionItemFromKML(complexItemName, kmlFile, index)
        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
    }

    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
    }

    Connections {
        target: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude

        onRawValueChanged: {
            if (_visualItems.count > 1) {
                _qgcView.showDialog(applyNewAltitude, qsTr("Apply new alititude"), 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()
                    }
                }
            }
        }
    }

    Component {
        id: noItemForKML

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

    PlanMasterController {
        id: masterController

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

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

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

        function loadFromSelectedFile() {
            fileDialog.title =          qsTr("Select Plan File")
            fileDialog.planFiles =      true
            fileDialog.selectExisting = true
            fileDialog.nameFilters =    masterController.loadNameFilters
            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.planFileExtension
            fileDialog.fileExtension2 = QGroundControl.settingsManager.appSettings.missionFileExtension
            fileDialog.openForLoad()
        }

        function saveToSelectedFile() {
            if (!readyForSaveSend()) {
                waitingOnDataMessage()
                return
            }