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DonLakeFlyer authored
Wizard Mode for Create Plan
DonLakeFlyer authoredWizard Mode for Create Plan
MissionController.cc 93.83 KiB
/****************************************************************************
*
* (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 "MissionCommandUIInfo.h"
#include "MissionController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
#include "SurveyComplexItem.h"
#include "FixedWingLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "CorridorScanComplexItem.h"
#include "JsonHelper.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "MissionSettingsItem.h"
#include "QGCQGeoCoordinate.h"
#include "PlanMasterController.h"
#include "KML.h"
#include "QGCCorePlugin.h"
#define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
const char* MissionController::_settingsGroup = "MissionController";
const char* MissionController::_jsonFileTypeValue = "Mission";
const char* MissionController::_jsonItemsKey = "items";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
const char* MissionController::_jsonFirmwareTypeKey = "firmwareType";
const char* MissionController::_jsonVehicleTypeKey = "vehicleType";
const char* MissionController::_jsonCruiseSpeedKey = "cruiseSpeed";
const char* MissionController::_jsonHoverSpeedKey = "hoverSpeed";
const char* MissionController::_jsonParamsKey = "params";
// Deprecated V1 format keys
const char* MissionController::_jsonComplexItemsKey = "complexItems";
const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";
const int MissionController::_missionFileVersion = 2;
const QString MissionController::patternSurveyName (QT_TRANSLATE_NOOP("MissionController", "Survey"));
const QString MissionController::patternFWLandingName (QT_TRANSLATE_NOOP("MissionController", "Fixed Wing Landing"));
const QString MissionController::patternStructureScanName (QT_TRANSLATE_NOOP("MissionController", "Structure Scan"));
const QString MissionController::patternCorridorScanName (QT_TRANSLATE_NOOP("MissionController", "Corridor Scan"));
MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
: PlanElementController (masterController, parent)
, _missionManager (_managerVehicle->missionManager())
, _missionItemCount (0)
, _visualItems (nullptr)
, _settingsItem (nullptr)
, _firstItemsFromVehicle (false)
, _itemsRequested (false)
, _inRecalcSequence (false)
, _appSettings (qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct (0)
, _currentPlanViewIndex (-1) , _currentPlanViewItem (nullptr)
, _splitSegment (nullptr)
{
_resetMissionFlightStatus();
managerVehicleChanged(_managerVehicle);
_updateTimer.setSingleShot(true);
connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
}
MissionController::~MissionController()
{
}
void MissionController::_resetMissionFlightStatus(void)
{
_missionFlightStatus.totalDistance = 0.0;
_missionFlightStatus.maxTelemetryDistance = 0.0;
_missionFlightStatus.totalTime = 0.0;
_missionFlightStatus.hoverTime = 0.0;
_missionFlightStatus.cruiseTime = 0.0;
_missionFlightStatus.hoverDistance = 0.0;
_missionFlightStatus.cruiseDistance = 0.0;
_missionFlightStatus.cruiseSpeed = _controllerVehicle->defaultCruiseSpeed();
_missionFlightStatus.hoverSpeed = _controllerVehicle->defaultHoverSpeed();
_missionFlightStatus.vehicleSpeed = _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
_missionFlightStatus.vehicleYaw = 0.0;
_missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
_missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
// Battery information
_missionFlightStatus.mAhBattery = 0;
_missionFlightStatus.hoverAmps = 0;
_missionFlightStatus.cruiseAmps = 0;
_missionFlightStatus.ampMinutesAvailable = 0;
_missionFlightStatus.hoverAmpsTotal = 0;
_missionFlightStatus.cruiseAmpsTotal = 0;
_missionFlightStatus.batteryChangePoint = -1;
_missionFlightStatus.batteriesRequired = -1;
_controllerVehicle->firmwarePlugin()->batteryConsumptionData(_controllerVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
if (_missionFlightStatus.mAhBattery != 0) {
double batteryPercentRemainingAnnounce = qgcApp()->toolbox()->settingsManager()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
_missionFlightStatus.ampMinutesAvailable = static_cast<double>(_missionFlightStatus.mAhBattery) / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
}
emit missionDistanceChanged(_missionFlightStatus.totalDistance);
emit missionTimeChanged();
emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
emit missionHoverTimeChanged();
emit missionCruiseTimeChanged();
emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
}
void MissionController::start(bool flyView)
{
qCDebug(MissionControllerLog) << "start flyView" << flyView;
PlanElementController::start(flyView);
_init();
}
void MissionController::_init(void)
{
// We start with an empty mission _visualItems = new QmlObjectListModel(this);
_addMissionSettings(_visualItems, false /* addToCenter */);
_initAllVisualItems();
}
// Called when new mission items have completed downloading from Vehicle
void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllRequested)
{
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle flyView:count" << _flyView << _missionManager->missionItems().count();
// Fly view always reloads on _loadComplete
// Plan view only reloads if:
// - Load was specifically requested
// - There is no current Plan
if (_flyView || removeAllRequested || _itemsRequested || isEmpty()) {
// Fly Mode (accept if):
// - Always accepts new items from the vehicle so Fly view is kept up to date
// Edit Mode (accept if):
// - Remove all was requested from Fly view (clear mission on flight end)
// - A load from vehicle was manually requested
// - The initial automatic load from a vehicle completed and the current editor is empty
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
_missionItemCount = newMissionItems.count();
emit missionItemCountChanged(_missionItemCount);
int i = 0;
if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position
_addMissionSettings(newControllerMissionItems, false /* addToCenter */);
MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not settings item";
return;
}
MissionItem* fakeHomeItem = newMissionItems[0];
if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
settingsItem->setCoordinate(fakeHomeItem->coordinate());
}
i = 1;
}
for (; i < newMissionItems.count(); i++) {
const MissionItem* missionItem = newMissionItems[i];
newControllerMissionItems->append(new SimpleMissionItem(_controllerVehicle, _flyView, *missionItem, this));
}
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = nullptr;
_visualItems = nullptr;
_updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
_visualItems = newControllerMissionItems;
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_visualItems, !_flyView && _visualItems->count() > 0 /* addToCenter */);
}
MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
_initAllVisualItems();
_updateContainsItems();
emit newItemsFromVehicle();
}
_itemsRequested = false;
}
void MissionController::loadFromVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while syncInProgress";
} else {
_itemsRequested = true;
_managerVehicle->missionManager()->loadFromVehicle();
}
}
void MissionController::_warnIfTerrainFrameUsed(void)
{
for (int i=1; i<_visualItems->count(); i++) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(i));
if (simpleItem && simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
qgcApp()->showMessage(tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a mission. %1 does not support sending terrain tiles to vehicle.").arg(qgcApp()->applicationName()));
break;
}
}
}
void MissionController::sendToVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while syncInProgress";
} else {
qCDebug(MissionControllerLog) << "MissionControllerLog::sendToVehicle";
_warnIfTerrainFrameUsed();
if (_visualItems->count() == 1) {
// This prevents us from sending a possibly bogus home position to the vehicle
QmlObjectListModel emptyModel;
sendItemsToVehicle(_managerVehicle, &emptyModel);
} else {
sendItemsToVehicle(_managerVehicle, _visualItems);
}
setDirty(false);
}
}
/// Converts from visual items to MissionItems
/// @param missionItemParent QObject parent for newly allocated MissionItems
/// @return true: Mission end action was added to end of list
bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent)
{
if (visualMissionItems->count() == 0) {
return false;
}
bool endActionSet = false;
int lastSeqNum = 0;
for (int i=0; i<visualMissionItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(visualMissionItems->get(i));
lastSeqNum = visualItem->lastSequenceNumber();
visualItem->appendMissionItems(rgMissionItems, missionItemParent);
qCDebug(MissionControllerLog) << "_convertToMissionItems seqNum:lastSeqNum:command"
<< visualItem->sequenceNumber()
<< lastSeqNum
<< visualItem->commandName();
}
// Mission settings has a special case for end mission action
MissionSettingsItem* settingsItem = visualMissionItems->value<MissionSettingsItem*>(0);
if (settingsItem) { endActionSet = settingsItem->addMissionEndAction(rgMissionItems, lastSeqNum + 1, missionItemParent);
}
return endActionSet;
}
void MissionController::convertToKMLDocument(QDomDocument& document)
{
QObject* deleteParent = new QObject();
QList<MissionItem*> rgMissionItems;
_convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
if (rgMissionItems.count() == 0) {
return;
}
const double homePositionAltitude = _settingsItem->coordinate().altitude();
QString coord;
QStringList coords;
// Drop home position
bool dropPoint = true;
for(const auto& item : rgMissionItems) {
if(dropPoint) {
dropPoint = false;
continue;
}
const MissionCommandUIInfo* uiInfo = \
qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homePositionAltitude);
coord = QString::number(item->param6(),'f',7) \
+ "," \
+ QString::number(item->param5(),'f',7) \
+ "," \
+ QString::number(amslAltitude,'f',2);
coords.append(coord);
}
}
deleteParent->deleteLater();
Kml kml;
kml.points(coords);
kml.save(document);
}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
QList<MissionItem*> rgMissionItems;
_convertToMissionItems(visualMissionItems, rgMissionItems, vehicle);
// PlanManager takes control of MissionItems so no need to delete
vehicle->missionManager()->writeMissionItems(rgMissionItems);
}
}
int MissionController::_nextSequenceNumber(void)
{
if (_visualItems->count() == 0) {
qWarning() << "Internal error: Empty visual item list";
return 0;
} else {
VisualMissionItem* lastItem = _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1);
return lastItem->lastSequenceNumber() + 1;
}
}
VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
newItem->setCommand(takeoffCmd);
}
}
if (newItem->specifiesAltitude()) {
double prevAltitude;
int prevAltitudeMode;
if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
}
}
newItem->setMissionFlightStatus(_missionFlightStatus);
if (visualItemIndex == -1) {
_visualItems->append(newItem);
} else {
_visualItems->insert(visualItemIndex, newItem);
}
// We send the click coordinate through here to be able to set the planned home position from the user click location if needed
_recalcAllWithClickCoordinate(coordinate);
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
}
return newItem;
}
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCommand((_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
MAV_CMD_DO_SET_ROI_LOCATION :
MAV_CMD_DO_SET_ROI));
_initVisualItem(newItem);
newItem->setCoordinate(coordinate);
double prevAltitude;
int prevAltitudeMode;
if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
}
if (visualItemIndex == -1) {
_visualItems->append(newItem);
} else {
_visualItems->insert(visualItemIndex, newItem);
}
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
}
return newItem;
}
VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem)
{
ComplexMissionItem* newItem = nullptr;
// If the ComplexMissionItem is inserted first, add a TakeOff SimpleMissionItem
if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
insertSimpleMissionItem(mapCenterCoordinate, visualItemIndex);
visualItemIndex++;
}
int sequenceNumber = _nextSequenceNumber();
if (itemName == patternSurveyName) {
newItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
newItem->setCoordinate(mapCenterCoordinate);
} else if (itemName == patternFWLandingName) {
newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, _visualItems /* parent */);
} else if (itemName == patternStructureScanName) {
newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
} else if (itemName == patternCorridorScanName) {
newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return nullptr;
}
_insertComplexMissionItemWorker(newItem, visualItemIndex, makeCurrentItem);
return newItem;
}
VisualMissionItem* MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int visualItemIndex, bool makeCurrentItem)
{
ComplexMissionItem* newItem = nullptr;
if (itemName == patternSurveyName) {
newItem = new SurveyComplexItem(_controllerVehicle, _flyView, file, _visualItems);
} else if (itemName == patternStructureScanName) {
newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, file, _visualItems);
} else if (itemName == patternCorridorScanName) {
newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, file, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return nullptr;
}
_insertComplexMissionItemWorker(newItem, visualItemIndex, makeCurrentItem);
return newItem;
}
void MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
qobject_cast<CorridorScanComplexItem*>(complexItem) ||
qobject_cast<StructureScanComplexItem*>(complexItem);
if (surveyStyleItem) {
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
// If the vehicle is known to have a gimbal then we automatically point the gimbal straight down if not already set
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
// Set camera to photo mode (leave alone if user already specified)
if (cameraSection->cameraModeSupported() && !cameraSection->specifyCameraMode()) {
cameraSection->setSpecifyCameraMode(true);
cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE_SURVEY);
}
// Point gimbal straight down
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
// If the user already specified a gimbal angle leave it alone
if (!cameraSection->specifyGimbal()) {
cameraSection->setSpecifyGimbal(true);
cameraSection->gimbalPitch()->setRawValue(-90.0);
}
}
}
complexItem->setSequenceNumber(sequenceNumber);
_initVisualItem(complexItem);
if (visualItemIndex == -1) {
_visualItems->append(complexItem);
} else {
_visualItems->insert(visualItemIndex, complexItem);
}
//-- Keep track of bounding box changes in complex items
if(!complexItem->isSimpleItem()) {
connect(complexItem, &ComplexMissionItem::boundingCubeChanged, this, &MissionController::_complexBoundingBoxChanged);
}
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewIndex(complexItem->sequenceNumber(), true);
}
}
void MissionController::removeMissionItem(int index)
{
if (index <= 0 || index >= _visualItems->count()) {
qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << index;
return;
}
bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(index) || _visualItems->value<CorridorScanComplexItem*>(index);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
_deinitVisualItem(item);
item->deleteLater();
if (removeSurveyStyle) {
// Determine if the mission still has another survey style item in it
bool foundSurvey = false;
for (int i=1; i<_visualItems->count(); i++) {
if (_visualItems->value<SurveyComplexItem*>(i) || _visualItems->value<CorridorScanComplexItem*>(i)) {
foundSurvey = true;
break;
}
}
// If there is no longer a survey item in the mission remove added commands
if (!foundSurvey) {
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
if (cameraSection->specifyGimbal() && cameraSection->gimbalPitch()->rawValue().toDouble() == -90.0 && cameraSection->gimbalYaw()->rawValue().toDouble() == 0.0) {
cameraSection->setSpecifyGimbal(false); }
}
if (cameraSection->cameraModeSupported() && cameraSection->specifyCameraMode() && cameraSection->cameraMode()->rawValue().toInt() == 0) {
cameraSection->setSpecifyCameraMode(false);
}
}
}
_recalcAll();
setDirty(true);
}
void MissionController::removeAll(void)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->clearAndDeleteContents();
_visualItems->deleteLater();
_settingsItem = nullptr;
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_visualItems, false /* addToCenter */);
_initAllVisualItems();
setDirty(true);
_resetMissionFlightStatus();
}
}
bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Object, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonMavAutopilotKey, QJsonValue::Double, true },
{ _jsonComplexItemsKey, QJsonValue::Array, true },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
// Read complex items
QList<SurveyComplexItem*> surveyItems;
QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
for (int i=0; i<complexArray.count(); i++) {
const QJsonValue& itemValue = complexArray[i];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
SurveyComplexItem* item = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems /* parent */);
const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
surveyItems.append(item);
} else {
return false;
}
}
// Read simple items, interspersing complex items into the full list
int nextSimpleItemIndex= 0;
int nextComplexItemIndex= 0;
int nextSequenceNumber = 1; // Start with 1 since home is in 0
QJsonArray itemArray(json[_jsonItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << surveyItems.count();
do { qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
// If there is a complex item that should be next in sequence add it in
if (nextComplexItemIndex < surveyItems.count()) {
SurveyComplexItem* complexItem = surveyItems[nextComplexItemIndex];
if (complexItem->sequenceNumber() == nextSequenceNumber) {
qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
visualItems->append(complexItem);
nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
nextComplexItemIndex++;
continue;
}
}
// Add the next available simple item
if (nextSimpleItemIndex < itemArray.count()) {
const QJsonValue& itemValue = itemArray[nextSimpleItemIndex++];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
const QJsonObject itemObject = itemValue.toObject();
SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
nextSequenceNumber = item->lastSequenceNumber() + 1;
visualItems->append(item);
} else {
return false;
}
}
} while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
settingsItem->setCoordinate(item->coordinate());
visualItems->insert(0, settingsItem);
item->deleteLater();
} else {
return false;
}
} else {
_addMissionSettings(visualItems, true /* addToCenter */);
}
return true;
}
bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFirmwareTypeKey, QJsonValue::Double, true },
{ _jsonVehicleTypeKey, QJsonValue::Double, false },
{ _jsonCruiseSpeedKey, QJsonValue::Double, false },
{ _jsonHoverSpeedKey, QJsonValue::Double, false },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
// Mission Settings
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
if (_masterController->offline()) {
// We only update if offline since if we are online we use the online vehicle settings
appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
if (json.contains(_jsonVehicleTypeKey)) {
appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
}
}
if (json.contains(_jsonCruiseSpeedKey)) {
appSettings->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
}
if (json.contains(_jsonHoverSpeedKey)) {
appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
QGeoCoordinate homeCoordinate;
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
settingsItem->setCoordinate(homeCoordinate);
visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
// Read mission items
int nextSequenceNumber = 1; // Start with 1 since home is in 0
const QJsonArray rgMissionItems(json[_jsonItemsKey].toArray());
for (int i=0; i<rgMissionItems.count(); i++) {
// Convert to QJsonObject
const QJsonValue& itemValue = rgMissionItems[i];
if (!itemValue.isObject()) {
errorString = tr("Mission item %1 is not an object").arg(i);
return false;
}
const QJsonObject itemObject = itemValue.toObject();
// Load item based on type
QList<JsonHelper::KeyValidateInfo> itemKeyInfoList = {
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, itemKeyInfoList, errorString)) {
return false;
}
QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
qCDebug(MissionControllerLog) << "Loading simple item: nextSequenceNumber:command" << nextSequenceNumber << simpleItem->command();
nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
visualItems->append(simpleItem);
} else {
return false;
}
} else if (itemType == VisualMissionItem::jsonTypeComplexItemValue) {
QList<JsonHelper::KeyValidateInfo> complexItemKeyInfoList = {
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, complexItemKeyInfoList, errorString)) {
return false;
}
QString complexItemType = itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber; SurveyComplexItem* surveyItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = surveyItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Survey load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(surveyItem);
} else if (complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Fixed Wing Landing Pattern: nextSequenceNumber" << nextSequenceNumber;
FixedWingLandingComplexItem* landingItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, visualItems);
if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(landingItem);
} else if (complexItemType == StructureScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Structure Scan: nextSequenceNumber" << nextSequenceNumber;
StructureScanComplexItem* structureItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
if (!structureItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = structureItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Structure Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(structureItem);
} else if (complexItemType == CorridorScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Corridor Scan: nextSequenceNumber" << nextSequenceNumber;
CorridorScanComplexItem* corridorItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
if (!corridorItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(corridorItem);
} else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = settingsItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Mission Settings load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(settingsItem);
} else {
errorString = tr("Unsupported complex item type: %1").arg(complexItemType);
}
} else {
errorString = tr("Unknown item type: %1").arg(itemType);
return false;
}
}
// Fix up the DO_JUMP commands jump sequence number by finding the item with the matching doJumpId
for (int i=0; i<visualItems->count(); i++) {
if (visualItems->value<VisualMissionItem*>(i)->isSimpleItem()) {
SimpleMissionItem* doJumpItem = visualItems->value<SimpleMissionItem*>(i);
if (doJumpItem->command() == MAV_CMD_DO_JUMP) {
bool found = false;
int findDoJumpId = static_cast<int>(doJumpItem->missionItem().param1());
for (int j=0; j<visualItems->count(); j++) {
if (visualItems->value<VisualMissionItem*>(j)->isSimpleItem()) {
SimpleMissionItem* targetItem = visualItems->value<SimpleMissionItem*>(j);
if (targetItem->missionItem().doJumpId() == findDoJumpId) {
doJumpItem->missionItem().setParam1(targetItem->sequenceNumber());
found = true;
break;
}
}
}
if (!found) { errorString = tr("Could not find doJumpId: %1").arg(findDoJumpId);
return false;
}
}
}
}
return true;
}
bool MissionController::_loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// V1 file format has no file type key and version key is string. Convert to new format.
if (!json.contains(JsonHelper::jsonFileTypeKey)) {
json[JsonHelper::jsonFileTypeKey] = _jsonFileTypeValue;
}
int fileVersion;
JsonHelper::validateQGCJsonFile(json,
_jsonFileTypeValue, // expected file type
1, // minimum supported version
2, // maximum supported version
fileVersion,
errorString);
if (fileVersion == 1) {
return _loadJsonMissionFileV1(json, visualItems, errorString);
} else {
return _loadJsonMissionFileV2(json, visualItems, errorString);
}
}
bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{
bool firstItem = true;
bool plannedHomePositionInFile = false;
QString firstLine = stream.readLine();
const QStringList& version = firstLine.split(" ");
bool versionOk = false;
if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") {
if (version[2] == "110") {
// ArduPilot file, planned home position is already in position 0
versionOk = true;
plannedHomePositionInFile = true;
} else if (version[2] == "120") {
// Old QGC file, no planned home position
versionOk = true;
plannedHomePositionInFile = false;
}
}
if (versionOk) {
// Start with planned home in center
_addMissionSettings(visualItems, true /* addToCenter */);
MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
if (item->load(stream)) {
if (firstItem && plannedHomePositionInFile) {
settingsItem->setCoordinate(item->coordinate());
} else {
visualItems->append(item);
}
firstItem = false;
} else {
errorString = tr("The mission file is corrupted."); return false;
}
}
} else {
errorString = tr("The mission file is not compatible with this version of %1.").arg(qgcApp()->applicationName());
return false;
}
if (!plannedHomePositionInFile) {
// Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
for (int i=1; i<visualItems->count(); i++) {
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
if (item && item->command() == MAV_CMD_DO_JUMP) {
item->missionItem().setParam1(static_cast<int>(item->missionItem().param1()) + 1);
}
}
}
return true;
}
void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualItems)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = nullptr;
}
_visualItems = loadedVisualItems;
if (_visualItems->count() == 0) {
_addMissionSettings(_visualItems, true /* addToCenter */);
}
MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
_initAllVisualItems();
}
bool MissionController::load(const QJsonObject& json, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadJsonMissionFileV2(json, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
bool MissionController::loadJsonFile(QFile& file, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
QJsonObject json = jsonDoc.object();
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadItemsFromJson(json, loadedVisualItems, errorStr)) { errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
bool MissionController::loadTextFile(QFile& file, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QByteArray bytes = file.readAll();
QTextStream stream(bytes);
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
bool MissionController::readyForSaveSend(void) const
{
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->readyForSaveState() != VisualMissionItem::ReadyForSave) {
return false;
}
}
return true;
}
void MissionController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _missionFileVersion;
// Mission settings
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsItem";
return;
}
QJsonValue coordinateValue;
JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue);
json[_jsonPlannedHomePositionKey] = coordinateValue;
json[_jsonFirmwareTypeKey] = _controllerVehicle->firmwareType();
json[_jsonVehicleTypeKey] = _controllerVehicle->vehicleType();
json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
// Save the visual items
QJsonArray rgJsonMissionItems;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
visualItem->save(rgJsonMissionItems);
}
// Mission settings has a special case for end mission action
if (settingsItem) {
QList<MissionItem*> rgMissionItems;
if (_convertToMissionItems(_visualItems, rgMissionItems, this /* missionItemParent */)) {
QJsonObject saveObject;
MissionItem* missionItem = rgMissionItems[rgMissionItems.count() - 1];
missionItem->save(saveObject);
rgJsonMissionItems.append(saveObject);
}
for (int i=0; i<rgMissionItems.count(); i++) {
rgMissionItems[i]->deleteLater();
}
}
json[_jsonItemsKey] = rgJsonMissionItems;
}
void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->exitCoordinate();
bool distanceOk = false;
// Convert to fixed altitudes
distanceOk = true;
if (currentItem != _settingsItem && currentItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude());
}
if (prevItem != _settingsItem && prevItem->exitCoordinateHasRelativeAltitude()) {
prevCoord.setAltitude(homeAlt + prevCoord.altitude());
}
if (distanceOk) {
*altDifference = currentCoord.altitude() - prevCoord.altitude();
*distance = prevCoord.distanceTo(currentCoord);
*azimuth = prevCoord.azimuthTo(currentCoord);
} else {
*altDifference = 0.0;
*azimuth = 0.0;
*distance = 0.0;
}
}
double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate homeCoord = homeItem->exitCoordinate();
bool distanceOk = false;
distanceOk = true;
return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
}
CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair)
{
CoordinateVector* coordVector = nullptr;
if (prevItemPairHashTable.contains(pair)) {
// Pair already exists and connected, just re-use
_linesTable[pair] = coordVector = prevItemPairHashTable.take(pair);
} else {
// Create a new segment and wire update notifiers
coordVector = new CoordinateVector(pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate(), pair.second->coordinate(), this);
auto originNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
auto endNotifier = &VisualMissionItem::coordinateChanged;
// Use signals/slots to update the coordinate endpoints
connect(pair.first, originNotifier, coordVector, &CoordinateVector::setCoordinate1);
connect(pair.second, endNotifier, coordVector, &CoordinateVector::setCoordinate2);
// FIXME: We should ideally have signals for 2D position change, alt change, and 3D position change
// Not optimal, but still pretty fast, do a full update of range/bearing/altitudes
connect(pair.second, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatus);
_linesTable[pair] = coordVector;
}
return coordVector;
}
void MissionController::_recalcWaypointLines(void)
{
int segmentCount = 0;
VisualItemPair lastSegmentVisualItemPair;
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool homePositionValid = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid;
CoordVectHashTable old_table = _linesTable;
_linesTable.clear();
_waypointPath.clear();
_waypointLines.beginReset();
_directionArrows.beginReset();
_waypointLines.clear();
_directionArrows.clear();
bool linkEndToHome;
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
bool linkStartToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// If we still haven't found the first coordinate item and we hit a takeoff command this means the mission starts from the ground.
// Link the first item back to home to show that.
if (firstCoordinateItem && item->isSimpleItem()) {
MAV_CMD command = (MAV_CMD)qobject_cast<SimpleMissionItem*>(item)->command();
if (command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF) {
linkStartToHome = true;
}
}
if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
if (lastCoordinateItem != _settingsItem || (homePositionValid && linkStartToHome)) {
// Direction arrows are added to the first segment and every 5 segments in the middle.
bool addDirectionArrow = false;
if (firstCoordinateItem || !lastCoordinateItem->isSimpleItem() || !item->isSimpleItem()) {
addDirectionArrow = true;
} else if (segmentCount > 5) {
segmentCount = 0;
addDirectionArrow = true;
}
segmentCount++;
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItem, item);
if (!_flyView || addDirectionArrow) {
CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
if (addDirectionArrow) {
_directionArrows.append(coordVector);
} }
}
firstCoordinateItem = false;
_waypointPath.append(QVariant::fromValue(item->coordinate()));
lastCoordinateItem = item;
}
}
if (linkStartToHome && homePositionValid) {
_waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate()));
}
if (linkEndToHome && lastCoordinateItem != _settingsItem && homePositionValid) {
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItem, _settingsItem);
if (_flyView) {
_waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
}
_addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
}
// Add direction arrow to last segment
if (lastSegmentVisualItemPair.first) {
CoordinateVector* coordVector = nullptr;
// The pair may not be in the hash, this can happen in the fly view where only segments with arrows on them are added to ahsh.
// check for that first and add if needed
if (_linesTable.contains(lastSegmentVisualItemPair)) {
// Pair exists in the new table already just reuse it
coordVector = _linesTable[lastSegmentVisualItemPair];
} else if (old_table.contains(lastSegmentVisualItemPair)) {
// Pair already exists in old table, pull from old to new and reuse
_linesTable[lastSegmentVisualItemPair] = coordVector = old_table.take(lastSegmentVisualItemPair);
} else {
// Create a new segment. Since this is the fly view there is no need to wire change signals.
coordVector = new CoordinateVector(lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->coordinate() : lastSegmentVisualItemPair.first->exitCoordinate(), lastSegmentVisualItemPair.second->coordinate(), this);
_linesTable[lastSegmentVisualItemPair] = coordVector;
}
_directionArrows.append(coordVector);
}
if (!_flyView) {
// Create a temporary QObjectList and replace the model data
QObjectList objs;
objs.reserve(_linesTable.count());
for(CoordinateVector *vect: _linesTable.values()) {
objs.append(vect);
}
// We don't delete here because many links may still be valid
_waypointLines.swapObjectList(objs);
}
_waypointLines.endReset();
_directionArrows.endReset();
// Anything left in the old table is an obsolete line object that can go
qDeleteAll(old_table);
_recalcMissionFlightStatus();
if (_waypointPath.count() == 0) {
// MapPolyLine has a bug where if you change from a path which has elements to an empty path the line drawn
// is not cleared from the map. This hack works around that since it causes the previous lines to be remove
// as then doesn't draw anything on the map.
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
}
emit waypointPathChanged();
}
void MissionController::_updateBatteryInfo(int waypointIndex)
{
if (_missionFlightStatus.mAhBattery != 0) {
_missionFlightStatus.hoverAmpsTotal = (_missionFlightStatus.hoverTime / 60.0) * _missionFlightStatus.hoverAmps;
_missionFlightStatus.cruiseAmpsTotal = (_missionFlightStatus.cruiseTime / 60.0) * _missionFlightStatus.cruiseAmps;
_missionFlightStatus.batteriesRequired = ceil((_missionFlightStatus.hoverAmpsTotal + _missionFlightStatus.cruiseAmpsTotal) / _missionFlightStatus.ampMinutesAvailable);
// FIXME: Battery change point code pretty much doesn't work. The reason is that is treats complex items as a black box. It needs to be able to look
// inside complex items in order to determine a swap point that is interior to a complex item. Current the swap point display in PlanToolbar is
// disabled to do this problem.
if (waypointIndex != -1 && _missionFlightStatus.batteriesRequired == 2 && _missionFlightStatus.batteryChangePoint == -1) {
_missionFlightStatus.batteryChangePoint = waypointIndex - 1;
}
}
}
void MissionController::_addHoverTime(double hoverTime, double hoverDistance, int waypointIndex)
{
_missionFlightStatus.totalTime += hoverTime;
_missionFlightStatus.hoverTime += hoverTime;
_missionFlightStatus.hoverDistance += hoverDistance;
_missionFlightStatus.totalDistance += hoverDistance;
_updateBatteryInfo(waypointIndex);
}
void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance, int waypointIndex)
{
_missionFlightStatus.totalTime += cruiseTime;
_missionFlightStatus.cruiseTime += cruiseTime;
_missionFlightStatus.cruiseDistance += cruiseDistance;
_missionFlightStatus.totalDistance += cruiseDistance;
_updateBatteryInfo(waypointIndex);
}
/// Adds the specified time to the appropriate hover or cruise time values.
/// @param vtolInHover true: vtol is currrent in hover mode
/// @param hoverTime Amount of time tp add to hover
/// @param cruiseTime Amount of time to add to cruise
/// @param extraTime Amount of additional time to add to hover/cruise
/// @param seqNum Sequence number of waypoint for these values, -1 for no waypoint associated
void MissionController::_addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum)
{
if (_controllerVehicle->vtol()) {
if (vtolInHover) {
_addHoverTime(hoverTime, distance, seqNum);
_addHoverTime(extraTime, 0, -1);
} else {
_addCruiseTime(cruiseTime, distance, seqNum);
_addCruiseTime(extraTime, 0, -1);
}
} else {
if (_controllerVehicle->multiRotor()) {
_addHoverTime(hoverTime, distance, seqNum);
_addHoverTime(extraTime, 0, -1);
} else {
_addCruiseTime(cruiseTime, distance, seqNum);
_addCruiseTime(extraTime, 0, -1);
}
}
}
void MissionController::_recalcMissionFlightStatus()
{
if (!_visualItems->count()) {
return;
}
bool firstCoordinateItem = true; VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool showHomePosition = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
// If home position is valid we can calculate distances between all waypoints.
// If home position is not valid we can only calculate distances between waypoints which are
// both relative altitude.
// No values for first item
lastCoordinateItem->setAltDifference(0.0);
lastCoordinateItem->setAzimuth(0.0);
lastCoordinateItem->setDistance(0.0);
double minAltSeen = 0.0;
double maxAltSeen = 0.0;
const double homePositionAltitude = _settingsItem->coordinate().altitude();
minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();
_resetMissionFlightStatus();
bool vtolInHover = true;
bool linkStartToHome = false;
bool linkEndToHome = false;
if (showHomePosition) {
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
}
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(0.0);
// Look for speed changed
double newSpeed = item->specifiedFlightSpeed();
if (!qIsNaN(newSpeed)) {
if (_controllerVehicle->multiRotor()) {
_missionFlightStatus.hoverSpeed = newSpeed;
} else if (_controllerVehicle->vtol()) {
if (vtolInHover) {
_missionFlightStatus.hoverSpeed = newSpeed;
} else {
_missionFlightStatus.cruiseSpeed = newSpeed;
}
} else {
_missionFlightStatus.cruiseSpeed = newSpeed;
}
_missionFlightStatus.vehicleSpeed = newSpeed;
}
// Look for gimbal change
double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw)) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
double gimbalPitch = item->specifiedGimbalPitch();
if (!qIsNaN(gimbalPitch)) {
_missionFlightStatus.gimbalPitch = gimbalPitch;
}
if (i == 0) {
// We only process speed and gimbal from Mission Settings item
continue;
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && (simpleItem->command() == MAV_CMD_NAV_TAKEOFF || simpleItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
if (showHomePosition) {
linkStartToHome = true;
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
// We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, _settingsItem, simpleItem, &azimuth, &distance, &altDifference);
double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
_addHoverTime(takeoffTime, 0, -1);
}
}
}
// Update VTOL state
if (simpleItem && _controllerVehicle->vtol()) {
switch (simpleItem->command()) {
case MAV_CMD_NAV_TAKEOFF:
vtolInHover = false;
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:
vtolInHover = true;
break;
case MAV_CMD_NAV_LAND:
vtolInHover = false;
break;
case MAV_CMD_NAV_VTOL_LAND:
vtolInHover = true;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
{
int transitionState = simpleItem->missionItem().param1();
if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
vtolInHover = true;
} else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
vtolInHover = false;
}
}
break;
default:
break;
}
}
_addTimeDistance(vtolInHover, 0, 0, item->additionalTimeDelay(), 0, -1);
if (item->specifiesCoordinate()) {
// Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
double terrainAltitude = item->terrainAltitude();
if (!qIsNaN(terrainAltitude)) {
minAltSeen = std::min(minAltSeen, terrainAltitude);
maxAltSeen = std::max(maxAltSeen, terrainAltitude);
}
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
// Update vehicle yaw assuming direction to next waypoint
if (item != lastCoordinateItem) {
_missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
}
if (lastCoordinateItem != _settingsItem || linkStartToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, _settingsItem));
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
}
if (complexItem) {
// Add in distance/time inside complex items as well
double distance = complexItem->complexDistance();
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
}
item->setMissionFlightStatus(_missionFlightStatus);
lastCoordinateItem = item;
}
}
}
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
if (linkEndToHome && lastCoordinateItem != _settingsItem) {
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, lastCoordinateItem, _settingsItem, &azimuth, &distance, &altDifference);
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, distance, landTime, -1);
}
if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
_missionFlightStatus.batteryChangePoint = 0;
}
emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
emit missionDistanceChanged(_missionFlightStatus.totalDistance);
emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
emit missionTimeChanged();
emit missionHoverTimeChanged();
emit missionCruiseTimeChanged();
emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
// Walk the list again calculating altitude percentages
double altRange = maxAltSeen - minAltSeen;
for (int i=0; i<_visualItems->count(); i++) { VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate()) {
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
if (altRange == 0.0) {
item->setAltPercent(0.0);
item->setTerrainPercent(qQNaN());
item->setTerrainCollision(false);
} else {
item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
double terrainAltitude = item->terrainAltitude();
if (qIsNaN(terrainAltitude)) {
item->setTerrainPercent(qQNaN());
item->setTerrainCollision(false);
} else {
item->setTerrainPercent((terrainAltitude - minAltSeen) / altRange);
item->setTerrainCollision(absoluteAltitude < terrainAltitude);
}
}
}
}
_updateTimer.start(UPDATE_TIMEOUT);
}
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
if (_inRecalcSequence) {
// Don't let this call recurse due to signalling
return;
}
// Setup ascending sequence numbers for all visual items
_inRecalcSequence = true;
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
_inRecalcSequence = false;
}
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
VisualMissionItem* currentParentItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
currentParentItem->childItems()->clear();
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else if (item->isSimpleItem()) {
currentParentItem->childItems()->append(item);
}
}
}
void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate)
{ QGeoCoordinate firstCoordinate;
if (_settingsItem->coordinate().isValid()) {
return;
}
// Set the planned home position to be a delta from first coordinate
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
if (item->specifiesCoordinate()) {
firstCoordinate = item->coordinate();
break;
}
}
// No item specifying a coordinate was found, in this case it we have a clickCoordinate use that
if (!firstCoordinate.isValid()) {
firstCoordinate = clickCoordinate;
}
if (firstCoordinate.isValid()) {
QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0);
plannedHomeCoord.setAltitude(0);
_settingsItem->setCoordinate(plannedHomeCoord);
}
}
/// @param clickCoordinate The location of the user click when inserting a new item
void MissionController::_recalcAllWithClickCoordinate(QGeoCoordinate& clickCoordinate)
{
if (!_flyView) {
_setPlannedHomePositionFromFirstCoordinate(clickCoordinate);
}
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
_updateTimer.start(UPDATE_TIMEOUT);
}
void MissionController::_recalcAll(void)
{
QGeoCoordinate emptyCoord;
_recalcAllWithClickCoordinate(emptyCoord);
}
/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void)
{
// Setup home position at index 0
_settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (!_settingsItem) {
qWarning() << "First item not MissionSettingsItem";
return;
}
if (!_flyView) {
_settingsItem->setIsCurrentItem(true);
}
if (_managerVehicle->homePosition().isValid()) {
_settingsItem->setCoordinate(_managerVehicle->homePosition());
}
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::missionEndRTLChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i)); _initVisualItem(item);
}
_recalcAll();
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_visualItemsDirtyChanged);
connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
emit visualItemsChanged();
emit containsItemsChanged(containsItems());
emit plannedHomePositionChanged(plannedHomePosition());
setDirty(false);
}
void MissionController::_deinitAllVisualItems(void)
{
disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
for (int i=0; i<_visualItems->count(); i++) {
_deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
}
disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
}
void MissionController::_initVisualItem(VisualMissionItem* visualItem)
{
setDirty(false);
connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
if (visualItem->isSimpleItem()) {
// We need to track commandChanged on simple item since recalc has special handling for takeoff command
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
} else {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
if (complexItem) {
connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged, this, &MissionController::_recalcMissionFlightStatus);
} else {
qWarning() << "ComplexMissionItem not found";
}
}
}
void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
{
// Disconnect all signals
disconnect(visualItem, nullptr, nullptr, nullptr);
}
void MissionController::_itemCommandChanged(void)
{
_recalcChildItems(); _recalcWaypointLines();
}
void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
{
if (_managerVehicle) {
_missionManager->disconnect(this);
_managerVehicle->disconnect(this);
_managerVehicle = nullptr;
_missionManager = nullptr;
}
_managerVehicle = managerVehicle;
if (!_managerVehicle) {
qWarning() << "MissionController::managerVehicleChanged managerVehicle=NULL";
return;
}
_missionManager = _managerVehicle->missionManager();
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(_missionManager, &MissionManager::sendComplete, this, &MissionController::_managerSendComplete);
connect(_missionManager, &MissionManager::removeAllComplete, this, &MissionController::_managerRemoveAllComplete);
connect(_missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(_missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
connect(_missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_missionManager, &MissionManager::resumeMissionUploadFail, this, &MissionController::resumeMissionUploadFail);
connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionController::_managerVehicleHomePositionChanged);
connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this, &MissionController::complexMissionItemNamesChanged);
if (!_masterController->offline()) {
_managerVehicleHomePositionChanged(_managerVehicle->homePosition());
}
emit complexMissionItemNamesChanged();
emit resumeMissionIndexChanged();
}
void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (_visualItems) {
bool currentDirtyBit = dirty();
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (settingsItem) {
settingsItem->setHomePositionFromVehicle(homePosition);
} else {
qWarning() << "First item is not MissionSettingsItem";
}
if (!currentDirtyBit) {
// Don't let this trip the dirty bit. Otherwise plan will keep getting marked dirty if vehicle home
// changes.
_visualItems->setDirty(false);
}
}
}
void MissionController::_inProgressChanged(bool inProgress)
{
emit syncInProgressChanged(inProgress);
}
bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode)
{
bool found = false;
double foundAltitude; int foundAltitudeMode;
if (newIndex > _visualItems->count()) {
return false;
}
newIndex--;
for (int i=newIndex; i>0; i--) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
if (visualItem->isSimpleItem()) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem->specifiesAltitude()) {
foundAltitude = simpleItem->altitude()->rawValue().toDouble();
foundAltitudeMode = simpleItem->altitudeMode();
found = true;
break;
}
}
}
}
if (found) {
*prevAltitude = foundAltitude;
*prevAltitudeMode = foundAltitudeMode;
}
return found;
}
double MissionController::_normalizeLat(double lat)
{
// Normalize latitude to range: 0 to 180, S to N
return lat + 90.0;
}
double MissionController::_normalizeLon(double lon)
{
// Normalize longitude to range: 0 to 360, W to E
return lon + 180.0;
}
/// Add the Mission Settings complex item to the front of the items
void MissionController::_addMissionSettings(QmlObjectListModel* visualItems, bool addToCenter)
{
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
qCDebug(MissionControllerLog) << "_addMissionSettings addToCenter" << addToCenter;
visualItems->insert(0, settingsItem);
if (addToCenter) {
if (visualItems->count() > 1) {
double north = 0.0;
double south = 0.0;
double east = 0.0;
double west = 0.0;
bool firstCoordSet = false;
for (int i=1; i<visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordSet) {
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon); } else {
firstCoordSet = true;
north = _normalizeLat(item->coordinate().latitude());
south = north;
east = _normalizeLon(item->coordinate().longitude());
west = east;
}
}
}
if (firstCoordSet) {
settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
}
}
} else if (_managerVehicle->homePosition().isValid()) {
settingsItem->setCoordinate(_managerVehicle->homePosition());
}
}
int MissionController::resumeMissionIndex(void) const
{
int resumeIndex = 0;
if (_flyView) {
resumeIndex = _missionManager->lastCurrentIndex() + (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0 : 1);
if (resumeIndex > 1 && resumeIndex != _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1)->sequenceNumber()) {
// Resume at the item previous to the item we were heading towards
resumeIndex--;
} else {
resumeIndex = 0;
}
}
return resumeIndex;
}
int MissionController::currentMissionIndex(void) const
{
if (!_flyView) {
return -1;
} else {
int currentIndex = _missionManager->currentIndex();
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
currentIndex++;
}
return currentIndex;
}
}
void MissionController::_currentMissionIndexChanged(int sequenceNumber)
{
if (_flyView) {
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
sequenceNumber++;
}
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
}
emit currentMissionIndexChanged(currentMissionIndex());
}
}
bool MissionController::syncInProgress(void) const
{
return _missionManager->inProgress();
}
bool MissionController::dirty(void) const
{
return _visualItems ? _visualItems->dirty() : false;
}
void MissionController::setDirty(bool dirty)
{
if (_visualItems) {
_visualItems->setDirty(dirty);
}
}
void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle)
{
// First we look for a Fixed Wing Landing Pattern which is at the end
FixedWingLandingComplexItem::scanForItem(visualItems, _flyView, vehicle);
int scanIndex = 0;
while (scanIndex < visualItems->count()) {
VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(scanIndex);
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
if (!_flyView) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
if (settingsItem) {
scanIndex++;
settingsItem->scanForMissionSettings(visualItems, scanIndex);
continue;
}
}
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
scanIndex++;
simpleItem->scanForSections(visualItems, scanIndex, vehicle);
} else {
// Complex item, can't have sections
scanIndex++;
}
}
}
void MissionController::_updateContainsItems(void)
{
emit containsItemsChanged(containsItems());
}
bool MissionController::containsItems(void) const
{
return _visualItems ? _visualItems->count() > 1 : false;
}
void MissionController::removeAllFromVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while syncInProgress";
} else {
_itemsRequested = true;
_missionManager->removeAll();
}
}
QStringList MissionController::complexMissionItemNames(void) const
{
QStringList complexItems;
complexItems.append(patternSurveyName);
complexItems.append(patternCorridorScanName);
if (_controllerVehicle->fixedWing()) {
complexItems.append(patternFWLandingName);
}
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
complexItems.append(patternStructureScanName);
}
return qgcApp()->toolbox()->corePlugin()->complexMissionItemNames(_controllerVehicle, complexItems);
}
void MissionController::resumeMission(int resumeIndex)
{
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
resumeIndex--;
}
_missionManager->generateResumeMission(resumeIndex);
}
QGeoCoordinate MissionController::plannedHomePosition(void) const
{
if (_settingsItem) {
return _settingsItem->coordinate();
} else {
return QGeoCoordinate();
}
}
void MissionController::applyDefaultMissionAltitude(void)
{
double defaultAltitude = _appSettings->defaultMissionItemAltitude()->rawValue().toDouble();
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
item->applyNewAltitude(defaultAltitude);
}
}
void MissionController::_progressPctChanged(double progressPct)
{
if (!qFuzzyCompare(progressPct, _progressPct)) {
_progressPct = progressPct;
emit progressPctChanged(progressPct);
}
}
void MissionController::_visualItemsDirtyChanged(bool dirty)
{
// We could connect signal to signal and not need this but this is handy for setting a breakpoint on
emit dirtyChanged(dirty);
}
bool MissionController::showPlanFromManagerVehicle (void)
{
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionController::showPlanFromManagerVehicle called while offline";
return true; // stops further propagation of showPlanFromManagerVehicle due to error
} else {
if (!_managerVehicle->initialPlanRequestComplete()) {
// The vehicle hasn't completed initial load, we can just wait for newMissionItemsAvailable to be signalled automatically
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: !initialPlanRequestComplete, wait for signal";
return true;
} else if (syncInProgress()) {
// If the sync is already in progress, newMissionItemsAvailable will be signalled automatically when it is done. So no need to do anything.
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: syncInProgress wait for signal";
return true;
} else {
// Fake a _newMissionItemsAvailable with the current items qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: sync complete simulate signal";
_itemsRequested = true;
_newMissionItemsAvailableFromVehicle(false /* removeAllRequested */);
return false;
}
}
}
void MissionController::_managerSendComplete(bool error)
{
// Fly view always reloads on send complete
if (!error && _flyView) {
showPlanFromManagerVehicle();
}
}
void MissionController::_managerRemoveAllComplete(bool error)
{
if (!error) {
// Remove all from vehicle so we always update
showPlanFromManagerVehicle();
}
}
int MissionController::currentPlanViewIndex(void) const
{
return _currentPlanViewIndex;
}
VisualMissionItem* MissionController::currentPlanViewItem(void) const
{
return _currentPlanViewItem;
}
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if(_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (pVI && pVI->sequenceNumber() == sequenceNumber) {
pVI->setIsCurrentItem(true);
_currentPlanViewItem = pVI;
_currentPlanViewIndex = sequenceNumber;
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
// Determine split segment used to display line split editing ui.
for (int j=i-1; j>0; j--) {
VisualMissionItem* pPrev = qobject_cast<VisualMissionItem*>(_visualItems->get(j));
if (pPrev->specifiesCoordinate() && !pPrev->isStandaloneCoordinate()) {
VisualItemPair splitPair(pPrev, pVI);
if (_linesTable.contains(splitPair)) {
_splitSegment = _linesTable[splitPair];
}
}
}
}
} else {
pVI->setIsCurrentItem(false);
}
}
emit currentPlanViewIndexChanged();
emit currentPlanViewItemChanged();
emit splitSegmentChanged();
}
}
void MissionController::_updateTimeout(){
QGeoCoordinate firstCoordinate;
QGeoCoordinate takeoffCoordinate;
QGCGeoBoundingCube boundingCube;
double north = 0.0;
double south = 180.0;
double east = 0.0;
double west = 360.0;
double minAlt = QGCGeoBoundingCube::MaxAlt;
double maxAlt = QGCGeoBoundingCube::MinAlt;
for (int i = 1; i < _visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if(item->isSimpleItem()) {
SimpleMissionItem* pSimpleItem = qobject_cast<SimpleMissionItem*>(item);
if(pSimpleItem) {
switch(pSimpleItem->command()) {
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LAND:
if(pSimpleItem->coordinate().isValid()) {
if((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
takeoffCoordinate = pSimpleItem->coordinate();
} else if(!firstCoordinate.isValid()) {
firstCoordinate = pSimpleItem->coordinate();
}
double lat = pSimpleItem->coordinate().latitude() + 90.0;
double lon = pSimpleItem->coordinate().longitude() + 180.0;
double alt = pSimpleItem->coordinate().altitude();
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
minAlt = fmin(minAlt, alt);
maxAlt = fmax(maxAlt, alt);
}
break;
default:
break;
}
}
} else {
ComplexMissionItem* pComplexItem = qobject_cast<ComplexMissionItem*>(item);
if(pComplexItem) {
QGCGeoBoundingCube bc = pComplexItem->boundingCube();
if(bc.isValid()) {
if(!firstCoordinate.isValid() && pComplexItem->coordinate().isValid()) {
firstCoordinate = pComplexItem->coordinate();
}
north = fmax(north, bc.pointNW.latitude() + 90.0);
south = fmin(south, bc.pointSE.latitude() + 90.0);
east = fmax(east, bc.pointNW.longitude() + 180.0);
west = fmin(west, bc.pointSE.longitude() + 180.0);
minAlt = fmin(minAlt, bc.pointNW.altitude());
maxAlt = fmax(maxAlt, bc.pointSE.altitude());
}
}
}
}
//-- Figure out where this thing is taking off from
if(!takeoffCoordinate.isValid()) {
if(firstCoordinate.isValid()) {
takeoffCoordinate = firstCoordinate;
} else {
takeoffCoordinate = plannedHomePosition();
}
}
//-- Build bounding "cube"
boundingCube = QGCGeoBoundingCube(
QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
QGeoCoordinate(south - 90.0, east - 180.0, maxAlt)); if(_travelBoundingCube != boundingCube || _takeoffCoordinate != takeoffCoordinate) {
_takeoffCoordinate = takeoffCoordinate;
_travelBoundingCube = boundingCube;
emit missionBoundingCubeChanged();
qCDebug(MissionControllerLog) << "Bounding cube:" << _travelBoundingCube.pointNW << _travelBoundingCube.pointSE;
}
}
void MissionController::_complexBoundingBoxChanged()
{
_updateTimer.start(UPDATE_TIMEOUT);
}
bool MissionController::isEmpty(void) const
{
return _visualItems->count() <= 1;
}
int MissionController::visualItemIndexFromSequenceNumber(int sequenceNumber) const
{
for (int i=0; i<_visualItems->count(); i++) {
const VisualMissionItem* vi = _visualItems->value<VisualMissionItem*>(i);
if (vi->sequenceNumber() == sequenceNumber) {
return i;
}
}
qWarning() << "MissionController::getVisualItemIndex visual item not found";
return 0;
}