/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
import QtQuick 2.4
import QtQuick.Controls 1.3
import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Mavlink 1.0
import QGroundControl.Controllers 1.0
/// Mission Editor
QGCView {
id: _root
viewPanel: panel
topDialogMargin: height - mainWindow.availableHeight
// zOrder comes from the Loader in MainWindow.qml
z: QGroundControl.zOrderTopMost
readonly property int _decimalPlaces: 8
readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _margin: ScreenTools.defaultFontPixelHeight / 2
readonly property var _activeVehicle: multiVehicleManager.activeVehicle
readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16
readonly property real _rightPanelWidth: ScreenTools.defaultFontPixelWidth * 30
readonly property real _rightPanelOpacity: 0.8
readonly property int _toolButtonCount: 6
readonly property string _autoSyncKey: "AutoSync"
readonly property string _showHelpKey: "ShowHelp"
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems
property var _currentMissionItem
property bool gpsLock: _activeVehicle ? _activeVehicle.coordinateValid : false
property bool _firstGpsLock: true
//property var _homePositionManager: QGroundControl.homePositionManager
//property string _homePositionName: _homePositionManager.homePositions.get(0).name
//property var offlineHomePosition: _homePositionManager.homePositions.get(0).coordinate
property var liveHomePosition: controller.liveHomePosition
property var liveHomePositionAvailable: controller.liveHomePositionAvailable
property var homePosition: _defaultVehicleCoordinate
property bool _syncNeeded: controller.missionItems.dirty
property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false
property bool _showHelp: QGroundControl.flightMapSettings.loadBoolMapSetting(editorMap.mapName, _showHelpKey, true)
onGpsLockChanged: updateMapToVehiclePosition()
Component.onCompleted: {
helpPanel.source = "MissionEditorHelp.qml"
updateMapToVehiclePosition()
}
function updateMapToVehiclePosition() {
if (gpsLock && _firstGpsLock) {
_firstGpsLock = false
editorMap.latitude = _activeVehicle.latitude
editorMap.longitude = _activeVehicle.longitude
}
}
MissionController {
id: controller
Component.onCompleted: {
start(true /* editMode */)
}
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true)
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
*/
onMissionItemsChanged: itemDragger.clearItem()
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
ExclusiveGroup {
id: _mapTypeButtonsExclusiveGroup
}
ExclusiveGroup {
id: _dropButtonsExclusiveGroup
}
function setCurrentItem(index) {
_currentMissionItem = undefined
for (var i=0; i<_missionItems.count; i++) {
if (i == index) {
_currentMissionItem = _missionItems.get(i)
_currentMissionItem.isCurrentItem = true
} else {
_missionItems.get(i).isCurrentItem = false
}
}
}
QGCViewPanel {
id: panel
anchors.fill: parent
Item {
anchors.fill: parent
FlightMap {
id: editorMap
anchors.fill: parent
mapName: "MissionEditor"
latitude: mainWindow.tabletPosition.latitude
longitude: mainWindow.tabletPosition.longitude
readonly property real animationDuration: 500
Behavior on zoomLevel {
NumberAnimation {
duration: editorMap.animationDuration
easing.type: Easing.InOutQuad
}
}
Behavior on latitude {
NumberAnimation {
duration: editorMap.animationDuration
easing.type: Easing.InOutQuad
}
}
Behavior on longitude {
NumberAnimation {
duration: editorMap.animationDuration
easing.type: Easing.InOutQuad
}
}
MouseArea {
anchors.fill: parent
onClicked: {
var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (false /*homePositionManagerButton.checked*/) {
//offlineHomePosition = coordinate
} else if (addMissionItemsButton.checked) {
var index = controller.addMissionItem(coordinate)
addMissionItemsButtonAutoOffTimer.start()
setCurrentItem(index)
} else {
editorMap.zoomLevel = editorMap.maxZoomLevel - 2
}
}
}
// We use this item to support dragging since dragging a MapQuickItem just doesn't seem to work
Rectangle {
id: itemDragger
x: missionItemIndicator ? (missionItemIndicator.x + missionItemIndicator.anchorPoint.x - (itemDragger.width / 2)) : 100
y: missionItemIndicator ? (missionItemIndicator.y + missionItemIndicator.anchorPoint.y - (itemDragger.height / 2)) : 100
width: _radius * 2
height: _radius * 2
//radius: _radius
//border.width: 2
//border.color: "white"
color: "transparent"
visible: false
z: QGroundControl.zOrderMapItems + 1 // Above item icons
property var missionItem
property var missionItemIndicator
readonly property real _radius: ScreenTools.defaultFontPixelHeight * 4
readonly property real _arrowHeight: ScreenTools.defaultFontPixelHeight
function clearItem() {
itemDragger.visible = false
itemDragger.missionItem = undefined
itemDragger.missionItemIndicator = undefined
}
Image {
anchors.horizontalCenter: parent.horizontalCenter
anchors.top: parent.top
height: parent._arrowHeight
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
source: "/qmlimages/ArrowHead.svg"
}
Image {
id: arrowUp
anchors.verticalCenter: parent.verticalCenter
anchors.right: parent.right
height: parent._arrowHeight
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
source: "/qmlimages/ArrowHead.svg"
transform: Rotation { origin.x: arrowUp.width / 2; origin.y: arrowUp.height / 2; angle: 90}
}
Image {
id: arrowDown
anchors.horizontalCenter: parent.horizontalCenter
anchors.bottom: parent.bottom
height: parent._arrowHeight
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
source: "/qmlimages/ArrowHead.svg"
transform: Rotation { origin.x: arrowDown.width / 2; origin.y: arrowDown.height / 2; angle: 180}
}
Image {
id: arrowLeft
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
height: parent._arrowHeight
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
source: "/qmlimages/ArrowHead.svg"
transform: Rotation { origin.x: arrowLeft.width / 2; origin.y: arrowLeft.height / 2; angle: -90}
}
Rectangle {
width: _radius * 2
height: _radius * 2
radius: _radius
anchors.verticalCenter: parent.verticalCenter
anchors.horizontalCenter: parent.horizontalCenter
border.width: 1
border.color: "white"
readonly property real _radius: ScreenTools.defaultFontPixelWidth / 4
}
Drag.active: itemDrag.drag.active
Drag.hotSpot.x: width / 2
Drag.hotSpot.y: height / 2
MouseArea {
id: itemDrag
anchors.fill: parent
drag.target: parent
drag.minimumX: 0
drag.minimumY: 0
drag.maximumX: itemDragger.parent.width - parent.width
drag.maximumY: itemDragger.parent.height - parent.height
property bool dragActive: drag.active
onDragActiveChanged: {
if (!drag.active) {
var point = Qt.point(itemDragger.x + (itemDragger.width / 2), itemDragger.y + (itemDragger.height / 2))
var coordinate = editorMap.toCoordinate(point)
coordinate.altitude = itemDragger.missionItem.coordinate.altitude
itemDragger.missionItem.coordinate = coordinate
editorMap.latitude = itemDragger.missionItem.coordinate.latitude
editorMap.longitude = itemDragger.missionItem.coordinate.longitude
}
}
}
}
// Add the mission items to the map
MapItemView {
model: controller.missionItems
delegate: delegateComponent
}
Component {
id: delegateComponent
MissionItemIndicator {
id: itemIndicator
coordinate: object.coordinate
visible: object.specifiesCoordinate && (!object.homePosition || object.homePositionValid)
z: QGroundControl.zOrderMapItems
missionItem: object
onClicked: setCurrentItem(object.sequenceNumber)
function updateItemIndicator()
{
if (object.isCurrentItem && itemIndicator.visible) {
if (object.specifiesCoordinate) {
// Setup our drag item
if (object.sequenceNumber != 0) {
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
} else {
itemDragger.clearItem()
}
// Move to the new position
editorMap.latitude = object.coordinate.latitude
editorMap.longitude = object.coordinate.longitude
}
}
}
Connections {
target: object
onIsCurrentItemChanged: updateItemIndicator()
onCommandChanged: updateItemIndicator()
}
/*
Disabled for now: Not sure if they will come back
// These are the non-coordinate child mission items attached to this item
Row {
anchors.top: parent.top
anchors.left: parent.right
Repeater {
model: object.childItems
delegate: MissionItemIndexLabel {
label: object.sequenceNumber
isCurrentItem: object.isCurrentItem
z: 2
onClicked: setCurrentItem(object.sequenceNumber)
}
}
}
*/
}
}
// Add lines between waypoints
MissionLineView {
model: controller.waypointLines
}
// Mission Item Editor
Item {
id: missionItemEditor
height: mainWindow.availableHeight
anchors.bottom: parent.bottom
anchors.right: parent.right
width: _rightPanelWidth
visible: _missionItems.count > 1
opacity: _rightPanelOpacity
z: QGroundControl.zOrderTopMost
ListView {
anchors.fill: parent
spacing: _margin / 2
orientation: ListView.Vertical
model: controller.missionItems
property real _maxItemHeight: 0
delegate:
MissionItemEditor {
missionItem: object
width: parent.width
readOnly: object.sequenceNumber == 0
visible: !readOnly || object.homePositionValid
qgcView: _root
onClicked: setCurrentItem(object.sequenceNumber)
onRemove: {
var newCurrentItem = object.sequenceNumber - 1
controller.removeMissionItem(object.sequenceNumber)
if (_missionItems.count > 1) {
newCurrentItem = Math.min(_missionItems.count - 1, newCurrentItem)
setCurrentItem(newCurrentItem)
}
}
}
} // ListView
} // Item - Mission Item editor
//-- Dismiss Drop Down (if any)
MouseArea {
anchors.fill: parent
enabled: _dropButtonsExclusiveGroup.current != null
onClicked: {
if(_dropButtonsExclusiveGroup.current)
_dropButtonsExclusiveGroup.current.checked = false
_dropButtonsExclusiveGroup.current = null
}
}
//-- Help Panel
Loader {
id: helpPanel
width: parent.width * 0.65
height: parent.height * 0.75
z: QGroundControl.zOrderTopMost
anchors.verticalCenter: parent.verticalCenter
anchors.horizontalCenter: parent.horizontalCenter
}
Item {
id: toolbarSpacer
height: mainWindow.tbHeight
width: 1
}
//-- Vertical Tool Buttons
Column {
id: toolColumn
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.left: parent.left
anchors.top: toolbarSpacer.bottom
spacing: ScreenTools.defaultFontPixelHeight
RoundButton {
id: addMissionItemsButton
buttonImage: "/qmlimages/MapAddMission.svg"
z: QGroundControl.zOrderWidgets
onCheckedChanged: {
if (checked) {
addMissionItemsButtonAutoOffTimer.start()
} else {
addMissionItemsButtonAutoOffTimer.stop()
}
}
Timer {
id: addMissionItemsButtonAutoOffTimer
interval: _addMissionItemsButtonAutoOffTimeout
repeat: false
onTriggered: addMissionItemsButton.checked = false
}
}
RoundButton {
id: deleteMissionItemButton
buttonImage: "/qmlimages/TrashDelete.svg"
z: QGroundControl.zOrderWidgets
onClicked: {
addMissionItemsButton.checked = false
itemDragger.clearItem()
controller.deleteCurrentMissionItem()
checked = false
}
}
/*
Home Position manager temporarily disable
RoundButton {
id: homePositionManagerButton
buttonImage: "/qmlimages/MapHome.svg"
//exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
}
*/
DropButton {
id: syncButton
dropDirection: dropRight
buttonImage: _syncNeeded ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: syncDropDownComponent
enabled: !_syncInProgress
}
DropButton {
id: centerMapButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapCenter.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: Component {
Column {
QGCLabel { text: "Center map:" }
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Home"
enabled: liveHomePositionAvailable
onClicked: {
centerMapButton.hideDropDown()
editorMap.center = liveHomePosition
}
}
QGCButton {
text: "Vehicle"
enabled: activeVehicle && activeVehicle.latitude != 0 && activeVehicle.longitude != 0
property var activeVehicle: multiVehicleManager.activeVehicle
onClicked: {
centerMapButton.hideDropDown()
editorMap.latitude = activeVehicle.latitude
editorMap.longitude = activeVehicle.longitude
}
}
}
}
}
}
DropButton {
id: mapTypeButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapType.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: Component {
Column {
QGCLabel { text: "Map type:" }
Row {
spacing: ScreenTools.defaultFontPixelWidth
Repeater {
model: QGroundControl.flightMapSettings.mapTypes
QGCButton {
checkable: true
checked: editorMap.mapType == text
text: modelData
exclusiveGroup: _mapTypeButtonsExclusiveGroup
onClicked: {
editorMap.mapType = text
checked = true
mapTypeButton.hideDropDown()
}
}
}
}
}
}
}
//-- Zoom Map In
RoundButton {
id: mapZoomPlus
visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen
buttonImage: "/qmlimages/ZoomPlus.svg"
z: QGroundControl.zOrderWidgets
onClicked: {
if(editorMap)
editorMap.zoomLevel += 0.5
checked = false
}
}
//-- Zoom Map Out
RoundButton {
id: mapZoomMinus
visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen
buttonImage: "/qmlimages/ZoomMinus.svg"
z: QGroundControl.zOrderWidgets
onClicked: {
if(editorMap)
editorMap.zoomLevel -= 0.5
checked = false
}
}
RoundButton {
id: helpButton
buttonImage: "/qmlimages/Help.svg"
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
checked: _showHelp
}
}
Rectangle {
id: waypointValuesDisplay
anchors.margins: margins
anchors.left: parent.left
anchors.bottom: parent.bottom
width: distanceLabel.width + (margins * 2)
height: valuesColumn.height + (margins * 2)
radius: ScreenTools.defaultFontPixelWidth
color: qgcPal.window
opacity: 0.80
visible: _currentMissionItem ? _currentMissionItem.distance != -1 : false
readonly property real margins: ScreenTools.defaultFontPixelWidth
property real _altDifference: _currentMissionItem ? _currentMissionItem.altDifference : 0
property real _azimuth: _currentMissionItem ? _currentMissionItem.azimuth : 0
property real _distance: _currentMissionItem ? _currentMissionItem.distance : 0
Column {
id: valuesColumn
anchors.leftMargin: parent.margins
anchors.topMargin: parent.margins
anchors.left: parent.left
anchors.top: parent.top
QGCLabel {
id: distanceLabel
color: qgcPal.text
text: "Distance: " + Math.round(waypointValuesDisplay._distance) + " meters"
}
QGCLabel {
color: qgcPal.text
text: "Alt diff: " + Math.round(waypointValuesDisplay._altDifference) + " meters"
}
QGCLabel {
color: qgcPal.text
text: "Azimuth: " + Math.round(waypointValuesDisplay._azimuth)
}
}
}
} // FlightMap
} // Item - split view container
} // QGCViewPanel
Component {
id: syncDropDownComponent
Column {
id: columnHolder
spacing: _margin
QGCLabel {
width: columnHolder.width
wrapMode: Text.WordWrap
text: _syncNeeded && !controller.autoSync ?
"You have unsaved changed to you mission. You should send to your vehicle, or save to a file:" :
"Sync:"
}
Row {
visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Send to vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
onClicked: {
syncButton.hideDropDown()
controller.sendMissionItems()
}
}
QGCButton {
text: "Load from vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
onClicked: {
syncButton.hideDropDown()
controller.getMissionItems()
}
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: !ScreenTools.isMobile
QGCButton {
text: "Save to file..."
onClicked: {
syncButton.hideDropDown()
controller.saveMissionToFile()
}
}
QGCButton {
text: "Load from file..."
onClicked: {
syncButton.hideDropDown()
controller.loadMissionFromFile()
}
}
}
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
QGCLabel {
id: autoSyncDisallowedLabel
visible: _activeVehicle && _activeVehicle.armed
text: "AutoSync is not allowed whie vehicle is armed"
}
QGCCheckBox {
id: autoSyncCheckBox
checked: controller.autoSync
text: "Automatically sync changes with vehicle"
enabled: _activeVehicle ? !_activeVehicle.armed : false
onClicked: controller.autoSync = checked
}
*/
}
}
} // QGCVIew