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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QtLocation 5.3
import QtPositioning 5.3
import QtQml.Models 2.1
import QGroundControl.Airspace 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
Gus Grubba
committed
Item {
id: _planController
Component.onCompleted: {
start(true /* flyView */)
mainWindow.planMasterControllerView = _planController
}
property alias guidedController: guidedActionsController
property bool activeVehicleJoystickEnabled: activeVehicle ? activeVehicle.joystickEnabled : false
property bool mainIsMap: QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_mainIsMapKey, true) : true
property bool isBackgroundDark: mainIsMap ? (mainWindow.flightDisplayMap ? mainWindow.flightDisplayMap.isSatelliteMap : true) : true
property var _missionController: _planController.missionController
property var _geoFenceController: _planController.geoFenceController
property var _rallyPointController: _planController.rallyPointController
property bool _isPipVisible: QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
property bool _useChecklist: QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
property real _savedZoomLevel: 0
property real _margins: ScreenTools.defaultFontPixelWidth / 2
property real _pipSize: mainWindow.width * 0.2
property alias _guidedController: guidedActionsController
property alias _altitudeSlider: altitudeSlider
readonly property var _dynamicCameras: activeVehicle ? activeVehicle.dynamicCameras : null
readonly property bool _isCamera: _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
readonly property real _defaultRoll: 0
readonly property real _defaultPitch: 0
readonly property real _defaultHeading: 0
readonly property real _defaultAltitudeAMSL: 0
readonly property real _defaultGroundSpeed: 0
readonly property real _defaultAirSpeed: 0
readonly property string _mapName: "FlightDisplayView"
readonly property string _showMapBackgroundKey: "/showMapBackground"
readonly property string _mainIsMapKey: "MainFlyWindowIsMap"
readonly property string _PIPVisibleKey: "IsPIPVisible"
QGroundControl.saveBoolGlobalSetting(_mainIsMapKey, mainIsMap)
if(mainIsMap) {
//-- Adjust Margins
_flightMapContainer.state = "fullMode"
_flightVideo.state = "pipMode"
//-- Save/Restore Map Zoom Level
if(_savedZoomLevel != 0) {
if(mainWindow.flightDisplayMap) {
mainWindow.flightDisplayMap.zoomLevel = _savedZoomLevel
}
} else {
if(mainWindow.flightDisplayMap) {
_savedZoomLevel = mainWindow.flightDisplayMap.zoomLevel
}
}
//-- Adjust Margins
_flightMapContainer.state = "pipMode"
_flightVideo.state = "fullMode"
//-- Set Map Zoom Level
if(mainWindow.flightDisplayMap) {
_savedZoomLevel = mainWindow.flightDisplayMap.zoomLevel
mainWindow.flightDisplayMap.zoomLevel = _savedZoomLevel - 3
}
function setPipVisibility(state) {
_isPipVisible = state;
QGroundControl.saveBoolGlobalSetting(_PIPVisibleKey, state)
function isInstrumentRight() {
if(QGroundControl.corePlugin.options.instrumentWidget) {
if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) {
switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) {
case CustomInstrumentWidget.POS_TOP_LEFT:
case CustomInstrumentWidget.POS_BOTTOM_LEFT:
case CustomInstrumentWidget.POS_CENTER_LEFT:
return false;
}
}
}
return true;
}
target: _missionController
onResumeMissionUploadFail: guidedActionsController.confirmAction(guidedActionsController.actionResumeMissionUploadFail)
Connections {
target: mainWindow
onArmVehicle: guidedController.confirmAction(guidedController.actionArm)
onDisarmVehicle: {
if (guidedController.showEmergenyStop) {
guidedController.confirmAction(guidedController.actionEmergencyStop)
} else {
guidedController.confirmAction(guidedController.actionDisarm)
}
}
onVtolTransitionToFwdFlight: guidedController.confirmAction(guidedController.actionVtolTransitionToFwdFlight)
onVtolTransitionToMRFlight: guidedController.confirmAction(guidedController.actionVtolTransitionToMRFlight)
onFlightDisplayMapChanged: setStates()
if(QGroundControl.corePlugin.options.flyViewOverlay.toString().length) {
flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
}
if(QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length) {
checkList.source = QGroundControl.corePlugin.options.preFlightChecklistUrl
}
// The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes
property bool vehicleArmed: activeVehicle ? activeVehicle.armed : true // true here prevents pop up from showing during shutdown
property bool vehicleWasArmed: false
property bool vehicleInMissionFlightMode: activeVehicle ? (activeVehicle.flightMode === activeVehicle.missionFlightMode) : false
property bool promptForMissionRemove: false
onVehicleArmedChanged: {
if (vehicleArmed) {
if (!promptForMissionRemove) {
promptForMissionRemove = vehicleInMissionFlightMode
vehicleWasArmed = true
}
} else {
if (promptForMissionRemove && (_missionController.containsItems || _geoFenceController.containsItems || _rallyPointController.containsItems)) {
// ArduPilot has a strange bug which prevents mission clear from working at certain times, so we can't show this dialog
mainWindow.showComponentDialog(missionCompleteDialogComponent, qsTr("Flight Plan complete"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
}
promptForMissionRemove = false
}
}
onVehicleInMissionFlightModeChanged: {
if (!promptForMissionRemove && vehicleArmed) {
promptForMissionRemove = true
}
}
Component {
id: missionCompleteDialogComponent
QGCViewDialog {
onActiveVehicleCopyChanged:
if (!activeVehicleCopy) {
hideDialog()
}
QGCFlickable {
anchors.fill: parent
contentHeight: column.height
id: column
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
visible: !activeVehicle.connectionLost || !_guidedController.showResumeMission
text: qsTr("%1 Images Taken").arg(activeVehicle.cameraTriggerPoints.count)
QGCButton {
Layout.fillWidth: true
text: qsTr("Remove plan from vehicle")
onClicked: {
QGCButton {
Layout.fillWidth: true
Layout.alignment: Qt.AlignHCenter
text: qsTr("Leave plan on vehicle")
onClicked: hideDialog()
}
Rectangle {
Layout.fillWidth: true
color: qgcPal.text
height: 1
}
QGCButton {
Layout.fillWidth: true
Layout.alignment: Qt.AlignHCenter
text: qsTr("Resume Mission From Waypoint %1").arg(_guidedController._resumeMissionIndex)
visible: _guidedController.showResumeMission
onClicked: {
guidedController.executeAction(_guidedController.actionResumeMission, null, null)
hideDialog()
}
QGCLabel {
Layout.fillWidth: true
wrapMode: Text.WordWrap
text: qsTr("Resume Mission will rebuild the current mission from the last flown waypoint and upload it to the vehicle for the next flight.")
visible: _guidedController.showResumeMission
}
QGCLabel {
Layout.fillWidth: true
wrapMode: Text.WordWrap
color: qgcPal.warningText
text: qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle when communication is lost.")
visible: _guidedController.showResumeMission
}
visible: activeVehicle.connectionLost && _guidedController.showResumeMission
QGCLabel {
Layout.fillWidth: true
wrapMode: Text.WordWrap
color: qgcPal.warningText
text: qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle.")
}
width: !mainIsMap ? _mapAndVideo.width : _pipSize
height: !mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
visible: false
Item {
id: videoItem
anchors.fill: parent
}
onClosing: {
_flightVideo.state = "unpopup"
videoWindow.visible = false
}
/* This timer will startVideo again after the popup window appears and is loaded.
* Such approach was the only one to avoid a crash for windows users
*/
Timer {
id: videoPopUpTimer
interval: 2000;
running: false;
repeat: false
onTriggered: {
// If state is popup, the next one will be popup-finished
if (_flightVideo.state == "popup") {
_flightVideo.state = "popup-finished"
}
QGroundControl.videoManager.startVideo()
}
QGCMapPalette { id: mapPal; lightColors: mainIsMap ? mainWindow.flightDisplayMap.isSatelliteMap : true }
Gus Grubba
committed
Item {
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
anchors.bottom: logReplayStatusBar.top
//-- Map View
Item {
id: _flightMapContainer
z: mainIsMap ? _mapAndVideo.z + 1 : _mapAndVideo.z + 2
anchors.left: _mapAndVideo.left
anchors.bottom: _mapAndVideo.bottom
visible: mainIsMap || _isPipVisible && !QGroundControl.videoManager.fullScreen
width: mainIsMap ? _mapAndVideo.width : _pipSize
height: mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
states: [
State {
name: "pipMode"
PropertyChanges {
target: _flightMapContainer
anchors.margins: ScreenTools.defaultFontPixelHeight
}
},
State {
name: "fullMode"
PropertyChanges {
target: _flightMapContainer
anchors.margins: 0
}
id: _fMap
anchors.fill: parent
guidedActionsController: _guidedController
flightWidgets: flightDisplayViewWidgets
rightPanelWidth: ScreenTools.defaultFontPixelHeight * 9
multiVehicleView: !singleVehicleView.checked
scaleState: (mainIsMap && flyViewOverlay.item) ? (flyViewOverlay.item.scaleState ? flyViewOverlay.item.scaleState : "bottomMode") : "bottomMode"
Component.onCompleted: {
mainWindow.flightDisplayMap = _fMap
}
z: mainIsMap ? _mapAndVideo.z + 2 : _mapAndVideo.z + 1
width: !mainIsMap ? _mapAndVideo.width : _pipSize
height: !mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
anchors.left: _mapAndVideo.left
anchors.bottom: _mapAndVideo.bottom
visible: QGroundControl.videoManager.hasVideo && (!mainIsMap || _isPipVisible)
onParentChanged: {
/* If video comes back from popup
* correct anchors.
* Such thing is not possible with ParentChange.
*/
if(parent == _mapAndVideo) {
// Do anchors again after popup
anchors.left = _mapAndVideo.left
anchors.bottom = _mapAndVideo.bottom
anchors.margins = ScreenTools.defaultFontPixelHeight
}
}
states: [
State {
name: "pipMode"
PropertyChanges {
target: _flightVideo
anchors.margins: ScreenTools.defaultFontPixelHeight
}
PropertyChanges {
target: _flightVideoPipControl
inPopup: false
}
},
State {
name: "fullMode"
PropertyChanges {
target: _flightVideo
anchors.margins: 0
}
PropertyChanges {
target: _flightVideoPipControl
inPopup: false
}
},
State {
name: "popup"
StateChangeScript {
script: {
// Stop video, restart it again with Timer
// Avoiding crashs if ParentChange is not yet done
QGroundControl.videoManager.stopVideo()
videoPopUpTimer.running = true
}
PropertyChanges {
target: _flightVideoPipControl
inPopup: true
}
},
State {
name: "popup-finished"
ParentChange {
target: _flightVideo
parent: videoItem
x: 0
y: 0
width: videoItem.width
height: videoItem.height
}
},
State {
name: "unpopup"
StateChangeScript {
script: {
QGroundControl.videoManager.stopVideo()
videoPopUpTimer.running = true
}
}
PropertyChanges {
target: _flightVideoPipControl
inPopup: false
}
anchors.fill: parent
visible: QGroundControl.videoManager.isGStreamer
}
//-- UVC Video (USB Camera or Video Device)
Loader {
id: cameraLoader
anchors.fill: parent
visible: !QGroundControl.videoManager.isGStreamer
source: QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/FlightDisplayViewUVC.qml" : "qrc:/qml/FlightDisplayViewDummy.qml"
QGCPipable {
id: _flightVideoPipControl
z: _flightVideo.z + 3
width: _pipSize
height: _pipSize * (9/16)
anchors.left: _mapAndVideo.left
anchors.bottom: _mapAndVideo.bottom
anchors.margins: ScreenTools.defaultFontPixelHeight
visible: QGroundControl.videoManager.hasVideo && !QGroundControl.videoManager.fullScreen && _flightVideo.state != "popup"
isHidden: !_isPipVisible
isDark: isBackgroundDark
setStates()
}
onHideIt: {
setPipVisibility(!state)
}
onPopup: {
videoWindow.visible = true
_flightVideo.state = "popup"
}
onNewWidth: {
_pipSize = newWidth
Row {
id: singleMultiSelector
anchors.topMargin: ScreenTools.toolbarHeight + _margins
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelWidth
visible: QGroundControl.multiVehicleManager.vehicles.count > 1 && QGroundControl.corePlugin.options.enableMultiVehicleList
QGCRadioButton {
id: singleVehicleView
text: qsTr("Single")
checked: true
text: qsTr("Multi-Vehicle")
z: _mapAndVideo.z + 4
height: availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0) - (ScreenTools.defaultFontPixelHeight * 0.5)
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
missionController: _missionController
visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
//-------------------------------------------------------------------------
//-- Loader helper for plugins to overlay elements over the fly view
Loader {
id: flyViewOverlay
z: flightDisplayViewWidgets.z + 1
visible: !QGroundControl.videoManager.fullScreen
height: mainWindow.height - mainWindow.header.height
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.bottom: parent.bottom
}
anchors.margins: _margins
anchors.top: singleMultiSelector.bottom
anchors.right: parent.right
anchors.bottom: parent.bottom
width: ScreenTools.defaultFontPixelWidth * 30
visible: !singleVehicleView.checked && !QGroundControl.videoManager.fullScreen && QGroundControl.corePlugin.options.enableMultiVehicleList
width: parent.width - (_flightVideoPipControl.width / 2)
height: Math.min(mainWindow.height * 0.25, ScreenTools.defaultFontPixelWidth * 16)
visible: (_virtualJoystick ? _virtualJoystick.value : false) && !QGroundControl.videoManager.fullScreen && !(activeVehicle ? activeVehicle.highLatencyLink : false)
anchors.bottom: _flightVideoPipControl.top
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 2
anchors.horizontalCenter: flightDisplayViewWidgets.horizontalCenter
active: (_virtualJoystick ? _virtualJoystick.value : false) && !(activeVehicle ? activeVehicle.highLatencyLink : false)
property bool useLightColors: isBackgroundDark
// The default behaviour is not centralized throttle
property bool centralizeThrottle: _virtualJoystickCentralized ? _virtualJoystickCentralized.value : false
property Fact _virtualJoystick: QGroundControl.settingsManager.appSettings.virtualJoystick
property Fact _virtualJoystickCentralized: QGroundControl.settingsManager.appSettings.virtualJoystickCentralized
visible: (activeVehicle ? activeVehicle.guidedModeSupported : true) && !QGroundControl.videoManager.fullScreen
anchors.leftMargin: isInstrumentRight() ? ScreenTools.defaultFontPixelWidth * 2 : undefined
anchors.left: isInstrumentRight() ? _mapAndVideo.left : undefined
anchors.rightMargin:isInstrumentRight() ? undefined : ScreenTools.defaultFontPixelWidth
anchors.right: isInstrumentRight() ? undefined : _mapAndVideo.right
anchors.topMargin: mainWindow.header.height + (ScreenTools.defaultFontPixelHeight * 0.5)
anchors.top: parent.top
maxHeight: (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y
buttonVisible: [true, _useChecklist, _guidedController.showTakeoff || !_guidedController.showLand, _guidedController.showLand && !_guidedController.showTakeoff, true, _guidedController.showPause, !_guidedController.showPause ]
buttonEnabled: [true, _useChecklist && activeVehicle, _guidedController.showTakeoff, _guidedController.showLand, _guidedController.showRTL, _guidedController.showPause, _anyActionAvailable ]
property bool _anyActionAvailable: _guidedController.showStartMission || _guidedController.showResumeMission || _guidedController.showChangeAlt || _guidedController.showLandAbort
title: _guidedController.startMissionTitle,
text: _guidedController.startMissionMessage,
action: _guidedController.actionStartMission,
visible: _guidedController.showStartMission
{
title: _guidedController.continueMissionTitle,
text: _guidedController.continueMissionMessage,
action: _guidedController.actionContinueMission,
visible: _guidedController.showContinueMission
},
title: _guidedController.resumeMissionTitle,
text: _guidedController.resumeMissionMessage,
action: _guidedController.actionResumeMission,
visible: _guidedController.showResumeMission
title: _guidedController.changeAltTitle,
text: _guidedController.changeAltMessage,
action: _guidedController.actionChangeAlt,
visible: _guidedController.showChangeAlt
title: _guidedController.landAbortTitle,
text: _guidedController.landAbortMessage,
action: _guidedController.actionLandAbort,
visible: _guidedController.showLandAbort
name: "Plan",
iconSource: "/qmlimages/Plan.svg",
},
{
name: "Checklist",
iconSource: "/qmlimages/check.svg",
Philipp Oettershagen
committed
},
name: _guidedController.takeoffTitle,
iconSource: "/res/takeoff.svg",
action: _guidedController.actionTakeoff
name: _guidedController.landTitle,
iconSource: "/res/land.svg",
action: _guidedController.actionLand
name: _guidedController.rtlTitle,
iconSource: "/res/rtl.svg",
action: _guidedController.actionRTL
name: _guidedController.pauseTitle,
action: _guidedController.actionPause
guidedActionsController.closeAll()
if(index === 0) {
mainWindow.showPlanView()
} else if(index === 1) {
checklistDropPanel.open()
var action = model[index].action
if (action === -1) {
guidedActionList.model = _actionModel
guidedActionList.visible = true
} else {
_guidedController.confirmAction(action)
}
missionController: _missionController
confirmDialog: guidedActionConfirm
confirmAction(actionStartMission)
}
}
onShowContinueMissionChanged: {
if (showContinueMission) {
confirmAction(actionContinueMission)
}
}
onShowLandAbortChanged: {
if (showLandAbort) {
confirmAction(actionLandAbort)
}
}
/// Close all dialogs
function closeAll() {
guidedActionConfirm.visible = false
guidedActionList.visible = false
altitudeSlider.visible = false
}
id: guidedActionConfirm
anchors.margins: _margins
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
guidedController: _guidedController
altitudeSlider: _altitudeSlider
id: guidedActionList
anchors.margins: _margins
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
guidedController: _guidedController
id: altitudeSlider
anchors.margins: _margins
anchors.right: parent.right
anchors.topMargin: ScreenTools.toolbarHeight + _margins
anchors.top: parent.top
anchors.bottom: parent.bottom
radius: ScreenTools.defaultFontPixelWidth / 2
width: ScreenTools.defaultFontPixelWidth * 10
color: qgcPal.window
visible: false
}
LogReplayStatusBar {
id: logReplayStatusBar
anchors.left: parent.left
anchors.right: parent.right
anchors.bottom: parent.bottom
visible: QGroundControl.settingsManager.flyViewSettings.showLogReplayStatusBar.rawValue &&_flightMapContainer.state === "fullMode"
}
//-- Airspace Indicator
Rectangle {
id: airspaceIndicator
width: airspaceRow.width + (ScreenTools.defaultFontPixelWidth * 3)
height: airspaceRow.height * 1.25
color: qgcPal.globalTheme === QGCPalette.Light ? Qt.rgba(1,1,1,0.95) : Qt.rgba(0,0,0,0.75)
visible: QGroundControl.airmapSupported && mainIsMap && flightPermit && flightPermit !== AirspaceFlightPlanProvider.PermitNone
radius: 3
border.width: 1
border.color: qgcPal.globalTheme === QGCPalette.Light ? Qt.rgba(0,0,0,0.35) : Qt.rgba(1,1,1,0.35)
anchors.top: parent.top
anchors.topMargin: ScreenTools.toolbarHeight + (ScreenTools.defaultFontPixelHeight * 0.25)
anchors.horizontalCenter: parent.horizontalCenter
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.centerIn: parent
QGCLabel { text: airspaceIndicator.providerName+":"; anchors.verticalCenter: parent.verticalCenter; }
QGCLabel {
text: {
if(airspaceIndicator.flightPermit) {
if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitPending)
return qsTr("Approval Pending")
Gus Grubba
committed
if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitAccepted || airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitNotRequired)
return qsTr("Flight Approved")
if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitRejected)
return qsTr("Flight Rejected")
}
return ""
}
color: {
if(airspaceIndicator.flightPermit) {
if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitPending)
return qgcPal.colorOrange
Gus Grubba
committed
if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitAccepted || airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitNotRequired)
return qgcPal.colorGreen
}
return qgcPal.colorRed
}
anchors.verticalCenter: parent.verticalCenter;
}
}
property var flightPermit: QGroundControl.airmapSupported ? QGroundControl.airspaceManager.flightPlan.flightPermitStatus : null
property string providerName: QGroundControl.airspaceManager.providerName
}
//-- Checklist GUI
Popup {
id: checklistDropPanel
x: Math.round((mainWindow.width - width) * 0.5)
y: Math.round((mainWindow.height - height) * 0.5)
height: checkList.height
width: checkList.width
modal: true
focus: true
closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutside
background: Rectangle {
anchors.fill: parent
color: Qt.rgba(0,0,0,0)
clip: true
Loader {
id: checkList
anchors.centerIn: parent
}