ComplexMissionItem.h 6.82 KB
Newer Older
1
/*=====================================================================
2

3
 QGroundControl Open Source Ground Control Station
4 5 6

 (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

7
 This file is part of the QGROUNDCONTROL project
8

9 10 11 12
 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.
13

14 15 16 17
 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.
18

19 20
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
21

22 23 24 25 26
 ======================================================================*/

#ifndef ComplexMissionItem_H
#define ComplexMissionItem_H

27
#include "VisualMissionItem.h"
28
#include "MissionItem.h"
29
#include "Fact.h"
Don Gagne's avatar
Don Gagne committed
30 31 32
#include "QGCLoggingCategory.h"

Q_DECLARE_LOGGING_CATEGORY(ComplexMissionItemLog)
33

34
class ComplexMissionItem : public VisualMissionItem
35 36
{
    Q_OBJECT
37

38 39 40
public:
    ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);

Don Gagne's avatar
Don Gagne committed
41 42 43 44 45 46 47 48 49
    Q_PROPERTY(Fact*                gridAltitude            READ gridAltitude               CONSTANT)
    Q_PROPERTY(bool                 gridAltitudeRelative    MEMBER _gridAltitudeRelative    NOTIFY gridAltitudeRelativeChanged)
    Q_PROPERTY(Fact*                gridAngle               READ gridAngle                  CONSTANT)
    Q_PROPERTY(Fact*                gridSpacing             READ gridSpacing                CONSTANT)
    Q_PROPERTY(bool                 cameraTrigger           MEMBER _cameraTrigger           NOTIFY cameraTriggerChanged)
    Q_PROPERTY(Fact*                cameraTriggerDistance   READ cameraTriggerDistance      CONSTANT)
    Q_PROPERTY(QVariantList         polygonPath             READ polygonPath                NOTIFY polygonPathChanged)
    Q_PROPERTY(int                  lastSequenceNumber      READ lastSequenceNumber         NOTIFY lastSequenceNumberChanged)
    Q_PROPERTY(QVariantList         gridPoints              READ gridPoints                 NOTIFY gridPointsChanged)
50 51 52 53

    Q_INVOKABLE void clearPolygon(void);
    Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);

54
    QVariantList polygonPath(void) { return _polygonPath; }
55
    QVariantList gridPoints (void) { return _gridPoints; }
56

57 58 59
    Fact* gridAltitude(void)    { return &_gridAltitudeFact; }
    Fact* gridAngle(void)       { return &_gridAngleFact; }
    Fact* gridSpacing(void)     { return &_gridSpacingFact; }
Don Gagne's avatar
Don Gagne committed
60
    Fact* cameraTriggerDistance(void) { return &_cameraTriggerDistanceFact; }
61

62 63
    /// @return The last sequence number used by this item. Takes into account child items of the complex item
    int lastSequenceNumber(void) const;
64

65 66 67 68
    /// Returns the mission items associated with the complex item. Caller is responsible for freeing. Calling
    /// delete on returned QmlObjectListModel will free all memory including internal items.
    QmlObjectListModel* getMissionItems(void) const;

69 70 71 72 73 74
    /// Load the complex mission item from Json
    ///     @param complexObject Complex mission item json object
    ///     @param[out] errorString Error if load fails
    /// @return true: load success, false: load failed, errorString set
    bool load(const QJsonObject& complexObject, QString& errorString);

75 76 77 78 79
    // Overrides from VisualMissionItem

    bool            dirty                   (void) const final { return _dirty; }
    bool            isSimpleItem            (void) const final { return false; }
    bool            isStandaloneCoordinate  (void) const final { return false; }
80
    bool            specifiesCoordinate     (void) const final;
81 82
    QString         commandDescription      (void) const final { return "Survey"; }
    QString         commandName             (void) const final { return "Survey"; }
83
    QString         abbreviation            (void) const final { return "S"; }
84
    QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
85
    QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
86
    int             sequenceNumber          (void) const final { return _sequenceNumber; }
87

Don Gagne's avatar
Don Gagne committed
88 89
    bool coordinateHasRelativeAltitude      (void) const final { return _gridAltitudeRelative; }
    bool exitCoordinateHasRelativeAltitude  (void) const final { return _gridAltitudeRelative; }
90 91 92
    bool exitCoordinateSameAsEntry          (void) const final { return false; }

    void setDirty           (bool dirty) final;
93 94 95
    void setCoordinate      (const QGeoCoordinate& coordinate) final;
    void setSequenceNumber  (int sequenceNumber) final;
    void save               (QJsonObject& saveObject) const final;
96 97

signals:
Don Gagne's avatar
Don Gagne committed
98 99 100 101 102 103 104
    void polygonPathChanged             (void);
    void lastSequenceNumberChanged      (int lastSequenceNumber);
    void altitudeChanged                (double altitude);
    void gridAngleChanged               (double gridAngle);
    void gridPointsChanged              (void);
    void cameraTriggerChanged           (bool cameraTrigger);
    void gridAltitudeRelativeChanged    (bool gridAltitudeRelative);
Don Gagne's avatar
Don Gagne committed
105 106

private slots:
107
    void _cameraTriggerChanged(void);
108 109

private:
110 111
    void _clear(void);
    void _setExitCoordinate(const QGeoCoordinate& coordinate);
112 113
    void _clearGrid(void);
    void _generateGrid(void);
Don Gagne's avatar
Don Gagne committed
114 115 116 117
    void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& gridPoints);
    QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
    void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
    void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
118

119
    int                 _sequenceNumber;
120 121
    bool                _dirty;
    QVariantList        _polygonPath;
122
    QVariantList        _gridPoints;
123
    QGeoCoordinate      _coordinate;
124
    QGeoCoordinate      _exitCoordinate;
125 126
    double              _altitude;
    double              _gridAngle;
Don Gagne's avatar
Don Gagne committed
127
    bool                _cameraTrigger;
Don Gagne's avatar
Don Gagne committed
128
    bool                _gridAltitudeRelative;
129 130 131 132

    Fact    _gridAltitudeFact;
    Fact    _gridAngleFact;
    Fact    _gridSpacingFact;
Don Gagne's avatar
Don Gagne committed
133
    Fact    _cameraTriggerDistanceFact;
134 135 136 137 138

    static const char* _jsonVersionKey;
    static const char* _jsonTypeKey;
    static const char* _jsonPolygonKey;
    static const char* _jsonIdKey;
139
    static const char* _jsonGridAltitudeKey;
Don Gagne's avatar
Don Gagne committed
140
    static const char* _jsonGridAltitudeRelativeKey;
141 142
    static const char* _jsonGridAngleKey;
    static const char* _jsonGridSpacingKey;
Don Gagne's avatar
Don Gagne committed
143 144
    static const char* _jsonCameraTriggerKey;
    static const char* _jsonCameraTriggerDistanceKey;
145 146

    static const char* _complexType;
147 148 149
};

#endif