MissionController.h

/****************************************************************************
 *
 * (c) 2009-2020 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.
 *
 ****************************************************************************/

#pragma once

#include "PlanElementController.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
#include "KMLPlanDomDocument.h"
#include "QGCGeoBoundingCube.h"

#include <QHash>

class CoordinateVector;
class VisualMissionItem;
class MissionItem;
class MissionSettingsItem;
class AppSettings;
class MissionManager;
class SimpleMissionItem;
class ComplexMissionItem;
class MissionSettingsItem;
class QDomDocument;
class PlanViewSettings;

Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)

typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;

class MissionController : public PlanElementController
{
    Q_OBJECT

public:
    MissionController(PlanMasterController* masterController, QObject* parent = nullptr);
    ~MissionController();

    typedef struct _MissionFlightStatus_t {
        double  maxTelemetryDistance;
        double  totalDistance;
        double  totalTime;
        double  hoverDistance;
        double  hoverTime;
        double  cruiseDistance;
        double  cruiseTime;
        double  cruiseSpeed;
        double  hoverSpeed;
        double  vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
        double  vehicleYaw;
        double  gimbalYaw;              ///< NaN signals yaw was never changed
        double  gimbalPitch;            ///< NaN signals pitch was never changed
        int     mAhBattery;             ///< 0 for not available
        double  hoverAmps;              ///< Amp consumption during hover
        double  cruiseAmps;             ///< Amp consumption during cruise
        double  ampMinutesAvailable;    ///< Amp minutes available from single battery
        double  hoverAmpsTotal;         ///< Total hover amps used
        double  cruiseAmpsTotal;        ///< Total cruise amps used
        int     batteryChangePoint;     ///< -1 for not supported, 0 for not needed
        int     batteriesRequired;      ///< -1 for not supported
    } MissionFlightStatus_t;

    Q_PROPERTY(QmlObjectListModel*  visualItems                     READ visualItems                    NOTIFY visualItemsChanged)
    Q_PROPERTY(QmlObjectListModel*  waypointLines                   READ waypointLines                  CONSTANT)                           ///< Used by Plan view only for interactive editing
    Q_PROPERTY(QVariantList         waypointPath                    READ waypointPath                   NOTIFY waypointPathChanged)         ///< Used by Fly view only for static display
    Q_PROPERTY(QmlObjectListModel*  directionArrows                 READ directionArrows                CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  incompleteComplexItemLines      READ incompleteComplexItemLines     CONSTANT)                           ///< Segments which are not yet completed.
    Q_PROPERTY(QStringList          complexMissionItemNames         READ complexMissionItemNames        NOTIFY complexMissionItemNamesChanged)
    Q_PROPERTY(QGeoCoordinate       plannedHomePosition             READ plannedHomePosition            NOTIFY plannedHomePositionChanged)
    Q_PROPERTY(QGeoCoordinate       previousCoordinate              MEMBER _previousCoordinate          NOTIFY previousCoordinateChanged)
    Q_PROPERTY(CoordinateVector*    splitSegment                    MEMBER _splitSegment                NOTIFY splitSegmentChanged)         ///< Segment which show show + split ui element
    Q_PROPERTY(double               progressPct                     READ progressPct                    NOTIFY progressPctChanged)
    Q_PROPERTY(int                  missionItemCount                READ missionItemCount               NOTIFY missionItemCountChanged)     ///< True mission item command count (only valid in Fly View)
    Q_PROPERTY(int                  currentMissionIndex             READ currentMissionIndex            NOTIFY currentMissionIndexChanged)
    Q_PROPERTY(int                  resumeMissionIndex              READ resumeMissionIndex             NOTIFY resumeMissionIndexChanged)   ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
    Q_PROPERTY(int                  currentPlanViewSeqNum           READ currentPlanViewSeqNum          NOTIFY currentPlanViewSeqNumChanged)
    Q_PROPERTY(int                  currentPlanViewVIIndex          READ currentPlanViewVIIndex         NOTIFY currentPlanViewVIIndexChanged)
    Q_PROPERTY(VisualMissionItem*   currentPlanViewItem             READ currentPlanViewItem            NOTIFY currentPlanViewItemChanged)
    Q_PROPERTY(double               missionDistance                 READ missionDistance                NOTIFY missionDistanceChanged)
    Q_PROPERTY(double               missionTime                     READ missionTime                    NOTIFY missionTimeChanged)
    Q_PROPERTY(double               missionHoverDistance            READ missionHoverDistance           NOTIFY missionHoverDistanceChanged)
    Q_PROPERTY(double               missionCruiseDistance           READ missionCruiseDistance          NOTIFY missionCruiseDistanceChanged)
    Q_PROPERTY(double               missionHoverTime                READ missionHoverTime               NOTIFY missionHoverTimeChanged)
    Q_PROPERTY(double               missionCruiseTime               READ missionCruiseTime              NOTIFY missionCruiseTimeChanged)
    Q_PROPERTY(double               missionMaxTelemetry             READ missionMaxTelemetry            NOTIFY missionMaxTelemetryChanged)
    Q_PROPERTY(int                  batteryChangePoint              READ batteryChangePoint             NOTIFY batteryChangePointChanged)
    Q_PROPERTY(int                  batteriesRequired               READ batteriesRequired              NOTIFY batteriesRequiredChanged)
    Q_PROPERTY(QGCGeoBoundingCube*  travelBoundingCube              READ travelBoundingCube             NOTIFY missionBoundingCubeChanged)
    Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
    Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
    Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY onlyInsertTakeoffValidChanged)
    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
    Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
    Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
    Q_PROPERTY(bool                 isROIBeginCurrentItem           MEMBER _isROIBeginCurrentItem       NOTIFY isROIBeginCurrentItemChanged)
    Q_PROPERTY(bool                 flyThroughCommandsAllowed       MEMBER _flyThroughCommandsAllowed   NOTIFY flyThroughCommandsAllowedChanged)

    Q_INVOKABLE void removeMissionItem(int viIndex);

    /// Add a new simple mission item to the list
    ///     @param coordinate: Coordinate for item
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem* insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new takeoff item to the list
    ///     @param coordinate: Coordinate for item
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem* insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new land item to the list
    ///     @param coordinate: Coordinate for item
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem* insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new ROI mission item to the list
    ///     @param coordinate: Coordinate for item
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem*  insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new Cancel ROI mission item to the list
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem*  insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new complex mission item to the list
    ///     @param itemName: Name of complex item to create (from complexMissionItemNames)
    ///     @param mapCenterCoordinate: coordinate for current center of map
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem*  insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem = false);

    /// Add a new complex mission item to the list
    ///     @param itemName: Name of complex item to create (from complexMissionItemNames)
    ///     @param file: kml or shp file to load from shape from
    ///     @param coordinate: Coordinate for item
    ///     @param visualItemIndex: index to insert at, -1 for end of list
    ///     @param makeCurrentItem: true: Make this item the current item
    /// @return Newly created item
    Q_INVOKABLE VisualMissionItem*  insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int visualItemIndex, bool makeCurrentItem = false);

    Q_INVOKABLE void resumeMission(int resumeIndex);

    /// Updates the altitudes of the items in the current mission to the new default altitude
    Q_INVOKABLE void applyDefaultMissionAltitude(void);

    /// Sets a new current mission item (PlanView).
    ///     @param sequenceNumber - index for new item, -1 to clear current item
    Q_INVOKABLE void setCurrentPlanViewSeqNum(int sequenceNumber, bool force);

    /// Determines if the mission has all data needed to be saved or sent to the vehicle.
    /// IMPORTANT NOTE: The return value is a VisualMissionItem::ReadForSaveState value. It is an int here to work around
    /// a nightmare of circular header dependency problems.
    int readyForSaveState(void) const;

    /// Sends the mission items to the specified vehicle
    static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);

    bool loadJsonFile(QFile& file, QString& errorString);
    bool loadTextFile(QFile& file, QString& errorString);

    QGCGeoBoundingCube* travelBoundingCube  () { return &_travelBoundingCube; }
    QGeoCoordinate      takeoffCoordinate   () { return _takeoffCoordinate; }

    // Overrides from PlanElementController
    bool supported                  (void) const final { return true; }
    void start                      (bool flyView) final;
    void save                       (QJsonObject& json) final;
    bool load                       (const QJsonObject& json, QString& errorString) final;
    void loadFromVehicle            (void) final;
    void sendToVehicle              (void) final;
    void removeAll                  (void) final;
    void removeAllFromVehicle       (void) final;
    bool syncInProgress             (void) const final;
    bool dirty                      (void) const final;
    void setDirty                   (bool dirty) final;
    bool containsItems              (void) const final;
    bool showPlanFromManagerVehicle (void) final;

    // Create KML file
    void addMissionToKML(KMLPlanDomDocument& planKML);

    // Property accessors

    QmlObjectListModel* visualItems                 (void) { return _visualItems; }
    QmlObjectListModel* waypointLines               (void) { return &_waypointLines; }
    QmlObjectListModel* directionArrows             (void) { return &_directionArrows; }
    QmlObjectListModel* incompleteComplexItemLines  (void) { return &_incompleteComplexItemLines; }
    QVariantList        waypointPath                (void) { return _waypointPath; }
    QStringList         complexMissionItemNames     (void) const;
    QGeoCoordinate      plannedHomePosition         (void) const;
    VisualMissionItem*  currentPlanViewItem         (void) const { return _currentPlanViewItem; }
    double              progressPct                 (void) const { return _progressPct; }
    QString             surveyComplexItemName       (void) const { return patternSurveyName; }
    QString             corridorScanComplexItemName (void) const { return patternCorridorScanName; }
    QString             structureScanComplexItemName(void) const { return patternStructureScanName; }
    bool                isInsertTakeoffValid        (void) const;

    int missionItemCount            (void) const { return _missionItemCount; }
    int currentMissionIndex         (void) const;
    int resumeMissionIndex          (void) const;
    int currentPlanViewSeqNum       (void) const { return _currentPlanViewSeqNum; }
    int currentPlanViewVIIndex      (void) const { return _currentPlanViewVIIndex; }

    double  missionDistance         (void) const { return _missionFlightStatus.totalDistance; }
    double  missionTime             (void) const { return _missionFlightStatus.totalTime; }
    double  missionHoverDistance    (void) const { return _missionFlightStatus.hoverDistance; }
    double  missionHoverTime        (void) const { return _missionFlightStatus.hoverTime; }
    double  missionCruiseDistance   (void) const { return _missionFlightStatus.cruiseDistance; }
    double  missionCruiseTime       (void) const { return _missionFlightStatus.cruiseTime; }
    double  missionMaxTelemetry     (void) const { return _missionFlightStatus.maxTelemetryDistance; }

    int  batteryChangePoint         (void) const { return _missionFlightStatus.batteryChangePoint; }    ///< -1 for not supported, 0 for not needed
    int  batteriesRequired          (void) const { return _missionFlightStatus.batteriesRequired; }     ///< -1 for not supported

    bool isEmpty                    (void) const;

    // These are the names shown in the UI for the pattern items. They are public so custom builds can remove the ones
    // they don't want through the QGCCorePlugin.
    static const QString patternFWLandingName;
    static const QString patternVTOLLandingName;
    static const QString patternStructureScanName;
    static const QString patternCorridorScanName;
    static const QString patternSurveyName;

signals:
    void visualItemsChanged                 (void);
    void waypointPathChanged                (void);
    void splitSegmentChanged                (void);
    void newItemsFromVehicle                (void);
    void missionDistanceChanged             (double missionDistance);
    void missionTimeChanged                 (void);
    void missionHoverDistanceChanged        (double missionHoverDistance);
    void missionHoverTimeChanged            (void);
    void missionCruiseDistanceChanged       (double missionCruiseDistance);
    void missionCruiseTimeChanged           (void);
    void missionMaxTelemetryChanged         (double missionMaxTelemetry);
    void complexMissionItemNamesChanged     (void);
    void resumeMissionIndexChanged          (void);
    void resumeMissionReady                 (void);
    void resumeMissionUploadFail            (void);
    void batteryChangePointChanged          (int batteryChangePoint);
    void batteriesRequiredChanged           (int batteriesRequired);
    void plannedHomePositionChanged         (QGeoCoordinate plannedHomePosition);
    void progressPctChanged                 (double progressPct);
    void currentMissionIndexChanged         (int currentMissionIndex);
    void currentPlanViewSeqNumChanged       (void);
    void currentPlanViewVIIndexChanged      (void);
    void currentPlanViewItemChanged         (void);
    void missionBoundingCubeChanged         (void);
    void missionItemCountChanged            (int missionItemCount);
    void onlyInsertTakeoffValidChanged      (void);
    void isInsertTakeoffValidChanged        (void);
    void isInsertLandValidChanged           (void);
    void isROIActiveChanged                 (void);
    void isROIBeginCurrentItemChanged       (void);
    void flyThroughCommandsAllowedChanged   (void);
    void previousCoordinateChanged          (void);

private slots:
    void _newMissionItemsAvailableFromVehicle   (bool removeAllRequested);
    void _itemCommandChanged                    (void);
    void _inProgressChanged                     (bool inProgress);
    void _currentMissionIndexChanged            (int sequenceNumber);
    void _recalcWaypointLines                   (void);
    void _recalcMissionFlightStatus             (void);
    void _updateContainsItems                   (void);
    void _progressPctChanged                    (double progressPct);
    void _visualItemsDirtyChanged               (bool dirty);
    void _managerSendComplete                   (bool error);
    void _managerRemoveAllComplete              (bool error);
    void _updateTimeout                         (void);
    void _complexBoundingBoxChanged             (void);
    void _recalcAll                             (void);
    void _managerVehicleChanged                 (Vehicle* managerVehicle);
    void _takeoffItemNotRequiredChanged         (void);

private:
    void _init(void);
    void _recalcSequence(void);
    void _recalcChildItems(void);
    void _recalcAllWithCoordinate(const QGeoCoordinate& coordinate);
    void _recalcROISpecialVisuals(void);
    void _initAllVisualItems(void);
    void _deinitAllVisualItems(void);
    void _initVisualItem(VisualMissionItem* item);
    void _deinitVisualItem(VisualMissionItem* item);
    void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
    void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
    static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
    bool _findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode);
    static double _normalizeLat(double lat);
    static double _normalizeLon(double lon);
    MissionSettingsItem* _addMissionSettings(QmlObjectListModel* visualItems);
    void _centerHomePositionOnMissionItems(QmlObjectListModel* visualItems);
    bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
    bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
    bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
    bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
    int _nextSequenceNumber(void);
    void _scanForAdditionalSettings(QmlObjectListModel* visualItems, PlanMasterController* masterController);
    static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
    void _setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate);
    void _resetMissionFlightStatus(void);
    void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex);
    void _addCruiseTime(double cruiseTime, double cruiseDistance, int wayPointIndex);
    void _updateBatteryInfo(int waypointIndex);
    bool _loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
    void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
    CoordinateVector* _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
    void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
    VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
    void _insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
    bool _isROIBeginItem(SimpleMissionItem* simpleItem);
    bool _isROICancelItem(SimpleMissionItem* simpleItem);
    CoordinateVector* _createCoordinateVectorWorker(VisualItemPair& pair);

private:
    Vehicle*                _controllerVehicle =            nullptr;
    Vehicle*                _managerVehicle =               nullptr;
    MissionManager*         _missionManager =               nullptr;
    int                     _missionItemCount =             0;
    QmlObjectListModel*     _visualItems =                  nullptr;
    MissionSettingsItem*    _settingsItem =                 nullptr;
    PlanViewSettings*       _planViewSettings =             nullptr;
    QmlObjectListModel      _waypointLines;
    QVariantList            _waypointPath;
    QmlObjectListModel      _directionArrows;
    QmlObjectListModel      _incompleteComplexItemLines;
    CoordVectHashTable      _linesTable;
    bool                    _firstItemsFromVehicle =        false;
    bool                    _itemsRequested =               false;
    bool                    _inRecalcSequence =             false;
    MissionFlightStatus_t   _missionFlightStatus;
    AppSettings*            _appSettings =                  nullptr;
    double                  _progressPct =                  0;
    int                     _currentPlanViewSeqNum =        -1;
    int                     _currentPlanViewVIIndex =       -1;
    VisualMissionItem*      _currentPlanViewItem =          nullptr;
    QTimer                  _updateTimer;
    QGCGeoBoundingCube      _travelBoundingCube;
    QGeoCoordinate          _takeoffCoordinate;
    QGeoCoordinate          _previousCoordinate;
    CoordinateVector*       _splitSegment =                 nullptr;
    bool                    _onlyInsertTakeoffValid =       true;
    bool                    _isInsertTakeoffValid =         true;
    bool                    _isInsertLandValid =            false;
    bool                    _isROIActive =                  false;
    bool                    _flyThroughCommandsAllowed =    false;
    bool                    _isROIBeginCurrentItem =        false;

    static const char*  _settingsGroup;

    // Json file keys for persistence
    static const char*  _jsonFileTypeValue;
    static const char*  _jsonFirmwareTypeKey;
    static const char*  _jsonVehicleTypeKey;
    static const char*  _jsonCruiseSpeedKey;
    static const char*  _jsonHoverSpeedKey;
    static const char*  _jsonItemsKey;
    static const char*  _jsonPlannedHomePositionKey;
    static const char*  _jsonParamsKey;

    // Deprecated V1 format keys
    static const char*  _jsonMavAutopilotKey;
    static const char*  _jsonComplexItemsKey;

    static const int    _missionFileVersion;
};