VisualMissionItem.cc 3.56 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/
9 10 11 12 13 14 15 16 17 18


#include <QStringList>
#include <QDebug>

#include "VisualMissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"

Don Gagne's avatar
Don Gagne committed
19 20 21 22
const char* VisualMissionItem::jsonTypeKey =                "type";
const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";
const char* VisualMissionItem::jsonTypeComplexItemValue =   "ComplexItem";

23 24 25 26 27
VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
    : QObject(parent)
    , _vehicle(vehicle)
    , _isCurrentItem(false)
    , _dirty(false)
28
    , _homePositionSpecialCase(false)
29 30 31 32
    , _altDifference(0.0)
    , _altPercent(0.0)
    , _azimuth(0.0)
    , _distance(0.0)
DonLakeFlyer's avatar
DonLakeFlyer committed
33 34
    , _missionGimbalYaw(std::numeric_limits<double>::quiet_NaN())
    , _missionVehicleYaw(std::numeric_limits<double>::quiet_NaN())
35 36 37 38 39 40 41 42 43
{

}

VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
    : QObject(parent)
    , _vehicle(NULL)
    , _isCurrentItem(false)
    , _dirty(false)
44
    , _homePositionSpecialCase(false)
45 46 47 48 49 50 51 52 53 54 55 56 57 58
    , _altDifference(0.0)
    , _altPercent(0.0)
    , _azimuth(0.0)
    , _distance(0.0)
{
    *this = other;
}

const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& other)
{
    _vehicle = other._vehicle;

    setIsCurrentItem(other._isCurrentItem);
    setDirty(other._dirty);
59
    _homePositionSpecialCase = other._homePositionSpecialCase;
60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81
    setAltDifference(other._altDifference);
    setAltPercent(other._altPercent);
    setAzimuth(other._azimuth);
    setDistance(other._distance);

    return *this;
}

VisualMissionItem::~VisualMissionItem()
{    
}

void VisualMissionItem::setIsCurrentItem(bool isCurrentItem)
{
    if (_isCurrentItem != isCurrentItem) {
        _isCurrentItem = isCurrentItem;
        emit isCurrentItemChanged(isCurrentItem);
    }
}

void VisualMissionItem::setDistance(double distance)
{
82 83 84 85
    if (!qFuzzyCompare(_distance, distance)) {
        _distance = distance;
        emit distanceChanged(_distance);
    }
86 87 88 89
}

void VisualMissionItem::setAltDifference(double altDifference)
{
90 91 92 93
    if (!qFuzzyCompare(_altDifference, altDifference)) {
        _altDifference = altDifference;
        emit altDifferenceChanged(_altDifference);
    }
94 95 96 97
}

void VisualMissionItem::setAltPercent(double altPercent)
{
98 99 100 101
    if (!qFuzzyCompare(_altPercent, altPercent)) {
        _altPercent = altPercent;
        emit altPercentChanged(_altPercent);
    }
102 103 104 105
}

void VisualMissionItem::setAzimuth(double azimuth)
{
106 107 108 109
    if (!qFuzzyCompare(_azimuth, azimuth)) {
        _azimuth = azimuth;
        emit azimuthChanged(_azimuth);
    }
110
}
111

DonLakeFlyer's avatar
DonLakeFlyer committed
112 113 114
void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
    _missionFlightStatus = missionFlightStatus;
DonLakeFlyer's avatar
DonLakeFlyer committed
115 116 117
    if (qIsNaN(_missionFlightStatus.gimbalYaw) && qIsNaN(_missionGimbalYaw)) {
        return;
    }
DonLakeFlyer's avatar
DonLakeFlyer committed
118 119 120 121 122 123 124 125 126 127 128 129 130
    if (_missionFlightStatus.gimbalYaw != _missionGimbalYaw) {
        _missionGimbalYaw = _missionFlightStatus.gimbalYaw;
        emit missionGimbalYawChanged(_missionGimbalYaw);
    }
}

void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)
{
    if (!qFuzzyCompare(_missionVehicleYaw, vehicleYaw)) {
        _missionVehicleYaw = vehicleYaw;
        emit missionVehicleYawChanged(_missionVehicleYaw);
    }
}