SimpleMissionItem.h

/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/


#ifndef SimpleMissionItem_H
#define SimpleMissionItem_H

#include "VisualMissionItem.h"
#include "MissionItem.h"
#include "MissionCommandTree.h"
#include "CameraSection.h"
#include "SpeedSection.h"

/// A SimpleMissionItem is used to represent a single MissionItem to the ui.
class SimpleMissionItem : public VisualMissionItem
{
    Q_OBJECT
    
public:
    SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
    SimpleMissionItem(Vehicle* vehicle, bool flyView, const MissionItem& missionItem, QObject* parent);
    SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);

    ~SimpleMissionItem();

    enum AltitudeMode {
        AltitudeRelative,       // MAV_FRAME_GLOBAL_RELATIVE_ALT
        AltitudeAbsolute,       // MAV_FRAME_GLOBAL
        AltitudeAboveTerrain,   // Absolute altitude above terrain calculated from terrain data
        AltitudeTerrainFrame    // MAV_FRAME_GLOBAL_TERRAIN_ALT
    };

    Q_ENUM(AltitudeMode)
    
    Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
    Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
    Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
    Q_PROPERTY(bool             specifiesAltitude       READ specifiesAltitude                                  NOTIFY commandChanged)
    Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           ///< Altitude as specified by altitudeMode. Not necessarily true mission item altitude
    Q_PROPERTY(AltitudeMode     altitudeMode            READ altitudeMode           WRITE setAltitudeMode       NOTIFY altitudeModeChanged)
    Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain
    Q_PROPERTY(int              command                 READ command                WRITE setCommand            NOTIFY commandChanged)
    Q_PROPERTY(bool             supportsTerrainFrame    READ supportsTerrainFrame                               NOTIFY supportsTerrainFrameChanged)

    /// Optional sections
    Q_PROPERTY(QObject*         speedSection            READ speedSection                                       NOTIFY speedSectionChanged)
    Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)

    // These properties are used to display the editing ui
    Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  nanFacts        READ nanFacts       CONSTANT)

    /// Scans the loaded items for additional section settings
    ///     @param visualItems List of all visual items
    ///     @param scanIndex Index to start scanning from
    ///     @param vehicle Vehicle associated with this mission
    /// @return true: section found, scanIndex updated
    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);

    // Property accesors
    
    QString         category            (void) const;
    int             command(void) const { return _missionItem._commandFact.cookedValue().toInt(); }
    bool            friendlyEditAllowed (void) const;
    bool            rawEdit             (void) const;
    bool            specifiesAltitude   (void) const;
    AltitudeMode    altitudeMode        (void) const { return _altitudeMode; }
    Fact*           altitude            (void) { return &_altitudeFact; }
    Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
    bool            supportsTerrainFrame(void) const { return _vehicle->supportsTerrainFrame(); }

    CameraSection*  cameraSection       (void) { return _cameraSection; }
    SpeedSection*   speedSection        (void) { return _speedSection; }

    QmlObjectListModel* textFieldFacts  (void) { return &_textFieldFacts; }
    QmlObjectListModel* nanFacts        (void) { return &_nanFacts; }
    QmlObjectListModel* comboboxFacts   (void) { return &_comboboxFacts; }

    void setRawEdit(bool rawEdit);
    void setAltitudeMode(AltitudeMode altitudeMode);
    
    void setCommandByIndex(int index);

    void setCommand(int command);

    void setAltDifference   (double altDifference);
    void setAltPercent      (double altPercent);
    void setAzimuth         (double azimuth);
    void setDistance        (double distance);

    bool load(QTextStream &loadStream);
    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);

    MissionItem& missionItem(void) { return _missionItem; }
    const MissionItem& missionItem(void) const { return _missionItem; }

    // Overrides from VisualMissionItem

    bool            dirty                   (void) const final { return _dirty; }
    bool            isSimpleItem            (void) const final { return true; }
    bool            isStandaloneCoordinate  (void) const final;
    bool            specifiesCoordinate     (void) const final;
    bool            specifiesAltitudeOnly   (void) const final;
    QString         commandDescription      (void) const final;
    QString         commandName             (void) const final;
    QString         abbreviation            (void) const final;
    QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
    QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
    int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
    double          specifiedFlightSpeed    (void) final;
    double          specifiedGimbalYaw      (void) final;
    double          specifiedGimbalPitch    (void) final;
    QString         mapVisualQML            (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
    void            applyNewAltitude        (double newAltitude) final;
    void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
    bool            readyForSave            (void) const final;
    double          additionalTimeDelay     (void) const final;

    bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
    bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }
    bool exitCoordinateSameAsEntry          (void) const final { return true; }

    void setDirty           (bool dirty) final;
    void setCoordinate      (const QGeoCoordinate& coordinate) final;
    void setSequenceNumber  (int sequenceNumber) final;
    int  lastSequenceNumber (void) const final;
    void save               (QJsonArray&  missionItems) final;

signals:
    void commandChanged             (int command);
    void friendlyEditAllowedChanged (bool friendlyEditAllowed);
    void headingDegreesChanged      (double heading);
    void rawEditChanged             (bool rawEdit);
    void cameraSectionChanged       (QObject* cameraSection);
    void speedSectionChanged        (QObject* cameraSection);
    void altitudeModeChanged        (void);
    void supportsTerrainFrameChanged(void);

private slots:
    void _setDirty                          (void);
    void _sectionDirtyChanged               (bool dirty);
    void _sendCommandChanged                (void);
    void _sendCoordinateChanged             (void);
    void _sendFriendlyEditAllowedChanged    (void);
    void _altitudeChanged                   (void);
    void _altitudeModeChanged               (void);
    void _terrainAltChanged                 (void);
    void _updateLastSequenceNumber          (void);
    void _rebuildFacts                      (void);
    void _rebuildTextFieldFacts             (void);
    void _possibleAdditionalTimeDelayChanged(void);
    void _setDefaultsForCommand              (void);

private:
    void _connectSignals        (void);
    void _setupMetaData         (void);
    void _updateOptionalSections(void);
    void _rebuildNaNFacts       (void);
    void _rebuildComboBoxFacts  (void);

    MissionItem     _missionItem;
    bool            _rawEdit;
    bool            _dirty;
    bool            _ignoreDirtyChangeSignals;

    SpeedSection*   _speedSection;
    CameraSection* _cameraSection;

    MissionCommandTree* _commandTree;

    Fact                _supportedCommandFact;

    AltitudeMode    _altitudeMode;
    Fact            _altitudeFact;
    Fact            _amslAltAboveTerrainFact;

    QmlObjectListModel  _textFieldFacts;
    QmlObjectListModel  _nanFacts;
    QmlObjectListModel  _comboboxFacts;
    
    static FactMetaData*    _altitudeMetaData;
    static FactMetaData*    _commandMetaData;
    static FactMetaData*    _defaultParamMetaData;
    static FactMetaData*    _frameMetaData;
    static FactMetaData*    _latitudeMetaData;
    static FactMetaData*    _longitudeMetaData;

    FactMetaData    _param1MetaData;
    FactMetaData    _param2MetaData;
    FactMetaData    _param3MetaData;
    FactMetaData    _param4MetaData;
    FactMetaData    _param5MetaData;
    FactMetaData    _param6MetaData;
    FactMetaData    _param7MetaData;

    bool _syncingHeadingDegreesAndParam4;   ///< true: already in a sync signal, prevents signal loop

    static const char* _jsonAltitudeModeKey;
    static const char* _jsonAltitudeKey;
    static const char* _jsonAMSLAltAboveTerrainKey;
};

#endif