MissionItem.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.
 *
 ****************************************************************************/

#ifndef MissionItem_H
#define MissionItem_H

#include <QGeoCoordinate>
#include <QJsonObject>
#include <QObject>
#include <QString>
#include <QTextStream>
#include <QtQml>

#include "Fact.h"
#include "QGC.h"
#include "QGCLoggingCategory.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"

class SurveyComplexItem;
class SimpleMissionItem;
class MissionController;
#ifdef UNITTEST_BUILD
class MissionItemTest;
#endif

// Represents a Mavlink mission command.
class MissionItem : public QObject {
  Q_OBJECT

public:
  MissionItem(QObject *parent = nullptr);

  MissionItem(int sequenceNumber, MAV_CMD command, MAV_FRAME frame,
              double param1, double param2, double param3, double param4,
              double param5, double param6, double param7, bool autoContinue,
              bool isCurrentItem, QObject *parent = nullptr);

  MissionItem(const MissionItem &other, QObject *parent = nullptr);

  ~MissionItem();

  const MissionItem &operator=(const MissionItem &other);

  MAV_CMD command(void) const {
    return (MAV_CMD)_commandFact.rawValue().toInt();
  }
  bool isCurrentItem(void) const { return _isCurrentItem; }
  int sequenceNumber(void) const { return _sequenceNumber; }
  MAV_FRAME frame(void) const {
    return (MAV_FRAME)_frameFact.rawValue().toInt();
  }
  bool autoContinue(void) const {
    return _autoContinueFact.rawValue().toBool();
  }
  double param1(void) const { return _param1Fact.rawValue().toDouble(); }
  double param2(void) const { return _param2Fact.rawValue().toDouble(); }
  double param3(void) const { return _param3Fact.rawValue().toDouble(); }
  double param4(void) const { return _param4Fact.rawValue().toDouble(); }
  double param5(void) const { return _param5Fact.rawValue().toDouble(); }
  double param6(void) const { return _param6Fact.rawValue().toDouble(); }
  double param7(void) const { return _param7Fact.rawValue().toDouble(); }
  QGeoCoordinate coordinate(void) const;
  int doJumpId(void) const { return _doJumpId; }

  /// @return Flight speed change value if this item supports it. If not it
  /// returns NaN.
  double specifiedFlightSpeed(void) const;

  /// @return Flight gimbal yaw change value if this item supports it. If not it
  /// returns NaN.
  double specifiedGimbalYaw(void) const;

  /// @return Flight gimbal pitch change value if this item supports it. If not
  /// it returns NaN.
  double specifiedGimbalPitch(void) const;

  void setCommand(MAV_CMD command);
  void setSequenceNumber(int sequenceNumber);
  void setIsCurrentItem(bool isCurrentItem);
  void setFrame(MAV_FRAME frame);
  void setAutoContinue(bool autoContinue);
  void setParam1(double param1);
  void setParam2(double param2);
  void setParam3(double param3);
  void setParam4(double param4);
  void setParam5(double param5);
  void setParam6(double param6);
  void setParam7(double param7);

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

  bool relativeAltitude(void) const {
    return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
  }

signals:
  void isCurrentItemChanged(bool isCurrentItem);
  void sequenceNumberChanged(int sequenceNumber);
  void specifiedFlightSpeedChanged(double flightSpeed);
  void specifiedGimbalYawChanged(double gimbalYaw);
  void specifiedGimbalPitchChanged(double gimbalPitch);

private slots:
  void _param1Changed(QVariant value);
  void _param2Changed(QVariant value);
  void _param3Changed(QVariant value);

private:
  bool _convertJsonV1ToV2(const QJsonObject &json, QJsonObject &v2Json,
                          QString &errorString);
  bool _convertJsonV2ToV3(QJsonObject &json, QString &errorString);

  Fact _autoContinueFact;
  Fact _commandFact;
  Fact _frameFact;
  Fact _param1Fact;
  Fact _param2Fact;
  Fact _param3Fact;
  Fact _param4Fact;
  Fact _param5Fact;
  Fact _param6Fact;
  Fact _param7Fact;

  int _sequenceNumber;
  int _doJumpId;
  bool _isCurrentItem;

  // Keys for Json save
  static const char *_jsonFrameKey;
  static const char *_jsonCommandKey;
  static const char *_jsonAutoContinueKey;
  static const char *_jsonParamsKey;
  static const char *_jsonDoJumpIdKey;

  // Deprecated V2 format keys
  static const char *_jsonCoordinateKey;

  // Deprecated V1 format keys
  static const char *_jsonParam1Key;
  static const char *_jsonParam2Key;
  static const char *_jsonParam3Key;
  static const char *_jsonParam4Key;

  friend class SurveyComplexItem;
  friend class RouteComplexItem;
  friend class SimpleMissionItem;
  friend class MissionController;
#ifdef UNITTEST_BUILD
  friend class MissionItemTest;
#endif
};

#endif