PlanMasterController.h 7.36 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#pragma once

#include <QObject>

#include "MissionController.h"
#include "GeoFenceController.h"
#include "RallyPointController.h"
#include "Vehicle.h"
#include "MultiVehicleManager.h"
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#include "QGCLoggingCategory.h"
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#include "QmlObjectListModel.h"
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Q_DECLARE_LOGGING_CATEGORY(PlanMasterControllerLog)
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/// Master controller for mission, fence, rally
class PlanMasterController : public QObject
{
    Q_OBJECT
    
public:
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    PlanMasterController(QObject* parent = nullptr);
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    ~PlanMasterController();
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    Q_PROPERTY(MissionController*       missionController       READ missionController                      CONSTANT)
    Q_PROPERTY(GeoFenceController*      geoFenceController      READ geoFenceController                     CONSTANT)
    Q_PROPERTY(RallyPointController*    rallyPointController    READ rallyPointController                   CONSTANT)
    Q_PROPERTY(Vehicle*                 controllerVehicle       MEMBER _controllerVehicle                   CONSTANT)
    Q_PROPERTY(bool                     offline                 READ offline                                NOTIFY offlineChanged)          ///< true: controller is not connected to an active vehicle
    Q_PROPERTY(bool                     containsItems           READ containsItems                          NOTIFY containsItemsChanged)    ///< true: Elemement is non-empty
    Q_PROPERTY(bool                     syncInProgress          READ syncInProgress                         NOTIFY syncInProgressChanged)   ///< true: Information is currently being saved/sent, false: no active save/send in progress
    Q_PROPERTY(bool                     dirty                   READ dirty                  WRITE setDirty  NOTIFY dirtyChanged)            ///< true: Unsaved/sent changes are present, false: no changes since last save/send
    Q_PROPERTY(QString                  fileExtension           READ fileExtension                          CONSTANT)                       ///< File extension for missions
    Q_PROPERTY(QString                  kmlFileExtension        READ kmlFileExtension                       CONSTANT)
    Q_PROPERTY(QString                  currentPlanFile         READ currentPlanFile                        NOTIFY currentPlanFileChanged)
    Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                        CONSTANT)                       ///< File filter list loading plan files
    Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                        CONSTANT)                       ///< File filter list saving plan files
    Q_PROPERTY(QmlObjectListModel*      planCreators            MEMBER _planCreators                        NOTIFY planCreatorsChanged)
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    /// Should be called immediately upon Component.onCompleted.
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    Q_INVOKABLE void start(bool flyView);
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    /// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
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    ///     @param deleteWhenSendCmplete The PlanMasterController object should be deleted after the first send is completed.
    Q_INVOKABLE void startStaticActiveVehicle(Vehicle* vehicle, bool deleteWhenSendCompleted = false);
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    /// Determines if the plan has all information 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.
    Q_INVOKABLE int readyForSaveState(void) const { return _missionController.readyForSaveState(); }
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    /// Sends a plan to the specified file
    ///     @param[in] vehicle Vehicle we are sending a plan to
    ///     @param[in] filename Plan file to load
    static void sendPlanToVehicle(Vehicle* vehicle, const QString& filename);

    Q_INVOKABLE void loadFromVehicle(void);
    Q_INVOKABLE void sendToVehicle(void);
    Q_INVOKABLE void loadFromFile(const QString& filename);
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    Q_INVOKABLE void saveToCurrent();
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    Q_INVOKABLE void saveToFile(const QString& filename);
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    Q_INVOKABLE void saveToKml(const QString& filename);
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    Q_INVOKABLE void removeAll(void);                       ///< Removes all from controller only, synce required to remove from vehicle
    Q_INVOKABLE void removeAllFromVehicle(void);            ///< Removes all from vehicle and controller

    MissionController*      missionController(void)     { return &_missionController; }
    GeoFenceController*     geoFenceController(void)    { return &_geoFenceController; }
    RallyPointController*   rallyPointController(void)  { return &_rallyPointController; }

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    bool        offline         (void) const { return _offline; }
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    bool        containsItems   (void) const;
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    bool        syncInProgress  (void) const;
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    bool        dirty           (void) const;
    void        setDirty        (bool dirty);
    QString     fileExtension   (void) const;
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    QString     kmlFileExtension(void) const;
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    QString     currentPlanFile (void) const { return _currentPlanFile; }
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    QStringList loadNameFilters (void) const;
    QStringList saveNameFilters (void) const;
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    bool        isEmpty         (void) const;
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    QJsonDocument saveToJson    ();

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    Vehicle* controllerVehicle(void) { return _controllerVehicle; }
    Vehicle* managerVehicle(void) { return _managerVehicle; }
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    static const int    kPlanFileVersion;
    static const char*  kPlanFileType;
    static const char*  kJsonMissionObjectKey;
    static const char*  kJsonGeoFenceObjectKey;
    static const char*  kJsonRallyPointsObjectKey;

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signals:
    void containsItemsChanged   (bool containsItems);
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    void syncInProgressChanged  (void);
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    void dirtyChanged           (bool dirty);
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    void offlineChanged  		(bool offlineEditing);
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    void currentPlanFileChanged ();
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    void planCreatorsChanged    (QmlObjectListModel* planCreators);
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private slots:
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    void _activeVehicleChanged      (Vehicle* activeVehicle);
    void _loadMissionComplete       (void);
    void _loadGeoFenceComplete      (void);
    void _loadRallyPointsComplete   (void);
    void _sendMissionComplete       (void);
    void _sendGeoFenceComplete      (void);
    void _sendRallyPointsComplete   (void);
    void _updatePlanCreatorsList    (void);
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#if defined(QGC_AIRMAP_ENABLED)
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    void _startFlightPlanning       (void);
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#endif
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private:
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    void _showPlanFromManagerVehicle(void);

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    MultiVehicleManager*    _multiVehicleMgr;
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    Vehicle*                _controllerVehicle; ///< Offline controller vehicle
    Vehicle*                _managerVehicle;    ///< Either active vehicle or _controllerVehicle if none
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    bool                    _flyView;
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    bool                    _offline;
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    MissionController       _missionController;
    GeoFenceController      _geoFenceController;
    RallyPointController    _rallyPointController;
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    bool                    _loadGeoFence;
    bool                    _loadRallyPoints;
    bool                    _sendGeoFence;
    bool                    _sendRallyPoints;
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    QString                 _currentPlanFile;
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    bool                    _deleteWhenSendCompleted;
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    QmlObjectListModel*     _planCreators;
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};