VisualMissionItem.h 8.33 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33

#ifndef VisualMissionItem_H
#define VisualMissionItem_H

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

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

// Abstract base class for all Simple and Complex visual mission objects.
class VisualMissionItem : public QObject
{
    Q_OBJECT
34

35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64
public:
    VisualMissionItem(Vehicle* vehicle, QObject* parent = NULL);
    VisualMissionItem(const VisualMissionItem& other, QObject* parent = NULL);

    ~VisualMissionItem();

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

    // The following properties are calulated/set by the MissionControll recalc methods

    Q_PROPERTY(double altDifference READ altDifference  WRITE setAltDifference  NOTIFY altDifferenceChanged)    ///< Change in altitude from previous waypoint
    Q_PROPERTY(double altPercent    READ altPercent     WRITE setAltPercent     NOTIFY altPercentChanged)       ///< Percent of total altitude change in mission altitude
    Q_PROPERTY(double azimuth       READ azimuth        WRITE setAzimuth        NOTIFY azimuthChanged)          ///< Azimuth to previous waypoint
    Q_PROPERTY(double distance      READ distance       WRITE setDistance       NOTIFY distanceChanged)         ///< Distance to previous waypoint

    // Visual mission items have two coordinates associated with them:

    /// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
    Q_PROPERTY(QGeoCoordinate coordinate        READ coordinate     WRITE setCoordinate NOTIFY coordinateChanged)

    /// @return true: coordinate.latitude is relative to home altitude
    Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged)

    /// This is the exit point for a waypoint line coming out of the item.
    Q_PROPERTY(QGeoCoordinate exitCoordinate    READ exitCoordinate                     NOTIFY exitCoordinateChanged)

    /// @return true: coordinate.latitude is relative to home altitude
    Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged)

    /// @return true: exitCoordinate and coordinate are the same value
65
    Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntryChanged)
66 67 68 69 70

    // General properties associated with all types of visual mission items

    Q_PROPERTY(QString  commandDescription      READ commandDescription                                 NOTIFY commandDescriptionChanged)
    Q_PROPERTY(QString  commandName             READ commandName                                        NOTIFY commandNameChanged)
71
    Q_PROPERTY(QString  abbreviation            READ abbreviation                                       NOTIFY abbreviationChanged)
72 73 74 75
    Q_PROPERTY(bool     dirty                   READ dirty                  WRITE setDirty              NOTIFY dirtyChanged)                    ///< Item is dirty and requires save/send
    Q_PROPERTY(bool     isCurrentItem           READ isCurrentItem          WRITE setIsCurrentItem      NOTIFY isCurrentItemChanged)
    Q_PROPERTY(int      sequenceNumber          READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
    Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate                                NOTIFY specifiesCoordinateChanged)      ///< Item is associated with a coordinate position
76
    Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate                             NOTIFY isStandaloneCoordinateChanged)   ///< Waypoint line does not go through item
77 78 79 80 81 82 83
    Q_PROPERTY(bool     isSimpleItem            READ isSimpleItem                                       NOTIFY isSimpleItemChanged)             ///< Simple or Complex MissionItem

    /// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
    /// are shown next to the exitCoordinate indidcator in the ui.
    Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)

    // Property accesors
84

85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108
    double altDifference    (void) const { return _altDifference; }
    double altPercent       (void) const { return _altPercent; }
    double azimuth          (void) const { return _azimuth; }
    double distance         (void) const { return _distance; }
    bool   isCurrentItem    (void) const { return _isCurrentItem; }

    QmlObjectListModel* childItems(void) { return &_childItems; }

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

    Vehicle* vehicle(void) { return _vehicle; }

    // Pure virtuals which must be provides by derived classes

    virtual bool            dirty                   (void) const = 0;
    virtual bool            isSimpleItem            (void) const = 0;
    virtual bool            isStandaloneCoordinate  (void) const = 0;
    virtual bool            specifiesCoordinate     (void) const = 0;
    virtual QString         commandDescription      (void) const = 0;
    virtual QString         commandName             (void) const = 0;
109
    virtual QString         abbreviation            (void) const = 0;
110 111
    virtual QGeoCoordinate  coordinate              (void) const = 0;
    virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
112
    virtual int             sequenceNumber          (void) const = 0;
113 114 115 116 117 118 119

    virtual bool coordinateHasRelativeAltitude      (void) const = 0;
    virtual bool exitCoordinateHasRelativeAltitude  (void) const = 0;
    virtual bool exitCoordinateSameAsEntry          (void) const = 0;

    virtual void setDirty           (bool dirty) = 0;
    virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
120
    virtual void setSequenceNumber  (int sequenceNumber) = 0;
121

122 123 124
    /// Save the item(s) in Json format
    ///     @param saveObject Save the item to this json object
    virtual void save(QJsonObject& saveObject) const = 0;
125 126 127 128 129 130 131

signals:
    void altDifferenceChanged           (double altDifference);
    void altPercentChanged              (double altPercent);
    void azimuthChanged                 (double azimuth);
    void commandDescriptionChanged      (void);
    void commandNameChanged             (void);
132
    void abbreviationChanged            (void);
133 134 135 136 137 138 139 140 141 142 143 144
    void coordinateChanged              (const QGeoCoordinate& coordinate);
    void exitCoordinateChanged          (const QGeoCoordinate& exitCoordinate);
    void dirtyChanged                   (bool dirty);
    void distanceChanged                (double distance);
    void isCurrentItemChanged           (bool isCurrentItem);
    void sequenceNumberChanged          (int sequenceNumber);
    void isSimpleItemChanged            (bool isSimpleItem);
    void specifiesCoordinateChanged     (void);
    void isStandaloneCoordinateChanged  (void);

    void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
    void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);
145
    void exitCoordinateSameAsEntryChanged           (bool exitCoordinateSameAsEntry);
146 147 148 149 150 151 152 153 154 155 156 157 158 159 160

protected:
    Vehicle*    _vehicle;
    bool        _isCurrentItem;
    bool        _dirty;
    double      _altDifference;             ///< Difference in altitude from previous waypoint
    double      _altPercent;                ///< Percent of total altitude change in mission
    double      _azimuth;                   ///< Azimuth to previous waypoint
    double      _distance;                  ///< Distance to previous waypoint

    /// This is used to reference any subsequent mission items which do not specify a coordinate.
    QmlObjectListModel  _childItems;
};

#endif