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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MissionController_H
#define MissionController_H
#include <QObject>
#include "QmlObjectListModel.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
class MissionController : public QObject
{
Q_OBJECT
public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
Q_INVOKABLE void start(bool editMode) ;
Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
Q_INVOKABLE void getMissionItems(void);
Q_INVOKABLE void sendMissionItems(void);
Q_INVOKABLE void loadMissionFromFile(void);
Q_INVOKABLE void saveMissionToFile(void);
Q_INVOKABLE void removeMissionItem(int index);
Q_INVOKABLE void removeAllMissionItems(void);
// Property accessors
QmlObjectListModel* missionItems(void);
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
bool autoSync(void) { return _autoSync; }
void setAutoSync(bool autoSync);
signals:
void missionItemsChanged(void);
void waypointLinesChanged(void);
void liveHomePositionAvailableChanged(bool homePositionAvailable);
void liveHomePositionChanged(const QGeoCoordinate& homePosition);
void autoSyncChanged(bool autoSync);
private slots:
void _newMissionItemsAvailableFromVehicle();
void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
void _itemFrameChanged(int frame);
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _dirtyChanged(bool dirty);
void _inProgressChanged(bool inProgress);
private:
void _recalcSequence(void);
void _recalcWaypointLines(void);
void _recalcChildItems(void);
void _recalcAll(void);
void _initAllMissionItems(void);
void _deinitAllMissionItems(void);
void _initMissionItem(MissionItem* item);
void _deinitMissionItem(MissionItem* item);
void _autoSyncSend(void);
void _setupMissionItems(bool loadFromVehicle, bool forceLoad);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
void _calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
bool _findLastAltitude(double* lastAltitude);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
private:
bool _editMode;
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
Vehicle* _activeVehicle;
bool _liveHomePositionAvailable;
QGeoCoordinate _liveHomePosition;
bool _autoSync;
bool _firstItemsFromVehicle;
bool _missionItemsRequested;
bool _queuedSend;
static const char* _settingsGroup;
};
#endif