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/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "LandingComplexItem.h"
#include "MissionItem.h"
#include "Fact.h"
#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(VTOLLandingComplexItemLog)
class VTOLLandingPatternTest;
class PlanMasterController;
class VTOLLandingComplexItem : public LandingComplexItem
{
Q_OBJECT
public:
VTOLLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent);
Fact* loiterAltitude (void) final { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) final { return &_loiterRadiusFact; }
Fact* landingAltitude (void) final { return &_landingAltitudeFact; }
Fact* landingDistance (void) final { return &_landingDistanceFact; }
Fact* landingHeading (void) final { return &_landingHeadingFact; }
Fact* stopTakingPhotos (void) final { return &_stopTakingPhotosFact; }
Fact* stopTakingVideo (void) final { return &_stopTakingVideoFact; }
/// Scans the loaded items for a landing pattern complex item
static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController);
static MissionItem* createDoLandStartItem (int seqNum, QObject* parent);
static MissionItem* createLoiterToAltItem (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent);
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent);
// Overrides from ComplexMissionItem
QString patternName (void) const final { return name; }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("VTOLLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
ReadyForSaveState readyForSaveState (void) const final;
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final;
double amslExitAlt (void) const final;
double minAMSLAltitude (void) const final { return amslExitAlt(); }
double maxAMSLAltitude (void) const final { return amslEntryAlt(); }
static const QString name;
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
static const char* loiterToLandDistanceName;
static const char* loiterAltitudeName;
static const char* loiterRadiusName;
static const char* landingHeadingName;
static const char* landingAltitudeName;
static const char* stopTakingPhotosName;
static const char* stopTakingVideoName;
private slots:
void _recalcFromHeadingAndDistanceChange (void) final;
void _recalcFromCoordinateChange (void);
void _recalcFromRadiusChange (void);
void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _signalLastSequenceNumberChanged (void);
private:
QMap<QString, FactMetaData*> _metaDataMap;
Fact _landingDistanceFact;
Fact _loiterAltitudeFact;
Fact _loiterRadiusFact;
Fact _landingHeadingFact;
Fact _landingAltitudeFact;
Fact _stopTakingPhotosFact;
Fact _stopTakingVideoFact;
static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey;
static const char* _jsonLoiterClockwiseKey;
static const char* _jsonLandingCoordinateKey;
static const char* _jsonAltitudesAreRelativeKey;
static const char* _jsonStopTakingPhotosKey;
static const char* _jsonStopTakingVideoKey;
friend VTOLLandingPatternTest;
};