Merge pull request #4907 from DonLakeFlyer/GuidedBarRewrite

Yet another guided bar rewrite

qgroundcontrol.qrc

@@ -126,6 +126,7 @@
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
+        <file alias="QGroundControl/FlightDisplay/GuidedActionsController.qml">src/FlightDisplay/GuidedActionsController.qml</file>
         <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -220,7 +220,7 @@ bool PX4FirmwarePlugin::supportsManualControl(void)
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
     if (vehicle->multiRotor()) {
-        return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability | OrbitModeCapability)) == capabilities;
+        return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability /*| OrbitModeCapability still NYI*/)) == capabilities;
     } else {
         return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
     }

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -30,19 +30,19 @@ FlightMap {
     allowGCSLocationCenter:     !userPanned
     allowVehicleLocationCenter: !_keepVehicleCentered
 
-    property alias  missionController: missionController
+    property var    missionController
+    property var    guidedActionsController
     property var    flightWidgets
     property var    rightPanelWidth
     property var    qgcView                             ///< QGCView control which contains this map
 
-    property var    _activeVehicle:                 QGroundControl.multiVehicleManager.activeVehicle
-    property var    _activeVehicleCoordinate:       _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
-    property var    _gotoHereCoordinate:            QtPositioning.coordinate()
-    property int    _retaskSequence:                0
-    property real   _toolButtonTopMargin:           parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
+    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
+    property var    _activeVehicleCoordinate:   _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
+    property var    _gotoHereCoordinate:        QtPositioning.coordinate()
+    property real   _toolButtonTopMargin:       parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
 
-    property bool   _disableVehicleTracking:        false
-    property bool   _keepVehicleCentered:           _mainIsMap ? false : true
+    property bool   _disableVehicleTracking:    false
+    property bool   _keepVehicleCentered:       _mainIsMap ? false : true
 
 
     // Track last known map position and zoom from Fly view in settings
@@ -124,13 +124,11 @@ FlightMap {
     QGCPalette { id: qgcPal; colorGroupEnabled: true }
     QGCMapPalette { id: mapPal; lightColors: isSatelliteMap }
 
-    MissionController {
-        id: missionController
-
-        Component.onCompleted: start(false /* editMode */)
+    Connections {
+        target: missionController
 
         onNewItemsFromVehicle: {
-            var visualItem = missionController.visualItems
+            var visualItems = missionController.visualItems
             if (visualItems && visualItems.count != 1) {
                 mapFitFunctions.fitMapViewportToMissionItems()
                 firstVehiclePositionReceived = true
@@ -195,50 +193,6 @@ FlightMap {
         id: _mapTypeButtonsExclusiveGroup
     }
 
-    ToolStrip {
-        id:                 toolStrip
-        anchors.leftMargin: ScreenTools.defaultFontPixelWidth
-        anchors.left:       parent.left
-        anchors.topMargin:  _toolButtonTopMargin
-        anchors.top:        parent.top
-        color:              qgcPal.window
-        title:              qsTr("Fly")
-        z:                  QGroundControl.zOrderWidgets
-        buttonVisible:      [ true, _showZoom, _showZoom ]
-        maxHeight:          (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y   // Massive reach across hack
-
-        property bool _showZoom: !ScreenTools.isMobile
-
-        model: [
-            {
-                name:               "Center",
-                iconSource:         "/qmlimages/MapCenter.svg",
-                dropPanelComponent: centerMapDropPanel
-            },
-            {
-                name:               "In",
-                iconSource:         "/qmlimages/ZoomPlus.svg"
-            },
-            {
-                name:               "Out",
-                iconSource:         "/qmlimages/ZoomMinus.svg"
-            }
-        ]
-
-        onClicked: {
-            switch (index) {
-            case 1:
-                _flightMap.zoomLevel += 0.5
-                break
-            case 2:
-                _flightMap.zoomLevel -= 0.5
-                break
-            }
-        }
-    }
-
-    // Toolstrip drop panel compomnents
-
     MapFitFunctions {
         id:                         mapFitFunctions
         map:                        _flightMap
@@ -250,15 +204,6 @@ FlightMap {
         property real leftToolWidth:    toolStrip.x + toolStrip.width
     }
 
-    Component {
-        id: centerMapDropPanel
-
-        CenterMapDropPanel {
-            map:                _flightMap
-            fitFunctions:       mapFitFunctions
-        }
-    }
-
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0
@@ -293,11 +238,7 @@ FlightMap {
 
         delegate: MissionItemMapVisual {
             map:        flightMap
-
-            onClicked: {
-                _retaskSequence = object.sequenceNumber
-                flightWidgets.guidedModeBar.confirmAction(parent.flightWidgets.guidedModeBar.confirmRetask)
-            }
+            onClicked:  guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, object.sequenceNumber)
         }
     }
 
@@ -345,30 +286,24 @@ FlightMap {
         }
     }    
 
-    MapScale {
-        anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * (0.66)
-        anchors.rightMargin:    ScreenTools.defaultFontPixelHeight * (0.33)
-        anchors.bottom:         parent.bottom
-        anchors.right:          parent.right
-        mapControl:             flightMap
-        visible:                !ScreenTools.isTinyScreen
-    }
-
     // Handle guided mode clicks
     MouseArea {
         anchors.fill: parent
 
         onClicked: {
-            if (_activeVehicle) {
-                if (flightWidgets.guidedModeBar.state != "Shown") {
-                    flightWidgets.guidedModeBar.state = "Shown"
-                } else {
-                    if (flightWidgets.gotoEnabled) {
-                        _gotoHereCoordinate = flightMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
-                        flightWidgets.guidedModeBar.confirmAction(flightWidgets.guidedModeBar.confirmGoTo)
-                    }
-                }
+            if (guidedActionsController.showGotoLocation) {
+                _gotoHereCoordinate = flightMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
+                guidedActionsController.confirmAction(guidedActionsController.actionGoto, _gotoHereCoordinate)
             }
         }
     }
+
+    MapScale {
+        anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * (0.66)
+        anchors.rightMargin:    ScreenTools.defaultFontPixelHeight * (0.33)
+        anchors.bottom:         parent.bottom
+        anchors.right:          parent.right
+        mapControl:             flightMap
+        visible:                !ScreenTools.isTinyScreen
+    }
 }

src/FlightDisplay/qmldir

@@ -4,5 +4,6 @@ FlightDisplayView           1.0 FlightDisplayView.qml
 FlightDisplayViewMap        1.0 FlightDisplayViewMap.qml
 FlightDisplayViewVideo      1.0 FlightDisplayViewVideo.qml
 FlightDisplayViewWidgets    1.0 FlightDisplayViewWidgets.qml
+GuidedCommands              1.0 GuidedCommands.qml
 MultiVehicleList            1.0 MultiVehicleList.qml
 

src/MissionManager/MissionSettingsItem.cc

@@ -364,9 +364,6 @@ void MissionSettingsItem::_setDirty(void)
 
 void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
-    if (coordinate.isValid()) {
-    qDebug() << "MissionSettingsItem::setCoordinate" << coordinate.isValid();
-    }
     if (_plannedHomePositionCoordinate != coordinate) {
         _plannedHomePositionCoordinate = coordinate;
         emit coordinateChanged(coordinate);

src/QmlControls/SliderSwitch.qml

@@ -11,7 +11,7 @@ Rectangle {
     implicitWidth:  label.contentWidth + (_diameter * 2.5) + (_border * 4)
     implicitHeight: Math.max(ScreenTools.isMobile ? ScreenTools.minTouchPixels : 0, label.height * 2.5)
     radius:         height /2
-    color:          qgcPal.window
+    color:          qgcPal.text
 
     signal accept   ///< Action confirmed
     signal reject   ///< Action rejected
@@ -29,6 +29,7 @@ Rectangle {
         anchors.horizontalCenter:   parent.horizontalCenter
         anchors.verticalCenter:     parent.verticalCenter
         text:                       confirmText
+        color:                      qgcPal.window
     }
 
     Rectangle {

src/QmlControls/ToolStrip.qml

@@ -120,7 +120,10 @@ Rectangle {
                 property bool checked: false
                 property ExclusiveGroup exclusiveGroup: dropButtonsExclusiveGroup
 
-                property var    _iconSource:        modelData.iconSource
+                QGCPalette { id: _repeaterPal; colorGroupEnabled: _buttonEnabled }
+
+                property bool   _buttonEnabled:         _root.buttonEnabled ? _root.buttonEnabled[index] : true
+                property var    _iconSource:            modelData.iconSource
                 property var    _alternateIconSource:   modelData.alternateIconSource
                 property var    _source:                (_root.showAlternateIcon && _root.showAlternateIcon[index]) ? _alternateIconSource : _iconSource
                 property bool   rotateImage:            _root.rotateImage ? _root.rotateImage[index] : false
@@ -160,7 +163,7 @@ Rectangle {
                     anchors.left:   parent.left
                     anchors.right:  parent.right
                     height:         width
-                    color:          checked ? qgcPal.buttonHighlight : qgcPal.button
+                    color:          checked ? _repeaterPal.buttonHighlight : _repeaterPal.button
 
                     QGCColoredImage {
                         id:                 button
@@ -170,7 +173,7 @@ Rectangle {
                         fillMode:           Image.PreserveAspectFit
                         mipmap:             true
                         smooth:             true
-                        color:              checked ? qgcPal.buttonHighlightText : qgcPal.buttonText
+                        color:              checked ? _repeaterPal.buttonHighlightText : _repeaterPal.buttonText
 
                         RotationAnimation on rotation {
                             id:             imageRotation
@@ -199,7 +202,7 @@ Rectangle {
                         anchors.right:          parent.right
                         anchors.top:            parent.top
                         height:                 parent.height + (_showOptionalElements? buttonLabel.height + buttonColumn.spacing : 0)
-                        visible:                _root.buttonEnabled ? _root.buttonEnabled[index] : true
+                        visible:                _buttonEnabled
                         preventStealing:        true
 
                         onClicked: {
@@ -233,6 +236,7 @@ Rectangle {
                     font.pointSize:             ScreenTools.smallFontPointSize
                     text:                       modelData.name
                     visible:                    _showOptionalElements
+                    enabled:                    _buttonEnabled
                 }
             }
         }

src/Vehicle/Vehicle.cc

@@ -1433,7 +1433,6 @@ void Vehicle::setActive(bool active)
 
 QGeoCoordinate Vehicle::homePosition(void)
 {
-    qDebug() << "Vehicle::homePosition" << _homePosition.isValid();
     return _homePosition;
 }