/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ import QtQuick 2.3 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.4 import QtQuick.Dialogs 1.2 import QtLocation 5.3 import QtPositioning 5.3 import QGroundControl 1.0 import QGroundControl.ScreenTools 1.0 import QGroundControl.Controls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Vehicle 1.0 import QGroundControl.FlightMap 1.0 Item { id: _root property alias guidedModeBar: _guidedModeBar property bool gotoEnabled: _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying property var qgcView property bool useLightColors property var missionController property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property bool _isSatellite: _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true property bool _lightWidgetBorders: _isSatellite // Guided bar properties property bool _missionAvailable: missionController.containsItems property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false property bool _missionInProgress: missionController.missionInProgress property bool _showEmergenyStop: QGroundControl.corePlugin.options.guidedBarShowEmergencyStop property bool _showOrbit: QGroundControl.corePlugin.options.guidedBarShowOrbit readonly property real _margins: ScreenTools.defaultFontPixelHeight * 0.5 QGCMapPalette { id: mapPal; lightColors: useLightColors } QGCPalette { id: qgcPal } function getPreferredInstrumentWidth() { if(ScreenTools.isMobile) { return ScreenTools.isTinyScreen ? mainWindow.width * 0.2 : mainWindow.width * 0.15 } var w = mainWindow.width * 0.15 return Math.min(w, 200) } function _setInstrumentWidget() { if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) { instrumentsLoader.source = QGroundControl.corePlugin.options.instrumentWidget.source switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) { case CustomInstrumentWidget.POS_TOP_RIGHT: instrumentsLoader.state = "topMode" break; case CustomInstrumentWidget.POS_BOTTOM_RIGHT: instrumentsLoader.state = "bottomMode" break; case CustomInstrumentWidget.POS_CENTER_RIGHT: default: instrumentsLoader.state = "centerMode" break; } } else { var useAlternateInstruments = QGroundControl.settingsManager.appSettings.virtualJoystick.value || ScreenTools.isTinyScreen if(useAlternateInstruments) { instrumentsLoader.source = "qrc:/qml/QGCInstrumentWidgetAlternate.qml" instrumentsLoader.state = "topMode" } else { instrumentsLoader.source = "qrc:/qml/QGCInstrumentWidget.qml" instrumentsLoader.state = QGroundControl.settingsManager.appSettings.showLargeCompass.value == 1 ? "centerMode" : "topMode" } } } Connections { target: QGroundControl.settingsManager.appSettings.virtualJoystick onValueChanged: _setInstrumentWidget() } Connections { target: QGroundControl.settingsManager.appSettings.showLargeCompass onValueChanged: _setInstrumentWidget() } Component.onCompleted: { _setInstrumentWidget() } //-- Map warnings Column { anchors.horizontalCenter: parent.horizontalCenter anchors.verticalCenter: parent.verticalCenter spacing: ScreenTools.defaultFontPixelHeight QGCLabel { anchors.horizontalCenter: parent.horizontalCenter visible: _activeVehicle && !_activeVehicle.coordinateValid && _mainIsMap z: QGroundControl.zOrderTopMost color: mapPal.text font.pointSize: ScreenTools.largeFontPointSize text: qsTr("No GPS Lock for Vehicle") } QGCLabel { anchors.horizontalCenter: parent.horizontalCenter visible: _activeVehicle && _activeVehicle.prearmError z: QGroundControl.zOrderTopMost color: mapPal.text font.pointSize: ScreenTools.largeFontPointSize text: _activeVehicle ? _activeVehicle.prearmError : "" } } //-- Instrument Panel Loader { id: instrumentsLoader anchors.margins: ScreenTools.defaultFontPixelHeight / 2 anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right z: QGroundControl.zOrderWidgets property var qgcView: _root.qgcView property real maxHeight:parent.height - (anchors.margins * 2) states: [ State { name: "topMode" AnchorChanges { target: instrumentsLoader anchors.verticalCenter: undefined anchors.bottom: undefined anchors.top: _root ? _root.top : undefined } }, State { name: "centerMode" AnchorChanges { target: instrumentsLoader anchors.top: undefined anchors.bottom: undefined anchors.verticalCenter: _root ? _root.verticalCenter : undefined } }, State { name: "bottomMode" AnchorChanges { target: instrumentsLoader anchors.top: undefined anchors.verticalCenter: undefined anchors.bottom: _root ? _root.bottom : undefined } } ] } //-- Guided mode buttons Rectangle { id: _guidedModeBar anchors.margins: _barMargin anchors.bottom: parent.bottom anchors.horizontalCenter: parent.horizontalCenter width: guidedModeColumn.width + (_margins * 2) height: guidedModeColumn.height + (_margins * 2) radius: ScreenTools.defaultFontPixelHeight * 0.25 color: _isSatellite ? Qt.rgba(qgcPal.mapWidgetBorderLight.r, qgcPal.mapWidgetBorderLight.g, qgcPal.mapWidgetBorderLight.b, 0.8) : Qt.rgba(qgcPal.mapWidgetBorderDark.r, qgcPal.mapWidgetBorderDark.g, qgcPal.mapWidgetBorderDark.b, 0.75) visible: _activeVehicle z: QGroundControl.zOrderWidgets state: "Shown" property real _fontPointSize: ScreenTools.isMobile ? ScreenTools.largeFontPointSize : ScreenTools.defaultFontPointSize states: [ State { name: "Shown" PropertyChanges { target: showAnimation; running: true } PropertyChanges { target: guidedModeHideTimer; running: true } }, State { name: "Hidden" PropertyChanges { target: hideAnimation; running: true } } ] PropertyAnimation { id: hideAnimation target: _guidedModeBar property: "_barMargin" duration: 1000 easing.type: Easing.InOutQuad from: _guidedModeBar._showMargin to: _guidedModeBar._hideMargin } PropertyAnimation { id: showAnimation target: _guidedModeBar property: "_barMargin" duration: 250 easing.type: Easing.InOutQuad from: _guidedModeBar._hideMargin to: _guidedModeBar._showMargin } Timer { id: guidedModeHideTimer interval: 7000 running: true onTriggered: { if (ScreenTools.isTinyScreen) { _guidedModeBar.state = "Hidden" } } } readonly property int confirmHome: 1 readonly property int confirmLand: 2 readonly property int confirmTakeoff: 3 readonly property int confirmArm: 4 readonly property int confirmDisarm: 5 readonly property int confirmEmergencyStop: 6 readonly property int confirmChangeAlt: 7 readonly property int confirmGoTo: 8 readonly property int confirmRetask: 9 readonly property int confirmOrbit: 10 readonly property int confirmAbort: 11 readonly property int confirmStartMission: 12 readonly property int confirmResumeMission: 13 property int confirmActionCode property real _showMargin: _margins property real _hideMargin: _margins - _guidedModeBar.height property real _barMargin: _showMargin function actionConfirmed() { switch (confirmActionCode) { case confirmHome: _activeVehicle.guidedModeRTL() break; case confirmLand: _activeVehicle.guidedModeLand() break; case confirmTakeoff: _activeVehicle.guidedModeTakeoff() break; case confirmResumeMission: case confirmStartMission: _activeVehicle.startMission() break; case confirmArm: _activeVehicle.armed = true break; case confirmDisarm: _activeVehicle.armed = false break; case confirmEmergencyStop: _activeVehicle.emergencyStop() break; case confirmChangeAlt: var altitude2 = altitudeSlider.getValue() if (!isNaN(altitude2)) { _activeVehicle.guidedModeChangeAltitude(altitude2) } break; case confirmGoTo: _activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate) break; case confirmRetask: _activeVehicle.setCurrentMissionSequence(_flightMap._retaskSequence) break; case confirmOrbit: //-- All parameters controlled by RC _activeVehicle.guidedModeOrbit() //-- Center on current flight map position and orbit with a 50m radius (velocity/direction controlled by the RC) //_activeVehicle.guidedModeOrbit(QGroundControl.flightMapPosition, 50.0) break; case confirmAbort: _activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored break; default: console.warn(qsTr("Internal error: unknown confirmActionCode"), confirmActionCode) } } function rejectGuidedModeConfirm() { guidedModeConfirm.visible = false _guidedModeBar.visible = true altitudeSlider.visible = false _flightMap._gotoHereCoordinate = QtPositioning.coordinate() guidedModeHideTimer.restart() } function confirmAction(actionCode) { guidedModeHideTimer.stop() confirmActionCode = actionCode switch (confirmActionCode) { case confirmArm: guidedModeConfirm.confirmText = qsTr("arm") break; case confirmDisarm: guidedModeConfirm.confirmText = qsTr("disarm") break; case confirmEmergencyStop: guidedModeConfirm.confirmText = qsTr("STOP ALL MOTORS!") break; case confirmTakeoff: guidedModeConfirm.confirmText = qsTr("takeoff") break; case confirmStartMission: guidedModeConfirm.confirmText = qsTr("start mission") break; case confirmResumeMission: guidedModeConfirm.confirmText = qsTr("resume mission") break; case confirmLand: guidedModeConfirm.confirmText = qsTr("land") break; case confirmHome: guidedModeConfirm.confirmText = qsTr("return to land") break; case confirmChangeAlt: altitudeSlider.visible = true altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeRelative.value) guidedModeConfirm.confirmText = qsTr("change altitude") break; case confirmGoTo: guidedModeConfirm.confirmText = qsTr("move vehicle") break; case confirmRetask: guidedModeConfirm.confirmText = qsTr("activate waypoint change") break; case confirmOrbit: guidedModeConfirm.confirmText = qsTr("enter orbit mode") break; case confirmAbort: guidedModeConfirm.confirmText = qsTr("abort landing") break; } _guidedModeBar.visible = false guidedModeConfirm.visible = true } Column { id: guidedModeColumn anchors.margins: _margins anchors.top: parent.top anchors.left: parent.left spacing: _margins QGCLabel { anchors.horizontalCenter: parent.horizontalCenter color: _isSatellite ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight text: "Click in map to move vehicle" visible: gotoEnabled } Row { spacing: _margins * 2 QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Emergency Stop") visible: _showEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmEmergencyStop) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Disarm") visible: _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmDisarm) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("RTL") visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmHome) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Takeoff") visible: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && !_activeVehicle.fixedWing onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmTakeoff) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Land") visible: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmLand) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Start Mission") visible: _activeVehicle && !_activeVehicle.flying && _missionAvailable onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmStartMission) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Resume Mission") visible: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && _missionAvailable && _missionInProgress onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmResumeMission) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: _missionActive ? qsTr("Pause Mission") : qsTr("Pause") visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying onClicked: _activeVehicle.pauseVehicle() } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Change Altitude") visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Orbit") visible: _showOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Abort") visible: _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmAbort) } } // Row } // Column } // Rectangle - Guided mode buttons MouseArea { anchors.fill: parent enabled: guidedModeConfirm.visible onClicked: _guidedModeBar.rejectGuidedModeConfirm() } // Action confirmation control SliderSwitch { id: guidedModeConfirm anchors.bottomMargin: _margins anchors.bottom: parent.bottom anchors.horizontalCenter: parent.horizontalCenter visible: false z: QGroundControl.zOrderWidgets fontPointSize: _guidedModeBar._fontPointSize onAccept: { guidedModeConfirm.visible = false _guidedModeBar.visible = true _guidedModeBar.actionConfirmed() altitudeSlider.visible = false guidedModeHideTimer.restart() } onReject: _guidedModeBar.rejectGuidedModeConfirm() } //-- Altitude slider Rectangle { id: altitudeSlider anchors.margins: _margins anchors.right: parent.right anchors.top: parent.top anchors.bottom: parent.bottom color: qgcPal.window width: ScreenTools.defaultFontPixelWidth * 10 opacity: 0.8 visible: false function setInitialValueMeters(meters) { altSlider.value = QGroundControl.metersToAppSettingsDistanceUnits(meters) } function setInitialValueAppSettingsDistanceUnits(height) { altSlider.value = height } /// Returns NaN for bad value function getValue() { var value = parseFloat(altField.text) if (!isNaN(value)) { return QGroundControl.appSettingsDistanceUnitsToMeters(value); } else { return value; } } Column { id: headerColumn anchors.margins: _margins anchors.top: parent.top anchors.left: parent.left anchors.right: parent.right QGCLabel { anchors.horizontalCenter: parent.horizontalCenter text: qsTr("Alt (rel)") } QGCLabel { anchors.horizontalCenter: parent.horizontalCenter text: QGroundControl.appSettingsDistanceUnitsString } QGCTextField { id: altField anchors.left: parent.left anchors.right: parent.right text: altSlider.value.toFixed(1) } } Slider { id: altSlider anchors.margins: _margins anchors.top: headerColumn.bottom anchors.bottom: parent.bottom anchors.left: parent.left anchors.right: parent.right orientation: Qt.Vertical minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(0) maximumValue: QGroundControl.metersToAppSettingsDistanceUnits((_activeVehicle && _activeVehicle.flying) ? Math.round((_activeVehicle.altitudeRelative.value + 100) / 100) * 100 : 10) } } }