/*=====================================================================
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/>.
======================================================================*/
import QtQuick 2.4
import QtQuick.Controls 1.3
import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Mavlink 1.0
import QGroundControl.Controllers 1.0
/// Mission Editor
QGCView {
id: _root
property bool syncNeeded: controller.visualItems.dirty // Unsaved changes, visible to parent container
viewPanel: panel
topDialogMargin: height - mainWindow.availableHeight
// zOrder comes from the Loader in MainWindow.qml
z: QGroundControl.zOrderTopMost
readonly property int _decimalPlaces: 8
readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _margin: ScreenTools.defaultFontPixelHeight / 2
readonly property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16
readonly property real _rightPanelWidth: Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
readonly property real _rightPanelOpacity: 0.8
readonly property int _toolButtonCount: 6
readonly property string _autoSyncKey: "AutoSync"
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _visualItems: controller.visualItems
property var _currentMissionItem
property bool _firstVehiclePosition: true
property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
onActiveVehiclePositionChanged: updateMapToVehiclePosition()
Connections {
target: QGroundControl.multiVehicleManager
onActiveVehicleChanged: {
// When the active vehicle changes we need to allow the first vehicle position to move the map again
_firstVehiclePosition = true
updateMapToVehiclePosition()
}
}
function updateMapToVehiclePosition() {
if (_activeVehicle && _activeVehicle.coordinateValid && _activeVehicle.coordinate.isValid && _firstVehiclePosition) {
_firstVehiclePosition = false
editorMap.center = _activeVehicle.coordinate
}
}
function loadFromVehicle() {
controller.getMissionItems()
}
function loadFromFile() {
if (ScreenTools.isMobile) {
_root.showDialog(mobileFilePicker, "Select Mission File", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
controller.loadMissionFromFilePicker()
fitViewportToMissionItems()
}
}
function saveToFile() {
if (ScreenTools.isMobile) {
_root.showDialog(mobileFileSaver, "Save Mission File", _root.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
} else {
controller.saveMissionToFilePicker()
}
}
function normalizeLat(lat) {
// Normalize latitude to range: 0 to 180, S to N
return lat + 90.0
}
function normalizeLon(lon) {
// Normalize longitude to range: 0 to 360, W to E
return lon + 180.0
}
/// Fix the map viewport to the current mission items.
function fitViewportToMissionItems() {
if (_visualItems.count == 1) {
editorMap.center = _visualItems.get(0).coordinate
} else {
var missionItem = _visualItems.get(0)
var north = normalizeLat(missionItem.coordinate.latitude)
var south = north
var east = normalizeLon(missionItem.coordinate.longitude)
var west = east
for (var i=1; i<_visualItems.count; i++) {
missionItem = _visualItems.get(i)
if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
var lat = normalizeLat(missionItem.coordinate.latitude)
var lon = normalizeLon(missionItem.coordinate.longitude)
north = Math.max(north, lat)
south = Math.min(south, lat)
east = Math.max(east, lon)
west = Math.min(west, lon)
}
}
editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0))
}
}
MissionController {
id: controller
Component.onCompleted: {
start(true /* editMode */)
setCurrentItem(0)
}
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true)
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
*/
onVisualItemsChanged: itemDragger.clearItem()
onNewItemsFromVehicle: fitViewportToMissionItems()
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
ExclusiveGroup {
id: _mapTypeButtonsExclusiveGroup
}
ExclusiveGroup {
id: _dropButtonsExclusiveGroup
}
function setCurrentItem(sequenceNumber) {
_currentMissionItem = undefined
for (var i=0; i<_visualItems.count; i++) {
var visualItem = _visualItems.get(i)
if (visualItem.sequenceNumber == sequenceNumber) {
_currentMissionItem = visualItem
_currentMissionItem.isCurrentItem = true
} else {
visualItem.isCurrentItem = false
}
}
}
property int _moveDialogMissionItemIndex
Component {
id: mobileFilePicker
QGCMobileFileDialog {
openDialog: true
fileExtension: QGroundControl.missionFileExtension
onFilenameReturned: {
controller.loadMissionFromFile(filename)
fitViewportToMissionItems()
}
}
}
Component {
id: mobileFileSaver
QGCMobileFileDialog {
openDialog: false
fileExtension: QGroundControl.missionFileExtension
onFilenameReturned: {
controller.saveMissionToFile(filename)
}
}
}
Component {
id: moveDialog
QGCViewDialog {
function accept() {
var toIndex = toCombo.currentIndex
if (toIndex == 0) {
toIndex = 1
}
controller.moveMissionItem(_moveDialogMissionItemIndex, toIndex)
hideDialog()
}
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: "Move the selected mission item to the be after following mission item:"
}
QGCComboBox {
id: toCombo
model: _visualItems.count
currentIndex: _moveDialogMissionItemIndex
}
}
}
}
QGCViewPanel {
id: panel
anchors.fill: parent
Item {
anchors.fill: parent
FlightMap {
id: editorMap
anchors.fill: parent
mapName: "MissionEditor"
signal mapClicked(var coordinate)
readonly property real animationDuration: 500
// Initial map position duplicates Fly view position
Component.onCompleted: editorMap.center = QGroundControl.flightMapPosition
Behavior on zoomLevel {
NumberAnimation {
duration: editorMap.animationDuration
easing.type: Easing.InOutQuad
}
}
MouseArea {
anchors.fill: parent
onClicked: {
var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (addMissionItemsButton.checked) {
var sequenceNumber = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(sequenceNumber)
} else {
editorMap.mapClicked(coordinate)
}
}
}
// We use this item to support dragging since dragging a MapQuickItem just doesn't seem to work
Rectangle {
id: itemDragger
x: missionItemIndicator ? (missionItemIndicator.x + missionItemIndicator.anchorPoint.x - (itemDragger.width / 2)) : 100
y: missionItemIndicator ? (missionItemIndicator.y + missionItemIndicator.anchorPoint.y - (itemDragger.height / 2)) : 100
width: ScreenTools.defaultFontPixelHeight * 2
height: ScreenTools.defaultFontPixelHeight * 2
color: "transparent"
visible: false
z: QGroundControl.zOrderMapItems + 1 // Above item icons
property var missionItem
property var missionItemIndicator
property bool preventCoordinateBindingLoop: false
onXChanged: liveDrag()
onYChanged: liveDrag()
function liveDrag() {
if (!itemDragger.preventCoordinateBindingLoop && Drag.active) {
var point = Qt.point(itemDragger.x + (itemDragger.width / 2), itemDragger.y + (itemDragger.height / 2))
var coordinate = editorMap.toCoordinate(point)
coordinate.altitude = itemDragger.missionItem.coordinate.altitude
itemDragger.preventCoordinateBindingLoop = true
itemDragger.missionItem.coordinate = coordinate
itemDragger.preventCoordinateBindingLoop = false
}
}
function clearItem() {
itemDragger.visible = false
itemDragger.missionItem = undefined
itemDragger.missionItemIndicator = undefined
}
Drag.active: itemDrag.drag.active
Drag.hotSpot.x: width / 2
Drag.hotSpot.y: height / 2
MouseArea {
id: itemDrag
anchors.fill: parent
drag.target: parent
drag.minimumX: 0
drag.minimumY: 0
drag.maximumX: itemDragger.parent.width - parent.width
drag.maximumY: itemDragger.parent.height - parent.height
}
}
// Add the complex mission item polygon to the map
MapItemView {
model: controller.complexVisualItems
delegate: MapPolygon {
color: 'green'
path: object.polygonPath
opacity: 0.5
}
}
// Add the complex mission item grid to the map
MapItemView {
model: controller.complexVisualItems
delegate: MapPolyline {
line.color: "white"
path: object.gridPoints
}
}
// Add the complex mission item exit coordinates
MapItemView {
model: controller.complexVisualItems
delegate: exitCoordinateComponent
}
Component {
id: exitCoordinateComponent
MissionItemIndicator {
coordinate: object.exitCoordinate
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.lastSequenceNumber
visible: object.specifiesCoordinate
}
}
// Add the simple mission items to the map
MapItemView {
model: controller.visualItems
delegate: missionItemComponent
}
Component {
id: missionItemComponent
MissionItemIndicator {
id: itemIndicator
coordinate: object.coordinate
visible: object.specifiesCoordinate
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.sequenceNumber
onClicked: setCurrentItem(object.sequenceNumber)
function updateItemIndicator() {
if (object.isCurrentItem && itemIndicator.visible && object.specifiesCoordinate && object.isSimpleItem) {
// Setup our drag item
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
}
}
Connections {
target: object
onIsCurrentItemChanged: updateItemIndicator()
onSpecifiesCoordinateChanged: updateItemIndicator()
}
// These are the non-coordinate child mission items attached to this item
Row {
anchors.top: parent.top
anchors.left: parent.right
Repeater {
model: object.childItems
delegate: MissionItemIndexLabel {
label: object.sequenceNumber
isCurrentItem: object.isCurrentItem
z: 2
onClicked: setCurrentItem(object.sequenceNumber)
}
}
}
}
}
// Add lines between waypoints
MissionLineView {
model: controller.waypointLines
}
// Add the vehicles to the map
MapItemView {
model: QGroundControl.multiVehicleManager.vehicles
delegate:
VehicleMapItem {
vehicle: object
coordinate: object.coordinate
isSatellite: editorMap.isSatelliteMap
size: ScreenTools.defaultFontPixelHeight * 5
z: QGroundControl.zOrderMapItems - 1
}
}
// Mission Item Editor
Item {
id: missionItemEditor
height: mainWindow.availableHeight
anchors.bottom: parent.bottom
anchors.right: parent.right
width: _rightPanelWidth
opacity: _rightPanelOpacity
z: QGroundControl.zOrderTopMost
ListView {
id: editorListView
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
height: parent.height
spacing: _margin / 2
orientation: ListView.Vertical
model: controller.visualItems
cacheBuffer: height * 2
delegate: MissionItemEditor {
missionItem: object
width: parent.width
qgcView: _root
readOnly: false
onClicked: setCurrentItem(object.sequenceNumber)
onRemove: {
itemDragger.clearItem()
controller.removeMissionItem(object.sequenceNumber)
}
onInsert: {
var sequenceNumber = controller.insertSimpleMissionItem(editorMap.center, i)
setCurrentItem(sequenceNumber)
}
onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
}
} // ListView
} // Item - Mission Item editor
//-- Dismiss Drop Down (if any)
MouseArea {
anchors.fill: parent
enabled: _dropButtonsExclusiveGroup.current != null
onClicked: {
if(_dropButtonsExclusiveGroup.current)
_dropButtonsExclusiveGroup.current.checked = false
_dropButtonsExclusiveGroup.current = null
}
}
Item {
id: toolbarSpacer
height: mainWindow.tbHeight
width: 1
}
//-- Vertical Tool Buttons
Column {
id: toolColumn
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.left: parent.left
anchors.top: toolbarSpacer.bottom
spacing: ScreenTools.defaultFontPixelHeight
RoundButton {
id: addMissionItemsButton
buttonImage: "/qmlimages/MapAddMission.svg"
z: QGroundControl.zOrderWidgets
}
RoundButton {
id: addShapeButton
buttonImage: "/qmlimages/MapDrawShape.svg"
z: QGroundControl.zOrderWidgets
visible: QGroundControl.experimentalSurvey
onClicked: {
var coordinate = editorMap.center
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
var sequenceNumber = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
setCurrentItem(sequenceNumber)
checked = false
addMissionItemsButton.checked = false
}
}
DropButton {
id: syncButton
dropDirection: dropRight
buttonImage: syncNeeded ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: syncDropDownComponent
enabled: !controller.syncInProgress
rotateImage: controller.syncInProgress
}
DropButton {
id: centerMapButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapCenter.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: Component {
Column {
QGCLabel { text: "Center map:" }
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Home"
onClicked: {
centerMapButton.hideDropDown()
editorMap.center = controller.visualItems.get(0).coordinate
}
}
QGCButton {
text: "Mission"
onClicked: {
centerMapButton.hideDropDown()
fitViewportToMissionItems()
}
}
QGCButton {
text: "Vehicle"
enabled: activeVehicle && activeVehicle.latitude != 0 && activeVehicle.longitude != 0
property var activeVehicle: _activeVehicle
onClicked: {
centerMapButton.hideDropDown()
editorMap.center = activeVehicle.coordinate
}
}
}
}
}
}
DropButton {
id: mapTypeButton
dropDirection: dropRight
buttonImage: "/qmlimages/MapType.svg"
viewportMargins: ScreenTools.defaultFontPixelWidth / 2
exclusiveGroup: _dropButtonsExclusiveGroup
z: QGroundControl.zOrderWidgets
dropDownComponent: Component {
Column {
QGCLabel { text: "Map type:" }
Row {
spacing: ScreenTools.defaultFontPixelWidth
Repeater {
model: QGroundControl.flightMapSettings.mapTypes
QGCButton {
checkable: true
checked: editorMap.mapType == text
text: modelData
exclusiveGroup: _mapTypeButtonsExclusiveGroup
onClicked: {
editorMap.mapType = text
checked = true
mapTypeButton.hideDropDown()
}
}
}
}
}
}
}
//-- Zoom Map In
RoundButton {
id: mapZoomPlus
visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen
buttonImage: "/qmlimages/ZoomPlus.svg"
z: QGroundControl.zOrderWidgets
onClicked: {
if(editorMap)
editorMap.zoomLevel += 0.5
checked = false
}
}
//-- Zoom Map Out
RoundButton {
id: mapZoomMinus
visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen
buttonImage: "/qmlimages/ZoomMinus.svg"
z: QGroundControl.zOrderWidgets
onClicked: {
if(editorMap)
editorMap.zoomLevel -= 0.5
checked = false
}
}
}
MissionItemStatus {
id: waypointValuesDisplay
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.bottom: parent.bottom
z: QGroundControl.zOrderTopMost
currentMissionItem: _currentMissionItem
missionItems: controller.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
visible: !ScreenTools.isShortScreen
}
} // FlightMap
} // Item - split view container
} // QGCViewPanel
Component {
id: syncLoadFromVehicleOverwrite
QGCViewMessage {
id: syncLoadFromVehicleCheck
message: "You have unsaved/unsent mission changes. Loading the mission from the Vehicle will lose these changes. Are you sure you want to load the mission from the Vehicle?"
function accept() {
hideDialog()
loadFromVehicle()
}
}
}
Component {
id: syncLoadFromFileOverwrite
QGCViewMessage {
id: syncLoadFromVehicleCheck
message: "You have unsaved/unsent mission changes. Loading a mission from a file will lose these changes. Are you sure you want to load a mission from a file?"
function accept() {
hideDialog()
loadFromFile()
}
}
}
Component {
id: removeAllPromptDialog
QGCViewMessage {
message: "Are you sure you want to delete all mission items?"
function accept() {
itemDragger.clearItem()
controller.removeAllMissionItems()
hideDialog()
}
}
}
Component {
id: syncDropDownComponent
Column {
id: columnHolder
spacing: _margin
QGCLabel {
width: sendSaveRow.width
wrapMode: Text.WordWrap
text: syncNeeded && !controller.autoSync ?
"You have unsaved changed to you mission. You should send to your vehicle, or save to a file:" :
"Sync:"
}
Row {
id: sendSaveRow
visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Send to vehicle"
enabled: _activeVehicle && !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
controller.sendMissionItems()
}
}
QGCButton {
text: "Load from vehicle"
enabled: _activeVehicle && !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
if (syncNeeded) {
_root.showDialog(syncLoadFromVehicleOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
loadFromVehicle()
}
}
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Save to file..."
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
saveToFile()
}
}
QGCButton {
text: "Load from file..."
enabled: !controller.syncInProgress
onClicked: {
syncButton.hideDropDown()
if (syncNeeded) {
_root.showDialog(syncLoadFromFileOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
loadFromFile()
}
}
}
}
QGCButton {
text: "Remove all"
onClicked: {
syncButton.hideDropDown()
_root.showDialog(removeAllPromptDialog, "Delete all", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
}
}
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
QGCLabel {
id: autoSyncDisallowedLabel
visible: _activeVehicle && _activeVehicle.armed
text: "AutoSync is not allowed whie vehicle is armed"
}
QGCCheckBox {
id: autoSyncCheckBox
checked: controller.autoSync
text: "Automatically sync changes with vehicle"
enabled: _activeVehicle ? !_activeVehicle.armed : false
onClicked: controller.autoSync = checked
}
*/
}
}
} // QGCVIew