/****************************************************************************
*
* (c) 2009-2016 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.
*
****************************************************************************/
#ifndef MissionController_H
#define MissionController_H
#include "PlanElementController.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
#include "QGCGeoBoundingCube.h"
#include <QHash>
class CoordinateVector;
class VisualMissionItem;
class MissionItem;
class MissionSettingsItem;
class AppSettings;
class MissionManager;
class SimpleMissionItem;
class ComplexMissionItem;
class QDomDocument;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;
class MissionController : public PlanElementController
{
Q_OBJECT
public:
MissionController(PlanMasterController* masterController, QObject* parent = NULL);
~MissionController();
typedef struct _MissionFlightStatus_t {
double maxTelemetryDistance;
void dirtyChanged();
double totalDistance;
double totalTime;
double hoverDistance;
double hoverTime;
double cruiseDistance;
double cruiseTime;
double cruiseSpeed;
double hoverSpeed;
double vehicleSpeed; ///< Either cruise or hover speed based on vehicle type and vtol state
double vehicleYaw;
double gimbalYaw; ///< NaN signals yaw was never changed
double gimbalPitch; ///< NaN signals pitch was never changed
int mAhBattery; ///< 0 for not available
double hoverAmps; ///< Amp consumption during hover
double cruiseAmps; ///< Amp consumption during cruise
double ampMinutesAvailable; ///< Amp minutes available from single battery
double hoverAmpsTotal; ///< Total hover amps used
double cruiseAmpsTotal; ///< Total cruise amps used
int batteryChangePoint; ///< -1 for not supported, 0 for not needed
int batteriesRequired; ///< -1 for not supported
} MissionFlightStatus_t;
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) ///< Used by Plan view only for interactive editing
Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged) ///< Used by Fly view only for static display
Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged)
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(double progressPct READ progressPct NOTIFY progressPctChanged)
Q_PROPERTY(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) ///< True mission item command count (only valid in Fly View)
Q_PROPERTY(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged)
Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
Q_PROPERTY(double remainingDistance READ remainingDistance NOTIFY remainingDistanceChanged)
Q_PROPERTY(double remainingTime READ remainingTime NOTIFY remainingTimeChanged)
Q_PROPERTY(int currentPlanViewIndex READ currentPlanViewIndex NOTIFY currentPlanViewIndexChanged)
Q_PROPERTY(VisualMissionItem* currentPlanViewItem READ currentPlanViewItem NOTIFY currentPlanViewItemChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged)
Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged)
Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged)
Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_PROPERTY(int batteryChangePoint READ batteryChangePoint NOTIFY batteryChangePointChanged)
Q_PROPERTY(int batteriesRequired READ batteriesRequired NOTIFY batteriesRequiredChanged)
Q_PROPERTY(QGCGeoBoundingCube* travelBoundingCube READ travelBoundingCube NOTIFY missionBoundingCubeChanged)
Q_PROPERTY(QString surveyComplexItemName READ surveyComplexItemName CONSTANT)
Q_PROPERTY(QString corridorScanComplexItemName READ corridorScanComplexItemName CONSTANT)
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
Q_INVOKABLE void removeMissionItem(int index);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertSimpleMissionItem(const QGeoCoordinate &coordinate, int i);
/// Add a list of new simple mission item to the list.
/// @param i: index to insert at
/// @return Sequence number of last item.
Q_INVOKABLE int insertSimpleMissionItems(const QList<QGeoCoordinate> &coordinates, int i);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
int insertSimpleMissionItem(const MissionItem &missionItem, int i);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
int insertSimpleMissionItem(const SimpleMissionItem &missionItem, int i);
/// Add a new ROI mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertROIMissionItem(QGeoCoordinate coordinate, int i);
/// Add a new complex mission item to the list
/// @param itemName: Name of complex item to create (from complexMissionItemNames)
/// @param mapCenterCoordinate: coordinate for current center of map
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i);
/// Add a new complex mission item to the list
/// @param itemName: Name of complex item to create (from complexMissionItemNames)
/// @param file: kml or shp file to load from shape from
/// @param i: index to insert at, -1 for end
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int i);
Q_INVOKABLE void resumeMission(int resumeIndex);
/// Updates the altitudes of the items in the current mission to the new default altitude
Q_INVOKABLE void applyDefaultMissionAltitude(void);
/// Sets a new current mission item (PlanView).
/// @param sequenceNumber - index for new item, -1 to clear current item
Q_INVOKABLE void setCurrentPlanViewIndex(int sequenceNumber, bool force);
/// Determines if the mission has all data needed to be saved or sent to the vehicle. Currently the only case where this
/// would return false is when it is still waiting on terrain data to determine correct altitudes.
bool readyForSaveSend(void) const;
/// sets the command in missionItem to a land command
bool setLandCommand (SimpleMissionItem &missionItem);
/// sets the command in missionItem to a takeoff command
bool setTakeoffCommand (SimpleMissionItem &missionItem);
/// Sends the mission items to the specified vehicle
static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
static bool convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
bool loadJsonFile(QFile& file, QString& errorString);
bool loadTextFile(QFile& file, QString& errorString);
QGCGeoBoundingCube* travelBoundingCube () { return &_travelBoundingCube; }
QGeoCoordinate takeoffCoordinate () { return _takeoffCoordinate; }
// Overrides from PlanElementController
bool supported (void) const final { return true; }
void start (bool flyView) final;
void save (QJsonObject& json) final;
bool load (const QJsonObject& json, QString& errorString) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void removeAll (void) final;
void removeAllFromVehicle (void) final;
bool syncInProgress (void) const final;
bool dirty (void) const final;
void setDirty (bool dirty) final;
bool containsItems (void) const final;
void managerVehicleChanged (Vehicle* managerVehicle) final;
bool showPlanFromManagerVehicle (void) final;
// Create KML file
void convertToKMLDocument(QDomDocument& document);
// Property accessors
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
QVariantList waypointPath (void) { return _waypointPath; }
QStringList complexMissionItemNames (void) const;
QGeoCoordinate plannedHomePosition (void) const;
VisualMissionItem* currentPlanViewItem (void) const;
double progressPct (void) const { return _progressPct; }
QString surveyComplexItemName (void) const { return _surveyMissionItemName; }
QString circularSurveyComplexItemName (void) const { return _circularSurveyMissionItemName; }
QString corridorScanComplexItemName (void) const { return patternCorridorScanName; }
QString structureScanComplexItemName (void) const { return patternStructureScanName; }
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
// distance and time to mission end (this function does not take into account current vehicle position, if useVehiclePosition == false)
bool distanceTimeToMissionEnd (double &remainingDistance, double &remainingTime, int missionIndex, bool useVehiclePosition) const;
// distance and time to mission end (this function does (!) take into account current vehicle position)
double remainingDistance () const { return _remainingDistance; }
// distance and time to mission end (this function does (!) take into account current vehicle position)
double remainingTime () const { return _remainingTime; }
double missionDistance (void) const { return _missionFlightStatus.totalDistance; }
double missionTime (void) const { return _missionFlightStatus.totalTime; }
double missionHoverDistance (void) const { return _missionFlightStatus.hoverDistance; }
double missionHoverTime (void) const { return _missionFlightStatus.hoverTime; }
double missionCruiseDistance (void) const { return _missionFlightStatus.cruiseDistance; }
double missionCruiseTime (void) const { return _missionFlightStatus.cruiseTime; }
double missionMaxTelemetry (void) const { return _missionFlightStatus.maxTelemetryDistance; }
int batteryChangePoint (void) const { return _missionFlightStatus.batteryChangePoint; } ///< -1 for not supported, 0 for not needed
int batteriesRequired (void) const { return _missionFlightStatus.batteriesRequired; } ///< -1 for not supported
// These are the names shown in the UI for the pattern items. They are public so custom builds can remove the ones
// they don't want through the QGCCorePlugin::
static const QString patternFWLandingName;
static const QString patternStructureScanName;
static const QString patternCorridorScanName;
signals:
void visualItemsChanged (void);
void waypointLinesChanged (void);
void waypointPathChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
void missionTimeChanged (void);
void missionHoverDistanceChanged (double missionHoverDistance);
void missionHoverTimeChanged (void);
void missionCruiseDistanceChanged (double missionCruiseDistance);
void missionCruiseTimeChanged (void);
void missionMaxTelemetryChanged (double missionMaxTelemetry);
void complexMissionItemNamesChanged (void);
void resumeMissionIndexChanged (void);
void resumeMissionReady (void);
void resumeMissionUploadFail (void);
void batteryChangePointChanged (int batteryChangePoint);
void batteriesRequiredChanged (int batteriesRequired);
void plannedHomePositionChanged (QGeoCoordinate plannedHomePosition);
void progressPctChanged (double progressPct);
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void remainingDistanceChanged (void);
void remainingTimeChanged (void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
void _itemCommandChanged(void);
void _managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _inProgressChanged(bool inProgress);
void _currentMissionIndexChanged(int sequenceNumber);
void _recalcWaypointLines(void);
void _recalcMissionFlightStatus(void);
void _updateContainsItems(void);
void _progressPctChanged(double progressPct);
void _visualItemsDirtyChanged(bool dirty);
void _managerSendComplete(bool error);
void _managerRemoveAllComplete(bool error);
void _updateTimeout();
void _complexBoundingBoxChanged();
void _recalcAll(void);
void _enableDisableRemainingDistTimeCalculation(bool flying);
// updates the fields _remainingTime and_remainingDistance (this function does (!) take into account current vehicle position)
// This function is supposed to be called by _remainingDistanceTimeTimer::timeout() exclusively. Calling it in a different way might cause
// undesired behaviour
void _updateRemainingDistanceTime();
private:
void _init(void);
void _recalcSequence(void);
void _recalcChildItems(void);
void _recalcAllWithClickCoordinate(const QGeoCoordinate &clickCoordinate);
void _initAllVisualItems(void);
void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item);
void _initVisualItemCommon(VisualMissionItem* visualItem); // Don't call this function, it is used by _initSimpleItem and _initComplexItem.
void _initSimpleItem(SimpleMissionItem* item);
void _initComplexItem(ComplexMissionItem* item);
void _deinitVisualItem(VisualMissionItem* item);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
bool _findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode);
static double _normalizeLat(double lat);
static double _normalizeLon(double lon);
void _addMissionSettings(QmlObjectListModel* visualItems, bool addToCenter);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void);
void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
void _setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate);
void _resetMissionFlightStatus(void);
void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex);
void _addCruiseTime(double cruiseTime, double cruiseDistance, int wayPointIndex);
void _updateBatteryInfo(int waypointIndex);
bool _loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
void _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
void _warnIfTerrainFrameUsed(void);
void _setRemainingDistance(double dist);
void _setRemainingTime(double time);
private:
MissionManager* _missionManager;
int _missionItemCount;
QmlObjectListModel* _visualItems;
MissionSettingsItem* _settingsItem;
QmlObjectListModel _waypointLines;
QVariantList _waypointPath;
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
bool _itemsRequested;
bool _inRecalcSequence;
MissionFlightStatus_t _missionFlightStatus;
QString _surveyMissionItemName;
QString _circularSurveyMissionItemName;
AppSettings* _appSettings;
double _progressPct;
int _currentPlanViewIndex;
VisualMissionItem* _currentPlanViewItem;
QTimer _updateTimer;
QTimer _remainingDistanceTimeTimer;
QGCGeoBoundingCube _travelBoundingCube;
QGeoCoordinate _takeoffCoordinate;
double _remainingTime; // estimated Time until mission end
double _remainingDistance; // estimated Distance to mission end
static const char* _settingsGroup;
// Json file keys for persistence
static const char* _jsonFileTypeValue;
static const char* _jsonFirmwareTypeKey;
static const char* _jsonVehicleTypeKey;
static const char* _jsonCruiseSpeedKey;
static const char* _jsonHoverSpeedKey;
static const char* _jsonItemsKey;
static const char* _jsonPlannedHomePositionKey;
static const char* _jsonParamsKey;
// Deprecated V1 format keys
static const char* _jsonMavAutopilotKey;
static const char* _jsonComplexItemsKey;
static const int _missionFileVersion;
};
#endif