/**************************************************************************** * * (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. * ****************************************************************************/ /// @file /// @author Don Gagne #include "RallyPointController.h" #include "RallyPoint.h" #include "Vehicle.h" #include "FirmwarePlugin.h" #include "MAVLinkProtocol.h" #include "QGCApplication.h" #include "ParameterManager.h" #include "JsonHelper.h" #include "SimpleMissionItem.h" #include "QGroundControlQmlGlobal.h" #include "SettingsManager.h" #include "AppSettings.h" #include "PlanMasterController.h" #ifndef __mobile__ #include "QGCQFileDialog.h" #endif #include #include QGC_LOGGING_CATEGORY(RallyPointControllerLog, "RallyPointControllerLog") const char* RallyPointController::_jsonFileTypeValue = "RallyPoints"; const char* RallyPointController::_jsonPointsKey = "points"; RallyPointController::RallyPointController(PlanMasterController* masterController, QObject* parent) : PlanElementController(masterController, parent) , _rallyPointManager(_managerVehicle->rallyPointManager()) , _dirty(false) , _currentRallyPoint(NULL) , _itemsRequested(false) { connect(&_points, &QmlObjectListModel::countChanged, this, &RallyPointController::_updateContainsItems); managerVehicleChanged(_managerVehicle); } RallyPointController::~RallyPointController() { } void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle) { if (_managerVehicle) { _rallyPointManager->disconnect(this); _managerVehicle->disconnect(this); _managerVehicle = NULL; _rallyPointManager = NULL; } _managerVehicle = managerVehicle; if (!_managerVehicle) { qWarning() << "RallyPointController::managerVehicleChanged managerVehicle=NULL"; return; } _rallyPointManager = _managerVehicle->rallyPointManager(); connect(_rallyPointManager, &RallyPointManager::loadComplete, this, &RallyPointController::_managerLoadComplete); connect(_rallyPointManager, &RallyPointManager::sendComplete, this, &RallyPointController::_managerSendComplete); connect(_rallyPointManager, &RallyPointManager::removeAllComplete, this, &RallyPointController::_managerRemoveAllComplete); connect(_rallyPointManager, &RallyPointManager::inProgressChanged, this, &RallyPointController::syncInProgressChanged); connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, &RallyPointController::supportedChanged); emit supportedChanged(supported()); } bool RallyPointController::load(const QJsonObject& json, QString& errorString) { QString errorStr; QString errorMessage = tr("Rally: %1"); // Check for required keys QStringList requiredKeys = { _jsonPointsKey }; if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorStr)) { errorString = errorMessage.arg(errorStr); return false; } QList rgPoints; if (!JsonHelper::loadGeoCoordinateArray(json[_jsonPointsKey], true /* altitudeRequired */, rgPoints, errorStr)) { errorString = errorMessage.arg(errorStr); return false; } _points.clearAndDeleteContents(); QObjectList pointList; for (int i=0; i(_points[i])->coordinate(), true /* writeAltitude */, jsonPoint); rgPoints.append(jsonPoint); } json[_jsonPointsKey] = QJsonValue(rgPoints); } void RallyPointController::removeAll(void) { _points.clearAndDeleteContents(); setDirty(true); setCurrentRallyPoint(NULL); } void RallyPointController::removeAllFromVehicle(void) { if (_masterController->offline()) { qCWarning(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while offline"; } else if (syncInProgress()) { qCWarning(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while syncInProgress"; } else { _rallyPointManager->removeAll(); } } void RallyPointController::loadFromVehicle(void) { if (_masterController->offline()) { qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while offline"; } else if (syncInProgress()) { qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while syncInProgress"; } else { _itemsRequested = true; _rallyPointManager->loadFromVehicle(); } } void RallyPointController::sendToVehicle(void) { if (_masterController->offline()) { qCWarning(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while offline"; } else if (syncInProgress()) { qCWarning(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while syncInProgress"; } else { qCDebug(RallyPointControllerLog) << "RallyPointController::sendToVehicle"; setDirty(false); QList rgPoints; for (int i=0; i<_points.count(); i++) { rgPoints.append(qobject_cast(_points[i])->coordinate()); } _rallyPointManager->sendToVehicle(rgPoints); } } bool RallyPointController::syncInProgress(void) const { return _rallyPointManager->inProgress(); } void RallyPointController::setDirty(bool dirty) { if (dirty != _dirty) { _dirty = dirty; emit dirtyChanged(dirty); } } QString RallyPointController::editorQml(void) const { return _rallyPointManager->editorQml(); } void RallyPointController::_managerLoadComplete(const QList rgPoints) { // Fly view always reloads on _loadComplete // Plan view only reloads on _loadComplete if specifically requested if (_flyView || _itemsRequested) { _points.clearAndDeleteContents(); QObjectList pointList; for (int i=0; i(_points[_points.count() - 1])->coordinate().altitude(); } else { defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble(); } point.setAltitude(defaultAlt); RallyPoint* newPoint = new RallyPoint(point, this); _points.append(newPoint); setCurrentRallyPoint(newPoint); setDirty(true); } bool RallyPointController::supported(void) const { return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_managerVehicle->maxProtoVersion() >= 200); } void RallyPointController::removePoint(QObject* rallyPoint) { int foundIndex = 0; for (foundIndex=0; foundIndex<_points.count(); foundIndex++) { if (_points[foundIndex] == rallyPoint) { _points.removeOne(rallyPoint); rallyPoint->deleteLater(); } } if (_points.count()) { int newIndex = qMin(foundIndex, _points.count() - 1); newIndex = qMax(newIndex, 0); setCurrentRallyPoint(_points[newIndex]); } else { setCurrentRallyPoint(NULL); } } void RallyPointController::setCurrentRallyPoint(QObject* rallyPoint) { if (_currentRallyPoint != rallyPoint) { _currentRallyPoint = rallyPoint; emit currentRallyPointChanged(rallyPoint); } } void RallyPointController::_setFirstPointCurrent(void) { setCurrentRallyPoint(_points.count() ? _points[0] : NULL); } bool RallyPointController::containsItems(void) const { return _points.count() > 0; } void RallyPointController::_updateContainsItems(void) { emit containsItemsChanged(containsItems()); } bool RallyPointController::showPlanFromManagerVehicle (void) { qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView; if (_masterController->offline()) { qCWarning(RallyPointControllerLog) << "RallyPointController::showPlanFromManagerVehicle called while offline"; return true; // stops further propagation of showPlanFromManagerVehicle due to error } else { if (!_managerVehicle->initialPlanRequestComplete()) { // The vehicle hasn't completed initial load, we can just wait for loadComplete to be signalled automatically qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle: !initialPlanRequestComplete, wait for signal"; return true; } else if (syncInProgress()) { // If the sync is already in progress, _loadComplete will be called automatically when it is done. So no need to do anything. qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle: syncInProgress wait for signal"; return true; } else { qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle: sync complete"; _itemsRequested = true; return false; } } }