/**************************************************************************** * * (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.Dialogs 1.2 import QtLocation 5.3 import QtPositioning 5.3 import QtQuick.Layouts 1.2 import QGroundControl 1.0 import QGroundControl.FlightMap 1.0 import QGroundControl.ScreenTools 1.0 import QGroundControl.Controls 1.0 import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Mavlink 1.0 import QGroundControl.Controllers 1.0 /// Mission Editor QGCView { id: _qgcView viewPanel: panel z: QGroundControl.zOrderTopMost readonly property int _decimalPlaces: 8 readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2 readonly property real _margin: ScreenTools.defaultFontPixelHeight * 0.5 readonly property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle readonly property real _rightPanelWidth: Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30) readonly property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2) readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276) property var _planMasterController: masterController property var _missionController: _planMasterController.missionController property var _geoFenceController: _planMasterController.geoFenceController property var _rallyPointController: _planMasterController.rallyPointController property var _visualItems: _missionController.visualItems property var _currentMissionItem property int _currentMissionIndex: 0 property bool _lightWidgetBorders: editorMap.isSatelliteMap property bool _addWaypointOnClick: false property bool _singleComplexItem: _missionController.complexMissionItemNames.length === 1 property real _toolbarHeight: _qgcView.height - ScreenTools.availableHeight property int _editingLayer: _layerMission readonly property int _layerMission: 1 readonly property int _layerGeoFence: 2 readonly property int _layerRallyPoints: 3 readonly property string _armedVehicleUploadPrompt: qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?") Component.onCompleted: { toolbar.planMasterController = Qt.binding(function () { return _planMasterController }) toolbar.currentMissionItem = Qt.binding(function () { return _currentMissionItem }) } function addComplexItem(complexItemName) { var coordinate = editorMap.center coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) insertComplexMissionItem(complexItemName, coordinate, _missionController.visualItems.count) } function insertComplexMissionItem(complexItemName, coordinate, index) { var sequenceNumber = _missionController.insertComplexMissionItem(complexItemName, coordinate, index) setCurrentItem(sequenceNumber, true) } property bool _firstMissionLoadComplete: false property bool _firstFenceLoadComplete: false property bool _firstRallyLoadComplete: false property bool _firstLoadComplete: false MapFitFunctions { id: mapFitFunctions map: editorMap usePlannedHomePosition: true planMasterController: _planMasterController } Connections { target: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude onRawValueChanged: { if (_visualItems.count > 1) { _qgcView.showDialog(applyNewAltitude, qsTr("Apply new alititude"), showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) } } } Component { id: applyNewAltitude QGCViewMessage { message: qsTr("You have changed the default altitude for mission items. Would you like to apply that altitude to all the items in the current mission?") function accept() { hideDialog() _missionController.applyDefaultMissionAltitude() } } } Component { id: activeMissionUploadDialogComponent QGCViewDialog { Column { anchors.fill: parent spacing: ScreenTools.defaultFontPixelHeight QGCLabel { width: parent.width wrapMode: Text.WordWrap text: qsTr("Your vehicle is currently flying a mission. In order to upload a new or modified mission the current mission will be paused.") } QGCLabel { width: parent.width wrapMode: Text.WordWrap text: qsTr("After the mission is uploaded you can adjust the current waypoint and start the mission.") } QGCButton { text: qsTr("Pause and Upload") onClicked: { _activeVehicle.flightMode = _activeVehicle.pauseFlightMode _planMasterController.sendToVehicle() hideDialog() } } } } } PlanElemementMasterController { id: masterController Component.onCompleted: { start(true /* editMode */) setCurrentItem(0, true) } function upload() { if (_activeVehicle && _activeVehicle.armed && _activeVehicle.flightMode === _activeVehicle.missionFlightMode) { _qgcView.showDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel) } else { sendToVehicle() } } function loadFromSelectedFile() { fileDialog.title = qsTr("Select Plan File") fileDialog.selectExisting = true fileDialog.nameFilters = masterController.loadNameFilters fileDialog.openForLoad() } function saveToSelectedFile() { fileDialog.title = qsTr("Save Plan") fileDialog.selectExisting = false fileDialog.nameFilters = masterController.saveNameFilters fileDialog.openForSave() } function fitViewportToItems() { mapFitFunctions.fitMapViewportToMissionItems() } } Connections { target: _missionController onNewItemsFromVehicle: { if (_visualItems && _visualItems.count != 1) { mapFitFunctions.fitMapViewportToMissionItems() } setCurrentItem(0, true) } } QGCPalette { id: qgcPal; colorGroupEnabled: enabled } ExclusiveGroup { id: _mapTypeButtonsExclusiveGroup } /// Sets a new current mission item /// @param sequenceNumber - index for new item, -1 to clear current item function setCurrentItem(sequenceNumber, force) { if (force || sequenceNumber !== _currentMissionIndex) { _currentMissionItem = undefined _currentMissionIndex = -1 for (var i=0; i<_visualItems.count; i++) { var visualItem = _visualItems.get(i) if (visualItem.sequenceNumber == sequenceNumber) { _currentMissionItem = visualItem _currentMissionItem.isCurrentItem = true _currentMissionIndex = sequenceNumber } else { visualItem.isCurrentItem = false } } } } /// Inserts a new simple mission item /// @param coordinate Location to insert item /// @param index Insert item at this index function insertSimpleMissionItem(coordinate, index) { var sequenceNumber = _missionController.insertSimpleMissionItem(coordinate, index) setCurrentItem(sequenceNumber, true) } property int _moveDialogMissionItemIndex QGCFileDialog { id: fileDialog qgcView: _qgcView folder: QGroundControl.settingsManager.appSettings.missionSavePath fileExtension: QGroundControl.settingsManager.appSettings.planFileExtension fileExtension2: QGroundControl.settingsManager.appSettings.missionFileExtension onAcceptedForSave: { masterController.saveToFile(file) close() } onAcceptedForLoad: { masterController.loadFromFile(file) masterController.fitViewportToItems() setCurrentItem(0, true) close() } } Component { id: moveDialog QGCViewDialog { function accept() { var toIndex = toCombo.currentIndex if (toIndex == 0) { toIndex = 1 } _missionController.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: qsTr("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 FlightMap { id: editorMap anchors.fill: parent mapName: "MissionEditor" allowGCSLocationCenter: true allowVehicleLocationCenter: true planView: true // This is the center rectangle of the map which is not obscured by tools property rect centerViewport: Qt.rect(_leftToolWidth, _toolbarHeight, editorMap.width - _leftToolWidth - _rightPanelWidth, editorMap.height - _statusHeight - _toolbarHeight) property real _leftToolWidth: toolStrip.x + toolStrip.width property real _statusHeight: waypointValuesDisplay.visible ? editorMap.height - waypointValuesDisplay.y : 0 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 } } QGCMapPalette { id: mapPal; lightColors: editorMap.isSatelliteMap } MouseArea { //-- It's a whole lot faster to just fill parent and deal with top offset below // than computing the coordinate offset. anchors.fill: parent onClicked: { //-- Don't pay attention to items beneath the toolbar. var topLimit = parent.height - ScreenTools.availableHeight if(mouse.y < topLimit) { return } var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */) coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) switch (_editingLayer) { case _layerMission: if (_addWaypointOnClick) { insertSimpleMissionItem(coordinate, _missionController.visualItems.count) } break case _layerRallyPoints: if (_rallyPointController.supported) { _rallyPointController.addPoint(coordinate) } break } } } // Add the mission item visuals to the map Repeater { model: _editingLayer == _layerMission ? _missionController.visualItems : undefined delegate: MissionItemMapVisual { map: editorMap onClicked: setCurrentItem(sequenceNumber, false) visible: _editingLayer == _layerMission } } // Add lines between waypoints MissionLineView { model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined } // Add the vehicles to the map MapItemView { model: QGroundControl.multiVehicleManager.vehicles delegate: VehicleMapItem { vehicle: object coordinate: object.coordinate map: editorMap size: ScreenTools.defaultFontPixelHeight * 3 z: QGroundControl.zOrderMapItems - 1 } } GeoFenceMapVisuals { map: editorMap myGeoFenceController: _geoFenceController interactive: _editingLayer == _layerGeoFence homePosition: _missionController.plannedHomePosition planView: true } RallyPointMapVisuals { map: editorMap myRallyPointController: _rallyPointController interactive: _editingLayer == _layerRallyPoints planView: true } ToolStrip { id: toolStrip anchors.leftMargin: ScreenTools.defaultFontPixelWidth anchors.left: parent.left anchors.topMargin: _toolButtonTopMargin anchors.top: parent.top color: qgcPal.window title: qsTr("Plan") z: QGroundControl.zOrderWidgets showAlternateIcon: [ false, false, masterController.dirty, false, false, false ] rotateImage: [ false, false, masterController.syncInProgress, false, false, false ] animateImage: [ false, false, masterController.dirty, false, false, false ] buttonEnabled: [ true, true, !masterController.syncInProgress, true, true, true ] buttonVisible: [ true, true, true, true, _showZoom, _showZoom ] maxHeight: mapScale.y - toolStrip.y property bool _showZoom: !ScreenTools.isMobile model: [ { name: "Waypoint", iconSource: "/qmlimages/MapAddMission.svg", toggle: true }, { name: _singleComplexItem ? _missionController.complexMissionItemNames[0] : "Pattern", iconSource: "/qmlimages/MapDrawShape.svg", dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel }, { name: "Sync", iconSource: "/qmlimages/MapSync.svg", alternateIconSource: "/qmlimages/MapSyncChanged.svg", dropPanelComponent: syncDropPanel }, { name: "Center", iconSource: "/qmlimages/MapCenter.svg", dropPanelComponent: centerMapDropPanel }, { name: "In", iconSource: "/qmlimages/ZoomPlus.svg" }, { name: "Out", iconSource: "/qmlimages/ZoomMinus.svg" } ] onClicked: { switch (index) { case 0: _addWaypointOnClick = checked break case 1: if (_singleComplexItem) { addComplexItem(_missionController.complexMissionItemNames[0]) } break case 4: editorMap.zoomLevel += 0.5 break case 5: editorMap.zoomLevel -= 0.5 break } } } } // FlightMap // Right pane for mission editing controls Rectangle { id: rightPanel anchors.bottom: parent.bottom anchors.right: parent.right height: ScreenTools.availableHeight width: _rightPanelWidth color: qgcPal.window opacity: 0.2 } Item { anchors.fill: rightPanel // Plan Element selector (Mission/Fence/Rally) Row { id: planElementSelectorRow anchors.topMargin: Math.round(ScreenTools.defaultFontPixelHeight / 3) anchors.top: parent.top anchors.left: parent.left anchors.right: parent.right spacing: _horizontalMargin visible: QGroundControl.corePlugin.options.enablePlanViewSelector readonly property real _buttonRadius: ScreenTools.defaultFontPixelHeight * 0.75 ExclusiveGroup { id: planElementSelectorGroup onCurrentChanged: { switch (current) { case planElementMission: _editingLayer = _layerMission break case planElementGeoFence: _editingLayer = _layerGeoFence break case planElementRallyPoints: _editingLayer = _layerRallyPoints break } } } QGCRadioButton { id: planElementMission exclusiveGroup: planElementSelectorGroup text: qsTr("Mission") checked: true color: mapPal.text textStyle: Text.Outline textStyleColor: mapPal.textOutline } Item { height: 1; width: 1 } QGCRadioButton { id: planElementGeoFence exclusiveGroup: planElementSelectorGroup text: qsTr("Fence") color: mapPal.text textStyle: Text.Outline textStyleColor: mapPal.textOutline } Item { height: 1; width: 1 } QGCRadioButton { id: planElementRallyPoints exclusiveGroup: planElementSelectorGroup text: qsTr("Rally") color: mapPal.text textStyle: Text.Outline textStyleColor: mapPal.textOutline } } // Row - Plan Element Selector // Mission Item Editor Item { id: missionItemEditor anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2 anchors.top: planElementSelectorRow.visible ? planElementSelectorRow.bottom : planElementSelectorRow.top anchors.left: parent.left anchors.right: parent.right anchors.bottom: parent.bottom visible: _editingLayer == _layerMission QGCListView { id: missionItemEditorListView anchors.fill: parent spacing: _margin / 2 orientation: ListView.Vertical model: _missionController.visualItems cacheBuffer: Math.max(height * 2, 0) clip: true currentIndex: _currentMissionIndex highlightMoveDuration: 250 delegate: MissionItemEditor { map: editorMap masterController: _planMasterController missionItem: object width: parent.width readOnly: false rootQgcView: _qgcView onClicked: setCurrentItem(object.sequenceNumber, false) onRemove: { var removeIndex = index _missionController.removeMissionItem(removeIndex) if (removeIndex >= _missionController.visualItems.count) { removeIndex-- } _currentMissionIndex = -1 rootQgcView.setCurrentItem(removeIndex, true) } onInsertWaypoint: insertSimpleMissionItem(editorMap.center, index) onInsertComplexItem: insertComplexMissionItem(complexItemName, editorMap.center, index) } } // QGCListView } // Item - Mission Item editor // GeoFence Editor GeoFenceEditor { anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2 anchors.top: planElementSelectorRow.bottom anchors.left: parent.left anchors.right: parent.right availableHeight: ScreenTools.availableHeight myGeoFenceController: _geoFenceController flightMap: editorMap visible: _editingLayer == _layerGeoFence } // Rally Point Editor RallyPointEditorHeader { id: rallyPointHeader anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2 anchors.top: planElementSelectorRow.bottom anchors.left: parent.left anchors.right: parent.right visible: _editingLayer == _layerRallyPoints controller: _rallyPointController } RallyPointItemEditor { id: rallyPointEditor anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2 anchors.top: rallyPointHeader.bottom anchors.left: parent.left anchors.right: parent.right visible: _editingLayer == _layerRallyPoints && _rallyPointController.points.count rallyPoint: _rallyPointController.currentRallyPoint controller: _rallyPointController } } // Right panel MapScale { id: mapScale anchors.margins: ScreenTools.defaultFontPixelHeight * (0.66) anchors.bottom: waypointValuesDisplay.visible ? waypointValuesDisplay.top : parent.bottom anchors.left: parent.left mapControl: editorMap visible: !ScreenTools.isTinyScreen } MissionItemStatus { id: waypointValuesDisplay anchors.margins: ScreenTools.defaultFontPixelWidth anchors.left: parent.left anchors.right: rightPanel.left anchors.bottom: parent.bottom missionItems: _missionController.visualItems visible: _editingLayer === _layerMission && !ScreenTools.isShortScreen } } // QGCViewPanel Component { id: syncLoadFromVehicleOverwrite QGCViewMessage { id: syncLoadFromVehicleCheck message: qsTr("You have unsaved/unsent changes. Loading from the Vehicle will lose these changes. Are you sure you want to load from the Vehicle?") function accept() { hideDialog() masterController.loadFromVehicle() } } } Component { id: syncLoadFromFileOverwrite QGCViewMessage { id: syncLoadFromVehicleCheck message: qsTr("You have unsaved/unsent changes. Loading from a file will lose these changes. Are you sure you want to load from a file?") function accept() { hideDialog() masterController.loadFromSelectedFile() } } } Component { id: removeAllPromptDialog QGCViewMessage { message: qsTr("Are you sure you want to remove all items? ") + (_planMasterController.offline ? "" : qsTr("This will also remove all items from the vehicle.")) function accept() { if (_planMasterController.offline) { masterController.removeAll() } else { masterController.removeAllFromVehicle() } hideDialog() } } } //- ToolStrip DropPanel Components Component { id: centerMapDropPanel CenterMapDropPanel { map: editorMap fitFunctions: mapFitFunctions } } Component { id: patternDropPanel ColumnLayout { spacing: ScreenTools.defaultFontPixelWidth * 0.5 QGCLabel { text: qsTr("Create complex pattern:") } Repeater { model: _missionController.complexMissionItemNames QGCButton { text: modelData Layout.fillWidth: true onClicked: { addComplexItem(modelData) dropPanel.hide() } } } } // Column } Component { id: syncDropPanel Column { id: columnHolder spacing: _margin property string _overwriteText: (_editingLayer == _layerMission) ? qsTr("Mission overwrite") : ((_editingLayer == _layerGeoFence) ? qsTr("GeoFence overwrite") : qsTr("Rally Points overwrite")) QGCLabel { width: sendSaveGrid.width wrapMode: Text.WordWrap text: masterController.dirty ? qsTr("You have unsaved changes. You should upload to your vehicle, or save to a file:") : qsTr("Sync:") } GridLayout { id: sendSaveGrid columns: 2 anchors.margins: _margin rowSpacing: _margin columnSpacing: ScreenTools.defaultFontPixelWidth QGCButton { text: qsTr("Upload") Layout.fillWidth: true enabled: !masterController.offline && !masterController.syncInProgress onClicked: { dropPanel.hide() masterController.upload() } } QGCButton { text: qsTr("Download") Layout.fillWidth: true enabled: !masterController.offline && !masterController.syncInProgress onClicked: { dropPanel.hide() if (masterController.dirty) { _qgcView.showDialog(syncLoadFromVehicleOverwrite, columnHolder._overwriteText, _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) } else { masterController.loadFromVehicle() } } } QGCButton { text: qsTr("Save To File...") Layout.fillWidth: true enabled: !masterController.syncInProgress onClicked: { dropPanel.hide() masterController.saveToSelectedFile() } } QGCButton { text: qsTr("Load From File...") Layout.fillWidth: true enabled: !masterController.syncInProgress onClicked: { dropPanel.hide() if (masterController.dirty) { _qgcView.showDialog(syncLoadFromFileOverwrite, columnHolder._overwriteText, _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) } else { masterController.loadFromSelectedFile() } } } QGCButton { text: qsTr("Remove All") Layout.fillWidth: true onClicked: { dropPanel.hide() _qgcView.showDialog(removeAllPromptDialog, qsTr("Remove all"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) } } } } } } // QGCVIew