/****************************************************************************
*
* (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.
*
****************************************************************************/
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.rallyPointsSupported) {
_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
isSatellite: editorMap.isSatelliteMap
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