/****************************************************************************
*
* (c) 2009-2020 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.
*
****************************************************************************/
#include "MissionCommandUIInfo.h"
#include "MissionController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
#include "FlightPathSegment.h"
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
#include "SurveyComplexItem.h"
#include "FixedWingLandingComplexItem.h"
#include "VTOLLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "CorridorScanComplexItem.h"
#include "JsonHelper.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "MissionSettingsItem.h"
#include "QGCQGeoCoordinate.h"
#include "PlanMasterController.h"
#include "KMLPlanDomDocument.h"
#include "QGCCorePlugin.h"
#include "TakeoffMissionItem.h"
#include "PlanViewSettings.h"
#define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
const char* MissionController::_settingsGroup = "MissionController";
const char* MissionController::_jsonFileTypeValue = "Mission";
const char* MissionController::_jsonItemsKey = "items";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
const char* MissionController::_jsonFirmwareTypeKey = "firmwareType";
const char* MissionController::_jsonVehicleTypeKey = "vehicleType";
const char* MissionController::_jsonCruiseSpeedKey = "cruiseSpeed";
const char* MissionController::_jsonHoverSpeedKey = "hoverSpeed";
const char* MissionController::_jsonParamsKey = "params";
// Deprecated V1 format keys
const char* MissionController::_jsonComplexItemsKey = "complexItems";
const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";
const int MissionController::_missionFileVersion = 2;
MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
: PlanElementController (masterController, parent)
, _controllerVehicle (masterController->controllerVehicle())
, _managerVehicle (masterController->managerVehicle())
, _missionManager (masterController->managerVehicle()->missionManager())
, _visualItems (new QmlObjectListModel(this))
, _planViewSettings (qgcApp()->toolbox()->settingsManager()->planViewSettings())
, _appSettings (qgcApp()->toolbox()->settingsManager()->appSettings())
{
_resetMissionFlightStatus();
_updateTimer.setSingleShot(true);
connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
connect(_planViewSettings->takeoffItemNotRequired(), &Fact::rawValueChanged, this, &MissionController::_takeoffItemNotRequiredChanged);
connect(this, &MissionController::missionDistanceChanged, this, &MissionController::recalcTerrainProfile);
// The follow is used to compress multiple recalc calls in a row to into a single call.
connect(this, &MissionController::_recalcMissionFlightStatusSignal, this, &MissionController::_recalcMissionFlightStatus, Qt::QueuedConnection);
connect(this, &MissionController::_recalcFlightPathSegmentsSignal, this, &MissionController::_recalcFlightPathSegments, Qt::QueuedConnection);
qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&MissionController::_recalcMissionFlightStatusSignal));
qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&MissionController::_recalcFlightPathSegmentsSignal));
qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&MissionController::recalcTerrainProfile));
}
MissionController::~MissionController()
{
}
void MissionController::_resetMissionFlightStatus(void)
{
_missionFlightStatus.totalDistance = 0.0;
_missionFlightStatus.maxTelemetryDistance = 0.0;
_missionFlightStatus.totalTime = 0.0;
_missionFlightStatus.hoverTime = 0.0;
_missionFlightStatus.cruiseTime = 0.0;
_missionFlightStatus.hoverDistance = 0.0;
_missionFlightStatus.cruiseDistance = 0.0;
_missionFlightStatus.cruiseSpeed = _controllerVehicle->defaultCruiseSpeed();
_missionFlightStatus.hoverSpeed = _controllerVehicle->defaultHoverSpeed();
_missionFlightStatus.vehicleSpeed = _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
_missionFlightStatus.vehicleYaw = 0.0;
_missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
_missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
// Battery information
_missionFlightStatus.mAhBattery = 0;
_missionFlightStatus.hoverAmps = 0;
_missionFlightStatus.cruiseAmps = 0;
_missionFlightStatus.ampMinutesAvailable = 0;
_missionFlightStatus.hoverAmpsTotal = 0;
_missionFlightStatus.cruiseAmpsTotal = 0;
_missionFlightStatus.batteryChangePoint = -1;
_missionFlightStatus.batteriesRequired = -1;
_controllerVehicle->firmwarePlugin()->batteryConsumptionData(_controllerVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
if (_missionFlightStatus.mAhBattery != 0) {
double batteryPercentRemainingAnnounce = qgcApp()->toolbox()->settingsManager()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
_missionFlightStatus.ampMinutesAvailable = static_cast<double>(_missionFlightStatus.mAhBattery) / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
}
emit missionDistanceChanged(_missionFlightStatus.totalDistance);
emit missionTimeChanged();
emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
emit missionHoverTimeChanged();
emit missionCruiseTimeChanged();
emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
}
void MissionController::start(bool flyView)
{
qCDebug(MissionControllerLog) << "start flyView" << flyView;
_managerVehicleChanged(_managerVehicle);
connect(_masterController, &PlanMasterController::managerVehicleChanged, this, &MissionController::_managerVehicleChanged);
PlanElementController::start(flyView);
_init();
}
void MissionController::_init(void)
{
// We start with an empty mission
_addMissionSettings(_visualItems);
_initAllVisualItems();
}
// Called when new mission items have completed downloading from Vehicle
void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllRequested)
{
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle flyView:count" << _flyView << _missionManager->missionItems().count();
// Fly view always reloads on _loadComplete
// Plan view only reloads if:
// - Load was specifically requested
// - There is no current Plan
if (_flyView || removeAllRequested || _itemsRequested || isEmpty()) {
// Fly Mode (accept if):
// - Always accepts new items from the vehicle so Fly view is kept up to date
// Edit Mode (accept if):
// - Remove all was requested from Fly view (clear mission on flight end)
// - A load from vehicle was manually requested
// - The initial automatic load from a vehicle completed and the current editor is empty
_deinitAllVisualItems();
_visualItems->deleteLater();
_visualItems = nullptr;
_settingsItem = nullptr;
_updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
_missionItemCount = newMissionItems.count();
emit missionItemCountChanged(_missionItemCount);
MissionSettingsItem* settingsItem = _addMissionSettings(newControllerMissionItems);
int i=0;
if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position
MissionItem* fakeHomeItem = newMissionItems[0];
if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
settingsItem->setInitialHomePosition(fakeHomeItem->coordinate());
}
i = 1;
}
for (; i < newMissionItems.count(); i++) {
const MissionItem* missionItem = newMissionItems[i];
SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, *missionItem, this);
if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
// This needs to be a TakeoffMissionItem
TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem, this);
simpleItem->deleteLater();
simpleItem = takeoffItem;
}
newControllerMissionItems->append(simpleItem);
}
_visualItems = newControllerMissionItems;
_settingsItem = settingsItem;
MissionController::_scanForAdditionalSettings(_visualItems, _masterController);
_initAllVisualItems();
_updateContainsItems();
emit newItemsFromVehicle();
}
_itemsRequested = false;
}
void MissionController::loadFromVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while syncInProgress";
} else {
_itemsRequested = true;
_managerVehicle->missionManager()->loadFromVehicle();
}
}
void MissionController::sendToVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while syncInProgress";
} else {
qCDebug(MissionControllerLog) << "MissionControllerLog::sendToVehicle";
if (_visualItems->count() == 1) {
// This prevents us from sending a possibly bogus home position to the vehicle
QmlObjectListModel emptyModel;
sendItemsToVehicle(_managerVehicle, &emptyModel);
} else {
sendItemsToVehicle(_managerVehicle, _visualItems);
}
setDirty(false);
}
}
/// Converts from visual items to MissionItems
/// @param missionItemParent QObject parent for newly allocated MissionItems
/// @return true: Mission end action was added to end of list
bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent)
{
if (visualMissionItems->count() == 0) {
return false;
}
bool endActionSet = false;
int lastSeqNum = 0;
for (int i=0; i<visualMissionItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(visualMissionItems->get(i));
lastSeqNum = visualItem->lastSequenceNumber();
visualItem->appendMissionItems(rgMissionItems, missionItemParent);
qCDebug(MissionControllerLog) << "_convertToMissionItems seqNum:lastSeqNum:command"
<< visualItem->sequenceNumber()
<< lastSeqNum
<< visualItem->commandName();
}
// Mission settings has a special case for end mission action
MissionSettingsItem* settingsItem = visualMissionItems->value<MissionSettingsItem*>(0);
if (settingsItem) {
endActionSet = settingsItem->addMissionEndAction(rgMissionItems, lastSeqNum + 1, missionItemParent);
}
return endActionSet;
}
void MissionController::addMissionToKML(KMLPlanDomDocument& planKML)
{
QObject* deleteParent = new QObject();
QList<MissionItem*> rgMissionItems;
_convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
planKML.addMission(_controllerVehicle, _visualItems, rgMissionItems);
deleteParent->deleteLater();
}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
QList<MissionItem*> rgMissionItems;
_convertToMissionItems(visualMissionItems, rgMissionItems, vehicle);
// PlanManager takes control of MissionItems so no need to delete
vehicle->missionManager()->writeMissionItems(rgMissionItems);
}
}
int MissionController::_nextSequenceNumber(void)
{
if (_visualItems->count() == 0) {
qWarning() << "Internal error: Empty visual item list";
return 0;
} else {
VisualMissionItem* lastItem = _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1);
return lastItem->lastSequenceNumber() + 1;
}
}
VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_masterController, _flyView, false /* forLoad */, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(command);
_initVisualItem(newItem);
if (newItem->specifiesAltitude()) {
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, command);
if (!uiInfo->isLandCommand()) {
double prevAltitude;
int prevAltitudeMode;
if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
}
}
}
newItem->setMissionFlightStatus(_missionFlightStatus);
if (visualItemIndex == -1) {
_visualItems->append(newItem);
} else {
_visualItems->insert(visualItemIndex, newItem);
}
// We send the click coordinate through here to be able to set the planned home position from the user click location if needed
_recalcAllWithCoordinate(coordinate);
if (makeCurrentItem) {
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
}
VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_WAYPOINT, visualItemIndex, makeCurrentItem);
}
VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem, this);
newItem->setSequenceNumber(sequenceNumber);
_initVisualItem(newItem);
if (newItem->specifiesAltitude()) {
double prevAltitude;
int prevAltitudeMode;
if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
}
}
newItem->setMissionFlightStatus(_missionFlightStatus);
if (visualItemIndex == -1) {
_visualItems->append(newItem);
} else {
_visualItems->insert(visualItemIndex, newItem);
}
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
}
return newItem;
}
VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
if (_managerVehicle->fixedWing()) {
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(insertComplexMissionItem(FixedWingLandingComplexItem::name, coordinate, visualItemIndex, makeCurrentItem));
return fwLanding;
} else if (_managerVehicle->vtol()) {
VTOLLandingComplexItem* vtolLanding = qobject_cast<VTOLLandingComplexItem*>(insertComplexMissionItem(VTOLLandingComplexItem::name, coordinate, visualItemIndex, makeCurrentItem));
return vtolLanding;
} else {
return _insertSimpleMissionItemWorker(coordinate, _managerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
}
}
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(coordinate, MAV_CMD_DO_SET_ROI_LOCATION, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
}
_recalcROISpecialVisuals();
return simpleItem;
}
VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemIndex, bool makeCurrentItem)
{
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(QGeoCoordinate(), MAV_CMD_DO_SET_ROI_NONE, visualItemIndex, makeCurrentItem));
if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_NONE)) {
simpleItem->setCommand(MAV_CMD_DO_SET_ROI) ;
simpleItem->missionItem().setParam1(MAV_ROI_NONE);
}
_recalcROISpecialVisuals();
return simpleItem;
}
VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem)
{
ComplexMissionItem* newItem = nullptr;
if (itemName == SurveyComplexItem::name) {
newItem = new SurveyComplexItem(_masterController, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
newItem->setCoordinate(mapCenterCoordinate);
} else if (itemName == FixedWingLandingComplexItem::name) {
newItem = new FixedWingLandingComplexItem(_masterController, _flyView, _visualItems /* parent */);
} else if (itemName == VTOLLandingComplexItem::name) {
newItem = new VTOLLandingComplexItem(_masterController, _flyView, _visualItems /* parent */);
} else if (itemName == StructureScanComplexItem::name) {
newItem = new StructureScanComplexItem(_masterController, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
} else if (itemName == CorridorScanComplexItem::name) {
newItem = new CorridorScanComplexItem(_masterController, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return nullptr;
}
_insertComplexMissionItemWorker(mapCenterCoordinate, newItem, visualItemIndex, makeCurrentItem);
return newItem;
}
VisualMissionItem* MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int visualItemIndex, bool makeCurrentItem)
{
ComplexMissionItem* newItem = nullptr;
if (itemName == SurveyComplexItem::name) {
newItem = new SurveyComplexItem(_masterController, _flyView, file, _visualItems);
} else if (itemName == StructureScanComplexItem::name) {
newItem = new StructureScanComplexItem(_masterController, _flyView, file, _visualItems);
} else if (itemName == CorridorScanComplexItem::name) {
newItem = new CorridorScanComplexItem(_masterController, _flyView, file, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return nullptr;
}
_insertComplexMissionItemWorker(QGeoCoordinate(), newItem, visualItemIndex, makeCurrentItem);
return newItem;
}
void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
qobject_cast<CorridorScanComplexItem*>(complexItem) ||
qobject_cast<StructureScanComplexItem*>(complexItem);
if (surveyStyleItem) {
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
// If the vehicle is known to have a gimbal then we automatically point the gimbal straight down if not already set
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
CameraSection* cameraSection = settingsItem->cameraSection();
// Set camera to photo mode (leave alone if user already specified)
if (cameraSection->cameraModeSupported() && !cameraSection->specifyCameraMode()) {
cameraSection->setSpecifyCameraMode(true);
cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE_SURVEY);
}
// Point gimbal straight down
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
// If the user already specified a gimbal angle leave it alone
if (!cameraSection->specifyGimbal()) {
cameraSection->setSpecifyGimbal(true);
cameraSection->gimbalPitch()->setRawValue(-90.0);
}
}
}
complexItem->setSequenceNumber(sequenceNumber);
complexItem->setWizardMode(true);
_initVisualItem(complexItem);
if (visualItemIndex == -1) {
_visualItems->append(complexItem);
} else {
_visualItems->insert(visualItemIndex, complexItem);
}
//-- Keep track of bounding box changes in complex items
if(!complexItem->isSimpleItem()) {
connect(complexItem, &ComplexMissionItem::boundingCubeChanged, this, &MissionController::_complexBoundingBoxChanged);
}
_recalcAllWithCoordinate(mapCenterCoordinate);
if (makeCurrentItem) {
setCurrentPlanViewSeqNum(complexItem->sequenceNumber(), true);
}
}
void MissionController::removeVisualItem(int viIndex)
{
if (viIndex <= 0 || viIndex >= _visualItems->count()) {
qWarning() << "MissionController::removeVisualItem called with bad index - count:index" << _visualItems->count() << viIndex;
return;
}
bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(viIndex) || _visualItems->value<CorridorScanComplexItem*>(viIndex);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(viIndex));
_deinitVisualItem(item);
item->deleteLater();
if (removeSurveyStyle) {
// Determine if the mission still has another survey style item in it
bool foundSurvey = false;
for (int i=1; i<_visualItems->count(); i++) {
if (_visualItems->value<SurveyComplexItem*>(i) || _visualItems->value<CorridorScanComplexItem*>(i)) {
foundSurvey = true;
break;
}
}
// If there is no longer a survey item in the mission remove added commands
if (!foundSurvey) {
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
CameraSection* cameraSection = _settingsItem->cameraSection();
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
if (cameraSection->specifyGimbal() && cameraSection->gimbalPitch()->rawValue().toDouble() == -90.0 && cameraSection->gimbalYaw()->rawValue().toDouble() == 0.0) {
cameraSection->setSpecifyGimbal(false);
}
}
if (cameraSection->cameraModeSupported() && cameraSection->specifyCameraMode() && cameraSection->cameraMode()->rawValue().toInt() == 0) {
cameraSection->setSpecifyCameraMode(false);
}
}
}
_recalcAll();
// Adjust current item
int newVIIndex;
if (viIndex >= _visualItems->count()) {
newVIIndex = _visualItems->count() - 1;
} else {
newVIIndex = viIndex;
}
setCurrentPlanViewSeqNum(_visualItems->value<VisualMissionItem*>(newVIIndex)->sequenceNumber(), true);
setDirty(true);
}
void MissionController::removeAll(void)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->clearAndDeleteContents();
_visualItems->deleteLater();
_settingsItem = nullptr;
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_visualItems);
_initAllVisualItems();
setDirty(true);
_resetMissionFlightStatus();
}
}
bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Object, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonMavAutopilotKey, QJsonValue::Double, true },
{ _jsonComplexItemsKey, QJsonValue::Array, true },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
// Read complex items
QList<SurveyComplexItem*> surveyItems;
QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
for (int i=0; i<complexArray.count(); i++) {
const QJsonValue& itemValue = complexArray[i];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
SurveyComplexItem* item = new SurveyComplexItem(_masterController, _flyView, QString() /* kmlFile */, visualItems /* parent */);
const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
surveyItems.append(item);
} else {
return false;
}
}
// Read simple items, interspersing complex items into the full list
int nextSimpleItemIndex= 0;
int nextComplexItemIndex= 0;
int nextSequenceNumber = 1; // Start with 1 since home is in 0
QJsonArray itemArray(json[_jsonItemsKey].toArray());
MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
settingsItem->setInitialHomePositionFromUser(item->coordinate());
item->deleteLater();
} else {
return false;
}
}
qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << surveyItems.count();
do {
qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
// If there is a complex item that should be next in sequence add it in
if (nextComplexItemIndex < surveyItems.count()) {
SurveyComplexItem* complexItem = surveyItems[nextComplexItemIndex];
if (complexItem->sequenceNumber() == nextSequenceNumber) {
qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
visualItems->append(complexItem);
nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
nextComplexItemIndex++;
continue;
}
}
// Add the next available simple item
if (nextSimpleItemIndex < itemArray.count()) {
const QJsonValue& itemValue = itemArray[nextSimpleItemIndex++];
if (!itemValue.isObject()) {
errorString = QStringLiteral("Mission item is not an object");
return false;
}
const QJsonObject itemObject = itemValue.toObject();
SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
// This needs to be a TakeoffMissionItem
TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, visualItems);
takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
item->deleteLater();
item = takeoffItem;
}
qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
nextSequenceNumber = item->lastSequenceNumber() + 1;
visualItems->append(item);
} else {
return false;
}
}
} while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
return true;
}
bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
{ _jsonPlannedHomePositionKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFirmwareTypeKey, QJsonValue::Double, true },
{ _jsonVehicleTypeKey, QJsonValue::Double, false },
{ _jsonCruiseSpeedKey, QJsonValue::Double, false },
{ _jsonHoverSpeedKey, QJsonValue::Double, false },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
}
qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
// Mission Settings
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
if (_masterController->offline()) {
// We only update if offline since if we are online we use the online vehicle settings
appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
if (json.contains(_jsonVehicleTypeKey)) {
appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
}
}
if (json.contains(_jsonCruiseSpeedKey)) {
appSettings->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
}
if (json.contains(_jsonHoverSpeedKey)) {
appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
QGeoCoordinate homeCoordinate;
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
MissionSettingsItem* settingsItem = new MissionSettingsItem(_masterController, _flyView, visualItems);
settingsItem->setCoordinate(homeCoordinate);
visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
// Read mission items
int nextSequenceNumber = 1; // Start with 1 since home is in 0
const QJsonArray rgMissionItems(json[_jsonItemsKey].toArray());
for (int i=0; i<rgMissionItems.count(); i++) {
// Convert to QJsonObject
const QJsonValue& itemValue = rgMissionItems[i];
if (!itemValue.isObject()) {
errorString = tr("Mission item %1 is not an object").arg(i);
return false;
}
const QJsonObject itemObject = itemValue.toObject();
// Load item based on type
QList<JsonHelper::KeyValidateInfo> itemKeyInfoList = {
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, itemKeyInfoList, errorString)) {
return false;
}
QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
// This needs to be a TakeoffMissionItem
TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, this);
takeoffItem->load(itemObject, nextSequenceNumber, errorString);
simpleItem->deleteLater();
simpleItem = takeoffItem;
}
qCDebug(MissionControllerLog) << "Loading simple item: nextSequenceNumber:command" << nextSequenceNumber << simpleItem->command();
nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
visualItems->append(simpleItem);
} else {
return false;
}
} else if (itemType == VisualMissionItem::jsonTypeComplexItemValue) {
QList<JsonHelper::KeyValidateInfo> complexItemKeyInfoList = {
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
};
if (!JsonHelper::validateKeys(itemObject, complexItemKeyInfoList, errorString)) {
return false;
}
QString complexItemType = itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyComplexItem* surveyItem = new SurveyComplexItem(_masterController, _flyView, QString() /* kmlFile */, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = surveyItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Survey load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(surveyItem);
} else if (complexItemType == FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Fixed Wing Landing Pattern: nextSequenceNumber" << nextSequenceNumber;
FixedWingLandingComplexItem* landingItem = new FixedWingLandingComplexItem(_masterController, _flyView, visualItems);
if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(landingItem);
} else if (complexItemType == VTOLLandingComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading VTOL Landing Pattern: nextSequenceNumber" << nextSequenceNumber;
VTOLLandingComplexItem* landingItem = new VTOLLandingComplexItem(_masterController, _flyView, visualItems);
if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "VTOL Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(landingItem);
} else if (complexItemType == StructureScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Structure Scan: nextSequenceNumber" << nextSequenceNumber;
StructureScanComplexItem* structureItem = new StructureScanComplexItem(_masterController, _flyView, QString() /* kmlFile */, visualItems);
if (!structureItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = structureItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Structure Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(structureItem);
} else if (complexItemType == CorridorScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Corridor Scan: nextSequenceNumber" << nextSequenceNumber;
CorridorScanComplexItem* corridorItem = new CorridorScanComplexItem(_masterController, _flyView, QString() /* kmlFile */, visualItems);
if (!corridorItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(corridorItem);
} else {
errorString = tr("Unsupported complex item type: %1").arg(complexItemType);
}
} else {
errorString = tr("Unknown item type: %1").arg(itemType);
return false;
}
}
// Fix up the DO_JUMP commands jump sequence number by finding the item with the matching doJumpId
for (int i=0; i<visualItems->count(); i++) {
if (visualItems->value<VisualMissionItem*>(i)->isSimpleItem()) {
SimpleMissionItem* doJumpItem = visualItems->value<SimpleMissionItem*>(i);
if (doJumpItem->command() == MAV_CMD_DO_JUMP) {
bool found = false;
int findDoJumpId = static_cast<int>(doJumpItem->missionItem().param1());
for (int j=0; j<visualItems->count(); j++) {
if (visualItems->value<VisualMissionItem*>(j)->isSimpleItem()) {
SimpleMissionItem* targetItem = visualItems->value<SimpleMissionItem*>(j);
if (targetItem->missionItem().doJumpId() == findDoJumpId) {
doJumpItem->missionItem().setParam1(targetItem->sequenceNumber());
found = true;
break;
}
}
}
if (!found) {
errorString = tr("Could not find doJumpId: %1").arg(findDoJumpId);
return false;
}
}
}
}
return true;
}
bool MissionController::_loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
{
// V1 file format has no file type key and version key is string. Convert to new format.
if (!json.contains(JsonHelper::jsonFileTypeKey)) {
json[JsonHelper::jsonFileTypeKey] = _jsonFileTypeValue;
}
int fileVersion;
JsonHelper::validateExternalQGCJsonFile(json,
_jsonFileTypeValue, // expected file type
1, // minimum supported version
2, // maximum supported version
fileVersion,
errorString);
if (fileVersion == 1) {
return _loadJsonMissionFileV1(json, visualItems, errorString);
} else {
return _loadJsonMissionFileV2(json, visualItems, errorString);
}
}
bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{
bool firstItem = true;
bool plannedHomePositionInFile = false;
QString firstLine = stream.readLine();
const QStringList& version = firstLine.split(" ");
bool versionOk = false;
if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") {
if (version[2] == "110") {
// ArduPilot file, planned home position is already in position 0
versionOk = true;
plannedHomePositionInFile = true;
} else if (version[2] == "120") {
// Old QGC file, no planned home position
versionOk = true;
plannedHomePositionInFile = false;
}
}
if (versionOk) {
MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
if (item->load(stream)) {
if (firstItem && plannedHomePositionInFile) {
settingsItem->setInitialHomePositionFromUser(item->coordinate());
} else {
if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(item->command()))) {
// This needs to be a TakeoffMissionItem
TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, visualItems);
takeoffItem->load(stream);
item->deleteLater();
item = takeoffItem;
}
visualItems->append(item);
}
firstItem = false;
} else {
errorString = tr("The mission file is corrupted.");
return false;
}
}
} else {
errorString = tr("The mission file is not compatible with this version of %1.").arg(qgcApp()->applicationName());
return false;
}
if (!plannedHomePositionInFile) {
// Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
for (int i=1; i<visualItems->count(); i++) {
SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
if (item && item->command() == MAV_CMD_DO_JUMP) {
item->missionItem().setParam1(static_cast<int>(item->missionItem().param1()) + 1);
}
}
}
return true;
}
void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualItems)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = nullptr;
}
_visualItems = loadedVisualItems;
if (_visualItems->count() == 0) {
_addMissionSettings(_visualItems);
} else {
_settingsItem = _visualItems->value<MissionSettingsItem*>(0);
}
MissionController::_scanForAdditionalSettings(_visualItems, _masterController);
_initAllVisualItems();
}
bool MissionController::load(const QJsonObject& json, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadJsonMissionFileV2(json, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
bool MissionController::loadJsonFile(QFile& file, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
QJsonObject json = jsonDoc.object();
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadItemsFromJson(json, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
bool MissionController::loadTextFile(QFile& file, QString& errorString)
{
QString errorStr;
QString errorMessage = tr("Mission: %1");
QByteArray bytes = file.readAll();
QTextStream stream(bytes);
QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
errorString = errorMessage.arg(errorStr);
return false;
}
_initLoadedVisualItems(loadedVisualItems);
return true;
}
int MissionController::readyForSaveState(void) const
{
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->readyForSaveState() != VisualMissionItem::ReadyForSave) {
return visualItem->readyForSaveState();
}
}
return VisualMissionItem::ReadyForSave;
}
void MissionController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _missionFileVersion;
// Mission settings
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsItem";
return;
}
QJsonValue coordinateValue;
JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue);
json[_jsonPlannedHomePositionKey] = coordinateValue;
json[_jsonFirmwareTypeKey] = _controllerVehicle->firmwareType();
json[_jsonVehicleTypeKey] = _controllerVehicle->vehicleType();
json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
// Save the visual items
QJsonArray rgJsonMissionItems;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
visualItem->save(rgJsonMissionItems);
}
// Mission settings has a special case for end mission action
if (settingsItem) {
QList<MissionItem*> rgMissionItems;
if (_convertToMissionItems(_visualItems, rgMissionItems, this /* missionItemParent */)) {
QJsonObject saveObject;
MissionItem* missionItem = rgMissionItems[rgMissionItems.count() - 1];
missionItem->save(saveObject);
rgJsonMissionItems.append(saveObject);
}
for (int i=0; i<rgMissionItems.count(); i++) {
rgMissionItems[i]->deleteLater();
}
}
json[_jsonItemsKey] = rgJsonMissionItems;
}
void MissionController::_calcPrevWaypointValues(VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->exitCoordinate();
// Convert to fixed altitudes
*altDifference = currentItem->amslEntryAlt() - prevItem->amslExitAlt();
*distance = prevCoord.distanceTo(currentCoord);
*azimuth = prevCoord.azimuthTo(currentCoord);
}
double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate homeCoord = homeItem->exitCoordinate();
bool distanceOk = false;
distanceOk = true;
return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
}
FlightPathSegment* MissionController::_createFlightPathSegmentWorker(VisualItemPair& pair)
{
QGeoCoordinate coord1 = pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate();
QGeoCoordinate coord2 = pair.second->coordinate();
double coord1Alt = pair.first->isSimpleItem() ? pair.first->amslEntryAlt() : pair.first->amslExitAlt();
double coord2Alt = pair.second->amslEntryAlt();
FlightPathSegment* segment = new FlightPathSegment(coord1, coord1Alt, coord2, coord2Alt, !_flyView /* queryTerrainData */, this);
auto coord1Notifier = pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
auto coord2Notifier = &VisualMissionItem::coordinateChanged;
auto coord1AltNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::amslEntryAltChanged : &VisualMissionItem::amslExitAltChanged;
auto coord2AltNotifier = &VisualMissionItem::amslEntryAltChanged;
connect(pair.first, coord1Notifier, segment, &FlightPathSegment::setCoordinate1);
connect(pair.second, coord2Notifier, segment, &FlightPathSegment::setCoordinate2);
connect(pair.first, coord1AltNotifier, segment, &FlightPathSegment::setCoord1AMSLAlt);
connect(pair.second, coord2AltNotifier, segment, &FlightPathSegment::setCoord2AMSLAlt);
connect(pair.second, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::totalDistanceChanged, this, &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::coord1AMSLAltChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::coord2AMSLAltChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::amslTerrainHeightsChanged, this, &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::terrainCollisionChanged, this, &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
return segment;
}
FlightPathSegment* MissionController::_addFlightPathSegment(FlightPathSegmentHashTable& prevItemPairHashTable, VisualItemPair& pair)
{
FlightPathSegment* segment = nullptr;
if (prevItemPairHashTable.contains(pair)) {
// Pair already exists and connected, just re-use
_flightPathSegmentHashTable[pair] = segment = prevItemPairHashTable.take(pair);
} else {
segment = _createFlightPathSegmentWorker(pair);
_flightPathSegmentHashTable[pair] = segment;
}
_simpleFlightPathSegments.append(segment);
return segment;
}
void MissionController::_recalcROISpecialVisuals(void)
{
return;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool roiActive = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
VisualItemPair viPair;
if (simpleItem) {
if (roiActive) {
if (_isROICancelItem(simpleItem)) {
roiActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
roiActive = true;
}
}
}
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
viPair = VisualItemPair(lastCoordinateItem, visualItem);
if (_flightPathSegmentHashTable.contains(viPair)) {
_flightPathSegmentHashTable[viPair]->setSpecialVisual(roiActive);
}
lastCoordinateItem = visualItem;
}
}
}
void MissionController::_recalcFlightPathSegments(void)
{
VisualItemPair lastSegmentVisualItemPair;
int segmentCount = 0;
bool firstCoordinateNotFound = true;
VisualMissionItem* lastFlyThroughVI = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool linkEndToHome = false;
bool linkStartToHome = _managerVehicle->rover() ? true : false;
bool foundRTL = false;
bool homePositionValid = _settingsItem->coordinate().isValid();
bool roiActive = false;
bool previousItemIsIncomplete = false;
qCDebug(MissionControllerLog) << "_recalcFlightPathSegments homePositionValid" << homePositionValid;
FlightPathSegmentHashTable oldSegmentTable = _flightPathSegmentHashTable;
_missionContainsVTOLTakeoff = false;
_flightPathSegmentHashTable.clear();
_waypointPath.clear();
// Note: Although visual support _incompleteComplexItemLines is still in the codebase. The support for populating the list is not.
// This is due to the initial implementation being buggy and incomplete with respect to correctly generating the line set.
// So for now we leave the code for displaying them in, but none are ever added until we have time to implement the correct support.
_simpleFlightPathSegments.beginReset();
_directionArrows.beginReset();
_incompleteComplexItemLines.beginReset();
_simpleFlightPathSegments.clear();
_directionArrows.clear();
_incompleteComplexItemLines.clearAndDeleteContents();
// Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
visualItem->setSimpleFlighPathSegment(nullptr);
if (simpleItem) {
if (roiActive) {
if (_isROICancelItem(simpleItem)) {
roiActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
roiActive = true;
}
}
MAV_CMD command = simpleItem->mavCommand();
switch (command) {
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_VTOL_TAKEOFF:
_missionContainsVTOLTakeoff = command == MAV_CMD_NAV_VTOL_TAKEOFF;
if (!linkEndToHome) {
// If we still haven't found the first coordinate item and we hit a takeoff command this means the mission starts from the ground.
// Link the first item back to home to show that.
if (firstCoordinateNotFound) {
linkStartToHome = true;
}
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
linkEndToHome = true;
foundRTL = true;
break;
default:
break;
}
}
// No need to add waypoint segments after an RTL.
if (foundRTL) {
break;
}
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
// Incomplete items are complex items which are waiting for the user to complete setup before there visuals can become valid.
// They may not yet have valid entry/exit coordinates associated with them while in the incomplete state.
// For examples a Survey item which has no polygon set yet.
if (complexItem && complexItem->isIncomplete()) {
// We don't link lines from a valid item to an incomplete item
previousItemIsIncomplete = true;
} else if (previousItemIsIncomplete) {
// We also don't link lines from an incomplete item to a valid item.
previousItemIsIncomplete = false;
firstCoordinateNotFound = false;
lastFlyThroughVI = visualItem;
} else {
if (lastFlyThroughVI != _settingsItem || (homePositionValid && linkStartToHome)) {
bool addDirectionArrow = false;
if (i != 1) {
// Direction arrows are added to the second segment and every 5 segments thereafter.
// The reason for start with second segment is to prevent an arrow being added in between the home position
// and a takeoff item which may be right over each other. In that case the arrow points in a random direction.
if (firstCoordinateNotFound || !lastFlyThroughVI->isSimpleItem() || !visualItem->isSimpleItem()) {
addDirectionArrow = true;
} else if (segmentCount > 5) {
segmentCount = 0;
addDirectionArrow = true;
}
segmentCount++;
}
lastSegmentVisualItemPair = VisualItemPair(lastFlyThroughVI, visualItem);
if (!_flyView || addDirectionArrow) {
FlightPathSegment* segment = _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair);
segment->setSpecialVisual(roiActive);
if (addDirectionArrow) {
_directionArrows.append(segment);
}
lastFlyThroughVI->setSimpleFlighPathSegment(segment);
}
}
firstCoordinateNotFound = false;
_waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
lastFlyThroughVI = visualItem;
}
}
}
if (linkStartToHome && homePositionValid) {
_waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate()));
}
if (linkEndToHome && lastFlyThroughVI != _settingsItem && homePositionValid) {
lastSegmentVisualItemPair = VisualItemPair(lastFlyThroughVI, _settingsItem);
if (_flyView) {
_waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
}
FlightPathSegment* segment = _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair);
segment->setSpecialVisual(roiActive);
lastFlyThroughVI->setSimpleFlighPathSegment(segment);
}
// Add direction arrow to last segment
if (lastSegmentVisualItemPair.first) {
FlightPathSegment* coordVector = nullptr;
// The pair may not be in the hash, this can happen in the fly view where only segments with arrows on them are added to hash.
// check for that first and add if needed
if (_flightPathSegmentHashTable.contains(lastSegmentVisualItemPair)) {
// Pair exists in the new table already just reuse it
coordVector = _flightPathSegmentHashTable[lastSegmentVisualItemPair];
} else if (oldSegmentTable.contains(lastSegmentVisualItemPair)) {
// Pair already exists in old table, pull from old to new and reuse
_flightPathSegmentHashTable[lastSegmentVisualItemPair] = coordVector = oldSegmentTable.take(lastSegmentVisualItemPair);
} else {
// Create a new segment. Since this is the fly view there is no need to wire change signals.
coordVector = new FlightPathSegment(lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->coordinate() : lastSegmentVisualItemPair.first->exitCoordinate(),
lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->amslEntryAlt() : lastSegmentVisualItemPair.first->amslExitAlt(),
lastSegmentVisualItemPair.second->coordinate(),
lastSegmentVisualItemPair.second->amslEntryAlt(),
!_flyView /* queryTerrainData */,
this);
_flightPathSegmentHashTable[lastSegmentVisualItemPair] = coordVector;
}
_directionArrows.append(coordVector);
}
_simpleFlightPathSegments.endReset();
_directionArrows.endReset();
_incompleteComplexItemLines.endReset();
// Anything left in the old table is an obsolete line object that can go
qDeleteAll(oldSegmentTable);
emit _recalcMissionFlightStatusSignal();
if (_waypointPath.count() == 0) {
// MapPolyLine has a bug where if you change from a path which has elements to an empty path the line drawn
// is not cleared from the map. This hack works around that since it causes the previous lines to be remove
// as then doesn't draw anything on the map.
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
}
emit waypointPathChanged();
emit recalcTerrainProfile();
}
void MissionController::_updateBatteryInfo(int waypointIndex)
{
if (_missionFlightStatus.mAhBattery != 0) {
_missionFlightStatus.hoverAmpsTotal = (_missionFlightStatus.hoverTime / 60.0) * _missionFlightStatus.hoverAmps;
_missionFlightStatus.cruiseAmpsTotal = (_missionFlightStatus.cruiseTime / 60.0) * _missionFlightStatus.cruiseAmps;
_missionFlightStatus.batteriesRequired = ceil((_missionFlightStatus.hoverAmpsTotal + _missionFlightStatus.cruiseAmpsTotal) / _missionFlightStatus.ampMinutesAvailable);
// FIXME: Battery change point code pretty much doesn't work. The reason is that is treats complex items as a black box. It needs to be able to look
// inside complex items in order to determine a swap point that is interior to a complex item. Current the swap point display in PlanToolbar is
// disabled to do this problem.
if (waypointIndex != -1 && _missionFlightStatus.batteriesRequired == 2 && _missionFlightStatus.batteryChangePoint == -1) {
_missionFlightStatus.batteryChangePoint = waypointIndex - 1;
}
}
}
void MissionController::_addHoverTime(double hoverTime, double hoverDistance, int waypointIndex)
{
_missionFlightStatus.totalTime += hoverTime;
_missionFlightStatus.hoverTime += hoverTime;
_missionFlightStatus.hoverDistance += hoverDistance;
_missionFlightStatus.totalDistance += hoverDistance;
_updateBatteryInfo(waypointIndex);
}
void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance, int waypointIndex)
{
_missionFlightStatus.totalTime += cruiseTime;
_missionFlightStatus.cruiseTime += cruiseTime;
_missionFlightStatus.cruiseDistance += cruiseDistance;
_missionFlightStatus.totalDistance += cruiseDistance;
_updateBatteryInfo(waypointIndex);
}
/// Adds the specified time to the appropriate hover or cruise time values.
/// @param vtolInHover true: vtol is currrent in hover mode
/// @param hoverTime Amount of time tp add to hover
/// @param cruiseTime Amount of time to add to cruise
/// @param extraTime Amount of additional time to add to hover/cruise
/// @param seqNum Sequence number of waypoint for these values, -1 for no waypoint associated
void MissionController::_addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum)
{
if (_controllerVehicle->vtol()) {
if (vtolInHover) {
_addHoverTime(hoverTime, distance, seqNum);
_addHoverTime(extraTime, 0, -1);
} else {
_addCruiseTime(cruiseTime, distance, seqNum);
_addCruiseTime(extraTime, 0, -1);
}
} else {
if (_controllerVehicle->multiRotor()) {
_addHoverTime(hoverTime, distance, seqNum);
_addHoverTime(extraTime, 0, -1);
} else {
_addCruiseTime(cruiseTime, distance, seqNum);
_addCruiseTime(extraTime, 0, -1);
}
}
}
void MissionController::_recalcMissionFlightStatus()
{
if (!_visualItems->count()) {
return;
}
bool firstCoordinateItem = true;
VisualMissionItem* lastFlyThroughVI = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool homePositionValid = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
// If home position is valid we can calculate distances between all waypoints.
// If home position is not valid we can only calculate distances between waypoints which are
// both relative altitude.
// No values for first item
lastFlyThroughVI->setAltDifference(0.0);
lastFlyThroughVI->setAzimuth(0.0);
lastFlyThroughVI->setDistance(0.0);
_minAMSLAltitude = _maxAMSLAltitude = _settingsItem->coordinate().altitude();
_resetMissionFlightStatus();
bool vtolInHover = _missionContainsVTOLTakeoff;
bool linkStartToHome = false;
bool foundRTL = false;
bool vehicleYawSpecificallySet = false;
double totalHorizontalDistance = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
if (simpleItem && simpleItem->mavCommand() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
foundRTL = true;
}
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(0.0);
// Look for speed changed
double newSpeed = item->specifiedFlightSpeed();
if (!qIsNaN(newSpeed)) {
if (_controllerVehicle->multiRotor()) {
_missionFlightStatus.hoverSpeed = newSpeed;
} else if (_controllerVehicle->vtol()) {
if (vtolInHover) {
_missionFlightStatus.hoverSpeed = newSpeed;
} else {
_missionFlightStatus.cruiseSpeed = newSpeed;
}
} else {
_missionFlightStatus.cruiseSpeed = newSpeed;
}
_missionFlightStatus.vehicleSpeed = newSpeed;
}
// ROI commands cancel out previous gimbal yaw/pitch
if (simpleItem) {
switch (simpleItem->command()) {
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
_missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
_missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
break;
default:
break;
}
}
// Look for specific gimbal changes
double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
double gimbalPitch = item->specifiedGimbalPitch();
if (!qIsNaN(gimbalPitch) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
_missionFlightStatus.gimbalPitch = gimbalPitch;
}
if (i == 0) {
// We only process speed and gimbal from Mission Settings item
continue;
}
if (foundRTL) {
// No more vehicle distances after RTL
continue;
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && (simpleItem->mavCommand() == MAV_CMD_NAV_TAKEOFF || simpleItem->mavCommand() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
if (homePositionValid) {
linkStartToHome = true;
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
// We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
double azimuth, distance, altDifference;
_calcPrevWaypointValues(_settingsItem, simpleItem, &azimuth, &distance, &altDifference);
double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
_addHoverTime(takeoffTime, 0, -1);
}
}
}
// Update VTOL state
if (simpleItem && _controllerVehicle->vtol()) {
switch (simpleItem->command()) {
case MAV_CMD_NAV_TAKEOFF: // This will do a fixed wing style takeoff
case MAV_CMD_NAV_VTOL_TAKEOFF: // Vehicle goes straight up and then transitions to FW
vtolInHover = false;
break;
case MAV_CMD_NAV_LAND:
vtolInHover = false;
break;
case MAV_CMD_NAV_VTOL_LAND:
vtolInHover = true;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
{
int transitionState = simpleItem->missionItem().param1();
if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
vtolInHover = true;
} else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
vtolInHover = false;
}
}
break;
default:
break;
}
}
_addTimeDistance(vtolInHover, 0, 0, item->additionalTimeDelay(), 0, -1);
if (item->specifiesCoordinate()) {
// Keep track of the min/max AMSL altitude for entire mission so we can calculate altitude percentages in terrain status display
if (simpleItem) {
double amslAltitude = item->amslEntryAlt();
_minAMSLAltitude = std::min(_minAMSLAltitude, amslAltitude);
_maxAMSLAltitude = std::max(_maxAMSLAltitude, amslAltitude);
} else {
// Complex item
double complexMinAMSLAltitude = complexItem->minAMSLAltitude();
double complexMaxAMSLAltitude = complexItem->maxAMSLAltitude();
_minAMSLAltitude = std::min(_minAMSLAltitude, complexMinAMSLAltitude);
_maxAMSLAltitude = std::max(_maxAMSLAltitude, complexMaxAMSLAltitude);
}
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
// Update vehicle yaw assuming direction to next waypoint and/or mission item change
if (item != lastFlyThroughVI) {
if (simpleItem && !qIsNaN(simpleItem->specifiedVehicleYaw())) {
vehicleYawSpecificallySet = true;
_missionFlightStatus.vehicleYaw = simpleItem->specifiedVehicleYaw();
} else if (!vehicleYawSpecificallySet) {
_missionFlightStatus.vehicleYaw = lastFlyThroughVI->exitCoordinate().azimuthTo(item->coordinate());
}
lastFlyThroughVI->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
}
if (lastFlyThroughVI != _settingsItem || linkStartToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
_calcPrevWaypointValues(item, lastFlyThroughVI, &azimuth, &distance, &altDifference);
totalHorizontalDistance += distance;
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
item->setDistanceFromStart(totalHorizontalDistance);
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, _settingsItem));
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
}
if (complexItem) {
// Add in distance/time inside complex items as well
double distance = complexItem->complexDistance();
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
totalHorizontalDistance += distance;
}
item->setMissionFlightStatus(_missionFlightStatus);
lastFlyThroughVI = item;
}
}
}
lastFlyThroughVI->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
// Add the information for the final segment back to home
if (foundRTL && lastFlyThroughVI != _settingsItem && homePositionValid) {
double azimuth, distance, altDifference;
_calcPrevWaypointValues(lastFlyThroughVI, _settingsItem, &azimuth, &distance, &altDifference);
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, distance, landTime, -1);
}
if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
_missionFlightStatus.batteryChangePoint = 0;
}
emit missionMaxTelemetryChanged (_missionFlightStatus.maxTelemetryDistance);
emit missionDistanceChanged (_missionFlightStatus.totalDistance);
emit missionHoverDistanceChanged (_missionFlightStatus.hoverDistance);
emit missionCruiseDistanceChanged (_missionFlightStatus.cruiseDistance);
emit missionTimeChanged ();
emit missionHoverTimeChanged ();
emit missionCruiseTimeChanged ();
emit batteryChangePointChanged (_missionFlightStatus.batteryChangePoint);
emit batteriesRequiredChanged (_missionFlightStatus.batteriesRequired);
emit minAMSLAltitudeChanged (_minAMSLAltitude);
emit maxAMSLAltitudeChanged (_maxAMSLAltitude);
// Walk the list again calculating altitude percentages
double altRange = _maxAMSLAltitude - _minAMSLAltitude;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate()) {
double amslAlt = item->amslEntryAlt();
if (altRange == 0.0) {
item->setAltPercent(0.0);
item->setTerrainPercent(qQNaN());
item->setTerrainCollision(false);
} else {
item->setAltPercent((amslAlt - _minAMSLAltitude) / altRange);
double terrainAltitude = item->terrainAltitude();
if (qIsNaN(terrainAltitude)) {
item->setTerrainPercent(qQNaN());
item->setTerrainCollision(false);
} else {
item->setTerrainPercent((terrainAltitude - _minAMSLAltitude) / altRange);
item->setTerrainCollision(amslAlt < terrainAltitude);
}
}
}
}
_updateTimer.start(UPDATE_TIMEOUT);
emit recalcTerrainProfile();
}
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
if (_inRecalcSequence) {
// Don't let this call recurse due to signalling
return;
}
// Setup ascending sequence numbers for all visual items
_inRecalcSequence = true;
int sequenceNumber = 0;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
_inRecalcSequence = false;
}
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
VisualMissionItem* currentParentItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
currentParentItem->childItems()->clear();
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
item->setParentItem(nullptr);
item->setHasCurrentChildItem(false);
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else if (item->isSimpleItem()) {
item->setParentItem(currentParentItem);
currentParentItem->childItems()->append(item);
if (item->isCurrentItem()) {
currentParentItem->setHasCurrentChildItem(true);
}
}
}
}
void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate)
{
bool foundFirstCoordinate = false;
QGeoCoordinate firstCoordinate;
if (_settingsItem->coordinate().isValid()) {
return;
}
// Set the planned home position to be a delta from first coordinate
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
if (item->specifiesCoordinate() && item->coordinate().isValid()) {
foundFirstCoordinate = true;
firstCoordinate = item->coordinate();
break;
}
}
// No item specifying a coordinate was found, in this case it we have a clickCoordinate use that
if (!foundFirstCoordinate) {
firstCoordinate = clickCoordinate;
}
if (firstCoordinate.isValid()) {
QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0);
plannedHomeCoord.setAltitude(0);
_settingsItem->setInitialHomePositionFromUser(plannedHomeCoord);
}
}
void MissionController::_recalcAllWithCoordinate(const QGeoCoordinate& coordinate)
{
if (!_flyView) {
_setPlannedHomePositionFromFirstCoordinate(coordinate);
}
_recalcSequence();
_recalcChildItems();
emit _recalcFlightPathSegmentsSignal();
_updateTimer.start(UPDATE_TIMEOUT);
}
void MissionController::_recalcAll(void)
{
QGeoCoordinate emptyCoord;
_recalcAllWithCoordinate(emptyCoord);
}
/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void)
{
// Setup home position at index 0
if (!_settingsItem) {
_settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (!_settingsItem) {
qWarning() << "First item not MissionSettingsItem";
return;
}
}
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
_initVisualItem(item);
}
_recalcAll();
connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_visualItemsDirtyChanged);
connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
emit visualItemsChanged();
emit containsItemsChanged(containsItems());
emit plannedHomePositionChanged(plannedHomePosition());
if (!_flyView) {
setCurrentPlanViewSeqNum(0, true);
}
setDirty(false);
}
void MissionController::_deinitAllVisualItems(void)
{
disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
for (int i=0; i<_visualItems->count(); i++) {
_deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
}
disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
}
void MissionController::_initVisualItem(VisualMissionItem* visualItem)
{
setDirty(false);
connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged, this, &MissionController::_recalcFlightPathSegmentsSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::specifiedVehicleYawChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
if (visualItem->isSimpleItem()) {
// We need to track commandChanged on simple item since recalc has special handling for takeoff command
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
} else {
qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
}
} else {
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
if (complexItem) {
connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(complexItem, &ComplexMissionItem::minAMSLAltitudeChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(complexItem, &ComplexMissionItem::maxAMSLAltitudeChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(complexItem, &ComplexMissionItem::isIncompleteChanged, this, &MissionController::_recalcFlightPathSegmentsSignal, Qt::QueuedConnection);
} else {
qWarning() << "ComplexMissionItem not found";
}
}
}
void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
{
// Disconnect all signals
disconnect(visualItem, nullptr, nullptr, nullptr);
}
void MissionController::_itemCommandChanged(void)
{
_recalcChildItems();
emit _recalcFlightPathSegmentsSignal();
}
void MissionController::_managerVehicleChanged(Vehicle* managerVehicle)
{
if (_managerVehicle) {
_missionManager->disconnect(this);
_managerVehicle->disconnect(this);
_managerVehicle = nullptr;
_missionManager = nullptr;
}
_managerVehicle = managerVehicle;
if (!_managerVehicle) {
qWarning() << "MissionController::managerVehicleChanged managerVehicle=NULL";
return;
}
_missionManager = _managerVehicle->missionManager();
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(_missionManager, &MissionManager::sendComplete, this, &MissionController::_managerSendComplete);
connect(_missionManager, &MissionManager::removeAllComplete, this, &MissionController::_managerRemoveAllComplete);
connect(_missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(_missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
connect(_missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_missionManager, &MissionManager::resumeMissionUploadFail, this, &MissionController::resumeMissionUploadFail);
connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this, &MissionController::complexMissionItemNamesChanged);
emit complexMissionItemNamesChanged();
emit resumeMissionIndexChanged();
}
void MissionController::_inProgressChanged(bool inProgress)
{
emit syncInProgressChanged(inProgress);
}
bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode)
{
bool found = false;
double foundAltitude = 0;
int foundAltitudeMode = QGroundControlQmlGlobal::AltitudeModeNone;
if (newIndex > _visualItems->count()) {
return false;
}
newIndex--;
for (int i=newIndex; i>0; i--) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
if (visualItem->isSimpleItem()) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem->specifiesAltitude()) {
foundAltitude = simpleItem->altitude()->rawValue().toDouble();
foundAltitudeMode = simpleItem->altitudeMode();
found = true;
break;
}
}
}
}
if (found) {
*prevAltitude = foundAltitude;
*prevAltitudeMode = foundAltitudeMode;
}
return found;
}
double MissionController::_normalizeLat(double lat)
{
// Normalize latitude to range: 0 to 180, S to N
return lat + 90.0;
}
double MissionController::_normalizeLon(double lon)
{
// Normalize longitude to range: 0 to 360, W to E
return lon + 180.0;
}
/// Add the Mission Settings complex item to the front of the items
MissionSettingsItem* MissionController::_addMissionSettings(QmlObjectListModel* visualItems)
{
qCDebug(MissionControllerLog) << "_addMissionSettings";
MissionSettingsItem* settingsItem = new MissionSettingsItem(_masterController, _flyView, visualItems);
visualItems->insert(0, settingsItem);
if (visualItems == _visualItems) {
_settingsItem = settingsItem;
}
return settingsItem;
}
void MissionController::_centerHomePositionOnMissionItems(QmlObjectListModel *visualItems)
{
qCDebug(MissionControllerLog) << "_centerHomePositionOnMissionItems";
if (visualItems->count() > 1) {
double north = 0.0;
double south = 0.0;
double east = 0.0;
double west = 0.0;
bool firstCoordSet = false;
for (int i=1; i<visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordSet) {
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
} else {
firstCoordSet = true;
north = _normalizeLat(item->coordinate().latitude());
south = north;
east = _normalizeLon(item->coordinate().longitude());
west = east;
}
}
}
if (firstCoordSet) {
_settingsItem->setInitialHomePositionFromUser(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
}
}
}
int MissionController::resumeMissionIndex(void) const
{
int resumeIndex = 0;
if (_flyView) {
resumeIndex = _missionManager->lastCurrentIndex() + (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0 : 1);
if (resumeIndex > 1 && resumeIndex != _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1)->sequenceNumber()) {
// Resume at the item previous to the item we were heading towards
resumeIndex--;
} else {
resumeIndex = 0;
}
}
return resumeIndex;
}
int MissionController::currentMissionIndex(void) const
{
if (!_flyView) {
return -1;
} else {
int currentIndex = _missionManager->currentIndex();
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
currentIndex++;
}
return currentIndex;
}
}
void MissionController::_currentMissionIndexChanged(int sequenceNumber)
{
if (_flyView) {
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
sequenceNumber++;
}
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
}
emit currentMissionIndexChanged(currentMissionIndex());
}
}
bool MissionController::syncInProgress(void) const
{
return _missionManager->inProgress();
}
bool MissionController::dirty(void) const
{
return _visualItems ? _visualItems->dirty() : false;
}
void MissionController::setDirty(bool dirty)
{
if (_visualItems) {
_visualItems->setDirty(dirty);
}
}
void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, PlanMasterController* masterController)
{
// First we look for a Fixed Wing Landing Pattern which is at the end
FixedWingLandingComplexItem::scanForItem(visualItems, _flyView, masterController);
int scanIndex = 0;
while (scanIndex < visualItems->count()) {
VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(scanIndex);
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
if (!_flyView) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
if (settingsItem) {
scanIndex++;
settingsItem->scanForMissionSettings(visualItems, scanIndex);
continue;
}
}
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem) {
scanIndex++;
simpleItem->scanForSections(visualItems, scanIndex, masterController);
} else {
// Complex item, can't have sections
scanIndex++;
}
}
}
void MissionController::_updateContainsItems(void)
{
emit containsItemsChanged(containsItems());
}
bool MissionController::containsItems(void) const
{
return _visualItems ? _visualItems->count() > 1 : false;
}
void MissionController::removeAllFromVehicle(void)
{
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while offline";
} else if (syncInProgress()) {
qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while syncInProgress";
} else {
_itemsRequested = true;
_missionManager->removeAll();
}
}
QStringList MissionController::complexMissionItemNames(void) const
{
QStringList complexItems;
complexItems.append(SurveyComplexItem::name);
complexItems.append(CorridorScanComplexItem::name);
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
complexItems.append(StructureScanComplexItem::name);
}
// Note: The landing pattern items are not added here since they have there own button which adds them
return qgcApp()->toolbox()->corePlugin()->complexMissionItemNames(_controllerVehicle, complexItems);
}
void MissionController::resumeMission(int resumeIndex)
{
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
resumeIndex--;
}
_missionManager->generateResumeMission(resumeIndex);
}
QGeoCoordinate MissionController::plannedHomePosition(void) const
{
if (_settingsItem) {
return _settingsItem->coordinate();
} else {
return QGeoCoordinate();
}
}
void MissionController::applyDefaultMissionAltitude(void)
{
double defaultAltitude = _appSettings->defaultMissionItemAltitude()->rawValue().toDouble();
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
item->applyNewAltitude(defaultAltitude);
}
}
void MissionController::_progressPctChanged(double progressPct)
{
if (!qFuzzyCompare(progressPct, _progressPct)) {
_progressPct = progressPct;
emit progressPctChanged(progressPct);
}
}
void MissionController::_visualItemsDirtyChanged(bool dirty)
{
// We could connect signal to signal and not need this but this is handy for setting a breakpoint on
emit dirtyChanged(dirty);
}
bool MissionController::showPlanFromManagerVehicle (void)
{
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
if (_masterController->offline()) {
qCWarning(MissionControllerLog) << "MissionController::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 newMissionItemsAvailable to be signalled automatically
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: !initialPlanRequestComplete, wait for signal";
return true;
} else if (syncInProgress()) {
// If the sync is already in progress, newMissionItemsAvailable will be signalled automatically when it is done. So no need to do anything.
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: syncInProgress wait for signal";
return true;
} else {
// Fake a _newMissionItemsAvailable with the current items
qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: sync complete simulate signal";
_itemsRequested = true;
_newMissionItemsAvailableFromVehicle(false /* removeAllRequested */);
return false;
}
}
}
void MissionController::_managerSendComplete(bool error)
{
// Fly view always reloads on send complete
if (!error && _flyView) {
showPlanFromManagerVehicle();
}
}
void MissionController::_managerRemoveAllComplete(bool error)
{
if (!error) {
// Remove all from vehicle so we always update
showPlanFromManagerVehicle();
}
}
bool MissionController::_isROIBeginItem(SimpleMissionItem* simpleItem)
{
return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_LOCATION);
}
bool MissionController::_isROICancelItem(SimpleMissionItem* simpleItem)
{
return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
(simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_NONE);
}
void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
bool foundLand = false;
int takeoffSeqNum = -1;
int landSeqNum = -1;
int lastFlyThroughSeqNum = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewSeqNum = -1;
_currentPlanViewVIIndex = -1;
_onlyInsertTakeoffValid = !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && _visualItems->count() == 1; // First item must be takeoff
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
_isROIActive = false;
_isROIBeginCurrentItem = false;
_flyThroughCommandsAllowed = true;
_previousCoordinate = QGeoCoordinate();
for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
int currentSeqNumber = pVI->sequenceNumber();
if (sequenceNumber != 0 && currentSeqNumber <= sequenceNumber) {
if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
// Coordinate based flight commands prior to where the takeoff would be inserted
_isInsertTakeoffValid = false;
}
}
if (qobject_cast<TakeoffMissionItem*>(pVI)) {
takeoffSeqNum = currentSeqNumber;
_isInsertTakeoffValid = false;
}
if (!foundLand) {
if (simpleItem) {
switch (simpleItem->mavCommand()) {
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
landSeqNum = currentSeqNumber;
break;
default:
break;
}
} else {
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
landSeqNum = currentSeqNumber;
}
}
}
if (simpleItem) {
// Remember previous coordinate
if (currentSeqNumber < sequenceNumber && simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate()) {
_previousCoordinate = simpleItem->coordinate();
}
// ROI state handling
if (currentSeqNumber <= sequenceNumber) {
if (_isROIActive) {
if (_isROICancelItem(simpleItem)) {
_isROIActive = false;
}
} else {
if (_isROIBeginItem(simpleItem)) {
_isROIActive = true;
}
}
}
if (currentSeqNumber == sequenceNumber && _isROIBeginItem(simpleItem)) {
_isROIBeginCurrentItem = true;
}
}
if (viIndex != 0) {
// Complex items are assumed to be fly through
if (!simpleItem || (simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate())) {
lastFlyThroughSeqNum = currentSeqNumber;
}
}
if (currentSeqNumber == sequenceNumber) {
pVI->setIsCurrentItem(true);
pVI->setHasCurrentChildItem(false);
_currentPlanViewItem = pVI;
_currentPlanViewSeqNum = sequenceNumber;
_currentPlanViewVIIndex = viIndex;
if (pVI->specifiesCoordinate()) {
if (!pVI->isStandaloneCoordinate()) {
// Determine split segment used to display line split editing ui.
for (int j=viIndex-1; j>0; j--) {
VisualMissionItem* pPrev = qobject_cast<VisualMissionItem*>(_visualItems->get(j));
if (pPrev->specifiesCoordinate() && !pPrev->isStandaloneCoordinate()) {
VisualItemPair splitPair(pPrev, pVI);
if (_flightPathSegmentHashTable.contains(splitPair)) {
_splitSegment = _flightPathSegmentHashTable[splitPair];
}
}
}
}
} else if (pVI->parentItem()) {
pVI->parentItem()->setHasCurrentChildItem(true);
}
} else {
pVI->setIsCurrentItem(false);
}
}
if (takeoffSeqNum != -1) {
// Takeoff item was found which means mission starts from ground
if (sequenceNumber < takeoffSeqNum) {
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
// Fly through commands are not allowed prior to the takeoff command
_flyThroughCommandsAllowed = false;
}
}
if (lastFlyThroughSeqNum != -1) {
// Land item must be after any fly through coordinates
if (sequenceNumber < lastFlyThroughSeqNum) {
_isInsertLandValid = false;
}
}
if (foundLand) {
// Can't have more than one land sequence
_isInsertLandValid = false;
if (sequenceNumber >= landSeqNum) {
// Can't have fly through commands after a land item
_flyThroughCommandsAllowed = false;
}
}
// These are not valid when only takeoff is allowed
_isInsertLandValid = _isInsertLandValid && !_onlyInsertTakeoffValid;
_flyThroughCommandsAllowed = _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;
emit currentPlanViewSeqNumChanged();
emit currentPlanViewVIIndexChanged();
emit currentPlanViewItemChanged();
emit splitSegmentChanged();
emit onlyInsertTakeoffValidChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
emit isROIActiveChanged();
emit isROIBeginCurrentItemChanged();
emit flyThroughCommandsAllowedChanged();
emit previousCoordinateChanged();
}
}
void MissionController::_updateTimeout()
{
QGeoCoordinate firstCoordinate;
QGeoCoordinate takeoffCoordinate;
QGCGeoBoundingCube boundingCube;
double north = 0.0;
double south = 180.0;
double east = 0.0;
double west = 360.0;
double minAlt = QGCGeoBoundingCube::MaxAlt;
double maxAlt = QGCGeoBoundingCube::MinAlt;
for (int i = 1; i < _visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if(item->isSimpleItem()) {
SimpleMissionItem* pSimpleItem = qobject_cast<SimpleMissionItem*>(item);
if(pSimpleItem) {
switch(pSimpleItem->command()) {
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LAND:
if(pSimpleItem->coordinate().isValid()) {
if((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
takeoffCoordinate = pSimpleItem->coordinate();
} else if(!firstCoordinate.isValid()) {
firstCoordinate = pSimpleItem->coordinate();
}
double lat = pSimpleItem->coordinate().latitude() + 90.0;
double lon = pSimpleItem->coordinate().longitude() + 180.0;
double alt = pSimpleItem->coordinate().altitude();
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
minAlt = fmin(minAlt, alt);
maxAlt = fmax(maxAlt, alt);
}
break;
default:
break;
}
}
} else {
ComplexMissionItem* pComplexItem = qobject_cast<ComplexMissionItem*>(item);
if(pComplexItem) {
QGCGeoBoundingCube bc = pComplexItem->boundingCube();
if(bc.isValid()) {
if(!firstCoordinate.isValid() && pComplexItem->coordinate().isValid()) {
firstCoordinate = pComplexItem->coordinate();
}
north = fmax(north, bc.pointNW.latitude() + 90.0);
south = fmin(south, bc.pointSE.latitude() + 90.0);
east = fmax(east, bc.pointNW.longitude() + 180.0);
west = fmin(west, bc.pointSE.longitude() + 180.0);
minAlt = fmin(minAlt, bc.pointNW.altitude());
maxAlt = fmax(maxAlt, bc.pointSE.altitude());
}
}
}
}
//-- Figure out where this thing is taking off from
if(!takeoffCoordinate.isValid()) {
if(firstCoordinate.isValid()) {
takeoffCoordinate = firstCoordinate;
} else {
takeoffCoordinate = plannedHomePosition();
}
}
//-- Build bounding "cube"
boundingCube = QGCGeoBoundingCube(
QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
if(_travelBoundingCube != boundingCube || _takeoffCoordinate != takeoffCoordinate) {
_takeoffCoordinate = takeoffCoordinate;
_travelBoundingCube = boundingCube;
emit missionBoundingCubeChanged();
qCDebug(MissionControllerLog) << "Bounding cube:" << _travelBoundingCube.pointNW << _travelBoundingCube.pointSE;
}
}
void MissionController::_complexBoundingBoxChanged()
{
_updateTimer.start(UPDATE_TIMEOUT);
}
bool MissionController::isEmpty(void) const
{
return _visualItems->count() <= 1;
}
void MissionController::_takeoffItemNotRequiredChanged(void)
{
// Force a recalc of allowed bits
setCurrentPlanViewSeqNum(_currentPlanViewSeqNum, true /* force */);
}
QString MissionController::surveyComplexItemName(void) const
{
return SurveyComplexItem::name;
}
QString MissionController::corridorScanComplexItemName(void) const
{
return CorridorScanComplexItem::name;
}
QString MissionController::structureScanComplexItemName(void) const
{
return StructureScanComplexItem::name;
}