/****************************************************************************
*
* (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.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.FlightMap 1.0
/// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI
/// without affecting the underlying functionality.
Item {
id: _root
property var missionController
property var confirmDialog
property var actionList
property var altitudeSlider
readonly property string emergencyStopTitle: qsTr("Emergency Stop")
readonly property string armTitle: qsTr("Arm")
readonly property string disarmTitle: qsTr("Disarm")
readonly property string rtlTitle: qsTr("RTL")
readonly property string takeoffTitle: qsTr("Takeoff")
readonly property string landTitle: qsTr("Land")
readonly property string startMissionTitle: qsTr("Start Mission")
readonly property string continueMissionTitle: qsTr("Continue Mission")
readonly property string resumeMissionTitle: qsTr("Resume Mission")
readonly property string resumeMissionUploadFailTitle: qsTr("Resume FAILED")
readonly property string pauseTitle: qsTr("Pause")
readonly property string changeAltTitle: qsTr("Change Altitude")
readonly property string orbitTitle: qsTr("Orbit")
readonly property string landAbortTitle: qsTr("Land Abort")
readonly property string setWaypointTitle: qsTr("Set Waypoint")
readonly property string gotoTitle: qsTr("Goto Location")
readonly property string armMessage: qsTr("Arm the vehicle.")
readonly property string disarmMessage: qsTr("Disarm the vehicle")
readonly property string emergencyStopMessage: qsTr("WARNING: This will stop all motors. If vehicle is currently in air it will crash.")
readonly property string takeoffMessage: qsTr("Takeoff from ground and hold position.")
readonly property string startMissionMessage: qsTr("Takeoff from ground and start the current mission.")
readonly property string continueMissionMessage: qsTr("Continue the mission from the current waypoint.")
property string resumeMissionMessage: qsTr("Resume the current mission. This will re-generate the mission from waypoint %1, takeoff and continue the mission.").arg(_resumeMissionIndex)
property string resumeMissionUploadFailMessage: qsTr("Upload of resume mission failed. Confirm to retry upload")
readonly property string resumeMissionReadyMessage: qsTr("Review the modified mission. Confirm if you want to takeoff and begin mission.")
readonly property string landMessage: qsTr("Land the vehicle at the current position.")
readonly property string rtlMessage: qsTr("Return to the home position of the vehicle.")
readonly property string changeAltMessage: qsTr("Change the altitude of the vehicle up or down.")
readonly property string gotoMessage: qsTr("Move the vehicle to the location clicked on the map.")
property string setWaypointMessage: qsTr("Adjust current waypoint to %1.").arg(_actionData)
readonly property string orbitMessage: qsTr("Orbit the vehicle around the current location.")
readonly property string landAbortMessage: qsTr("Abort the landing sequence.")
readonly property string pauseMessage: qsTr("Pause the vehicle at it's current position.")
readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.")
readonly property int actionRTL: 1
readonly property int actionLand: 2
readonly property int actionTakeoff: 3
readonly property int actionArm: 4
readonly property int actionDisarm: 5
readonly property int actionEmergencyStop: 6
readonly property int actionChangeAlt: 7
readonly property int actionGoto: 8
readonly property int actionSetWaypoint: 9
readonly property int actionOrbit: 10
readonly property int actionLandAbort: 11
readonly property int actionStartMission: 12
readonly property int actionContinueMission: 13
readonly property int actionResumeMission: 14
readonly property int actionResumeMissionReady: 15
readonly property int actionResumeMissionUploadFail: 16
readonly property int actionPause: 17
readonly property int actionMVPause: 18
readonly property int actionMVStartMission: 19
property bool showEmergenyStop: !_hideEmergenyStop && _activeVehicle && _vehicleArmed && _vehicleFlying
property bool showArm: _activeVehicle && !_vehicleArmed
property bool showDisarm: _activeVehicle && _vehicleArmed && !_vehicleFlying
property bool showRTL: _activeVehicle && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
property bool showTakeoff: _activeVehicle && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
property bool showLand: _activeVehicle && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
property bool showStartMission: _activeVehicle && _missionAvailable && !_missionActive && !_vehicleFlying
property bool showContinueMission: _activeVehicle && _missionAvailable && !_missionActive && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)
property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < missionController.visualItems.count - 2)
property bool showPause: _activeVehicle && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
property bool showChangeAlt: (_activeVehicle && _vehicleFlying) && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: !_hideOrbit && _activeVehicle && _vehicleFlying && _activeVehicle.orbitModeSupported && _vehicleArmed && !_missionActive
property bool showLandAbort: _activeVehicle && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
property bool showGotoLocation: _activeVehicle && _vehicleFlying
property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property string _flightMode: _activeVehicle ? _activeVehicle.flightMode : ""
property bool _missionAvailable: missionController.containsItems
property bool _missionActive: _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
property bool _vehicleArmed: _activeVehicle ? _activeVehicle.armed : false
property bool _vehicleFlying: _activeVehicle ? _activeVehicle.flying : false
property bool _vehicleLanding: _activeVehicle ? _activeVehicle.landing : false
property bool _vehiclePaused: false
property bool _vehicleInMissionMode: false
property bool _vehicleInRTLMode: false
property bool _vehicleInLandMode: false
property int _currentMissionIndex: missionController.currentMissionIndex
property int _resumeMissionIndex: missionController.resumeMissionIndex
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _vehicleWasFlying: false
/*
//Handy code for debugging state problems
property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false
property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
property bool __flightMode: _flightMode
function _outputState() {
console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
}
Component.onCompleted: _outputState()
on_ActiveVehicleChanged: _outputState()
on_VehicleArmedChanged: _outputState()
on_VehicleInRTLModeChanged: _outputState()
on_VehiclePausedChanged: _outputState()
on__FlightModeChanged: _outputState()
on__GuidedModeSupportedChanged: _outputState()
on__PauseVehicleSupportedChanged: _outputState()
on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
on_ResumeMissionIndexChanged: console.log("_resumeMissionIndex", _resumeMissionIndex)
onShowResumeMissionChanged: {
console.log("showResumeMission", showResumeMission)
_outputState()
}
onShowStartMissionChanged: {
console.log("showStartMission", showStartMission)
_outputState()
}
onShowContinueMissionChanged: {
console.log("showContinueMission", showContinueMission)
_outputState()
}
// End of hack
*/
on_VehicleFlyingChanged: {
//_outputState()
if (!_vehicleFlying) {
// We use _vehicleWasFLying to help trigger Resume Mission only if the vehicle actually flew and came back down.
// Otherwise it may trigger during the Start Mission sequence due to signal ordering or armed and resume mission index.
_vehicleWasFlying = true
}
}
property var _actionData
on_FlightModeChanged: {
_vehiclePaused = _flightMode === _activeVehicle.pauseFlightMode
_vehicleInRTLMode = _flightMode === _activeVehicle.rtlFlightMode
_vehicleInLandMode = _flightMode === _activeVehicle.landFlightMode
_vehicleInMissionMode = _flightMode === _activeVehicle.missionFlightMode // Must be last to get correct signalling for showStartMission popups
}
// Called when an action is about to be executed in order to confirm
function confirmAction(actionCode, actionData) {
closeAll()
confirmDialog.action = actionCode
confirmDialog.actionData = actionData
_actionData = actionData
switch (actionCode) {
case actionArm:
if (_vehicleFlying) {
return
}
confirmDialog.title = armTitle
confirmDialog.message = armMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showArm })
break;
case actionDisarm:
if (_vehicleFlying) {
return
}
confirmDialog.title = disarmTitle
confirmDialog.message = disarmMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showDisarm })
break;
case actionEmergencyStop:
confirmDialog.title = emergencyStopTitle
confirmDialog.message = emergencyStopMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showEmergenyStop })
break;
case actionTakeoff:
confirmDialog.title = takeoffTitle
confirmDialog.message = takeoffMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff })
break;
case actionStartMission:
confirmDialog.title = startMissionTitle
confirmDialog.message = startMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission })
break;
case actionMVStartMission:
confirmDialog.title = startMissionTitle
confirmDialog.message = startMissionMessage
confirmDialog.hideTrigger = true
break;
case actionContinueMission:
confirmDialog.title = continueMissionTitle
confirmDialog.message = continueMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission })
break;
case actionResumeMission:
confirmDialog.title = resumeMissionTitle
confirmDialog.message = resumeMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission })
break;
case actionResumeMissionUploadFail:
confirmDialog.title = resumeMissionUploadFailTitle
confirmDialog.message = resumeMissionUploadFailMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission })
break;
case actionResumeMissionReady:
confirmDialog.title = resumeMissionTitle
confirmDialog.message = resumeMissionReadyMessage
confirmDialog.hideTrigger = false
break;
case actionLand:
confirmDialog.title = landTitle
confirmDialog.message = landMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showLand })
break;
case actionRTL:
confirmDialog.title = rtlTitle
confirmDialog.message = rtlMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showRTL })
break;
case actionChangeAlt:
confirmDialog.title = changeAltTitle
confirmDialog.message = changeAltMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeAlt })
altitudeSlider.reset()
altitudeSlider.visible = true
break;
case actionGoto:
confirmDialog.title = gotoTitle
confirmDialog.message = gotoMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showGotoLocation })
break;
case actionSetWaypoint:
confirmDialog.title = setWaypointTitle
confirmDialog.message = setWaypointMessage
break;
case actionOrbit:
confirmDialog.title = orbitTitle
confirmDialog.message = orbitMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showOrbit })
break;
case actionLandAbort:
confirmDialog.title = landAbortTitle
confirmDialog.message = landAbortMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showLandAbort })
break;
case actionPause:
confirmDialog.title = pauseTitle
confirmDialog.message = pauseMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showPause })
break;
case actionMVPause:
confirmDialog.title = pauseTitle
confirmDialog.message = mvPauseMessage
confirmDialog.hideTrigger = true
break;
default:
console.warn("Unknown actionCode", actionCode)
return
}
confirmDialog.visible = true
}
// Executes the specified action
function executeAction(actionCode, actionData) {
switch (actionCode) {
case actionRTL:
_activeVehicle.guidedModeRTL()
break
case actionLand:
_activeVehicle.guidedModeLand()
break
case actionTakeoff:
_activeVehicle.guidedModeTakeoff()
break
case actionResumeMission:
case actionResumeMissionUploadFail:
missionController.resumeMission(missionController.resumeMissionIndex)
break
case actionResumeMissionReady:
_vehicleWasFlying = false
_activeVehicle.startMission()
break
case actionStartMission:
case actionContinueMission:
_activeVehicle.startMission()
break
case actionMVStartMission:
var rgVehicle = QGroundControl.multiVehicleManager.vehicles
for (var i=0; i<rgVehicle.count; i++) {
var vehicle = rgVehicle.get(i)
vehicle.startMission()
}
break
case actionArm:
_activeVehicle.armed = true
break
case actionDisarm:
_activeVehicle.armed = false
break
case actionEmergencyStop:
_activeVehicle.emergencyStop()
break
case actionChangeAlt:
_activeVehicle.guidedModeChangeAltitude(actionData)
break
case actionGoto:
_activeVehicle.guidedModeGotoLocation(actionData)
break
case actionSetWaypoint:
_activeVehicle.setCurrentMissionSequence(actionData)
break
case actionOrbit:
_activeVehicle.guidedModeOrbit()
break
case actionLandAbort:
_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
break
case actionPause:
_activeVehicle.pauseVehicle()
break
case actionMVPause:
var rgVehicle = QGroundControl.multiVehicleManager.vehicles
for (var i=0; i<rgVehicle.count; i++) {
var vehicle = rgVehicle.get(i)
vehicle.pauseVehicle()
}
break
default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
break
}
}
}