/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ import QtQuick 2.3 import QtQuick.Controls 1.2 import QtQuick.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 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 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 still 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("Start the mission which is currently displayed above. If the vehicle is on the ground it will takeoff.") readonly property string continueMissionMessage: qsTr("Continue the mission from the current waypoint.") property string resumeMissionMessage: qsTr("Resume the mission which is displayed above. This will re-generate the mission from waypoint %1, takeoff and continue the mission.").arg(_resumeMissionIndex) readonly property string resumeMissionReadyMessage: qsTr("Review the modified mission above. 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 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 actionPause: 16 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.guidedModeSupported && !_vehicleFlying && !_activeVehicle.fixedWing 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 && !_vehicleFlying && _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 property bool showGotoLocation: _activeVehicle && _activeVehicle.guidedMode && _vehicleFlying 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 _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 var _actionData on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex) 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) { 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 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 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 }) 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; 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: missionController.resumeMission(missionController.resumeMissionIndex) break case actionResumeMissionReady: _activeVehicle.startMission() break case actionStartMission: case actionContinueMission: _activeVehicle.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 default: console.warn(qsTr("Internal error: unknown actionCode"), actionCode) break } } }