/****************************************************************************
*
* (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 QtMultimedia 5.5
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FlightDisplay 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
/// Flight Display View
QGCView {
id: root
viewPanel: _panel
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
property alias guidedController: guidedActionsController
property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false
property var _planMasterController: masterController
property var _missionController: _planMasterController.missionController
property var _geoFenceController: _planMasterController.geoFenceController
property var _rallyPointController: _planMasterController.rallyPointController
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _mainIsMap: QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_mainIsMapKey, true) : true
property bool _isPipVisible: QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
property real _savedZoomLevel: 0
property real _margins: ScreenTools.defaultFontPixelWidth / 2
property real _pipSize: mainWindow.width * 0.2
property alias _guidedController: guidedActionsController
property alias _altitudeSlider: altitudeSlider
readonly property bool isBackgroundDark: _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
readonly property real _defaultRoll: 0
readonly property real _defaultPitch: 0
readonly property real _defaultHeading: 0
readonly property real _defaultAltitudeAMSL: 0
readonly property real _defaultGroundSpeed: 0
readonly property real _defaultAirSpeed: 0
readonly property string _mapName: "FlightDisplayView"
readonly property string _showMapBackgroundKey: "/showMapBackground"
readonly property string _mainIsMapKey: "MainFlyWindowIsMap"
readonly property string _PIPVisibleKey: "IsPIPVisible"
function setStates() {
QGroundControl.saveBoolGlobalSetting(_mainIsMapKey, _mainIsMap)
if(_mainIsMap) {
//-- Adjust Margins
_flightMapContainer.state = "fullMode"
_flightVideo.state = "pipMode"
//-- Save/Restore Map Zoom Level
if(_savedZoomLevel != 0)
_flightMap.zoomLevel = _savedZoomLevel
else
_savedZoomLevel = _flightMap.zoomLevel
} else {
//-- Adjust Margins
_flightMapContainer.state = "pipMode"
_flightVideo.state = "fullMode"
//-- Set Map Zoom Level
_savedZoomLevel = _flightMap.zoomLevel
_flightMap.zoomLevel = _savedZoomLevel - 3
}
}
function setPipVisibility(state) {
_isPipVisible = state;
QGroundControl.saveBoolGlobalSetting(_PIPVisibleKey, state)
}
function px4JoystickCheck() {
if ( _activeVehicle && !_activeVehicle.supportsManualControl && (QGroundControl.settingsManager.appSettings.virtualJoystick.value || _activeVehicle.joystickEnabled)) {
px4JoystickSupport.open()
}
}
PlanElemementMasterController {
id: masterController
Component.onCompleted: start(false /* editMode */)
}
Connections {
target: _missionController
onResumeMissionReady: guidedActionsController.confirmAction(guidedActionsController.actionResumeMissionReady)
}
MessageDialog {
id: px4JoystickSupport
text: qsTr("Joystick support requires MAVLink MANUAL_CONTROL support. ") +
qsTr("The firmware you are running does not normally support this. ") +
qsTr("It will only work if you have modified the firmware to add MANUAL_CONTROL support.")
}
Connections {
target: QGroundControl.multiVehicleManager
onActiveVehicleChanged: px4JoystickCheck()
}
Connections {
target: QGroundControl.settingsManager.appSettings.virtualJoystick
onValueChanged: px4JoystickCheck()
}
onActiveVehicleJoystickEnabledChanged: px4JoystickCheck()
Component.onCompleted: {
setStates()
px4JoystickCheck()
if(QGroundControl.corePlugin.options.flyViewOverlay.toString().length) {
flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
}
}
// The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes
property bool vehicleArmed: _activeVehicle ? _activeVehicle.armed : true // true here prevents pop up from showing during shutdown
property bool vehicleWasArmed: false
property bool vehicleInMissionFlightMode: _activeVehicle ? (_activeVehicle.flightMode === _activeVehicle.missionFlightMode) : false
property bool promptForMissionRemove: false
onVehicleArmedChanged: {
if (vehicleArmed) {
if (!promptForMissionRemove) {
promptForMissionRemove = vehicleInMissionFlightMode
vehicleWasArmed = true
}
} else {
if (promptForMissionRemove && (_missionController.containsItems || _geoFenceController.containsItems || _rallyPointController.containsItems)) {
// ArduPilot has a strange bug which prevents mission clear from working at certain times, so we can't show this dialog
if (!_activeVehicle.apmFirmware) {
root.showDialog(missionCompleteDialogComponent, qsTr("Flight Plan complete"), showDialogDefaultWidth, StandardButton.Close)
}
}
promptForMissionRemove = false
}
}
onVehicleInMissionFlightModeChanged: {
if (!promptForMissionRemove && vehicleArmed) {
promptForMissionRemove = true
}
}
Component {
id: missionCompleteDialogComponent
QGCViewDialog {
QGCFlickable {
anchors.fill: parent
contentHeight: column.height
ColumnLayout {
id: column
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
Layout.fillWidth: true
text: qsTr("%1 Images Taken").arg(_activeVehicle.cameraTriggerPoints.count)
horizontalAlignment: Text.AlignHCenter
visible: _activeVehicle.cameraTriggerPoints.count != 0
}
QGCButton {
Layout.fillWidth: true
text: qsTr("Remove plan from vehicle")
onClicked: {
_planMasterController.removeAllFromVehicle()
hideDialog()
}
}
QGCButton {
Layout.fillWidth: true
text: qsTr("Leave plan on vehicle")
anchors.horizontalCenter: parent.horizontalCenter
onClicked: hideDialog()
}
}
}
}
}
QGCMapPalette { id: mapPal; lightColors: _mainIsMap ? _flightMap.isSatelliteMap : true }
QGCViewPanel {
id: _panel
anchors.fill: parent
//-- Map View
// For whatever reason, if FlightDisplayViewMap is the _panel item, changing
// width/height has no effect.
Item {
id: _flightMapContainer
z: _mainIsMap ? _panel.z + 1 : _panel.z + 2
anchors.left: _panel.left
anchors.bottom: _panel.bottom
visible: _mainIsMap || _isPipVisible
width: _mainIsMap ? _panel.width : _pipSize
height: _mainIsMap ? _panel.height : _pipSize * (9/16)
states: [
State {
name: "pipMode"
PropertyChanges {
target: _flightMapContainer
anchors.margins: ScreenTools.defaultFontPixelHeight
}
},
State {
name: "fullMode"
PropertyChanges {
target: _flightMapContainer
anchors.margins: 0
}
}
]
FlightDisplayViewMap {
id: _flightMap
anchors.fill: parent
planMasterController: masterController
guidedActionsController: _guidedController
flightWidgets: flightDisplayViewWidgets
rightPanelWidth: ScreenTools.defaultFontPixelHeight * 9
qgcView: root
scaleState: (_mainIsMap && flyViewOverlay.item) ? (flyViewOverlay.item.scaleState ? flyViewOverlay.item.scaleState : "bottomMode") : "bottomMode"
}
}
//-- Video View
Item {
id: _flightVideo
z: _mainIsMap ? _panel.z + 2 : _panel.z + 1
width: !_mainIsMap ? _panel.width : _pipSize
height: !_mainIsMap ? _panel.height : _pipSize * (9/16)
anchors.left: _panel.left
anchors.bottom: _panel.bottom
visible: QGroundControl.videoManager.hasVideo && (!_mainIsMap || _isPipVisible)
states: [
State {
name: "pipMode"
PropertyChanges {
target: _flightVideo
anchors.margins: ScreenTools.defaultFontPixelHeight
}
},
State {
name: "fullMode"
PropertyChanges {
target: _flightVideo
anchors.margins: 0
}
}
]
//-- Video Streaming
FlightDisplayViewVideo {
anchors.fill: parent
visible: QGroundControl.videoManager.isGStreamer
}
//-- UVC Video (USB Camera or Video Device)
Loader {
id: cameraLoader
anchors.fill: parent
visible: !QGroundControl.videoManager.isGStreamer
source: QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/FlightDisplayViewUVC.qml" : "qrc:/qml/FlightDisplayViewDummy.qml"
}
}
QGCPipable {
id: _flightVideoPipControl
z: _flightVideo.z + 3
width: _pipSize
height: _pipSize * (9/16)
anchors.left: _panel.left
anchors.bottom: _panel.bottom
anchors.margins: ScreenTools.defaultFontPixelHeight
visible: QGroundControl.videoManager.hasVideo
isHidden: !_isPipVisible
isDark: isBackgroundDark
onActivated: {
_mainIsMap = !_mainIsMap
setStates()
}
onHideIt: {
setPipVisibility(!state)
}
}
Row {
id: singleMultiSelector
anchors.topMargin: ScreenTools.toolbarHeight + _margins
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelWidth
z: _panel.z + 4
visible: QGroundControl.multiVehicleManager.vehicles.count > 1
ExclusiveGroup { id: multiVehicleSelectorGroup }
QGCRadioButton {
id: singleVehicleView
exclusiveGroup: multiVehicleSelectorGroup
text: qsTr("Single")
checked: true
color: mapPal.text
}
QGCRadioButton {
exclusiveGroup: multiVehicleSelectorGroup
text: qsTr("Multi-Vehicle (WIP)")
color: mapPal.text
}
}
FlightDisplayViewWidgets {
id: flightDisplayViewWidgets
z: _panel.z + 4
height: ScreenTools.availableHeight
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.bottom: parent.bottom
qgcView: root
useLightColors: isBackgroundDark
missionController: _missionController
visible: singleVehicleView.checked
}
//-------------------------------------------------------------------------
//-- Loader helper for plugins to overlay elements over the fly view
Loader {
id: flyViewOverlay
z: flightDisplayViewWidgets.z + 1
height: ScreenTools.availableHeight
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.bottom: parent.bottom
property var qgcView: root
}
// Button to start/stop video recording
Item {
z: _flightVideoPipControl.z + 1
anchors.margins: ScreenTools.defaultFontPixelHeight / 2
anchors.bottom: _flightVideo.bottom
anchors.right: _flightVideo.right
height: ScreenTools.defaultFontPixelHeight * 2
width: height
visible: QGroundControl.videoManager.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue
opacity: 0.75
Rectangle {
anchors.top: parent.top
anchors.bottom: parent.bottom
width: height
radius: QGroundControl.videoManager && QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? 0 : height
color: "red"
}
QGCColoredImage {
anchors.top: parent.top
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
width: height * 0.625
sourceSize.width: width
source: "/qmlimages/CameraIcon.svg"
fillMode: Image.PreserveAspectFit
color: "white"
}
MouseArea {
anchors.fill: parent
onClicked: QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? QGroundControl.videoManager.videoReceiver.stopRecording() : QGroundControl.videoManager.videoReceiver.startRecording()
}
}
MultiVehicleList {
anchors.margins: _margins
anchors.top: singleMultiSelector.bottom
anchors.right: parent.right
anchors.bottom: parent.bottom
width: ScreenTools.defaultFontPixelWidth * 30
visible: !singleVehicleView.checked
z: _panel.z + 4
}
//-- Virtual Joystick
Loader {
id: virtualJoystickMultiTouch
z: _panel.z + 5
width: parent.width - (_flightVideoPipControl.width / 2)
height: Math.min(ScreenTools.availableHeight * 0.25, ScreenTools.defaultFontPixelWidth * 16)
visible: _virtualJoystick ? _virtualJoystick.value : false
anchors.bottom: _flightVideoPipControl.top
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 2
anchors.horizontalCenter: flightDisplayViewWidgets.horizontalCenter
source: "qrc:/qml/VirtualJoystick.qml"
active: _virtualJoystick ? _virtualJoystick.value : false
property bool useLightColors: isBackgroundDark
property Fact _virtualJoystick: QGroundControl.settingsManager.appSettings.virtualJoystick
}
ToolStrip {
visible: _activeVehicle ? _activeVehicle.guidedModeSupported : true
id: toolStrip
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: _panel.left
anchors.topMargin: ScreenTools.toolbarHeight + (_margins * 2)
anchors.top: _panel.top
z: _panel.z + 4
title: qsTr("Fly")
maxHeight: (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y
buttonVisible: [ _guidedController.showTakeoff || !_guidedController.showLand, _guidedController.showLand && !_guidedController.showTakeoff, true, true, true, _guidedController.smartShotsAvailable ]
buttonEnabled: [ _guidedController.showTakeoff, _guidedController.showLand, _guidedController.showRTL, _guidedController.showPause, _anyActionAvailable, _anySmartShotAvailable ]
property bool _anyActionAvailable: _guidedController.showStartMission || _guidedController.showResumeMission || _guidedController.showChangeAlt || _guidedController.showLandAbort
property bool _anySmartShotAvailable: _guidedController.showOrbit
property var _actionModel: [
{
title: _guidedController.startMissionTitle,
text: _guidedController.startMissionMessage,
action: _guidedController.actionStartMission,
visible: _guidedController.showStartMission
},
{
title: _guidedController.continueMissionTitle,
text: _guidedController.continueMissionMessage,
action: _guidedController.actionContinueMission,
visible: _guidedController.showContinueMission
},
{
title: _guidedController.resumeMissionTitle,
text: _guidedController.resumeMissionMessage,
action: _guidedController.actionResumeMission,
visible: _guidedController.showResumeMission
},
{
title: _guidedController.changeAltTitle,
text: _guidedController.changeAltMessage,
action: _guidedController.actionChangeAlt,
visible: _guidedController.showChangeAlt
},
{
title: _guidedController.landAbortTitle,
text: _guidedController.landAbortMessage,
action: _guidedController.actionLandAbort,
visible: _guidedController.showLandAbort
}
]
property var _smartShotModel: [
{
title: _guidedController.orbitTitle,
text: _guidedController.orbitMessage,
action: _guidedController.actionOrbit,
visible: _guidedController.showOrbit
}
]
model: [
{
name: _guidedController.takeoffTitle,
iconSource: "/res/takeoff.svg",
action: _guidedController.actionTakeoff
},
{
name: _guidedController.landTitle,
iconSource: "/res/land.svg",
action: _guidedController.actionLand
},
{
name: _guidedController.rtlTitle,
iconSource: "/res/rtl.svg",
action: _guidedController.actionRTL
},
{
name: _guidedController.pauseTitle,
iconSource: "/res/pause-mission.svg",
action: _guidedController.actionPause
},
{
name: qsTr("Action"),
iconSource: "/res/action.svg",
action: -1
},
/*
No firmware support any smart shots yet
{
name: qsTr("Smart"),
iconSource: "/qmlimages/MapCenter.svg",
action: -1
},
*/
]
onClicked: {
guidedActionsController.closeAll()
var action = model[index].action
if (action === -1) {
if (index == 4) {
guidedActionList.model = _actionModel
guidedActionList.visible = true
} else if (index == 5) {
guidedActionList.model = _smartShotModel
guidedActionList.visible = true
}
} else {
_guidedController.confirmAction(action)
}
}
}
GuidedActionsController {
id: guidedActionsController
missionController: _missionController
confirmDialog: guidedActionConfirm
altitudeSlider: _altitudeSlider
z: _flightVideoPipControl.z + 1
onShowStartMissionChanged: {
if (showStartMission && !showResumeMission) {
confirmAction(actionStartMission)
}
}
onShowContinueMissionChanged: {
if (showContinueMission) {
confirmAction(actionContinueMission)
}
}
onShowResumeMissionChanged: {
if (showResumeMission) {
confirmAction(actionResumeMission)
}
}
onShowLandAbortChanged: {
if (showLandAbort) {
confirmAction(actionLandAbort)
}
}
/// Close all dialogs
function closeAll() {
rootLoader.sourceComponent = null
guidedActionConfirm.visible = false
guidedActionList.visible = false
altitudeSlider.visible = false
}
}
GuidedActionConfirm {
id: guidedActionConfirm
anchors.margins: _margins
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
guidedController: _guidedController
altitudeSlider: _altitudeSlider
}
GuidedActionList {
id: guidedActionList
anchors.margins: _margins
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
guidedController: _guidedController
}
//-- Altitude slider
GuidedAltitudeSlider {
id: altitudeSlider
anchors.margins: _margins
anchors.right: parent.right
anchors.topMargin: ScreenTools.toolbarHeight + _margins
anchors.top: parent.top
anchors.bottom: parent.bottom
z: _guidedController.z
radius: ScreenTools.defaultFontPixelWidth / 2
width: ScreenTools.defaultFontPixelWidth * 10
color: qgcPal.window
visible: false
}
}
}