/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "MissionCommandUIInfo.h"
#include "MissionController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
#include "SurveyMissionItem.h"
#include "FixedWingLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "StructureScanComplexItem.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 "KML.h"
#ifndef __mobile__
#include "MainWindow.h"
#include "QGCQFileDialog.h"
#endif
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)
, _missionManager(_managerVehicle->missionManager())
, _visualItems(NULL)
, _settingsItem(NULL)
, _firstItemsFromVehicle(false)
, _itemsRequested(false)
, _surveyMissionItemName(tr("Survey"))
, _fwLandingMissionItemName(tr("Fixed Wing Landing"))
, _structureScanMissionItemName(tr("Structure Scan"))
, _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct(0)
, _currentPlanViewIndex(-1)
, _currentPlanViewItem(NULL)
{
_resetMissionFlightStatus();
managerVehicleChanged(_managerVehicle);
}
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();
// 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 = (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 editMode)
{
qCDebug(MissionControllerLog) << "start editMode" << editMode;
PlanElementController::start(editMode);
_init();
}
void MissionController::_init(void)
{
// We start with an empty mission
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_visualItems, false /* addToCenter */);
_initAllVisualItems();
}
// Called when new mission items have completed downloading from Vehicle
void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllRequested)
{
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle";
// Fly view always reloads on _loadComplete
// Plan view only reloads on _loadComplete if specifically requested
if (!_editMode || removeAllRequested || _itemsRequested) {
// Fly Mode (accept if):
// - Always accepts new items from the vehicle so Fly view is kept up to date
// Edit Mode (accept if):
// - Either a load from vehicle was manually requested or
// - The initial automatic load from a vehicle completed and the current editor is empty
// - Remove all way requested from Fly view (clear mission on flight end)
QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
int i = 0;
if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position
_addMissionSettings(newControllerMissionItems, false /* addToCenter */);
MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not settings item";
return;
}
MissionItem* fakeHomeItem = newMissionItems[0];
if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
settingsItem->setCoordinate(fakeHomeItem->coordinate());
}
i = 1;
}
for (; i<newMissionItems.count(); i++) {
const MissionItem* missionItem = newMissionItems[i];
newControllerMissionItems->append(new SimpleMissionItem(_controllerVehicle, *missionItem, this));
}
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
_visualItems = NULL;
_updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
_visualItems = newControllerMissionItems;
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
}
if (_editMode) {
MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
}
_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::convertToKMLDocument(QDomDocument& document)
{
QJsonObject missionJson;
QmlObjectListModel* visualItems = new QmlObjectListModel();
QList<MissionItem*> missionItems;
QString error;
save(missionJson);
_loadItemsFromJson(missionJson, visualItems, error);
_convertToMissionItems(visualItems, missionItems, this);
if (missionItems.count() == 0) {
return;
}
float altitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
QString coord;
QStringList coords;
// Drop home position
bool dropPoint = true;
for(const auto& item : missionItems) {
if(dropPoint) {
dropPoint = false;
continue;
}
const MissionCommandUIInfo* uiInfo = \
qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
coord = QString::number(item->param6(),'f',7) \
+ "," \
+ QString::number(item->param5(),'f',7) \
+ "," \
+ QString::number(item->param7() + altitude,'f',2);
coords.append(coord);
}
}
Kml kml;
kml.points(coords);
kml.save(document);
}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
QList<MissionItem*> rgMissionItems;
_convertToMissionItems(visualMissionItems, rgMissionItems, vehicle);
vehicle->missionManager()->writeMissionItems(rgMissionItems);
for (int i=0; i<rgMissionItems.count(); i++) {
rgMissionItems[i]->deleteLater();
}
}
}
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;
}
}
int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
_initVisualItem(newItem);
if (_visualItems->count() == 1) {
newItem->setCommand(_controllerVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
}
newItem->setDefaultsForCommand();
if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
double prevAltitude;
MAV_FRAME prevFrame;
if (_findPreviousAltitude(i, &prevAltitude, &prevFrame)) {
newItem->missionItem().setFrame(prevFrame);
newItem->missionItem().setParam7(prevAltitude);
}
}
_visualItems->insert(i, newItem);
_recalcAll();
return newItem->sequenceNumber();
}
int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_DO_SET_ROI);
_initVisualItem(newItem);
newItem->setDefaultsForCommand();
double prevAltitude;
MAV_FRAME prevFrame;
if (_findPreviousAltitude(i, &prevAltitude, &prevFrame)) {
newItem->missionItem().setFrame(prevFrame);
newItem->missionItem().setParam7(prevAltitude);
}
_visualItems->insert(i, newItem);
_recalcAll();
return newItem->sequenceNumber();
}
int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i)
{
ComplexMissionItem* newItem;
int sequenceNumber = _nextSequenceNumber();
if (itemName == _surveyMissionItemName) {
newItem = new SurveyMissionItem(_controllerVehicle, _visualItems);
newItem->setCoordinate(mapCenterCoordinate);
// If the vehicle is known to have a gimbal then we automatically point the gimbal straight down if not already set
bool rollSupported = false;
bool pitchSupported = false;
bool yawSupported = false;
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);
}
}
} else if (itemName == _fwLandingMissionItemName) {
newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
} else if (itemName == _structureScanMissionItemName) {
newItem = new StructureScanComplexItem(_controllerVehicle, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber;
}
newItem->setSequenceNumber(sequenceNumber);
_initVisualItem(newItem);
_visualItems->insert(i, newItem);
_recalcAll();
return newItem->sequenceNumber();
}
void MissionController::removeMissionItem(int index)
{
if (index <= 0 || index >= _visualItems->count()) {
qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << index;
return;
}
bool surveyRemoved = _visualItems->value<SurveyMissionItem*>(index);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
_deinitVisualItem(item);
item->deleteLater();
if (surveyRemoved) {
// Determine if the mission still has another survey in it
bool foundSurvey = false;
for (int i=1; i<_visualItems->count(); i++) {
if (_visualItems->value<SurveyMissionItem*>(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;
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
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();
setDirty(true);
}
void MissionController::removeAll(void)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_visualItems, false /* addToCenter */);
_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<SurveyMissionItem*> 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;
}
SurveyMissionItem* item = new SurveyMissionItem(_controllerVehicle, visualItems);
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());
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()) {
SurveyMissionItem* 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(_controllerVehicle, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
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());
if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
settingsItem->setCoordinate(item->coordinate());
visualItems->insert(0, settingsItem);
item->deleteLater();
} else {
return false;
}
} else {
_addMissionSettings(visualItems, true /* addToCenter */);
}
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((MAV_AUTOPILOT)json[_jsonFirmwareTypeKey].toInt()));
if (json.contains(_jsonVehicleTypeKey)) {
appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType((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(_controllerVehicle, 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(_controllerVehicle, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
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 == SurveyMissionItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyMissionItem* surveyItem = new SurveyMissionItem(_controllerVehicle, 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(_controllerVehicle, 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 == StructureScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Structure Scan: nextSequenceNumber" << nextSequenceNumber;
StructureScanComplexItem* structureItem = new StructureScanComplexItem(_controllerVehicle, 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 == MissionSettingsItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = settingsItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Mission Settings load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(settingsItem);
} 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 ((MAV_CMD)doJumpItem->command() == MAV_CMD_DO_JUMP) {
bool found = false;
int findDoJumpId = 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::validateQGCJsonFile(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) {
// Start with planned home in center
_addMissionSettings(visualItems, true /* addToCenter */);
MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, visualItems);
if (item->load(stream)) {
if (firstItem && plannedHomePositionInFile) {
settingsItem->setCoordinate(item->coordinate());
} else {
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() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->missionItem().setParam1((int)item->missionItem().param1() + 1);
}
}
}
return true;
}
void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualItems)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
}
_visualItems = loadedVisualItems;
if (_visualItems->count() == 0) {
_addMissionSettings(_visualItems, true /* addToCenter */);
}
MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
_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;
}
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(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->exitCoordinate();
bool distanceOk = false;
// Convert to fixed altitudes
distanceOk = true;
if (currentItem != _settingsItem && currentItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude());
}
if (prevItem != _settingsItem && prevItem->exitCoordinateHasRelativeAltitude()) {
prevCoord.setAltitude(homeAlt + prevCoord.altitude());
}
if (distanceOk) {
*altDifference = currentCoord.altitude() - prevCoord.altitude();
*distance = prevCoord.distanceTo(currentCoord);
*azimuth = prevCoord.azimuthTo(currentCoord);
} else {
*altDifference = 0.0;
*azimuth = 0.0;
*distance = 0.0;
}
}
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;
}
void MissionController::_addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair)
{
if (prevItemPairHashTable.contains(pair)) {
// Pair already exists and connected, just re-use
_linesTable[pair] = prevItemPairHashTable.take(pair);
} else {
// Create a new segment and wire update notifiers
auto linevect = new CoordinateVector(pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate(), pair.second->coordinate(), this);
auto originNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
auto endNotifier = &VisualMissionItem::coordinateChanged;
// Use signals/slots to update the coordinate endpoints
connect(pair.first, originNotifier, linevect, &CoordinateVector::setCoordinate1);
connect(pair.second, endNotifier, linevect, &CoordinateVector::setCoordinate2);
// FIXME: We should ideally have signals for 2D position change, alt change, and 3D position change
// Not optimal, but still pretty fast, do a full update of range/bearing/altitudes
connect(pair.second, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatus);
_linesTable[pair] = linevect;
}
}
void MissionController::_recalcWaypointLines(void)
{
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool showHomePosition = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcWaypointLines showHomePosition" << showHomePosition;
CoordVectHashTable old_table = _linesTable;
_linesTable.clear();
_waypointLines.clear();
bool linkEndToHome;
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
bool linkStartToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// If we still haven't found the first coordinate item and we hit a takeoff command, link back to home
if (firstCoordinateItem &&
item->isSimpleItem() &&
(qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF)) {
linkStartToHome = true;
}
if (item->specifiesCoordinate()) {
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
VisualItemPair pair(lastCoordinateItem, item);
if (lastCoordinateItem != _settingsItem || (showHomePosition && linkStartToHome)) {
_addWaypointLineSegment(old_table, pair);
}
lastCoordinateItem = item;
}
}
}
if (linkEndToHome && lastCoordinateItem != _settingsItem && showHomePosition) {
VisualItemPair pair(lastCoordinateItem, _settingsItem);
_addWaypointLineSegment(old_table, pair);
}
{
// Create a temporary QObjectList and replace the model data
QObjectList objs;
objs.reserve(_linesTable.count());
foreach(CoordinateVector *vect, _linesTable.values()) {
objs.append(vect);
}
// We don't delete here because many links may still be valid
_waypointLines.swapObjectList(objs);
}
// Anything left in the old table is an obsolete line object that can go
qDeleteAll(old_table);
_recalcMissionFlightStatus();
emit waypointLinesChanged();
}
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);
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 additional time to a mission as specified by the command
void MissionController::_addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover)
{
double seconds = 0;
if (!simpleItem) {
return;
}
// This routine is currently quite minimal and only handles the simple cases.
switch ((int)simpleItem->command()) {
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_CONDITION_DELAY:
seconds = simpleItem->missionItem().param1();
break;
}
_addTimeDistance(vtolInHover, 0, 0, seconds, 0, -1);
}
/// 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* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool showHomePosition = _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
lastCoordinateItem->setAltDifference(0.0);
lastCoordinateItem->setAzimuth(0.0);
lastCoordinateItem->setDistance(0.0);
double minAltSeen = 0.0;
double maxAltSeen = 0.0;
const double homePositionAltitude = _settingsItem->coordinate().altitude();
minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();
_resetMissionFlightStatus();
bool vtolInHover = true;
bool linkStartToHome = false;
bool linkEndToHome = false;
if (showHomePosition) {
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
}
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);
// 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;
}
// Look for gimbal change
if (_managerVehicle->vehicleYawsToNextWaypointInMission()) {
// We current only support gimbal display in this mode
double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw)) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
}
if (i == 0) {
// We only process speed and gimbal from Mission Settings item
continue;
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
if (showHomePosition) {
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(homePositionAltitude, _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 MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
vtolInHover = false;
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LAND:
vtolInHover = false;
break;
case MavlinkQmlSingleton::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;
}
}
// Check for command specific time delays
_addCommandTimeDelay(simpleItem, vtolInHover);
if (item->specifiesCoordinate()) {
// Update vehicle yaw assuming direction to next waypoint
if (item != lastCoordinateItem) {
_missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
}
// Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
double terrainAltitude = item->terrainAltitude();
if (!qIsNaN(terrainAltitude)) {
minAltSeen = std::min(minAltSeen, terrainAltitude);
maxAltSeen = std::max(maxAltSeen, terrainAltitude);
}
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (lastCoordinateItem != _settingsItem || linkStartToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
_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;
double extraTime = complexItem->additionalTimeDelay();
_addTimeDistance(vtolInHover, hoverTime, cruiseTime, extraTime, distance, item->sequenceNumber());
}
item->setMissionFlightStatus(_missionFlightStatus);
}
lastCoordinateItem = item;
}
}
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
if (linkEndToHome && lastCoordinateItem != _settingsItem) {
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, lastCoordinateItem, _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);
// Walk the list again calculating altitude percentages
double altRange = maxAltSeen - minAltSeen;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (item->specifiesCoordinate()) {
double absoluteAltitude = item->coordinate().altitude();
if (item->coordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
if (altRange == 0.0) {
item->setAltPercent(0.0);
item->setTerrainPercent(qQNaN());
} else {
item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
if (!qIsNaN(item->terrainAltitude())) {
item->setTerrainPercent((item->terrainAltitude() - minAltSeen) / altRange);
}
}
}
}
}
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
// Setup ascending sequence numbers for all visual items
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;
}
}
// 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 = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else if (item->isSimpleItem()) {
currentParentItem->childItems()->append(item);
}
}
}
void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
{
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()) {
_settingsItem->setCoordinate(item->coordinate().atDistanceAndAzimuth(30, 0));
}
}
}
void MissionController::_recalcAll(void)
{
if (_editMode) {
_setPlannedHomePositionFromFirstCoordinate();
}
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
}
/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void)
{
// Setup home position at index 0
_settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (!_settingsItem) {
qWarning() << "First item not MissionSettingsItem";
return;
}
if (_editMode) {
_settingsItem->setIsCurrentItem(true);
}
if (_managerVehicle->homePosition().isValid()) {
_settingsItem->setCoordinate(_managerVehicle->homePosition());
}
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::missionEndRTLChanged, 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());
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::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatus);
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::_recalcMissionFlightStatus);
connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatus);
} else {
qWarning() << "ComplexMissionItem not found";
}
}
}
void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
{
// Disconnect all signals
disconnect(visualItem, 0, 0, 0);
}
void MissionController::_itemCommandChanged(void)
{
_recalcChildItems();
_recalcWaypointLines();
}
void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
{
if (_managerVehicle) {
_missionManager->disconnect(this);
_managerVehicle->disconnect(this);
_managerVehicle = NULL;
_missionManager = NULL;
}
_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::homePositionChanged, this, &MissionController::_managerVehicleHomePositionChanged);
connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this, &MissionController::complexMissionItemNamesChanged);
if (!_masterController->offline()) {
_managerVehicleHomePositionChanged(_managerVehicle->homePosition());
}
emit complexMissionItemNamesChanged();
emit resumeMissionIndexChanged();
}
void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (_visualItems) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (settingsItem) {
settingsItem->setHomePositionFromVehicle(homePosition);
} else {
qWarning() << "First item is not MissionSettingsItem";
}
// Don't let this trip the dirty bit. Otherwise plan will keep getting marked dirty if vehicle home
// changes.
_visualItems->setDirty(false);
}
}
void MissionController::_inProgressChanged(bool inProgress)
{
emit syncInProgressChanged(inProgress);
}
bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame)
{
bool found = false;
double foundAltitude;
MAV_FRAME foundFrame;
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 ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_WAYPOINT) {
foundAltitude = simpleItem->exitCoordinate().altitude();
foundFrame = simpleItem->missionItem().frame();
found = true;
break;
}
}
}
}
if (found) {
*prevAltitude = foundAltitude;
*prevFrame = foundFrame;
}
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
void MissionController::_addMissionSettings(QmlObjectListModel* visualItems, bool addToCenter)
{
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
qCDebug(MissionControllerLog) << "_addMissionSettings addToCenter" << addToCenter;
visualItems->insert(0, settingsItem);
if (addToCenter) {
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->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
}
}
} else if (_managerVehicle->homePosition().isValid()) {
settingsItem->setCoordinate(_managerVehicle->homePosition());
}
}
int MissionController::resumeMissionIndex(void) const
{
int resumeIndex = 0;
if (!_editMode) {
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 (_editMode) {
return -1;
} else {
int currentIndex = _missionManager->currentIndex();
if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
currentIndex++;
}
return currentIndex;
}
}
void MissionController::_currentMissionIndexChanged(int sequenceNumber)
{
if (!_editMode) {
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, Vehicle* vehicle)
{
// First we look for a Fixed Wing Landing Pattern which is at the end
FixedWingLandingComplexItem::scanForItem(visualItems, vehicle);
int scanIndex = 0;
while (scanIndex < visualItems->count()) {
VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(scanIndex);
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
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, vehicle);
} 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(_surveyMissionItemName);
if (_controllerVehicle->fixedWing()) {
complexItems.append(_fwLandingMissionItemName);
}
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
complexItems.append(_structureScanMissionItemName);
}
return 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" << _editMode;
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 && !_editMode) {
showPlanFromManagerVehicle();
}
}
void MissionController::_managerRemoveAllComplete(bool error)
{
if (!error) {
// Remove all from vehicle so we always update
showPlanFromManagerVehicle();
}
}
int MissionController::currentPlanViewIndex(void) const
{
return _currentPlanViewIndex;
}
VisualMissionItem* MissionController::currentPlanViewItem(void) const
{
return _currentPlanViewItem;
}
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if(_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
_currentPlanViewItem = NULL;
_currentPlanViewIndex = -1;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
if (pVI && pVI->sequenceNumber() == sequenceNumber) {
pVI->setIsCurrentItem(true);
_currentPlanViewItem = pVI;
_currentPlanViewIndex = sequenceNumber;
} else {
pVI->setIsCurrentItem(false);
}
}
emit currentPlanViewIndexChanged();
emit currentPlanViewItemChanged();
}
}