/**************************************************************************** * * (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 signal showConfirmAction(string title, string message, int action, var actionData) 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 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.") 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(_resumeMissionItem) 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 actionResumeMission: 13 readonly property int actionResumeMissionReady: 14 readonly property int actionPause: 15 property bool showEmergenyStop: !_hideEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying property bool showDisarm: _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying property bool showRTL: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying && !_vehicleInRTLMode property bool showTakeoff: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && !_activeVehicle.fixedWing property bool showLand: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing && !_vehicleInLandMode property bool showStartMission: _activeVehicle && _missionAvailable && !_missionActive property bool showResumeMission: _activeVehicle && !_activeVehicle.flying && _missionAvailable && _resumeMissionItem > 1 property bool showPause: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying && !_vehiclePaused property bool showChangeAlt: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_missionActive property bool showOrbit: !_hideOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed && !_missionActive property bool showLandAbort: _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing property bool showGotoLocation: _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property bool _missionAvailable: missionController.containsItems property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false property bool _vehiclePaused: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.pauseFlightMode : false property bool _vehicleInRTLMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.rtlFlightMode : false property bool _vehicleInLandMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.landFlightMode : false property int _resumeMissionItem: missionController.resumeMissionItem property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit property var _actionData // Called when an action is about to be executed in order to confirm function confirmAction(actionCode, actionData) { var title var message _actionData = actionData switch (actionCode) { case actionArm: if (_activeVehicle.flying) { return } title = armTitle message = armMessage break; case actionDisarm: if (_activeVehicle.flying) { return } title = disarmTitle message = disarmMessage break; case actionEmergencyStop: title = emergencyStopTitle message = emergencyStopMessage break; case actionTakeoff: title = takeoffTitle message = takeoffMessage break; case actionStartMission: title = startMissionTitle message = startMissionMessage break; case actionResumeMission: title = resumeMissionTitle message = resumeMissionMessage break; case actionResumeMissionReady: title = resumeMissionTitle message = resumeMissionReadyMessage break; case actionLand: title = landTitle message = landMessage break; case actionRTL: title = rtlTitle message = rtlMessage break; case actionChangeAlt: title = changeAltTitle message = changeAltMessage break; case actionGoto: title = gotoTitle message = gotoMessage break; case actionSetWaypoint: title = setWaypointTitle message = setWaypointMessage break; case actionOrbit: title = orbitTitle message = orbitMessage break; case actionLandAbort: title = landAbortTitle message = landAbortMessage break; case actionPause: title = pauseTitle message = pauseMessage break; } showConfirmAction(title, message, actionCode, actionData) } // 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.resumeMissionItem) break case actionResumeMissionReady: _activeVehicle.startMission() break case actionStartMission: _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 } } }