/**************************************************************************** * * (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. * ****************************************************************************/ #include "MissionController.h" #include "AppSettings.h" #include "CoordinateVector.h" #include "CorridorScanComplexItem.h" #include "FirmwarePlugin.h" #include "FixedWingLandingComplexItem.h" #include "JsonHelper.h" #include "KML.h" #include "MissionCommandUIInfo.h" #include "MissionManager.h" #include "MissionSettingsItem.h" #include "MultiVehicleManager.h" #include "ParameterManager.h" #include "PlanMasterController.h" #include "QGCApplication.h" #include "QGCCorePlugin.h" #include "QGCQGeoCoordinate.h" #include "QGroundControlQmlGlobal.h" #include "SettingsManager.h" #include "SimpleMissionItem.h" #include "StructureScanComplexItem.h" #include "SurveyComplexItem.h" #include "src/Wima/CircularSurvey.h" #ifndef __mobile__ #include "MainWindow.h" #include "QGCQFileDialog.h" #endif #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes #define REMAINING_DIST_TIME_UPDATE_INTERVAL \ 300 ///< How often we check for bounding box changes 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; const QString MissionController::patternFWLandingName( QT_TRANSLATE_NOOP("MissionController", "Fixed Wing Landing")); const QString MissionController::patternStructureScanName( QT_TRANSLATE_NOOP("MissionController", "Structure Scan")); const QString MissionController::patternCorridorScanName( QT_TRANSLATE_NOOP("MissionController", "Corridor Scan")); MissionController::MissionController(PlanMasterController *masterController, QObject *parent) : PlanElementController(masterController, parent), _missionManager(_managerVehicle->missionManager()), _missionItemCount(0), _visualItems(nullptr), _settingsItem(nullptr), _firstItemsFromVehicle(false), _itemsRequested(false), _inRecalcSequence(false), _surveyMissionItemName(tr("Survey")), _circularSurveyMissionItemName(tr("Circular Survey")), _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings()), _progressPct(0), _currentPlanViewIndex(-1), _currentPlanViewItem(nullptr), _remainingTime(-1), _remainingDistance(-1) { _resetMissionFlightStatus(); managerVehicleChanged(_managerVehicle); _updateTimer.setSingleShot(true); connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout); _remainingDistanceTimeTimer.setInterval(REMAINING_DIST_TIME_UPDATE_INTERVAL); connect(&_remainingDistanceTimeTimer, &QTimer::timeout, this, &MissionController::_updateRemainingDistanceTime); } 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::quiet_NaN(); _missionFlightStatus.gimbalPitch = std::numeric_limits::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 = static_cast(_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 flyView) { qCDebug(MissionControllerLog) << "start flyView" << flyView; PlanElementController::start(flyView); _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 flyView:count" << _flyView << _missionManager->missionItems().count(); // Fly view always reloads on _loadComplete // Plan view only reloads on _loadComplete if specifically requested if (_flyView || removeAllRequested || _itemsRequested || _visualItems->count() <= 1) { // Fly Mode (accept if): // - Always accepts new items from the vehicle so Fly view is kept up // to date // Edit Mode (accept if): // - Remove all was requested from Fly view (clear mission on flight // end) // - A load from vehicle was manually requested // - The initial automatic load from a vehicle completed and the // current editor is empty QmlObjectListModel *newControllerMissionItems = new QmlObjectListModel(this); const QList &newMissionItems = _missionManager->missionItems(); qCDebug(MissionControllerLog) << "loading from vehicle: count" << newMissionItems.count(); _missionItemCount = newMissionItems.count(); emit missionItemCountChanged(_missionItemCount); int i = 0; if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) { // First item is fake home position _addMissionSettings(newControllerMissionItems, false /* addToCenter */); MissionSettingsItem *settingsItem = newControllerMissionItems->value(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, _flyView, *missionItem, this)); } _deinitAllVisualItems(); _visualItems->deleteLater(); _settingsItem = nullptr; _visualItems = nullptr; _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, !_flyView && _visualItems->count() > 0 /* addToCenter */); } 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::_warnIfTerrainFrameUsed(void) { for (int i = 1; i < _visualItems->count(); i++) { SimpleMissionItem *simpleItem = qobject_cast(_visualItems->get(i)); if (simpleItem && simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) { qgcApp()->showMessage( tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a " "mission. %1 does not support sending terrain tiles to vehicle.") .arg(qgcApp()->applicationName())); break; } } } void MissionController::_setRemainingDistance(double dist) { if (qFuzzyCompare(dist, _remainingDistance) == false) { _remainingDistance = dist; emit remainingDistanceChanged(); } } void MissionController::_setRemainingTime(double time) { if (qFuzzyCompare(time, _remainingTime) == false) { _remainingTime = time; emit remainingTimeChanged(); } } 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"; _warnIfTerrainFrameUsed(); 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, _surveyMissionItemName (tr("Survey")) /// @return true: Mission end action was added to end of list bool MissionController::convertToMissionItems( QmlObjectListModel *visualMissionItems, QList &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(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(0); if (settingsItem) { endActionSet = settingsItem->addMissionEndAction( rgMissionItems, lastSeqNum + 1, missionItemParent); } return endActionSet; } void MissionController::convertToKMLDocument(QDomDocument &document) { QObject *deleteParent = new QObject(); QList rgMissionItems; convertToMissionItems(_visualItems, rgMissionItems, deleteParent); if (rgMissionItems.count() == 0) { return; } const double homePositionAltitude = _settingsItem->coordinate().altitude(); QString coord; QStringList coords; // Drop home position bool dropPoint = true; for (const auto &item : rgMissionItems) { if (dropPoint) { dropPoint = false; continue; } const MissionCommandUIInfo *uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command()); if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) { double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homePositionAltitude); coord = QString::number(item->param6(), 'f', 7) + "," + QString::number(item->param5(), 'f', 7) + "," + QString::number(amslAltitude, 'f', 2); coords.append(coord); } } deleteParent->deleteLater(); Kml kml; kml.points(coords); kml.save(document); } void MissionController::sendItemsToVehicle( Vehicle *vehicle, QmlObjectListModel *visualMissionItems) { if (vehicle) { QList rgMissionItems; convertToMissionItems(visualMissionItems, rgMissionItems, vehicle); // PlanManager takes control of MissionItems so no need to delete vehicle->missionManager()->writeMissionItems(rgMissionItems); } } int MissionController::_nextSequenceNumber(void) { if (_visualItems->count() == 0) { qWarning() << "Internal error: Empty visual item list"; return 0; } else { VisualMissionItem *lastItem = _visualItems->value(_visualItems->count() - 1); return lastItem->lastSequenceNumber() + 1; } } int MissionController::insertSimpleMissionItem(const QGeoCoordinate &coordinate, int i) { int sequenceNumber = _nextSequenceNumber(); SimpleMissionItem *newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this); newItem->setSequenceNumber(sequenceNumber); newItem->setCoordinate(coordinate); newItem->setCommand(MAV_CMD_NAV_WAYPOINT); _initVisualItem(newItem); if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) { MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF; if (_controllerVehicle->firmwarePlugin() ->supportedMissionCommands() .contains(takeoffCmd)) { newItem->setCommand(takeoffCmd); } } if (newItem->specifiesAltitude()) { double prevAltitude; int prevAltitudeMode; if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) { newItem->altitude()->setRawValue(prevAltitude); newItem->setAltitudeMode( static_cast(prevAltitudeMode)); } } newItem->setMissionFlightStatus(_missionFlightStatus); _visualItems->insert(i, newItem); // We send the click coordinate through here to be able to set the planned // home position from the user click location if needed _recalcAllWithClickCoordinate(coordinate); return newItem->sequenceNumber(); } int MissionController::insertSimpleMissionItems( const QList &coordinates, int idx) { MAV_CMD mavCmd = MAV_CMD_NAV_WAYPOINT; if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) { mavCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF; if (!_controllerVehicle->firmwarePlugin() ->supportedMissionCommands() .contains(mavCmd)) { mavCmd = MAV_CMD_NAV_WAYPOINT; } } int sequenceNumber = _nextSequenceNumber(); int size = coordinates.size(); SimpleMissionItem *newItem = nullptr; bool firstItem = true; double prevAltitude = 0.0; int prevAltitudeMode = 0; for (int i = 0; i < size; ++i) { newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this); newItem->setSequenceNumber(sequenceNumber); newItem->setCoordinate(coordinates[i]); newItem->setCommand(mavCmd); _initSimpleItem(newItem); if (!firstItem || (newItem->specifiesAltitude() && _findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode))) { newItem->altitude()->setRawValue(prevAltitude); newItem->setAltitudeMode( static_cast(prevAltitudeMode)); } newItem->setMissionFlightStatus(_missionFlightStatus); _visualItems->insert(idx++, newItem); sequenceNumber = newItem->lastSequenceNumber() + 1; mavCmd = MAV_CMD_NAV_WAYPOINT; firstItem = false; } _recalcSequence(); _recalcChildItems(); _recalcWaypointLines(); _updateTimer.start(UPDATE_TIMEOUT); if (newItem == nullptr) return -1; return newItem->sequenceNumber(); } int MissionController::insertSimpleMissionItem(const MissionItem &missionItem, int i) { int sequenceNumber = _nextSequenceNumber(); SimpleMissionItem *newItem = new SimpleMissionItem(_controllerVehicle, _flyView, missionItem, this); newItem->setSequenceNumber(sequenceNumber); _initVisualItem(newItem); MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF; if (newItem->command() == takeoffCmd) { if (!_controllerVehicle->firmwarePlugin() ->supportedMissionCommands() .contains(takeoffCmd)) { newItem->setCommand(MAV_CMD_NAV_WAYPOINT); return -1; // can not add this takeoff command for this vehicle } } if (newItem->specifiesAltitude()) { newItem->altitude()->setRawValue(missionItem.relativeAltitude()); newItem->setAltitudeMode( QGroundControlQmlGlobal::AltitudeMode::AltitudeModeRelative); } newItem->setMissionFlightStatus(_missionFlightStatus); _visualItems->insert(i, newItem); return newItem->sequenceNumber(); } int MissionController::insertSimpleMissionItem( const SimpleMissionItem &missionItem, int i) { int sequenceNumber = _nextSequenceNumber(); SimpleMissionItem *newItem = new SimpleMissionItem(missionItem, _flyView, this); newItem->setSequenceNumber(sequenceNumber); _initVisualItem(newItem); MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF; if (newItem->command() == takeoffCmd) { if (!_controllerVehicle->firmwarePlugin() ->supportedMissionCommands() .contains(takeoffCmd)) { newItem->setCommand(MAV_CMD_NAV_WAYPOINT); return -1; // can not add this takeoff command for this vehicle } } newItem->setMissionFlightStatus(_missionFlightStatus); _visualItems->insert(i, newItem); return newItem->sequenceNumber(); } int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i) { int sequenceNumber = _nextSequenceNumber(); SimpleMissionItem *newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this); newItem->setSequenceNumber(sequenceNumber); newItem->setCommand(( _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains( MAV_CMD_DO_SET_ROI_LOCATION) ? MAV_CMD_DO_SET_ROI_LOCATION : MAV_CMD_DO_SET_ROI)); _initVisualItem(newItem); newItem->setCoordinate(coordinate); double prevAltitude; int prevAltitudeMode; if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) { newItem->altitude()->setRawValue(prevAltitude); newItem->setAltitudeMode( static_cast(prevAltitudeMode)); } _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 SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */); newItem->setCoordinate(mapCenterCoordinate); } else if (itemName == patternFWLandingName) { newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, _visualItems /* parent */); } else if (itemName == patternStructureScanName) { newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */); } else if (itemName == patternCorridorScanName) { newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */); } else if (itemName == _circularSurveyMissionItemName) { newItem = new CircularSurvey(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */); } else { qWarning() << "Internal error: Unknown complex item:" << itemName; return sequenceNumber; } return _insertComplexMissionItemWorker(newItem, i); } int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int i) { ComplexMissionItem *newItem; if (itemName == _surveyMissionItemName) { newItem = new SurveyComplexItem(_controllerVehicle, _flyView, file, _visualItems); } else if (itemName == patternStructureScanName) { newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, file, _visualItems); } else if (itemName == patternCorridorScanName) { newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, file, _visualItems); } else { qWarning() << "Internal error: Unknown complex item:" << itemName; return _nextSequenceNumber(); } return _insertComplexMissionItemWorker(newItem, i); } int MissionController::_insertComplexMissionItemWorker( ComplexMissionItem *complexItem, int i) { int sequenceNumber = _nextSequenceNumber(); bool surveyStyleItem = qobject_cast(complexItem) || qobject_cast(complexItem) || qobject_cast(complexItem); if (surveyStyleItem) { bool rollSupported = false; bool pitchSupported = false; bool yawSupported = false; // If the vehicle is known to have a gimbal then we automatically point the // gimbal straight down if not already set MissionSettingsItem *settingsItem = _visualItems->value(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); } } } complexItem->setSequenceNumber(sequenceNumber); _initVisualItem(complexItem); if (i == -1) { _visualItems->append(complexItem); } else { _visualItems->insert(i, complexItem); } //-- Keep track of bounding box changes in complex items if (!complexItem->isSimpleItem()) { connect(complexItem, &ComplexMissionItem::boundingCubeChanged, this, &MissionController::_complexBoundingBoxChanged); } _recalcAll(); return complexItem->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 removeSurveyStyle = _visualItems->value(index) || _visualItems->value(index) || _visualItems->value(index); VisualMissionItem *item = qobject_cast(_visualItems->removeAt(index)); _deinitVisualItem(item); item->deleteLater(); if (removeSurveyStyle) { // Determine if the mission still has another survey style item in it bool foundSurvey = false; for (int i = 1; i < _visualItems->count(); i++) { if (_visualItems->value(i) || _visualItems->value(i) || _visualItems->value(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(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->clearAndDeleteContents(); _visualItems->deleteLater(); _settingsItem = nullptr; _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 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 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; } SurveyComplexItem *item = new SurveyComplexItem( _controllerVehicle, _flyView, QString() /* kmlFile */, visualItems /* parent */); 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()) { SurveyComplexItem *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, _flyView, 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, _flyView, visualItems); if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) { MissionSettingsItem *settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, 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 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( static_cast(json[_jsonFirmwareTypeKey].toInt()))); if (json.contains(_jsonVehicleTypeKey)) { appSettings->offlineEditingVehicleType()->setRawValue( AppSettings::offlineEditingVehicleTypeFromVehicleType( static_cast(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, _flyView, 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 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, _flyView, 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 complexItemKeyInfoList = { {ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true}, }; if (!JsonHelper::validateKeys(itemObject, complexItemKeyInfoList, errorString)) { return false; } QString complexItemType = itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString(); if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) { qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber; SurveyComplexItem *surveyItem = new SurveyComplexItem( _controllerVehicle, _flyView, QString() /* kmlFile */, 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, _flyView, 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, _flyView, QString() /* kmlFile */, 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 == CorridorScanComplexItem::jsonComplexItemTypeValue) { qCDebug(MissionControllerLog) << "Loading Corridor Scan: nextSequenceNumber" << nextSequenceNumber; CorridorScanComplexItem *corridorItem = new CorridorScanComplexItem( _controllerVehicle, _flyView, QString() /* kmlFile */, visualItems); if (!corridorItem->load(itemObject, nextSequenceNumber++, errorString)) { return false; } nextSequenceNumber = corridorItem->lastSequenceNumber() + 1; qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber; visualItems->append(corridorItem); } else if (complexItemType == CircularSurvey::CircularSurveyName) { qCDebug(MissionControllerLog) << "Loading Circular Survey: nextSequenceNumber" << nextSequenceNumber; CircularSurvey *circularSurvey = new CircularSurvey( _controllerVehicle, _flyView, QString() /* kmlFile */, visualItems); if (!circularSurvey->load(itemObject, nextSequenceNumber++, errorString)) { return false; } nextSequenceNumber = circularSurvey->lastSequenceNumber() + 1; qCDebug(MissionControllerLog) << "Circular Survey load complete: nextSequenceNumber" << nextSequenceNumber; visualItems->append(circularSurvey); } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) { qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber; MissionSettingsItem *settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, 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(i)->isSimpleItem()) { SimpleMissionItem *doJumpItem = visualItems->value(i); if (doJumpItem->command() == MAV_CMD_DO_JUMP) { bool found = false; int findDoJumpId = static_cast(doJumpItem->missionItem().param1()); for (int j = 0; j < visualItems->count(); j++) { if (visualItems->value(j)->isSimpleItem()) { SimpleMissionItem *targetItem = visualItems->value(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(0); while (!stream.atEnd()) { SimpleMissionItem *item = new SimpleMissionItem(_controllerVehicle, _flyView, 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(visualItems->get(i)); if (item && item->command() == MAV_CMD_DO_JUMP) { item->missionItem().setParam1( static_cast(item->missionItem().param1()) + 1); } } } return true; } void MissionController::_initLoadedVisualItems( QmlObjectListModel *loadedVisualItems) { if (_visualItems) { _deinitAllVisualItems(); _visualItems->deleteLater(); _settingsItem = nullptr; } _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; } bool MissionController::readyForSaveSend(void) const { for (int i = 0; i < _visualItems->count(); i++) { VisualMissionItem *visualItem = qobject_cast(_visualItems->get(i)); if (!visualItem->readyForSave()) { return false; } } return true; } bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem) { if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor()) { MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF; if (_controllerVehicle->firmwarePlugin() ->supportedMissionCommands() .contains(takeoffCmd)) { missionItem.setCommand(takeoffCmd); } } else return false; return true; } bool MissionController::setLandCommand(SimpleMissionItem &missionItem) { MAV_CMD landCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND; if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains( landCmd)) { missionItem.setCommand(landCmd); } else return false; return true; } void MissionController::save(QJsonObject &json) { json[JsonHelper::jsonVersionKey] = _missionFileVersion; // Mission settings MissionSettingsItem *settingsItem = _visualItems->value(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(_visualItems->get(i)); visualItem->save(rgJsonMissionItems); } // Mission settings has a special case for end mission action if (settingsItem) { QList 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(_visualItems->get(0)); bool homePositionValid = _settingsItem->coordinate().isValid(); qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid; CoordVectHashTable old_table = _linesTable; _linesTable.clear(); _waypointLines.clear(); _waypointPath.clear(); bool linkEndToHome; SimpleMissionItem *lastItem = _visualItems->value(_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(_visualItems->get(i)); // If we still haven't found the first coordinate item and we hit a takeoff // command this means the mission starts from the ground. Link the first // item back to home to show that. if (firstCoordinateItem && item->isSimpleItem()) { MAV_CMD command = (MAV_CMD)qobject_cast(item)->command(); if (command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF) { linkStartToHome = true; } } if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) { firstCoordinateItem = false; if (lastCoordinateItem != _settingsItem || (homePositionValid && linkStartToHome)) { if (!_flyView) { VisualItemPair pair(lastCoordinateItem, item); _addWaypointLineSegment(old_table, pair); } } _waypointPath.append(QVariant::fromValue(item->coordinate())); lastCoordinateItem = item; } } if (linkStartToHome && homePositionValid) { _waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate())); } if (linkEndToHome && lastCoordinateItem != _settingsItem && homePositionValid) { if (!_flyView) { VisualItemPair pair(lastCoordinateItem, _settingsItem); _addWaypointLineSegment(old_table, pair); } else { _waypointPath.append(QVariant::fromValue(_settingsItem->coordinate())); } } { // Create a temporary QObjectList and replace the model data QObjectList objs; objs.reserve(_linesTable.count()); for (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(); if (_waypointPath.count() == 0) { // MapPolyLine has a bug where if you can from a path which has elements to // an empty path the line drawn is not cleared from the map. This hack works // around that since it causes the previous lines to be remove as then // doesn't draw anything on the map. _waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0))); _waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0))); } emit waypointLinesChanged(); emit waypointPathChanged(); } 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); // FIXME: Battery change point code pretty much doesn't work. The reason is // that is treats complex items as a black box. It needs to be able to look // inside complex items in order to determine a swap point that is interior // to a complex item. Current the swap point display in PlanToolbar is // disabled to do this problem. 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 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(_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(_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(_visualItems->get(i)); SimpleMissionItem *simpleItem = qobject_cast(item); ComplexMissionItem *complexItem = qobject_cast(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 double gimbalYaw = item->specifiedGimbalYaw(); if (!qIsNaN(gimbalYaw)) { _missionFlightStatus.gimbalYaw = gimbalYaw; } double gimbalPitch = item->specifiedGimbalPitch(); if (!qIsNaN(gimbalPitch)) { _missionFlightStatus.gimbalPitch = gimbalPitch; } 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() == MAV_CMD_NAV_TAKEOFF || simpleItem->command() == MAV_CMD_NAV_VTOL_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 MAV_CMD_NAV_TAKEOFF: vtolInHover = false; break; case MAV_CMD_NAV_VTOL_TAKEOFF: vtolInHover = true; break; case MAV_CMD_NAV_LAND: vtolInHover = false; break; case MAV_CMD_NAV_VTOL_LAND: vtolInHover = true; break; case 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; } } _addTimeDistance(vtolInHover, 0, 0, item->additionalTimeDelay(), 0, -1); if (item->specifiesCoordinate()) { // 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; // Update vehicle yaw assuming direction to next waypoint if (item != lastCoordinateItem) { _missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo( item->coordinate()); lastCoordinateItem->setMissionVehicleYaw( _missionFlightStatus.vehicleYaw); } 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; _addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, 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(_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()); item->setTerrainCollision(false); } else { item->setAltPercent((absoluteAltitude - minAltSeen) / altRange); double terrainAltitude = item->terrainAltitude(); if (qIsNaN(terrainAltitude)) { item->setTerrainPercent(qQNaN()); item->setTerrainCollision(false); } else { item->setTerrainPercent((terrainAltitude - minAltSeen) / altRange); item->setTerrainCollision(absoluteAltitude < terrainAltitude); } } } } _updateTimer.start(UPDATE_TIMEOUT); } // This will update the sequence numbers to be sequential starting from 0 void MissionController::_recalcSequence(void) { if (_inRecalcSequence) { // Don't let this call recurse due to signalling return; } // Setup ascending sequence numbers for all visual items _inRecalcSequence = true; int sequenceNumber = 0; for (int i = 0; i < _visualItems->count(); i++) { VisualMissionItem *item = qobject_cast(_visualItems->get(i)); item->setSequenceNumber(sequenceNumber); sequenceNumber = item->lastSequenceNumber() + 1; } _inRecalcSequence = false; } // This will update the child item hierarchy void MissionController::_recalcChildItems(void) { VisualMissionItem *currentParentItem = qobject_cast(_visualItems->get(0)); currentParentItem->childItems()->clear(); for (int i = 1; i < _visualItems->count(); i++) { VisualMissionItem *item = qobject_cast(_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( const QGeoCoordinate &clickCoordinate) { QGeoCoordinate firstCoordinate; 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(i); if (item->specifiesCoordinate()) { firstCoordinate = item->coordinate(); break; } } // No item specifying a coordinate was found, in this case it we have a // clickCoordinate use that if (!firstCoordinate.isValid()) { firstCoordinate = clickCoordinate; } if (firstCoordinate.isValid()) { QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0); plannedHomeCoord.setAltitude(0); _settingsItem->setCoordinate(plannedHomeCoord); } } /// @param clickCoordinate The location of the user click when inserting a new /// item void MissionController::_recalcAllWithClickCoordinate( const QGeoCoordinate &clickCoordinate) { if (!_flyView) { _setPlannedHomePositionFromFirstCoordinate(clickCoordinate); } _recalcSequence(); _recalcChildItems(); _recalcWaypointLines(); _updateTimer.start(UPDATE_TIMEOUT); } void MissionController::_recalcAll(void) { QGeoCoordinate emptyCoord; _recalcAllWithClickCoordinate(emptyCoord); } void MissionController::_enableDisableRemainingDistTimeCalculation( bool flying) { if (flying) { _remainingDistanceTimeTimer.start(); } else { _remainingDistanceTimeTimer.stop(); _setRemainingTime(-1); _setRemainingDistance(-1); } } void MissionController::_updateRemainingDistanceTime() { double dist = 0; double time = 0; bool success = distanceTimeToMissionEnd( dist, time, _missionManager->currentIndex() /*missionIndex >= 1*/, true /* useVehiclePostion */); if (success) { _setRemainingTime(time); _setRemainingDistance(dist); } else { _setRemainingTime(-1); _setRemainingDistance(-1); } } /// Initializes a new set of mission items void MissionController::_initAllVisualItems(void) { // Setup home position at index 0 _settingsItem = qobject_cast(_visualItems->get(0)); if (!_settingsItem) { qWarning() << "First item not MissionSettingsItem"; return; } if (!_flyView) { _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(_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(_visualItems->get(i))); } disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged); disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems); } void MissionController::_initVisualItem(VisualMissionItem *visualItem) { if (visualItem->isSimpleItem()) { SimpleMissionItem *simpleItem = qobject_cast(visualItem); if (simpleItem) { _initSimpleItem(simpleItem); } else { qWarning() << "isSimpleItem == true, yet not SimpleMissionItem"; } } else { ComplexMissionItem *complexItem = qobject_cast(visualItem); if (complexItem) { _initComplexItem(complexItem); } else { qWarning() << "ComplexMissionItem not found"; } } } void MissionController::_initVisualItemCommon(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::specifiedGimbalPitchChanged, this, &MissionController::_recalcMissionFlightStatus); connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatus); connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatus); connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence); } void MissionController::_initSimpleItem(SimpleMissionItem *item) { _initVisualItemCommon(item); // We need to track commandChanged on simple item since recalc has special // handling for takeoff command connect(&item->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged); } void MissionController::_initComplexItem(ComplexMissionItem *item) { _initVisualItemCommon(item); connect(item, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcMissionFlightStatus); connect(item, &ComplexMissionItem::greatestDistanceToChanged, this, &MissionController::_recalcMissionFlightStatus); } 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); connect(_managerVehicle, &Vehicle::flyingChanged, this, &MissionController::_enableDisableRemainingDistTimeCalculation); if (!_masterController->offline()) { _managerVehicleHomePositionChanged(_managerVehicle->homePosition()); } emit complexMissionItemNamesChanged(); emit resumeMissionIndexChanged(); } void MissionController::_managerVehicleHomePositionChanged( const QGeoCoordinate &homePosition) { if (_visualItems) { bool currentDirtyBit = dirty(); MissionSettingsItem *settingsItem = qobject_cast(_visualItems->get(0)); if (settingsItem) { settingsItem->setHomePositionFromVehicle(homePosition); } else { qWarning() << "First item is not MissionSettingsItem"; } if (!currentDirtyBit) { // 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, int *prevAltitudeMode) { bool found = false; double foundAltitude; int foundAltitudeMode; if (newIndex > _visualItems->count()) { return false; } newIndex--; for (int i = newIndex; i > 0; i--) { VisualMissionItem *visualItem = qobject_cast(_visualItems->get(i)); if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) { if (visualItem->isSimpleItem()) { SimpleMissionItem *simpleItem = qobject_cast(visualItem); if (simpleItem->specifiesAltitude()) { foundAltitude = simpleItem->altitude()->rawValue().toDouble(); foundAltitudeMode = simpleItem->altitudeMode(); found = true; break; } } } } if (found) { *prevAltitude = foundAltitude; *prevAltitudeMode = foundAltitudeMode; } 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, _flyView, 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(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 (_flyView) { resumeIndex = _missionManager->lastCurrentIndex() + (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0 : 1); if (resumeIndex > 1 && resumeIndex != _visualItems->value(_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 (!_flyView) { return -1; } else { int currentIndex = _missionManager->currentIndex(); if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) { currentIndex++; } return currentIndex; } } void MissionController::_currentMissionIndexChanged(int sequenceNumber) { if (_flyView) { if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) { sequenceNumber++; } for (int i = 0; i < _visualItems->count(); i++) { VisualMissionItem *item = qobject_cast(_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, _flyView, vehicle); int scanIndex = 0; while (scanIndex < visualItems->count()) { VisualMissionItem *visualItem = visualItems->value(scanIndex); qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex; if (!_flyView) { MissionSettingsItem *settingsItem = qobject_cast(visualItem); if (settingsItem) { scanIndex++; settingsItem->scanForMissionSettings(visualItems, scanIndex); continue; } } SimpleMissionItem *simpleItem = qobject_cast(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); complexItems.append(patternCorridorScanName); // Circular Survey not added here, as it can only be used together with // WimaView. if (_controllerVehicle->fixedWing()) { complexItems.append(patternFWLandingName); } if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) { complexItems.append(patternStructureScanName); } return qgcApp()->toolbox()->corePlugin()->complexMissionItemNames( _controllerVehicle, 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(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 _flyView" << _flyView; 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 && _flyView) { showPlanFromManagerVehicle(); } } void MissionController::_managerRemoveAllComplete(bool error) { if (!error) { // Remove all from vehicle so we always update showPlanFromManagerVehicle(); } } int MissionController::currentPlanViewIndex(void) const { return _currentPlanViewIndex; } bool MissionController::distanceTimeToMissionEnd( double &remainingDistance, double &remainingTime, int missionIndex, bool useVehiclePosition) const { // input check if (_visualItems == nullptr || _visualItems->count() < 1 || !_flyView || missionIndex < 1 || missionIndex > _visualItems->count()) { return false; } // check if vehicle is flying and fetch vehicle coordinate QGeoCoordinate vehiclePosition; if (_managerVehicle && _managerVehicle->flying() && useVehiclePosition) { vehiclePosition = _managerVehicle->coordinate(); } else { if (useVehiclePosition) { useVehiclePosition = false; qWarning( "MissionController::distanceTimeToMissionEnd(): vehicle position " "can't be used. Either no vehicle connected, or vehicle not flying."); } } remainingDistance = 0; remainingTime = 0; bool firstCoordinateItem = true; VisualMissionItem *lastCoordinateItem = qobject_cast(_visualItems->get(0)); bool showHomePosition = _settingsItem->coordinate().isValid(); // 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); const double homePositionAltitude = _settingsItem->coordinate().altitude(); bool linkStartToHome = false; bool linkEndToHome = false; if (showHomePosition) { SimpleMissionItem *lastItem = _visualItems->value(_visualItems->count() - 1); if (lastItem && int(lastItem->command()) == MAV_CMD_NAV_RETURN_TO_LAUNCH) { linkEndToHome = true; } else { linkEndToHome = _settingsItem->missionEndRTL(); } } // determine speed at waypoint with index missionIndex double currentSpeed = _settingsItem->specifiedFlightSpeed(); currentSpeed = !qIsNaN(currentSpeed) ? currentSpeed : 5; for (int i = 1; i < missionIndex; ++i) { SimpleMissionItem *simpleItem = _visualItems->value(i); if (simpleItem != nullptr) { double speed = simpleItem->specifiedFlightSpeed(); if (!qIsNaN(speed)) currentSpeed = speed; } } // calculate dist and time from current vehicle pos. to mission item with // index missionIndex if (useVehiclePosition) { // find valid coordinate for (int i = missionIndex; i < _visualItems->count(); ++i) { SimpleMissionItem *simpleItem = _visualItems->value(missionIndex); if (simpleItem != nullptr && simpleItem->specifiesCoordinate()) { double dist = vehiclePosition.distanceTo(simpleItem->coordinate()); double time = dist / currentSpeed; remainingDistance += dist; remainingTime += time; break; } } } // iterate over mission items starting at currentMissionIdx-1 and determine // time and distance for (int i = missionIndex; i < _visualItems->count(); i++) { VisualMissionItem *item = qobject_cast(_visualItems->get(i)); SimpleMissionItem *simpleItem = qobject_cast(item); // Assume the worst item->setAzimuth(0.0); item->setDistance(0.0); // Look for speed changed double newSpeed = item->specifiedFlightSpeed(); if (!qIsNaN(newSpeed)) { currentSpeed = newSpeed; } // Link back to home if first item is takeoff and we have home position if (firstCoordinateItem && simpleItem && (simpleItem->command() == MAV_CMD_NAV_TAKEOFF || simpleItem->command() == MAV_CMD_NAV_VTOL_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 QGeoCoordinate itemCoordinate = item->exitCoordinate(); QGeoCoordinate settingsCoordinate = _settingsItem->coordinate(); if (item->exitCoordinateHasRelativeAltitude()) { itemCoordinate.setAltitude(homePositionAltitude + settingsCoordinate.altitude()); } double altDifference = settingsCoordinate.altitude() - itemCoordinate.altitude(); double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble(); remainingTime += takeoffTime; } } } remainingTime += item->additionalTimeDelay(); if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) { firstCoordinateItem = false; if (lastCoordinateItem != _settingsItem || linkStartToHome) { // This is a subsequent waypoint or we are forcing the first waypoint // back to home QGeoCoordinate currentCoord = item->coordinate(); QGeoCoordinate prevCoord = lastCoordinateItem->exitCoordinate(); if (item != _settingsItem && item->coordinateHasRelativeAltitude()) { currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude()); } if (lastCoordinateItem != _settingsItem && lastCoordinateItem->exitCoordinateHasRelativeAltitude()) { prevCoord.setAltitude(homePositionAltitude + prevCoord.altitude()); } double distance = prevCoord.distanceTo(currentCoord); double time = distance / currentSpeed; remainingDistance += distance; remainingTime += time; } lastCoordinateItem = item; } if (simpleItem != nullptr && (simpleItem->command() == MAV_CMD_NAV_LAND || simpleItem->command() == MAV_CMD_NAV_LAND_LOCAL || simpleItem->command() == MAV_CMD_NAV_VTOL_LAND)) { double alt = 0; if (i == missionIndex) { alt = _managerVehicle->altitudeRelative()->rawValue().toDouble(); } else { QGeoCoordinate currentCoord = simpleItem->coordinate(); if (simpleItem->coordinateHasRelativeAltitude()) { currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude()); } alt = currentCoord.altitude() - homePositionAltitude; } double landTime = qAbs(alt) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble(); remainingTime += landTime; } } if (linkEndToHome && lastCoordinateItem != _settingsItem) { QGeoCoordinate currentCoord = lastCoordinateItem->coordinate(); QGeoCoordinate prevCoord = _settingsItem->exitCoordinate(); if (lastCoordinateItem != _settingsItem && lastCoordinateItem->coordinateHasRelativeAltitude()) { currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude()); } double altDifference = currentCoord.altitude() - prevCoord.altitude(); double distance = currentCoord.distanceTo(prevCoord); double time = distance / currentSpeed; double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble(); remainingDistance += distance; remainingTime += time + landTime; } return true; } VisualMissionItem *MissionController::currentPlanViewItem(void) const { return _currentPlanViewItem; } void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force) { if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) { _currentPlanViewItem = nullptr; _currentPlanViewIndex = -1; for (int i = 0; i < _visualItems->count(); i++) { VisualMissionItem *pVI = qobject_cast(_visualItems->get(i)); if (pVI && pVI->sequenceNumber() == sequenceNumber) { pVI->setIsCurrentItem(true); _currentPlanViewItem = pVI; _currentPlanViewIndex = sequenceNumber; } else { pVI->setIsCurrentItem(false); } } emit currentPlanViewIndexChanged(); emit currentPlanViewItemChanged(); } } void MissionController::_updateTimeout() { QGeoCoordinate firstCoordinate; QGeoCoordinate takeoffCoordinate; QGCGeoBoundingCube boundingCube; double north = 0.0; double south = 180.0; double east = 0.0; double west = 360.0; double minAlt = QGCGeoBoundingCube::MaxAlt; double maxAlt = QGCGeoBoundingCube::MinAlt; for (int i = 1; i < _visualItems->count(); i++) { VisualMissionItem *item = qobject_cast(_visualItems->get(i)); if (item->isSimpleItem()) { SimpleMissionItem *pSimpleItem = qobject_cast(item); if (pSimpleItem) { switch (pSimpleItem->command()) { case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_WAYPOINT: case MAV_CMD_NAV_LAND: if (pSimpleItem->coordinate().isValid()) { if ((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) { takeoffCoordinate = pSimpleItem->coordinate(); } else if (!firstCoordinate.isValid()) { firstCoordinate = pSimpleItem->coordinate(); } double lat = pSimpleItem->coordinate().latitude() + 90.0; double lon = pSimpleItem->coordinate().longitude() + 180.0; double alt = pSimpleItem->coordinate().altitude(); north = fmax(north, lat); south = fmin(south, lat); east = fmax(east, lon); west = fmin(west, lon); minAlt = fmin(minAlt, alt); maxAlt = fmax(maxAlt, alt); } break; default: break; } } } else { ComplexMissionItem *pComplexItem = qobject_cast(item); if (pComplexItem) { QGCGeoBoundingCube bc = pComplexItem->boundingCube(); if (bc.isValid()) { if (!firstCoordinate.isValid() && pComplexItem->coordinate().isValid()) { firstCoordinate = pComplexItem->coordinate(); } north = fmax(north, bc.pointNW.latitude() + 90.0); south = fmin(south, bc.pointSE.latitude() + 90.0); east = fmax(east, bc.pointNW.longitude() + 180.0); west = fmin(west, bc.pointSE.longitude() + 180.0); minAlt = fmin(minAlt, bc.pointNW.altitude()); maxAlt = fmax(maxAlt, bc.pointSE.altitude()); } } } } //-- Figure out where this thing is taking off from if (!takeoffCoordinate.isValid()) { if (firstCoordinate.isValid()) { takeoffCoordinate = firstCoordinate; } else { takeoffCoordinate = plannedHomePosition(); } } //-- Build bounding "cube" boundingCube = QGCGeoBoundingCube(QGeoCoordinate(north - 90.0, west - 180.0, minAlt), QGeoCoordinate(south - 90.0, east - 180.0, maxAlt)); if (_travelBoundingCube != boundingCube || _takeoffCoordinate != takeoffCoordinate) { _takeoffCoordinate = takeoffCoordinate; _travelBoundingCube = boundingCube; emit missionBoundingCubeChanged(); qCDebug(MissionControllerLog) << "Bounding cube:" << _travelBoundingCube.pointNW << _travelBoundingCube.pointSE; } } void MissionController::_complexBoundingBoxChanged() { _updateTimer.start(UPDATE_TIMEOUT); }