/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ import QtQuick 2.3 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.4 import QtQuick.Dialogs 1.2 import QtLocation 5.3 import QtPositioning 5.3 import QtQuick.Layouts 1.2 import QGroundControl 1.0 import QGroundControl.ScreenTools 1.0 import QGroundControl.Controls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Vehicle 1.0 import QGroundControl.FlightMap 1.0 /// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI /// without affecting the underlying functionality. Item { id: _root property var missionController property var confirmDialog property var actionList property var altitudeSlider property var orbitMapCircle 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 mvStartMissionTitle: qsTr("Start Mission (MV)") readonly property string continueMissionTitle: qsTr("Continue Mission") readonly property string resumeMissionUploadFailTitle: qsTr("Resume FAILED") readonly property string pauseTitle: qsTr("Pause") readonly property string mvPauseTitle: qsTr("Pause (MV)") 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 vtolTransitionTitle: qsTr("VTOL Transition") readonly property string armMessage: qsTr("Arm the vehicle.") readonly property string disarmMessage: qsTr("Disarm the vehicle") readonly property string emergencyStopMessage: qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.") readonly property string takeoffMessage: qsTr("Takeoff from ground and hold position.") readonly property string startMissionMessage: qsTr("Takeoff from ground and start the current mission.") readonly property string continueMissionMessage: qsTr("Continue the mission from the current waypoint.") readonly property string resumeMissionUploadFailMessage: qsTr("Upload of resume mission failed. Confirm to retry upload") 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 specified location.") property string setWaypointMessage: qsTr("Adjust current waypoint to %1.").arg(_actionData) readonly property string orbitMessage: qsTr("Orbit the vehicle around the specified location.") readonly property string landAbortMessage: qsTr("Abort the landing sequence.") readonly property string pauseMessage: qsTr("Pause the vehicle at it's current position, adjusting altitude up or down as needed.") readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.") readonly property string vtolTransitionFwdMessage: qsTr("Transition VTOL to fixed wing flight.") readonly property string vtolTransitionMRMessage: qsTr("Transition VTOL to multi-rotor flight.") readonly property int actionRTL: 1 readonly property int actionLand: 2 readonly property int actionTakeoff: 3 readonly property int actionArm: 4 readonly property int actionDisarm: 5 readonly property int actionEmergencyStop: 6 readonly property int actionChangeAlt: 7 readonly property int actionGoto: 8 readonly property int actionSetWaypoint: 9 readonly property int actionOrbit: 10 readonly property int actionLandAbort: 11 readonly property int actionStartMission: 12 readonly property int actionContinueMission: 13 readonly property int actionResumeMission: 14 readonly property int _actionUnused: 15 readonly property int actionResumeMissionUploadFail: 16 readonly property int actionPause: 17 readonly property int actionMVPause: 18 readonly property int actionMVStartMission: 19 readonly property int actionVtolTransitionToFwdFlight: 20 readonly property int actionVtolTransitionToMRFlight: 21 property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying property bool showArm: _guidedActionsEnabled && !_vehicleArmed property bool showDisarm: _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying property bool showRTL: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode property bool showTakeoff: _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying property bool showLand: _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1) property bool showPause: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2) property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible property var _corePlugin: QGroundControl.corePlugin property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property string _flightMode: _activeVehicle ? _activeVehicle.flightMode : "" property bool _missionAvailable: missionController.containsItems property bool _missionActive: _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false property bool _vehicleArmed: _activeVehicle ? _activeVehicle.armed : false property bool _vehicleFlying: _activeVehicle ? _activeVehicle.flying : false property bool _vehicleLanding: _activeVehicle ? _activeVehicle.landing : false property bool _vehiclePaused: false property bool _vehicleInMissionMode: false property bool _vehicleInRTLMode: false property bool _vehicleInLandMode: false property int _missionItemCount: missionController.missionItemCount property int _currentMissionIndex: missionController.currentMissionIndex property int _resumeMissionIndex: missionController.resumeMissionIndex property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit property bool _vehicleWasFlying: false property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false property bool __flightMode: _flightMode function _outputState() { if (_corePlugin.guidedActionsControllerLogging()) { console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount)) } } Component.onCompleted: _outputState() on_ActiveVehicleChanged: _outputState() on_VehicleArmedChanged: _outputState() on_VehicleInRTLModeChanged: _outputState() on_VehiclePausedChanged: _outputState() on__FlightModeChanged: _outputState() on__GuidedModeSupportedChanged: _outputState() on__PauseVehicleSupportedChanged: _outputState() on_MissionItemCountChanged: _outputState() on_CurrentMissionIndexChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("_currentMissionIndex", _currentMissionIndex) } } on_ResumeMissionIndexChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("_resumeMissionIndex", _resumeMissionIndex) } } onShowResumeMissionChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("showResumeMission", showResumeMission) } _outputState() } onShowStartMissionChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("showStartMission", showStartMission) } _outputState() } onShowContinueMissionChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("showContinueMission", showContinueMission) } _outputState() } onShowRTLChanged: { if (_corePlugin.guidedActionsControllerLogging()) { console.log("showRTL", showRTL) } _outputState() } // End of hack on_VehicleFlyingChanged: { _outputState() if (!_vehicleFlying) { // We use _vehicleWasFLying to help trigger Resume Mission only if the vehicle actually flew and came back down. // Otherwise it may trigger during the Start Mission sequence due to signal ordering or armed and resume mission index. _vehicleWasFlying = true } } property var _actionData on_FlightModeChanged: { _vehiclePaused = _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false _vehicleInRTLMode = _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode : false _vehicleInLandMode = _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false _vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups } // Called when an action is about to be executed in order to confirm function confirmAction(actionCode, actionData, mapIndicator) { var showImmediate = true closeAll() confirmDialog.action = actionCode confirmDialog.actionData = actionData confirmDialog.hideTrigger = true confirmDialog.mapIndicator = mapIndicator _actionData = actionData switch (actionCode) { case actionArm: if (_vehicleFlying || !_guidedActionsEnabled) { return } confirmDialog.title = armTitle confirmDialog.message = armMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showArm }) break; case actionDisarm: if (_vehicleFlying) { return } confirmDialog.title = disarmTitle confirmDialog.message = disarmMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showDisarm }) break; case actionEmergencyStop: confirmDialog.title = emergencyStopTitle confirmDialog.message = emergencyStopMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showEmergenyStop }) break; case actionTakeoff: confirmDialog.title = takeoffTitle confirmDialog.message = takeoffMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff }) altitudeSlider.setToMinimumTakeoff() altitudeSlider.visible = true break; case actionStartMission: showImmediate = false confirmDialog.title = startMissionTitle confirmDialog.message = startMissionMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission }) break; case actionMVStartMission: confirmDialog.title = mvStartMissionTitle confirmDialog.message = startMissionMessage confirmDialog.hideTrigger = true break; case actionContinueMission: showImmediate = false confirmDialog.title = continueMissionTitle confirmDialog.message = continueMissionMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission }) break; case actionResumeMission: // Resume Mission is handled in mission end dialog return case actionResumeMissionUploadFail: confirmDialog.title = resumeMissionUploadFailTitle confirmDialog.message = resumeMissionUploadFailMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission }) break; case actionLand: confirmDialog.title = landTitle confirmDialog.message = landMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showLand }) break; case actionRTL: confirmDialog.title = rtlTitle confirmDialog.message = rtlMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showRTL }) break; case actionChangeAlt: confirmDialog.title = changeAltTitle confirmDialog.message = changeAltMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeAlt }) altitudeSlider.reset() altitudeSlider.visible = true break; case actionGoto: confirmDialog.title = gotoTitle confirmDialog.message = gotoMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showGotoLocation }) break; case actionSetWaypoint: confirmDialog.title = setWaypointTitle confirmDialog.message = setWaypointMessage break; case actionOrbit: confirmDialog.title = orbitTitle confirmDialog.message = orbitMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showOrbit }) altitudeSlider.reset() altitudeSlider.visible = true break; case actionLandAbort: confirmDialog.title = landAbortTitle confirmDialog.message = landAbortMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showLandAbort }) break; case actionPause: confirmDialog.title = pauseTitle confirmDialog.message = pauseMessage confirmDialog.hideTrigger = Qt.binding(function() { return !showPause }) altitudeSlider.reset() altitudeSlider.visible = true break; case actionMVPause: confirmDialog.title = mvPauseTitle confirmDialog.message = mvPauseMessage confirmDialog.hideTrigger = true break; case actionVtolTransitionToFwdFlight: confirmDialog.title = vtolTransitionTitle confirmDialog.message = vtolTransitionFwdMessage confirmDialog.hideTrigger = true break case actionVtolTransitionToMRFlight: confirmDialog.title = vtolTransitionTitle confirmDialog.message = vtolTransitionMRMessage confirmDialog.hideTrigger = true break default: console.warn("Unknown actionCode", actionCode) return } confirmDialog.show(showImmediate) } // Executes the specified action function executeAction(actionCode, actionData, actionAltitudeChange) { var i; var rgVehicle; switch (actionCode) { case actionRTL: _activeVehicle.guidedModeRTL() break case actionLand: _activeVehicle.guidedModeLand() break case actionTakeoff: _activeVehicle.guidedModeTakeoff(actionAltitudeChange) break case actionResumeMission: case actionResumeMissionUploadFail: missionController.resumeMission(missionController.resumeMissionIndex) break case actionStartMission: case actionContinueMission: _activeVehicle.startMission() break case actionMVStartMission: rgVehicle = QGroundControl.multiVehicleManager.vehicles for (i = 0; i < rgVehicle.count; i++) { rgVehicle.get(i).startMission() } break case actionArm: _activeVehicle.armed = true break case actionDisarm: _activeVehicle.armed = false break case actionEmergencyStop: _activeVehicle.emergencyStop() break case actionChangeAlt: _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange) break case actionGoto: _activeVehicle.guidedModeGotoLocation(actionData) break case actionSetWaypoint: _activeVehicle.setCurrentMissionSequence(actionData) break case actionOrbit: _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange) break case actionLandAbort: _activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored break case actionPause: _activeVehicle.pauseVehicle() _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange) break case actionMVPause: rgVehicle = QGroundControl.multiVehicleManager.vehicles for (i = 0; i < rgVehicle.count; i++) { rgVehicle.get(i).pauseVehicle() } break case actionVtolTransitionToFwdFlight: _activeVehicle.vtolInFwdFlight = true break case actionVtolTransitionToMRFlight: _activeVehicle.vtolInFwdFlight = false break default: console.warn(qsTr("Internal error: unknown actionCode"), actionCode) break } } }