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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "MissionCommandUIInfo.h"
#include "JsonHelper.h"
#include "FactMetaData.h"
#include "QGCLoggingCategory.h"
const char* MissionCommandUIInfo::_categoryJsonKey = "category";
const char* MissionCommandUIInfo::_decimalPlacesJsonKey = "decimalPlaces";
const char* MissionCommandUIInfo::_defaultJsonKey = "default";
const char* MissionCommandUIInfo::_descriptionJsonKey = "description";
const char* MissionCommandUIInfo::_enumStringsJsonKey = "enumStrings";
const char* MissionCommandUIInfo::_enumValuesJsonKey = "enumValues";
const char* MissionCommandUIInfo::_friendlyEditJsonKey = "friendlyEdit";
const char* MissionCommandUIInfo::_friendlyNameJsonKey = "friendlyName";
const char* MissionCommandUIInfo::_idJsonKey = "id";
const char* MissionCommandUIInfo::_labelJsonKey = "label";
const char* MissionCommandUIInfo::_mavCmdInfoJsonKey = "mavCmdInfo";
const char* MissionCommandUIInfo::_param1JsonKey = "param1";
const char* MissionCommandUIInfo::_param2JsonKey = "param2";
const char* MissionCommandUIInfo::_param3JsonKey = "param3";
const char* MissionCommandUIInfo::_param4JsonKey = "param4";
const char* MissionCommandUIInfo::_param5JsonKey = "param5";
const char* MissionCommandUIInfo::_param6JsonKey = "param6";
const char* MissionCommandUIInfo::_param7JsonKey = "param7";
const char* MissionCommandUIInfo::_paramJsonKeyFormat = "param%1";
const char* MissionCommandUIInfo::_paramRemoveJsonKey = "paramRemove";
const char* MissionCommandUIInfo::_rawNameJsonKey = "rawName";
const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey = "standaloneCoordinate";
const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey = "specifiesCoordinate";
const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
const char* MissionCommandUIInfo::_unitsJsonKey = "units";
const char* MissionCommandUIInfo::_commentJsonKey = "comment";
const char* MissionCommandUIInfo::_cameraSectionJsonKey = "cameraSection";
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const char* MissionCommandUIInfo::_advancedCategory = "Advanced";
MissionCmdParamInfo::MissionCmdParamInfo(QObject* parent)
: QObject(parent)
{
}
MissionCmdParamInfo::MissionCmdParamInfo(const MissionCmdParamInfo& other, QObject* parent)
: QObject(parent)
{
*this = other;
}
const MissionCmdParamInfo& MissionCmdParamInfo::operator=(const MissionCmdParamInfo& other)
{
_decimalPlaces = other._decimalPlaces;
_defaultValue = other._defaultValue;
_enumStrings = other._enumStrings;
_enumValues = other._enumValues;
_label = other._label;
_param = other._param;
_units = other._units;
return *this;
}
MissionCommandUIInfo::MissionCommandUIInfo(QObject* parent)
: QObject(parent)
{
}
MissionCommandUIInfo::MissionCommandUIInfo(const MissionCommandUIInfo& other, QObject* parent)
: QObject(parent)
{
*this = other;
}
const MissionCommandUIInfo& MissionCommandUIInfo::operator=(const MissionCommandUIInfo& other)
{
_command = other._command;
_infoMap = other._infoMap;
_paramRemoveList = other._paramRemoveList;
foreach (int index, other._paramInfoMap.keys()) {
_paramInfoMap[index] = new MissionCmdParamInfo(*other._paramInfoMap[index], this);
}
return *this;
}
QString MissionCommandUIInfo::category(void) const
{
if (_infoMap.contains(_categoryJsonKey)) {
return _infoMap[_categoryJsonKey].toString();
} else {
return _advancedCategory;
}
}
QString MissionCommandUIInfo::description(void) const
{
if (_infoMap.contains(_descriptionJsonKey)) {
return _infoMap[_descriptionJsonKey].toString();
} else {
return QString();
}
}
bool MissionCommandUIInfo::friendlyEdit(void) const
{
if (_infoMap.contains(_friendlyEditJsonKey)) {
return _infoMap[_friendlyEditJsonKey].toBool();
} else {
return false;
}
}
QString MissionCommandUIInfo::friendlyName(void) const
{
if (_infoMap.contains(_friendlyNameJsonKey)) {
return _infoMap[_friendlyNameJsonKey].toString();
} else {
return QString();
}
}
QString MissionCommandUIInfo::rawName(void) const
{
if (_infoMap.contains(_rawNameJsonKey)) {
return _infoMap[_rawNameJsonKey].toString();
} else {
return QString();
}
}
bool MissionCommandUIInfo::isStandaloneCoordinate(void) const
{
if (_infoMap.contains(_standaloneCoordinateJsonKey)) {
return _infoMap[_standaloneCoordinateJsonKey].toBool();
} else {
return false;
}
}
bool MissionCommandUIInfo::specifiesCoordinate(void) const
{
if (_infoMap.contains(_specifiesCoordinateJsonKey)) {
return _infoMap[_specifiesCoordinateJsonKey].toBool();
} else {
return false;
}
}
bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
{
if (_infoMap.contains(_specifiesAltitudeOnlyJsonKey)) {
return _infoMap[_specifiesAltitudeOnlyJsonKey].toBool();
} else {
return false;
}
}
bool MissionCommandUIInfo::cameraSection(void) const
{
if (_infoMap.contains(_cameraSectionJsonKey)) {
return _infoMap[_cameraSectionJsonKey].toBool();
} else {
return false;
}
}
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void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
{
// Override info values
foreach (const QString& valueKey, uiInfo->_infoMap.keys()) {
_setInfoValue(valueKey, uiInfo->_infoMap[valueKey]);
}
// Add to the remove params list
foreach (int removeIndex, uiInfo->_paramRemoveList) {
if (!_paramRemoveList.contains(removeIndex)) {
_paramRemoveList.append(removeIndex);
}
}
// Override param info
foreach (const int paramIndex, uiInfo->_paramInfoMap.keys()) {
_paramRemoveList.removeOne(paramIndex);
// MissionCmdParamInfo objects are owned by MissionCommandTree are are in existence for the entire run so
// we can just use the same pointer reference.
_paramInfoMap[paramIndex] = uiInfo->_paramInfoMap[paramIndex];
}
}
QString MissionCommandUIInfo::_loadErrorString(const QString& errorString) const
{
return QString("%1 %2").arg(_infoValue(_rawNameJsonKey).toString()).arg(errorString);
}
bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString)
{
QString internalError;
QStringList allKeys;
allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
<<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
<< _paramRemoveJsonKey << _categoryJsonKey << _cameraSectionJsonKey<< _specifiesAltitudeOnlyJsonKey;
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// Look for unknown keys in top level object
foreach (const QString& key, jsonObject.keys()) {
if (!allKeys.contains(key) && key != _commentJsonKey) {
errorString = _loadErrorString(QString("Unknown key: %1").arg(key));
return false;
}
}
// Make sure we have the required keys
QStringList requiredKeys;
requiredKeys << _idJsonKey;
if (requireFullObject) {
requiredKeys << _rawNameJsonKey;
}
if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, internalError)) {
errorString = _loadErrorString(internalError);
return false;
}
// Only the full object should specify rawName, friendlyName
if (!requireFullObject && (jsonObject.contains(_rawNameJsonKey) || jsonObject.contains(_friendlyNameJsonKey))) {
errorString = _loadErrorString(QStringLiteral("Only the full object should specify rawName or friendlyName"));
return false;
}
// Validate key types
QList<QJsonValue::Type> types;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
<< QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
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if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
errorString = _loadErrorString(internalError);
return false;
}
// Read in top level values
_command = (MAV_CMD)jsonObject.value(_idJsonKey).toInt();
if (jsonObject.contains(_categoryJsonKey)) {
_infoMap[_categoryJsonKey] = jsonObject.value(_categoryJsonKey).toVariant();
}
if (jsonObject.contains(_rawNameJsonKey)) {
_infoMap[_rawNameJsonKey] = jsonObject.value(_rawNameJsonKey).toVariant();
}
if (jsonObject.contains(_friendlyNameJsonKey)) {
_infoMap[_friendlyNameJsonKey] = jsonObject.value(_friendlyNameJsonKey).toVariant();
}
if (jsonObject.contains(_descriptionJsonKey)) {
_infoMap[_descriptionJsonKey] = jsonObject.value(_descriptionJsonKey).toVariant();
}
if (jsonObject.contains(_standaloneCoordinateJsonKey)) {
_infoMap[_standaloneCoordinateJsonKey] = jsonObject.value(_standaloneCoordinateJsonKey).toVariant();
}
if (jsonObject.contains(_specifiesCoordinateJsonKey)) {
_infoMap[_specifiesCoordinateJsonKey] = jsonObject.value(_specifiesCoordinateJsonKey).toVariant();
}
if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
_infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
}
if (jsonObject.contains(_friendlyEditJsonKey)) {
_infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
}
if (jsonObject.contains(_cameraSectionJsonKey)) {
_infoMap[_cameraSectionJsonKey] = jsonObject.value(_cameraSectionJsonKey).toVariant();
}
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if (jsonObject.contains(_paramRemoveJsonKey)) {
QStringList indexList = jsonObject.value(_paramRemoveJsonKey).toString().split(QStringLiteral(","));
foreach (const QString& indexString, indexList) {
_paramRemoveList.append(indexString.toInt());
}
}
if (requireFullObject) {
// Since this is the base of the hierarchy it must contain valid defaults for all values.
if (!_infoAvailable(_categoryJsonKey)) {
_setInfoValue(_categoryJsonKey, _advancedCategory);
}
if (!_infoAvailable(_friendlyNameJsonKey)) {
_setInfoValue(_friendlyNameJsonKey, _infoValue(_rawNameJsonKey));
}
if (!_infoAvailable(_descriptionJsonKey)) {
_setInfoValue(_descriptionJsonKey, QStringLiteral(""));
}
if (!_infoAvailable(_standaloneCoordinateJsonKey)) {
_setInfoValue(_standaloneCoordinateJsonKey, false);
}
if (!_infoAvailable(_specifiesCoordinateJsonKey)) {
_setInfoValue(_specifiesCoordinateJsonKey, false);
}
if (!_infoAvailable(_friendlyEditJsonKey)) {
_setInfoValue(_friendlyEditJsonKey, false);
}
}
if (requireFullObject) {
if (_infoAvailable(_friendlyEditJsonKey) && _infoValue(_friendlyEditJsonKey).toBool()) {
if (!_infoAvailable(_descriptionJsonKey)) {
errorString = _loadErrorString(QStringLiteral("Missing description for friendly edit"));
return false;
}
if (_infoValue(_rawNameJsonKey).toString() == _infoValue(_friendlyNameJsonKey).toString()) {
errorString = _loadErrorString(QStringLiteral("Missing friendlyName for friendly edit"));
return false;
}
}
}
QString debugOutput;
foreach (const QString& infoKey, _infoMap.keys()) {
debugOutput.append(QString("MavCmdInfo %1: %2 ").arg(infoKey).arg(_infoMap[infoKey].toString()));
}
qCDebug(MissionCommandsLog) << debugOutput;
// Read params
for (int i=1; i<=7; i++) {
QString paramKey = QString(_paramJsonKeyFormat).arg(i);
if (jsonObject.contains(paramKey)) {
QJsonObject paramObject = jsonObject.value(paramKey).toObject();
QStringList allParamKeys;
allParamKeys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
// Look for unknown keys in param object
foreach (const QString& key, paramObject.keys()) {
if (!allParamKeys.contains(key) && key != _commentJsonKey) {
errorString = _loadErrorString(QString("Unknown param key: %1").arg(key));
return false;
}
}
// Validate key types
QList<QJsonValue::Type> types;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
if (!JsonHelper::validateKeyTypes(jsonObject, allParamKeys, types, internalError)) {
errorString = _loadErrorString(internalError);
return false;
}
_setInfoValue(_friendlyEditJsonKey, true); // Assume friendly edit if we have params
if (!paramObject.contains(_labelJsonKey)) {
internalError = QString("param object missing label key: %1").arg(paramKey);
errorString = _loadErrorString(internalError);
return false;
}
MissionCmdParamInfo* paramInfo = new MissionCmdParamInfo(this);
paramInfo->_label = paramObject.value(_labelJsonKey).toString();
paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::unknownDecimalPlaces);
paramInfo->_enumStrings = paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
paramInfo->_param = i;
paramInfo->_units = paramObject.value(_unitsJsonKey).toString();
QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
foreach (const QString &enumValue, enumValues) {
bool convertOk;
double value = enumValue.toDouble(&convertOk);
if (!convertOk) {
internalError = QString("Bad enumValue: %1").arg(enumValue);
errorString = _loadErrorString(internalError);
return false;
}
paramInfo->_enumValues << QVariant(value);
}
if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
internalError = QString("enum strings/values count mismatch: %1, %2").arg(paramInfo->_enumStrings.count()).arg(paramInfo->_enumValues.count());
errorString = _loadErrorString(internalError);
return false;
}
qCDebug(MissionCommandsLog) << "Param"
<< paramInfo->_label
<< paramInfo->_defaultValue
<< paramInfo->_decimalPlaces
<< paramInfo->_param
<< paramInfo->_units
<< paramInfo->_enumStrings
<< paramInfo->_enumValues;
_paramInfoMap[i] = paramInfo;
}
}
return true;
}
const MissionCmdParamInfo* MissionCommandUIInfo::getParamInfo(int index) const
{
if (!_paramRemoveList.contains(index) && _paramInfoMap.contains(index)) {
return _paramInfoMap[index];
} else {
return NULL;
}
}