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/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include <QStringList>
#include <QJsonDocument>
#include <QJsonParseError>
#include <QDebug>
#include "MissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
const double MissionItem::defaultTakeoffPitch = 15.0;
const double MissionItem::defaultHeading = 0.0;
const double MissionItem::defaultAltitude = 25.0;
const double MissionItem::defaultAcceptanceRadius = 3.0;
const double MissionItem::defaultLoiterOrbitRadius = 10.0;
const double MissionItem::defaultLoiterTurns = 1.0;
FactMetaData* MissionItem::_altitudeMetaData = NULL;
FactMetaData* MissionItem::_commandMetaData = NULL;
FactMetaData* MissionItem::_defaultParamMetaData = NULL;
FactMetaData* MissionItem::_frameMetaData = NULL;
FactMetaData* MissionItem::_latitudeMetaData = NULL;
FactMetaData* MissionItem::_longitudeMetaData = NULL;
FactMetaData* MissionItem::_supportedCommandMetaData = NULL;
const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
const QString MissionItem::_defaultJsonKey (QStringLiteral("default"));
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const QString MissionItem::_descriptionJsonKey (QStringLiteral("description"));
const QString MissionItem::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
const QString MissionItem::_idJsonKey (QStringLiteral("id"));
const QString MissionItem::_labelJsonKey (QStringLiteral("label"));
const QString MissionItem::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo"));
const QString MissionItem::_param1JsonKey (QStringLiteral("param1"));
const QString MissionItem::_param2JsonKey (QStringLiteral("param2"));
const QString MissionItem::_param3JsonKey (QStringLiteral("param3"));
const QString MissionItem::_param4JsonKey (QStringLiteral("param4"));
const QString MissionItem::_paramJsonKeyFormat (QStringLiteral("param%1"));
const QString MissionItem::_rawNameJsonKey (QStringLiteral("rawName"));
const QString MissionItem::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
const QString MissionItem::_unitsJsonKey (QStringLiteral("units"));
const QString MissionItem::_versionJsonKey (QStringLiteral("version"));
const QString MissionItem::_degreesUnits (QStringLiteral("degrees"));
QMap<MAV_CMD, MissionItem::MavCmdInfo_t> MissionItem::_mavCmdInfoMap;
struct EnumInfo_s {
const char * label;
MAV_FRAME frame;
};
static const struct EnumInfo_s _rgMavFrameInfo[] = {
{ "MAV_FRAME_GLOBAL", MAV_FRAME_GLOBAL },
{ "MAV_FRAME_LOCAL_NED", MAV_FRAME_LOCAL_NED },
{ "MAV_FRAME_MISSION", MAV_FRAME_MISSION },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT", MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ "MAV_FRAME_LOCAL_ENU", MAV_FRAME_LOCAL_ENU },
{ "MAV_FRAME_GLOBAL_INT", MAV_FRAME_GLOBAL_INT },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
{ "MAV_FRAME_LOCAL_OFFSET_NED", MAV_FRAME_LOCAL_OFFSET_NED },
{ "MAV_FRAME_BODY_NED", MAV_FRAME_BODY_NED },
{ "MAV_FRAME_BODY_OFFSET_NED", MAV_FRAME_BODY_OFFSET_NED },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT", MAV_FRAME_GLOBAL_TERRAIN_ALT },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
return dbg;
}
QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
return dbg;
}
MissionItem::MissionItem(QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Latitude:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Longitude:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
setAutoContinue(true);
}
MissionItem::MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(sequenceNumber)
, _isCurrentItem(isCurrentItem)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
setCommand(command);
setFrame(frame);
setAutoContinue(autoContinue);
_syncFrameToAltitudeRelativeToHome();
_syncCommandToSupportedCommand(QVariant(this->command()));
_param1Fact.setRawValue(param1);
_param2Fact.setRawValue(param2);
_param3Fact.setRawValue(param3);
_param4Fact.setRawValue(param4);
_param5Fact.setRawValue(param5);
_param6Fact.setRawValue(param6);
_param7Fact.setRawValue(param7);
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
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, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
*this = other;
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
{
setCommand(other.command());
setFrame(other.frame());
setRawEdit(other._rawEdit);
setDirty(other._dirty);
setSequenceNumber(other._sequenceNumber);
setAutoContinue(other.autoContinue());
setIsCurrentItem(other._isCurrentItem);
setDistance(other._distance);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setHomePositionValid(other._homePositionValid);
_syncFrameToAltitudeRelativeToHome();
_syncCommandToSupportedCommand(QVariant(this->command()));
_param1Fact.setRawValue(other._param1Fact.rawValue());
_param2Fact.setRawValue(other._param2Fact.rawValue());
_param3Fact.setRawValue(other._param3Fact.rawValue());
_param4Fact.setRawValue(other._param4Fact.rawValue());
_param5Fact.setRawValue(other._param5Fact.rawValue());
_param6Fact.setRawValue(other._param6Fact.rawValue());
_param7Fact.setRawValue(other._param7Fact.rawValue());
return *this;
}
void MissionItem::_connectSignals(void)
{
// Connect to change signals to track dirty state
connect(&_param1Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param2Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param3Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param4Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::sequenceNumberChanged, this, &MissionItem::_setDirtyFromSignal);
// Values from these facts must propogate back and forth between the real object storage
connect(&_supportedCommandFact, &Fact::valueChanged, this, &MissionItem::_syncSupportedCommandToCommand);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_syncCommandToSupportedCommand);
connect(&_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
connect(this, &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
// These are parameter coordinates, they must emit coordinateChanged signal
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
// The following changes may also change friendlyEditAllowed
connect(&_autoContinueFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
// Whenever these properties change the ui model changes as well
connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
// These fact signals must alway signal out through MissionItem signals
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
// When the command changes we need to set defaults
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand);
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}
bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
{
for (int i=0; i<keys.count(); i++) {
if (jsonObject.contains(keys[i])) {
if (jsonObject.value(keys[i]).type() != types[i]) {
qWarning() << "Incorrect type key:type:expected" << keys[i] << jsonObject.value(keys[i]).type() << types[i];
return false;
}
}
}
return true;
}
bool MissionItem::_loadMavCmdInfoJson(void)
{
QFile jsonFile(":/json/MavCmdInfo.json");
if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
qWarning() << "Unable to open MavCmdInfo.json" << jsonFile.errorString();
return false;
}
QByteArray bytes = jsonFile.readAll();
jsonFile.close();
QJsonParseError jsonParseError;
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
if (jsonParseError.error != QJsonParseError::NoError) {
qWarning() << "Unable to open json document" << jsonParseError.errorString();
return false;
}
QJsonObject json = doc.object();
int version = json.value(_versionJsonKey).toInt();
if (version != 1) {
qWarning() << "Invalid version" << version;
return false;
}
QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);
if (!jsonValue.isArray()) {
qWarning() << "mavCmdInfo not array";
return false;
}
QJsonArray jsonArray = jsonValue.toArray();
foreach(QJsonValue info, jsonArray) {
if (!info.isObject()) {
qWarning() << "mavCmdArray should contain objects";
return false;
}
QJsonObject jsonObject = info.toObject();
// Make sure we have the required keys
QStringList requiredKeys;
requiredKeys << _idJsonKey << _rawNameJsonKey;
foreach (QString key, requiredKeys) {
if (!jsonObject.contains(key)) {
qWarning() << "Mission required key" << key;
return false;
}
}
// Validate key types
QStringList keys;
QList<QJsonValue::Type> types;
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object;
if (!_validateKeyTypes(jsonObject, keys, types)) {
return false;
}
MavCmdInfo_t mavCmdInfo;
mavCmdInfo.command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt();
mavCmdInfo.rawName = jsonObject.value(_rawNameJsonKey).toString();
mavCmdInfo.friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
mavCmdInfo.description = jsonObject.value(_descriptionJsonKey).toString(QString());
mavCmdInfo.specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
mavCmdInfo.friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
if (_mavCmdInfoMap.contains(mavCmdInfo.command)) {
qWarning() << "Duplicate command" << mavCmdInfo.command;
return false;
}
_mavCmdInfoMap[mavCmdInfo.command] = mavCmdInfo;
// Read params
for (int i=1; i<5; i++) {
QString paramKey = QString(_paramJsonKeyFormat).arg(i);
if (jsonObject.contains(paramKey)) {
QJsonObject paramObject = jsonObject.value(paramKey).toObject();
// Validate key types
QStringList keys;
QList<QJsonValue::Type> types;
keys << _labelJsonKey << _unitsJsonKey << _defaultJsonKey << _decimalPlacesJsonKey;
types << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double;
if (!_validateKeyTypes(paramObject, keys, types)) {
return false;
}
if (paramObject.contains(_labelJsonKey)) {
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].label = paramObject.value(_labelJsonKey).toString();
} else {
qWarning() << "param object missing label key" << mavCmdInfo.rawName << paramKey;
return false;
}
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].param = i;
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString();
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
}
}
}
return true;
}
void MissionItem::_setupMetaData(void)
{
QStringList enumStrings;
QVariantList enumValues;
if (!_altitudeMetaData) {
_loadMavCmdInfoJson();
_altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_altitudeMetaData->setUnits("meters");
_altitudeMetaData->setDecimalPlaces(3);
enumStrings.clear();
enumValues.clear();
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
enumStrings.append(mavCmdInfo.rawName);
enumValues.append(QVariant(mavCmdInfo.command));
}
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_commandMetaData->setEnumInfo(enumStrings, enumValues);
_defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_defaultParamMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
enumStrings.append(mavFrameInfo->label);
enumValues.append(QVariant(mavFrameInfo->frame));
}
_frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_frameMetaData->setEnumInfo(enumStrings, enumValues);
_latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_latitudeMetaData->setUnits("deg");
_latitudeMetaData->setDecimalPlaces(7);
_longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_longitudeMetaData->setUnits("deg");
_longitudeMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
// FIXME: Hack hardcode tp PX4
QList<MAV_CMD> supportedCommands = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR)->supportedMissionCommands();
if (supportedCommands.count()) {
foreach (MAV_CMD command, supportedCommands) {
enumStrings.append(_mavCmdInfoMap[command].friendlyName);
enumValues.append(QVariant(command));
}
} else {
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
enumStrings.append(mavCmdInfo.friendlyName);
enumValues.append(QVariant(mavCmdInfo.command));
}
}
_supportedCommandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_supportedCommandMetaData->setEnumInfo(enumStrings, enumValues);
}
_commandFact.setMetaData(_commandMetaData);
_frameFact.setMetaData(_frameMetaData);
_supportedCommandFact.setMetaData(_supportedCommandMetaData);
}
MissionItem::~MissionItem()
{
}
void MissionItem::save(QTextStream &saveStream)
{
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <autoContinue> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << sequenceNumber() << "\t"
<< isCurrentItem() << "\t"
<< frame() << "\t"
<< command() << "\t"
<< QString("%1").arg(param1(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param2(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param3(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param4(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param5(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param6(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param7(), 0, 'g', 18) << "\t"
<< this->autoContinue() << "\r\n";
}
bool MissionItem::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12) {
setSequenceNumber(wpParams[0].toInt());
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
setFrame((MAV_FRAME)wpParams[2].toInt());
setCommand((MAV_CMD)wpParams[3].toInt());
setParam1(wpParams[4].toDouble());
setParam2(wpParams[5].toDouble());
setParam3(wpParams[6].toDouble());
setParam4(wpParams[7].toDouble());
setParam5(wpParams[8].toDouble());
setParam6(wpParams[9].toDouble());
setParam7(wpParams[10].toDouble());
setAutoContinue(wpParams[11].toInt() == 1 ? true : false);
return true;
}
return false;
}
void MissionItem::setSequenceNumber(int sequenceNumber)
{
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
}
void MissionItem::setCommand(MAV_CMD command)
{
if ((MAV_CMD)this->command() != command) {
emit commandChanged(this->command());
}
}
void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
setCommand((MAV_CMD)command);
}
void MissionItem::setFrame(MAV_FRAME frame)
{
if (this->frame() != frame) {
}
}
void MissionItem::setAutoContinue(bool autoContinue)
{
if (this->autoContinue() != autoContinue) {
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}
}
void MissionItem::setIsCurrentItem(bool isCurrentItem)
{
if (_isCurrentItem != isCurrentItem) {
_isCurrentItem = isCurrentItem;
emit isCurrentItemChanged(isCurrentItem);
}
}
void MissionItem::setParam1(double param)
{
if (param1() != param) {
_param1Fact.setRawValue(param);
}
}
void MissionItem::setParam2(double param)
{
if (param2() != param) {
_param2Fact.setRawValue(param);
}
}
void MissionItem::setParam3(double param)
{
if (param3() != param) {
_param3Fact.setRawValue(param);
}
}
void MissionItem::setParam4(double param)
{
if (param4() != param) {
_param4Fact.setRawValue(param);
}
}
void MissionItem::setParam5(double param)
{
if (param5() != param) {
_param5Fact.setRawValue(param);
}
}
void MissionItem::setParam6(double param)
{
if (param6() != param) {
_param6Fact.setRawValue(param);
}
}
void MissionItem::setParam7(double param)
{
if (param7() != param) {
_param7Fact.setRawValue(param);
}
}
bool MissionItem::specifiesCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()].specifiesCoordinate;
}
QString MissionItem::commandDescription(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()].description;
}
void MissionItem::_clearParamMetaData(void)
{
_param1MetaData.setUnits("");
_param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param1MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param2MetaData.setUnits("");
_param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param2MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param3MetaData.setUnits("");
_param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param3MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param4MetaData.setUnits("");
_param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param4MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
}
QmlObjectListModel* MissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
_param1Fact._setName("Param1:");
_param1Fact.setMetaData(_defaultParamMetaData);
model->append(&_param1Fact);
_param2Fact._setName("Param2:");
_param2Fact.setMetaData(_defaultParamMetaData);
model->append(&_param2Fact);
_param3Fact._setName("Param3:");
_param3Fact.setMetaData(_defaultParamMetaData);
model->append(&_param3Fact);
_param4Fact._setName("Param4:");
_param4Fact.setMetaData(_defaultParamMetaData);
model->append(&_param4Fact);
_param5Fact._setName("Lat/X:");
_param5Fact.setMetaData(_defaultParamMetaData);
model->append(&_param5Fact);
_param6Fact._setName("Lon/Y:");
_param6Fact.setMetaData(_defaultParamMetaData);
model->append(&_param6Fact);
_param7Fact._setName("Alt/Z:");
_param7Fact.setMetaData(_defaultParamMetaData);
model->append(&_param7Fact);
} else {
_clearParamMetaData();
MAV_CMD command = (MAV_CMD)this->command();
if (_mavCmdInfoMap[command].paramInfoMap.contains(1)) {
_param1Fact._setName(_mavCmdInfoMap[command].paramInfoMap[1].label);
_param1MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[1].units);
_param1MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[1].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[1].units == _degreesUnits) {
_param1MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param1Fact.setMetaData(&_param1MetaData);
model->append(&_param1Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(2)) {
_param2Fact._setName(_mavCmdInfoMap[command].paramInfoMap[2].label);
_param2MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[2].units);
_param2MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[2].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[2].units == _degreesUnits) {
_param2MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param2Fact.setMetaData(&_param2MetaData);
model->append(&_param2Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(3)) {
_param3Fact._setName(_mavCmdInfoMap[command].paramInfoMap[3].label);
_param3MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[3].units);
_param3MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[3].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[3].units == _degreesUnits) {
_param3MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param3Fact.setMetaData(&_param3MetaData);
model->append(&_param3Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(4)) {
_param4Fact._setName(_mavCmdInfoMap[command].paramInfoMap[4].label);
_param4MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[4].units);
_param4MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[4].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[4].units == _degreesUnits) {
_param4MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param4Fact.setMetaData(&_param4MetaData);
model->append(&_param4Fact);
}
if (specifiesCoordinate()) {
_param7Fact._setName("Altitude:");
_param7Fact.setMetaData(_altitudeMetaData);
model->append(&_param7Fact);
}
}
return model;
}
QmlObjectListModel* MissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_autoContinueFact);
} else if (specifiesCoordinate()) {
model->append(&_altitudeRelativeToHomeFact);
}
return model;
}
QmlObjectListModel* MissionItem::comboboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_commandFact);
model->append(&_frameFact);
}
return model;
}
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(_param5Fact.rawValue().toDouble(), _param6Fact.rawValue().toDouble(), _param7Fact.rawValue().toDouble());
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}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
setParam5(coordinate.latitude());
setParam6(coordinate.longitude());
setParam7(coordinate.altitude());
}
bool MissionItem::friendlyEditAllowed(void) const
{
if (_mavCmdInfoMap[(MAV_CMD)command()].friendlyEdit) {
if (!autoContinue()) {
return false;
}
if (specifiesCoordinate()) {
return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
} else {
return frame() == MAV_FRAME_MISSION;
}
}
return false;
}
bool MissionItem::rawEdit(void) const
{
return _rawEdit || !friendlyEditAllowed();
}
void MissionItem::setRawEdit(bool rawEdit)
{
if (_rawEdit != rawEdit) {
_rawEdit = rawEdit;
emit rawEditChanged(this->rawEdit());
}
}
void MissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || !dirty) {
// Home position never affects dirty bit
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
}
void MissionItem::_setDirtyFromSignal(void)
{
setDirty(true);
}
void MissionItem::setHomePositionValid(bool homePositionValid)
{
_homePositionValid = homePositionValid;
emit homePositionValidChanged(_homePositionValid);
}
void MissionItem::setDistance(double distance)
{
_distance = distance;
emit distanceChanged(_distance);
}
void MissionItem::_sendCoordinateChanged(void)
{
emit coordinateChanged(coordinate());
}
void MissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
_syncingSupportedCommandAndCommand = true;
_syncingSupportedCommandAndCommand = false;
}
}
void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
_syncingSupportedCommandAndCommand = true;
_supportedCommandFact.setRawValue(value.toInt());
_syncingSupportedCommandAndCommand = false;
}
}
void MissionItem::setDefaultsForCommand(void)
{
foreach (ParamInfo_t paramInfo, _mavCmdInfoMap[(MAV_CMD)command()].paramInfoMap) {
double defaultValue = paramInfo.defaultValue;
switch (paramInfo.param) {
case 1:
_param1Fact.setRawValue(defaultValue);
break;
case 2:
_param2Fact.setRawValue(defaultValue);
break;
case 3:
_param3Fact.setRawValue(defaultValue);
break;
case 4:
_param4Fact.setRawValue(defaultValue);
break;
}
setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
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}
void MissionItem::_sendUiModelChanged(void)
{
emit uiModelChanged();
}
void MissionItem::_sendFrameChanged(void)
{
emit frameChanged(frame());
}
void MissionItem::_sendCommandChanged(void)
{
emit commandChanged(command());
}
QString MissionItem::commandName(void) const
{
MavCmdInfo_t& mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
return mavCmdInfo.friendlyName.isEmpty() ? mavCmdInfo.rawName : mavCmdInfo.friendlyName;
}
QVariant MissionItem::_degreesToRadians(const QVariant& degrees)
{
return QVariant(degrees.toDouble() * (M_PI / 180.0));
}
QVariant MissionItem::_radiansToDegrees(const QVariant& radians)
{
return QVariant(radians.toDouble() * (180 / M_PI));
}
void MissionItem::_sendFriendlyEditAllowedChanged(void)
{
emit friendlyEditAllowedChanged(friendlyEditAllowed());
}