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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 "SpeedSection.h"
#include "JsonHelper.h"
#include "FirmwarePlugin.h"
#include "SimpleMissionItem.h"
const char* SpeedSection::_flightSpeedName = "FlightSpeed";
QMap<QString, FactMetaData*> SpeedSection::_metaDataMap;
SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
: Section (vehicle, parent)
, _available (false)
, _dirty (false)
, _specifyFlightSpeed (false)
, _flightSpeedFact (0, _flightSpeedName, FactMetaData::valueTypeDouble)
{
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/SpeedSection.FactMetaData.json"), NULL /* metaDataParent */);
}
double flightSpeed = 0;
if (_vehicle->multiRotor()) {
flightSpeed = _vehicle->defaultHoverSpeed();
} else {
flightSpeed = _vehicle->defaultCruiseSpeed();
}
_metaDataMap[_flightSpeedName]->setRawDefaultValue(flightSpeed);
_flightSpeedFact.setMetaData(_metaDataMap[_flightSpeedName]);
_flightSpeedFact.setRawValue(flightSpeed);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::settingsSpecifiedChanged);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_flightSpeedChanged);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::_updateSpecifiedFlightSpeed);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_updateSpecifiedFlightSpeed);
}
bool SpeedSection::settingsSpecified(void) const
{
return _specifyFlightSpeed;
}
void SpeedSection::setAvailable(bool available)
{
if (available != _available) {
if (available && (_vehicle->multiRotor() || _vehicle->fixedWing())) {
_available = available;
emit availableChanged(available);
}
}
}
void SpeedSection::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
}
void SpeedSection::setSpecifyFlightSpeed(bool specifyFlightSpeed)
{
if (specifyFlightSpeed != _specifyFlightSpeed) {
_specifyFlightSpeed = specifyFlightSpeed;
emit specifyFlightSpeedChanged(specifyFlightSpeed);
setDirty(true);
emit itemCountChanged(itemCount());
}
}
int SpeedSection::itemCount(void) const
{
return _specifyFlightSpeed ? 1: 0;
}
void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum)
{
// IMPORTANT NOTE: If anything changes here you must also change SpeedSection::scanForSettings
if (_specifyFlightSpeed) {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_CHANGE_SPEED,
MAV_FRAME_MISSION,
_vehicle->multiRotor() ? 1 /* groundspeed */ : 0 /* airspeed */, // Change airspeed or groundspeed
_flightSpeedFact.rawValue().toDouble(),
-1, // No throttle change
0, // Absolute speed change
0, 0, 0, // param 5-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
{
if (!_available || scanIndex >= visualItems->count()) {
return false;
}
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (!item) {
// We hit a complex item, there can't be a speed setting
return false;
}
MissionItem& missionItem = item->missionItem();
// See SpeedSection::appendMissionItems for specs on what consitutes a known speed setting
if (missionItem.command() == MAV_CMD_DO_CHANGE_SPEED && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
if (_vehicle->multiRotor() && missionItem.param1() != 1) {
return false;
} else if (_vehicle->fixedWing() && missionItem.param1() != 0) {
return false;
}
visualItems->removeAt(scanIndex)->deleteLater();
_flightSpeedFact.setRawValue(missionItem.param2());
setSpecifyFlightSpeed(true);
return true;
}
return false;
}
double SpeedSection::specifiedFlightSpeed(void) const
{
return _specifyFlightSpeed ? _flightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
void SpeedSection::_updateSpecifiedFlightSpeed(void)
{
if (_specifyFlightSpeed) {
emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
}
}
void SpeedSection::_flightSpeedChanged(void)
{
// We only set the dirty bit if specify flight speed it set. This allows us to change defaults for flight speed
// without affecting dirty.
if (_specifyFlightSpeed) {
setDirty(true);
}
}