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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 "MissionCommandTree.h"
#include "FactMetaData.h"
#include "Vehicle.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "QGroundControlQmlGlobal.h"
#include "MissionCommandUIInfo.h"
#include "MissionCommandList.h"
#include "SettingsManager.h"
#include <QQmlEngine>
MissionCommandTree::MissionCommandTree(QGCApplication* app, bool unitTest)
: QGCTool(app)
, _allCommandsCategory(tr("All commands"))
, _settingsManager(NULL)
, _unitTest(unitTest)
{
}
void MissionCommandTree::setToolbox(QGCToolbox* toolbox)
{
QGCTool::setToolbox(toolbox);
_settingsManager = toolbox->settingsManager();
#ifdef UNITTEST_BUILD
if (_unitTest) {
// Load unit testing tree
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC] = new MissionCommandList(":/json/unittest/MavCmdInfoCommon.json", true, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_FIXED_WING] = new MissionCommandList(":/json/unittest/MavCmdInfoFixedWing.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_QUADROTOR] = new MissionCommandList(":/json/unittest/MavCmdInfoMultiRotor.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_VTOL_QUADROTOR] = new MissionCommandList(":/json/unittest/MavCmdInfoVTOL.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_SUBMARINE] = new MissionCommandList(":/json/unittest/MavCmdInfoSub.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GROUND_ROVER] = new MissionCommandList(":/json/unittest/MavCmdInfoRover.json", false, this);
} else {
#endif
// Load all levels of hierarchy
foreach (MAV_AUTOPILOT firmwareType, _toolbox->firmwarePluginManager()->supportedFirmwareTypes()) {
FirmwarePlugin* plugin = _toolbox->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR);
QList<MAV_TYPE> vehicleTypes;
vehicleTypes << MAV_TYPE_GENERIC << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
foreach(MAV_TYPE vehicleType, vehicleTypes) {
QString overrideFile = plugin->missionCommandOverrides(vehicleType);
if (!overrideFile.isEmpty()) {
_staticCommandTree[firmwareType][vehicleType] = new MissionCommandList(overrideFile, firmwareType == MAV_AUTOPILOT_GENERIC && vehicleType == MAV_TYPE_GENERIC /* baseCommandList */, this);
}
}
}
#ifdef UNITTEST_BUILD
}
#endif
}
MAV_AUTOPILOT MissionCommandTree::_baseFirmwareType(MAV_AUTOPILOT firmwareType) const
{
if (qgcApp()->toolbox()->firmwarePluginManager()->supportedFirmwareTypes().contains(firmwareType)) {
return firmwareType;
} else {
return MAV_AUTOPILOT_GENERIC;
}
}
MAV_TYPE MissionCommandTree::_baseVehicleType(MAV_TYPE mavType) const
{
if (QGCMAVLink::isFixedWing(mavType)) {
return MAV_TYPE_FIXED_WING;
} else if (QGCMAVLink::isMultiRotor(mavType)) {
return MAV_TYPE_QUADROTOR;
} else if (QGCMAVLink::isVTOL(mavType)) {
return MAV_TYPE_VTOL_QUADROTOR;
} else if (QGCMAVLink::isRover(mavType)) {
return MAV_TYPE_GROUND_ROVER;
} else if (QGCMAVLink::isSub(mavType)) {
return MAV_TYPE_SUBMARINE;
} else {
return MAV_TYPE_GENERIC;
}
}
/// Add the next level of the hierarchy to a collapsed tree.
/// @param vehicle Collapsed tree is for this vehicle
/// @param cmdList List of mission commands to collapse into ui info
/// @param collapsedTree Tree we are collapsing into
void MissionCommandTree::_collapseHierarchy(Vehicle* vehicle,
const MissionCommandList* cmdList,
QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
foreach (MAV_CMD command, cmdList->commandIds()) {
// Only add supported command to tree (MAV_CMD_NAV_LAST is used for planned home position)
if (!qgcApp()->runningUnitTests()
&& !vehicle->firmwarePlugin()->supportedMissionCommands().isEmpty()
&& !vehicle->firmwarePlugin()->supportedMissionCommands().contains(command)
&& command != MAV_CMD_NAV_LAST) {
continue;
}
MissionCommandUIInfo* uiInfo = cmdList->getUIInfo(command);
if (uiInfo) {
if (collapsedTree.contains(command)) {
collapsedTree[command]->_overrideInfo(uiInfo);
} else {
collapsedTree[command] = new MissionCommandUIInfo(*uiInfo);
}
}
}
}
void MissionCommandTree::_buildAvailableCommands(Vehicle* vehicle)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
if (_availableCommands.contains(baseFirmwareType) &&
_availableCommands[baseFirmwareType].contains(baseVehicleType)) {
// Available commands list already built
return;
}
// Build new available commands list
QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree = _availableCommands[baseFirmwareType][baseVehicleType];
// Any Firmware, Any Vehicle
_collapseHierarchy(vehicle, _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC], collapsedTree);
// Any Firmware, Specific Vehicle
if (baseVehicleType != MAV_TYPE_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[MAV_AUTOPILOT_GENERIC][baseVehicleType], collapsedTree);
}
// Known Firmware, Any Vehicle
if (baseFirmwareType != MAV_AUTOPILOT_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[baseFirmwareType][MAV_TYPE_GENERIC], collapsedTree);
// Known Firmware, Specific Vehicle
if (baseVehicleType != MAV_TYPE_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[baseFirmwareType][baseVehicleType], collapsedTree);
}
}
// Build category list
QMapIterator<MAV_CMD, MissionCommandUIInfo*> iter(collapsedTree);
while (iter.hasNext()) {
iter.next();
QString newCategory = iter.value()->category();
if (!_availableCategories[baseFirmwareType][baseVehicleType].contains(newCategory)) {
_availableCategories[baseFirmwareType][baseVehicleType].append(newCategory);
}
}
_availableCategories[baseFirmwareType][baseVehicleType].append(_allCommandsCategory);
}
QStringList MissionCommandTree::_availableCategoriesForVehicle(Vehicle* vehicle)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_buildAvailableCommands(vehicle);
return _availableCategories[baseFirmwareType][baseVehicleType];
}
QString MissionCommandTree::friendlyName(MAV_CMD command)
{
MissionCommandList * commandList = _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC];
MissionCommandUIInfo* uiInfo = commandList->getUIInfo(command);
if (uiInfo) {
return uiInfo->friendlyName();
} else {
return QString("MAV_CMD(%1)").arg((int)command);
}
}
QString MissionCommandTree::rawName(MAV_CMD command)
{
MissionCommandList * commandList = _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC];
MissionCommandUIInfo* uiInfo = commandList->getUIInfo(command);
if (uiInfo) {
return uiInfo->rawName();
} else {
return QString("MAV_CMD(%1)").arg((int)command);
}
}
const QList<MAV_CMD>& MissionCommandTree::allCommandIds(void) const
{
return _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC]->commandIds();
}
const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_CMD command)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_buildAvailableCommands(vehicle);
const QMap<MAV_CMD, MissionCommandUIInfo*>& infoMap = _availableCommands[baseFirmwareType][baseVehicleType];
if (infoMap.contains(command)) {
return infoMap[command];
} else {
return NULL;
}
}
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_buildAvailableCommands(vehicle);
QVariantList list;
QMap<MAV_CMD, MissionCommandUIInfo*> commandMap = _availableCommands[baseFirmwareType][baseVehicleType];
foreach (MAV_CMD command, commandMap.keys()) {
MissionCommandUIInfo* uiInfo = commandMap[command];
if (uiInfo->category() == category || category == _allCommandsCategory) {
list.append(QVariant::fromValue(uiInfo));
}
}
return list;
}
void MissionCommandTree::_baseVehicleInfo(Vehicle* vehicle, MAV_AUTOPILOT& baseFirmwareType, MAV_TYPE& baseVehicleType) const
{
if (vehicle) {
baseFirmwareType = _baseFirmwareType(vehicle->firmwareType());
baseVehicleType = _baseVehicleType(vehicle->vehicleType());
} else {
// No Vehicle means offline editing
baseFirmwareType = _baseFirmwareType((MAV_AUTOPILOT)_settingsManager->appSettings()->offlineEditingFirmwareType()->rawValue().toInt());
baseVehicleType = _baseVehicleType((MAV_TYPE)_settingsManager->appSettings()->offlineEditingVehicleType()->rawValue().toInt());
}
}