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Commit 622283a3 authored by Lorenz Meier's avatar Lorenz Meier
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Completed MAV_CMD enum in button, allowed to directly enter numbers into the form

parent a5d6ae26
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Showing with 66 additions and 35 deletions
src/ui/designer/QGCCommandButton.cc
View file @ 622283a3
......@@ -35,8 +35,6 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
// Add commands to combo box
ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
ui->editCommandComboBox->addItem("CUSTOM 0", 0);
ui->editCommandComboBox->addItem("CUSTOM 1", 1);
ui->editCommandComboBox->addItem("CUSTOM 2", 2);
......@@ -53,21 +51,35 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
ui->editCommandComboBox->addItem("CUSTOM 13", 13);
ui->editCommandComboBox->addItem("CUSTOM 14", 14);
ui->editCommandComboBox->addItem("CUSTOM 15", 15);
ui->editCommandComboBox->addItem("NAV_WAYPOINT", 16);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", 17);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", 18);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", 19);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", 20);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", 21);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", 22);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", 80);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", 81);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", 176);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", 178);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", 179);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", 181);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", 182);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", 183);
ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING);
ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT);
ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE);
ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW);
ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE);
ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO);
ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START);
ui->editCommandComboBox->setEditable(true);
}
......@@ -78,22 +90,37 @@ QGCCommandButton::~QGCCommandButton()
void QGCCommandButton::sendCommand()
{
if (QGCToolWidgetItem::uas) {
int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
MAV_CMD command = static_cast<MAV_CMD>(index);
int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
float param1 = ui->editParam1SpinBox->value();
float param2 = ui->editParam2SpinBox->value();
float param3 = ui->editParam3SpinBox->value();
float param4 = ui->editParam4SpinBox->value();
float param5 = ui->editParam5SpinBox->value();
float param6 = ui->editParam6SpinBox->value();
float param7 = ui->editParam7SpinBox->value();
int component = ui->editComponentSpinBox->value();
QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
} else {
if (QGCToolWidgetItem::uas)
{
// Check if command text is a number
bool ok;
int index = 0;
index = ui->editCommandComboBox->currentText().toInt(&ok);
if (!ok)
{
// Command was not a number, assume it was one of the text items
index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok);
if (ok)
{
// Text item found, proceed
MAV_CMD command = static_cast<MAV_CMD>(index);
int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
float param1 = ui->editParam1SpinBox->value();
float param2 = ui->editParam2SpinBox->value();
float param3 = ui->editParam3SpinBox->value();
float param4 = ui->editParam4SpinBox->value();
float param5 = ui->editParam5SpinBox->value();
float param6 = ui->editParam6SpinBox->value();
float param7 = ui->editParam7SpinBox->value();
int component = ui->editComponentSpinBox->value();
QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
}
}
}
else
{
qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
}
}
......
src/ui/designer/QGCCommandButton.ui
View file @ 622283a3
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>882</width>
<width>1183</width>
<height>430</height>
</rect>
</property>
......@@ -27,7 +27,11 @@
<number>3</number>
</property>
<item row="7" column="0" colspan="3">
<widget class="QComboBox" name="editCommandComboBox"/>
<widget class="QComboBox" name="editCommandComboBox">
<property name="editable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QPushButton" name="editFinishButton">
......
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