diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 0062c929e5afe53d5837acf45922c78e885b7372..e15ab9723b95c351dce2dfb5abcc5f549fd31003 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -247,6 +247,7 @@ HEADERS += \
src/Joystick/JoystickManager.h \
src/LogCompressor.h \
src/MG.h \
+ src/MissionManager/MissionCommands.h \
src/MissionManager/MissionController.h \
src/MissionManager/MissionItem.h \
src/MissionManager/MissionManager.h \
@@ -363,6 +364,7 @@ SOURCES += \
src/Joystick/JoystickManager.cc \
src/LogCompressor.cc \
src/main.cc \
+ src/MissionManager/MissionCommands.cc \
src/MissionManager/MissionController.cc \
src/MissionManager/MissionItem.cc \
src/MissionManager/MissionManager.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 8116a80e233887354f7532759b2ff087bccf3534..e602867551c54367df9d9fa483e85e1843dcc7ce 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -38,6 +38,7 @@
src/ui/toolbar/MainToolBarIndicators.qml
src/QmlControls/MissionItemEditor.qml
src/QmlControls/MissionItemIndexLabel.qml
+ src/QmlControls/MissionCommandDialog.qml
src/QmlControls/ModeSwitchDisplay.qml
src/QmlControls/ParameterEditor.qml
src/QmlControls/ParameterEditorDialog.qml
diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index 358237fa511c62c05678117648ef966794091a05..e3c173bd634a319a8e45feb105ac320344d9da1a 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -403,6 +403,7 @@ QGCView {
width: parent.width
readOnly: object.sequenceNumber == 0
visible: !readOnly || object.homePositionValid
+ qgcView: _root
onClicked: setCurrentItem(object.sequenceNumber)
diff --git a/src/MissionManager/MavCmdInfo.json b/src/MissionManager/MavCmdInfo.json
index 5e06ddd9127871c87c1baa78a77d60330101233c..91dd41a9c01b3ed995959151e513883a038ba953 100644
--- a/src/MissionManager/MavCmdInfo.json
+++ b/src/MissionManager/MavCmdInfo.json
@@ -19,6 +19,7 @@
"description": "Travel to a position in 3D space.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Hold:",
"units": "seconds",
@@ -33,6 +34,7 @@
"description": "Travel to a position and Loiter around the specified radius indefinitely.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param3": {
"label": "Radius:",
"units": "meters",
@@ -47,6 +49,7 @@
"description": "Travel to a position and Loiter around the specified radius for a number of turns.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Turns:",
"default": 1,
@@ -66,6 +69,7 @@
"description": "Travel to a position and Loiter around the specified radius for an amount of time.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Hold:",
"units": "seconds",
@@ -84,7 +88,8 @@
"rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH",
"friendlyName": "Return Home",
"description": "Send the vehicle back to the home position.",
- "friendlyEdit": true
+ "friendlyEdit": true,
+ "category": "Basic"
},
{
"id": 21,
@@ -93,6 +98,7 @@
"description": "Land vehicle at the specified location.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Abort Alt:",
"units": "meters",
@@ -113,6 +119,7 @@
"description": "Take off from the ground and travel towards the specified position.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Pitch:",
"units": "degreesConvert",
@@ -138,6 +145,7 @@
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Camera",
"param1": {
"label": "Mode:",
"enumStrings": "None,Next waypoint,Mission item,Location,ROI item",
@@ -176,6 +184,7 @@
"friendlyName": "Delay",
"description": "Delay the mission for the number of seconds.",
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Hold:",
"units": "seconds",
@@ -188,6 +197,7 @@
"rawName": "MAV_CMD_CONDITION_CHANGE_ALT",
"description": "Delay the mission until the specified altitide is reached.",
"friendlyName": "Wait for altitude",
+ "category": "Conditionals",
"param1": {
"label": "Rate:",
"units": "m/s",
@@ -206,6 +216,7 @@
"rawName": "MAV_CMD_CONDITION_DISTANCE",
"description": "Delay the mission until within the specified distance of the next waypoint.",
"friendlyName": "Wait for distance",
+ "category": "Conditionals",
"param1": {
"label": "Distance:",
"units": "meters",
@@ -218,6 +229,7 @@
"rawName": "MAV_CMD_CONDITION_YAW",
"friendlyName": "Wait for Heading",
"description": "Delay the mission until the specified heading is reached.",
+ "category": "Conditionals",
"param1": {
"label": "Heading:",
"units": "degrees",
@@ -250,6 +262,7 @@
"friendlyName": "Jump to item",
"description": "Mission will continue at the specified item.",
"friendlyEdit": true,
+ "category": "Basic",
"param1": {
"label": "Item #:",
"default": 1,
@@ -380,6 +393,7 @@
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"friendlyEdit": true,
+ "category": "Camera",
"param1": {
"label": "Mode:",
"enumStrings": "None,Next waypoint,Mission item,Location,ROI item",
@@ -403,6 +417,7 @@
"rawName": "MAV_CMD_DO_DIGICAM_CONFIGURE",
"friendlyName": "Camera config",
"description": "Configure onboard camera controller.",
+ "category": "Camera",
"param1": {
"label": "Mode:",
"default": 0,
@@ -446,6 +461,7 @@
"friendlyName": "Camera control",
"rawName": "MAV_CMD_DO_DIGICAM_CONTROL",
"description": "Control onboard camera.",
+ "category": "Camera",
"param1": {
"label": "Session:",
"default": 0,
@@ -483,6 +499,7 @@
"rawName": "MAV_CMD_DO_MOUNT_CONTROL",
"friendlyName": "Mount config",
"description": "Control antenna mount or camera.",
+ "category": "Camera",
"param1": {
"label": "Lat/Pitch:",
"default": 0,
@@ -511,6 +528,7 @@
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
"friendlyName": "Camera trigger distance",
"description": "Set camera trigger distance.",
+ "category": "Camera",
"param1": {
"label": "Distance:",
"default": 25,
diff --git a/src/MissionManager/MissionCommands.cc b/src/MissionManager/MissionCommands.cc
new file mode 100644
index 0000000000000000000000000000000000000000..42d2903e1fcb20ceb079bbe67b3787026d615d8b
--- /dev/null
+++ b/src/MissionManager/MissionCommands.cc
@@ -0,0 +1,258 @@
+/*===================================================================
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT
+
+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 .
+
+======================================================================*/
+
+#include "MissionCommands.h"
+#include "FactMetaData.h"
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+QGC_LOGGING_CATEGORY(MissionCommandsLog, "MissionCommandsLog")
+
+const QString MissionCommands::_categoryJsonKey (QStringLiteral("category"));
+const QString MissionCommands::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
+const QString MissionCommands::_defaultJsonKey (QStringLiteral("default"));
+const QString MissionCommands::_descriptionJsonKey (QStringLiteral("description"));
+const QString MissionCommands::_enumStringsJsonKey (QStringLiteral("enumStrings"));
+const QString MissionCommands::_enumValuesJsonKey (QStringLiteral("enumValues"));
+const QString MissionCommands::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
+const QString MissionCommands::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
+const QString MissionCommands::_idJsonKey (QStringLiteral("id"));
+const QString MissionCommands::_labelJsonKey (QStringLiteral("label"));
+const QString MissionCommands::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo"));
+const QString MissionCommands::_param1JsonKey (QStringLiteral("param1"));
+const QString MissionCommands::_param2JsonKey (QStringLiteral("param2"));
+const QString MissionCommands::_param3JsonKey (QStringLiteral("param3"));
+const QString MissionCommands::_param4JsonKey (QStringLiteral("param4"));
+const QString MissionCommands::_paramJsonKeyFormat (QStringLiteral("param%1"));
+const QString MissionCommands::_rawNameJsonKey (QStringLiteral("rawName"));
+const QString MissionCommands::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
+const QString MissionCommands::_unitsJsonKey (QStringLiteral("units"));
+const QString MissionCommands::_versionJsonKey (QStringLiteral("version"));
+
+const QString MissionCommands::_degreesConvertUnits (QStringLiteral("degreesConvert"));
+const QString MissionCommands::_degreesUnits (QStringLiteral("degrees"));
+
+MissionCommands::MissionCommands(QGCApplication* app)
+ : QGCTool(app)
+{
+ _loadMavCmdInfoJson();
+}
+
+bool MissionCommands::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types)
+{
+ for (int i=0; i types;
+ keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
+ << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey;
+ types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
+ << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
+ if (!_validateKeyTypes(jsonObject, keys, types)) {
+ return;
+ }
+
+ MavCmdInfo* mavCmdInfo = new MavCmdInfo(this);
+
+ mavCmdInfo->_command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt();
+ mavCmdInfo->_category = jsonObject.value(_categoryJsonKey).toString("Advanced");
+ 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);
+
+ qCDebug(MissionCommandsLog) << "Command"
+ << mavCmdInfo->_command
+ << mavCmdInfo->_category
+ << mavCmdInfo->_rawName
+ << mavCmdInfo->_friendlyName
+ << mavCmdInfo->_description
+ << mavCmdInfo->_specifiesCoordinate
+ << mavCmdInfo->_friendlyEdit;
+
+ if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) {
+ qWarning() << "Duplicate command" << mavCmdInfo->command();
+ return;
+ }
+
+ _mavCmdInfoMap[mavCmdInfo->_command] = mavCmdInfo;
+ _commandList.append(mavCmdInfo);
+
+ // 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();
+
+ // Validate key types
+ QStringList keys;
+ QList types;
+ keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
+ types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
+ if (!_validateKeyTypes(paramObject, keys, types)) {
+ return;
+ }
+
+ mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params
+
+ if (!paramObject.contains(_labelJsonKey)) {
+ qWarning() << "param object missing label key" << mavCmdInfo->rawName() << paramKey;
+ return;
+ }
+
+ MavCmdParamInfo* paramInfo = new MavCmdParamInfo(this);
+
+ paramInfo->_label = paramObject.value(_labelJsonKey).toString();
+ paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
+ paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
+ 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 (QString enumValue, enumValues) {
+ bool convertOk;
+ double value = enumValue.toDouble(&convertOk);
+
+ if (!convertOk) {
+ qWarning() << "Bad enumValue" << enumValue;
+ return;
+ }
+
+ paramInfo->_enumValues << QVariant(value);
+ }
+ if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
+ qWarning() << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count();
+ return;
+ }
+
+ qCDebug(MissionCommandsLog) << "Param"
+ << paramInfo->_label
+ << paramInfo->_defaultValue
+ << paramInfo->_decimalPlaces
+ << paramInfo->_param
+ << paramInfo->_units
+ << paramInfo->_enumStrings
+ << paramInfo->_enumValues;
+
+ mavCmdInfo->_paramInfoMap[i] = paramInfo;
+ }
+ }
+
+ // We don't add categories till down here, since friendly edit isn't valid till here
+ if (mavCmdInfo->_command != MAV_CMD_NAV_LAST) {
+ // Don't add fake home postion command to categories
+
+ if (!_categories.contains(mavCmdInfo->category()) && mavCmdInfo->friendlyEdit()) {
+ // Only friendly edit commands go in category list
+ qCDebug(MissionCommandsLog) << "Adding new category";
+ _categories.append(mavCmdInfo->category());
+ _categoryToMavCmdInfoListMap[mavCmdInfo->category()] = new QmlObjectListModel(this);
+ }
+
+ if (mavCmdInfo->friendlyEdit()) {
+ // Only friendly edit commands go in category list
+ _categoryToMavCmdInfoListMap[mavCmdInfo->category()]->append(mavCmdInfo);
+ }
+ }
+
+ if (mavCmdInfo->friendlyEdit()) {
+ if (mavCmdInfo->description().isEmpty()) {
+ qWarning() << "Missing description" << mavCmdInfo->rawName();
+ return;
+ }
+ if (mavCmdInfo->rawName() == mavCmdInfo->friendlyName()) {
+ qWarning() << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName();
+ return;
+ }
+ }
+ }
+}
diff --git a/src/MissionManager/MissionCommands.h b/src/MissionManager/MissionCommands.h
new file mode 100644
index 0000000000000000000000000000000000000000..bd1b60c9e9205ede66590ef62ed7df7e3b8f9c71
--- /dev/null
+++ b/src/MissionManager/MissionCommands.h
@@ -0,0 +1,178 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+#ifndef MissionCommands_H
+#define MissionCommands_H
+
+#include "QGCToolbox.h"
+#include "QGCMAVLink.h"
+#include "QGCLoggingCategory.h"
+#include "QmlObjectListModel.h"
+#include "MavlinkQmlSingleton.h"
+
+#include
+#include
+#include
+#include
+
+Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
+
+class MissionCommands;
+
+class MavCmdParamInfo : public QObject {
+
+ Q_OBJECT
+
+public:
+ MavCmdParamInfo(QObject* parent = NULL)
+ : QObject(parent)
+ {
+
+ }
+
+ Q_PROPERTY(int decimalPlaces READ decimalPlaces CONSTANT)
+ Q_PROPERTY(double defaultValue READ defaultValue CONSTANT)
+ Q_PROPERTY(QStringList enumStrings READ enumStrings CONSTANT)
+ Q_PROPERTY(QVariantList enumValues READ enumValues CONSTANT)
+ Q_PROPERTY(QString label READ label CONSTANT)
+ Q_PROPERTY(int param READ param CONSTANT)
+ Q_PROPERTY(QString units READ units CONSTANT)
+
+ int decimalPlaces (void) const { return _decimalPlaces; }
+ double defaultValue (void) const { return _defaultValue; }
+ QStringList enumStrings (void) const { return _enumStrings; }
+ QVariantList enumValues (void) const { return _enumValues; }
+ QString label (void) const { return _label; }
+ int param (void) const { return _param; }
+ QString units (void) const { return _units; }
+
+private:
+ int _decimalPlaces;
+ double _defaultValue;
+ QStringList _enumStrings;
+ QVariantList _enumValues;
+ QString _label;
+ int _param;
+ QString _units;
+
+ friend class MissionCommands;
+};
+
+class MavCmdInfo : public QObject {
+ Q_OBJECT
+
+public:
+ MavCmdInfo(QObject* parent = NULL)
+ : QObject(parent)
+ {
+
+ }
+
+ Q_PROPERTY(QString category READ category CONSTANT)
+ Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command CONSTANT)
+ Q_PROPERTY(QString description READ description CONSTANT)
+ Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
+ Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
+ Q_PROPERTY(QString rawName READ rawName CONSTANT)
+ Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
+
+ QString category (void) const { return _category; }
+ MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
+ QString description (void) const { return _description; }
+ bool friendlyEdit (void) const { return _friendlyEdit; }
+ QString friendlyName (void) const { return _friendlyName; }
+ QString rawName (void) const { return _rawName; }
+ bool specifiesCoordinate (void) const { return _specifiesCoordinate; }
+
+ const QMap& paramInfoMap(void) const { return _paramInfoMap; }
+
+private:
+ QString _category;
+ MAV_CMD _command;
+ QString _description;
+ bool _friendlyEdit;
+ QString _friendlyName;
+ QMap _paramInfoMap;
+ QString _rawName;
+ bool _specifiesCoordinate;
+
+ friend class MissionCommands;
+};
+
+class MissionCommands : public QGCTool
+{
+ Q_OBJECT
+
+public:
+ MissionCommands(QGCApplication* app);
+
+ Q_PROPERTY(QStringList categories READ categories CONSTANT)
+ Q_PROPERTY(const QmlObjectListModel* commands READ commands CONSTANT)
+
+ Q_INVOKABLE QString categoryFromCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { return _mavCmdInfoMap[(MAV_CMD)command]->category(); }
+ Q_INVOKABLE const QVariant getCommandsForCategory(const QString& category) const { return QVariant::fromValue(_categoryToMavCmdInfoListMap[category]); }
+
+ const QStringList categories (void) const { return _categories; }
+ const QmlObjectListModel* commands (void) const { return &_commandList; }
+
+ const QMap& commandInfoMap(void) const { return _mavCmdInfoMap; };
+
+ static const QString _degreesUnits;
+ static const QString _degreesConvertUnits;
+
+signals:
+
+private:
+ void _loadMavCmdInfoJson(void);
+ void _setupMetaData(void);
+ bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types);
+
+private:
+ QStringList _categories;
+ QMap _categoryToMavCmdInfoListMap;
+ QmlObjectListModel _commandList;
+ QMap _mavCmdInfoMap;
+
+ static const QString _categoryJsonKey;
+ static const QString _decimalPlacesJsonKey;
+ static const QString _defaultJsonKey;
+ static const QString _descriptionJsonKey;
+ static const QString _enumStringsJsonKey;
+ static const QString _enumValuesJsonKey;
+ static const QString _friendlyNameJsonKey;
+ static const QString _friendlyEditJsonKey;
+ static const QString _idJsonKey;
+ static const QString _labelJsonKey;
+ static const QString _mavCmdInfoJsonKey;
+ static const QString _param1JsonKey;
+ static const QString _param2JsonKey;
+ static const QString _param3JsonKey;
+ static const QString _param4JsonKey;
+ static const QString _paramJsonKeyFormat;
+ static const QString _rawNameJsonKey;
+ static const QString _specifiesCoordinateJsonKey;
+ static const QString _unitsJsonKey;
+ static const QString _versionJsonKey;
+};
+
+#endif
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index 7e7a0676a420d51f5a929c6fda6a385e7574f5ae..f8f7c031752f151ee9c45d387e7cb20ae61acd8a 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -21,8 +21,6 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#include
-#include
-#include
#include
#include "MissionItem.h"
@@ -46,31 +44,6 @@ FactMetaData* MissionItem::_latitudeMetaData = NULL;
FactMetaData* MissionItem::_longitudeMetaData = NULL;
FactMetaData* MissionItem::_supportedCommandMetaData = NULL;
-const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
-const QString MissionItem::_defaultJsonKey (QStringLiteral("default"));
-const QString MissionItem::_descriptionJsonKey (QStringLiteral("description"));
-const QString MissionItem::_enumStringsJsonKey (QStringLiteral("enumStrings"));
-const QString MissionItem::_enumValuesJsonKey (QStringLiteral("enumValues"));
-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::_degreesConvertUnits (QStringLiteral("degreesConvert"));
-const QString MissionItem::_degreesUnits (QStringLiteral("degrees"));
-
-QMap MissionItem::_mavCmdInfoMap;
-
struct EnumInfo_s {
const char * label;
MAV_FRAME frame;
@@ -139,7 +112,12 @@ MissionItem::MissionItem(QObject* parent)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
+ , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
{
+ // Need a good command and frame before we start passing signals around
+ _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
+ _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+
_setupMetaData();
_connectSignals();
@@ -169,8 +147,8 @@ MissionItem::MissionItem(int sequenceNumber,
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
- , _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
- , _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
+ , _commandFact (0, "", FactMetaData::valueTypeUint32)
+ , _frameFact (0, "", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
@@ -189,7 +167,12 @@ MissionItem::MissionItem(int sequenceNumber,
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
+ , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
{
+ // Need a good command and frame before we start passing signals around
+ _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
+ _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+
_setupMetaData();
_connectSignals();
@@ -220,8 +203,8 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
- , _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
- , _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
+ , _commandFact (0, "", FactMetaData::valueTypeUint32)
+ , _frameFact (0, "", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
@@ -237,7 +220,12 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
+ , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
{
+ // Need a good command and frame before we start passing signals around
+ _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
+ _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+
_setupMetaData();
_connectSignals();
@@ -315,180 +303,21 @@ void MissionItem::_connectSignals(void)
}
-bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types)
-{
- for (int i=0; i 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<=7; i++) {
- QString paramKey = QString(_paramJsonKeyFormat).arg(i);
-
- if (jsonObject.contains(paramKey)) {
- QJsonObject paramObject = jsonObject.value(paramKey).toObject();
-
- // Validate key types
- QStringList keys;
- QList types;
- keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
- types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
- 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].friendlyEdit = true; // Assume friendly edit if we have params
-
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings = paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].param = i;
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString();
-
- QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
- foreach (QString enumValue, enumValues) {
- bool convertOk;
- double value = enumValue.toDouble(&convertOk);
-
- if (!convertOk) {
- qWarning() << "Bad enumValue" << enumValue;
- return false;
- }
-
- _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumValues << QVariant(value);
- }
- if (_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count() != _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count()) {
- qWarning() << "enum strings/values count mismatch" << _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count() << _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count();
- return false;
- }
- }
- }
-
- if (mavCmdInfo.friendlyEdit) {
- if (mavCmdInfo.description.isEmpty()) {
- qWarning() << "Missing description" << mavCmdInfo.rawName;
- return false;
- }
- if (mavCmdInfo.rawName == mavCmdInfo.friendlyName) {
- qWarning() << "Missing friendly name" << mavCmdInfo.rawName << mavCmdInfo.friendlyName;
- return false;
- }
- }
- }
-
- 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));
+ foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
+ enumStrings.append(mavCmdInfo->rawName());
+ enumValues.append(QVariant(mavCmdInfo->command()));
}
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_commandMetaData->setEnumInfo(enumStrings, enumValues);
@@ -517,17 +346,17 @@ void MissionItem::_setupMetaData(void)
enumStrings.clear();
enumValues.clear();
- // FIXME: Hack hardcode tp PX4
+ // FIXME: Hack hardcode to PX4
QList 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);
+ enumStrings.append(_mavCmdInfoMap[command]->friendlyName());
enumValues.append(QVariant(command));
}
} else {
- foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
- enumStrings.append(mavCmdInfo.friendlyName);
- enumValues.append(QVariant(mavCmdInfo.command));
+ foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
+ enumStrings.append(mavCmdInfo->friendlyName());
+ enumValues.append(QVariant(mavCmdInfo->command()));
}
}
_supportedCommandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
@@ -678,12 +507,12 @@ void MissionItem::setParam7(double param)
bool MissionItem::specifiesCoordinate(void) const
{
- return _mavCmdInfoMap[(MAV_CMD)command()].specifiesCoordinate;
+ return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();
}
QString MissionItem::commandDescription(void) const
{
- return _mavCmdInfoMap[(MAV_CMD)command()].description;
+ return _mavCmdInfoMap[(MAV_CMD)command()]->description();
}
void MissionItem::_clearParamMetaData(void)
@@ -737,18 +566,21 @@ QmlObjectListModel* MissionItem::textFieldFacts(void)
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
for (int i=1; i<=7; i++) {
- if (_mavCmdInfoMap[command].paramInfoMap.contains(i) && _mavCmdInfoMap[command].paramInfoMap[i].enumStrings.count() == 0) {
- Fact* paramFact = rgParamFacts[i-1];
- FactMetaData* paramMetaData = rgParamMetaData[i-1];
-
- paramFact->_setName(_mavCmdInfoMap[command].paramInfoMap[i].label);
- paramMetaData->setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[i].decimalPlaces);
- paramMetaData->setEnumInfo(_mavCmdInfoMap[command].paramInfoMap[i].enumStrings, _mavCmdInfoMap[command].paramInfoMap[i].enumValues);
- if (_mavCmdInfoMap[command].paramInfoMap[i].units == _degreesConvertUnits) {
+ const QMap& paramInfoMap = _mavCmdInfoMap[command]->paramInfoMap();
+
+ if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
+ Fact* paramFact = rgParamFacts[i-1];
+ FactMetaData* paramMetaData = rgParamMetaData[i-1];
+ MavCmdParamInfo* paramInfo = paramInfoMap[i];
+
+ paramFact->_setName(paramInfo->label());
+ paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
+ paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
+ if (paramInfo->units() == MissionCommands::_degreesConvertUnits) {
paramMetaData->setTranslators(_radiansToDegrees, _degreesToRadians);
- paramMetaData->setUnits(_degreesUnits);
+ paramMetaData->setUnits(MissionCommands::_degreesUnits);
} else {
- paramMetaData->setUnits(_mavCmdInfoMap[command].paramInfoMap[i].units);
+ paramMetaData->setUnits(paramInfo->units());
}
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
@@ -793,18 +625,21 @@ QmlObjectListModel* MissionItem::comboboxFacts(void)
MAV_CMD command = (MAV_CMD)this->command();
for (int i=1; i<=7; i++) {
- if (_mavCmdInfoMap[command].paramInfoMap.contains(i) && _mavCmdInfoMap[command].paramInfoMap[i].enumStrings.count()) {
- Fact* paramFact = rgParamFacts[i-1];
- FactMetaData* paramMetaData = rgParamMetaData[i-1];
-
- paramFact->_setName(_mavCmdInfoMap[command].paramInfoMap[i].label);
- paramMetaData->setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[i].decimalPlaces);
- paramMetaData->setEnumInfo(_mavCmdInfoMap[command].paramInfoMap[i].enumStrings, _mavCmdInfoMap[command].paramInfoMap[i].enumValues);
- if (_mavCmdInfoMap[command].paramInfoMap[i].units == _degreesConvertUnits) {
+ const QMap& paramInfoMap = _mavCmdInfoMap[command]->paramInfoMap();
+
+ if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
+ Fact* paramFact = rgParamFacts[i-1];
+ FactMetaData* paramMetaData = rgParamMetaData[i-1];
+ MavCmdParamInfo* paramInfo = paramInfoMap[i];
+
+ paramFact->_setName(paramInfo->label());
+ paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
+ paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
+ if (paramInfo->units() == MissionCommands::_degreesConvertUnits) {
paramMetaData->setTranslators(_radiansToDegrees, _degreesToRadians);
- paramMetaData->setUnits(_degreesUnits);
+ paramMetaData->setUnits(MissionCommands::_degreesUnits);
} else {
- paramMetaData->setUnits(_mavCmdInfoMap[command].paramInfoMap[i].units);
+ paramMetaData->setUnits(paramInfo->units());
}
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
@@ -829,7 +664,7 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
bool MissionItem::friendlyEditAllowed(void) const
{
- if (_mavCmdInfoMap[(MAV_CMD)command()].friendlyEdit) {
+ if (_mavCmdInfoMap[(MAV_CMD)command()]->friendlyEdit()) {
if (!autoContinue()) {
return false;
}
@@ -935,10 +770,10 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
void MissionItem::setDefaultsForCommand(void)
{
- foreach (ParamInfo_t paramInfo, _mavCmdInfoMap[(MAV_CMD)command()].paramInfoMap) {
+ foreach (const MavCmdParamInfo* paramInfo, _mavCmdInfoMap[(MAV_CMD)command()]->paramInfoMap()) {
Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
- rgParamFacts[paramInfo.param-1]->setRawValue(paramInfo.defaultValue);
+ rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
}
setParam7(defaultAltitude);
@@ -964,9 +799,9 @@ void MissionItem::_sendCommandChanged(void)
QString MissionItem::commandName(void) const
{
- MavCmdInfo_t& mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
+ const MavCmdInfo* mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
- return mavCmdInfo.friendlyName.isEmpty() ? mavCmdInfo.rawName : mavCmdInfo.friendlyName;
+ return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
}
QVariant MissionItem::_degreesToRadians(const QVariant& degrees)
@@ -983,3 +818,8 @@ void MissionItem::_sendFriendlyEditAllowedChanged(void)
{
emit friendlyEditAllowedChanged(friendlyEditAllowed());
}
+
+QString MissionItem::category(void) const
+{
+ return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
+}
diff --git a/src/MissionManager/MissionItem.h b/src/MissionManager/MissionItem.h
index 025b7ef4169875142f21b85e70df2bd0fe3c8fdb..f79d302babb306f448212b355fe99bcc3c53c0d2 100644
--- a/src/MissionManager/MissionItem.h
+++ b/src/MissionManager/MissionItem.h
@@ -29,8 +29,6 @@
#include
#include
#include
-#include
-#include
#include "QGCMAVLink.h"
#include "QGC.h"
@@ -39,6 +37,7 @@
#include "Fact.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
+#include "MissionCommands.h"
Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
@@ -70,6 +69,7 @@ public:
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
+ Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
@@ -97,6 +97,7 @@ public:
// Property accesors
double azimuth (void) const { return _azimuth; }
+ QString category (void) const;
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
QString commandDescription (void) const;
QString commandName (void) const;
@@ -206,34 +207,12 @@ private slots:
private:
void _clearParamMetaData(void);
void _connectSignals(void);
- bool _loadMavCmdInfoJson(void);
void _setupMetaData(void);
- bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types);
static QVariant _degreesToRadians(const QVariant& degrees);
static QVariant _radiansToDegrees(const QVariant& radians);
private:
- typedef struct {
- double defaultValue;
- int decimalPlaces;
- QStringList enumStrings;
- QVariantList enumValues;
- QString label;
- int param;
- QString units;
- } ParamInfo_t;
-
- typedef struct {
- MAV_CMD command;
- QString description;
- bool friendlyEdit;
- QString friendlyName;
- QMap paramInfoMap;
- QString rawName;
- bool specifiesCoordinate;
- } MavCmdInfo_t;
-
bool _rawEdit;
bool _dirty;
int _sequenceNumber;
@@ -279,30 +258,7 @@ private:
bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop
bool _syncingSupportedCommandAndCommand; ///< true: already in a sync signal, prevents signal loop
- static QMap _mavCmdInfoMap;
-
- static const QString _decimalPlacesJsonKey;
- static const QString _defaultJsonKey;
- static const QString _descriptionJsonKey;
- static const QString _enumStringsJsonKey;
- static const QString _enumValuesJsonKey;
- static const QString _friendlyNameJsonKey;
- static const QString _friendlyEditJsonKey;
- static const QString _idJsonKey;
- static const QString _labelJsonKey;
- static const QString _mavCmdInfoJsonKey;
- static const QString _param1JsonKey;
- static const QString _param2JsonKey;
- static const QString _param3JsonKey;
- static const QString _param4JsonKey;
- static const QString _paramJsonKeyFormat;
- static const QString _rawNameJsonKey;
- static const QString _specifiesCoordinateJsonKey;
- static const QString _unitsJsonKey;
- static const QString _versionJsonKey;
-
- static const QString _degreesUnits;
- static const QString _degreesConvertUnits;
+ const QMap& _mavCmdInfoMap;
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem);
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 7b6f923a1318489260c033046b783d66eeca0bf2..e8ab9950568b69c9afa2ccfcc3649cac8704cd9d 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -88,6 +88,7 @@
#include "CoordinateVector.h"
#include "MainToolBarController.h"
#include "MissionController.h"
+#include "MissionCommands.h"
#include "FlightDisplayViewController.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
@@ -338,6 +339,13 @@ void QGCApplication::_initCommon(void)
qmlRegisterType ("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "CoordinateVector", "Reference only");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "MissionCommands", "Reference only");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "QGCQGeoCoordinate", "Reference only");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "QmlObjectListModel", "Reference only");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "VideoReceiver", "Reference only");
+ qmlRegisterUncreatableType ("QGroundControl", 1, 0, "VideoSurface", "Reference only");
+
qmlRegisterUncreatableType ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Reference only");
qmlRegisterUncreatableType ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Reference only");
qmlRegisterUncreatableType ("QGroundControl.Vehicle", 1, 0, "Vehicle", "Reference only");
@@ -345,11 +353,6 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType ("QGroundControl.Vehicle", 1, 0, "MissionManager", "Reference only");
qmlRegisterUncreatableType ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only");
qmlRegisterUncreatableType ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only");
- qmlRegisterUncreatableType ("QGroundControl", 1, 0, "QmlObjectListModel", "Reference only");
- qmlRegisterUncreatableType ("QGroundControl", 1, 0, "QGCQGeoCoordinate", "Reference only");
- qmlRegisterUncreatableType ("QGroundControl", 1, 0, "CoordinateVector", "Reference only");
- qmlRegisterUncreatableType ("QGroundControl", 1, 0, "VideoSurface", "Reference only");
- qmlRegisterUncreatableType ("QGroundControl", 1, 0, "VideoReceiver", "Reference only");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
diff --git a/src/QGCToolbox.cc b/src/QGCToolbox.cc
index 16041405f230f7b8adcf09dd1e034ae6d950c325..c99f2e1b2edda333454e803fd2ee9f9a11b6f7ab 100644
--- a/src/QGCToolbox.cc
+++ b/src/QGCToolbox.cc
@@ -21,73 +21,78 @@
======================================================================*/
-#include "LinkManager.h"
-#include "MAVLinkProtocol.h"
+#include "AutoPilotPluginManager.h"
+#include "FactSystem.h"
+#include "FirmwarePluginManager.h"
#include "FlightMapSettings.h"
+#include "GAudioOutput.h"
#include "HomePositionManager.h"
-#include "FirmwarePluginManager.h"
-#include "MultiVehicleManager.h"
#include "JoystickManager.h"
-#include "GAudioOutput.h"
-#include "AutoPilotPluginManager.h"
-#include "UASMessageHandler.h"
-#include "FactSystem.h"
+#include "LinkManager.h"
+#include "MAVLinkProtocol.h"
+#include "MissionCommands.h"
+#include "MultiVehicleManager.h"
#include "QGCImageProvider.h"
+#include "UASMessageHandler.h"
QGCToolbox::QGCToolbox(QGCApplication* app)
- : _firmwarePluginManager(NULL)
+ : _audioOutput(NULL)
, _autopilotPluginManager(NULL)
- , _linkManager(NULL)
- , _multiVehicleManager(NULL)
- , _mavlinkProtocol(NULL)
+ , _factSystem(NULL)
+ , _firmwarePluginManager(NULL)
, _flightMapSettings(NULL)
, _homePositionManager(NULL)
+ , _imageProvider(NULL)
, _joystickManager(NULL)
- , _audioOutput(NULL)
+ , _linkManager(NULL)
+ , _mavlinkProtocol(NULL)
+ , _missionCommands(NULL)
+ , _multiVehicleManager(NULL)
, _uasMessageHandler(NULL)
- , _factSystem(NULL)
- , _imageProvider(NULL)
{
- _firmwarePluginManager = new FirmwarePluginManager(app);
+ _audioOutput = new GAudioOutput(app);
_autopilotPluginManager = new AutoPilotPluginManager(app);
+ _factSystem = new FactSystem(app);
+ _firmwarePluginManager = new FirmwarePluginManager(app);
_flightMapSettings = new FlightMapSettings(app);
_homePositionManager = new HomePositionManager(app);
- _factSystem = new FactSystem(app);
+ _imageProvider = new QGCImageProvider(app);
+ _joystickManager = new JoystickManager(app);
_linkManager = new LinkManager(app);
- _multiVehicleManager = new MultiVehicleManager(app);
_mavlinkProtocol = new MAVLinkProtocol(app);
- _joystickManager = new JoystickManager(app);
- _audioOutput = new GAudioOutput(app);
+ _missionCommands = new MissionCommands(app);
+ _multiVehicleManager = new MultiVehicleManager(app);
_uasMessageHandler = new UASMessageHandler(app);
- _imageProvider = new QGCImageProvider(app);
- _firmwarePluginManager->setToolbox(this);
+ _audioOutput->setToolbox(this);
_autopilotPluginManager->setToolbox(this);
+ _factSystem->setToolbox(this);
+ _firmwarePluginManager->setToolbox(this);
_flightMapSettings->setToolbox(this);
_homePositionManager->setToolbox(this);
- _factSystem->setToolbox(this);
+ _imageProvider->setToolbox(this);
+ _joystickManager->setToolbox(this);
_linkManager->setToolbox(this);
- _multiVehicleManager->setToolbox(this);
_mavlinkProtocol->setToolbox(this);
- _joystickManager->setToolbox(this);
- _audioOutput->setToolbox(this);
+ _missionCommands->setToolbox(this);
+ _multiVehicleManager->setToolbox(this);
_uasMessageHandler->setToolbox(this);
- _imageProvider->setToolbox(this);
}
QGCToolbox::~QGCToolbox()
{
- delete _firmwarePluginManager;
+ delete _audioOutput;
delete _autopilotPluginManager;
- delete _linkManager;
- delete _multiVehicleManager;
- delete _mavlinkProtocol;
+ delete _factSystem;
+ delete _firmwarePluginManager;
delete _flightMapSettings;
delete _homePositionManager;
delete _joystickManager;
- delete _audioOutput;
+ delete _linkManager;
+ delete _mavlinkProtocol;
+ delete _missionCommands;
+ delete _multiVehicleManager;
delete _uasMessageHandler;
- delete _factSystem;
}
QGCTool::QGCTool(QGCApplication* app)
diff --git a/src/QGCToolbox.h b/src/QGCToolbox.h
index 3d1e032990be22414017c160670d145496664138..d420067303ef12e093c79e63c9165fdf6166b246 100644
--- a/src/QGCToolbox.h
+++ b/src/QGCToolbox.h
@@ -26,19 +26,20 @@
#include
-class QGCApplication;
+class AutoPilotPluginManager;
+class FactSystem;
+class FirmwarePluginManager;
+class FlightMapSettings;
+class GAudioOutput;
+class HomePositionManager;
+class JoystickManager;
class LinkManager;
class MAVLinkProtocol;
+class MissionCommands;
class MultiVehicleManager;
-class JoystickManager;
-class UASMessageHandler;
-class HomePositionManager;
-class FlightMapSettings;
-class GAudioOutput;
-class FirmwarePluginManager;
-class AutoPilotPluginManager;
-class FactSystem;
+class QGCApplication;
class QGCImageProvider;
+class UASMessageHandler;
/// This is used to manage all of our top level services/tools
class QGCToolbox {
@@ -47,31 +48,33 @@ public:
QGCToolbox(QGCApplication* app);
~QGCToolbox();
+ AutoPilotPluginManager* autopilotPluginManager(void) { return _autopilotPluginManager; }
+ FirmwarePluginManager* firmwarePluginManager(void) { return _firmwarePluginManager; }
+ FlightMapSettings* flightMapSettings(void) { return _flightMapSettings; }
+ GAudioOutput* audioOutput(void) { return _audioOutput; }
+ HomePositionManager* homePositionManager(void) { return _homePositionManager; }
+ JoystickManager* joystickManager(void) { return _joystickManager; }
LinkManager* linkManager(void) { return _linkManager; }
MAVLinkProtocol* mavlinkProtocol(void) { return _mavlinkProtocol; }
+ MissionCommands* missionCommands(void) { return _missionCommands; }
MultiVehicleManager* multiVehicleManager(void) { return _multiVehicleManager; }
- JoystickManager* joystickManager(void) { return _joystickManager; }
- UASMessageHandler* uasMessageHandler(void) { return _uasMessageHandler; }
- HomePositionManager* homePositionManager(void) { return _homePositionManager; }
- FlightMapSettings* flightMapSettings(void) { return _flightMapSettings; }
- GAudioOutput* audioOutput(void) { return _audioOutput; }
- FirmwarePluginManager* firmwarePluginManager(void) { return _firmwarePluginManager; }
- AutoPilotPluginManager* autopilotPluginManager(void) { return _autopilotPluginManager; }
QGCImageProvider* imageProvider() { return _imageProvider; }
+ UASMessageHandler* uasMessageHandler(void) { return _uasMessageHandler; }
private:
- FirmwarePluginManager* _firmwarePluginManager;
+ GAudioOutput* _audioOutput;
AutoPilotPluginManager* _autopilotPluginManager;
- LinkManager* _linkManager;
- MultiVehicleManager* _multiVehicleManager;
- MAVLinkProtocol* _mavlinkProtocol;
+ FactSystem* _factSystem;
+ FirmwarePluginManager* _firmwarePluginManager;
FlightMapSettings* _flightMapSettings;
HomePositionManager* _homePositionManager;
+ QGCImageProvider* _imageProvider;
JoystickManager* _joystickManager;
- GAudioOutput* _audioOutput;
+ LinkManager* _linkManager;
+ MAVLinkProtocol* _mavlinkProtocol;
+ MissionCommands* _missionCommands;
+ MultiVehicleManager* _multiVehicleManager;
UASMessageHandler* _uasMessageHandler;
- FactSystem* _factSystem;
- QGCImageProvider* _imageProvider;
};
/// This is the base class for all tools
diff --git a/src/QmlControls/MissionCommandDialog.qml b/src/QmlControls/MissionCommandDialog.qml
new file mode 100644
index 0000000000000000000000000000000000000000..77197db28a4b79ec2c44d2d6537baa1a758c6e30
--- /dev/null
+++ b/src/QmlControls/MissionCommandDialog.qml
@@ -0,0 +1,134 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+import QtQuick 2.5
+import QtQuick.Controls 1.4
+
+import QGroundControl 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Palette 1.0
+
+QGCViewDialog {
+ property var missionItem
+
+ QGCPalette { id: qgcPal }
+
+ QGCLabel {
+ id: categoryLabel
+ anchors.baseline: categoryCombo.baseline
+ text: "Category:"
+ }
+
+ QGCComboBox {
+ id: categoryCombo
+ anchors.margins: ScreenTools.defaultFontPixelWidth
+ anchors.left: categoryLabel.right
+ anchors.right: parent.right
+ model: QGroundControl.missionCommands.categories
+
+ function categorySelected(category) {
+ commandList.model = QGroundControl.missionCommands.getCommandsForCategory(category)
+ console.log("changing model", category)
+ }
+
+ Component.onCompleted: {
+ var category = missionItem.category
+ currentIndex = find(category)
+ categorySelected(category)
+ }
+
+ onActivated: categorySelected(textAt(index))
+ }
+
+ ListView {
+ id: commandList
+ anchors.margins: ScreenTools.defaultFontPixelHeight
+ anchors.left: parent.left
+ anchors.right: parent.right
+ anchors.top: categoryCombo.bottom
+ anchors.bottom: parent.bottom
+ spacing: ScreenTools.defaultFontPixelHeight / 2
+ orientation: ListView.Vertical
+
+ onModelChanged: {
+ var currentCategory = categoryCombo.currentText
+
+ currentIndex = -1
+ if (missionItem.category == currentCategory) {
+ var commandList = QGroundControl.missionCommands.getCommandsForCategory(currentCategory)
+ for (var i=0; i
-static const char* kQmlGlobalKeyName = "QGCQml";
+static const char* kQmlGlobalKeyName = "QGCQml";
const char* QGroundControlQmlGlobal::_virtualTabletJoystickKey = "VirtualTabletJoystick";
QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
: QObject(parent)
- , _multiVehicleManager(toolbox->multiVehicleManager())
- , _linkManager(toolbox->linkManager())
- , _homePositionManager(toolbox->homePositionManager())
, _flightMapSettings(toolbox->flightMapSettings())
+ , _homePositionManager(toolbox->homePositionManager())
+ , _linkManager(toolbox->linkManager())
+ , _missionCommands(toolbox->missionCommands())
+ , _multiVehicleManager(toolbox->multiVehicleManager())
, _virtualTabletJoystick(false)
{
QSettings settings;
diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h
index 24a17d7636c9a8f7923ad16df0e63aad5d0a7025..b6f1d367ebd7a85cc0c660e063b7d9eb1cb8ae41 100644
--- a/src/QmlControls/QGroundControlQmlGlobal.h
+++ b/src/QmlControls/QGroundControlQmlGlobal.h
@@ -34,6 +34,7 @@
#include "LinkManager.h"
#include "HomePositionManager.h"
#include "FlightMapSettings.h"
+#include "MissionCommands.h"
#ifdef QT_DEBUG
#include "MockLink.h"
@@ -48,10 +49,11 @@ class QGroundControlQmlGlobal : public QObject
public:
QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
+ Q_PROPERTY(FlightMapSettings* flightMapSettings READ flightMapSettings CONSTANT)
+ Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager CONSTANT)
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)
+ Q_PROPERTY(MissionCommands* missionCommands READ missionCommands CONSTANT)
Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager CONSTANT)
- Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager CONSTANT)
- Q_PROPERTY(FlightMapSettings* flightMapSettings READ flightMapSettings CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
@@ -85,10 +87,11 @@ public:
// Property accesors
+ FlightMapSettings* flightMapSettings () { return _flightMapSettings; }
+ HomePositionManager* homePositionManager () { return _homePositionManager; }
LinkManager* linkManager () { return _linkManager; }
+ MissionCommands* missionCommands () { return _missionCommands; }
MultiVehicleManager* multiVehicleManager () { return _multiVehicleManager; }
- HomePositionManager* homePositionManager () { return _homePositionManager; }
- FlightMapSettings* flightMapSettings () { return _flightMapSettings; }
qreal zOrderTopMost () { return 1000; }
qreal zOrderWidgets () { return 100; }
@@ -133,10 +136,11 @@ private:
void _startMockLink(MockConfiguration* mockConfig);
#endif
- MultiVehicleManager* _multiVehicleManager;
- LinkManager* _linkManager;
- HomePositionManager* _homePositionManager;
FlightMapSettings* _flightMapSettings;
+ HomePositionManager* _homePositionManager;
+ LinkManager* _linkManager;
+ MissionCommands* _missionCommands;
+ MultiVehicleManager* _multiVehicleManager;
bool _virtualTabletJoystick;