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Commit 74e57ec4 authored by Don Gagne's avatar Don Gagne
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Add default value support 

Also friendly editor for MAV_CMD_NAV_ROI and MAV_CMD_DO_SET_SERVO
parent 9bb8f7e7
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Showing with 95 additions and 30 deletions
src/MissionManager/MavCmdInfo.json
View file @ 74e57ec4
......@@ -21,6 +21,7 @@
"param1": {
"label": "Hold:",
"units": "seconds",
"default": 0,
"decimalPlaces": 0
}
},
......@@ -34,6 +35,7 @@
"param3": {
"label": "Radius:",
"units": "meters",
"default": 10.0,
"decimalPlaces": 2
}
},
......@@ -46,11 +48,13 @@
"friendlyEdit": true,
"param1": {
"label": "Turns:",
"default": 1,
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"default": 10.0,
"decimalPlaces": 2
}
},
......@@ -64,11 +68,13 @@
"param1": {
"label": "Hold:",
"units": "seconds",
"default": 30,
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"default": 10.0,
"decimalPlaces": 2
}
},
......@@ -89,11 +95,13 @@
"param1": {
"label": "Abort Alt:",
"units": "meters",
"default": 25.0,
"decimalPlaces": 3
},
"param4": {
"label": "Heading:",
"units": "degrees",
"default": 0.0,
"decimalPlaces": 2
}
},
......@@ -107,11 +115,13 @@
"param1": {
"label": "Pitch:",
"units": "degrees",
"default": 0.26179939,
"decimalPlaces": 2
},
"param4": {
"label": "Heading:",
"units": "degrees",
"default": 0.0,
"decimalPlaces": 2
}
},
......@@ -120,7 +130,31 @@
{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
{ "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" },
{ "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" },
{ "id": 80, "rawName": "MAV_CMD_NAV_ROI", "friendlyName": "MAV_CMD_NAV_ROI" },
{
"id": 80,
"rawName": "MAV_CMD_NAV_ROI",
"friendlyName": "Region of interest",
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Mode:",
"enumStrings": "None,Next waypoint,Mission item,Location,ROI item",
"enumValues": "0,1,2,3,4",
"default": 3,
"decimalPlaces": 0
},
"param2": {
"label": "Mission Index:",
"default": 0,
"decimalPlaces": 0
},
"param3": {
"label": "ROI index:",
"default": 0,
"decimalPlaces": 0
}
},
{ "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" },
{ "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" },
{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
......@@ -134,6 +168,7 @@
"param1": {
"label": "Hold:",
"units": "seconds",
"default": 30,
"decimalPlaces": 0
}
},
......@@ -149,11 +184,13 @@
"description": "Mission will continue at the specified item.",
"friendlyEdit": true,
"param1": {
"label": "Seq #:",
"label": "Item #:",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "Repeat:",
"default": 0,
"decimalPlaces": 0
}
},
......@@ -162,7 +199,23 @@
{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" },
{ "id": 181, "rawName": "MAV_CMD_DO_SET_RELAY", "friendlyName": "MAV_CMD_DO_SET_RELAY" },
{ "id": 182, "rawName": "MAV_CMD_DO_REPEAT_RELAY", "friendlyName": "MAV_CMD_DO_REPEAT_RELAY" },
{ "id": 183, "rawName": "MAV_CMD_DO_SET_SERVO", "friendlyName": "MAV_CMD_DO_SET_SERVO" },
{
"id": 183,
"rawName": "MAV_CMD_DO_SET_SERVO",
"friendlyName": "Set servo",
"description": "Set servo to specified PWM value.",
"friendlyEdit": true,
"param1": {
"label": "Servo:",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "PWM:",
"default": 1000,
"decimalPlaces": 0
}
},
{ "id": 184, "rawName": "MAV_CMD_DO_REPEAT_SERVO", "friendlyName": "MAV_CMD_DO_REPEAT_SERVO" },
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
{ "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" },
......
src/MissionManager/MissionItem.cc
View file @ 74e57ec4
......@@ -47,6 +47,7 @@ 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::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
......@@ -246,8 +247,8 @@ void MissionItem::_connectSignals(void)
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::commandChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::frameChanged, 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
......@@ -264,14 +265,18 @@ void MissionItem::_connectSignals(void)
// The following changes may also change friendlyEditAllowed
connect(&_autoContinueFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(this, &MissionItem::frameChanged, 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);
}
bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
......@@ -376,8 +381,8 @@ bool MissionItem::_loadMavCmdInfoJson(void)
// Validate key types
QStringList keys;
QList<QJsonValue::Type> types;
keys << _labelJsonKey << _unitsJsonKey << _decimalPlacesJsonKey;
types << QJsonValue::String << QJsonValue::String<< QJsonValue::Double;
keys << _labelJsonKey << _unitsJsonKey << _defaultJsonKey << _decimalPlacesJsonKey;
types << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double;
if (!_validateKeyTypes(paramObject, keys, types)) {
return false;
}
......@@ -389,7 +394,9 @@ bool MissionItem::_loadMavCmdInfoJson(void)
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);
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
}
}
......@@ -519,6 +526,7 @@ void MissionItem::setCommand(MAV_CMD command)
{
if ((MAV_CMD)this->command() != command) {
_commandFact.setValue(command);
setDefaultsForCommand();
emit commandChanged(this->command());
}
}
......@@ -533,6 +541,7 @@ void MissionItem::setFrame(MAV_FRAME frame)
{
if (this->frame() != frame) {
_frameFact.setValue(frame);
frameChanged(frame);
}
}
......@@ -837,7 +846,6 @@ void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
qDebug() << value.toInt();
_syncingSupportedCommandAndCommand = true;
_commandFact.setValue(value.toInt());
qDebug() << _commandFact.value().toInt();
_syncingSupportedCommandAndCommand = false;
}
}
......@@ -853,29 +861,29 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
void MissionItem::setDefaultsForCommand(void)
{
switch ((MAV_CMD)command()) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
setParam1(_degreesToRadians(defaultTakeoffPitch).toDouble());
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
setParam2(defaultAcceptanceRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
setParam3(defaultLoiterOrbitRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
setParam1(defaultLoiterTurns);
setParam3(defaultLoiterOrbitRadius);
break;
default:
break;
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;
}
}
setParam4(_degreesToRadians(defaultHeading).toDouble());
setParam7(defaultAltitude);
setAutoContinue(true);
setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
setRawEdit(false);
}
void MissionItem::_sendUiModelChanged(void)
......
src/MissionManager/MissionItem.h
View file @ 74e57ec4
......@@ -93,8 +93,6 @@ public:
/// are shown next to the part item in the ui.
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
Q_INVOKABLE void setDefaultsForCommand(void);
// Property accesors
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
......@@ -172,6 +170,9 @@ public:
static const double defaultLoiterOrbitRadius;
static const double defaultLoiterTurns;
public slots:
void setDefaultsForCommand(void);
signals:
void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command);
void coordinateChanged (const QGeoCoordinate& coordinate);
......@@ -210,8 +211,10 @@ private:
private:
typedef struct {
int param;
QString label;
QString units;
double defaultValue;
int decimalPlaces;
} ParamInfo_t;
......@@ -269,6 +272,7 @@ private:
static QMap<MAV_CMD, MavCmdInfo_t> _mavCmdInfoMap;
static const QString _decimalPlacesJsonKey;
static const QString _defaultJsonKey;
static const QString _descriptionJsonKey;
static const QString _friendlyNameJsonKey;
static const QString _friendlyEditJsonKey;
......
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