Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
96995949
Commit
96995949
authored
Feb 08, 2016
by
Don Gagne
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Support command editor overrides
- override by vehicle type - override by firmware type
parent
8a049a99
Changes
28
Show whitespace changes
Inline
Side-by-side
Showing
28 changed files
with
806 additions
and
417 deletions
+806
-417
qgroundcontrol.pro
qgroundcontrol.pro
+2
-0
qgroundcontrol.qrc
qgroundcontrol.qrc
+7
-1
APMFirmwarePlugin.cc
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+7
-0
APMFirmwarePlugin.h
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+1
-0
MavCmdInfoCommon.json
src/FirmwarePlugin/APM/MavCmdInfoCommon.json
+6
-0
MavCmdInfoFixedWing.json
src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
+21
-0
MavCmdInfoMultiRotor.json
src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json
+59
-0
FirmwarePlugin.h
src/FirmwarePlugin/FirmwarePlugin.h
+6
-0
GenericFirmwarePlugin.cc
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc
+8
-0
GenericFirmwarePlugin.h
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h
+13
-13
MavCmdInfoCommon.json
src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
+6
-0
MavCmdInfoFixedWing.json
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
+6
-0
MavCmdInfoMultiRotor.json
src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json
+44
-0
PX4FirmwarePlugin.cc
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+8
-0
PX4FirmwarePlugin.h
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+13
-12
MavCmdInfoCommon.json
src/MissionManager/MavCmdInfoCommon.json
+0
-0
MissionCommandList.cc
src/MissionManager/MissionCommandList.cc
+274
-0
MissionCommandList.h
src/MissionManager/MissionCommandList.h
+174
-0
MissionCommands.cc
src/MissionManager/MissionCommands.cc
+78
-231
MissionCommands.h
src/MissionManager/MissionCommands.h
+25
-128
MissionController.cc
src/MissionManager/MissionController.cc
+3
-3
MissionItem.cc
src/MissionManager/MissionItem.cc
+29
-20
MissionItem.h
src/MissionManager/MissionItem.h
+5
-3
MissionItemTest.cc
src/MissionManager/MissionItemTest.cc
+4
-3
MissionManager.cc
src/MissionManager/MissionManager.cc
+2
-1
MissionManagerTest.cc
src/MissionManager/MissionManagerTest.cc
+2
-2
QGCLoggingCategory.cc
src/QGCLoggingCategory.cc
+2
-0
QGCLoggingCategory.h
src/QGCLoggingCategory.h
+1
-0
No files found.
qgroundcontrol.pro
View file @
96995949
...
...
@@ -251,6 +251,7 @@ HEADERS += \
src
/
Joystick
/
JoystickManager
.
h
\
src
/
LogCompressor
.
h
\
src
/
MG
.
h
\
src
/
MissionManager
/
MissionCommandList
.
h
\
src
/
MissionManager
/
MissionCommands
.
h
\
src
/
MissionManager
/
MissionController
.
h
\
src
/
MissionManager
/
MissionItem
.
h
\
...
...
@@ -374,6 +375,7 @@ SOURCES += \
src
/
Joystick
/
JoystickManager
.
cc
\
src
/
LogCompressor
.
cc
\
src
/
main
.
cc
\
src
/
MissionManager
/
MissionCommandList
.
cc
\
src
/
MissionManager
/
MissionCommands
.
cc
\
src
/
MissionManager
/
MissionController
.
cc
\
src
/
MissionManager
/
MissionItem
.
cc
\
...
...
qgroundcontrol.qrc
View file @
96995949
...
...
@@ -141,6 +141,12 @@
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="MavCmdInfo.json">src/MissionManager/MavCmdInfo.json</file>
<file alias="MavCmdInfoCommon.json">src/MissionManager/MavCmdInfoCommon.json</file>
<file alias="APM/MavCmdInfoCommon.json">src/FirmwarePlugin/APM/MavCmdInfoCommon.json</file>
<file alias="APM/MavCmdInfoFixedWing.json">src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json</file>
<file alias="APM/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json</file>
<file alias="PX4/MavCmdInfoCommon.json">src/FirmwarePlugin/PX4/MavCmdInfoCommon.json</file>
<file alias="PX4/MavCmdInfoFixedWing.json">src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json</file>
<file alias="PX4/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json</file>
</qresource>
</RCC>
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @
96995949
...
...
@@ -495,3 +495,10 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
<<
MAV_CMD_CONDITION_DELAY
<<
MAV_CMD_CONDITION_CHANGE_ALT
<<
MAV_CMD_CONDITION_DISTANCE
<<
MAV_CMD_CONDITION_YAW
;
return
list
;
}
void
APMFirmwarePlugin
::
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
{
commonJsonFilename
=
QStringLiteral
(
":/json/APM/MavCmdInfoCommon.json"
);
fixedWingJsonFilename
=
QStringLiteral
(
":/json/APM/MavCmdInfoFixedWing.json"
);
multiRotorJsonFilename
=
QStringLiteral
(
":/json/APM/MavCmdInfoMultiRotor.json"
);
}
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @
96995949
...
...
@@ -92,6 +92,7 @@ public:
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYSID_SW_TYPE"
);
}
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
protected:
/// All access to singleton is through stack specific implementation
...
...
src/FirmwarePlugin/APM/MavCmdInfoCommon.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
]
}
src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
{
"id"
:
22
,
"rawName"
:
"MAV_CMD_NAV_TAKEOFF"
,
"friendlyName"
:
"Takeoff"
,
"description"
:
"Take off from the ground."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
,
"param1"
:
{
"label"
:
"Pitch:"
,
"units"
:
"radians"
,
"default"
:
0.26179939
,
"decimalPlaces"
:
2
}
}
]
}
src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
{
"id"
:
22
,
"rawName"
:
"MAV_CMD_NAV_TAKEOFF"
,
"friendlyName"
:
"Takeoff"
,
"description"
:
"Take off from the ground."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
},
{
"id"
:
17
,
"rawName"
:
"MAV_CMD_NAV_LOITER_UNLIM"
,
"friendlyName"
:
"Loiter"
,
"description"
:
"Travel to a position and Loiter indefinitely."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
},
{
"id"
:
18
,
"rawName"
:
"MAV_CMD_NAV_LOITER_TURNS"
,
"friendlyName"
:
"Loiter (turns)"
,
"description"
:
"Travel to a position and Circle with the specified radius for a number of turns."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
,
"param1"
:
{
"label"
:
"Turns:"
,
"default"
:
1
,
"decimalPlaces"
:
0
},
"param3"
:
{
"label"
:
"Radius:"
,
"units"
:
"meters"
,
"default"
:
10.0
,
"decimalPlaces"
:
2
}
},
{
"id"
:
19
,
"rawName"
:
"MAV_CMD_NAV_LOITER_TIME"
,
"friendlyName"
:
"Loiter (time)"
,
"description"
:
"Travel to a position and Loiter for an amount of time."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
,
"param1"
:
{
"label"
:
"Hold:"
,
"units"
:
"seconds"
,
"default"
:
30
,
"decimalPlaces"
:
0
}
}
]
}
src/FirmwarePlugin/FirmwarePlugin.h
View file @
96995949
...
...
@@ -113,6 +113,12 @@ public:
/// List of supported mission commands. Empty list for all commands supported.
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
=
0
;
/// Returns the names for the mission command json override files. Empty string to specify no overrides.
/// @param[out] commonJsonFilename Filename for common overrides
/// @param[out] fixedWingJsonFilename Filename for fixed wing overrides
/// @param[out] multiRotorJsonFilename Filename for multi rotor overrides
virtual
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
=
0
;
};
#endif
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc
View file @
96995949
...
...
@@ -127,3 +127,11 @@ QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
// Generic supports all commands
return
QList
<
MAV_CMD
>
();
}
void
GenericFirmwarePlugin
::
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
{
// No overrides
commonJsonFilename
.
clear
();
fixedWingJsonFilename
.
clear
();
multiRotorJsonFilename
.
clear
();
}
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h
View file @
96995949
...
...
@@ -35,19 +35,19 @@ class GenericFirmwarePlugin : public FirmwarePlugin
public:
// Overrides from FirmwarePlugin
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
)
{
Q_UNUSED
(
capabilities
);
return
false
;
}
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
virtual
QStringList
flightModes
(
void
)
{
return
QStringList
();
}
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
;
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
;
v
irtual
int
manualControlReservedButtonCount
(
void
)
;
v
irtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
;
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
)
;
v
irtual
bool
sendHomePositionToVehicle
(
void
)
;
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
();
}
v
irtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
;
bool
isCapable
(
FirmwareCapabilities
capabilities
)
final
{
Q_UNUSED
(
capabilities
);
return
false
;
}
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
final
;
QStringList
flightModes
(
void
)
final
{
return
QStringList
();
}
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
final
;
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
final
;
int
manualControlReservedButtonCount
(
void
)
final
;
v
oid
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
final
;
v
oid
initializeVehicle
(
Vehicle
*
vehicle
)
final
;
bool
sendHomePositionToVehicle
(
void
)
final
;
v
oid
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
final
;
QString
getDefaultComponentIdParam
(
void
)
const
final
{
return
QString
();
}
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
final
;
v
oid
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
};
#endif
src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
]
}
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
]
}
src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json
0 → 100644
View file @
96995949
{
"version"
:
1
,
"mavCmdInfo"
:
[
{
"id"
:
17
,
"rawName"
:
"MAV_CMD_NAV_LOITER_UNLIM"
,
"friendlyName"
:
"Loiter"
,
"description"
:
"Travel to a position and Loiter indefinitely."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
},
{
"id"
:
18
,
"rawName"
:
"MAV_CMD_NAV_LOITER_TURNS"
,
"friendlyName"
:
"Loiter (turns)"
,
"description"
:
"Travel to a position and Loiter for a number of turns."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
,
"param1"
:
{
"label"
:
"Turns:"
,
"default"
:
1
,
"decimalPlaces"
:
0
}
},
{
"id"
:
19
,
"rawName"
:
"MAV_CMD_NAV_LOITER_TIME"
,
"friendlyName"
:
"Loiter (time)"
,
"description"
:
"Travel to a position and Loiter for an amount of time."
,
"specifiesCoordinate"
:
true
,
"friendlyEdit"
:
true
,
"category"
:
"Basic"
,
"param1"
:
{
"label"
:
"Hold:"
,
"units"
:
"seconds"
,
"default"
:
30
,
"decimalPlaces"
:
0
}
}
]
}
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @
96995949
...
...
@@ -225,3 +225,11 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
<<
MAV_CMD_DO_CHANGE_SPEED
;
return
list
;
}
void
PX4FirmwarePlugin
::
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
{
// No overrides
commonJsonFilename
=
QStringLiteral
(
":/json/PX4/MavCmdInfoCommon.json"
);
fixedWingJsonFilename
=
QStringLiteral
(
":/json/PX4/MavCmdInfoFixedWing.json"
);
multiRotorJsonFilename
=
QStringLiteral
(
":/json/PX4/MavCmdInfoMultiRotor.json"
);
}
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @
96995949
...
...
@@ -36,18 +36,19 @@ class PX4FirmwarePlugin : public FirmwarePlugin
public:
// Overrides from FirmwarePlugin
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
);
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
virtual
QStringList
flightModes
(
void
);
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
);
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
);
virtual
int
manualControlReservedButtonCount
(
void
);
virtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
);
virtual
bool
sendHomePositionToVehicle
(
void
);
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYS_AUTOSTART"
);
}
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
bool
isCapable
(
FirmwareCapabilities
capabilities
)
final
;
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
final
;
QStringList
flightModes
(
void
)
final
;
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
final
;
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
final
;
int
manualControlReservedButtonCount
(
void
)
final
;
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
final
;
void
initializeVehicle
(
Vehicle
*
vehicle
)
final
;
bool
sendHomePositionToVehicle
(
void
)
final
;
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
final
;
QString
getDefaultComponentIdParam
(
void
)
const
final
{
return
QString
(
"SYS_AUTOSTART"
);
}
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
final
;
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
private:
PX4ParameterMetaData
_parameterMetaData
;
...
...
src/MissionManager/MavCmdInfo.json
→
src/MissionManager/MavCmdInfo
Common
.json
View file @
96995949
File moved
src/MissionManager/MissionCommandList.cc
0 → 100644
View file @
96995949
/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
#include "MissionCommandList.h"
#include "FactMetaData.h"
#include "Vehicle.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "QGroundControlQmlGlobal.h"
#include <QStringList>
#include <QJsonDocument>
#include <QJsonParseError>
#include <QJsonArray>
#include <QDebug>
#include <QFile>
const
QString
MissionCommandList
::
_categoryJsonKey
(
QStringLiteral
(
"category"
));
const
QString
MissionCommandList
::
_decimalPlacesJsonKey
(
QStringLiteral
(
"decimalPlaces"
));
const
QString
MissionCommandList
::
_defaultJsonKey
(
QStringLiteral
(
"default"
));
const
QString
MissionCommandList
::
_descriptionJsonKey
(
QStringLiteral
(
"description"
));
const
QString
MissionCommandList
::
_enumStringsJsonKey
(
QStringLiteral
(
"enumStrings"
));
const
QString
MissionCommandList
::
_enumValuesJsonKey
(
QStringLiteral
(
"enumValues"
));
const
QString
MissionCommandList
::
_friendlyEditJsonKey
(
QStringLiteral
(
"friendlyEdit"
));
const
QString
MissionCommandList
::
_friendlyNameJsonKey
(
QStringLiteral
(
"friendlyName"
));
const
QString
MissionCommandList
::
_idJsonKey
(
QStringLiteral
(
"id"
));
const
QString
MissionCommandList
::
_labelJsonKey
(
QStringLiteral
(
"label"
));
const
QString
MissionCommandList
::
_mavCmdInfoJsonKey
(
QStringLiteral
(
"mavCmdInfo"
));
const
QString
MissionCommandList
::
_param1JsonKey
(
QStringLiteral
(
"param1"
));
const
QString
MissionCommandList
::
_param2JsonKey
(
QStringLiteral
(
"param2"
));
const
QString
MissionCommandList
::
_param3JsonKey
(
QStringLiteral
(
"param3"
));
const
QString
MissionCommandList
::
_param4JsonKey
(
QStringLiteral
(
"param4"
));
const
QString
MissionCommandList
::
_paramJsonKeyFormat
(
QStringLiteral
(
"param%1"
));
const
QString
MissionCommandList
::
_rawNameJsonKey
(
QStringLiteral
(
"rawName"
));
const
QString
MissionCommandList
::
_standaloneCoordinateJsonKey
(
QStringLiteral
(
"standaloneCoordinate"
));
const
QString
MissionCommandList
::
_specifiesCoordinateJsonKey
(
QStringLiteral
(
"specifiesCoordinate"
));
const
QString
MissionCommandList
::
_unitsJsonKey
(
QStringLiteral
(
"units"
));
const
QString
MissionCommandList
::
_versionJsonKey
(
QStringLiteral
(
"version"
));
MissionCommandList
::
MissionCommandList
(
const
QString
&
jsonFilename
,
QObject
*
parent
)
:
QObject
(
parent
)
{
_loadMavCmdInfoJson
(
jsonFilename
);
}
bool
MissionCommandList
::
_validateKeyTypes
(
QJsonObject
&
jsonObject
,
const
QStringList
&
keys
,
const
QList
<
QJsonValue
::
Type
>&
types
)
{
for
(
int
i
=
0
;
i
<
keys
.
count
();
i
++
)
{
if
(
jsonObject
.
contains
(
keys
[
i
]))
{
if
(
jsonObject
.
value
(
keys
[
i
]).
type
()
!=
types
[
i
])
{
qWarning
()
<<
"Incorrect type key:type:expected"
<<
keys
[
i
]
<<
jsonObject
.
value
(
keys
[
i
]).
type
()
<<
types
[
i
];
return
false
;
}
}
}
return
true
;
}
void
MissionCommandList
::
_loadMavCmdInfoJson
(
const
QString
&
jsonFilename
)
{
if
(
jsonFilename
.
isEmpty
())
{
return
;
}
qCDebug
(
MissionCommandsLog
)
<<
"Loading"
<<
jsonFilename
;
QFile
jsonFile
(
jsonFilename
);
if
(
!
jsonFile
.
open
(
QIODevice
::
ReadOnly
|
QIODevice
::
Text
))
{
qWarning
()
<<
"Unable to open file"
<<
jsonFilename
<<
jsonFile
.
errorString
();
return
;
}
QByteArray
bytes
=
jsonFile
.
readAll
();
jsonFile
.
close
();
QJsonParseError
jsonParseError
;
QJsonDocument
doc
=
QJsonDocument
::
fromJson
(
bytes
,
&
jsonParseError
);
if
(
jsonParseError
.
error
!=
QJsonParseError
::
NoError
)
{
qWarning
()
<<
"Unable to open json document"
<<
jsonParseError
.
errorString
();
return
;
}
QJsonObject
json
=
doc
.
object
();
int
version
=
json
.
value
(
_versionJsonKey
).
toInt
();
if
(
version
!=
1
)
{
qWarning
()
<<
"Invalid version"
<<
version
;
return
;
}
QJsonValue
jsonValue
=
json
.
value
(
_mavCmdInfoJsonKey
);
if
(
!
jsonValue
.
isArray
())
{
qWarning
()
<<
"mavCmdInfo not array"
;
return
;
}
QJsonArray
jsonArray
=
jsonValue
.
toArray
();
foreach
(
QJsonValue
info
,
jsonArray
)
{
if
(
!
info
.
isObject
())
{
qWarning
()
<<
"mavCmdArray should contain objects"
;
return
;
}
QJsonObject
jsonObject
=
info
.
toObject
();
// Make sure we have the required keys
QStringList
requiredKeys
;
requiredKeys
<<
_idJsonKey
<<
_rawNameJsonKey
;
foreach
(
const
QString
&
key
,
requiredKeys
)
{
if
(
!
jsonObject
.
contains
(
key
))
{
qWarning
()
<<
"Mission required key"
<<
key
;
return
;
}
}
// Validate key types
QStringList
keys
;
QList
<
QJsonValue
::
Type
>
types
;
keys
<<
_idJsonKey
<<
_rawNameJsonKey
<<
_friendlyNameJsonKey
<<
_descriptionJsonKey
<<
_standaloneCoordinateJsonKey
<<
_specifiesCoordinateJsonKey
<<
_friendlyEditJsonKey
<<
_param1JsonKey
<<
_param2JsonKey
<<
_param3JsonKey
<<
_param4JsonKey
<<
_categoryJsonKey
;
types
<<
QJsonValue
::
Double
<<
QJsonValue
::
String
<<
QJsonValue
::
String
<<
QJsonValue
::
String
<<
QJsonValue
::
Bool
<<
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
->
_standaloneCoordinate
=
jsonObject
.
value
(
_standaloneCoordinateJsonKey
).
toBool
(
false
);
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
->
_standaloneCoordinate
<<
mavCmdInfo
->
_specifiesCoordinate
<<
mavCmdInfo
->
_friendlyEdit
;
if
(
_mavCmdInfoMap
.
contains
((
MAV_CMD
)
mavCmdInfo
->
command
()))
{
qWarning
()
<<
"Duplicate command"
<<
mavCmdInfo
->
command
();
return
;
}
_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
<
QJsonValue
::
Type
>
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
(
const
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
;
}
}
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
;
}
}
}
}
bool
MissionCommandList
::
contains
(
MAV_CMD
command
)
const
{
return
_mavCmdInfoMap
.
contains
(
command
);
}
MavCmdInfo
*
MissionCommandList
::
getMavCmdInfo
(
MAV_CMD
command
)
const
{
if
(
!
contains
(
command
))
{
qWarning
()
<<
"Unknown command"
<<
command
;
return
NULL
;
}
return
_mavCmdInfoMap
[
command
];
}
QList
<
MAV_CMD
>
MissionCommandList
::
commandsIds
(
void
)
const
{
QList
<
MAV_CMD
>
list
;
foreach
(
const
MavCmdInfo
*
mavCmdInfo
,
_mavCmdInfoMap
)
{
list
<<
(
MAV_CMD
)
mavCmdInfo
->
command
();
}
return
list
;
}
src/MissionManager/MissionCommandList.h
0 → 100644
View file @
96995949
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MissionCommandList_H
#define MissionCommandList_H
#include "QGCToolbox.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
#include "MavlinkQmlSingleton.h"
#include <QObject>
#include <QString>
#include <QJsonObject>
#include <QJsonValue>
class
MissionCommandList
;
class
Vehicle
;
/// The information associated with a mission command parameter.
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
MissionCommandList
;
};
// The information associated with a mission command.
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
qmlCommand
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
standaloneCoordinate
READ
standaloneCoordinate
CONSTANT
)
Q_PROPERTY
(
bool
specifiesCoordinate
READ
specifiesCoordinate
CONSTANT
)