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Valentin Platzgummer
qgroundcontrol
Commits
96995949
Commit
96995949
authored
Feb 08, 2016
by
Don Gagne
Browse files
Options
Browse Files
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Plain Diff
Support command editor overrides
- override by vehicle type - override by firmware type
parent
8a049a99
Changes
28
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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 += \
...
@@ -251,6 +251,7 @@ HEADERS += \
src
/
Joystick
/
JoystickManager
.
h
\
src
/
Joystick
/
JoystickManager
.
h
\
src
/
LogCompressor
.
h
\
src
/
LogCompressor
.
h
\
src
/
MG
.
h
\
src
/
MG
.
h
\
src
/
MissionManager
/
MissionCommandList
.
h
\
src
/
MissionManager
/
MissionCommands
.
h
\
src
/
MissionManager
/
MissionCommands
.
h
\
src
/
MissionManager
/
MissionController
.
h
\
src
/
MissionManager
/
MissionController
.
h
\
src
/
MissionManager
/
MissionItem
.
h
\
src
/
MissionManager
/
MissionItem
.
h
\
...
@@ -374,6 +375,7 @@ SOURCES += \
...
@@ -374,6 +375,7 @@ SOURCES += \
src
/
Joystick
/
JoystickManager
.
cc
\
src
/
Joystick
/
JoystickManager
.
cc
\
src
/
LogCompressor
.
cc
\
src
/
LogCompressor
.
cc
\
src
/
main
.
cc
\
src
/
main
.
cc
\
src
/
MissionManager
/
MissionCommandList
.
cc
\
src
/
MissionManager
/
MissionCommands
.
cc
\
src
/
MissionManager
/
MissionCommands
.
cc
\
src
/
MissionManager
/
MissionController
.
cc
\
src
/
MissionManager
/
MissionController
.
cc
\
src
/
MissionManager
/
MissionItem
.
cc
\
src
/
MissionManager
/
MissionItem
.
cc
\
...
...
qgroundcontrol.qrc
View file @
96995949
...
@@ -141,6 +141,12 @@
...
@@ -141,6 +141,12 @@
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
</qresource>
</qresource>
<qresource prefix="/json">
<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>
</qresource>
</RCC>
</RCC>
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @
96995949
...
@@ -495,3 +495,10 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
...
@@ -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
;
<<
MAV_CMD_CONDITION_DELAY
<<
MAV_CMD_CONDITION_CHANGE_ALT
<<
MAV_CMD_CONDITION_DISTANCE
<<
MAV_CMD_CONDITION_YAW
;
return
list
;
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:
...
@@ -92,6 +92,7 @@ public:
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYSID_SW_TYPE"
);
}
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYSID_SW_TYPE"
);
}
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
protected:
protected:
/// All access to singleton is through stack specific implementation
/// 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:
...
@@ -113,6 +113,12 @@ public:
/// List of supported mission commands. Empty list for all commands supported.
/// List of supported mission commands. Empty list for all commands supported.
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
=
0
;
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
#endif
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc
View file @
96995949
...
@@ -127,3 +127,11 @@ QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
...
@@ -127,3 +127,11 @@ QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
// Generic supports all commands
// Generic supports all commands
return
QList
<
MAV_CMD
>
();
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
...
@@ -35,19 +35,19 @@ class GenericFirmwarePlugin : public FirmwarePlugin
public:
public:
// Overrides from FirmwarePlugin
// Overrides from FirmwarePlugin
bool
isCapable
(
FirmwareCapabilities
capabilities
)
final
{
Q_UNUSED
(
capabilities
);
return
false
;
}
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
)
{
Q_UNUSED
(
capabilities
);
return
false
;
}
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
final
;
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
QStringList
flightModes
(
void
)
final
{
return
QStringList
();
}
virtual
QStringList
flightModes
(
void
)
{
return
QStringList
();
}
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
final
;
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
;
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
final
;
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
;
int
manualControlReservedButtonCount
(
void
)
final
;
v
irtual
int
manualControlReservedButtonCount
(
void
)
;
v
oid
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
final
;
v
irtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
;
v
oid
initializeVehicle
(
Vehicle
*
vehicle
)
final
;
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
)
;
bool
sendHomePositionToVehicle
(
void
)
final
;
v
irtual
bool
sendHomePositionToVehicle
(
void
)
;
v
oid
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
final
;
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
QString
getDefaultComponentIdParam
(
void
)
const
final
{
return
QString
();
}
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
();
}
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
final
;
v
irtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
;
v
oid
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
};
};
#endif
#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)
...
@@ -225,3 +225,11 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
<<
MAV_CMD_DO_CHANGE_SPEED
;
<<
MAV_CMD_DO_CHANGE_SPEED
;
return
list
;
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
...
@@ -36,18 +36,19 @@ class PX4FirmwarePlugin : public FirmwarePlugin
public:
public:
// Overrides from FirmwarePlugin
// Overrides from FirmwarePlugin
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
);
bool
isCapable
(
FirmwareCapabilities
capabilities
)
final
;
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
final
;
virtual
QStringList
flightModes
(
void
);
QStringList
flightModes
(
void
)
final
;
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
);
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
final
;
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
);
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
final
;
virtual
int
manualControlReservedButtonCount
(
void
);
int
manualControlReservedButtonCount
(
void
)
final
;
virtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
final
;
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
);
void
initializeVehicle
(
Vehicle
*
vehicle
)
final
;
virtual
bool
sendHomePositionToVehicle
(
void
);
bool
sendHomePositionToVehicle
(
void
)
final
;
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
final
;
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYS_AUTOSTART"
);
}
QString
getDefaultComponentIdParam
(
void
)
const
final
{
return
QString
(
"SYS_AUTOSTART"
);
}
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
final
;
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
private:
private:
PX4ParameterMetaData
_parameterMetaData
;
PX4ParameterMetaData
_parameterMetaData
;
...
...
src/MissionManager/MavCmdInfo.json
→
src/MissionManager/MavCmdInfo
Common
.json
View file @
96995949
File moved
src/MissionManager/MissionCommandList.cc
0 → 100644
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96995949
This diff is collapsed.
Click to expand it.
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
)
MavlinkQmlSingleton
::
Qml_MAV_CMD
qmlCommand
(
void
)
const
{
return
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
)
_command
;
}
MAV_CMD
command
(
void
)
const
{
return
_command
;
}
QString
category
(
void
)
const
{
return
_category
;
}
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
standaloneCoordinate
(
void
)
const
{
return
_standaloneCoordinate
;
}
bool
specifiesCoordinate
(
void
)
const
{
return
_specifiesCoordinate
;
}
const
QMap
<
int
,
MavCmdParamInfo
*>&
paramInfoMap
(
void
)
const
{
return
_paramInfoMap
;
}
private:
QString
_category
;
MAV_CMD
_command
;
QString
_description
;
bool
_friendlyEdit
;
QString
_friendlyName
;
QMap
<
int
,
MavCmdParamInfo
*>
_paramInfoMap
;
QString
_rawName
;
bool
_standaloneCoordinate
;
bool
_specifiesCoordinate
;
friend
class
MissionCommandList
;
};
// A list of mission command info loaded from a json file.
class
MissionCommandList
:
public
QObject
{
Q_OBJECT
public:
MissionCommandList
(
const
QString
&
jsonFilename
,
QObject
*
parent
=
NULL
);
Q_INVOKABLE
bool
contains
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
)
const
{
return
contains
((
MAV_CMD
)
command
);
}
bool
contains
(
MAV_CMD
command
)
const
;
Q_INVOKABLE
QVariant
getMavCmdInfo
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
)
const
{
return
QVariant
::
fromValue
(
getMavCmdInfo
((
MAV_CMD
)
command
));
}
MavCmdInfo
*
getMavCmdInfo
(
MAV_CMD
command
)
const
;
QList
<
MAV_CMD
>
commandsIds
(
void
)
const
;
private:
void
_loadMavCmdInfoJson
(
const
QString
&
jsonFilename
);
bool
_validateKeyTypes
(
QJsonObject
&
jsonObject
,
const
QStringList
&
keys
,
const
QList
<
QJsonValue
::
Type
>&
types
);
private:
QMap
<
MAV_CMD
,
MavCmdInfo
*>
_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
_standaloneCoordinateJsonKey
;
static
const
QString
_specifiesCoordinateJsonKey
;
static
const
QString
_unitsJsonKey
;
static
const
QString
_versionJsonKey
;
};
#endif
src/MissionManager/MissionCommands.cc
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96995949
This diff is collapsed.
Click to expand it.
src/MissionManager/MissionCommands.h
View file @
96995949
...
@@ -25,104 +25,17 @@
...
@@ -25,104 +25,17 @@
#define MissionCommands_H
#define MissionCommands_H
#include "QGCToolbox.h"
#include "QGCToolbox.h"
#include "QGCMAVLink.h"
#include "MissionCommandList.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
/// Provides access to mission command information used for creating mission command ui editors. There is a base common set
#include "MavlinkQmlSingleton.h"
/// of definitions. Individual commands can then be overriden depending on Vehicle information:
/// Common command definitions
#include <QObject>
/// MAV_AUTOPILOT common overrides
#include <QString>
/// Fixed Wing
#include <QJsonObject>
/// MAV_AUTOPILOT specific Fixed Wing overrides
#include <QJsonValue>
/// Multi-Rotor
/// MAV_AUTOPILOT specific Multi Rotor overrides
Q_DECLARE_LOGGING_CATEGORY
(
MissionCommandsLog
)
/// The leaf nodes of the hierarchy take precedence over higher level branches
class
MissionCommands
;
class
Vehicle
;
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
standaloneCoordinate
READ
standaloneCoordinate
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
standaloneCoordinate
(
void
)
const
{
return
_standaloneCoordinate
;
}
bool
specifiesCoordinate
(
void
)
const
{
return
_specifiesCoordinate
;
}
const
QMap
<
int
,
MavCmdParamInfo
*>&
paramInfoMap
(
void
)
const
{
return
_paramInfoMap
;
}
private:
QString
_category
;
MAV_CMD
_command
;
QString
_description
;
bool
_friendlyEdit
;
QString
_friendlyName
;
QMap
<
int
,
MavCmdParamInfo
*>
_paramInfoMap
;
QString
_rawName
;
bool
_standaloneCoordinate
;
bool
_specifiesCoordinate
;
friend
class
MissionCommands
;
};
class
MissionCommands
:
public
QGCTool
class
MissionCommands
:
public
QGCTool
{
{
Q_OBJECT
Q_OBJECT
...
@@ -134,45 +47,29 @@ public:
...
@@ -134,45 +47,29 @@ public:
Q_INVOKABLE
QString
categoryFromCommand
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
)
const
;
Q_INVOKABLE
QString
categoryFromCommand
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
)
const
;
Q_INVOKABLE
QVariant
getCommandsForCategory
(
Vehicle
*
vehicle
,
const
QString
&
category
)
const
;
Q_INVOKABLE
QVariant
getCommandsForCategory
(
Vehicle
*
vehicle
,
const
QString
&
category
)
const
;
const
QMap
<
MAV_CMD
,
MavCmdInfo
*>&
commandInfoMap
(
void
)
const
{
return
_mavCmdInfoMap
;
};
Q_INVOKABLE
bool
contains
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
)
const
{
return
contains
((
MAV_CMD
)
command
);
}
bool
contains
(
MAV_CMD
command
)
const
;
Q_INVOKABLE
QVariant
getMavCmdInfo
(
MavlinkQmlSingleton
::
Qml_MAV_CMD
command
,
Vehicle
*
vehicle
)
const
{
return
QVariant
::
fromValue
(
getMavCmdInfo
((
MAV_CMD
)
command
,
vehicle
));
}
MavCmdInfo
*
getMavCmdInfo
(
MAV_CMD
command
,
Vehicle
*
vehicle
)
const
;
QList
<
MAV_CMD
>
commandsIds
(
void
)
const
;
// Overrides from QGCTool
// Overrides from QGCTool
virtual
void
setToolbox
(
QGCToolbox
*
toolbox
);
virtual
void
setToolbox
(
QGCToolbox
*
toolbox
);
signals:
private:
private:
void
_loadMavCmdInfoJson
(
void
);
void
_createCategories
(
void
);
void
_createFirmwareSpecificLists
(
void
);
void
_setupMetaData
(
void
);
bool
_validateKeyTypes
(
QJsonObject
&
jsonObject
,
const
QStringList
&
keys
,
const
QList
<
QJsonValue
::
Type
>&
types
);
MAV_AUTOPILOT
_firmwareTypeFromVehicle
(
Vehicle
*
vehicle
)
const
;
MAV_AUTOPILOT
_firmwareTypeFromVehicle
(
Vehicle
*
vehicle
)
const
;
private:
private:
QMap
<
MAV_AUTOPILOT
,
QMap
<
QString
,
QmlObjectListModel
*>
>
_categoryToMavCmdInfoListMap
;
QMap
<
MAV_AUTOPILOT
,
QMap
<
QString
,
QList
<
MAV_CMD
>
>
>
_categoryToMavCmdListMap
;
QMap
<
MAV_CMD
,
MavCmdInfo
*>
_mavCmdInfoMap
;
MissionCommandList
_commonMissionCommands
;
///< Mission command definitions for common generic mavlink use case
static
const
QString
_categoryJsonKey
;
static
const
QString
_decimalPlacesJsonKey
;
QMap
<
MAV_AUTOPILOT
,
MissionCommandList
*>
_autopilotToCommonMissionCommands
;
///< MAV_AUTOPILOT specific common overrides
static
const
QString
_defaultJsonKey
;
QMap
<
MAV_AUTOPILOT
,
MissionCommandList
*>
_autopilotToFixedWingMissionCommands
;
///< MAV_AUTOPILOT specific fixed wing overrides
static
const
QString
_descriptionJsonKey
;
QMap
<
MAV_AUTOPILOT
,
MissionCommandList
*>
_autopilotToMultiRotorMissionCommands
;
///< MAV_AUTOPILOT specific multi rotor overrides
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
;