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Commit 9efdddb2 authored by Don Gagne's avatar Don Gagne
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Merge pull request #2110 from DonLakeFlyer/DecimalPlus 

Decimal place support + other fixes
parents 95cec0e0 f1c93eb5
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Showing with 151 additions and 87 deletions
src/FactSystem/Fact.cc
View file @ 9efdddb2
...@@ -131,7 +131,22 @@ QVariant Fact::value(void) const ...@@ -131,7 +131,22 @@ QVariant Fact::value(void) const
QString Fact::valueString(void) const QString Fact::valueString(void) const
{ {
return _value.toString(); QString valueString;
switch (type()) {
case FactMetaData::valueTypeFloat:
qDebug() << name() << value() << decimalPlaces();
valueString = QString("%1").arg(value().toFloat(), 0, 'g', decimalPlaces());
break;
case FactMetaData::valueTypeDouble:
valueString = QString("%1").arg(value().toDouble(), 0, 'g', decimalPlaces());
break;
default:
valueString = value().toString();
break;
}
return valueString;
} }
QVariant Fact::defaultValue(void) const QVariant Fact::defaultValue(void) const
...@@ -222,6 +237,16 @@ bool Fact::maxIsDefaultForType(void) const ...@@ -222,6 +237,16 @@ bool Fact::maxIsDefaultForType(void) const
} }
} }
int Fact::decimalPlaces(void) const
{
if (_metaData) {
return _metaData->decimalPlaces();
} else {
qWarning() << "Meta data pointer missing";
return FactMetaData::defaultDecimalPlaces;
}
}
QString Fact::group(void) const QString Fact::group(void) const
{ {
if (_metaData) { if (_metaData) {
......
src/FactSystem/Fact.h
View file @ 9efdddb2
...@@ -46,22 +46,23 @@ public: ...@@ -46,22 +46,23 @@ public:
const Fact& operator=(const Fact& other); const Fact& operator=(const Fact& other);
Q_PROPERTY(int componentId READ componentId CONSTANT) Q_PROPERTY(int componentId READ componentId CONSTANT)
Q_PROPERTY(QString name READ name CONSTANT) Q_PROPERTY(QString group READ group CONSTANT)
Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true) Q_PROPERTY(QString name READ name CONSTANT)
Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged) Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true)
Q_PROPERTY(QString units READ units CONSTANT) Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged)
Q_PROPERTY(QVariant defaultValue READ defaultValue CONSTANT) Q_PROPERTY(QString units READ units CONSTANT)
Q_PROPERTY(bool defaultValueAvailable READ defaultValueAvailable CONSTANT) Q_PROPERTY(QVariant defaultValue READ defaultValue CONSTANT)
Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged) Q_PROPERTY(bool defaultValueAvailable READ defaultValueAvailable CONSTANT)
Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT) Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged)
Q_PROPERTY(QString shortDescription READ shortDescription CONSTANT) Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT)
Q_PROPERTY(QString longDescription READ longDescription CONSTANT) Q_PROPERTY(QString shortDescription READ shortDescription CONSTANT)
Q_PROPERTY(QVariant min READ min CONSTANT) Q_PROPERTY(QString longDescription READ longDescription CONSTANT)
Q_PROPERTY(bool minIsDefaultForType READ minIsDefaultForType CONSTANT) Q_PROPERTY(QVariant min READ min CONSTANT)
Q_PROPERTY(QVariant max READ max CONSTANT) Q_PROPERTY(bool minIsDefaultForType READ minIsDefaultForType CONSTANT)
Q_PROPERTY(bool maxIsDefaultForType READ maxIsDefaultForType CONSTANT) Q_PROPERTY(QVariant max READ max CONSTANT)
Q_PROPERTY(QString group READ group CONSTANT) Q_PROPERTY(bool maxIsDefaultForType READ maxIsDefaultForType CONSTANT)
Q_PROPERTY(int decimalPlaces READ decimalPlaces CONSTANT)
/// Convert and validate value /// Convert and validate value
/// @param convertOnly true: validate type conversion only, false: validate against meta data as well /// @param convertOnly true: validate type conversion only, false: validate against meta data as well
...@@ -86,6 +87,7 @@ public: ...@@ -86,6 +87,7 @@ public:
QVariant max(void) const; QVariant max(void) const;
bool maxIsDefaultForType(void) const; bool maxIsDefaultForType(void) const;
QString group(void) const; QString group(void) const;
int decimalPlaces(void) const;
/// Sets and sends new value to vehicle even if value is the same /// Sets and sends new value to vehicle even if value is the same
void forceSetValue(const QVariant& value); void forceSetValue(const QVariant& value);
......
src/FactSystem/FactMetaData.cc
View file @ 9efdddb2
...@@ -32,30 +32,32 @@ ...@@ -32,30 +32,32 @@
#include <limits> #include <limits>
FactMetaData::FactMetaData(QObject* parent) : FactMetaData::FactMetaData(QObject* parent)
QObject(parent), : QObject(parent)
_group("*Default Group"), , _group("*Default Group")
_type(valueTypeInt32), , _type(valueTypeInt32)
_defaultValue(0), , _defaultValue(0)
_defaultValueAvailable(false), , _defaultValueAvailable(false)
_min(_minForType()), , _min(_minForType())
_max(_maxForType()), , _max(_maxForType())
_minIsDefaultForType(true), , _minIsDefaultForType(true)
_maxIsDefaultForType(true) , _maxIsDefaultForType(true)
, _decimalPlaces(defaultDecimalPlaces)
{ {
} }
FactMetaData::FactMetaData(ValueType_t type, QObject* parent) : FactMetaData::FactMetaData(ValueType_t type, QObject* parent)
QObject(parent), : QObject(parent)
_group("*Default Group"), , _group("*Default Group")
_type(type), , _type(type)
_defaultValue(0), , _defaultValue(0)
_defaultValueAvailable(false), , _defaultValueAvailable(false)
_min(_minForType()), , _min(_minForType())
_max(_maxForType()), , _max(_maxForType())
_minIsDefaultForType(true), , _minIsDefaultForType(true)
_maxIsDefaultForType(true) , _maxIsDefaultForType(true)
, _decimalPlaces(defaultDecimalPlaces)
{ {
} }
...@@ -76,6 +78,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other) ...@@ -76,6 +78,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
_max = other._max; _max = other._max;
_minIsDefaultForType = other._minIsDefaultForType; _minIsDefaultForType = other._minIsDefaultForType;
_maxIsDefaultForType = other._maxIsDefaultForType; _maxIsDefaultForType = other._maxIsDefaultForType;
_decimalPlaces = other._decimalPlaces;
return *this; return *this;
} }
......
src/FactSystem/FactMetaData.h
View file @ 9efdddb2
...@@ -59,18 +59,19 @@ public: ...@@ -59,18 +59,19 @@ public:
const FactMetaData& operator=(const FactMetaData& other); const FactMetaData& operator=(const FactMetaData& other);
// Property accessors // Property accessors
QString name(void) const { return _name; } QString name(void) const { return _name; }
QString group(void) const { return _group; } QString group(void) const { return _group; }
ValueType_t type(void) const { return _type; } ValueType_t type(void) const { return _type; }
QVariant defaultValue(void) const; QVariant defaultValue(void) const;
bool defaultValueAvailable(void) const { return _defaultValueAvailable; } bool defaultValueAvailable(void) const { return _defaultValueAvailable; }
QString shortDescription(void) const { return _shortDescription; } QString shortDescription(void) const { return _shortDescription; }
QString longDescription(void) const { return _longDescription;} QString longDescription(void) const { return _longDescription;}
QString units(void) const { return _units; } QString units(void) const { return _units; }
QVariant min(void) const { return _min; } QVariant min(void) const { return _min; }
QVariant max(void) const { return _max; } QVariant max(void) const { return _max; }
bool minIsDefaultForType(void) const { return _minIsDefaultForType; } bool minIsDefaultForType(void) const { return _minIsDefaultForType; }
bool maxIsDefaultForType(void) const { return _maxIsDefaultForType; } bool maxIsDefaultForType(void) const { return _maxIsDefaultForType; }
int decimalPlaces(void) const { return _decimalPlaces; }
// Property setters // Property setters
void setName(const QString& name) { _name = name; } void setName(const QString& name) { _name = name; }
...@@ -81,6 +82,7 @@ public: ...@@ -81,6 +82,7 @@ public:
void setUnits(const QString& units) { _units = units; } void setUnits(const QString& units) { _units = units; }
void setMin(const QVariant& max); void setMin(const QVariant& max);
void setMax(const QVariant& max); void setMax(const QVariant& max);
void setDecimalPlaces(int decimalPlaces) { _decimalPlaces = decimalPlaces; }
/// Converts the specified value, validating against meta data /// Converts the specified value, validating against meta data
/// @param value Value to convert, can be string /// @param value Value to convert, can be string
...@@ -90,6 +92,8 @@ public: ...@@ -90,6 +92,8 @@ public:
/// @returns false: Convert failed, errorString set /// @returns false: Convert failed, errorString set
bool convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString); bool convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString);
static const int defaultDecimalPlaces = 3;
private: private:
QVariant _minForType(void) const; QVariant _minForType(void) const;
QVariant _maxForType(void) const; QVariant _maxForType(void) const;
...@@ -106,6 +110,7 @@ private: ...@@ -106,6 +110,7 @@ private:
QVariant _max; QVariant _max;
bool _minIsDefaultForType; bool _minIsDefaultForType;
bool _maxIsDefaultForType; bool _maxIsDefaultForType;
int _decimalPlaces;
}; };
#endif #endif
src/FirmwarePlugin/PX4/PX4ParameterLoader.cc
View file @ 9efdddb2
...@@ -299,6 +299,19 @@ void PX4ParameterLoader::loadParameterFactMetaData(void) ...@@ -299,6 +299,19 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
qCDebug(PX4ParameterLoaderLog) << "Unit:" << text; qCDebug(PX4ParameterLoaderLog) << "Unit:" << text;
metaData->setUnits(text); metaData->setUnits(text);
} else if (elementName == "decimal") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
qCDebug(PX4ParameterLoaderLog) << "Decimal:" << text;
bool convertOk;
QVariant varDecimals = QVariant(text).toUInt(&convertOk);
if (convertOk) {
metaData->setDecimalPlaces(varDecimals.toInt());
} else {
qCWarning(PX4ParameterLoaderLog) << "Invalid decimals value, name:" << metaData->name() << " type:" << metaData->type() << " decimals:" << text << " error: invalid number";
}
} else { } else {
qDebug() << "Unknown element in XML: " << elementName; qDebug() << "Unknown element in XML: " << elementName;
} }
......
src/MissionEditor/MissionEditor.qml
View file @ 9efdddb2
...@@ -322,8 +322,6 @@ QGCView { ...@@ -322,8 +322,6 @@ QGCView {
// Move to the new position // Move to the new position
editorMap.latitude = object.coordinate.latitude editorMap.latitude = object.coordinate.latitude
editorMap.longitude = object.coordinate.longitude editorMap.longitude = object.coordinate.longitude
} else {
itemDragger.clearItem()
} }
} }
} }
......
src/MissionItem.cc
View file @ 9efdddb2
...@@ -20,15 +20,6 @@ This file is part of the QGROUNDCONTROL project ...@@ -20,15 +20,6 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/ ======================================================================*/
/**
* @file
* @brief MissionItem class
*
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#include <QStringList> #include <QStringList>
#include <QDebug> #include <QDebug>
...@@ -115,10 +106,12 @@ MissionItem::MissionItem(QObject* parent, ...@@ -115,10 +106,12 @@ MissionItem::MissionItem(QObject* parent,
FactMetaData* latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _latitudeFact); FactMetaData* latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _latitudeFact);
latitudeMetaData->setUnits("deg"); latitudeMetaData->setUnits("deg");
latitudeMetaData->setDecimalPlaces(7);
FactMetaData* longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _longitudeFact); FactMetaData* longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _longitudeFact);
longitudeMetaData->setUnits("deg"); longitudeMetaData->setUnits("deg");
longitudeMetaData->setDecimalPlaces(7);
FactMetaData* altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _altitudeFact); FactMetaData* altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _altitudeFact);
altitudeMetaData->setUnits("meters"); altitudeMetaData->setUnits("meters");
......
src/MissionManager/MissionController.cc
View file @ 9efdddb2
...@@ -66,21 +66,23 @@ void MissionController::start(bool editMode) ...@@ -66,21 +66,23 @@ void MissionController::start(bool editMode)
connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged); connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged);
_setupMissionItems(true /* fromVehicle */, true /* force */); _setupMissionItems(true /* loadFromVehicle */, true /* forceLoad */);
_setupActiveVehicle(multiVehicleMgr->activeVehicle(), true /* forceLoadFromVehicle */);
} }
void MissionController::_newMissionItemsAvailableFromVehicle(void) void MissionController::_newMissionItemsAvailableFromVehicle(void)
{ {
qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle"; qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle";
_setupMissionItems(true /* fromVehicle */, false /* force */); _setupMissionItems(true /* loadFromVehicle */, false /* forceLoad */);
} }
/// @param fromVehicle true: load items from vehicle /// @param loadFromVehicle true: load items from vehicle
/// @param force true: disregard any flags which may prevent load /// @param forceLoad true: disregard any flags which may prevent load
void MissionController::_setupMissionItems(bool fromVehicle, bool force) void MissionController::_setupMissionItems(bool loadFromVehicle, bool forceLoad)
{ {
qCDebug(MissionControllerLog) << "_setupMissionItems fromVehicle:force:_editMode:_firstItemsFromVehicle" << fromVehicle << force << _editMode << _firstItemsFromVehicle; qCDebug(MissionControllerLog) << "_setupMissionItems loadFromVehicle:forceLoad:_editMode:_firstItemsFromVehicle"
<< loadFromVehicle << forceLoad << _editMode << _firstItemsFromVehicle;
MissionManager* missionManager = NULL; MissionManager* missionManager = NULL;
if (_activeVehicle) { if (_activeVehicle) {
...@@ -89,8 +91,8 @@ void MissionController::_setupMissionItems(bool fromVehicle, bool force) ...@@ -89,8 +91,8 @@ void MissionController::_setupMissionItems(bool fromVehicle, bool force)
qCDebug(MissionControllerLog) << "running offline"; qCDebug(MissionControllerLog) << "running offline";
} }
if (!force) { if (!forceLoad) {
if (_editMode && fromVehicle) { if (_editMode && loadFromVehicle) {
if (_firstItemsFromVehicle) { if (_firstItemsFromVehicle) {
if (missionManager) { if (missionManager) {
if (missionManager->inProgress()) { if (missionManager->inProgress()) {
...@@ -126,7 +128,7 @@ void MissionController::_setupMissionItems(bool fromVehicle, bool force) ...@@ -126,7 +128,7 @@ void MissionController::_setupMissionItems(bool fromVehicle, bool force)
_missionItems->deleteLater(); _missionItems->deleteLater();
} }
if (!missionManager || !fromVehicle || missionManager->inProgress()) { if (!missionManager || !loadFromVehicle || missionManager->inProgress()) {
_canEdit = true; _canEdit = true;
_missionItems = new QmlObjectListModel(this); _missionItems = new QmlObjectListModel(this);
qCDebug(MissionControllerLog) << "creating empty set"; qCDebug(MissionControllerLog) << "creating empty set";
...@@ -440,10 +442,22 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) ...@@ -440,10 +442,22 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
_activeVehicle = NULL; _activeVehicle = NULL;
// When the active vehicle goes away we toss the editor items // When the active vehicle goes away we toss the editor items
_setupMissionItems(false /* fromVehicle */, true /* force */); _setupMissionItems(false /* loadFromVehicle */, true /* forceLoad */);
_activeVehicleHomePositionAvailableChanged(false); _activeVehicleHomePositionAvailableChanged(false);
} }
_setupActiveVehicle(activeVehicle, false /* forceLoadFromVehicle */);
}
void MissionController::_setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle)
{
qCDebug(MissionControllerLog) << "_setupActiveVehicle activeVehicle:forceLoadFromVehicle"
<< activeVehicle << forceLoadFromVehicle;
if (_activeVehicle) {
qCWarning(MissionControllerLog) << "_activeVehicle != NULL";
}
_activeVehicle = activeVehicle; _activeVehicle = activeVehicle;
if (_activeVehicle) { if (_activeVehicle) {
...@@ -455,7 +469,7 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) ...@@ -455,7 +469,7 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
_firstItemsFromVehicle = true; _firstItemsFromVehicle = true;
_setupMissionItems(true /* fromVehicle */, false /* force */); _setupMissionItems(true /* fromVehicle */, forceLoadFromVehicle);
_activeVehicleHomePositionChanged(_activeVehicle->homePosition()); _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable()); _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
...@@ -464,20 +478,15 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) ...@@ -464,20 +478,15 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable) void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{ {
MissionItem* homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
if (homePositionAvailable) {
homeItem->setCoordinate(_liveHomePosition);
}
homeItem->setHomePositionValid(homePositionAvailable);
_liveHomePositionAvailable = homePositionAvailable; _liveHomePositionAvailable = homePositionAvailable;
qobject_cast<MissionItem*>(_missionItems->get(0))->setHomePositionValid(homePositionAvailable);
emit liveHomePositionAvailableChanged(_liveHomePositionAvailable); emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
} }
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition) void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{ {
_liveHomePosition = homePosition; _liveHomePosition = homePosition;
qobject_cast<MissionItem*>(_missionItems->get(0))->setCoordinate(_liveHomePosition);
emit liveHomePositionChanged(_liveHomePosition); emit liveHomePositionChanged(_liveHomePosition);
} }
......
src/MissionManager/MissionController.h
View file @ 9efdddb2
...@@ -94,7 +94,8 @@ private: ...@@ -94,7 +94,8 @@ private:
void _initMissionItem(MissionItem* item); void _initMissionItem(MissionItem* item);
void _deinitMissionItem(MissionItem* item); void _deinitMissionItem(MissionItem* item);
void _autoSyncSend(void); void _autoSyncSend(void);
void _setupMissionItems(bool fromVehicle, bool force); void _setupMissionItems(bool loadFromVehicle, bool forceLoad);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
private: private:
bool _editMode; bool _editMode;
......
src/Vehicle/Vehicle.cc
View file @ 9efdddb2
...@@ -202,17 +202,32 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes ...@@ -202,17 +202,32 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
void Vehicle::_handleHomePosition(mavlink_message_t& message) void Vehicle::_handleHomePosition(mavlink_message_t& message)
{ {
bool emitHomePositionChanged = false;
bool emitHomePositionAvailableChanged = false;
mavlink_home_position_t homePos; mavlink_home_position_t homePos;
mavlink_msg_home_position_decode(&message, &homePos); mavlink_msg_home_position_decode(&message, &homePos);
_homePosition.setLatitude(homePos.latitude / 10000000.0); QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
_homePosition.setLongitude(homePos.longitude / 10000000.0); homePos.longitude / 10000000.0,
_homePosition.setAltitude(homePos.altitude / 1000.0); homePos.altitude / 1000.0);
if (newHomePosition != _homePosition) {
emitHomePositionChanged = true;
_homePosition = newHomePosition;
}
if (!_homePositionAvailable) {
emitHomePositionAvailableChanged = true;
}
_homePositionAvailable = true; _homePositionAvailable = true;
emit homePositionChanged(_homePosition); if (emitHomePositionChanged) {
emit homePositionAvailableChanged(true); emit homePositionChanged(_homePosition);
}
if (emitHomePositionAvailableChanged) {
emit homePositionAvailableChanged(true);
}
} }
void Vehicle::_handleHeartbeat(mavlink_message_t& message) void Vehicle::_handleHeartbeat(mavlink_message_t& message)
......
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