Skip to content

Q
qgroundcontrol
Commit a21cc20d authored by DonLakeFlyer's avatar DonLakeFlyer
Browse files
Options

Support load/save/default of NaN for param

parent 3e6b81a4
Hide whitespace changes
Inline Side-by-side
Showing with 59 additions and 11 deletions
src/JsonHelper.cc
View file @ a21cc20d
......@@ -102,6 +102,10 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
QString valueKey = keys[i];
if (jsonObject.contains(valueKey)) {
const QJsonValue& jsonValue = jsonObject[valueKey];
if (types[i] == QJsonValue::Null && jsonValue.type() == QJsonValue::Double) {
// Null type signals a NaN on a double value
continue;
}
if (jsonValue.type() != types[i]) {
errorString = QObject::tr("Incorrect value type - key:type:expected %1:%2:%3").arg(valueKey).arg(_jsonValueTypeToString(jsonValue.type())).arg(_jsonValueTypeToString(types[i]));
return false;
......@@ -342,3 +346,12 @@ void JsonHelper::savePolygon(QmlObjectListModel& list, QJsonArray& polygonArray)
polygonArray.append(jsonValue);
}
}
double JsonHelper::possibleNaNJsonValue(const QJsonValue& value)
{
if (value.type() == QJsonValue::Null) {
return std::numeric_limits<double>::quiet_NaN();
} else {
return value.toDouble();
}
}
src/JsonHelper.h
View file @ a21cc20d
......@@ -34,20 +34,30 @@ public:
/// jsonFileTypeKey - Required and checked to be equal to expectedFileType
/// jsonVersionKey - Required and checked to be below supportedMajorVersion, supportedMinorVersion
/// jsonGroundStationKey - Required and checked to be string type
/// @return false: validation failed
static bool validateQGCJsonFile(const QJsonObject& jsonObject, ///< root json object
/// @return false: validation failed, errorString set
static bool validateQGCJsonFile(const QJsonObject& jsonObject, ///< json object to validate
const QString& expectedFileType, ///< correct file type for file
int minSupportedVersion, ///< minimum supported version
int maxSupportedVersion, ///< maximum supported major version
int &version, ///< returned file version
QString& errorString); ///< returned error string if validation fails
static bool validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString);
static bool validateKeyTypes(const QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString);
/// Validates that the specified keys are in the object
/// @return false: validation failed, errorString set
static bool validateRequiredKeys(const QJsonObject& jsonObject, ///< json object to validate
const QStringList& keys, ///< keys which are required to be present
QString& errorString); ///< returned error string if validation fails
/// Validates the types of specified keys are in the object
/// @return false: validation failed, errorString set
static bool validateKeyTypes(const QJsonObject& jsonObject, ///< json object to validate
const QStringList& keys, ///< keys to validate
const QList<QJsonValue::Type>& types, ///< required type for each key, QJsonValue::Null specifies double with possible NaN
QString& errorString); ///< returned error string if validation fails
typedef struct {
const char* key; ///< json key name
QJsonValue::Type type; ///< type of key
QJsonValue::Type type; ///< required type for key, QJsonValue::Null specifies double with possible NaN
bool required; ///< true: key must be present
} KeyValidateInfo;
......@@ -96,6 +106,8 @@ public:
static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString);
/// Returns NaN if the value is null, or it not the double value
static double possibleNaNJsonValue(const QJsonValue& value);
static const char* jsonVersionKey;
static const char* jsonGroundStationKey;
......
src/MissionManager/MavCmdInfoCommon.json
View file @ a21cc20d
......@@ -54,6 +54,7 @@
"label": "Heading",
"units": "radians",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -75,6 +76,7 @@
"label": "Heading",
"units": "radians",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -101,6 +103,7 @@
"label": "Heading",
"units": "radians",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -157,6 +160,7 @@
"label": "Heading",
"units": "radians",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -178,6 +182,7 @@
"label": "Heading",
"units": "radians",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -316,6 +321,7 @@
"label": "Heading",
"units": "deg",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......@@ -331,6 +337,7 @@
"label": "Heading",
"units": "deg",
"nanUnchanged": true,
"default": null,
"decimalPlaces": 2
}
},
......
src/MissionManager/MissionCommandUIInfo.cc
View file @ a21cc20d
......@@ -334,7 +334,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
// Validate key types
QList<QJsonValue::Type> types;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
types << QJsonValue::Null << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
if (!JsonHelper::validateKeyTypes(jsonObject, allParamKeys, types, internalError)) {
errorString = _loadErrorString(internalError);
return false;
......@@ -358,7 +358,15 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
paramInfo->_nanUnchanged = paramObject.value(_nanUnchangedJsonKey).toBool(false);
if (paramObject.contains(_defaultJsonKey)) {
paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
if (paramInfo->_nanUnchanged) {
paramInfo->_defaultValue = JsonHelper::possibleNaNJsonValue(paramObject[_defaultJsonKey]);
} else {
if (paramObject[_defaultJsonKey].type() == QJsonValue::Null) {
errorString = QString("Param %1 default value was null/NaN but NaN is not allowed");
return false;
}
paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
}
} else {
paramInfo->_defaultValue = paramInfo->_nanUnchanged ? std::numeric_limits<double>::quiet_NaN() : 0;
}
......
src/MissionManager/MissionItem.cc
View file @ a21cc20d
......@@ -260,6 +260,13 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
return false;
}
for (int i=0; i<4; i++) {
if (rgParams[i].type() != QJsonValue::Double && rgParams[i].type() != QJsonValue::Null) {
errorString = tr("Param %1 incorrect type %2, must be double or null").arg(i+1).arg(rgParams[i].type());
return false;
}
}
// Make sure to set these first since they can signal other changes
setFrame((MAV_FRAME)v2Json[_jsonFrameKey].toInt());
setCommand((MAV_CMD)v2Json[_jsonCommandKey].toInt());
......@@ -280,10 +287,10 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
setSequenceNumber(sequenceNumber);
setAutoContinue(v2Json[_jsonAutoContinueKey].toBool());
setParam1(rgParams[0].toDouble());
setParam2(rgParams[1].toDouble());
setParam3(rgParams[2].toDouble());
setParam4(rgParams[3].toDouble());
setParam1(JsonHelper::possibleNaNJsonValue(rgParams[0]));
setParam2(JsonHelper::possibleNaNJsonValue(rgParams[1]));
setParam3(JsonHelper::possibleNaNJsonValue(rgParams[2]));
setParam4(JsonHelper::possibleNaNJsonValue(rgParams[3]));
return true;
}
......
src/MissionManager/SimpleMissionItem.cc
View file @ a21cc20d
......@@ -633,6 +633,7 @@ void SimpleMissionItem::setDefaultsForCommand(void)
_missionItem.setParam2(0);
break;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
_missionItem.setParam7(0);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment