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Commit af8c2a88 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4040 from DonLakeFlyer/FencePersistence 

File load/save for GeoFence
parents daff7498 e54c2a49
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Showing with 981 additions and 232 deletions
qgcresources.qrc
View file @ af8c2a88
......@@ -282,6 +282,7 @@
<qresource prefix="/FirmwarePlugin/PX4">
<file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file>
<file alias="PX4GeoFenceEditor.qml">src/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml</file>
<file alias="PX4.OfflineEditing.params">src/FirmwarePlugin/PX4/V1.4.OfflineEditing.params</file>
</qresource>
<qresource prefix="/opengl">
<file>resources/opengl/buglist.json</file>
......
qgroundcontrol.pro
View file @ af8c2a88
......@@ -585,6 +585,7 @@ HEADERS += \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/FactSystem/ParameterManagerTest.h \
src/MissionManager/ComplexMissionItemTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerTest.h \
......@@ -601,7 +602,6 @@ HEADERS += \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/ParameterLoaderTest.h \
src/qgcunittest/RadioConfigTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
......@@ -613,6 +613,7 @@ SOURCES += \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/FactSystem/ParameterManagerTest.cc \
src/MissionManager/ComplexMissionItemTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerTest.cc \
......@@ -629,7 +630,6 @@ SOURCES += \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/ParameterLoaderTest.cc \
src/qgcunittest/RadioConfigTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
......@@ -792,7 +792,7 @@ HEADERS += \
src/FactSystem/FactMetaData.h \
src/FactSystem/FactSystem.h \
src/FactSystem/FactValidator.h \
src/FactSystem/ParameterLoader.h \
src/FactSystem/ParameterManager.h \
src/FactSystem/SettingsFact.h \
SOURCES += \
......@@ -802,7 +802,7 @@ SOURCES += \
src/FactSystem/FactMetaData.cc \
src/FactSystem/FactSystem.cc \
src/FactSystem/FactValidator.cc \
src/FactSystem/ParameterLoader.cc \
src/FactSystem/ParameterManager.cc \
src/FactSystem/SettingsFact.cc \
#-------------------------------------------------------------------------------------
......
src/AutoPilotPlugins/APM/APMAirframeLoader.h
View file @ af8c2a88
......@@ -16,7 +16,7 @@
#include <QXmlStreamReader>
#include <QLoggingCategory>
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "FactSystem.h"
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
......
src/AutoPilotPlugins/AutoPilotPlugin.cc
View file @ af8c2a88
......@@ -13,7 +13,7 @@
#include "AutoPilotPlugin.h"
#include "QGCApplication.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "UAS.h"
#include "FirmwarePlugin.h"
......@@ -104,24 +104,24 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
void AutoPilotPlugin::refreshAllParameters(unsigned char componentID)
{
_vehicle->getParameterLoader()->refreshAllParameters((uint8_t)componentID);
_vehicle->getParameterManager()->refreshAllParameters((uint8_t)componentID);
}
void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
{
_vehicle->getParameterLoader()->refreshParameter(componentId, name);
_vehicle->getParameterManager()->refreshParameter(componentId, name);
}
void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
{
_vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
_vehicle->getParameterManager()->refreshParametersPrefix(componentId, namePrefix);
}
bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
{
switch (provider) {
case FactSystem::ParameterProvider:
return _vehicle->getParameterLoader()->parameterExists(componentId, name);
return _vehicle->getParameterManager()->parameterExists(componentId, name);
// Other providers will go here once they come online
}
......@@ -134,7 +134,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
{
switch (provider) {
case FactSystem::ParameterProvider:
return _vehicle->getParameterLoader()->getFact(componentId, name);
return _vehicle->getParameterManager()->getFact(componentId, name);
// Other providers will go here once they come online
}
......@@ -145,20 +145,15 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
QStringList AutoPilotPlugin::parameterNames(int componentId)
{
return _vehicle->getParameterLoader()->parameterNames(componentId);
}
const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
{
return _vehicle->getParameterLoader()->getGroupMap();
return _vehicle->getParameterManager()->parameterNames(componentId);
}
void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
{
_vehicle->getParameterLoader()->writeParametersToStream(stream);
_vehicle->getParameterManager()->writeParametersToStream(stream);
}
QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
{
return _vehicle->getParameterLoader()->readParametersFromStream(stream);
return _vehicle->getParameterManager()->readParametersFromStream(stream);
}
src/AutoPilotPlugins/AutoPilotPlugin.h
View file @ af8c2a88
......@@ -19,7 +19,7 @@
#include "FactSystem.h"
#include "Vehicle.h"
class ParameterLoader;
class ParameterManager;
class Vehicle;
class FirmwarePlugin;
......@@ -84,8 +84,6 @@ public:
int componentId, ///< fact component, -1=default component
const QString& name); ///< fact name
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
// Must be implemented by derived class
virtual const QVariantList& vehicleComponents(void) = 0;
......
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h
View file @ af8c2a88
......@@ -16,7 +16,7 @@
#include <QXmlStreamReader>
#include <QLoggingCategory>
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "FactSystem.h"
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
......
src/FactSystem/ParameterLoader.h → src/FactSystem/ParameterManager.h
View file @ af8c2a88
......@@ -8,8 +8,8 @@
****************************************************************************/
#ifndef PARAMETERLOADER_H
#define PARAMETERLOADER_H
#ifndef ParameterManager_H
#define ParameterManager_H
#include <QObject>
#include <QMap>
......@@ -17,6 +17,7 @@
#include <QLoggingCategory>
#include <QMutex>
#include <QDir>
#include <QJsonObject>
#include "FactSystem.h"
#include "MAVLinkProtocol.h"
......@@ -27,18 +28,18 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderVerboseLog)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerboseLog)
/// Connects to Parameter Manager to load/update Facts
class ParameterLoader : public QObject
class ParameterManager : public QObject
{
Q_OBJECT
public:
/// @param uas Uas which this set of facts is associated with
ParameterLoader(Vehicle* vehicle);
ParameterManager(Vehicle* vehicle);
~ParameterLoader();
~ParameterManager();
/// @return Directory of parameter caches
static QDir parameterCacheDir();
......@@ -91,8 +92,21 @@ public:
/// If this file is newer than anything in the cache, cache it as the latest version
static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType);
int defaultComponenentId(void) { return _defaultComponentId; }
int defaultComponentId(void) { return _defaultComponentId; }
/// Saves the specified param set to the json object.
/// @param componentId Component id which contains params, MAV_COMP_ID_ALL to save all components
/// @param paramsToSave List of params names to save, empty to save all for component
/// @param saveObject Json object to save to
void saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject);
/// Load a parameter set from json
/// @param json Json object to load from
/// @param required true: no parameters in object will generate error
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
bool loadFromJson(const QJsonObject& json, bool required, QString& errorString);
signals:
/// Signalled when the full set of facts are ready
void parametersReady(bool missingParameters);
......@@ -179,6 +193,10 @@ private:
static Fact _defaultFact; ///< Used to return default fact, when parameter not found
static const char* _cachedMetaDataFilePrefix;
static const char* _jsonParametersKey;
static const char* _jsonCompIdKey;
static const char* _jsonParamNameKey;
static const char* _jsonParamValueKey;
};
#endif
src/qgcunittest/ParameterLoaderTest.cc → src/FactSystem/ParameterManagerTest.cc
View file @ af8c2a88
......@@ -8,13 +8,13 @@
****************************************************************************/
#include "ParameterLoaderTest.h"
#include "ParameterManagerTest.h"
#include "MultiVehicleManager.h"
#include "QGCApplication.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
/// Test failure modes which should still lead to param load success
void ParameterLoaderTest::_noFailureWorker(MockConfiguration::FailureMode_t failureMode)
void ParameterManagerTest::_noFailureWorker(MockConfiguration::FailureMode_t failureMode)
{
Q_ASSERT(!_mockLink);
_mockLink = MockLink::startPX4MockLink(false, failureMode);
......@@ -34,7 +34,7 @@ void ParameterLoaderTest::_noFailureWorker(MockConfiguration::FailureMode_t fail
QVERIFY(vehicle);
// We should get progress bar updates during load
QSignalSpy spyProgress(vehicle->getParameterLoader(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
QCOMPARE(spyProgress.wait(2000), true);
arguments = spyProgress.takeFirst();
QCOMPARE(arguments.count(), 1);
......@@ -54,18 +54,18 @@ void ParameterLoaderTest::_noFailureWorker(MockConfiguration::FailureMode_t fail
}
void ParameterLoaderTest::_noFailure(void)
void ParameterManagerTest::_noFailure(void)
{
_noFailureWorker(MockConfiguration::FailNone);
}
void ParameterLoaderTest::_requestListMissingParamSuccess(void)
void ParameterManagerTest::_requestListMissingParamSuccess(void)
{
_noFailureWorker(MockConfiguration::FailMissingParamOnInitialReqest);
}
// Test no response to param_request_list
void ParameterLoaderTest::_requestListNoResponse(void)
void ParameterManagerTest::_requestListNoResponse(void)
{
Q_ASSERT(!_mockLink);
_mockLink = MockLink::startPX4MockLink(false, MockConfiguration::FailParamNoReponseToRequestList);
......@@ -85,7 +85,7 @@ void ParameterLoaderTest::_requestListNoResponse(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->getParameterLoader(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
// We should not get any progress bar updates, nor a parameter ready signal
QCOMPARE(spyProgress.wait(500), false);
......@@ -97,7 +97,7 @@ void ParameterLoaderTest::_requestListNoResponse(void)
// MockLink will fail to send a param on initial request, it will also fail to send it on subsequent
// param_read requests.
void ParameterLoaderTest::_requestListMissingParamFail(void)
void ParameterManagerTest::_requestListMissingParamFail(void)
{
// Will pop error about missing params
setExpectedMessageBox(QMessageBox::Ok);
......@@ -120,7 +120,7 @@ void ParameterLoaderTest::_requestListMissingParamFail(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->getParameterLoader(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
// We will get progress bar updates, since it will fail after getting partially through the request
QCOMPARE(spyProgress.wait(2000), true);
......
src/qgcunittest/ParameterLoaderTest.h → src/FactSystem/ParameterManagerTest.h
View file @ af8c2a88
......@@ -8,15 +8,15 @@
****************************************************************************/
#ifndef ParameterLoaderTest_H
#define ParameterLoaderTest_H
#ifndef ParameterManagerTest_H
#define ParameterManagerTest_H
#include "UnitTest.h"
#include "MockLink.h"
#include "MultiSignalSpy.h"
#include "MockLink.h"
class ParameterLoaderTest : public UnitTest
class ParameterManagerTest : public UnitTest
{
Q_OBJECT
......
src/FirmwarePlugin/APM/APMGeoFenceManager.cc
View file @ af8c2a88
......@@ -12,7 +12,7 @@
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "QGCApplication.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
const char* APMGeoFenceManager::_fenceTotalParam = "FENCE_TOTAL";
const char* APMGeoFenceManager::_fenceActionParam = "FENCE_ACTION";
......@@ -30,9 +30,9 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
, _fenceTypeFact(NULL)
{
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &APMGeoFenceManager::_mavlinkMessageReceived);
connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady, this, &APMGeoFenceManager::_parametersReady);
connect(_vehicle->getParameterManager(), &ParameterManager::parametersReady, this, &APMGeoFenceManager::_parametersReady);
if (_vehicle->getParameterLoader()->parametersAreReady()) {
if (_vehicle->getParameterManager()->parametersAreReady()) {
_parametersReady();
}
}
......
src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml
View file @ af8c2a88
......@@ -78,5 +78,7 @@ Column {
polygon: geoFenceController.polygon
sectionLabel: qsTr("Fence Polygon:")
visible: geoFenceController.polygonSupported
onPolygonEditCompleted: geoFenceController.sendToVehicle()
}
}
src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml
View file @ af8c2a88
......@@ -220,5 +220,7 @@ Column {
flightMap: editorMap
polygon: geoFenceController.polygon
sectionLabel: qsTr("Fence Polygon:")
onPolygonEditCompleted: geoFenceController.sendToVehicle()
}
}
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ af8c2a88
......@@ -258,7 +258,9 @@ QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
{
PX4ParameterMetaData* metaData = new PX4ParameterMetaData;
metaData->loadParameterFactMetaDataFile(metaDataFile);
if (!metaDataFile.isEmpty()) {
metaData->loadParameterFactMetaDataFile(metaDataFile);
}
return metaData;
}
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ af8c2a88
......@@ -15,7 +15,7 @@
#define PX4FirmwarePlugin_H
#include "FirmwarePlugin.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "PX4ParameterMetaData.h"
#include "PX4GeoFenceManager.h"
......@@ -57,6 +57,7 @@ public:
QObject* loadParameterMetaData (const QString& metaDataFile);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new PX4GeoFenceManager(vehicle); }
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
// Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
// names may change.
......
src/FirmwarePlugin/PX4/PX4GeoFenceEditor.qml
View file @ af8c2a88
......@@ -22,7 +22,7 @@ Column {
property Fact _fenceAction: factController.getParameterFact(-1, "GF_ACTION")
property Fact _fenceRadius: factController.getParameterFact(-1, "GF_MAX_HOR_DIST")
property Fact _fenceAlt: factController.getParameterFact(-1, "GF_MAX_VER_DIST")
property Fact _fenceMaxAlt: factController.getParameterFact(-1, "GF_MAX_VER_DIST")
FactPanelController {
id: factController
......@@ -80,8 +80,8 @@ Column {
QGCCheckBox {
id: maxAltFenceCheckBox
text: qsTr("Maximum altitude fence")
checked: _fenceAlt.value > 0
onClicked: _fenceAlt.value = checked ? 100 : 0
checked: _fenceMaxAlt.value > 0
onClicked: _fenceMaxAlt.value = checked ? 100 : 0
}
Row {
......@@ -97,7 +97,7 @@ Column {
FactTextField {
id: fenceAltMaxField
showUnits: true
fact: _fenceAlt
fact: _fenceMaxAlt
enabled: maxAltFenceCheckBox.checked
width: _editFieldWidth
}
......
src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc
View file @ af8c2a88
......@@ -10,14 +10,14 @@
#include "PX4GeoFenceManager.h"
#include "Vehicle.h"
#include "FirmwarePlugin.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle)
: GeoFenceManager(vehicle)
, _firstParamLoadComplete(false)
, _circleRadiusFact(NULL)
{
connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady, this, &PX4GeoFenceManager::_parametersReady);
connect(_vehicle->getParameterManager(), &ParameterManager::parametersReady, this, &PX4GeoFenceManager::_parametersReady);
}
PX4GeoFenceManager::~PX4GeoFenceManager()
......
src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc
View file @ af8c2a88
......@@ -64,7 +64,7 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaDataFile)
{
qCDebug(ParameterLoaderLog) << "PX4ParameterMetaData::loadParameterFactMetaDataFile" << metaDataFile;
qCDebug(ParameterManagerLog) << "PX4ParameterMetaData::loadParameterFactMetaDataFile" << metaDataFile;
if (_parameterMetaDataLoaded) {
qWarning() << "Internal error: parameter meta data loaded more than once";
......
src/FirmwarePlugin/PX4/V1.4.OfflineEditing.params 0 → 100644
View file @ af8c2a88
# Onboard parameters for vehicle 1
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
1 1 ATT_VIBE_THRESH 0.200000002980232239 9
1 1 BAT_A_PER_V 15.391030311584472656 9
1 1 BAT_CAPACITY -1.000000000000000000 9
1 1 BAT_CNT_V_CURR 0.000805664050858468 9
1 1 BAT_CNT_V_VOLT 0.000805664050858468 9
1 1 BAT_CRIT_THR 0.070000000298023224 9
1 1 BAT_LOW_THR 0.150000005960464478 9
1 1 BAT_N_CELLS 3 6
1 1 BAT_SOURCE 0 6
1 1 BAT_V_CHARGED 4.050000190734863281 9
1 1 BAT_V_DIV 10.177939414978027344 9
1 1 BAT_V_EMPTY 3.400000095367431641 9
1 1 BAT_V_LOAD_DROP 0.300000011920928955 9
1 1 BAT_V_OFFS_CURR 0.000000000000000000 9
1 1 BAT_V_SCALE_IO 10000 6
1 1 CAL_ACC0_ID 0 6
1 1 CAL_ACC1_ID 0 6
1 1 CAL_ACC2_ID 0 6
1 1 CAL_ACC_PRIME 0 6
1 1 CAL_BARO_PRIME 0 6
1 1 CAL_GYRO0_ID 0 6
1 1 CAL_GYRO1_ID 0 6
1 1 CAL_GYRO2_ID 0 6
1 1 CAL_GYRO_PRIME 0 6
1 1 CAL_MAG0_ID 0 6
1 1 CAL_MAG0_ROT -1 6
1 1 CAL_MAG1_ID 0 6
1 1 CAL_MAG1_ROT -1 6
1 1 CAL_MAG2_ID 0 6
1 1 CAL_MAG2_ROT -1 6
1 1 CAL_MAG_PRIME 0 6
1 1 CAL_MAG_SIDES 63 6
1 1 CBRK_AIRSPD_CHK 0 6
1 1 CBRK_BUZZER 0 6
1 1 CBRK_ENGINEFAIL 284953 6
1 1 CBRK_FLIGHTTERM 121212 6
1 1 CBRK_GPSFAIL 0 6
1 1 CBRK_IO_SAFETY 0 6
1 1 CBRK_SUPPLY_CHK 0 6
1 1 CBRK_USB_CHK 0 6
1 1 COM_ARM_WO_GPS 1 6
1 1 COM_AUTOS_PAR 1 6
1 1 COM_DISARM_LAND 0 6
1 1 COM_DL_LOSS_T 10 6
1 1 COM_DL_REG_T 0 6
1 1 COM_EF_C2T 5.000000000000000000 9
1 1 COM_EF_THROT 0.500000000000000000 9
1 1 COM_EF_TIME 10.000000000000000000 9
1 1 COM_FLTMODE1 -1 6
1 1 COM_FLTMODE2 -1 6
1 1 COM_FLTMODE3 -1 6
1 1 COM_FLTMODE4 -1 6
1 1 COM_FLTMODE5 -1 6
1 1 COM_FLTMODE6 -1 6
1 1 COM_HOME_H_T 5.000000000000000000 9
1 1 COM_HOME_V_T 10.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_OBL_ACT 0 6
1 1 COM_OBL_RC_ACT 0 6
1 1 COM_OF_LOSS_T 0.000000000000000000 9
1 1 COM_RC_ARM_HYST 1000 6
1 1 COM_RC_IN_MODE 0 6
1 1 COM_RC_LOSS_T 0.500000000000000000 9
1 1 EKF2_REC_RPL 0 6
1 1 FW_AIRSPD_TRIM 15.000000000000000000 9
1 1 FW_MAN_P_SC 1.000000000000000000 9
1 1 FW_MAN_R_SC 1.000000000000000000 9
1 1 FW_MAN_Y_SC 1.000000000000000000 9
1 1 FW_THR_CRUISE 0.600000023841857910 9
1 1 GF_ACTION 1 6
1 1 GF_ALTMODE 0 6
1 1 GF_COUNT -1 6
1 1 GF_MAX_HOR_DIST 0 6
1 1 GF_MAX_VER_DIST 0 6
1 1 GF_SOURCE 0 6
1 1 GPS_DUMP_COMM 0 6
1 1 INAV_LIDAR_ERR 0.200000002980232239 9
1 1 MAV_BROADCAST 0 6
1 1 MAV_COMP_ID 1 6
1 1 MAV_FWDEXTSP 1 6
1 1 MAV_PROTO_VER 1 6
1 1 MAV_RADIO_ID 0 6
1 1 MAV_SYS_ID 1 6
1 1 MAV_TEST_PAR 1 6
1 1 MAV_TYPE 2 6
1 1 MAV_USEHILGPS 0 6
1 1 MC_YAWRAUTO_MAX 45.000000000000000000 9
1 1 MIS_ALTMODE 1 6
1 1 MIS_DIST_1WP 900.000000000000000000 9
1 1 MIS_LTRMIN_ALT 1.200000047683715820 9
1 1 MIS_ONBOARD_EN 1 6
1 1 MIS_TAKEOFF_ALT 10.000000000000000000 9
1 1 MIS_YAWMODE 1 6
1 1 MIS_YAW_ERR 12.000000000000000000 9
1 1 MIS_YAW_TMT -1.000000000000000000 9
1 1 MPC_XY_CRUISE 5.000000000000000000 9
1 1 NAV_ACC_RAD 10.000000000000000000 9
1 1 NAV_AH_ALT 600.000000000000000000 9
1 1 NAV_AH_LAT -265847810 6
1 1 NAV_AH_LON 1518423250 6
1 1 NAV_DLL_ACT 0 6
1 1 NAV_DLL_AH_T 120.000000000000000000 9
1 1 NAV_DLL_CHSK 0 6
1 1 NAV_DLL_CH_ALT 600.000000000000000000 9
1 1 NAV_DLL_CH_LAT -266072120 6
1 1 NAV_DLL_CH_LON 1518453890 6
1 1 NAV_DLL_CH_T 120.000000000000000000 9
1 1 NAV_DLL_N 2 6
1 1 NAV_FT_DST 8.000000000000000000 9
1 1 NAV_FT_FS 1 6
1 1 NAV_FT_RS 0.500000000000000000 9
1 1 NAV_FW_ALT_RAD 10.000000000000000000 9
1 1 NAV_GPSF_LT 30.000000000000000000 9
1 1 NAV_GPSF_P 0.000000000000000000 9
1 1 NAV_GPSF_R 15.000000000000000000 9
1 1 NAV_GPSF_TR 0.699999988079071045 9
1 1 NAV_LOITER_RAD 50.000000000000000000 9
1 1 NAV_MC_ALT_RAD 3.000000000000000000 9
1 1 NAV_MIN_FT_HT 8.000000000000000000 9
1 1 NAV_RCL_ACT 2 6
1 1 NAV_RCL_LT 120.000000000000000000 9
1 1 PWM_AUX_DISARMED 1000 6
1 1 PWM_AUX_MAX 2000 6
1 1 PWM_AUX_MIN 1000 6
1 1 PWM_DISARMED 0 6
1 1 PWM_MAIN_REV1 0 6
1 1 PWM_MAIN_REV2 0 6
1 1 PWM_MAIN_REV3 0 6
1 1 PWM_MAIN_REV4 0 6
1 1 PWM_MAIN_REV5 0 6
1 1 PWM_MAIN_REV6 0 6
1 1 PWM_MAIN_REV7 0 6
1 1 PWM_MAIN_REV8 0 6
1 1 PWM_MAX 2000 6
1 1 PWM_MIN 1000 6
1 1 PWM_SBUS_MODE 0 6
1 1 RC10_DZ 0.000000000000000000 9
1 1 RC10_MAX 2000.000000000000000000 9
1 1 RC10_MIN 1000.000000000000000000 9
1 1 RC10_REV 1.000000000000000000 9
1 1 RC10_TRIM 1500.000000000000000000 9
1 1 RC11_DZ 0.000000000000000000 9
1 1 RC11_MAX 2000.000000000000000000 9
1 1 RC11_MIN 1000.000000000000000000 9
1 1 RC11_REV 1.000000000000000000 9
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1 1 RC12_MAX 2000.000000000000000000 9
1 1 RC12_MIN 1000.000000000000000000 9
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1 1 RC13_MAX 2000.000000000000000000 9
1 1 RC13_MIN 1000.000000000000000000 9
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1 1 RC14_MAX 2000.000000000000000000 9
1 1 RC14_MIN 1000.000000000000000000 9
1 1 RC14_REV 1.000000000000000000 9
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1 1 RC16_MAX 2000.000000000000000000 9
1 1 RC16_MIN 1000.000000000000000000 9
1 1 RC16_REV 1.000000000000000000 9
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1 1 RC17_MAX 2000.000000000000000000 9
1 1 RC17_MIN 1000.000000000000000000 9
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1 1 RC18_MAX 2000.000000000000000000 9
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1 1 RC1_MAX 2000.000000000000000000 9
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1 1 RC_ACRO_TH 0.500000000000000000 9
1 1 RC_ASSIST_TH 0.250000000000000000 9
1 1 RC_AUTO_TH 0.750000000000000000 9
1 1 RC_CHAN_CNT 0 6
1 1 RC_DSM_BIND -1 6
1 1 RC_FAILS_THR 0 6
1 1 RC_KILLSWITCH_TH 0.250000000000000000 9
1 1 RC_LOITER_TH 0.500000000000000000 9
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1 1 RC_MAP_AUX1 0 6
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1 1 RC_MAP_MODE_SW 0 6
1 1 RC_MAP_OFFB_SW 0 6
1 1 RC_MAP_PARAM1 0 6
1 1 RC_MAP_PARAM2 0 6
1 1 RC_MAP_PARAM3 0 6
1 1 RC_MAP_PITCH 0 6
1 1 RC_MAP_POSCTL_SW 0 6
1 1 RC_MAP_RATT_SW 0 6
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1 1 RC_MAP_ROLL 0 6
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1 1 RC_MAP_TRANS_SW 0 6
1 1 RC_MAP_YAW 0 6
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1 1 RC_RATT_TH 0.500000000000000000 9
1 1 RC_RETURN_TH 0.500000000000000000 9
1 1 RC_RSSI_PWM_CHAN 0 6
1 1 RC_RSSI_PWM_MAX 1000 6
1 1 RC_RSSI_PWM_MIN 2000 6
1 1 RC_TH_USER 1 6
1 1 RC_TRANS_TH 0.250000000000000000 9
1 1 RTL_DESCEND_ALT 30.000000000000000000 9
1 1 RTL_LAND_DELAY -1.000000000000000000 9
1 1 RTL_MIN_DIST 5.000000000000000000 9
1 1 RTL_RETURN_ALT 60.000000000000000000 9
1 1 SDLOG_EXT -1 6
1 1 SDLOG_GPSTIME 1 6
1 1 SDLOG_PRIO_BOOST 2 6
1 1 SDLOG_RATE -1 6
1 1 SENS_BARO_QNH 1013.250000000000000000 9
1 1 SENS_BOARD_ROT 0 6
1 1 SENS_BOARD_X_OFF 0.000000000000000000 9
1 1 SENS_BOARD_Y_OFF 0.000000000000000000 9
1 1 SENS_BOARD_Z_OFF 0.000000000000000000 9
1 1 SENS_DPRES_ANSC 0.000000000000000000 9
1 1 SENS_DPRES_OFF 0.000000000000000000 9
1 1 SENS_EN_LL40LS 0 6
1 1 SENS_EN_MB12XX 0 6
1 1 SENS_EN_SF0X 0 6
1 1 SYS_AUTOCONFIG 0 6
1 1 SYS_AUTOSTART 0 6
1 1 SYS_COMPANION 157600 6
1 1 SYS_LOGGER 0 6
1 1 SYS_MC_EST_GROUP 1 6
1 1 SYS_PARAM_VER 1 6
1 1 SYS_RESTART_TYPE 0 6
1 1 SYS_USE_IO 1 6
1 1 TRIG_MODE 0 6
1 1 TRIM_PITCH 0.000000000000000000 9
1 1 TRIM_ROLL 0.000000000000000000 9
1 1 TRIM_YAW 0.000000000000000000 9
1 1 UAVCAN_ENABLE 0 6
1 1 VT_NAV_FORCE_VT 1 6
1 1 VT_WV_LND_EN 0 6
1 1 VT_WV_LTR_EN 0 6
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ af8c2a88
......@@ -87,7 +87,7 @@ FlightMap {
coordinate: object.coordinate
isSatellite: flightMap.isSatelliteMap
size: _mainIsMap ? ScreenTools.defaultFontPixelHeight * 5 : ScreenTools.defaultFontPixelHeight * 2
z: QGroundControl.zOrderMapItems
z: QGroundControl.zOrderMapItems - 1
}
}
......@@ -114,6 +114,7 @@ FlightMap {
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
z: QGroundControl.zOrderMapItems
}
// GeoFence breach return point
......@@ -122,6 +123,7 @@ FlightMap {
coordinate: geoFenceController.breachReturnPoint
visible: geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems
}
// GoTo here waypoint
......
src/FlightMap/FlightMap.qml
View file @ af8c2a88
......@@ -119,6 +119,7 @@ Map {
onMapTypeChanged: updateActiveMapType()
}
/// Ground Station location
MapQuickItem {
anchorPoint.x: sourceItem.width / 2
anchorPoint.y: sourceItem.height / 2
......
src/JsonHelper.cc
View file @ af8c2a88
......@@ -11,9 +11,14 @@
#include "JsonHelper.h"
#include <QJsonArray>
#include <QJsonParseError>
const char* JsonHelper::_enumStringsJsonKey = "enumStrings";
const char* JsonHelper::_enumValuesJsonKey = "enumValues";
const char* JsonHelper::_enumStringsJsonKey = "enumStrings";
const char* JsonHelper::_enumValuesJsonKey = "enumValues";
const char* JsonHelper::jsonVersionKey = "version";
const char* JsonHelper::jsonGroundStationKey = "groundStation";
const char* JsonHelper::jsonGroundStationValue = "QGroundControl";
const char* JsonHelper::jsonFileTypeKey = "fileType";
bool JsonHelper::validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString)
{
......@@ -108,3 +113,20 @@ bool JsonHelper::parseEnum(QJsonObject& jsonObject, QStringList& enumStrings, QS
return true;
}
bool JsonHelper::isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc)
{
QJsonParseError error;
jsonDoc = QJsonDocument::fromJson(bytes, &error);
if (error.error == QJsonParseError::NoError) {
return true;
}
if (error.error == QJsonParseError::MissingObject && error.offset == 0) {
return false;
}
return true;
}
src/JsonHelper.h
View file @ af8c2a88
......@@ -7,7 +7,6 @@
*
****************************************************************************/
#ifndef JsonHelper_H
#define JsonHelper_H
......@@ -17,6 +16,11 @@
class JsonHelper
{
public:
/// Determines is the specified data is a json file
/// @param jsonDoc Returned json document if json file
/// @return true: file is json, false: file is not json
static bool isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc);
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);
static bool toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& coordinate, bool altitudeRequired, QString& errorString);
......@@ -24,6 +28,12 @@ public:
static void writeQGeoCoordinate(QJsonValue& jsonValue, const QGeoCoordinate& coordinate, bool writeAltitude);
static const char* jsonVersionKey;
static const char* jsonGroundStationKey;
static const char* jsonGroundStationValue;
static const char* jsonFileTypeKey;
private:
static const char* _enumStringsJsonKey;
static const char* _enumValuesJsonKey;
};
......
src/MissionEditor/GeoFenceEditor.qml
View file @ af8c2a88
......@@ -18,16 +18,6 @@ QGCFlickable {
property var polygon: geoFenceController.polygon
Connections {
target: geoFenceController.polygon
onPathChanged: {
if (geoFenceController.polygon.path.length > 2) {
geoFenceController.breachReturnPoint = geoFenceController.polygon.center()
}
}
}
Rectangle {
id: geoFenceEditorRect
width: parent.width
......
src/MissionEditor/MissionEditor.qml
View file @ af8c2a88
......@@ -154,11 +154,33 @@ QGCView {
Component.onCompleted: start(true /* editMode */)
function saveToSelectedFile() {
if (ScreenTools.isMobile) {
qgcView.showDialog(mobileFileSaver, qsTr("Save Fence File"), qgcView.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
} else {
geoFenceController.saveToFilePicker()
}
}
function loadFromSelectedFile() {
if (ScreenTools.isMobile) {
qgcView.showDialog(mobileFilePicker, qsTr("Select Fence File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
} else {
geoFenceController.loadFromFilePicker()
}
}
onFenceSupportedChanged: {
if (!fenceSupported && _editingLayer == _layerGeoFence) {
_editingLayer = _layerMission
}
}
onBreachReturnPointChanged: {
if (polygon.count() > 3) {
sendToVehicle()
}
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
......@@ -193,7 +215,7 @@ QGCView {
QGCMobileFileDialog {
openDialog: true
fileExtension: QGroundControl.missionFileExtension
fileExtension: _syncDropDownController == geoFenceController ? QGroundControl.fenceFileExtension : QGroundControl.missionFileExtension
onFilenameReturned: _syncDropDownController.loadFromfile(filename)
}
}
......@@ -203,7 +225,7 @@ QGCView {
QGCMobileFileDialog {
openDialog: false
fileExtension: QGroundControl.missionFileExtension
fileExtension: _syncDropDownController == geoFenceController ? QGroundControl.fenceFileExtension : QGroundControl.missionFileExtension
onFilenameReturned: _syncDropDownController.saveToFile()
}
}
......@@ -299,6 +321,7 @@ QGCView {
}
break
case _layerGeoFence:
console.log("Updating breach return point", coordinate)
geoFenceController.breachReturnPoint = coordinate
break
}
......@@ -586,6 +609,7 @@ QGCView {
border.color: "#80FF0000"
border.width: 3
path: geoFenceController.polygonSupported ? geoFenceController.polygon.path : undefined
z: QGroundControl.zOrderMapItems
}
// GeoFence circle
......@@ -594,14 +618,7 @@ QGCView {
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
}
// GeoFence circle
MapCircle {
border.color: "#80FF0000"
border.width: 3
center: missionController.plannedHomePosition
radius: geoFenceController.circleSupported ? geoFenceController.circleRadius : 0
z: QGroundControl.zOrderMapItems
}
// GeoFence breach return point
......@@ -610,6 +627,14 @@ QGCView {
coordinate: geoFenceController.breachReturnPoint
visible: geoFenceController.breachReturnSupported
sourceItem: MissionItemIndexLabel { label: "F" }
z: QGroundControl.zOrderMapItems
Connections {
target: geoFenceController
onBreachReturnPointChanged: console.log("breachreturn changed inside", geoFenceController.breachReturnPoint)
}
onCoordinateChanged: console.log("MqpQuickItem coodinateChanged", coordinate)
}
//-- Dismiss Drop Down (if any)
......
src/MissionEditor/QGCMapPolygonControls.qml
View file @ af8c2a88
......@@ -14,6 +14,8 @@ Column {
property var flightMap ///< Must be set to FlightMap control
property var polygon ///< Must be set to MapPolygon
signal polygonEditCompleted ///< Signalled when either a capture or adjust has completed
property real _margin: ScreenTools.defaultFontPixelWidth / 2
function polygonCaptureStarted() {
......@@ -22,6 +24,7 @@ Column {
function polygonCaptureFinished(coordinates) {
polygon.path = coordinates
polygonEditCompleted()
}
function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
......@@ -29,7 +32,10 @@ Column {
}
function polygonAdjustStarted() { }
function polygonAdjustFinished() { }
function polygonAdjustFinished() {
polygonEditCompleted()
}
QGCLabel { text: sectionLabel }
......
src/MissionManager/GeoFenceController.cc
View file @ af8c2a88
This diff is collapsed.
src/MissionManager/GeoFenceController.h
View file @ af8c2a88
......@@ -19,6 +19,8 @@
Q_DECLARE_LOGGING_CATEGORY(GeoFenceControllerLog)
class GeoFenceManager;
class GeoFenceController : public PlanElementController
{
Q_OBJECT
......@@ -84,14 +86,17 @@ private slots:
private:
void _clearGeoFence(void);
void _signalAll(void);
bool _loadJsonFile(QJsonDocument& jsonDoc, QString& errorString);
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
bool _dirty;
QGCMapPolygon _polygon;
QGeoCoordinate _breachReturnPoint;
QVariantList _params;
bool _dirty;
QGCMapPolygon _polygon;
QGeoCoordinate _breachReturnPoint;
QVariantList _params;
static const char* _jsonFileTypeValue;
};
#endif
src/MissionManager/MissionCommandTreeTest.cc
View file @ af8c2a88
......@@ -195,8 +195,8 @@ void MissionCommandTreeTest::testAllTrees(void)
// This will cause all of the variants of collapsed trees to be built
foreach(MAV_AUTOPILOT firmwareType, firmwareList) {
foreach (MAV_TYPE vehicleType, vehicleList) {
Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
qDebug() << firmwareType << vehicleType;
Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != NULL);
delete vehicle;
}
......
src/MissionManager/MissionController.cc
View file @ af8c2a88
......@@ -17,7 +17,7 @@
#include "SimpleMissionItem.h"
#include "SurveyMissionItem.h"
#include "JsonHelper.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
#ifndef __mobile__
......@@ -29,8 +29,6 @@ QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
const char* MissionController::jsonSimpleItemsKey = "items";
const char* MissionController::_settingsGroup = "MissionController";
const char* MissionController::_jsonVersionKey = "version";
const char* MissionController::_jsonGroundStationKey = "groundStation";
const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";
const char* MissionController::_jsonComplexItemsKey = "complexItems";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
......@@ -258,7 +256,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
// Check for required keys
QStringList requiredKeys;
requiredKeys << _jsonVersionKey << _jsonPlannedHomePositionKey;
requiredKeys << JsonHelper::jsonVersionKey << _jsonPlannedHomePositionKey;
if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorString)) {
return false;
}
......@@ -266,14 +264,14 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
// Validate base key types
QStringList keyList;
QList<QJsonValue::Type> typeList;
keyList << jsonSimpleItemsKey << _jsonVersionKey << _jsonGroundStationKey << _jsonMavAutopilotKey << _jsonComplexItemsKey << _jsonPlannedHomePositionKey;
keyList << jsonSimpleItemsKey << JsonHelper::jsonVersionKey << JsonHelper::jsonGroundStationKey << _jsonMavAutopilotKey << _jsonComplexItemsKey << _jsonPlannedHomePositionKey;
typeList << QJsonValue::Array << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Object;
if (!JsonHelper::validateKeyTypes(json, keyList, typeList, errorString)) {
return false;
}
// Version check
if (json[_jsonVersionKey].toString() != "1.0") {
if (json[JsonHelper::jsonVersionKey].toString() != "1.0") {
errorString = QStringLiteral("QGroundControl does not support this file version");
return false;
}
......@@ -502,8 +500,8 @@ void MissionController::saveToFile(const QString& filename)
QJsonArray simpleItemsObject;
QJsonArray complexItemsObject;
missionFileObject[_jsonVersionKey] = "1.0";
missionFileObject[_jsonGroundStationKey] = "QGroundControl";
missionFileObject[JsonHelper::jsonVersionKey] = "1.0";
missionFileObject[JsonHelper::jsonGroundStationKey] = JsonHelper::jsonGroundStationValue;
MAV_AUTOPILOT firmwareType = MAV_AUTOPILOT_GENERIC;
if (_activeVehicle) {
......@@ -1054,7 +1052,7 @@ void MissionController::_activeVehicleSet(void)
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
// We don't request mission items for new vehicles since that will happen autamatically.
loadFromVehicle();
......
src/MissionManager/MissionController.h
View file @ af8c2a88
......@@ -148,8 +148,6 @@ private:
double _hoverDistance;
static const char* _settingsGroup;
static const char* _jsonVersionKey;
static const char* _jsonGroundStationKey;
static const char* _jsonMavAutopilotKey;
static const char* _jsonComplexItemsKey;
static const char* _jsonPlannedHomePositionKey;
......
src/MissionManager/QGCMapPolygon.cc
View file @ af8c2a88
......@@ -9,10 +9,14 @@
#include "QGCMapPolygon.h"
#include "QGCGeo.h"
#include "JsonHelper.h"
#include <QGeoRectangle>
#include <QDebug>
#include <QPolygon>
#include <QJsonArray>
const char* QGCMapPolygon::_jsonPolygonKey = "polygon";
QGCMapPolygon::QGCMapPolygon(QObject* parent)
: QObject(parent)
......@@ -106,3 +110,56 @@ void QGCMapPolygon::setPath(const QVariantList& path)
setDirty(true);
emit pathChanged();
}
void QGCMapPolygon::saveToJson(QJsonObject& json)
{
QJsonArray rgPoints;
// Add all points to the array
for (int i=0; i<_polygonPath.count(); i++) {
QJsonValue jsonPoint;
JsonHelper::writeQGeoCoordinate(jsonPoint, (*this)[i], false /* writeAltitude */);
rgPoints.append(jsonPoint);
}
json.insert(_jsonPolygonKey, QJsonValue(rgPoints));
setDirty(false);
}
bool QGCMapPolygon::loadFromJson(const QJsonObject& json, bool required, QString& errorString)
{
errorString.clear();
clear();
if (required) {
if (!JsonHelper::validateRequiredKeys(json, QStringList(_jsonPolygonKey), errorString)) {
return false;
}
} else if (!json.contains(_jsonPolygonKey)) {
return true;
}
QList<QJsonValue::Type> types;
types << QJsonValue::Array;
if (!JsonHelper::validateKeyTypes(json, QStringList(_jsonPolygonKey), types, errorString)) {
return false;
}
QJsonArray rgPoints = json[_jsonPolygonKey].toArray();
for (int i=0; i<rgPoints.count(); i++) {
QGeoCoordinate coordinate;
if (!JsonHelper::toQGeoCoordinate(rgPoints[i], coordinate, false /* altitudeRequired */, errorString)) {
return false;
}
addCoordinate(coordinate);
}
setDirty(false);
return true;
}
src/MissionManager/QGCMapPolygon.h
View file @ af8c2a88
......@@ -41,6 +41,17 @@ public:
bool dirty(void) const { return _dirty; }
void setDirty(bool dirty);
/// Saves the polygon to the json object.
/// @param json Json object to save to
void saveToJson(QJsonObject& json);
/// Load a polygon from json
/// @param json Json object to load from
/// @param required true: no polygon in object will generate error
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
bool loadFromJson(const QJsonObject& json, bool required, QString& errorString);
signals:
void pathChanged(void);
void dirtyChanged(bool dirty);
......@@ -48,6 +59,8 @@ signals:
private:
QVariantList _polygonPath;
bool _dirty;
static const char* _jsonPolygonKey;
};
#endif
src/MissionManager/SurveyMissionItem.cc
View file @ af8c2a88
......@@ -17,7 +17,6 @@
QGC_LOGGING_CATEGORY(SurveyMissionItemLog, "SurveyMissionItemLog")
const char* SurveyMissionItem::_jsonVersionKey = "version";
const char* SurveyMissionItem::_jsonTypeKey = "type";
const char* SurveyMissionItem::_jsonPolygonKey = "polygon";
const char* SurveyMissionItem::_jsonIdKey = "id";
......@@ -198,7 +197,7 @@ void SurveyMissionItem::setDirty(bool dirty)
void SurveyMissionItem::save(QJsonObject& saveObject) const
{
saveObject[_jsonVersionKey] = 1;
saveObject[JsonHelper::jsonVersionKey] = 1;
saveObject[_jsonTypeKey] = _complexType;
saveObject[_jsonIdKey] = sequenceNumber();
saveObject[_jsonGridAltitudeKey] = _gridAltitudeFact.rawValue().toDouble();
......@@ -246,7 +245,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, QString& errorStr
// Validate requires keys
QStringList requiredKeys;
requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey <<
requiredKeys << JsonHelper::jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey <<
_jsonCameraTriggerKey << _jsonCameraTriggerDistanceKey << _jsonGridAltitudeRelativeKey;
if (!JsonHelper::validateRequiredKeys(complexObject, requiredKeys, errorString)) {
_clear();
......@@ -256,7 +255,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, QString& errorStr
// Validate types
QStringList keyList;
QList<QJsonValue::Type> typeList;
keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey << _jsonTurnaroundDistKey <<
keyList << JsonHelper::jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey << _jsonTurnaroundDistKey <<
_jsonCameraTriggerKey << _jsonCameraTriggerDistanceKey << _jsonGridAltitudeRelativeKey;
typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Double << QJsonValue::Double<< QJsonValue::Double << QJsonValue::Double <<
QJsonValue::Bool << QJsonValue::Double << QJsonValue::Bool;
......@@ -266,7 +265,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, QString& errorStr
}
// Version check
if (complexObject[_jsonVersionKey].toInt() != 1) {
if (complexObject[JsonHelper::jsonVersionKey].toInt() != 1) {
errorString = tr("QGroundControl does not support this version of survey items");
_clear();
return false;
......
src/MissionManager/SurveyMissionItem.h
View file @ af8c2a88
......@@ -140,7 +140,6 @@ private:
FactMetaData _turnaroundDistMetaData;
FactMetaData _cameraTriggerDistanceMetaData;
static const char* _jsonVersionKey;
static const char* _jsonTypeKey;
static const char* _jsonPolygonKey;
static const char* _jsonIdKey;
......
src/QGCApplication.cc
View file @ af8c2a88
......@@ -124,6 +124,7 @@ QGCApplication* QGCApplication::_app = NULL;
const char* QGCApplication::parameterFileExtension = "params";
const char* QGCApplication::missionFileExtension = "mission";
const char* QGCApplication::fenceFileExtension = "fence";
const char* QGCApplication::telemetryFileExtension = "tlog";
const char* QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
......@@ -305,7 +306,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
// Clear parameter cache
QDir paramDir(ParameterLoader::parameterCacheDir());
QDir paramDir(ParameterManager::parameterCacheDir());
paramDir.removeRecursively();
paramDir.mkpath(paramDir.absolutePath());
} else {
......
src/QGCApplication.h
View file @ af8c2a88
......@@ -67,6 +67,7 @@ public:
static const char* parameterFileExtension;
static const char* missionFileExtension;
static const char* fenceFileExtension;
static const char* telemetryFileExtension;
/// @brief Sets the persistent flag to delete all settings the next time QGroundControl is started.
......
src/QGCLoggingCategory.cc
View file @ af8c2a88
......@@ -20,7 +20,7 @@ QGC_LOGGING_CATEGORY(FirmwareUpgradeLog, "FirmwareUpgradeLog")
QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog")
QGC_LOGGING_CATEGORY(MissionCommandsLog, "MissionCommandsLog")
QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog")
QGC_LOGGING_CATEGORY(ParameterManagerLog, "ParameterManagerLog")
QGCLoggingCategoryRegister* _instance = NULL;
const char* QGCLoggingCategoryRegister::_filterRulesSettingsGroup = "LoggingFilters";
......
src/QGCLoggingCategory.h
View file @ af8c2a88
......@@ -22,7 +22,7 @@ Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog)
Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog)
Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerLog)
/// @def QGC_LOGGING_CATEGORY
/// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a
......
src/QmlControls/ParameterEditorController.cc
View file @ af8c2a88
......@@ -14,6 +14,7 @@
#include "ParameterEditorController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "ParameterManager.h"
#ifndef __mobile__
#include "QGCFileDialog.h"
......@@ -28,7 +29,7 @@ ParameterEditorController::ParameterEditorController(void)
: _currentComponentId(_vehicle->defaultComponentId())
, _parameters(new QmlObjectListModel(this))
{
const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
foreach (int componentId, groupMap.keys()) {
_componentIds += QString("%1").arg(componentId);
}
......@@ -48,14 +49,14 @@ ParameterEditorController::~ParameterEditorController()
QStringList ParameterEditorController::getGroupsForComponent(int componentId)
{
const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
return groupMap[componentId].keys();
}
QStringList ParameterEditorController::getParametersForGroup(int componentId, QString group)
{
const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
return groupMap[componentId][group];
}
......@@ -187,7 +188,7 @@ void ParameterEditorController::_updateParameters(void)
QObjectList newParameterList;
if (_searchText.isEmpty()) {
const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
foreach (const QString& parameter, groupMap[_currentComponentId][_currentGroup]) {
newParameterList.append(_vehicle->getParameterFact(_currentComponentId, parameter));
}
......
src/Vehicle/Vehicle.cc
View file @ af8c2a88
......@@ -18,7 +18,7 @@
#include "JoystickManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "GAudioOutput.h"
......@@ -199,11 +199,11 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_newMissionItemsAvailable);
_parameterLoader = new ParameterLoader(this);
connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
_parameterLoader = new ParameterManager(this);
connect(_parameterLoader, &ParameterManager::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
connect(_parameterLoader, &ParameterManager::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
// GeoFenceManager needs to access ParameterLoader so make sure to create after
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
......@@ -332,9 +332,9 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
_parameterLoader = new ParameterLoader(this);
_parameterLoader = new ParameterManager(this);
// GeoFenceManager needs to access ParameterLoader so make sure to create after
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
......@@ -1813,7 +1813,7 @@ void Vehicle::rebootVehicle()
int Vehicle::defaultComponentId(void)
{
return _parameterLoader->defaultComponenentId();
return _parameterLoader->defaultComponentId();
}
void Vehicle::setSoloFirmware(bool soloFirmware)
......@@ -1835,7 +1835,7 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
/// Returns true if the specifed parameter exists from the default component
bool Vehicle::parameterExists(int componentId, const QString& name) const
{
return getParameterLoader()->parameterExists(componentId, name);
return getParameterManager()->parameterExists(componentId, name);
}
/// Returns the specified parameter Fact from the default component
......@@ -1843,7 +1843,7 @@ bool Vehicle::parameterExists(int componentId, const QString& name) const
/// parameterExists.
Fact* Vehicle::getParameterFact(int componentId, const QString& name)
{
return getParameterLoader()->getFact(componentId, name);
return getParameterManager()->getFact(componentId, name);
}
void Vehicle::_newMissionItemsAvailable(void)
......
src/Vehicle/Vehicle.h
View file @ af8c2a88
......@@ -34,7 +34,7 @@ class AutoPilotPlugin;
class AutoPilotPluginManager;
class MissionManager;
class GeoFenceManager;
class ParameterLoader;
class ParameterManager;
class JoystickManager;
class UASMessage;
......@@ -544,8 +544,8 @@ public:
void setConnectionLostEnabled(bool connectionLostEnabled);
ParameterLoader* getParameterLoader(void) { return _parameterLoader; }
ParameterLoader* getParameterLoader(void) const { return _parameterLoader; }
ParameterManager* getParameterManager(void) { return _parameterLoader; }
ParameterManager* getParameterManager(void) const { return _parameterLoader; }
static const int cMaxRcChannels = 18;
......@@ -763,7 +763,7 @@ private:
GeoFenceManager* _geoFenceManager;
bool _geoFenceManagerInitialRequestComplete;
ParameterLoader* _parameterLoader;
ParameterManager* _parameterLoader;
bool _armed; ///< true: vehicle is armed
uint8_t _base_mode; ///< base_mode from HEARTBEAT
......
src/VehicleSetup/FirmwareImage.cc
View file @ af8c2a88
......@@ -18,7 +18,7 @@
#include "QGCMAVLink.h"
#include "QGCApplication.h"
#include "FirmwarePlugin.h"
#include "ParameterLoader.h"
#include "ParameterManager.h"
#include <QDebug>
#include <QFile>
......@@ -275,7 +275,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
}
// Cache this file with the system
ParameterLoader::cacheMetaDataFile(parameterFilename, firmwareType);
ParameterManager::cacheMetaDataFile(parameterFilename, firmwareType);
}
// Decompress the airframe xml and save to file
......
src/qgcunittest/UnitTestList.cc
View file @ af8c2a88
......@@ -29,7 +29,7 @@
#include "MainWindowTest.h"
#include "FileManagerTest.h"
#include "TCPLinkTest.h"
#include "ParameterLoaderTest.h"
#include "ParameterManagerTest.h"
#include "MissionCommandTreeTest.h"
#include "LogDownloadTest.h"
......@@ -49,7 +49,7 @@ UT_REGISTER_TEST(MissionManagerTest)
UT_REGISTER_TEST(RadioConfigTest)
UT_REGISTER_TEST(TCPLinkTest)
UT_REGISTER_TEST(FileManagerTest)
UT_REGISTER_TEST(ParameterLoaderTest)
UT_REGISTER_TEST(ParameterManagerTest)
UT_REGISTER_TEST(MissionCommandTreeTest)
UT_REGISTER_TEST(LogDownloadTest)
......
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