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qgroundcontrol
Commit d499b513 authored by Don Gagne's avatar Don Gagne
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Mission raw/friendly edit support

parent f89fe8e3
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Showing with 1629 additions and 1473 deletions
qgcresources.qrc
View file @ d499b513
......@@ -95,6 +95,8 @@
<file alias="Signal100.svg">src/ui/toolbar/Images/Signal100.svg</file>
<file alias="Yield.svg">src/ui/toolbar/Images/Yield.svg</file>
<file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
</qresource>
<qresource prefix="/res">
......
qgroundcontrol.pro
View file @ d499b513
......@@ -247,8 +247,9 @@ HEADERS += \
src/Joystick/JoystickManager.h \
src/LogCompressor.h \
src/MG.h \
src/MissionManager/MissionManager.h \
src/MissionManager/MissionController.h \
src/MissionManager/MissionItem.h \
src/MissionManager/MissionManager.h \
src/QGC.h \
src/QGCApplication.h \
src/QGCComboBox.h \
......@@ -291,7 +292,6 @@ HEADERS += \
src/ui/toolbar/MainToolBarController.h \
src/ui/uas/QGCUnconnectedInfoWidget.h \
src/ui/uas/UASMessageView.h \
src/MissionItem.h \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
src/QmlControls/QGCImageProvider.h \
......@@ -363,8 +363,9 @@ SOURCES += \
src/Joystick/JoystickManager.cc \
src/LogCompressor.cc \
src/main.cc \
src/MissionManager/MissionManager.cc \
src/MissionManager/MissionController.cc \
src/MissionManager/MissionItem.cc \
src/MissionManager/MissionManager.cc \
src/QGC.cc \
src/QGCApplication.cc \
src/QGCComboBox.cc \
......@@ -402,7 +403,6 @@ SOURCES += \
src/ui/toolbar/MainToolBarController.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc \
src/ui/uas/UASMessageView.cc \
src/MissionItem.cc \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
src/QmlControls/QGCImageProvider.cc \
......@@ -471,9 +471,9 @@ HEADERS += \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/MissionItemTest.h \
src/MissionManager/MissionControllerTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \
src/qgcunittest/GeoTest.h \
src/qgcunittest/FileDialogTest.h \
......@@ -494,9 +494,9 @@ SOURCES += \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/MissionItemTest.cc \
src/MissionManager/MissionControllerTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \
src/qgcunittest/GeoTest.cc \
src/qgcunittest/FileDialogTest.cc \
......
qgroundcontrol.qrc
View file @ d499b513
......@@ -28,7 +28,6 @@
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
<file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
<file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
......@@ -37,7 +36,6 @@
<file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
<file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
<file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
<file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
<file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
......@@ -62,20 +60,17 @@
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
<file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
......@@ -90,10 +85,8 @@
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
<file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
<file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
<file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
......@@ -107,4 +100,7 @@
<file alias="test.qml">src/test.qml</file>
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="MavCmdInfo.json">src/MissionManager/MavCmdInfo.json</file>
</qresource>
</RCC>
src/MissionEditor/MissionEditor.qml
View file @ d499b513
......@@ -40,7 +40,8 @@ import QGroundControl.Controllers 1.0
QGCView {
id: _root
viewPanel: panel
viewPanel: panel
topDialogMargin: height - mainWindow.availableHeight
// zOrder comes from the Loader in MainWindow.qml
z: QGroundControl.zOrderTopMost
......@@ -211,7 +212,6 @@ QGCView {
property var missionItem
property var missionItemIndicator
property real heading: missionItem ? missionItem.heading : 0
readonly property real _radius: ScreenTools.defaultFontPixelHeight * 4
readonly property real _arrowHeight: ScreenTools.defaultFontPixelHeight
......@@ -328,30 +328,34 @@ QGCView {
onClicked: setCurrentItem(object.sequenceNumber)
Connections {
target: object
onIsCurrentItemChanged: {
if (object.isCurrentItem) {
_root.showDistance(object)
if (object.specifiesCoordinate) {
// Setup our drag item
if (object.sequenceNumber != 0) {
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
} else {
itemDragger.clearItem()
}
// Move to the new position
editorMap.latitude = object.coordinate.latitude
editorMap.longitude = object.coordinate.longitude
function updateItemIndicator()
{
if (object.isCurrentItem) {
_root.showDistance(object)
if (object.specifiesCoordinate) {
// Setup our drag item
if (object.sequenceNumber != 0) {
itemDragger.visible = true
itemDragger.missionItem = Qt.binding(function() { return object })
itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
} else {
itemDragger.clearItem()
}
// Move to the new position
editorMap.latitude = object.coordinate.latitude
editorMap.longitude = object.coordinate.longitude
}
}
}
Connections {
target: object
onIsCurrentItemChanged: updateItemIndicator()
onCommandChanged: updateItemIndicator()
}
// These are the non-coordinate child mission items attached to this item
Row {
anchors.top: parent.top
......@@ -380,7 +384,7 @@ QGCView {
// Mission Item Editor
Item {
id: missionItemEditor
height: mainWindow.avaiableHeight
height: mainWindow.availableHeight
anchors.bottom: parent.bottom
anchors.right: parent.right
width: _rightPanelWidth
......@@ -389,11 +393,10 @@ QGCView {
z: QGroundControl.zOrderTopMost
ListView {
id: missionItemSummaryList
anchors.fill: parent
spacing: _margin / 2
orientation: ListView.Vertical
model: controller.canEdit ? controller.missionItems : 0
model: controller.missionItems
property real _maxItemHeight: 0
......@@ -416,14 +419,6 @@ QGCView {
}
}
} // ListView
QGCLabel {
anchors.fill: parent
visible: !controller.canEdit
wrapMode: Text.WordWrap
text: "The set of mission items you have loaded cannot be edited by QGroundControl. " +
"You will only be able to save these to a file, or send them to a vehicle."
}
} // Item - Mission Item editor
/*
......
src/MissionItem.cc deleted 100644 → 0
View file @ f89fe8e3
/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include <QStringList>
#include <QDebug>
#include "MissionItem.h"
QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
const double MissionItem::defaultPitch = 15.0;
const double MissionItem::defaultHeading = 0.0;
const double MissionItem::defaultAltitude = 25.0;
const double MissionItem::defaultAcceptanceRadius = 3.0;
const double MissionItem::defaultLoiterOrbitRadius = 10.0;
const double MissionItem::defaultLoiterTurns = 1.0;
QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
return dbg;
}
QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
return dbg;
}
const MissionItem::MavCmd2Name_t MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
{ MAV_CMD_NAV_WAYPOINT, "Waypoint" },
{ MAV_CMD_NAV_LOITER_UNLIM, "Loiter" },
{ MAV_CMD_NAV_LOITER_TURNS, "Loiter (turns)" },
{ MAV_CMD_NAV_LOITER_TIME, "Loiter (seconds)" },
{ MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" },
{ MAV_CMD_NAV_LAND, "Land" },
{ MAV_CMD_NAV_TAKEOFF, "Takeoff" },
{ MAV_CMD_CONDITION_DELAY, "Delay" },
{ MAV_CMD_DO_JUMP, "Jump To Command" },
};
MissionItem::MissionItem(QObject* parent,
int sequenceNumber,
QGeoCoordinate coordinate,
int command,
double param1,
double param2,
double param3,
double param4,
bool autocontinue,
bool isCurrentItem,
int frame)
: QObject(parent)
, _sequenceNumber(sequenceNumber)
, _frame(-1) // Forces set of _altitudeRelativeToHomeFact
, _command((MavlinkQmlSingleton::Qml_MAV_CMD)command)
, _autocontinue(autocontinue)
, _isCurrentItem(isCurrentItem)
, _reachedTime(0)
, _distance(0.0)
, _headingDegreesFact(NULL)
, _dirty(false)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
{
_latitudeFact = new Fact(0, "Latitude:", FactMetaData::valueTypeDouble, this);
_longitudeFact = new Fact(0, "Longitude:", FactMetaData::valueTypeDouble, this);
_altitudeFact = new Fact(0, "Altitude:", FactMetaData::valueTypeDouble, this);
_headingDegreesFact = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
_loiterOrbitRadiusFact = new Fact(0, "Radius:", FactMetaData::valueTypeDouble, this);
_param1Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_param2Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_altitudeRelativeToHomeFact = new Fact(0, "Altitude is relative to home", FactMetaData::valueTypeDouble, this);
setFrame(frame);
setCoordinate(coordinate);
setParam1(param1);
setParam2(param2);
_setYawRadians(param4);
setLoiterOrbitRadius(param3);
// FIXME: Need to fill out more meta data
FactMetaData* latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _latitudeFact);
latitudeMetaData->setUnits("deg");
latitudeMetaData->setDecimalPlaces(7);
FactMetaData* longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _longitudeFact);
longitudeMetaData->setUnits("deg");
longitudeMetaData->setDecimalPlaces(7);
FactMetaData* altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _altitudeFact);
altitudeMetaData->setUnits("meters");
FactMetaData* headingMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _headingDegreesFact);
headingMetaData->setUnits("deg");
_pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_pitchMetaData->setUnits("deg");
_acceptanceRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_acceptanceRadiusMetaData->setUnits("meters");
_holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_holdTimeMetaData->setUnits("seconds");
FactMetaData* loiterOrbitRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
loiterOrbitRadiusMetaData->setUnits("meters");
_loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_loiterTurnsMetaData->setUnits("count");
_loiterSecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_loiterSecondsMetaData->setUnits("seconds");
_delaySecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_delaySecondsMetaData->setUnits("seconds");
_jumpSequenceMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpSequenceMetaData->setUnits("#");
_jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpRepeatMetaData->setUnits("count");
_latitudeFact->setMetaData(latitudeMetaData);
_longitudeFact->setMetaData(longitudeMetaData);
_altitudeFact->setMetaData(altitudeMetaData);
_headingDegreesFact->setMetaData(headingMetaData);
_loiterOrbitRadiusFact->setMetaData(loiterOrbitRadiusMetaData);
_connectSignals();
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
{
_latitudeFact = new Fact(this);
_longitudeFact = new Fact(this);
_altitudeFact = new Fact(this);
_headingDegreesFact = new Fact(this);
_loiterOrbitRadiusFact = new Fact(this);
_param1Fact = new Fact(this);
_param2Fact = new Fact(this);
_altitudeRelativeToHomeFact = new Fact(this);
_pitchMetaData = new FactMetaData(this);
_acceptanceRadiusMetaData = new FactMetaData(this);
_holdTimeMetaData = new FactMetaData(this);
_loiterTurnsMetaData = new FactMetaData(this);
_loiterSecondsMetaData = new FactMetaData(this);
_delaySecondsMetaData = new FactMetaData(this);
_jumpSequenceMetaData = new FactMetaData(this);
_jumpRepeatMetaData = new FactMetaData(this);
_connectSignals();
*this = other;
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
{
_sequenceNumber = other._sequenceNumber;
_isCurrentItem = other._isCurrentItem;
_frame = other._frame;
_command = other._command;
_autocontinue = other._autocontinue;
_reachedTime = other._reachedTime;
_distance = other._distance;
_altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
_dirty = other._dirty;
_homePositionSpecialCase = other._homePositionSpecialCase;
_homePositionValid = other._homePositionValid;
*_latitudeFact = *other._latitudeFact;
*_longitudeFact = *other._longitudeFact;
*_altitudeFact = *other._altitudeFact;
*_headingDegreesFact = *other._headingDegreesFact;
*_loiterOrbitRadiusFact = *other._loiterOrbitRadiusFact;
*_param1Fact = *other._param1Fact;
*_param2Fact = *other._param2Fact;
*_pitchMetaData = *other._pitchMetaData;
*_acceptanceRadiusMetaData = *other._acceptanceRadiusMetaData;
*_holdTimeMetaData = *other._holdTimeMetaData;
*_loiterTurnsMetaData = *other._loiterTurnsMetaData;
*_loiterSecondsMetaData = *other._loiterSecondsMetaData;
*_delaySecondsMetaData = *other._delaySecondsMetaData;
*_jumpSequenceMetaData = *other._jumpSequenceMetaData;
*_jumpRepeatMetaData = *other._jumpRepeatMetaData;
return *this;
}
void MissionItem::_connectSignals(void)
{
// Connect to valueChanged to track dirty state
connect(_latitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_longitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_altitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_headingDegreesFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_loiterOrbitRadiusFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_param1Fact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_param2Fact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
// Connect valueChanged signals so we can output coordinateChanged signal
connect(_latitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_longitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_altitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_headingDegreesFact, &Fact::valueChanged, this, &MissionItem::_headingDegreesFactChanged);
connect(_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_altitudeRelativeToHomeFactChanged);
}
MissionItem::~MissionItem()
{
}
bool MissionItem::isNavigationType()
{
return (_command < MavlinkQmlSingleton::MAV_CMD_NAV_LAST);
}
void MissionItem::save(QTextStream &saveStream)
{
QString position("%1\t%2\t%3");
position = position.arg(x(), 0, 'g', 18);
position = position.arg(y(), 0, 'g', 18);
position = position.arg(z(), 0, 'g', 18);
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(param1(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(_yawRadians(), 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->frame() << "\t" << this->command() << "\t" << parameters << "\t" << position << "\t" << this->autoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
}
bool MissionItem::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12) {
setSequenceNumber(wpParams[0].toInt());
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
setFrame(wpParams[2].toInt());
setAction(wpParams[3].toInt());
setParam1(wpParams[4].toDouble());
setParam2(wpParams[5].toDouble());
setLoiterOrbitRadius(wpParams[6].toDouble());
_setYawRadians(wpParams[7].toDouble());
setLatitude(wpParams[8].toDouble());
setLongitude(wpParams[9].toDouble());
setAltitude(wpParams[10].toDouble());
_autocontinue = (wpParams[11].toInt() == 1 ? true : false);
return true;
}
return false;
}
void MissionItem::setSequenceNumber(int sequenceNumber)
{
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
}
void MissionItem::setX(double x)
{
if (!isinf(x) && !isnan(x) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setLatitude(x);
}
}
void MissionItem::setY(double y)
{
if (!isinf(y) && !isnan(y) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setLongitude(y);
}
}
void MissionItem::setZ(double z)
{
if (!isinf(z) && !isnan(z) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setAltitude(z);
}
}
void MissionItem::setLatitude(double lat)
{
if (_latitudeFact->value().toDouble() != lat)
{
_latitudeFact->setValue(lat);
emit coordinateChanged(coordinate());
}
}
void MissionItem::setLongitude(double lon)
{
if (_longitudeFact->value().toDouble() != lon)
{
_longitudeFact->setValue(lon);
emit coordinateChanged(coordinate());
}
}
void MissionItem::setAltitude(double altitude)
{
if (_altitudeFact->value().toDouble() != altitude)
{
_altitudeFact->setValue(altitude);
emit valueStringsChanged(valueStrings());
emit coordinateChanged(coordinate());
}
}
void MissionItem::setAction(int /*MAV_CMD*/ action)
{
if (_command != action) {
_command = (MavlinkQmlSingleton::Qml_MAV_CMD)action;
// Fix defaults according to WP type
switch (_command) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
setParam1(defaultPitch);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
setAcceptanceRadius(defaultAcceptanceRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
setLoiterOrbitRadius(defaultLoiterOrbitRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
setLoiterOrbitRadius(defaultLoiterOrbitRadius);
setParam1(defaultLoiterTurns);
break;
default:
break;
}
setHeadingDegrees(defaultHeading);
setAltitude(defaultAltitude);
if (specifiesCoordinate()) {
if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
}
} else {
setFrame(MAV_FRAME_MISSION);
}
emit commandNameChanged(commandName());
emit commandChanged((MavlinkQmlSingleton::Qml_MAV_CMD)_command);
emit valueLabelsChanged(valueLabels());
emit valueStringsChanged(valueStrings());
}
}
int MissionItem::frame(void) const
{
if (_altitudeRelativeToHomeFact->value().toBool()) {
return MAV_FRAME_GLOBAL_RELATIVE_ALT;
} else {
return _frame;
}
}
void MissionItem::setFrame(int /*MAV_FRAME*/ frame)
{
if (_frame != frame) {
_altitudeRelativeToHomeFact->setValue(frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
_frame = frame;
emit frameChanged(_frame);
}
}
void MissionItem::setAutocontinue(bool autoContinue)
{
if (_autocontinue != autoContinue) {
_autocontinue = autoContinue;
emit autoContinueChanged(_autocontinue);
}
}
void MissionItem::setIsCurrentItem(bool isCurrentItem)
{
if (_isCurrentItem != isCurrentItem) {
_isCurrentItem = isCurrentItem;
emit isCurrentItemChanged(isCurrentItem);
}
}
void MissionItem::setAcceptanceRadius(double radius)
{
setParam2(radius);
}
void MissionItem::setParam1(double param)
{
if (param1() != param)
{
_param1Fact->setValue(param);
emit valueStringsChanged(valueStrings());
}
}
void MissionItem::setParam2(double param)
{
if (param2() != param)
{
_param2Fact->setValue(param);
emit valueStringsChanged(valueStrings());
}
}
void MissionItem::setParam3(double param3)
{
setLoiterOrbitRadius(param3);
}
void MissionItem::setParam4(double param4)
{
_setYawRadians(param4);
}
void MissionItem::setParam5(double param5)
{
setLatitude(param5);
}
void MissionItem::setParam6(double param6)
{
setLongitude(param6);
}
void MissionItem::setParam7(double param7)
{
setAltitude(param7);
}
void MissionItem::setLoiterOrbitRadius(double radius)
{
if (loiterOrbitRadius() != radius) {
_loiterOrbitRadiusFact->setValue(radius);
emit valueStringsChanged(valueStrings());
}
}
void MissionItem::setHoldTime(int holdTime)
{
setParam1(holdTime);
}
void MissionItem::setHoldTime(double holdTime)
{
setParam1(holdTime);
}
bool MissionItem::specifiesCoordinate(void) const
{
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_TAKEOFF:
return true;
default:
return false;
}
}
QString MissionItem::commandName(void)
{
QString type;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
type = "Waypoint";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
type = "Loiter";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
type = "Return Home";
break;
case MAV_CMD_NAV_LAND:
type = "Land";
break;
case MAV_CMD_NAV_TAKEOFF:
type = "Takeoff";
break;
case MAV_CMD_CONDITION_DELAY:
type = "Delay";
break;
case MAV_CMD_DO_JUMP:
type = "Jump To Command";
break;
default:
type = QString("Unknown (%1)").arg(_command);
break;
}
return type;
}
QString MissionItem::commandDescription(void)
{
QString description;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
description = "Travel to a position in 3D space.";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
description = "Travel to a position and Loiter around the specified radius indefinitely.";
break;
case MAV_CMD_NAV_LOITER_TURNS:
description = "Travel to a position and Loiter around the specified radius for a number of turns.";
break;
case MAV_CMD_NAV_LOITER_TIME:
description = "Travel to a position and Loiter around the specified radius for an amount of time.";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
description = "Send the vehicle back to the home position.";
break;
case MAV_CMD_NAV_LAND:
description = "Land vehicle at the specified location.";
break;
case MAV_CMD_NAV_TAKEOFF:
description = "Take off from the ground and travel towards the specified position.";
break;
case MAV_CMD_CONDITION_DELAY:
description = "Delay";
break;
case MAV_CMD_DO_JUMP:
description = "Jump To Command";
break;
default:
description = QString("Unknown (%1)").arg(_command);
break;
}
return description;
}
QStringList MissionItem::valueLabels(void)
{
QStringList labels;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:" << "Radius:" << "Hold:";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
labels << "Heading:" << "Radius:";
break;
case MAV_CMD_NAV_LOITER_TURNS:
labels << "Heading:" << "Radius:"<< "Turns:";
break;
case MAV_CMD_NAV_LOITER_TIME:
labels << "Heading:" << "Radius:" << "Seconds:";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:";
break;
case MAV_CMD_NAV_TAKEOFF:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:" << "Pitch:";
break;
case MAV_CMD_CONDITION_DELAY:
labels << "Seconds:";
break;
case MAV_CMD_DO_JUMP:
labels << "Jump to:" << "Repeat:";
break;
default:
break;
}
return labels;
}
QString MissionItem::_oneDecimalString(double value)
{
return QString("%1").arg(value, 0 /* min field width */, 'f' /* format */, 1 /* precision */);
}
QStringList MissionItem::valueStrings(void)
{
QStringList list;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees()) << _oneDecimalString(param2()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_LOITER_UNLIM:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius());
break;
case MAV_CMD_NAV_LOITER_TURNS:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_LOITER_TIME:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees());
break;
case MAV_CMD_NAV_TAKEOFF:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees()) << _oneDecimalString(param1());
break;
case MAV_CMD_CONDITION_DELAY:
list << _oneDecimalString(param1());
break;
case MAV_CMD_DO_JUMP:
list << _oneDecimalString(param1()) << _oneDecimalString(param2());
break;
default:
break;
}
return list;
}
QStringList MissionItem::commandNames(void) {
QStringList list;
for (int i=0; i<_cMavCmd2Name; i++) {
list += _rgMavCmd2Name[i].name;
}
return list;
}
int MissionItem::commandByIndex(void)
{
for (int i=0; i<_cMavCmd2Name; i++) {
if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
return i;
}
}
return -1;
}
void MissionItem::setCommandByIndex(int index)
{
if (index < 0 || index >= _cMavCmd2Name) {
qWarning() << "Invalid index" << index;
return;
}
setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
}
QmlObjectListModel* MissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_WAYPOINT:
_param1Fact->_setName("Hold:");
_param1Fact->setMetaData(_holdTimeMetaData);
model->append(_altitudeFact);
if (!_homePositionSpecialCase) {
model->append(_param1Fact);
}
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
_param1Fact->_setName("Turns:");
_param1Fact->setMetaData(_loiterTurnsMetaData);
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_TIME:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_loiterSecondsMetaData);
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LAND:
model->append(_altitudeFact);
break;
case MAV_CMD_NAV_TAKEOFF:
_param1Fact->_setName("Pitch:");
_param1Fact->setMetaData(_pitchMetaData);
model->append(_altitudeFact);
model->append(_param1Fact);
break;
case MAV_CMD_CONDITION_DELAY:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_delaySecondsMetaData);
model->append(_param1Fact);
break;
case MAV_CMD_DO_JUMP:
_param1Fact->_setName("Seq #:");
_param1Fact->setMetaData(_jumpSequenceMetaData);
_param2Fact->_setName("Repeat:");
_param2Fact->setMetaData(_jumpRepeatMetaData);
model->append(_param1Fact);
model->append(_param2Fact);
break;
default:
break;
}
if (specifiesHeading()) {
model->append(_headingDegreesFact);
}
return model;
}
QmlObjectListModel* MissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_WAYPOINT:
if (!_homePositionSpecialCase) {
model->append(_altitudeRelativeToHomeFact);
}
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_LOITER_TIME:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_TAKEOFF:
model->append(_altitudeRelativeToHomeFact);
break;
default:
break;
}
return model;
}
double MissionItem::headingDegrees(void) const
{
return _headingDegreesFact->value().toDouble();
}
void MissionItem::setHeadingDegrees(double headingDegrees)
{
if (_headingDegreesFact->value().toDouble() != headingDegrees) {
_headingDegreesFact->setValue(headingDegrees);
emit valueStringsChanged(valueStrings());
emit headingDegreesChanged(headingDegrees);
}
}
double MissionItem::_yawRadians(void) const
{
return _headingDegreesFact->value().toDouble() * (M_PI / 180.0);
}
void MissionItem::_setYawRadians(double yawRadians)
{
setHeadingDegrees(yawRadians * (180 / M_PI));
}
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(latitude(), longitude(), altitude());
}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
setLatitude(coordinate.latitude());
setLongitude(coordinate.longitude());
setAltitude(coordinate.altitude());
}
bool MissionItem::canEdit(void)
{
bool found = false;
for (int i=0; i<_cMavCmd2Name; i++) {
if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
found = true;
break;
}
}
if (found) {
if (!_autocontinue) {
qCDebug(MissionItemLog) << "canEdit false due to _autocontinue != true";
return false;
}
if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && _frame != MAV_FRAME_MISSION) {
qCDebug(MissionItemLog) << "canEdit false due unsupported frame type:" << _frame;
return false;
}
return true;
} else {
qCDebug(MissionItemLog) << "canEdit false due unsupported command:" << _command;
return false;
}
}
void MissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || !dirty) {
// Home position never affects dirty bit
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
}
void MissionItem::_factValueChanged(QVariant value)
{
Q_UNUSED(value);
setDirty(true);
}
void MissionItem::_coordinateFactChanged(QVariant value)
{
Q_UNUSED(value);
emit coordinateChanged(coordinate());
}
bool MissionItem::specifiesHeading(void) const
{
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_TAKEOFF:
return true;
default:
return false;
}
}
void MissionItem::_headingDegreesFactChanged(QVariant value)
{
emit headingDegreesChanged(value.toDouble());
}
void MissionItem::_altitudeRelativeToHomeFactChanged(QVariant value)
{
// Don't call setFrame, that will cause a signalling loop
int frame = value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL;
if (_frame != frame) {
_frame = frame;
emit frameChanged(_frame);
}
}
void MissionItem::setHomePositionValid(bool homePositionValid)
{
_homePositionValid = homePositionValid;
emit homePositionValidChanged(_homePositionValid);
}
void MissionItem::setDistance(double distance)
{
_distance = distance;
emit distanceChanged(_distance);
}
src/MissionItem.h deleted 100644 → 0
View file @ f89fe8e3
/*=====================================================================
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 MissionItem_H
#define MissionItem_H
#include <QObject>
#include <QString>
#include <QtQml>
#include <QTextStream>
#include <QGeoCoordinate>
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MavlinkQmlSingleton.h"
#include "QmlObjectListModel.h"
#include "Fact.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
class MissionItem : public QObject
{
Q_OBJECT
public:
MissionItem(QObject *parent = 0,
int sequenceNumber = 0,
QGeoCoordinate coordiante = QGeoCoordinate(),
int action = MAV_CMD_NAV_WAYPOINT,
double param1 = 0.0,
double param2 = defaultAcceptanceRadius,
double param3 = defaultLoiterOrbitRadius,
double param4 = defaultHeading,
bool autocontinue = true,
bool isCurrentItem = false,
int frame = MAV_FRAME_GLOBAL_RELATIVE_ALT);
MissionItem(const MissionItem& other, QObject* parent = NULL);
~MissionItem();
const MissionItem& operator=(const MissionItem& other);
/// Returns true if the item has been modified since the last time dirty was false
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool specifiesHeading READ specifiesHeading NOTIFY commandChanged)
Q_PROPERTY(double heading READ headingDegrees WRITE setHeadingDegrees NOTIFY headingDegreesChanged)
Q_PROPERTY(QStringList commandNames READ commandNames CONSTANT)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
Q_PROPERTY(int commandByIndex READ commandByIndex WRITE setCommandByIndex NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* textFieldFacts READ textFieldFacts NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
/// true: this item is being used as a home position indicator
Q_PROPERTY(bool homePosition READ homePosition CONSTANT)
/// true: home position should be shown
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
/// Distance to previous waypoint, set by UI controller
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged)
// Property accesors
int sequenceNumber(void) const { return _sequenceNumber; }
void setSequenceNumber(int sequenceNumber);
bool isCurrentItem(void) const { return _isCurrentItem; }
void setIsCurrentItem(bool isCurrentItem);
bool specifiesCoordinate(void) const;
QGeoCoordinate coordinate(void) const;
void setCoordinate(const QGeoCoordinate& coordinate);
bool specifiesHeading(void) const;
double headingDegrees(void) const;
void setHeadingDegrees(double headingDegrees);
// This is public for unit testing
double _yawRadians(void) const;
QStringList commandNames(void);
QString commandName(void);
QString commandDescription(void);
int commandByIndex(void);
void setCommandByIndex(int index);
MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; };
void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); }
QStringList valueLabels(void);
QStringList valueStrings(void);
QmlObjectListModel* textFieldFacts(void);
QmlObjectListModel* checkboxFacts(void);
bool dirty(void) { return _dirty; }
void setDirty(bool dirty);
QmlObjectListModel* childItems(void) { return &_childItems; }
bool homePosition(void) { return _homePositionSpecialCase; }
bool homePositionValid(void) { return _homePositionValid; }
void setHomePositionValid(bool homePositionValid);
double distance(void) { return _distance; }
void setDistance(double distance);
// C++ only methods
/// Returns true if this item can be edited in the ui
bool canEdit(void);
double latitude(void) const { return _latitudeFact->value().toDouble(); }
double longitude(void) const { return _longitudeFact->value().toDouble(); }
double altitude(void) const { return _altitudeFact->value().toDouble(); }
void setLatitude(double latitude);
void setLongitude(double longitude);
void setAltitude(double altitude);
double x(void) const { return latitude(); }
double y(void) const { return longitude(); }
double z(void) const { return altitude(); }
void setX(double x);
void setY(double y);
void setZ(double z);
bool autoContinue() const {
return _autocontinue;
}
double loiterOrbitRadius() const {
return _loiterOrbitRadiusFact->value().toDouble();
}
double acceptanceRadius() const {
return param2();
}
double holdTime() const {
return param1();
}
double param1() const {
return _param1Fact->value().toDouble();
}
double param2() const {
return _param2Fact->value().toDouble();
}
double param3() const {
return loiterOrbitRadius();
}
double param4() const {
return _yawRadians();
}
double param5() const {
return latitude();
}
double param6() const {
return longitude();
}
double param7() const {
return altitude();
}
// MAV_FRAME
int frame() const;
// MAV_CMD
int command() const {
return _command;
}
/** @brief Returns true if x, y, z contain reasonable navigation data */
bool isNavigationType();
/** @brief Get the time this waypoint was reached */
quint64 reachedTime() const { return _reachedTime; }
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
bool relativeAltitude(void) { return _frame == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
static const double defaultPitch;
static const double defaultHeading;
static const double defaultAltitude;
static const double defaultAcceptanceRadius;
static const double defaultLoiterOrbitRadius;
static const double defaultLoiterTurns;
signals:
void sequenceNumberChanged(int sequenceNumber);
void isCurrentItemChanged(bool isCurrentItem);
void coordinateChanged(const QGeoCoordinate& coordinate);
void headingDegreesChanged(double heading);
void dirtyChanged(bool dirty);
void homePositionValidChanged(bool homePostionValid);
void distanceChanged(float distance);
void frameChanged(int frame);
void commandNameChanged(QString type);
void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void valueLabelsChanged(QStringList valueLabels);
void valueStringsChanged(QStringList valueStrings);
bool autoContinueChanged(bool autoContinue);
public:
/** @brief Set the waypoint action */
void setAction (int _action);
void setFrame (int _frame);
void setAutocontinue(bool autoContinue);
void setCurrent (bool _current);
void setLoiterOrbitRadius (double radius);
void setParam1 (double _param1);
void setParam2 (double _param2);
void setParam3 (double param3);
void setParam4 (double param4);
void setParam5 (double param5);
void setParam6 (double param6);
void setParam7 (double param7);
void setAcceptanceRadius(double radius);
void setHoldTime (int holdTime);
void setHoldTime (double holdTime);
/** @brief Set waypoint as reached */
void setReached () { _reachedTime = QGC::groundTimeMilliseconds(); }
/** @brief Wether this waypoint has been reached yet */
bool isReached () { return (_reachedTime > 0); }
private slots:
void _factValueChanged(QVariant value);
void _coordinateFactChanged(QVariant value);
void _headingDegreesFactChanged(QVariant value);
void _altitudeRelativeToHomeFactChanged(QVariant value);
private:
QString _oneDecimalString(double value);
void _connectSignals(void);
void _setYawRadians(double yawRadians);
private:
typedef struct {
MAV_CMD command;
const char* name;
} MavCmd2Name_t;
int _sequenceNumber;
int _frame;
MavlinkQmlSingleton::Qml_MAV_CMD _command;
bool _autocontinue;
bool _isCurrentItem;
quint64 _reachedTime;
double _distance;
Fact* _latitudeFact;
Fact* _longitudeFact;
Fact* _altitudeFact;
Fact* _headingDegreesFact;
Fact* _loiterOrbitRadiusFact;
Fact* _param1Fact;
Fact* _param2Fact;
Fact* _altitudeRelativeToHomeFact;
FactMetaData* _pitchMetaData;
FactMetaData* _acceptanceRadiusMetaData;
FactMetaData* _holdTimeMetaData;
FactMetaData* _loiterTurnsMetaData;
FactMetaData* _loiterSecondsMetaData;
FactMetaData* _delaySecondsMetaData;
FactMetaData* _jumpSequenceMetaData;
FactMetaData* _jumpRepeatMetaData;
bool _dirty;
bool _homePositionSpecialCase; ///< true: this item is being used as a ui home position indicator
bool _homePositionValid; ///< true: home psition should be displayed
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
static const int _cMavCmd2Name = 9;
static const MavCmd2Name_t _rgMavCmd2Name[_cMavCmd2Name];
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem);
QDebug operator<<(QDebug dbg, const MissionItem* missionItem);
#endif
src/MissionManager/CogWheel.svg 0 → 100644
View file @ d499b513
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src/MissionManager/MavCmdInfo.json 0 → 100644
View file @ d499b513
{
"version": 1,
"mavCmdInfo": [
{
"comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint",
"id": 95,
"rawName": "Home",
"friendlyName": "Home",
"description": "Home Position",
"specifiesCoordinate": true,
"friendlyEdit": true
},
{
"id": 16,
"rawName": "MAV_CMD_NAV_WAYPOINT",
"friendlyName": "Waypoint",
"description": "Travel to a position in 3D space.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Hold:",
"units": "seconds",
"decimalPlaces": 0
}
},
{
"id": 17,
"rawName": "MAV_CMD_NAV_LOITER_UNLIM",
"friendlyName": "Loiter",
"description": "Travel to a position and Loiter around the specified radius indefinitely.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param3": {
"label": "Radius:",
"units": "meters",
"decimalPlaces": 2
}
},
{
"id": 18,
"rawName": "MAV_CMD_NAV_LOITER_TURNS",
"friendlyName": "Loiter (turns)",
"description": "Travel to a position and Loiter around the specified radius for a number of turns.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Turns:",
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"decimalPlaces": 2
}
},
{
"id": 19,
"rawName": "MAV_CMD_NAV_LOITER_TIME",
"friendlyName": "Loiter (time)",
"description": "Travel to a position and Loiter around the specified radius for an amount of time.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Hold:",
"units": "seconds",
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"decimalPlaces": 2
}
},
{
"id": 20,
"rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH",
"friendlyName": "Return Home",
"description": "Send the vehicle back to the home position.",
"friendlyEdit": true
},
{
"id": 21,
"rawName": "MAV_CMD_NAV_LAND",
"friendlyName": "Land",
"description": "Land vehicle at the specified location.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Abort Alt:",
"units": "meters",
"decimalPlaces": 3
},
"param4": {
"label": "Heading:",
"units": "degrees",
"decimalPlaces": 2
}
},
{
"id": 22,
"rawName": "MAV_CMD_NAV_TAKEOFF",
"friendlyName": "Takeoff",
"description": "Take off from the ground and travel towards the specified position.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Pitch:",
"units": "degrees",
"decimalPlaces": 2
},
"param4": {
"label": "Heading:",
"units": "degrees",
"decimalPlaces": 2
}
},
{ "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" },
{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" },
{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
{ "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" },
{ "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" },
{ "id": 80, "rawName": "MAV_CMD_NAV_ROI", "friendlyName": "MAV_CMD_NAV_ROI" },
{ "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" },
{ "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" },
{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
{ "id": 92, "rawName": "MAV_CMD_NAV_GUIDED_ENABLE", "friendlyName": "MAV_CMD_NAV_GUIDED_ENABLE" },
{
"id": 112,
"rawName": "MAV_CMD_CONDITION_DELAY",
"friendlyName": "Delay",
"description": "Delay the mission for the number of seconds.",
"friendlyEdit": true,
"param1": {
"label": "Hold:",
"units": "seconds",
"decimalPlaces": 0
}
},
{ "id": 113, "rawName": "MAV_CMD_CONDITION_CHANGE_ALT", "friendlyName": "MAV_CMD_CONDITION_CHANGE_ALT" },
{ "id": 114, "rawName": "MAV_CMD_CONDITION_DISTANCE", "friendlyName": "MAV_CMD_CONDITION_DISTANCE" },
{ "id": 115, "rawName": "MAV_CMD_CONDITION_YAW", "friendlyName": "MAV_CMD_CONDITION_YAW" },
{ "id": 159, "rawName": "MAV_CMD_CONDITION_LAST", "friendlyName": "MAV_CMD_CONDITION_LAST" },
{ "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "MAV_CMD_DO_SET_MODE" },
{
"id": 177,
"rawName": "MAV_CMD_DO_JUMP",
"friendlyName": "Jump to item",
"description": "Mission will continue at the specified item.",
"friendlyEdit": true,
"param1": {
"label": "Seq #:",
"decimalPlaces": 0
},
"param2": {
"label": "Repeat:",
"decimalPlaces": 0
}
},
{ "id": 178, "rawName": "MAV_CMD_DO_CHANGE_SPEED", "friendlyName": "MAV_CMD_DO_CHANGE_SPEED" },
{ "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" },
{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" },
{ "id": 181, "rawName": "MAV_CMD_DO_SET_RELAY", "friendlyName": "MAV_CMD_DO_SET_RELAY" },
{ "id": 182, "rawName": "MAV_CMD_DO_REPEAT_RELAY", "friendlyName": "MAV_CMD_DO_REPEAT_RELAY" },
{ "id": 183, "rawName": "MAV_CMD_DO_SET_SERVO", "friendlyName": "MAV_CMD_DO_SET_SERVO" },
{ "id": 184, "rawName": "MAV_CMD_DO_REPEAT_SERVO", "friendlyName": "MAV_CMD_DO_REPEAT_SERVO" },
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
{ "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" },
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" },
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" },
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" },
{ "id": 201, "rawName": "MAV_CMD_DO_SET_ROI", "friendlyName": "MAV_CMD_DO_SET_ROI" },
{ "id": 202, "rawName": "MAV_CMD_DO_DIGICAM_CONFIGURE", "friendlyName": "MAV_CMD_DO_DIGICAM_CONFIGURE" },
{ "id": 203, "rawName": "MAV_CMD_DO_DIGICAM_CONTROL", "friendlyName": "MAV_CMD_DO_DIGICAM_CONTROL" },
{ "id": 204, "rawName": "MAV_CMD_DO_MOUNT_CONFIGURE", "friendlyName": "MAV_CMD_DO_MOUNT_CONFIGURE" },
{ "id": 205, "rawName": "MAV_CMD_DO_MOUNT_CONTROL", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL" },
{ "id": 206, "rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST", "friendlyName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST" },
{ "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" },
{ "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" },
{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" },
{ "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" },
{ "id": 211, "rawName": "MAV_CMD_DO_GRIPPER", "friendlyName": "MAV_CMD_DO_GRIPPER" },
{ "id": 212, "rawName": "MAV_CMD_DO_AUTOTUNE_ENABLE", "friendlyName": "MAV_CMD_DO_AUTOTUNE_ENABLE" },
{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" },
{ "id": 222, "rawName": "MAV_CMD_DO_GUIDED_LIMITS", "friendlyName": "MAV_CMD_DO_GUIDED_LIMITS" },
{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "MAV_CMD_OVERRIDE_GOTO" },
{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "MAV_CMD_MISSION_START" },
{ "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "MAV_CMD_COMPONENT_ARM_DISARM" },
{ "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_START_CAPTURE" },
{ "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_STOP_CAPTURE" },
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "MAV_CMD_DO_TRIGGER_CONTROL" },
{ "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_START_CAPTURE" },
{ "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_STOP_CAPTURE" },
{ "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "MAV_CMD_PANORAMA_CREATE" },
{ "id": 3000, "rawName": "MAV_CMD_DO_VTOL_TRANSITION", "friendlyName": "MAV_CMD_DO_VTOL_TRANSITION" },
{ "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY" },
{ "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY" }
]
}
src/MissionManager/MissionController.cc
View file @ d499b513
......@@ -37,7 +37,6 @@ MissionController::MissionController(QObject *parent)
: QObject(parent)
, _editMode(false)
, _missionItems(NULL)
, _canEdit(true)
, _activeVehicle(NULL)
, _liveHomePositionAvailable(false)
, _autoSync(false)
......@@ -51,7 +50,6 @@ MissionController::MissionController(QObject *parent)
MissionController::~MissionController()
{
// Start with empty list
_canEdit = true;
_missionItems = new QmlObjectListModel(this);
_initAllMissionItems();
}
......@@ -129,11 +127,9 @@ void MissionController::_setupMissionItems(bool loadFromVehicle, bool forceLoad)
}
if (!missionManager || !loadFromVehicle || missionManager->inProgress()) {
_canEdit = true;
_missionItems = new QmlObjectListModel(this);
qCDebug(MissionControllerLog) << "creating empty set";
} else {
_canEdit = missionManager->canEdit();
_missionItems = missionManager->copyMissionItems();
qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count();
}
......@@ -163,18 +159,15 @@ void MissionController::sendMissionItems(void)
int MissionController::addMissionItem(QGeoCoordinate coordinate)
{
if (!_canEdit) {
qWarning() << "addMissionItem called with _canEdit == false";
}
// Coordinate will come through without altitude
coordinate.setAltitude(MissionItem::defaultAltitude);
MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT);
MissionItem * newItem = new MissionItem(this);
newItem->setSequenceNumber(_missionItems->count());
newItem->setCoordinate(coordinate);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
_initMissionItem(newItem);
if (_missionItems->count() == 1) {
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
}
newItem->setDefaultsForCommand();
_missionItems->append(newItem);
_recalcAll();
......@@ -184,11 +177,6 @@ int MissionController::addMissionItem(QGeoCoordinate coordinate)
void MissionController::removeMissionItem(int index)
{
if (!_canEdit) {
qWarning() << "addMissionItem called with _canEdit == false";
return;
}
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index));
_deinitMissionItem(item);
......@@ -221,8 +209,6 @@ void MissionController::loadMissionFromFile(void)
}
_missionItems = new QmlObjectListModel(this);
_canEdit = true;
// FIXME: This needs to handle APM files which have WP 0 in them
QFile file(filename);
......@@ -242,10 +228,6 @@ void MissionController::loadMissionFromFile(void)
if (item->load(in)) {
_missionItems->append(item);
if (!item->canEdit()) {
_canEdit = false;
}
} else {
errorString = "The mission file is corrupted.";
break;
......@@ -422,7 +404,9 @@ void MissionController::_initAllMissionItems(void)
// Add the home position item to the front
homeItem = new MissionItem(this);
homeItem->setHomePositionSpecialCase(true);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LAST);
homeItem->setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
homeItem->setSequenceNumber(0);
_missionItems->insert(0, homeItem);
}
homeItem->setHomePositionValid(false);
......@@ -434,7 +418,6 @@ void MissionController::_initAllMissionItems(void)
_recalcAll();
emit missionItemsChanged();
emit canEditChanged(_canEdit);
_missionItems->setDirty(false);
......
src/MissionManager/MissionController.h
View file @ d499b513
......@@ -42,7 +42,6 @@ public:
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged)
......@@ -60,7 +59,6 @@ public:
QmlObjectListModel* missionItems(void);
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
bool canEdit(void) { return _canEdit; }
bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
bool autoSync(void) { return _autoSync; }
......@@ -68,7 +66,6 @@ public:
signals:
void missionItemsChanged(void);
void canEditChanged(bool canEdit);
void waypointLinesChanged(void);
void liveHomePositionAvailableChanged(bool homePositionAvailable);
void liveHomePositionChanged(const QGeoCoordinate& homePosition);
......@@ -103,7 +100,6 @@ private:
bool _editMode;
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
bool _canEdit; ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
Vehicle* _activeVehicle;
bool _liveHomePositionAvailable;
QGeoCoordinate _liveHomePosition;
......
src/MissionManager/MissionControllerManagerTest.cc
View file @ d499b513
......@@ -48,7 +48,6 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
_missionManager = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->missionManager();
QVERIFY(_missionManager);
_rgMissionManagerSignals[canEditChangedSignalIndex] = SIGNAL(canEditChanged(bool));
_rgMissionManagerSignals[newMissionItemsAvailableSignalIndex] = SIGNAL(newMissionItemsAvailable(void));
_rgMissionManagerSignals[inProgressChangedSignalIndex] = SIGNAL(inProgressChanged(bool));
_rgMissionManagerSignals[errorSignalIndex] = SIGNAL(error(int, const QString&));
......@@ -61,7 +60,6 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
_multiSpyMissionManager->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, _missionManagerSignalWaitTime);
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
QCOMPARE(_multiSpyMissionManager->checkNoSignalByMask(canEditChangedSignalIndex), true);
}
QVERIFY(!_missionManager->inProgress());
......
src/MissionManager/MissionControllerManagerTest.h
View file @ d499b513
......@@ -49,16 +49,16 @@ protected:
MissionManager* _missionManager;
typedef struct {
int sequenceNumber;
QGeoCoordinate coordinate;
int command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
int frame;
int sequenceNumber;
QGeoCoordinate coordinate;
MAV_CMD command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
......@@ -67,15 +67,13 @@ protected:
} TestCase_t;
typedef enum {
canEditChangedSignalIndex = 0,
newMissionItemsAvailableSignalIndex,
newMissionItemsAvailableSignalIndex = 0,
inProgressChangedSignalIndex,
errorSignalIndex,
maxSignalIndex
} MissionManagerSignalIndex_t;
typedef enum {
canEditChangedSignalMask = 1 << canEditChangedSignalIndex,
newMissionItemsAvailableSignalMask = 1 << newMissionItemsAvailableSignalIndex,
inProgressChangedSignalMask = 1 << inProgressChangedSignalIndex,
errorSignalMask = 1 << errorSignalIndex,
......
src/MissionManager/MissionItem.cc 0 → 100644
View file @ d499b513
/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include <QStringList>
#include <QJsonDocument>
#include <QJsonParseError>
#include <QDebug>
#include "MissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
const double MissionItem::defaultTakeoffPitch = 15.0;
const double MissionItem::defaultHeading = 0.0;
const double MissionItem::defaultAltitude = 25.0;
const double MissionItem::defaultAcceptanceRadius = 3.0;
const double MissionItem::defaultLoiterOrbitRadius = 10.0;
const double MissionItem::defaultLoiterTurns = 1.0;
FactMetaData* MissionItem::_altitudeMetaData = NULL;
FactMetaData* MissionItem::_commandMetaData = NULL;
FactMetaData* MissionItem::_defaultParamMetaData = NULL;
FactMetaData* MissionItem::_frameMetaData = NULL;
FactMetaData* MissionItem::_latitudeMetaData = NULL;
FactMetaData* MissionItem::_longitudeMetaData = NULL;
FactMetaData* MissionItem::_supportedCommandMetaData = NULL;
const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
const QString MissionItem::_descriptionJsonKey (QStringLiteral("description"));
const QString MissionItem::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
const QString MissionItem::_idJsonKey (QStringLiteral("id"));
const QString MissionItem::_labelJsonKey (QStringLiteral("label"));
const QString MissionItem::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo"));
const QString MissionItem::_param1JsonKey (QStringLiteral("param1"));
const QString MissionItem::_param2JsonKey (QStringLiteral("param2"));
const QString MissionItem::_param3JsonKey (QStringLiteral("param3"));
const QString MissionItem::_param4JsonKey (QStringLiteral("param4"));
const QString MissionItem::_paramJsonKeyFormat (QStringLiteral("param%1"));
const QString MissionItem::_rawNameJsonKey (QStringLiteral("rawName"));
const QString MissionItem::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
const QString MissionItem::_unitsJsonKey (QStringLiteral("units"));
const QString MissionItem::_versionJsonKey (QStringLiteral("version"));
const QString MissionItem::_degreesUnits (QStringLiteral("degrees"));
QMap<MAV_CMD, MissionItem::MavCmdInfo_t> MissionItem::_mavCmdInfoMap;
struct EnumInfo_s {
const char * label;
MAV_FRAME frame;
};
static const struct EnumInfo_s _rgMavFrameInfo[] = {
{ "MAV_FRAME_GLOBAL", MAV_FRAME_GLOBAL },
{ "MAV_FRAME_LOCAL_NED", MAV_FRAME_LOCAL_NED },
{ "MAV_FRAME_MISSION", MAV_FRAME_MISSION },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT", MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ "MAV_FRAME_LOCAL_ENU", MAV_FRAME_LOCAL_ENU },
{ "MAV_FRAME_GLOBAL_INT", MAV_FRAME_GLOBAL_INT },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
{ "MAV_FRAME_LOCAL_OFFSET_NED", MAV_FRAME_LOCAL_OFFSET_NED },
{ "MAV_FRAME_BODY_NED", MAV_FRAME_BODY_NED },
{ "MAV_FRAME_BODY_OFFSET_NED", MAV_FRAME_BODY_OFFSET_NED },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT", MAV_FRAME_GLOBAL_TERRAIN_ALT },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
return dbg;
}
QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
return dbg;
}
MissionItem::MissionItem(QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Latitude:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Longitude:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
setAutoContinue(true);
}
MissionItem::MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent)
: QObject(parent)
, _rawEdit(false)
, _dirty(false)
, _sequenceNumber(sequenceNumber)
, _isCurrentItem(isCurrentItem)
, _distance(0.0)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _param1MetaData(FactMetaData::valueTypeDouble)
, _param2MetaData(FactMetaData::valueTypeDouble)
, _param3MetaData(FactMetaData::valueTypeDouble)
, _param4MetaData(FactMetaData::valueTypeDouble)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
setCommand(command);
setFrame(frame);
setAutoContinue(autoContinue);
_syncFrameToAltitudeRelativeToHome();
_syncCommandToSupportedCommand(QVariant(this->command()));
_param1Fact.setRawValue(param1);
_param2Fact.setRawValue(param2);
_param3Fact.setRawValue(param3);
_param4Fact.setRawValue(param4);
_param5Fact.setValue(param5);
_param6Fact.setValue(param6);
_param7Fact.setValue(param7);
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
, _syncingAltitudeRelativeToHomeAndFrame (false)
, _syncingHeadingDegreesAndParam4 (false)
, _syncingSupportedCommandAndCommand (false)
{
_setupMetaData();
_connectSignals();
*this = other;
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
{
setCommand(other.command());
setFrame(other.frame());
setRawEdit(other._rawEdit);
setDirty(other._dirty);
setSequenceNumber(other._sequenceNumber);
setAutoContinue(other.autoContinue());
setIsCurrentItem(other._isCurrentItem);
setDistance(other._distance);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setHomePositionValid(other._homePositionValid);
_syncFrameToAltitudeRelativeToHome();
_syncCommandToSupportedCommand(QVariant(this->command()));
_param1Fact.setValue(other._param1Fact.value());
_param2Fact.setValue(other._param2Fact.value());
_param3Fact.setValue(other._param3Fact.value());
_param4Fact.setValue(other._param4Fact.value());
_param5Fact.setValue(other._param5Fact.value());
_param6Fact.setValue(other._param6Fact.value());
_param7Fact.setValue(other._param7Fact.value());
return *this;
}
void MissionItem::_connectSignals(void)
{
// Connect to change signals to track dirty state
connect(&_param1Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param2Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param3Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param4Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::commandChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::frameChanged, this, &MissionItem::_setDirtyFromSignal);
connect(this, &MissionItem::sequenceNumberChanged, this, &MissionItem::_setDirtyFromSignal);
// Values from these facts must propogate back and forth between the real object storage
connect(&_supportedCommandFact, &Fact::valueChanged, this, &MissionItem::_syncSupportedCommandToCommand);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_syncCommandToSupportedCommand);
connect(&_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
connect(this, &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
// These are parameter coordinates, they must emit coordinateChanged signal
connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
// The following changes may also change friendlyEditAllowed
connect(&_autoContinueFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
connect(this, &MissionItem::frameChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
// Whenever these properties change the ui model changes as well
connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
}
bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
{
for (int i=0; i<keys.count(); i++) {
if (jsonObject.contains(keys[i])) {
if (jsonObject.value(keys[i]).type() != types[i]) {
qWarning() << "Incorrect type key:type:expected" << keys[i] << jsonObject.value(keys[i]).type() << types[i];
return false;
}
}
}
return true;
}
bool MissionItem::_loadMavCmdInfoJson(void)
{
QFile jsonFile(":/json/MavCmdInfo.json");
if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
qWarning() << "Unable to open MavCmdInfo.json" << jsonFile.errorString();
return false;
}
QByteArray bytes = jsonFile.readAll();
jsonFile.close();
QJsonParseError jsonParseError;
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
if (jsonParseError.error != QJsonParseError::NoError) {
qWarning() << "Unable to open json document" << jsonParseError.errorString();
return false;
}
QJsonObject json = doc.object();
int version = json.value(_versionJsonKey).toInt();
if (version != 1) {
qWarning() << "Invalid version" << version;
return false;
}
QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);
if (!jsonValue.isArray()) {
qWarning() << "mavCmdInfo not array";
return false;
}
QJsonArray jsonArray = jsonValue.toArray();
foreach(QJsonValue info, jsonArray) {
if (!info.isObject()) {
qWarning() << "mavCmdArray should contain objects";
return false;
}
QJsonObject jsonObject = info.toObject();
// Make sure we have the required keys
QStringList requiredKeys;
requiredKeys << _idJsonKey << _rawNameJsonKey;
foreach (QString key, requiredKeys) {
if (!jsonObject.contains(key)) {
qWarning() << "Mission required key" << key;
return false;
}
}
// Validate key types
QStringList keys;
QList<QJsonValue::Type> types;
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object;
if (!_validateKeyTypes(jsonObject, keys, types)) {
return false;
}
MavCmdInfo_t mavCmdInfo;
mavCmdInfo.command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt();
mavCmdInfo.rawName = jsonObject.value(_rawNameJsonKey).toString();
mavCmdInfo.friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
mavCmdInfo.description = jsonObject.value(_descriptionJsonKey).toString(QString());
mavCmdInfo.specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
mavCmdInfo.friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
if (_mavCmdInfoMap.contains(mavCmdInfo.command)) {
qWarning() << "Duplicate command" << mavCmdInfo.command;
return false;
}
_mavCmdInfoMap[mavCmdInfo.command] = mavCmdInfo;
// Read params
for (int i=1; i<5; i++) {
QString paramKey = QString(_paramJsonKeyFormat).arg(i);
if (jsonObject.contains(paramKey)) {
QJsonObject paramObject = jsonObject.value(paramKey).toObject();
// Validate key types
QStringList keys;
QList<QJsonValue::Type> types;
keys << _labelJsonKey << _unitsJsonKey << _decimalPlacesJsonKey;
types << QJsonValue::String << QJsonValue::String<< QJsonValue::Double;
if (!_validateKeyTypes(paramObject, keys, types)) {
return false;
}
if (paramObject.contains(_labelJsonKey)) {
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].label = paramObject.value(_labelJsonKey).toString();
} else {
qWarning() << "param object missing label key" << mavCmdInfo.rawName << paramKey;
return false;
}
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString();
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
}
}
}
return true;
}
void MissionItem::_setupMetaData(void)
{
QStringList enumStrings;
QVariantList enumValues;
if (!_altitudeMetaData) {
_loadMavCmdInfoJson();
_altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_altitudeMetaData->setUnits("meters");
_altitudeMetaData->setDecimalPlaces(3);
enumStrings.clear();
enumValues.clear();
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
enumStrings.append(mavCmdInfo.rawName);
enumValues.append(QVariant(mavCmdInfo.command));
}
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_commandMetaData->setEnumInfo(enumStrings, enumValues);
_defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_defaultParamMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
enumStrings.append(mavFrameInfo->label);
enumValues.append(QVariant(mavFrameInfo->frame));
}
_frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_frameMetaData->setEnumInfo(enumStrings, enumValues);
_latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_latitudeMetaData->setUnits("deg");
_latitudeMetaData->setDecimalPlaces(7);
_longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
_longitudeMetaData->setUnits("deg");
_longitudeMetaData->setDecimalPlaces(7);
enumStrings.clear();
enumValues.clear();
// FIXME: Hack hardcode tp PX4
QList<MAV_CMD> supportedCommands = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR)->supportedMissionCommands();
if (supportedCommands.count()) {
foreach (MAV_CMD command, supportedCommands) {
enumStrings.append(_mavCmdInfoMap[command].friendlyName);
enumValues.append(QVariant(command));
}
} else {
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
enumStrings.append(mavCmdInfo.friendlyName);
enumValues.append(QVariant(mavCmdInfo.command));
}
}
_supportedCommandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
_supportedCommandMetaData->setEnumInfo(enumStrings, enumValues);
}
_commandFact.setMetaData(_commandMetaData);
_frameFact.setMetaData(_frameMetaData);
_supportedCommandFact.setMetaData(_supportedCommandMetaData);
}
MissionItem::~MissionItem()
{
}
void MissionItem::save(QTextStream &saveStream)
{
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <autoContinue> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << sequenceNumber() << "\t"
<< isCurrentItem() << "\t"
<< frame() << "\t"
<< command() << "\t"
<< QString("%1").arg(param1(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param2(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param3(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param4(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param5(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param6(), 0, 'g', 18) << "\t"
<< QString("%1").arg(param7(), 0, 'g', 18) << "\t"
<< this->autoContinue() << "\r\n";
}
bool MissionItem::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12) {
setSequenceNumber(wpParams[0].toInt());
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
setFrame((MAV_FRAME)wpParams[2].toInt());
setCommand((MAV_CMD)wpParams[3].toInt());
setParam1(wpParams[4].toDouble());
setParam2(wpParams[5].toDouble());
setParam3(wpParams[6].toDouble());
setParam4(wpParams[7].toDouble());
setParam5(wpParams[8].toDouble());
setParam6(wpParams[9].toDouble());
setParam7(wpParams[10].toDouble());
setAutoContinue(wpParams[11].toInt() == 1 ? true : false);
return true;
}
return false;
}
void MissionItem::setSequenceNumber(int sequenceNumber)
{
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
}
void MissionItem::setCommand(MAV_CMD command)
{
if ((MAV_CMD)this->command() != command) {
_commandFact.setValue(command);
emit commandChanged(this->command());
}
}
void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
setCommand((MAV_CMD)command);
}
void MissionItem::setFrame(MAV_FRAME frame)
{
if (this->frame() != frame) {
_frameFact.setValue(frame);
}
}
void MissionItem::setAutoContinue(bool autoContinue)
{
if (this->autoContinue() != autoContinue) {
_autoContinueFact.setValue(autoContinue);
}
}
void MissionItem::setIsCurrentItem(bool isCurrentItem)
{
if (_isCurrentItem != isCurrentItem) {
_isCurrentItem = isCurrentItem;
emit isCurrentItemChanged(isCurrentItem);
}
}
void MissionItem::setParam1(double param)
{
if (param1() != param) {
_param1Fact.setRawValue(param);
}
}
void MissionItem::setParam2(double param)
{
if (param2() != param) {
_param2Fact.setRawValue(param);
}
}
void MissionItem::setParam3(double param)
{
if (param3() != param) {
_param3Fact.setRawValue(param);
}
}
void MissionItem::setParam4(double param)
{
if (param4() != param) {
_param4Fact.setRawValue(param);
}
}
void MissionItem::setParam5(double param)
{
if (param5() != param) {
_param5Fact.setRawValue(param);
}
}
void MissionItem::setParam6(double param)
{
if (param6() != param) {
_param6Fact.setRawValue(param);
}
}
void MissionItem::setParam7(double param)
{
if (param7() != param) {
_param7Fact.setRawValue(param);
}
}
bool MissionItem::specifiesCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()].specifiesCoordinate;
}
QString MissionItem::commandDescription(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()].description;
}
void MissionItem::_clearParamMetaData(void)
{
_param1MetaData.setUnits("");
_param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param1MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param2MetaData.setUnits("");
_param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param2MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param3MetaData.setUnits("");
_param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param3MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
_param4MetaData.setUnits("");
_param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
_param4MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
}
QmlObjectListModel* MissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
_param1Fact._setName("Param1:");
_param1Fact.setMetaData(_defaultParamMetaData);
model->append(&_param1Fact);
_param2Fact._setName("Param2:");
_param2Fact.setMetaData(_defaultParamMetaData);
model->append(&_param2Fact);
_param3Fact._setName("Param3:");
_param3Fact.setMetaData(_defaultParamMetaData);
model->append(&_param3Fact);
_param4Fact._setName("Param4:");
_param4Fact.setMetaData(_defaultParamMetaData);
model->append(&_param4Fact);
_param5Fact._setName("Lat/X:");
_param5Fact.setMetaData(_defaultParamMetaData);
model->append(&_param5Fact);
_param6Fact._setName("Lon/Y:");
_param6Fact.setMetaData(_defaultParamMetaData);
model->append(&_param6Fact);
_param7Fact._setName("Alt/Z:");
_param7Fact.setMetaData(_defaultParamMetaData);
model->append(&_param7Fact);
} else {
_clearParamMetaData();
MAV_CMD command = (MAV_CMD)this->command();
if (_mavCmdInfoMap[command].paramInfoMap.contains(1)) {
_param1Fact._setName(_mavCmdInfoMap[command].paramInfoMap[1].label);
_param1MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[1].units);
_param1MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[1].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[1].units == _degreesUnits) {
_param1MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param1Fact.setMetaData(&_param1MetaData);
model->append(&_param1Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(2)) {
_param2Fact._setName(_mavCmdInfoMap[command].paramInfoMap[2].label);
_param2MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[2].units);
_param2MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[2].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[2].units == _degreesUnits) {
_param2MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param2Fact.setMetaData(&_param2MetaData);
model->append(&_param2Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(3)) {
_param3Fact._setName(_mavCmdInfoMap[command].paramInfoMap[3].label);
_param3MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[3].units);
_param3MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[3].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[3].units == _degreesUnits) {
_param3MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param3Fact.setMetaData(&_param3MetaData);
model->append(&_param3Fact);
}
if (_mavCmdInfoMap[command].paramInfoMap.contains(4)) {
_param4Fact._setName(_mavCmdInfoMap[command].paramInfoMap[4].label);
_param4MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[4].units);
_param4MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[4].decimalPlaces);
if (_mavCmdInfoMap[command].paramInfoMap[4].units == _degreesUnits) {
_param4MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
}
_param4Fact.setMetaData(&_param4MetaData);
model->append(&_param4Fact);
}
if (specifiesCoordinate()) {
_param7Fact._setName("Altitude:");
_param7Fact.setMetaData(_altitudeMetaData);
model->append(&_param7Fact);
}
}
return model;
}
QmlObjectListModel* MissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_autoContinueFact);
} else if (specifiesCoordinate()) {
model->append(&_altitudeRelativeToHomeFact);
}
return model;
}
QmlObjectListModel* MissionItem::comboboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
if (rawEdit()) {
model->append(&_commandFact);
model->append(&_frameFact);
}
return model;
}
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(_param5Fact.value().toDouble(), _param6Fact.value().toDouble(), _param7Fact.value().toDouble());
}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
setParam5(coordinate.latitude());
setParam6(coordinate.longitude());
setParam7(coordinate.altitude());
}
bool MissionItem::friendlyEditAllowed(void) const
{
if (_mavCmdInfoMap[(MAV_CMD)command()].friendlyEdit) {
if (!autoContinue()) {
return false;
}
if (specifiesCoordinate()) {
return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
} else {
return frame() == MAV_FRAME_MISSION;
}
}
return false;
}
bool MissionItem::rawEdit(void) const
{
return _rawEdit || !friendlyEditAllowed();
}
void MissionItem::setRawEdit(bool rawEdit)
{
if (_rawEdit != rawEdit) {
_rawEdit = rawEdit;
emit rawEditChanged(this->rawEdit());
}
}
void MissionItem::setDirty(bool dirty)
{
if (!_homePositionSpecialCase || !dirty) {
// Home position never affects dirty bit
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
}
void MissionItem::_setDirtyFromSignal(void)
{
setDirty(true);
}
void MissionItem::setHomePositionValid(bool homePositionValid)
{
_homePositionValid = homePositionValid;
emit homePositionValidChanged(_homePositionValid);
}
void MissionItem::setDistance(double distance)
{
_distance = distance;
emit distanceChanged(_distance);
}
void MissionItem::_sendCoordinateChanged(void)
{
emit coordinateChanged(coordinate());
}
void MissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_altitudeRelativeToHomeFact.setValue(relativeAltitude());
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
qDebug() << value.toInt();
_syncingSupportedCommandAndCommand = true;
_commandFact.setValue(value.toInt());
qDebug() << _commandFact.value().toInt();
_syncingSupportedCommandAndCommand = false;
}
}
void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
_syncingSupportedCommandAndCommand = true;
_supportedCommandFact.setValue(value.toInt());
_syncingSupportedCommandAndCommand = false;
}
}
void MissionItem::setDefaultsForCommand(void)
{
switch ((MAV_CMD)command()) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
setParam1(_degreesToRadians(defaultTakeoffPitch).toDouble());
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
setParam2(defaultAcceptanceRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
setParam3(defaultLoiterOrbitRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
setParam1(defaultLoiterTurns);
setParam3(defaultLoiterOrbitRadius);
break;
default:
break;
}
setParam4(_degreesToRadians(defaultHeading).toDouble());
setParam7(defaultAltitude);
setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
}
void MissionItem::_sendUiModelChanged(void)
{
emit uiModelChanged();
}
void MissionItem::_sendFrameChanged(void)
{
emit frameChanged(frame());
}
void MissionItem::_sendCommandChanged(void)
{
emit commandChanged(command());
}
QString MissionItem::commandName(void) const
{
MavCmdInfo_t& mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
return mavCmdInfo.friendlyName.isEmpty() ? mavCmdInfo.rawName : mavCmdInfo.friendlyName;
}
QVariant MissionItem::_degreesToRadians(const QVariant& degrees)
{
return QVariant(degrees.toDouble() * (M_PI / 180.0));
}
QVariant MissionItem::_radiansToDegrees(const QVariant& radians)
{
return QVariant(radians.toDouble() * (180 / M_PI));
}
void MissionItem::_sendFriendlyEditAllowedChanged(void)
{
emit friendlyEditAllowedChanged(friendlyEditAllowed());
}
src/MissionManager/MissionItem.h 0 → 100644
View file @ d499b513
/*=====================================================================
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 MissionItem_H
#define MissionItem_H
#include <QObject>
#include <QString>
#include <QtQml>
#include <QTextStream>
#include <QGeoCoordinate>
#include <QJsonObject>
#include <QJsonValue>
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MavlinkQmlSingleton.h"
#include "QmlObjectListModel.h"
#include "Fact.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
class MissionItem : public QObject
{
Q_OBJECT
public:
MissionItem(QObject* parent = NULL);
MissionItem(int sequenceNumber,
MAV_CMD command,
MAV_FRAME frame,
double param1,
double param2,
double param3,
double param4,
double param5,
double param6,
double param7,
bool autoContinue,
bool isCurrentItem,
QObject* parent = NULL);
MissionItem(const MissionItem& other, QObject* parent = NULL);
~MissionItem();
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged) ///< true: Home position should be shown
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(Fact* supportedCommand READ supportedCommand NOTIFY commandChanged)
// These properties are used to display the editing ui
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* comboboxFacts READ comboboxFacts NOTIFY uiModelChanged)
Q_PROPERTY(QmlObjectListModel* textFieldFacts READ textFieldFacts NOTIFY uiModelChanged)
/// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
/// are shown next to the part item in the ui.
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
Q_INVOKABLE void setDefaultsForCommand(void);
// Property accesors
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
QString commandDescription (void) const;
QString commandName (void) const;
QGeoCoordinate coordinate (void) const;
bool dirty (void) const { return _dirty; }
double distance (void) const { return _distance; }
bool friendlyEditAllowed (void) const;
bool homePosition (void) const { return _homePositionSpecialCase; }
bool homePositionValid (void) const { return _homePositionValid; }
bool isCurrentItem (void) const { return _isCurrentItem; }
bool rawEdit (void) const;
int sequenceNumber (void) const { return _sequenceNumber; }
bool specifiesCoordinate (void) const;
Fact* supportedCommand (void) { return &_supportedCommandFact; }
QmlObjectListModel* textFieldFacts (void);
QmlObjectListModel* checkboxFacts (void);
QmlObjectListModel* comboboxFacts (void);
QmlObjectListModel* childItems (void) { return &_childItems; }
void setRawEdit(bool rawEdit);
void setDirty(bool dirty);
void setSequenceNumber(int sequenceNumber);
void setIsCurrentItem(bool isCurrentItem);
void setCoordinate(const QGeoCoordinate& coordinate);
void setCommandByIndex(int index);
void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
void setHomePositionValid(bool homePositionValid);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setDistance(double distance);
// C++ only methods
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.value().toInt(); }
bool autoContinue(void) const { return _autoContinueFact.value().toBool(); }
double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
double param4 (void) const { return _param4Fact.rawValue().toDouble(); }
double param5 (void) const { return _param5Fact.rawValue().toDouble(); }
double param6 (void) const { return _param6Fact.rawValue().toDouble(); }
double param7 (void) const { return _param7Fact.rawValue().toDouble(); }
void setCommand (MAV_CMD command);
void setFrame (MAV_FRAME frame);
void setAutoContinue(bool autoContinue);
void setParam1 (double param1);
void setParam2 (double param2);
void setParam3 (double param3);
void setParam4 (double param4);
void setParam5 (double param5);
void setParam6 (double param6);
void setParam7 (double param7);
// C++ only methods
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
static const double defaultTakeoffPitch;
static const double defaultHeading;
static const double defaultAltitude;
static const double defaultAcceptanceRadius;
static const double defaultLoiterOrbitRadius;
static const double defaultLoiterTurns;
signals:
void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command);
void coordinateChanged (const QGeoCoordinate& coordinate);
void dirtyChanged (bool dirty);
void distanceChanged (float distance);
void frameChanged (int frame);
void friendlyEditAllowedChanged (bool friendlyEditAllowed);
void headingDegreesChanged (double heading);
void homePositionValidChanged (bool homePostionValid);
void isCurrentItemChanged (bool isCurrentItem);
void rawEditChanged (bool rawEdit);
void sequenceNumberChanged (int sequenceNumber);
void uiModelChanged (void);
private slots:
void _setDirtyFromSignal(void);
void _sendCommandChanged(void);
void _sendCoordinateChanged(void);
void _sendFrameChanged(void);
void _sendFriendlyEditAllowedChanged(void);
void _sendUiModelChanged(void);
void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
void _syncCommandToSupportedCommand(const QVariant& value);
void _syncFrameToAltitudeRelativeToHome(void);
void _syncSupportedCommandToCommand(const QVariant& value);
private:
void _clearParamMetaData(void);
void _connectSignals(void);
bool _loadMavCmdInfoJson(void);
void _setupMetaData(void);
bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types);
static QVariant _degreesToRadians(const QVariant& degrees);
static QVariant _radiansToDegrees(const QVariant& radians);
private:
typedef struct {
QString label;
QString units;
int decimalPlaces;
} ParamInfo_t;
typedef struct {
MAV_CMD command;
QString rawName;
QString friendlyName;
QString description;
bool specifiesCoordinate;
bool friendlyEdit;
QMap<int, ParamInfo_t> paramInfoMap;
} MavCmdInfo_t;
bool _rawEdit;
bool _dirty;
int _sequenceNumber;
bool _isCurrentItem;
double _distance; ///< Distance to previous waypoint
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
bool _homePositionValid; ///< true: Home psition should be displayed
Fact _altitudeRelativeToHomeFact;
Fact _autoContinueFact;
Fact _commandFact;
Fact _frameFact;
Fact _param1Fact;
Fact _param2Fact;
Fact _param3Fact;
Fact _param4Fact;
Fact _param5Fact;
Fact _param6Fact;
Fact _param7Fact;
Fact _supportedCommandFact;
static FactMetaData* _altitudeMetaData;
static FactMetaData* _commandMetaData;
static FactMetaData* _defaultParamMetaData;
static FactMetaData* _frameMetaData;
static FactMetaData* _latitudeMetaData;
static FactMetaData* _longitudeMetaData;
static FactMetaData* _supportedCommandMetaData;
FactMetaData _param1MetaData;
FactMetaData _param2MetaData;
FactMetaData _param3MetaData;
FactMetaData _param4MetaData;
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
bool _syncingAltitudeRelativeToHomeAndFrame; ///< true: already in a sync signal, prevents signal loop
bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop
bool _syncingSupportedCommandAndCommand; ///< true: already in a sync signal, prevents signal loop
static QMap<MAV_CMD, MavCmdInfo_t> _mavCmdInfoMap;
static const QString _decimalPlacesJsonKey;
static const QString _descriptionJsonKey;
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 _specifiesCoordinateJsonKey;
static const QString _unitsJsonKey;
static const QString _versionJsonKey;
static const QString _degreesUnits;
};
QDebug operator<<(QDebug dbg, const MissionItem& missionItem);
QDebug operator<<(QDebug dbg, const MissionItem* missionItem);
#endif
src/MissionItemTest.cc → src/MissionManager/MissionItemTest.cc
View file @ d499b513
......@@ -54,11 +54,12 @@ const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] =
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Altitude:", -30.0 },
{ "Radius:", 30.0 },
{ "Seconds:", 10.0 },
{ "Hold:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Altitude:", -30.0 },
{ "Abort Alt:", 10.0 },
{ "Heading:", 1.0 },
};
......@@ -69,7 +70,7 @@ const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Seconds:", 10.0 },
{ "Hold:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
......@@ -101,18 +102,19 @@ void MissionItemTest::_test(void)
qDebug() << "Command:" << info->command;
MissionItem* item = new MissionItem(NULL,
info->sequenceNumber,
info->coordinate,
MissionItem* item = new MissionItem(info->sequenceNumber,
info->command,
info->frame,
info->param1,
info->param2,
info->param3,
info->param4,
info->coordinate.latitude(),
info->coordinate.longitude(),
info->coordinate.altitude(),
info->autocontinue,
info->isCurrentItem,
info->frame);
info->isCurrentItem);
// Validate the saving is working correctly
QString savedItemString;
QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
......@@ -123,6 +125,7 @@ void MissionItemTest::_test(void)
size_t factCount = 0;
for (int i=0; i<item->textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
qDebug() << fact->name();
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
......@@ -130,11 +133,7 @@ void MissionItemTest::_test(void)
if (factValue->name == fact->name()) {
qDebug() << factValue->name;
if (strcmp(factValue->name, "Heading:") == 0) {
QCOMPARE(fact->value().toDouble() * (M_PI / 180.0), item->_yawRadians());
} else {
QCOMPARE(fact->value().toDouble(), factValue->value);
}
QCOMPARE(fact->rawValue().toDouble(), factValue->value);
factCount ++;
found = true;
break;
......
src/MissionItemTest.h → src/MissionManager/MissionItemTest.h
View file @ d499b513
......@@ -49,14 +49,14 @@ private:
typedef struct {
int sequenceNumber;
QGeoCoordinate coordinate;
int command;
MAV_CMD command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
int frame;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
......
src/MissionManager/MissionManager.cc
View file @ d499b513
......@@ -35,7 +35,6 @@ QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
MissionManager::MissionManager(Vehicle* vehicle)
: _vehicle(vehicle)
, _cMissionItems(0)
, _canEdit(true)
, _ackTimeoutTimer(NULL)
, _retryAck(AckNone)
{
......@@ -287,24 +286,21 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
return;
}
MissionItem* item = new MissionItem(this,
missionItem.seq,
QGeoCoordinate(missionItem.x, missionItem.y, missionItem.z),
missionItem.command,
MissionItem* item = new MissionItem(missionItem.seq,
(MAV_CMD)missionItem.command,
(MAV_FRAME)missionItem.frame,
missionItem.param1,
missionItem.param2,
missionItem.param3,
missionItem.param4,
missionItem.x,
missionItem.y,
missionItem.z,
missionItem.autocontinue,
missionItem.current,
missionItem.frame);
this);
_missionItems.append(item);
if (!item->canEdit()) {
_canEdit = false;
emit canEditChanged(false);
}
int nextSequenceNumber = missionItem.seq + 1;
if (nextSequenceNumber == _cMissionItems) {
_readTransactionComplete();
......
src/MissionManager/MissionManager.h
View file @ d499b513
......@@ -49,13 +49,11 @@ public:
Q_PROPERTY(bool inProgress READ inProgress NOTIFY inProgressChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems CONSTANT)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
// Property accessors
bool inProgress(void) { return _retryAck != AckNone; }
QmlObjectListModel* missionItems(void) { return &_missionItems; }
bool canEdit(void) { return _canEdit; }
// C++ methods
......@@ -85,8 +83,6 @@ public:
static const int _maxRetryCount = 5;
signals:
// Public signals
void canEditChanged(bool canEdit);
void newMissionItemsAvailable(void);
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
......@@ -123,7 +119,6 @@ private:
Vehicle* _vehicle;
int _cMissionItems; ///< Mission items on vehicle
bool _canEdit; ///< true: Mission items are editable in the ui
QTimer* _ackTimeoutTimer;
AckType_t _retryAck;
......
src/MissionManager/MissionManagerTest.cc
View file @ d499b513
......@@ -58,8 +58,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
homeItem->setHomePositionSpecialCase(true);
homeItem->setHomePositionValid(false);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
homeItem->setLatitude(47.3769);
homeItem->setLongitude(8.549444);
homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
homeItem->setSequenceNumber(0);
list->insert(0, homeItem);
......@@ -137,8 +136,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
checkExpectedMessageBox();
}
QCOMPARE(_missionManager->canEdit(), true);
delete list;
list = NULL;
_multiSpyMissionManager->clearAllSignals();
......@@ -172,7 +169,6 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
// newMissionItemsAvailable signal
_multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
QCOMPARE(_multiSpyMissionManager->checkNoSignalByMask(canEditChangedSignalMask), true);
_checkInProgressValues(false);
} else {
......@@ -233,7 +229,6 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
}
QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected);
QCOMPARE(_missionManager->canEdit(), true);
size_t firstActualItem = 0;
if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
......
src/QmlControls/MissionItemEditor.qml
View file @ d499b513
......@@ -40,6 +40,13 @@ Rectangle {
anchors.right: parent.right
height: valuesRect.visible ? valuesRect.y + valuesRect.height : valuesRect.y
MouseArea {
anchors.fill: parent
visible: !missionItem.isCurrentItem
onClicked: _root.clicked()
}
MissionItemIndexLabel {
id: label
anchors.verticalCenter: commandPicker.verticalCenter
......@@ -47,21 +54,30 @@ Rectangle {
label: missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
}
MouseArea {
anchors.fill: parent
visible: !missionItem.isCurrentItem
onClicked: _root.clicked()
Image {
id: rawEdit
anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 8
anchors.left: label.right
anchors.verticalCenter: commandPicker.verticalCenter
width: commandPicker.height
height: commandPicker.height
visible: missionItem.friendlyEditAllowed && missionItem.sequenceNumber != 0 && missionItem.isCurrentItem
source: "qrc:/qmlimages/CogWheel.svg"
MouseArea {
anchors.fill: parent
onClicked: missionItem.rawEdit = !missionItem.rawEdit
}
}
QGCComboBox {
FactComboBox {
id: commandPicker
anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 10
anchors.left: label.right
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: rawEdit.right
anchors.right: parent.right
currentIndex: missionItem.commandByIndex
model: missionItem.commandNames
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem
indexModel: false
fact: missionItem.supportedCommand
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit
onActivated: missionItem.commandByIndex = index
}
......@@ -69,10 +85,9 @@ Rectangle {
Rectangle {
anchors.fill: commandPicker
color: qgcPal.button
visible: !commandPicker.visible
visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem
QGCLabel {
id: homeLabel
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.fill: parent
verticalAlignment: Text.AlignVCenter
......@@ -89,7 +104,7 @@ Rectangle {
anchors.right: parent.right
height: valuesItem.height
color: qgcPal.windowShadeDark
visible: missionItem.isCurrentItem
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem
radius: _radius
Item {
......@@ -110,7 +125,20 @@ Rectangle {
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: missionItem.commandDescription
text: missionItem.rawEdit ?
"Provides advanced access to all commands/parameters. Be very careful!" :
missionItem.commandDescription
}
Repeater {
model: missionItem.comboboxFacts
FactComboBox {
width: valuesColumn.width
indexModel: false
model: object.enumStrings
fact: object
}
}
Repeater {
......@@ -148,7 +176,6 @@ Rectangle {
model: missionItem.checkboxFacts
FactCheckBox {
id: textField
text: object.name
fact: object
}
......
src/QmlControls/MissionItemSummary.qml deleted 100644 → 0
View file @ f89fe8e3
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
/// Mission item summary display control
Rectangle {
property var missionItem ///< Mission Item object
width: ScreenTools.defaultFontPixelWidth * 15
height: valueColumn.height + radius
border.width: 2
border.color: "white"
color: "white"
radius: ScreenTools.defaultFontPixelWidth
MissionItemIndexLabel {
id: _indexLabel
anchors.top: parent.top
anchors.right: parent.right
isCurrentItem: missionItem.isCurrentItem
label: missionItem.sequenceNumber
}
Column {
anchors.margins: parent.radius / 2
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
QGCLabel {
color: "black"
horizontalAlignment: Text.AlignTop
font.weight: Font.Bold
text: missionItem.commandName
}
Repeater {
model: missionItem.valueLabels
QGCLabel {
color: "black"
text: modelData
}
}
}
Column {
id: valueColumn
anchors.margins: parent.radius / 2
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
QGCLabel {
font.weight: Font.Bold
text: " "
}
Repeater {
model: missionItem.valueStrings
QGCLabel {
width: valueColumn.width
color: "black"
text: modelData
horizontalAlignment: Text.AlignRight
}
}
}
}
src/QmlControls/ParameterEditorDialog.qml
View file @ d499b513
......@@ -59,7 +59,8 @@ QGCViewDialog {
validationError.text = fact.validate(validateValue, false /* convertOnly */)
forceSave.visible = true
}
valueField.forceActiveFocus();
// This was causing problems where it would never give up focus even when hidden!
//valueField.forceActiveFocus()
}
Column {
......@@ -83,6 +84,7 @@ QGCViewDialog {
QGCTextField {
id: valueField
text: validate ? validateValue : fact.valueString
focus: true
// At this point all Facts are numeric
inputMethodHints: Qt.ImhFormattedNumbersOnly
......
src/QmlControls/QGCView.qml
View file @ d499b513
......@@ -37,8 +37,9 @@ import QGroundControl.FactControls 1.0
FactPanel {
id: __rootItem
property var qgcView: __rootItem /// Used by Fact controls for validation dialogs
property var qgcView: __rootItem ///< Used by Fact controls for validation dialogs
property bool completedSignalled: false
property real topDialogMargin: 0 ///< Set a top margin for dialog
property var viewPanel
......@@ -278,11 +279,13 @@ FactPanel {
// This is the main dialog panel which is anchored to the right edge
Rectangle {
id: __dialogPanel
width: __dialogCharWidth == -1 ? parent.width : defaultTextWidth * __dialogCharWidth
height: parent.height
anchors.left: __transparentSection.right
color: __qgcPal.windowShadeDark
id: __dialogPanel
width: __dialogCharWidth == -1 ? parent.width : defaultTextWidth * __dialogCharWidth
anchors.topMargin: topDialogMargin
anchors.top: parent.top
anchors.bottom: parent.bottom
anchors.left: __transparentSection.right
color: __qgcPal.windowShadeDark
Rectangle {
id: __header
......@@ -344,4 +347,4 @@ FactPanel {
message: __messageDialogText
}
}
}
\ No newline at end of file
}
src/QmlControls/QGroundControl.Controls.qmldir
View file @ d499b513
......@@ -31,7 +31,6 @@ QGCViewDialog 1.0 QGCViewDialog.qml
QGCViewMessage 1.0 QGCViewMessage.qml
MissionItemIndexLabel 1.0 MissionItemIndexLabel.qml
MissionItemSummary 1.0 MissionItemSummary.qml
MissionItemEditor 1.0 MissionItemEditor.qml
MainToolBar 1.0 MainToolBar.qml
......
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