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Commit e9035f5b authored by lm's avatar lm
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Allowed to transmit parameters with actions

parent 20723799
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Showing with 213 additions and 30 deletions
src/uas/UAS.cc
View file @ e9035f5b
......@@ -1770,8 +1770,31 @@ void UAS::executeCommand(MAV_CMD command)
{
mavlink_message_t msg;
mavlink_command_t cmd;
//mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action);
// Send message twice to increase chance that it reaches its goal
cmd.command = (uint8_t)command;
cmd.confirmation = 0;
cmd.param1 = 0.0f;
cmd.param2 = 0.0f;
cmd.param3 = 0.0f;
cmd.param4 = 0.0f;
cmd.target_system = uasId;
cmd.target_component = 0;
mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
sendMessage(msg);
}
void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component)
{
mavlink_message_t msg;
mavlink_command_t cmd;
cmd.command = (uint8_t)command;
cmd.confirmation = confirmation;
cmd.param1 = param1;
cmd.param2 = param2;
cmd.param3 = param3;
cmd.param4 = param4;
cmd.target_system = uasId;
cmd.target_component = component;
mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
sendMessage(msg);
}
......
src/uas/UAS.h
View file @ e9035f5b
......@@ -216,6 +216,8 @@ public slots:
void setAction(MAV_ACTION action);
/** @brief Executes a command **/
void executeCommand(MAV_CMD command);
/** @brief Executes a command **/
void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component);
/** @brief Set the current battery type and voltages */
void setBatterySpecs(const QString& specs);
/** @brief Get the current battery type and specs */
......
src/uas/UASInterface.h
View file @ e9035f5b
......@@ -191,6 +191,8 @@ public slots:
virtual void setAction(MAV_ACTION action) = 0;
/** @brief Execute command immediately **/
virtual void executeCommand(MAV_CMD command) = 0;
/** @brief Executes a command **/
virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component) = 0;
/** @brief Selects the airframe */
virtual void setAirframe(int airframe) = 0;
......
src/ui/designer/QGCCommandButton.cc
View file @ e9035f5b
......@@ -5,7 +5,7 @@
#include "UASManager.h"
QGCCommandButton::QGCCommandButton(QWidget *parent) :
QGCToolWidgetItem("CommandButton", parent),
QGCToolWidgetItem("Command Button", parent),
ui(new Ui::QGCCommandButton),
uas(NULL)
{
......@@ -21,6 +21,13 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
ui->editConfirmationCheckBox->hide();
ui->editComponentSpinBox->hide();
ui->editParamsVisibleCheckBox->hide();
ui->editParam1SpinBox->hide();
ui->editParam2SpinBox->hide();
ui->editParam3SpinBox->hide();
ui->editParam4SpinBox->hide();
// Add commands to combo box
ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
......@@ -37,10 +44,16 @@ void QGCCommandButton::sendCommand()
if (QGCToolWidgetItem::uas)
{
// FIXME
int index = 0;//ui->editCommandComboBox->userData()
int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
MAV_CMD command = static_cast<MAV_CMD>(index);
QGCToolWidgetItem::uas->executeCommand(command);
int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
float param1 = ui->editParam1SpinBox->value();
float param2 = ui->editParam2SpinBox->value();
float param3 = ui->editParam3SpinBox->value();
float param4 = ui->editParam4SpinBox->value();
int component = ui->editComponentSpinBox->value();
QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, component);
}
else
{
......@@ -59,6 +72,13 @@ void QGCCommandButton::startEditMode()
ui->editFinishButton->show();
ui->editNameLabel->show();
ui->editButtonName->show();
ui->editConfirmationCheckBox->show();
ui->editComponentSpinBox->show();
ui->editParamsVisibleCheckBox->show();
ui->editParam1SpinBox->show();
ui->editParam2SpinBox->show();
ui->editParam3SpinBox->show();
ui->editParam4SpinBox->show();
isInEditMode = true;
}
......@@ -68,6 +88,16 @@ void QGCCommandButton::endEditMode()
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
ui->editConfirmationCheckBox->hide();
ui->editComponentSpinBox->hide();
ui->editParamsVisibleCheckBox->hide();
if (!ui->editParamsVisibleCheckBox->isChecked())
{
ui->editParam1SpinBox->hide();
ui->editParam2SpinBox->hide();
ui->editParam3SpinBox->hide();
ui->editParam4SpinBox->hide();
}
// Write to settings
emit editingFinished();
......@@ -81,6 +111,7 @@ void QGCCommandButton::writeSettings(QSettings& settings)
settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->commandButton->text());
settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->currentIndex());
settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked());
settings.sync();
}
......@@ -93,5 +124,20 @@ void QGCCommandButton::readSettings(const QSettings& settings)
ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
ui->commandButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool());
if (ui->editParamsVisibleCheckBox->isChecked())
{
ui->editParam1SpinBox->show();
ui->editParam2SpinBox->show();
ui->editParam3SpinBox->show();
ui->editParam4SpinBox->show();
}
else
{
ui->editParam1SpinBox->hide();
ui->editParam2SpinBox->hide();
ui->editParam3SpinBox->hide();
ui->editParam4SpinBox->hide();
}
qDebug() << "DONE READING SETTINGS";
}
src/ui/designer/QGCCommandButton.ui
View file @ e9035f5b
......@@ -6,55 +6,39 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>111</height>
<width>688</width>
<height>190</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="100,100,50">
<item row="1" column="0" colspan="2">
<widget class="QLabel" name="nameLabel">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0">
<item row="5" column="0" colspan="3">
<widget class="QComboBox" name="editCommandComboBox"/>
</item>
<item row="2" column="2">
<item row="5" column="3">
<widget class="QPushButton" name="editFinishButton">
<property name="text">
<string>Done</string>
</property>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QLineEdit" name="editButtonName">
<property name="text">
<string>Unnamed</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<item row="0" column="0" colspan="3">
<widget class="QLineEdit" name="editNameLabel">
<property name="text">
<string>Description</string>
</property>
</widget>
</item>
<item row="1" column="2">
<item row="2" column="3">
<widget class="QPushButton" name="commandButton">
<property name="minimumSize">
<size>
......@@ -67,6 +51,132 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="editComponentSpinBox">
<property name="prefix">
<string>Component ID: </string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>255</number>
</property>
</widget>
</item>
<item row="4" column="2" colspan="2">
<widget class="QCheckBox" name="editConfirmationCheckBox">
<property name="toolTip">
<string>Set the confirm flag for this button. Some commands require that first one command is sent without confirm flag and then a second, equal command with confirm flag. This ensures safety.</string>
</property>
<property name="text">
<string>Set CONFIRM flag</string>
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QDoubleSpinBox" name="editParam1SpinBox">
<property name="toolTip">
<string>PARAM1 Value as defined in MAV_CMD list</string>
</property>
<property name="statusTip">
<string>PARAM1 Value as defined in MAV_CMD list</string>
</property>
<property name="prefix">
<string>P1 </string>
</property>
<property name="minimum">
<double>-2147483647.000000000000000</double>
</property>
<property name="maximum">
<double>2147483647.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="editParam2SpinBox">
<property name="toolTip">
<string>PARAM2 Value as defined in MAV_CMD list</string>
</property>
<property name="statusTip">
<string>PARAM2 Value as defined in MAV_CMD list</string>
</property>
<property name="prefix">
<string>P2: </string>
</property>
<property name="minimum">
<double>-2147483647.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="editParam3SpinBox">
<property name="toolTip">
<string>PARAM3 Value as defined in MAV_CMD list</string>
</property>
<property name="statusTip">
<string>PARAM3 Value as defined in MAV_CMD list</string>
</property>
<property name="prefix">
<string>P3: </string>
</property>
<property name="minimum">
<double>-2147483647.000000000000000</double>
</property>
<property name="maximum">
<double>2147483647.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="editParam4SpinBox">
<property name="toolTip">
<string>PARAM4 Value as defined in MAV_CMD list</string>
</property>
<property name="statusTip">
<string>PARAM4 Value as defined in MAV_CMD list</string>
</property>
<property name="prefix">
<string>P4: </string>
</property>
<property name="minimum">
<double>-2147483647.000000000000000</double>
</property>
<property name="maximum">
<double>2147483647.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0" colspan="3">
<widget class="QLabel" name="nameLabel">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="editParamsVisibleCheckBox">
<property name="text">
<string>Keep parameters visible</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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