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Commit f5cd1ea8 authored by DoinLakeFlyer's avatar DoinLakeFlyer
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Support for new isLandCommand MissionCommandUIInfo

parent 4f0c4f01
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Inline Side-by-side
Showing with 36 additions and 12 deletions
src/MissionManager/MissionCommandUIInfo.cc
View file @ f5cd1ea8
......@@ -37,6 +37,7 @@ const char* MissionCommandUIInfo::_rawNameJsonKey = "rawName";
const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey = "standaloneCoordinate";
const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey = "specifiesCoordinate";
const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
const char* MissionCommandUIInfo::_isLandCommandJsonKey = "isLandCommand";
const char* MissionCommandUIInfo::_unitsJsonKey = "units";
const char* MissionCommandUIInfo::_commentJsonKey = "comment";
const char* MissionCommandUIInfo::_advancedCategory = "Advanced";
......@@ -164,6 +165,15 @@ bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
}
}
bool MissionCommandUIInfo::isLandCommand(void) const
{
if (_infoMap.contains(_isLandCommandJsonKey)) {
return _infoMap[_isLandCommandJsonKey].toBool();
} else {
return false;
}
}
void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
{
// Override info values
......@@ -199,7 +209,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
QStringList allKeys;
allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
<<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
<< _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey;
<< _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey << _isLandCommandJsonKey;
// Look for unknown keys in top level object
for (const QString& key: jsonObject.keys()) {
......@@ -231,7 +241,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
QList<QJsonValue::Type> types;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
<< QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
<< QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
errorString = _loadErrorString(internalError);
return false;
......@@ -262,6 +272,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
_infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
}
if (jsonObject.contains(_isLandCommandJsonKey)) {
_infoMap[_isLandCommandJsonKey] = jsonObject.value(_isLandCommandJsonKey).toBool();
}
if (jsonObject.contains(_friendlyEditJsonKey)) {
_infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
}
......@@ -289,6 +302,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
if (!_infoAvailable(_specifiesCoordinateJsonKey)) {
_setInfoValue(_specifiesCoordinateJsonKey, false);
}
if (!_infoAvailable(_isLandCommandJsonKey)) {
_setInfoValue(_isLandCommandJsonKey, false);
}
if (!_infoAvailable(_friendlyEditJsonKey)) {
_setInfoValue(_friendlyEditJsonKey, false);
}
......
src/MissionManager/MissionCommandUIInfo.h
View file @ f5cd1ea8
......@@ -96,6 +96,7 @@ private:
/// specifiesCoordinate bool false true: Command specifies a lat/lon/alt coordinate
/// specifiesAltitudeOnly bool false true: Command specifies an altitude only (no coordinate)
/// standaloneCoordinate bool false true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
/// isLandCommand bool false true: Command specifies a land command (LAND, VTOL_LAND, ...)
/// friendlyEdit bool false true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
/// category string Advanced Category which this command belongs to
/// paramRemove string Used by an override to remove params, example: "1,3" will remove params 1 and 3 on the override
......@@ -118,6 +119,7 @@ public:
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly CONSTANT)
Q_PROPERTY(bool isLandCommand READ isLandCommand CONSTANT)
Q_PROPERTY(int command READ intCommand CONSTANT)
MAV_CMD command(void) const { return _command; }
......@@ -131,6 +133,7 @@ public:
bool isStandaloneCoordinate (void) const;
bool specifiesCoordinate (void) const;
bool specifiesAltitudeOnly (void) const;
bool isLandCommand (void) const;
/// Load the data in the object from the specified json
/// @param jsonObject Json object to load from
......@@ -190,6 +193,7 @@ private:
static const char* _standaloneCoordinateJsonKey;
static const char* _specifiesCoordinateJsonKey;
static const char* _specifiesAltitudeOnlyJsonKey;
static const char* _isLandCommandJsonKey;
static const char* _unitsJsonKey;
static const char* _commentJsonKey;
static const char* _advancedCategory;
......
src/MissionManager/SimpleMissionItem.cc
View file @ f5cd1ea8
......@@ -182,6 +182,7 @@ void SimpleMissionItem::_connectSignals(void)
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesAltitudeOnlyChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isLandCommandChanged);
// Whenever these properties change the ui model changes as well
connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_rebuildFacts);
......@@ -743,21 +744,13 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
}
}
switch (command) {
case MAV_CMD_NAV_WAYPOINT:
if (command == MAV_CMD_NAV_WAYPOINT) {
// We default all acceptance radius to 0. This allows flight controller to be in control of
// accept radius.
_missionItem.setParam2(0);
break;
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_DO_SET_ROI_LOCATION:
} else if (uiInfo->isLandCommand() || command == MAV_CMD_DO_SET_ROI_LOCATION) {
_altitudeFact.setRawValue(0);
_missionItem.setParam7(0);
break;
default:
break;
}
_missionItem.setAutoContinue(true);
......@@ -984,3 +977,10 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void)
return;
}
bool SimpleMissionItem::isLandCommand(void) const
{
MAV_CMD command = static_cast<MAV_CMD>(this->command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);
return uiInfo->isLandCommand();
}
src/MissionManager/SimpleMissionItem.h
View file @ f5cd1ea8
......@@ -100,6 +100,7 @@ public:
bool dirty (void) const override { return _dirty; }
bool isSimpleItem (void) const final { return true; }
bool isStandaloneCoordinate (void) const final;
bool isLandCommand (void) const final;
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final;
QString commandDescription (void) const final;
......
src/MissionManager/VisualMissionItem.h
View file @ f5cd1ea8
......@@ -68,6 +68,7 @@ public:
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly NOTIFY specifiesAltitudeOnlyChanged) ///< true: Item has altitude only, no full coordinate
Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem
Q_PROPERTY(bool isTakeoffItem READ isTakeoffItem NOTIFY isTakeoffItemChanged) ///< true: Takeoff item special case
Q_PROPERTY(bool isLandCommand READ isLandCommand NOTIFY isLandCommandChanged) ///< true: Takeoff item special case
Q_PROPERTY(QString editorQml MEMBER _editorQml CONSTANT) ///< Qml code for editing this item
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT) ///< QMl code for map visuals
Q_PROPERTY(double specifiedFlightSpeed READ specifiedFlightSpeed NOTIFY specifiedFlightSpeedChanged) ///< NaN for not specified
......@@ -131,6 +132,7 @@ public:
virtual bool dirty (void) const = 0;
virtual bool isSimpleItem (void) const = 0;
virtual bool isTakeoffItem (void) const { return false; }
virtual bool isLandCommand (void) const { return false; }
virtual bool isStandaloneCoordinate (void) const = 0;
virtual bool specifiesCoordinate (void) const = 0;
virtual bool specifiesAltitudeOnly (void) const = 0;
......@@ -208,6 +210,7 @@ signals:
void sequenceNumberChanged (int sequenceNumber);
void isSimpleItemChanged (bool isSimpleItem);
void isTakeoffItemChanged (bool isTakeoffItem);
void isLandCommandChanged (void);
void specifiesCoordinateChanged (void);
void isStandaloneCoordinateChanged (void);
void specifiesAltitudeOnlyChanged (void);
......
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