Support for new isLandCommand MissionCommandUIInfo

src/MissionManager/MissionCommandUIInfo.cc

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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);