#include #include "QGCCommandButton.h" #include "ui_QGCCommandButton.h" #include "MAVLinkProtocol.h" #include "UASManager.h" QGCCommandButton::QGCCommandButton(QWidget *parent) : QGCToolWidgetItem("Command Button", parent), ui(new Ui::QGCCommandButton), uas(NULL) { ui->setupUi(this); responsecount = 0; responsenum = 0; connect(ui->commandButton, SIGNAL(clicked()), this, SLOT(sendCommand())); connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode())); connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setCommandButtonName(QString))); connect(ui->editCommandComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString))); // Hide all edit items ui->editCommandComboBox->hide(); 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(); ui->editLine1->hide(); ui->editLine2->hide(); // Add commands to combo box ui->editCommandComboBox->addItem("CUSTOM 0", 0); ui->editCommandComboBox->addItem("CUSTOM 1", 1); ui->editCommandComboBox->addItem("CUSTOM 2", 2); ui->editCommandComboBox->addItem("CUSTOM 3", 3); ui->editCommandComboBox->addItem("CUSTOM 4", 4); ui->editCommandComboBox->addItem("CUSTOM 5", 5); ui->editCommandComboBox->addItem("CUSTOM 6", 6); ui->editCommandComboBox->addItem("CUSTOM 7", 7); ui->editCommandComboBox->addItem("CUSTOM 8", 8); ui->editCommandComboBox->addItem("CUSTOM 9", 9); ui->editCommandComboBox->addItem("CUSTOM 10", 10); ui->editCommandComboBox->addItem("CUSTOM 11", 11); ui->editCommandComboBox->addItem("CUSTOM 12", 12); ui->editCommandComboBox->addItem("CUSTOM 13", 13); ui->editCommandComboBox->addItem("CUSTOM 14", 14); ui->editCommandComboBox->addItem("CUSTOM 15", 15); ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME); ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND); ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF); ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI); ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE); ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP); ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY); ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO); ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO); ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO); ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION); ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS); ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE); ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN); ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO); ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START); ui->editCommandComboBox->addItem("MAV_CMD_COMPONENT_ARM_DISARM", MAV_CMD_COMPONENT_ARM_DISARM); ui->editCommandComboBox->addItem("MAV_CMD_NAV_GUIDED_ENABLE", MAV_CMD_NAV_GUIDED_ENABLE); ui->editCommandComboBox->setEditable(true); init(); } QGCCommandButton::~QGCCommandButton() { delete ui; } void QGCCommandButton::sendCommand() { if (QGCToolWidgetItem::uas) { if (responsenum != 0) { if (responsecount == 0) { //We're finished. Reset. qDebug() << "Finished sequence"; QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true); responsecount = responsenum; return; } if (responsecount < responsenum) { qDebug() << responsecount << responsenum; QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true); responsecount--; return; } else { qDebug() << "No sequence yet, sending command"; responsecount--; } } // Check if command text is a number bool ok; int index = 0; index = ui->editCommandComboBox->currentText().toInt(&ok); if (!ok) { // Command was not a number, assume it was one of the text items index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok); if (ok) { // Text item found, proceed MAV_CMD command = static_cast(index); 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(); float param5 = ui->editParam5SpinBox->value(); float param6 = ui->editParam6SpinBox->value(); float param7 = ui->editParam7SpinBox->value(); int component = ui->editComponentSpinBox->value(); if (showlabelname != "") { emit showLabel(showlabelname,index); } QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component); //qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index; } } } else { qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; } } void QGCCommandButton::setCommandButtonName(QString text) { ui->commandButton->setText(text); } void QGCCommandButton::setEditMode(bool editMode) { // Hide elements ui->commandButton->setVisible(!editMode); ui->nameLabel->setVisible(!editMode); ui->editCommandComboBox->blockSignals(!editMode); ui->editCommandComboBox->setVisible(editMode); ui->editFinishButton->setVisible(editMode); ui->editNameLabel->setVisible(editMode); ui->editButtonName->setVisible(editMode); ui->editConfirmationCheckBox->setVisible(editMode); ui->editComponentSpinBox->setVisible(editMode); ui->editParamsVisibleCheckBox->setVisible(editMode); bool showParams = editMode || ui->editParamsVisibleCheckBox->isChecked(); ui->editParam1SpinBox->setVisible(showParams); ui->editParam2SpinBox->setVisible(showParams); ui->editParam3SpinBox->setVisible(showParams); ui->editParam4SpinBox->setVisible(showParams); ui->editParam5SpinBox->setVisible(showParams); ui->editParam6SpinBox->setVisible(showParams); ui->editParam7SpinBox->setVisible(showParams); ui->editLine1->setVisible(editMode); ui->editLine2->setVisible(editMode); QGCToolWidgetItem::setEditMode(editMode); } void QGCCommandButton::writeSettings(QSettings& settings) { //qDebug() << "COMMAND BUTTON WRITING SETTINGS"; settings.setValue("TYPE", "COMMANDBUTTON"); settings.setValue("QGC_COMMAND_BUTTON_DESCRIPTION", ui->nameLabel->text()); settings.setValue("QGC_COMMAND_BUTTON_BUTTONTEXT", ui->commandButton->text()); settings.setValue("QGC_COMMAND_BUTTON_COMMANDID", ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt()); settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked()); settings.setValue("QGC_COMMAND_BUTTON_PARAM1", ui->editParam1SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM2", ui->editParam2SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM3", ui->editParam3SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM4", ui->editParam4SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM5", ui->editParam5SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM6", ui->editParam6SpinBox->value()); settings.setValue("QGC_COMMAND_BUTTON_PARAM7", ui->editParam7SpinBox->value()); settings.sync(); } void QGCCommandButton::readSettings(const QString& pre,const QVariantMap& settings) { ui->editButtonName->setText(settings.value(pre + "QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); ui->editCommandComboBox->setCurrentIndex(settings.value(pre + "QGC_COMMAND_BUTTON_COMMANDID", 0).toInt()); ui->commandButton->setText(settings.value(pre + "QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); int commandId = settings.value(pre + "QGC_COMMAND_BUTTON_COMMANDID", 0).toInt(); ui->editParam1SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM1", 0.0).toDouble()); ui->editParam2SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM2", 0.0).toDouble()); ui->editParam3SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM3", 0.0).toDouble()); ui->editParam4SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM4", 0.0).toDouble()); ui->editParam5SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM5", 0.0).toDouble()); ui->editParam6SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM6", 0.0).toDouble()); ui->editParam7SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM7", 0.0).toDouble()); ui->editCommandComboBox->setCurrentIndex(0); // Find combobox entry for this data for (int i = 0; i < ui->editCommandComboBox->count(); ++i) { if (commandId == ui->editCommandComboBox->itemData(i).toInt()) { ui->editCommandComboBox->setCurrentIndex(i); } } ui->editParamsVisibleCheckBox->setChecked(settings.value(pre + "QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool()); if (ui->editParamsVisibleCheckBox->isChecked()) { ui->editParam1SpinBox->show(); ui->editParam2SpinBox->show(); ui->editParam3SpinBox->show(); ui->editParam4SpinBox->show(); ui->editParam5SpinBox->show(); ui->editParam6SpinBox->show(); ui->editParam7SpinBox->show(); } else { ui->editParam1SpinBox->hide(); ui->editParam2SpinBox->hide(); ui->editParam3SpinBox->hide(); ui->editParam4SpinBox->hide(); ui->editParam5SpinBox->hide(); ui->editParam6SpinBox->hide(); ui->editParam7SpinBox->hide(); } ui->editNameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); ui->nameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); responsenum = settings.value(pre + "QGC_COMMAND_BUTTON_RESPONSE",0).toInt(); responsecount = responsenum; } void QGCCommandButton::readSettings(const QSettings& settings) { ui->editButtonName->setText(settings.value("QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_COMMAND_BUTTON_COMMANDID", 0).toInt()); ui->commandButton->setText(settings.value("QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); int commandId = settings.value("QGC_COMMAND_BUTTON_COMMANDID", 0).toInt(); ui->editParam1SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM1", 0.0).toDouble()); ui->editParam2SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM2", 0.0).toDouble()); ui->editParam3SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM3", 0.0).toDouble()); ui->editParam4SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM4", 0.0).toDouble()); ui->editParam5SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM5", 0.0).toDouble()); ui->editParam6SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM6", 0.0).toDouble()); ui->editParam7SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM7", 0.0).toDouble()); showlabelname = settings.value("QGC_COMMAND_BUTTON_LABEL","").toString(); ui->editCommandComboBox->setCurrentIndex(0); // Find combobox entry for this data for (int i = 0; i < ui->editCommandComboBox->count(); ++i) { if (commandId == ui->editCommandComboBox->itemData(i).toInt()) { ui->editCommandComboBox->setCurrentIndex(i); } } 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(); ui->editParam5SpinBox->show(); ui->editParam6SpinBox->show(); ui->editParam7SpinBox->show(); } else { ui->editParam1SpinBox->hide(); ui->editParam2SpinBox->hide(); ui->editParam3SpinBox->hide(); ui->editParam4SpinBox->hide(); ui->editParam5SpinBox->hide(); ui->editParam6SpinBox->hide(); ui->editParam7SpinBox->hide(); } ui->editNameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); ui->nameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); responsenum = settings.value("QGC_COMMAND_BUTTON_RESPONSE",0).toInt(); responsecount = responsenum; }