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275 lines
12 KiB
275 lines
12 KiB
9 years ago
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/*===================================================================
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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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QGROUNDCONTROL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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QGROUNDCONTROL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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#include "MissionCommandList.h"
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#include "FactMetaData.h"
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#include "Vehicle.h"
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#include "FirmwarePluginManager.h"
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#include "QGCApplication.h"
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#include "QGroundControlQmlGlobal.h"
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#include <QStringList>
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#include <QJsonDocument>
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#include <QJsonParseError>
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#include <QJsonArray>
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#include <QDebug>
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#include <QFile>
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const QString MissionCommandList::_categoryJsonKey (QStringLiteral("category"));
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const QString MissionCommandList::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
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const QString MissionCommandList::_defaultJsonKey (QStringLiteral("default"));
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const QString MissionCommandList::_descriptionJsonKey (QStringLiteral("description"));
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const QString MissionCommandList::_enumStringsJsonKey (QStringLiteral("enumStrings"));
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const QString MissionCommandList::_enumValuesJsonKey (QStringLiteral("enumValues"));
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const QString MissionCommandList::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
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const QString MissionCommandList::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
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const QString MissionCommandList::_idJsonKey (QStringLiteral("id"));
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const QString MissionCommandList::_labelJsonKey (QStringLiteral("label"));
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const QString MissionCommandList::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo"));
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const QString MissionCommandList::_param1JsonKey (QStringLiteral("param1"));
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const QString MissionCommandList::_param2JsonKey (QStringLiteral("param2"));
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const QString MissionCommandList::_param3JsonKey (QStringLiteral("param3"));
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const QString MissionCommandList::_param4JsonKey (QStringLiteral("param4"));
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const QString MissionCommandList::_paramJsonKeyFormat (QStringLiteral("param%1"));
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const QString MissionCommandList::_rawNameJsonKey (QStringLiteral("rawName"));
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const QString MissionCommandList::_standaloneCoordinateJsonKey (QStringLiteral("standaloneCoordinate"));
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const QString MissionCommandList::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
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const QString MissionCommandList::_unitsJsonKey (QStringLiteral("units"));
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const QString MissionCommandList::_versionJsonKey (QStringLiteral("version"));
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MissionCommandList::MissionCommandList(const QString& jsonFilename, QObject* parent)
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: QObject(parent)
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{
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_loadMavCmdInfoJson(jsonFilename);
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}
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bool MissionCommandList::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
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{
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for (int i=0; i<keys.count(); i++) {
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if (jsonObject.contains(keys[i])) {
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if (jsonObject.value(keys[i]).type() != types[i]) {
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qWarning() << "Incorrect type key:type:expected" << keys[i] << jsonObject.value(keys[i]).type() << types[i];
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return false;
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}
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}
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}
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return true;
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}
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void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
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{
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if (jsonFilename.isEmpty()) {
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return;
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}
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qCDebug(MissionCommandsLog) << "Loading" << jsonFilename;
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QFile jsonFile(jsonFilename);
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString();
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return;
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}
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QByteArray bytes = jsonFile.readAll();
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jsonFile.close();
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QJsonParseError jsonParseError;
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QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
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if (jsonParseError.error != QJsonParseError::NoError) {
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qWarning() << "Unable to open json document" << jsonParseError.errorString();
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return;
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}
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QJsonObject json = doc.object();
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int version = json.value(_versionJsonKey).toInt();
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if (version != 1) {
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qWarning() << "Invalid version" << version;
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return;
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}
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QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);
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if (!jsonValue.isArray()) {
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qWarning() << "mavCmdInfo not array";
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return;
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}
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QJsonArray jsonArray = jsonValue.toArray();
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foreach(QJsonValue info, jsonArray) {
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if (!info.isObject()) {
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qWarning() << "mavCmdArray should contain objects";
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return;
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}
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QJsonObject jsonObject = info.toObject();
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// Make sure we have the required keys
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QStringList requiredKeys;
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requiredKeys << _idJsonKey << _rawNameJsonKey;
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foreach (const QString &key, requiredKeys) {
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if (!jsonObject.contains(key)) {
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qWarning() << "Mission required key" << key;
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return;
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}
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}
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// Validate key types
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QStringList keys;
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QList<QJsonValue::Type> types;
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keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey <<_friendlyEditJsonKey
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<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey;
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types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
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<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
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if (!_validateKeyTypes(jsonObject, keys, types)) {
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return;
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}
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MavCmdInfo* mavCmdInfo = new MavCmdInfo(this);
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mavCmdInfo->_command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt();
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mavCmdInfo->_category = jsonObject.value(_categoryJsonKey).toString("Advanced");
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mavCmdInfo->_rawName = jsonObject.value(_rawNameJsonKey).toString();
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mavCmdInfo->_friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
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mavCmdInfo->_description = jsonObject.value(_descriptionJsonKey).toString(QString());
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mavCmdInfo->_standaloneCoordinate = jsonObject.value(_standaloneCoordinateJsonKey).toBool(false);
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mavCmdInfo->_specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
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mavCmdInfo->_friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
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qCDebug(MissionCommandsLog) << "Command"
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<< mavCmdInfo->_command
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<< mavCmdInfo->_category
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<< mavCmdInfo->_rawName
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<< mavCmdInfo->_friendlyName
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<< mavCmdInfo->_description
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<< mavCmdInfo->_standaloneCoordinate
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<< mavCmdInfo->_specifiesCoordinate
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<< mavCmdInfo->_friendlyEdit;
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if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) {
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qWarning() << "Duplicate command" << mavCmdInfo->command();
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return;
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}
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_mavCmdInfoMap[mavCmdInfo->_command] = mavCmdInfo;
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// Read params
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for (int i=1; i<=7; i++) {
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QString paramKey = QString(_paramJsonKeyFormat).arg(i);
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if (jsonObject.contains(paramKey)) {
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QJsonObject paramObject = jsonObject.value(paramKey).toObject();
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// Validate key types
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QStringList keys;
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QList<QJsonValue::Type> types;
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keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
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types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
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if (!_validateKeyTypes(paramObject, keys, types)) {
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return;
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}
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mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params
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if (!paramObject.contains(_labelJsonKey)) {
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qWarning() << "param object missing label key" << mavCmdInfo->rawName() << paramKey;
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return;
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}
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MavCmdParamInfo* paramInfo = new MavCmdParamInfo(this);
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paramInfo->_label = paramObject.value(_labelJsonKey).toString();
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paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
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paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
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paramInfo->_enumStrings = paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
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paramInfo->_param = i;
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paramInfo->_units = paramObject.value(_unitsJsonKey).toString();
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QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
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foreach (const QString &enumValue, enumValues) {
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bool convertOk;
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double value = enumValue.toDouble(&convertOk);
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if (!convertOk) {
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qWarning() << "Bad enumValue" << enumValue;
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return;
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}
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paramInfo->_enumValues << QVariant(value);
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}
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if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
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qWarning() << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count();
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return;
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}
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qCDebug(MissionCommandsLog) << "Param"
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<< paramInfo->_label
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<< paramInfo->_defaultValue
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<< paramInfo->_decimalPlaces
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<< paramInfo->_param
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<< paramInfo->_units
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<< paramInfo->_enumStrings
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<< paramInfo->_enumValues;
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mavCmdInfo->_paramInfoMap[i] = paramInfo;
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}
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}
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if (mavCmdInfo->friendlyEdit()) {
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if (mavCmdInfo->description().isEmpty()) {
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qWarning() << "Missing description" << mavCmdInfo->rawName();
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return;
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}
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if (mavCmdInfo->rawName() == mavCmdInfo->friendlyName()) {
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qWarning() << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName();
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return;
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}
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}
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}
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}
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bool MissionCommandList::contains(MAV_CMD command) const
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{
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return _mavCmdInfoMap.contains(command);
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}
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MavCmdInfo* MissionCommandList::getMavCmdInfo(MAV_CMD command) const
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{
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if (!contains(command)) {
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qWarning() << "Unknown command" << command;
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return NULL;
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}
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return _mavCmdInfoMap[command];
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}
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QList<MAV_CMD> MissionCommandList::commandsIds(void) const
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{
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QList<MAV_CMD> list;
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foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
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list << (MAV_CMD)mavCmdInfo->command();
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}
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return list;
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}
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