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80 lines
2.9 KiB
80 lines
2.9 KiB
4 years ago
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/****************************************************************************
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*
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* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#include "ActuatorActions.h"
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#include "QGCApplication.h"
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using namespace ActuatorActions;
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QString Config::typeToLabel() const
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{
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switch (type) {
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case Type::beep: return QCoreApplication::translate("ActuatorAction", "Beep");
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case Type::set3DModeOn: return QCoreApplication::translate("ActuatorAction", "3D mode: On");
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case Type::set3DModeOff: return QCoreApplication::translate("ActuatorAction", "3D mode: Off");
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case Type::setSpinDirection1: return QCoreApplication::translate("ActuatorAction", "Set Spin Direction 1");
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case Type::setSpinDirection2: return QCoreApplication::translate("ActuatorAction", "Set Spin Direction 2");
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}
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return "";
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}
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Action::Action(QObject *parent, const Config &action, const QString &label, int outputFunction,
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Vehicle *vehicle)
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: _label(label), _outputFunction(outputFunction), _type(action.type), _vehicle(vehicle)
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{
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}
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void Action::trigger()
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{
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if (_commandInProgress) {
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return;
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}
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sendMavlinkRequest();
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}
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void Action::ackHandlerEntry(void* resultHandlerData, int compId, MAV_RESULT commandResult, uint8_t progress,
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Vehicle::MavCmdResultFailureCode_t failureCode)
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{
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Action* action = (Action*)resultHandlerData;
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action->ackHandler(commandResult, failureCode);
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}
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void Action::ackHandler(MAV_RESULT commandResult, Vehicle::MavCmdResultFailureCode_t failureCode)
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{
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_commandInProgress = false;
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if (failureCode != Vehicle::MavCmdResultFailureNoResponseToCommand && commandResult != MAV_RESULT_ACCEPTED) {
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qgcApp()->showAppMessage(tr("Actuator action command failed"));
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}
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}
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void Action::sendMavlinkRequest()
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{
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qCDebug(ActuatorsConfigLog) << "Sending actuator action, function:" << _outputFunction << "type:" << (int)_type;
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_vehicle->sendMavCommandWithHandler(
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ackHandlerEntry, // Ack callback
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this, // Ack callback data
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MAV_COMP_ID_AUTOPILOT1, // the ID of the autopilot
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MAV_CMD_CONFIGURE_ACTUATOR, // the mavlink command
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(int)_type, // action type
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0, // unused parameter
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0, // unused parameter
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0, // unused parameter
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1000+_outputFunction, // function
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0, // unused parameter
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0);
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_commandInProgress = true;
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}
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ActionGroup::ActionGroup(QObject *parent, const QString &label, Config::Type type)
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: _label(label), _type(type)
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{
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}
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