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917 lines
35 KiB
917 lines
35 KiB
10 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 <QStringList>
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#include <QJsonDocument>
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#include <QJsonParseError>
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#include <QDebug>
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#include "MissionItem.h"
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#include "FirmwarePluginManager.h"
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#include "QGCApplication.h"
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QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
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const double MissionItem::defaultTakeoffPitch = 15.0;
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const double MissionItem::defaultHeading = 0.0;
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const double MissionItem::defaultAltitude = 25.0;
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const double MissionItem::defaultAcceptanceRadius = 3.0;
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const double MissionItem::defaultLoiterOrbitRadius = 10.0;
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const double MissionItem::defaultLoiterTurns = 1.0;
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FactMetaData* MissionItem::_altitudeMetaData = NULL;
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FactMetaData* MissionItem::_commandMetaData = NULL;
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FactMetaData* MissionItem::_defaultParamMetaData = NULL;
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FactMetaData* MissionItem::_frameMetaData = NULL;
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FactMetaData* MissionItem::_latitudeMetaData = NULL;
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FactMetaData* MissionItem::_longitudeMetaData = NULL;
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FactMetaData* MissionItem::_supportedCommandMetaData = NULL;
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const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces"));
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const QString MissionItem::_descriptionJsonKey (QStringLiteral("description"));
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const QString MissionItem::_friendlyEditJsonKey (QStringLiteral("friendlyEdit"));
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const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName"));
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const QString MissionItem::_idJsonKey (QStringLiteral("id"));
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const QString MissionItem::_labelJsonKey (QStringLiteral("label"));
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const QString MissionItem::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo"));
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const QString MissionItem::_param1JsonKey (QStringLiteral("param1"));
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const QString MissionItem::_param2JsonKey (QStringLiteral("param2"));
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const QString MissionItem::_param3JsonKey (QStringLiteral("param3"));
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const QString MissionItem::_param4JsonKey (QStringLiteral("param4"));
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const QString MissionItem::_paramJsonKeyFormat (QStringLiteral("param%1"));
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const QString MissionItem::_rawNameJsonKey (QStringLiteral("rawName"));
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const QString MissionItem::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
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const QString MissionItem::_unitsJsonKey (QStringLiteral("units"));
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const QString MissionItem::_versionJsonKey (QStringLiteral("version"));
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const QString MissionItem::_degreesUnits (QStringLiteral("degrees"));
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QMap<MAV_CMD, MissionItem::MavCmdInfo_t> MissionItem::_mavCmdInfoMap;
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struct EnumInfo_s {
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const char * label;
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MAV_FRAME frame;
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};
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static const struct EnumInfo_s _rgMavFrameInfo[] = {
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{ "MAV_FRAME_GLOBAL", MAV_FRAME_GLOBAL },
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{ "MAV_FRAME_LOCAL_NED", MAV_FRAME_LOCAL_NED },
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{ "MAV_FRAME_MISSION", MAV_FRAME_MISSION },
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{ "MAV_FRAME_GLOBAL_RELATIVE_ALT", MAV_FRAME_GLOBAL_RELATIVE_ALT },
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{ "MAV_FRAME_LOCAL_ENU", MAV_FRAME_LOCAL_ENU },
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{ "MAV_FRAME_GLOBAL_INT", MAV_FRAME_GLOBAL_INT },
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{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT", MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
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{ "MAV_FRAME_LOCAL_OFFSET_NED", MAV_FRAME_LOCAL_OFFSET_NED },
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{ "MAV_FRAME_BODY_NED", MAV_FRAME_BODY_NED },
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{ "MAV_FRAME_BODY_OFFSET_NED", MAV_FRAME_BODY_OFFSET_NED },
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{ "MAV_FRAME_GLOBAL_TERRAIN_ALT", MAV_FRAME_GLOBAL_TERRAIN_ALT },
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{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
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};
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QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
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{
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QDebugStateSaver saver(dbg);
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dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
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return dbg;
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}
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QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
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{
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QDebugStateSaver saver(dbg);
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dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
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return dbg;
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}
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MissionItem::MissionItem(QObject* parent)
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: QObject(parent)
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, _rawEdit(false)
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, _dirty(false)
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, _sequenceNumber(0)
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, _isCurrentItem(false)
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, _distance(0.0)
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, _homePositionSpecialCase(false)
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, _homePositionValid(false)
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, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
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, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32)
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, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
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, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
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, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
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, _param5Fact (0, "Latitude:", FactMetaData::valueTypeDouble)
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, _param6Fact (0, "Longitude:", FactMetaData::valueTypeDouble)
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, _param7Fact (0, "Altitude:", FactMetaData::valueTypeDouble)
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, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
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, _param1MetaData(FactMetaData::valueTypeDouble)
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, _param2MetaData(FactMetaData::valueTypeDouble)
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, _param3MetaData(FactMetaData::valueTypeDouble)
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, _param4MetaData(FactMetaData::valueTypeDouble)
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, _syncingAltitudeRelativeToHomeAndFrame (false)
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, _syncingHeadingDegreesAndParam4 (false)
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, _syncingSupportedCommandAndCommand (false)
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{
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_setupMetaData();
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_connectSignals();
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setAutoContinue(true);
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}
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MissionItem::MissionItem(int sequenceNumber,
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MAV_CMD command,
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MAV_FRAME frame,
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double param1,
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double param2,
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double param3,
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double param4,
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double param5,
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double param6,
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double param7,
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bool autoContinue,
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bool isCurrentItem,
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QObject* parent)
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: QObject(parent)
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, _rawEdit(false)
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, _dirty(false)
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, _sequenceNumber(sequenceNumber)
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, _isCurrentItem(isCurrentItem)
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, _distance(0.0)
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, _homePositionSpecialCase(false)
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, _homePositionValid(false)
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, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
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, _commandFact (0, "Command:", FactMetaData::valueTypeUint32)
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, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32)
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
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, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
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, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
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, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
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, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
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, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
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, _param1MetaData(FactMetaData::valueTypeDouble)
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, _param2MetaData(FactMetaData::valueTypeDouble)
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, _param3MetaData(FactMetaData::valueTypeDouble)
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, _param4MetaData(FactMetaData::valueTypeDouble)
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, _syncingAltitudeRelativeToHomeAndFrame (false)
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, _syncingHeadingDegreesAndParam4 (false)
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, _syncingSupportedCommandAndCommand (false)
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{
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_setupMetaData();
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_connectSignals();
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setCommand(command);
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setFrame(frame);
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setAutoContinue(autoContinue);
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_syncFrameToAltitudeRelativeToHome();
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_syncCommandToSupportedCommand(QVariant(this->command()));
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_param1Fact.setRawValue(param1);
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_param2Fact.setRawValue(param2);
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_param3Fact.setRawValue(param3);
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_param4Fact.setRawValue(param4);
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_param5Fact.setValue(param5);
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_param6Fact.setValue(param6);
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_param7Fact.setValue(param7);
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}
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MissionItem::MissionItem(const MissionItem& other, QObject* parent)
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: QObject(parent)
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, _syncingAltitudeRelativeToHomeAndFrame (false)
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, _syncingHeadingDegreesAndParam4 (false)
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, _syncingSupportedCommandAndCommand (false)
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{
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_setupMetaData();
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_connectSignals();
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*this = other;
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}
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const MissionItem& MissionItem::operator=(const MissionItem& other)
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{
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setCommand(other.command());
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setFrame(other.frame());
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setRawEdit(other._rawEdit);
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setDirty(other._dirty);
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setSequenceNumber(other._sequenceNumber);
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setAutoContinue(other.autoContinue());
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setIsCurrentItem(other._isCurrentItem);
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setDistance(other._distance);
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setHomePositionSpecialCase(other._homePositionSpecialCase);
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setHomePositionValid(other._homePositionValid);
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_syncFrameToAltitudeRelativeToHome();
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_syncCommandToSupportedCommand(QVariant(this->command()));
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_param1Fact.setValue(other._param1Fact.value());
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_param2Fact.setValue(other._param2Fact.value());
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_param3Fact.setValue(other._param3Fact.value());
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_param4Fact.setValue(other._param4Fact.value());
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_param5Fact.setValue(other._param5Fact.value());
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_param6Fact.setValue(other._param6Fact.value());
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_param7Fact.setValue(other._param7Fact.value());
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return *this;
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}
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void MissionItem::_connectSignals(void)
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{
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// Connect to change signals to track dirty state
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connect(&_param1Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param2Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param3Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param4Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(this, &MissionItem::commandChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(this, &MissionItem::frameChanged, this, &MissionItem::_setDirtyFromSignal);
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connect(this, &MissionItem::sequenceNumberChanged, this, &MissionItem::_setDirtyFromSignal);
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// Values from these facts must propogate back and forth between the real object storage
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connect(&_supportedCommandFact, &Fact::valueChanged, this, &MissionItem::_syncSupportedCommandToCommand);
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_syncCommandToSupportedCommand);
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connect(&_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
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connect(this, &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
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// These are parameter coordinates, they must emit coordinateChanged signal
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connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
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connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
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connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
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// The following changes may also change friendlyEditAllowed
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connect(&_autoContinueFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
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connect(this, &MissionItem::frameChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
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// Whenever these properties change the ui model changes as well
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connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
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connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
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connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
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}
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bool MissionItem::_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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}
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||
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return true;
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}
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bool MissionItem::_loadMavCmdInfoJson(void)
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{
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QFile jsonFile(":/json/MavCmdInfo.json");
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open MavCmdInfo.json" << jsonFile.errorString();
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return false;
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}
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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 false;
|
||
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}
|
||
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|
||
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QJsonObject json = doc.object();
|
||
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|
||
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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 false;
|
||
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}
|
||
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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 false;
|
||
|
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}
|
||
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|
||
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QJsonArray jsonArray = jsonValue.toArray();
|
||
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|
foreach(QJsonValue info, jsonArray) {
|
||
|
|
if (!info.isObject()) {
|
||
|
|
qWarning() << "mavCmdArray should contain objects";
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
QJsonObject jsonObject = info.toObject();
|
||
|
|
|
||
|
|
// Make sure we have the required keys
|
||
|
|
QStringList requiredKeys;
|
||
|
|
requiredKeys << _idJsonKey << _rawNameJsonKey;
|
||
|
|
foreach (QString key, requiredKeys) {
|
||
|
|
if (!jsonObject.contains(key)) {
|
||
|
|
qWarning() << "Mission required key" << key;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Validate key types
|
||
|
|
|
||
|
|
QStringList keys;
|
||
|
|
QList<QJsonValue::Type> types;
|
||
|
|
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
|
||
|
|
<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey;
|
||
|
|
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
|
||
|
|
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object;
|
||
|
|
if (!_validateKeyTypes(jsonObject, keys, types)) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
MavCmdInfo_t mavCmdInfo;
|
||
|
|
|
||
|
|
mavCmdInfo.command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt();
|
||
|
|
mavCmdInfo.rawName = jsonObject.value(_rawNameJsonKey).toString();
|
||
|
|
mavCmdInfo.friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
|
||
|
|
mavCmdInfo.description = jsonObject.value(_descriptionJsonKey).toString(QString());
|
||
|
|
mavCmdInfo.specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
|
||
|
|
mavCmdInfo.friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
|
||
|
|
|
||
|
|
if (_mavCmdInfoMap.contains(mavCmdInfo.command)) {
|
||
|
|
qWarning() << "Duplicate command" << mavCmdInfo.command;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
_mavCmdInfoMap[mavCmdInfo.command] = mavCmdInfo;
|
||
|
|
|
||
|
|
// Read params
|
||
|
|
|
||
|
|
for (int i=1; i<5; i++) {
|
||
|
|
QString paramKey = QString(_paramJsonKeyFormat).arg(i);
|
||
|
|
|
||
|
|
if (jsonObject.contains(paramKey)) {
|
||
|
|
QJsonObject paramObject = jsonObject.value(paramKey).toObject();
|
||
|
|
|
||
|
|
// Validate key types
|
||
|
|
QStringList keys;
|
||
|
|
QList<QJsonValue::Type> types;
|
||
|
|
keys << _labelJsonKey << _unitsJsonKey << _decimalPlacesJsonKey;
|
||
|
|
types << QJsonValue::String << QJsonValue::String<< QJsonValue::Double;
|
||
|
|
if (!_validateKeyTypes(paramObject, keys, types)) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (paramObject.contains(_labelJsonKey)) {
|
||
|
|
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].label = paramObject.value(_labelJsonKey).toString();
|
||
|
|
} else {
|
||
|
|
qWarning() << "param object missing label key" << mavCmdInfo.rawName << paramKey;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString();
|
||
|
|
_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_setupMetaData(void)
|
||
|
|
{
|
||
|
|
QStringList enumStrings;
|
||
|
|
QVariantList enumValues;
|
||
|
|
|
||
|
|
if (!_altitudeMetaData) {
|
||
|
|
_loadMavCmdInfoJson();
|
||
|
|
|
||
|
|
_altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
|
||
|
|
_altitudeMetaData->setUnits("meters");
|
||
|
|
_altitudeMetaData->setDecimalPlaces(3);
|
||
|
|
|
||
|
|
enumStrings.clear();
|
||
|
|
enumValues.clear();
|
||
|
|
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
|
||
|
|
enumStrings.append(mavCmdInfo.rawName);
|
||
|
|
enumValues.append(QVariant(mavCmdInfo.command));
|
||
|
|
}
|
||
|
|
_commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
|
||
|
|
_commandMetaData->setEnumInfo(enumStrings, enumValues);
|
||
|
|
|
||
|
|
_defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
|
||
|
|
_defaultParamMetaData->setDecimalPlaces(7);
|
||
|
|
|
||
|
|
enumStrings.clear();
|
||
|
|
enumValues.clear();
|
||
|
|
for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
|
||
|
|
const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
|
||
|
|
|
||
|
|
enumStrings.append(mavFrameInfo->label);
|
||
|
|
enumValues.append(QVariant(mavFrameInfo->frame));
|
||
|
|
}
|
||
|
|
_frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
|
||
|
|
_frameMetaData->setEnumInfo(enumStrings, enumValues);
|
||
|
|
|
||
|
|
_latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
|
||
|
|
_latitudeMetaData->setUnits("deg");
|
||
|
|
_latitudeMetaData->setDecimalPlaces(7);
|
||
|
|
|
||
|
|
_longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
|
||
|
|
_longitudeMetaData->setUnits("deg");
|
||
|
|
_longitudeMetaData->setDecimalPlaces(7);
|
||
|
|
|
||
|
|
enumStrings.clear();
|
||
|
|
enumValues.clear();
|
||
|
|
// FIXME: Hack hardcode tp PX4
|
||
|
|
QList<MAV_CMD> supportedCommands = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR)->supportedMissionCommands();
|
||
|
|
if (supportedCommands.count()) {
|
||
|
|
foreach (MAV_CMD command, supportedCommands) {
|
||
|
|
enumStrings.append(_mavCmdInfoMap[command].friendlyName);
|
||
|
|
enumValues.append(QVariant(command));
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
foreach (MavCmdInfo_t mavCmdInfo, _mavCmdInfoMap) {
|
||
|
|
enumStrings.append(mavCmdInfo.friendlyName);
|
||
|
|
enumValues.append(QVariant(mavCmdInfo.command));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
_supportedCommandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
|
||
|
|
_supportedCommandMetaData->setEnumInfo(enumStrings, enumValues);
|
||
|
|
}
|
||
|
|
|
||
|
|
_commandFact.setMetaData(_commandMetaData);
|
||
|
|
_frameFact.setMetaData(_frameMetaData);
|
||
|
|
_supportedCommandFact.setMetaData(_supportedCommandMetaData);
|
||
|
|
}
|
||
|
|
|
||
|
|
MissionItem::~MissionItem()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::save(QTextStream &saveStream)
|
||
|
|
{
|
||
|
|
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <autoContinue> <DESCRIPTION>
|
||
|
|
// as documented here: http://qgroundcontrol.org/waypoint_protocol
|
||
|
|
saveStream << sequenceNumber() << "\t"
|
||
|
|
<< isCurrentItem() << "\t"
|
||
|
|
<< frame() << "\t"
|
||
|
|
<< command() << "\t"
|
||
|
|
<< QString("%1").arg(param1(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param2(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param3(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param4(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param5(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param6(), 0, 'g', 18) << "\t"
|
||
|
|
<< QString("%1").arg(param7(), 0, 'g', 18) << "\t"
|
||
|
|
<< this->autoContinue() << "\r\n";
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MissionItem::load(QTextStream &loadStream)
|
||
|
|
{
|
||
|
|
const QStringList &wpParams = loadStream.readLine().split("\t");
|
||
|
|
if (wpParams.size() == 12) {
|
||
|
|
setSequenceNumber(wpParams[0].toInt());
|
||
|
|
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
|
||
|
|
setFrame((MAV_FRAME)wpParams[2].toInt());
|
||
|
|
setCommand((MAV_CMD)wpParams[3].toInt());
|
||
|
|
setParam1(wpParams[4].toDouble());
|
||
|
|
setParam2(wpParams[5].toDouble());
|
||
|
|
setParam3(wpParams[6].toDouble());
|
||
|
|
setParam4(wpParams[7].toDouble());
|
||
|
|
setParam5(wpParams[8].toDouble());
|
||
|
|
setParam6(wpParams[9].toDouble());
|
||
|
|
setParam7(wpParams[10].toDouble());
|
||
|
|
setAutoContinue(wpParams[11].toInt() == 1 ? true : false);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void MissionItem::setSequenceNumber(int sequenceNumber)
|
||
|
|
{
|
||
|
|
_sequenceNumber = sequenceNumber;
|
||
|
|
emit sequenceNumberChanged(_sequenceNumber);
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setCommand(MAV_CMD command)
|
||
|
|
{
|
||
|
|
if ((MAV_CMD)this->command() != command) {
|
||
|
|
_commandFact.setValue(command);
|
||
|
|
emit commandChanged(this->command());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
|
||
|
|
{
|
||
|
|
setCommand((MAV_CMD)command);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void MissionItem::setFrame(MAV_FRAME frame)
|
||
|
|
{
|
||
|
|
if (this->frame() != frame) {
|
||
|
|
_frameFact.setValue(frame);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setAutoContinue(bool autoContinue)
|
||
|
|
{
|
||
|
|
if (this->autoContinue() != autoContinue) {
|
||
|
|
_autoContinueFact.setValue(autoContinue);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setIsCurrentItem(bool isCurrentItem)
|
||
|
|
{
|
||
|
|
if (_isCurrentItem != isCurrentItem) {
|
||
|
|
_isCurrentItem = isCurrentItem;
|
||
|
|
emit isCurrentItemChanged(isCurrentItem);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam1(double param)
|
||
|
|
{
|
||
|
|
if (param1() != param) {
|
||
|
|
_param1Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam2(double param)
|
||
|
|
{
|
||
|
|
if (param2() != param) {
|
||
|
|
_param2Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam3(double param)
|
||
|
|
{
|
||
|
|
if (param3() != param) {
|
||
|
|
_param3Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam4(double param)
|
||
|
|
{
|
||
|
|
if (param4() != param) {
|
||
|
|
_param4Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam5(double param)
|
||
|
|
{
|
||
|
|
if (param5() != param) {
|
||
|
|
_param5Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam6(double param)
|
||
|
|
{
|
||
|
|
if (param6() != param) {
|
||
|
|
_param6Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam7(double param)
|
||
|
|
{
|
||
|
|
if (param7() != param) {
|
||
|
|
_param7Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MissionItem::specifiesCoordinate(void) const
|
||
|
|
{
|
||
|
|
return _mavCmdInfoMap[(MAV_CMD)command()].specifiesCoordinate;
|
||
|
|
}
|
||
|
|
|
||
|
|
QString MissionItem::commandDescription(void) const
|
||
|
|
{
|
||
|
|
return _mavCmdInfoMap[(MAV_CMD)command()].description;
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_clearParamMetaData(void)
|
||
|
|
{
|
||
|
|
_param1MetaData.setUnits("");
|
||
|
|
_param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
|
||
|
|
_param1MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
|
||
|
|
_param2MetaData.setUnits("");
|
||
|
|
_param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
|
||
|
|
_param2MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
|
||
|
|
_param3MetaData.setUnits("");
|
||
|
|
_param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
|
||
|
|
_param3MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
|
||
|
|
_param4MetaData.setUnits("");
|
||
|
|
_param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
|
||
|
|
_param4MetaData.setTranslators(FactMetaData::defaultTranslator, FactMetaData::defaultTranslator);
|
||
|
|
}
|
||
|
|
|
||
|
|
QmlObjectListModel* MissionItem::textFieldFacts(void)
|
||
|
|
{
|
||
|
|
QmlObjectListModel* model = new QmlObjectListModel(this);
|
||
|
|
|
||
|
|
if (rawEdit()) {
|
||
|
|
_param1Fact._setName("Param1:");
|
||
|
|
_param1Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param1Fact);
|
||
|
|
_param2Fact._setName("Param2:");
|
||
|
|
_param2Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param2Fact);
|
||
|
|
_param3Fact._setName("Param3:");
|
||
|
|
_param3Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param3Fact);
|
||
|
|
_param4Fact._setName("Param4:");
|
||
|
|
_param4Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param4Fact);
|
||
|
|
_param5Fact._setName("Lat/X:");
|
||
|
|
_param5Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param5Fact);
|
||
|
|
_param6Fact._setName("Lon/Y:");
|
||
|
|
_param6Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param6Fact);
|
||
|
|
_param7Fact._setName("Alt/Z:");
|
||
|
|
_param7Fact.setMetaData(_defaultParamMetaData);
|
||
|
|
model->append(&_param7Fact);
|
||
|
|
} else {
|
||
|
|
_clearParamMetaData();
|
||
|
|
|
||
|
|
MAV_CMD command = (MAV_CMD)this->command();
|
||
|
|
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap.contains(1)) {
|
||
|
|
_param1Fact._setName(_mavCmdInfoMap[command].paramInfoMap[1].label);
|
||
|
|
_param1MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[1].units);
|
||
|
|
_param1MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[1].decimalPlaces);
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap[1].units == _degreesUnits) {
|
||
|
|
_param1MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
|
||
|
|
}
|
||
|
|
_param1Fact.setMetaData(&_param1MetaData);
|
||
|
|
model->append(&_param1Fact);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap.contains(2)) {
|
||
|
|
_param2Fact._setName(_mavCmdInfoMap[command].paramInfoMap[2].label);
|
||
|
|
_param2MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[2].units);
|
||
|
|
_param2MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[2].decimalPlaces);
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap[2].units == _degreesUnits) {
|
||
|
|
_param2MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
|
||
|
|
}
|
||
|
|
_param2Fact.setMetaData(&_param2MetaData);
|
||
|
|
model->append(&_param2Fact);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap.contains(3)) {
|
||
|
|
_param3Fact._setName(_mavCmdInfoMap[command].paramInfoMap[3].label);
|
||
|
|
_param3MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[3].units);
|
||
|
|
_param3MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[3].decimalPlaces);
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap[3].units == _degreesUnits) {
|
||
|
|
_param3MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
|
||
|
|
}
|
||
|
|
_param3Fact.setMetaData(&_param3MetaData);
|
||
|
|
model->append(&_param3Fact);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap.contains(4)) {
|
||
|
|
_param4Fact._setName(_mavCmdInfoMap[command].paramInfoMap[4].label);
|
||
|
|
_param4MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[4].units);
|
||
|
|
_param4MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[4].decimalPlaces);
|
||
|
|
if (_mavCmdInfoMap[command].paramInfoMap[4].units == _degreesUnits) {
|
||
|
|
_param4MetaData.setTranslators(_radiansToDegrees, _degreesToRadians);
|
||
|
|
}
|
||
|
|
_param4Fact.setMetaData(&_param4MetaData);
|
||
|
|
model->append(&_param4Fact);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (specifiesCoordinate()) {
|
||
|
|
_param7Fact._setName("Altitude:");
|
||
|
|
_param7Fact.setMetaData(_altitudeMetaData);
|
||
|
|
model->append(&_param7Fact);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return model;
|
||
|
|
}
|
||
|
|
|
||
|
|
QmlObjectListModel* MissionItem::checkboxFacts(void)
|
||
|
|
{
|
||
|
|
QmlObjectListModel* model = new QmlObjectListModel(this);
|
||
|
|
|
||
|
|
|
||
|
|
if (rawEdit()) {
|
||
|
|
model->append(&_autoContinueFact);
|
||
|
|
} else if (specifiesCoordinate()) {
|
||
|
|
model->append(&_altitudeRelativeToHomeFact);
|
||
|
|
}
|
||
|
|
|
||
|
|
return model;
|
||
|
|
}
|
||
|
|
|
||
|
|
QmlObjectListModel* MissionItem::comboboxFacts(void)
|
||
|
|
{
|
||
|
|
QmlObjectListModel* model = new QmlObjectListModel(this);
|
||
|
|
|
||
|
|
if (rawEdit()) {
|
||
|
|
model->append(&_commandFact);
|
||
|
|
model->append(&_frameFact);
|
||
|
|
}
|
||
|
|
|
||
|
|
return model;
|
||
|
|
}
|
||
|
|
|
||
|
|
QGeoCoordinate MissionItem::coordinate(void) const
|
||
|
|
{
|
||
|
|
return QGeoCoordinate(_param5Fact.value().toDouble(), _param6Fact.value().toDouble(), _param7Fact.value().toDouble());
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
|
||
|
|
{
|
||
|
|
setParam5(coordinate.latitude());
|
||
|
|
setParam6(coordinate.longitude());
|
||
|
|
setParam7(coordinate.altitude());
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MissionItem::friendlyEditAllowed(void) const
|
||
|
|
{
|
||
|
|
if (_mavCmdInfoMap[(MAV_CMD)command()].friendlyEdit) {
|
||
|
|
if (!autoContinue()) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (specifiesCoordinate()) {
|
||
|
|
return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
|
||
|
|
} else {
|
||
|
|
return frame() == MAV_FRAME_MISSION;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MissionItem::rawEdit(void) const
|
||
|
|
{
|
||
|
|
return _rawEdit || !friendlyEditAllowed();
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setRawEdit(bool rawEdit)
|
||
|
|
{
|
||
|
|
if (_rawEdit != rawEdit) {
|
||
|
|
_rawEdit = rawEdit;
|
||
|
|
emit rawEditChanged(this->rawEdit());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setDirty(bool dirty)
|
||
|
|
{
|
||
|
|
if (!_homePositionSpecialCase || !dirty) {
|
||
|
|
// Home position never affects dirty bit
|
||
|
|
|
||
|
|
_dirty = dirty;
|
||
|
|
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
|
||
|
|
// any value within the item changing.
|
||
|
|
emit dirtyChanged(_dirty);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_setDirtyFromSignal(void)
|
||
|
|
{
|
||
|
|
setDirty(true);
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setHomePositionValid(bool homePositionValid)
|
||
|
|
{
|
||
|
|
_homePositionValid = homePositionValid;
|
||
|
|
emit homePositionValidChanged(_homePositionValid);
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setDistance(double distance)
|
||
|
|
{
|
||
|
|
_distance = distance;
|
||
|
|
emit distanceChanged(_distance);
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_sendCoordinateChanged(void)
|
||
|
|
{
|
||
|
|
emit coordinateChanged(coordinate());
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
|
||
|
|
{
|
||
|
|
if (!_syncingAltitudeRelativeToHomeAndFrame) {
|
||
|
|
_syncingAltitudeRelativeToHomeAndFrame = true;
|
||
|
|
setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
|
||
|
|
_syncingAltitudeRelativeToHomeAndFrame = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
|
||
|
|
{
|
||
|
|
if (!_syncingAltitudeRelativeToHomeAndFrame) {
|
||
|
|
_syncingAltitudeRelativeToHomeAndFrame = true;
|
||
|
|
_altitudeRelativeToHomeFact.setValue(relativeAltitude());
|
||
|
|
_syncingAltitudeRelativeToHomeAndFrame = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
|
||
|
|
{
|
||
|
|
if (!_syncingSupportedCommandAndCommand) {
|
||
|
|
qDebug() << value.toInt();
|
||
|
|
_syncingSupportedCommandAndCommand = true;
|
||
|
|
_commandFact.setValue(value.toInt());
|
||
|
|
qDebug() << _commandFact.value().toInt();
|
||
|
|
_syncingSupportedCommandAndCommand = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
|
||
|
|
{
|
||
|
|
if (!_syncingSupportedCommandAndCommand) {
|
||
|
|
_syncingSupportedCommandAndCommand = true;
|
||
|
|
_supportedCommandFact.setValue(value.toInt());
|
||
|
|
_syncingSupportedCommandAndCommand = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setDefaultsForCommand(void)
|
||
|
|
{
|
||
|
|
switch ((MAV_CMD)command()) {
|
||
|
|
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
|
||
|
|
setParam1(_degreesToRadians(defaultTakeoffPitch).toDouble());
|
||
|
|
break;
|
||
|
|
case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
|
||
|
|
setParam2(defaultAcceptanceRadius);
|
||
|
|
break;
|
||
|
|
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
|
||
|
|
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
|
||
|
|
setParam3(defaultLoiterOrbitRadius);
|
||
|
|
break;
|
||
|
|
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
|
||
|
|
setParam1(defaultLoiterTurns);
|
||
|
|
setParam3(defaultLoiterOrbitRadius);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
setParam4(_degreesToRadians(defaultHeading).toDouble());
|
||
|
|
setParam7(defaultAltitude);
|
||
|
|
|
||
|
|
setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_sendUiModelChanged(void)
|
||
|
|
{
|
||
|
|
emit uiModelChanged();
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_sendFrameChanged(void)
|
||
|
|
{
|
||
|
|
emit frameChanged(frame());
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_sendCommandChanged(void)
|
||
|
|
{
|
||
|
|
emit commandChanged(command());
|
||
|
|
}
|
||
|
|
|
||
|
|
QString MissionItem::commandName(void) const
|
||
|
|
{
|
||
|
|
MavCmdInfo_t& mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
|
||
|
|
|
||
|
|
return mavCmdInfo.friendlyName.isEmpty() ? mavCmdInfo.rawName : mavCmdInfo.friendlyName;
|
||
|
|
}
|
||
|
|
|
||
|
|
QVariant MissionItem::_degreesToRadians(const QVariant& degrees)
|
||
|
|
{
|
||
|
|
return QVariant(degrees.toDouble() * (M_PI / 180.0));
|
||
|
|
}
|
||
|
|
|
||
|
|
QVariant MissionItem::_radiansToDegrees(const QVariant& radians)
|
||
|
|
{
|
||
|
|
return QVariant(radians.toDouble() * (180 / M_PI));
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_sendFriendlyEditAllowedChanged(void)
|
||
|
|
{
|
||
|
|
emit friendlyEditAllowedChanged(friendlyEditAllowed());
|
||
|
|
}
|