Browse Source
In case when you would like to bind some MAV commands
to some joystick's buttons, you can now create a json file
which will be parsed at runtime.
It is usefull when you need to send a custom command from the joystick.
But this command is not supported by the firmware, or not relevant to be included to QGC.
Example:
Create a file JoystickMavCommands.json and place it with a binary:
"commands": [
{
"id": 31010,
"name": "Enable Autonomy",
"param1": 1.0
}
]
After executing the QGC, you will be able to bind "Enable Autonomy" to a button,
by clicking to the button, MAV_CMD_USER_1 (31010) with param1 1.0 will be sent.
If there is no json file, nothing will happen.
QGC4.4
Val Doroshchuk
3 years ago
committed by
Don Gagne
7 changed files with 177 additions and 0 deletions
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@@ -0,0 +1,101 @@
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/****************************************************************************
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* |
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* (c) 2009-2020 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 "JoystickMavCommand.h" |
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#include "QGCLoggingCategory.h" |
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#include "Vehicle.h" |
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#include <QJsonDocument> |
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#include <QJsonParseError> |
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#include <QJsonArray> |
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QGC_LOGGING_CATEGORY(JoystickMavCommandLog, "JoystickMavCommandLog") |
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static void parseJsonValue(const QJsonObject& jsonObject, const QString& key, float& param) |
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{ |
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if (jsonObject.contains(key)) |
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param = static_cast<float>(jsonObject.value(key).toDouble()); |
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} |
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QList<JoystickMavCommand> JoystickMavCommand::load(const QString& jsonFilename) |
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{ |
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qCDebug(JoystickMavCommandLog) << "Loading" << jsonFilename; |
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QList<JoystickMavCommand> result; |
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QFile jsonFile(jsonFilename); |
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) { |
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qCDebug(JoystickMavCommandLog) << "Could not open" << jsonFilename; |
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return result; |
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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() << jsonFilename << "Unable to open json document" << jsonParseError.errorString(); |
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return result; |
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} |
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QJsonObject json = doc.object(); |
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const int version = json.value("version").toInt(); |
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if (version != 1) { |
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qWarning() << jsonFilename << ": invalid version" << version; |
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return result; |
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} |
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QJsonValue jsonValue = json.value("commands"); |
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if (!jsonValue.isArray()) { |
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qWarning() << jsonFilename << ": 'commands' is not an array"; |
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return result; |
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} |
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QJsonArray jsonArray = jsonValue.toArray(); |
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for (QJsonValue info: jsonArray) { |
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if (!info.isObject()) { |
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qWarning() << jsonFilename << ": 'commands' should contain objects"; |
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return result; |
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} |
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auto jsonObject = info.toObject(); |
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JoystickMavCommand item; |
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if (!jsonObject.contains("id")) { |
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qWarning() << jsonFilename << ": 'id' is required"; |
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continue; |
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} |
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item._id = jsonObject.value("id").toInt(); |
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if (!jsonObject.contains("name")) { |
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qWarning() << jsonFilename << ": 'name' is required"; |
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continue; |
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} |
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item._name = jsonObject.value("name").toString(); |
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item._showError = jsonObject.value("showError").toBool(); |
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parseJsonValue(jsonObject, "param1", item._param1); |
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parseJsonValue(jsonObject, "param2", item._param2); |
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parseJsonValue(jsonObject, "param3", item._param3); |
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parseJsonValue(jsonObject, "param4", item._param4); |
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parseJsonValue(jsonObject, "param5", item._param5); |
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parseJsonValue(jsonObject, "param6", item._param6); |
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parseJsonValue(jsonObject, "param7", item._param7); |
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qCDebug(JoystickMavCommandLog) << jsonObject; |
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result.append(item); |
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} |
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return result; |
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} |
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void JoystickMavCommand::send(Vehicle* vehicle) |
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{ |
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vehicle->sendMavCommand(vehicle->defaultComponentId(), |
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static_cast<MAV_CMD>(_id), |
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_showError, |
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_param1, _param2, _param3, _param4, _param5, _param6, _param7); |
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} |
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@ -0,0 +1,40 @@
@@ -0,0 +1,40 @@
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/****************************************************************************
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* |
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* (c) 2009-2020 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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/// @file
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/// @brief Custom Joystick MAV command
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#pragma once |
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#include <QString> |
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#include <QList> |
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class Vehicle; |
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/// Custom MAV command
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class JoystickMavCommand |
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{ |
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public: |
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static QList<JoystickMavCommand> load(const QString& jsonFilename); |
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QString name() const { return _name; } |
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void send(Vehicle* vehicle); |
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private: |
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QString _name; |
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int _id = 0; |
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bool _showError = false; |
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float _param1 = 0.0f; |
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float _param2 = 0.0f; |
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float _param3 = 0.0f; |
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float _param4 = 0.0f; |
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float _param5 = 0.0f; |
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float _param6 = 0.0f; |
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float _param7 = 0.0f; |
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}; |
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