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These Custom Actions are defined in a JSON file, and define MAVLink messages to send to the current active vehicle. These Custom Actions will be added to the Fly View.QGC4.4
Nick Exton
2 years ago
6 changed files with 220 additions and 0 deletions
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/****************************************************************************
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* |
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* (c) 2009-2023 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 <QObject> |
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#include "MAVLinkProtocol.h" |
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#include "Vehicle.h" |
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class CustomAction: public QObject |
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{ |
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Q_OBJECT |
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Q_PROPERTY(QString label READ label CONSTANT) |
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public: |
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CustomAction() { CustomAction("", MAV_CMD(0)); } // this is required for QML reflection
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CustomAction( |
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QString label, |
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MAV_CMD mavCmd, |
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MAV_COMPONENT compId = MAV_COMP_ID_AUTOPILOT1, |
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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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_label(label), |
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_mavCmd(mavCmd), |
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_compId(compId), |
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_params{ param1, param2, param3, param4, param5, param6, param7 } |
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{}; |
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Q_INVOKABLE void sendTo(Vehicle* vehicle) { |
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if (vehicle) { |
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const bool showError = true; |
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vehicle->sendMavCommand(_compId, _mavCmd, showError, _params[0], _params[1], _params[2], _params[3], _params[4], _params[5], _params[6]); |
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} |
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}; |
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private: |
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QString label() const { return _label; } |
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QString _label; |
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MAV_CMD _mavCmd; |
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MAV_COMPONENT _compId; |
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float _params[7]; |
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}; |
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/****************************************************************************
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* |
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* (c) 2009-2023 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 <QQmlEngine> |
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#include "CustomActionManager.h" |
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#include "CustomAction.h" |
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#include "JsonHelper.h" |
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#include "QGCApplication.h" |
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#include "SettingsManager.h" |
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CustomActionManager::CustomActionManager(void) { |
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auto flyViewSettings = qgcApp()->toolbox()->settingsManager()->flyViewSettings(); |
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Fact* customActionsFact = flyViewSettings->customActionDefinitions(); |
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connect(customActionsFact, &Fact::valueChanged, this, &CustomActionManager::_loadFromJson); |
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_loadFromJson(customActionsFact->rawValue()); |
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} |
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void CustomActionManager::_loadFromJson(QVariant fact) { |
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QString path = fact.toString(); |
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const char* kQgcFileType = "CustomActions"; |
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const char* kActionListKey = "actions"; |
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_actions.clearAndDeleteContents(); |
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QString errorString; |
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int version; |
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QJsonObject jsonObject = JsonHelper::openInternalQGCJsonFile(path, kQgcFileType, 1, 1, version, errorString); |
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if (!errorString.isEmpty()) { |
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qWarning() << "Custom Actions Internal Error: " << errorString; |
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emit actionsChanged(); |
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return; |
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} |
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QList<JsonHelper::KeyValidateInfo> keyInfoList = { |
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{ kActionListKey, QJsonValue::Array, /* required= */ true }, |
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}; |
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if (!JsonHelper::validateKeys(jsonObject, keyInfoList, errorString)) { |
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qWarning() << "Custom Actions JSON document incorrect format:" << errorString; |
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emit actionsChanged(); |
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return; |
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} |
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QJsonArray actionList = jsonObject[kActionListKey].toArray(); |
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for (auto actionJson: actionList) { |
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if (!actionJson.isObject()) { |
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qWarning() << "Custom Actions JsonValue not an object: " << actionJson; |
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continue; |
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} |
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auto actionObj = actionJson.toObject(); |
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QList<JsonHelper::KeyValidateInfo> actionKeyInfoList = { |
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{ "label", QJsonValue::String, /* required= */ true }, |
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{ "mavCmd", QJsonValue::Double, /* required= */ true }, |
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{ "compId", QJsonValue::Double, /* required= */ false }, |
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{ "param1", QJsonValue::Double, /* required= */ false }, |
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{ "param2", QJsonValue::Double, /* required= */ false }, |
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{ "param3", QJsonValue::Double, /* required= */ false }, |
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{ "param4", QJsonValue::Double, /* required= */ false }, |
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{ "param5", QJsonValue::Double, /* required= */ false }, |
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{ "param6", QJsonValue::Double, /* required= */ false }, |
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{ "param7", QJsonValue::Double, /* required= */ false }, |
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}; |
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if (!JsonHelper::validateKeys(actionObj, actionKeyInfoList, errorString)) { |
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qWarning() << "Custom Actions JSON document incorrect format:" << errorString; |
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continue; |
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} |
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auto label = actionObj["label"].toString(); |
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auto mavCmd = (MAV_CMD)actionObj["mavCmd"].toInt(); |
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auto compId = (MAV_COMPONENT)actionObj["compId"].toInt(MAV_COMP_ID_AUTOPILOT1); |
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auto param1 = actionObj["param1"].toDouble(0.0); |
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auto param2 = actionObj["param2"].toDouble(0.0); |
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auto param3 = actionObj["param3"].toDouble(0.0); |
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auto param4 = actionObj["param4"].toDouble(0.0); |
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auto param5 = actionObj["param5"].toDouble(0.0); |
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auto param6 = actionObj["param6"].toDouble(0.0); |
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auto param7 = actionObj["param7"].toDouble(0.0); |
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CustomAction* action = new CustomAction(label, mavCmd, compId, param1, param2, param3, param4, param5, param6, param7); |
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QQmlEngine::setObjectOwnership(action, QQmlEngine::CppOwnership); |
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_actions.append(action); |
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} |
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emit actionsChanged(); |
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} |
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/****************************************************************************
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* |
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* (c) 2009-2023 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 <QObject> |
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#include <QmlObjectListModel.h> |
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class CustomActionManager : public QObject |
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{ |
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Q_OBJECT |
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Q_PROPERTY(QmlObjectListModel* actions READ actions NOTIFY actionsChanged) |
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Q_PROPERTY(bool hasActions READ hasActions NOTIFY actionsChanged) |
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public: |
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CustomActionManager(void); |
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QmlObjectListModel* actions(void) { return &_actions; } |
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bool hasActions(void) { return _actions.count() > 0; } |
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signals: |
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void actionsChanged(); |
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private slots: |
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void _loadFromJson(QVariant path); |
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private: |
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QmlObjectListModel _actions; |
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bool _hasActions; |
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}; |
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{ |
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"version": 1, |
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"fileType": "CustomActions", |
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"actions": [ |
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{ |
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"label": "Image Start Capture", |
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"mavCmd": 2000, |
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"compId": 1, |
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"param1": 0, |
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"param2": 0, |
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"param3": 0, |
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"param4": 0, |
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"param5": 0, |
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"param6": 0, |
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"param7": 0 |
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}, |
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{ |
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"label": "Image Stop Capture", |
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"mavCmd": 2001 |
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} |
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] |
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} |
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