Add class to load and transmit Custom Actions

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.

qgroundcontrol.pro

@@ -431,6 +431,8 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 #
 
 HEADERS += \
+    src/QmlControls/CustomAction.h \
+    src/QmlControls/CustomActionManager.h \
     src/QmlControls/QmlUnitsConversion.h \
     src/Vehicle/VehicleEscStatusFactGroup.h \
     src/api/QGCCorePlugin.h \
@@ -445,6 +447,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 }
 
 SOURCES += \
+    src/QmlControls/CustomActionManager.cc \
     src/Vehicle/VehicleEscStatusFactGroup.cc \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \

src/QGCApplication.cc

@@ -102,6 +102,8 @@
 #include "QGCMAVLink.h"
 #include "VehicleLinkManager.h"
 #include "Autotune.h"
+#include "CustomAction.h"
+#include "CustomActionManager.h"
 
 #if defined(QGC_ENABLE_PAIRING)
 #include "PairingManager.h"
@@ -511,6 +513,8 @@ void QGCApplication::_initCommon()
     qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
     qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
     qmlRegisterType<RCToParamDialogController>      (kQGCControllers,                       1, 0, "RCToParamDialogController");
+    qmlRegisterType<CustomAction>                   (kQGCControllers,                       1, 0, "CustomAction");
+    qmlRegisterType<CustomActionManager>            (kQGCControllers,                       1, 0, "CustomActionManager");
 
     qmlRegisterType<TerrainProfile>                 ("QGroundControl.Controls",             1, 0, "TerrainProfile");
     qmlRegisterType<ToolStripAction>                ("QGroundControl.Controls",             1, 0, "ToolStripAction");

src/QmlControls/CustomAction.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * (c) 2009-2023 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include <QObject>
+
+#include "MAVLinkProtocol.h"
+#include "Vehicle.h"
+
+class CustomAction: public QObject
+{
+    Q_OBJECT
+
+    Q_PROPERTY(QString label   READ label   CONSTANT)
+
+
+public:
+    CustomAction() { CustomAction("", MAV_CMD(0)); } // this is required for QML reflection
+    CustomAction(
+            QString label,
+            MAV_CMD mavCmd,
+            MAV_COMPONENT compId = MAV_COMP_ID_AUTOPILOT1,
+            float param1 = 0.0f,
+            float param2 = 0.0f,
+            float param3 = 0.0f,
+            float param4 = 0.0f,
+            float param5 = 0.0f,
+            float param6 = 0.0f,
+            float param7 = 0.0f
+    ):
+        _label(label),
+        _mavCmd(mavCmd),
+        _compId(compId),
+        _params{ param1, param2, param3, param4, param5, param6, param7 }
+    {};
+
+    Q_INVOKABLE void sendTo(Vehicle* vehicle) {
+        if (vehicle) {
+            const bool showError = true;
+            vehicle->sendMavCommand(_compId, _mavCmd, showError, _params[0], _params[1], _params[2], _params[3], _params[4], _params[5], _params[6]);
+        }
+    };
+
+
+private:
+    QString  label() const  { return _label; }
+
+    QString _label;
+    MAV_CMD _mavCmd;
+    MAV_COMPONENT _compId;
+    float _params[7];
+
+};

src/QmlControls/CustomActionManager.cc

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ * (c) 2009-2023 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include <QQmlEngine>
+
+#include "CustomActionManager.h"
+#include "CustomAction.h"
+#include "JsonHelper.h"
+#include "QGCApplication.h"
+#include "SettingsManager.h"
+
+CustomActionManager::CustomActionManager(void) {
+    auto flyViewSettings = qgcApp()->toolbox()->settingsManager()->flyViewSettings();
+    Fact* customActionsFact = flyViewSettings->customActionDefinitions();
+
+    connect(customActionsFact, &Fact::valueChanged, this, &CustomActionManager::_loadFromJson);
+    _loadFromJson(customActionsFact->rawValue());
+}
+
+void CustomActionManager::_loadFromJson(QVariant fact) {
+    QString path = fact.toString();
+
+    const char* kQgcFileType = "CustomActions";
+    const char* kActionListKey = "actions";
+
+    _actions.clearAndDeleteContents();
+
+    QString errorString;
+    int version;
+    QJsonObject jsonObject = JsonHelper::openInternalQGCJsonFile(path, kQgcFileType, 1, 1, version, errorString);
+    if (!errorString.isEmpty()) {
+        qWarning() << "Custom Actions Internal Error: " << errorString;
+        emit actionsChanged();
+        return;
+    }
+
+    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { kActionListKey, QJsonValue::Array, /* required= */ true },
+    };
+    if (!JsonHelper::validateKeys(jsonObject, keyInfoList, errorString)) {
+        qWarning() << "Custom Actions JSON document incorrect format:" << errorString;
+        emit actionsChanged();
+        return;
+    }
+
+    QJsonArray actionList = jsonObject[kActionListKey].toArray();
+    for (auto actionJson: actionList) {
+        if (!actionJson.isObject()) {
+            qWarning() << "Custom Actions JsonValue not an object: " << actionJson;
+            continue;
+        }
+
+        auto actionObj = actionJson.toObject();
+
+        QList<JsonHelper::KeyValidateInfo> actionKeyInfoList = {
+            { "label",  QJsonValue::String, /* required= */ true },
+            { "mavCmd", QJsonValue::Double, /* required= */ true },
+
+            { "compId", QJsonValue::Double, /* required= */ false },
+            { "param1", QJsonValue::Double, /* required= */ false },
+            { "param2", QJsonValue::Double, /* required= */ false },
+            { "param3", QJsonValue::Double, /* required= */ false },
+            { "param4", QJsonValue::Double, /* required= */ false },
+            { "param5", QJsonValue::Double, /* required= */ false },
+            { "param6", QJsonValue::Double, /* required= */ false },
+            { "param7", QJsonValue::Double, /* required= */ false },
+        };
+        if (!JsonHelper::validateKeys(actionObj, actionKeyInfoList, errorString)) {
+            qWarning() << "Custom Actions JSON document incorrect format:" << errorString;
+            continue;
+        }
+
+        auto label = actionObj["label"].toString();
+        auto mavCmd = (MAV_CMD)actionObj["mavCmd"].toInt();
+        auto compId = (MAV_COMPONENT)actionObj["compId"].toInt(MAV_COMP_ID_AUTOPILOT1);
+        auto param1 = actionObj["param1"].toDouble(0.0);
+        auto param2 = actionObj["param2"].toDouble(0.0);
+        auto param3 = actionObj["param3"].toDouble(0.0);
+        auto param4 = actionObj["param4"].toDouble(0.0);
+        auto param5 = actionObj["param5"].toDouble(0.0);
+        auto param6 = actionObj["param6"].toDouble(0.0);
+        auto param7 = actionObj["param7"].toDouble(0.0);
+
+        CustomAction* action = new CustomAction(label, mavCmd, compId, param1, param2, param3, param4, param5, param6, param7);
+        QQmlEngine::setObjectOwnership(action, QQmlEngine::CppOwnership);
+        _actions.append(action);
+    }
+
+    emit actionsChanged();
+}

src/QmlControls/CustomActionManager.h

@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ * (c) 2009-2023 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include <QObject>
+#include <QmlObjectListModel.h>
+
+
+class CustomActionManager : public QObject
+{
+    Q_OBJECT
+
+    Q_PROPERTY(QmlObjectListModel*  actions     READ  actions     NOTIFY  actionsChanged)
+    Q_PROPERTY(bool                 hasActions  READ  hasActions  NOTIFY  actionsChanged)
+
+public:
+    CustomActionManager(void);
+
+    QmlObjectListModel* actions(void) { return &_actions; }
+    bool hasActions(void) { return  _actions.count() > 0; }
+
+signals:
+    void actionsChanged();
+
+private slots:
+    void _loadFromJson(QVariant path);
+
+private:
+    QmlObjectListModel  _actions;
+    bool _hasActions;
+
+};

src/QmlControls/CustomActions.json

@@ -0,0 +1,22 @@
+{
+    "version":  1,
+    "fileType": "CustomActions",
+    "actions": [
+        {
+            "label":  "Image Start Capture",
+            "mavCmd": 2000,
+            "compId": 1,
+            "param1": 0,
+            "param2": 0,
+            "param3": 0,
+            "param4": 0,
+            "param5": 0,
+            "param6": 0,
+            "param7": 0
+        },
+        {
+            "label":  "Image Stop Capture",
+            "mavCmd": 2001
+        }
+    ]
+}