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@ -7,12 +7,7 @@ |
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* |
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* |
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****************************************************************************/ |
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****************************************************************************/ |
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#include "APMAirframeComponentController.h" |
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#include "APMAirframeComponentController.h" |
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#include "APMAirframeComponentAirframes.h" |
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#include "QGCMAVLink.h" |
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#include "QGCMAVLink.h" |
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#include "MultiVehicleManager.h" |
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#include "MultiVehicleManager.h" |
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#include "QGCApplication.h" |
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#include "QGCApplication.h" |
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@ -26,71 +21,113 @@ |
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#include <QJsonParseError> |
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#include <QJsonParseError> |
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#include <QJsonObject> |
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#include <QJsonObject> |
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bool APMAirframeComponentController::_typesRegistered = false; |
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const char* APMAirframeComponentController::_oldFrameParam = "FRAME"; |
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const char* APMAirframeComponentController::_newFrameParam = "FRAME_CLASS"; |
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APMAirframeComponentController::APMAirframeComponentController(void) : |
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// These should match the FRAME_CLASS parameter enum meta data
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_airframeTypesModel(new QmlObjectListModel(this)) |
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#define FRAME_CLASS_UNDEFINED 0 |
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{ |
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#define FRAME_CLASS_QUAD 1 |
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if (!_typesRegistered) { |
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#define FRAME_CLASS_HEX 2 |
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_typesRegistered = true; |
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#define FRAME_CLASS_OCTA 3 |
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qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAirframeType", QStringLiteral("Can only reference APMAirframeType")); |
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#define FRAME_CLASS_OCTAQUAD 4 |
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#define FRAME_CLASS_Y6 5 |
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#define FRAME_CLASS_HELI 6 |
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#define FRAME_CLASS_TRI 7 |
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#define FRAME_CLASS_SINGLECOPTER 8 |
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#define FRAME_CLASS_COAXCOPTER 9 |
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#define FRAME_CLASS_BICOPTER 10 |
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#define FRAME_CLASS_HELI_DUAL 11 |
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#define FRAME_CLASS_DODECAHEXA 12 |
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#define FRAME_CLASS_HELIQUAD 13 |
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// These should match the FRAME_TYPE parameter enum meta data
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#define FRAME_TYPE_PLUS 0 |
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#define FRAME_TYPE_X 1 |
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#define FRAME_TYPE_V 2 |
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#define FRAME_TYPE_H 3 |
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#define FRAME_TYPE_V_TAIL 4 |
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#define FRAME_TYPE_A_TAIL 5 |
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#define FRAME_TYPE_Y6B 10 |
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#define FRAME_TYPE_Y6F 11 |
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#define FRAME_TYPE_BETAFLIGHTX 12 |
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#define FRAME_TYPE_DJIX 13 |
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#define FRAME_TYPE_CLOCKWISEX 14 |
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typedef struct { |
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int frameClass; |
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int frameType; |
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const char* imageResource; |
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} FrameToImageInfo_t; |
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static const FrameToImageInfo_t s_rgFrameToImage[] = { |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_PLUS, "QuadRotorPlus" }, |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_X, "QuadRotorX" }, |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_V, "QuadRotorWide" }, |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_H, "QuadRotorH" }, |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_V_TAIL, "QuadRotorVTail" }, |
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{ FRAME_CLASS_QUAD, FRAME_TYPE_A_TAIL, "QuadRotorATail" }, |
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{ FRAME_CLASS_HEX, FRAME_TYPE_PLUS, "HexaRotorPlus" }, |
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{ FRAME_CLASS_HEX, FRAME_TYPE_X, "HexaRotorX" }, |
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{ FRAME_CLASS_OCTA, FRAME_TYPE_PLUS, "OctoRotorPlus" }, |
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{ FRAME_CLASS_OCTA, FRAME_TYPE_X, "OctoRotorX" }, |
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{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_PLUS, "OctoRotorPlusCoaxial" }, |
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{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_X, "OctoRotorXCoaxial" }, |
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{ FRAME_CLASS_Y6, FRAME_TYPE_Y6B, "Y6B" }, |
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{ FRAME_CLASS_Y6, FRAME_TYPE_Y6F, "AirframeUnknown" }, |
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{ FRAME_CLASS_Y6, -1, "Y6A" }, |
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{ FRAME_CLASS_HELI, -1, "Helicopter" }, |
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{ FRAME_CLASS_TRI, -1, "YPlus" }, |
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}; |
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static QString s_findImageResource(int frameClass, int frameType) |
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{ |
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for (size_t i=0; i<sizeof(s_rgFrameToImage)/sizeof(s_rgFrameToImage[0]); i++) { |
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const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImage[i]; |
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if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == frameType) { |
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return pFrameToImageInfo->imageResource; |
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} else if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == -1) { |
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return pFrameToImageInfo->imageResource; |
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} |
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} |
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_fillAirFrames(); |
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Fact* frame = NULL; |
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if (parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) { |
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frame = getParameterFact(FactSystem::defaultComponentId, _oldFrameParam); |
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} else if (parameterExists(FactSystem::defaultComponentId, _newFrameParam)){ |
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frame = getParameterFact(FactSystem::defaultComponentId, _newFrameParam); |
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} |
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} |
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if (frame) { |
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return QStringLiteral("AirframeUnknown"); |
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connect(frame, &Fact::rawValueChanged, this, &APMAirframeComponentController::_factFrameChanged); |
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_factFrameChanged(frame->rawValue()); |
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} |
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} |
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} |
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APMAirframeComponentController::~APMAirframeComponentController() |
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APMAirframeComponentController::APMAirframeComponentController(void) |
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: _frameClassFact (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_CLASS"))) |
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, _frameTypeFact (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_TYPE"))) |
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, _frameClassModel (new QmlObjectListModel(this)) |
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{ |
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{ |
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_fillFrameClasses(); |
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} |
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} |
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void APMAirframeComponentController::_factFrameChanged(QVariant value) |
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APMAirframeComponentController::~APMAirframeComponentController() |
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{ |
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{ |
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FrameId v = (FrameId) value.toInt(); |
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for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) { |
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APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i)); |
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Q_ASSERT(airframeType); |
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if (airframeType->type() == v) { |
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_currentAirframeType = airframeType; |
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break; |
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} |
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} |
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emit currentAirframeTypeChanged(_currentAirframeType); |
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} |
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} |
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void APMAirframeComponentController::_fillAirFrames() |
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void APMAirframeComponentController::_fillFrameClasses() |
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{ |
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{ |
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for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) { |
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QList<int> frameTypeNotSupported; |
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const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex); |
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APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this); |
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frameTypeNotSupported << FRAME_CLASS_HELI |
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Q_CHECK_PTR(airframeType); |
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<< FRAME_CLASS_SINGLECOPTER |
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<< FRAME_CLASS_COAXCOPTER |
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<< FRAME_CLASS_BICOPTER |
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<< FRAME_CLASS_HELI_DUAL |
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<< FRAME_CLASS_HELIQUAD; |
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for (int index = 0; index < pType->rgAirframeInfo.count(); index++) { |
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for (int i=1; i<_frameClassFact->enumStrings().count(); i++) { |
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const APMAirframe* pInfo = pType->rgAirframeInfo.at(index); |
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QString frameClassName = _frameClassFact->enumStrings()[i]; |
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Q_CHECK_PTR(pInfo); |
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int frameClass = _frameClassFact->enumValues()[i].toInt(); |
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int defaultFrameType; |
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airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type()); |
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if (frameTypeNotSupported.contains(frameClass)) { |
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defaultFrameType = -1; |
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} else { |
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defaultFrameType = FRAME_TYPE_X; |
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} |
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} |
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_airframeTypesModel->append(airframeType); |
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_frameClassModel->append(new APMFrameClass(frameClassName, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel)); |
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} |
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} |
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emit loadAirframesCompleted(); |
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} |
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} |
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void APMAirframeComponentController::_loadParametersFromDownloadFile(const QString& downloadedParamFile) |
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void APMAirframeComponentController::_loadParametersFromDownloadFile(const QString& downloadedParamFile) |
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@ -120,86 +157,6 @@ void APMAirframeComponentController::_loadParametersFromDownloadFile(const QStri |
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_vehicle->parameterManager()->refreshAllParameters(); |
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_vehicle->parameterManager()->refreshAllParameters(); |
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} |
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} |
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APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) : |
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QObject(parent), |
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_name(name), |
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_imageResource(imageResource), |
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_type(type), |
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_dirty(false) |
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{ |
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} |
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APMAirframeType::~APMAirframeType() |
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{ |
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} |
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void APMAirframeType::addAirframe(const QString& name, const QString& file, int type) |
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{ |
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APMAirframe* airframe = new APMAirframe(name, file, type); |
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Q_CHECK_PTR(airframe); |
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_airframes.append(QVariant::fromValue(airframe)); |
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} |
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APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) : |
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QObject(parent), |
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_name(name), |
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_paramsFile(paramsFile), |
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_type(type) |
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{ |
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} |
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QString APMAirframe::name() const |
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{ |
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return _name; |
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} |
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QString APMAirframe::params() const |
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{ |
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return _paramsFile; |
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} |
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int APMAirframe::type() const |
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{ |
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return _type; |
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} |
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APMAirframe::~APMAirframe() |
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{ |
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} |
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QString APMAirframeType::imageResource() const |
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{ |
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return _imageResource; |
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} |
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QString APMAirframeType::name() const |
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{ |
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return _name; |
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} |
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int APMAirframeType::type() const |
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{ |
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return _type; |
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} |
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APMAirframeType *APMAirframeComponentController::currentAirframeType() const |
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{ |
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return _currentAirframeType; |
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} |
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QString APMAirframeComponentController::currentAirframeTypeName() const |
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{ |
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return _vehicle->vehicleTypeName(); |
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} |
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void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t) |
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{ |
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Fact *param = getParameterFact(-1, QStringLiteral("FRAME")); |
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Q_ASSERT(param); |
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param->setRawValue(t->type()); |
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} |
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void APMAirframeComponentController::loadParameters(const QString& paramFile) |
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void APMAirframeComponentController::loadParameters(const QString& paramFile) |
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{ |
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{ |
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qgcApp()->setOverrideCursor(Qt::WaitCursor); |
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qgcApp()->setOverrideCursor(Qt::WaitCursor); |
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@ -258,3 +215,25 @@ void APMAirframeComponentController::_paramFileDownloadError(QString errorMsg) |
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qgcApp()->showMessage(tr("Param file download failed: %1").arg(errorMsg)); |
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qgcApp()->showMessage(tr("Param file download failed: %1").arg(errorMsg)); |
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qgcApp()->restoreOverrideCursor(); |
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qgcApp()->restoreOverrideCursor(); |
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} |
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} |
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APMFrameClass::APMFrameClass(const QString& name, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent) |
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: QObject (parent) |
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, _name (name) |
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, _frameClass (frameClass) |
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, _defaultFrameType (defaultFrameType) |
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, _frameTypeSupported (defaultFrameType != -1) |
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, _frameTypeFact (frameTypeFact) |
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{ |
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connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::imageResourceChanged); |
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connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::frameTypeChanged); |
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} |
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APMFrameClass::~APMFrameClass() |
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{ |
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} |
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QString APMFrameClass::imageResource(void) |
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{ |
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return QStringLiteral("/qmlimages/Airframe/%1").arg(s_findImageResource(_frameClass, _frameTypeFact->rawValue().toInt())); |
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} |
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DonLakeFlyer
6 years ago