Browse Source
- New mission command editor dialog - New MissionCommands toolbox object to get command info - Added APM mission item setQGC4.4
Don Gagne
10 years ago
17 changed files with 773 additions and 358 deletions
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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 "MissionCommands.h" |
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#include "FactMetaData.h" |
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#include <QStringList> |
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#include <QJsonDocument> |
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#include <QJsonParseError> |
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#include <QJsonArray> |
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#include <QDebug> |
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#include <QFile> |
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QGC_LOGGING_CATEGORY(MissionCommandsLog, "MissionCommandsLog") |
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const QString MissionCommands::_categoryJsonKey (QStringLiteral("category")); |
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const QString MissionCommands::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces")); |
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const QString MissionCommands::_defaultJsonKey (QStringLiteral("default")); |
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const QString MissionCommands::_descriptionJsonKey (QStringLiteral("description")); |
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const QString MissionCommands::_enumStringsJsonKey (QStringLiteral("enumStrings")); |
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const QString MissionCommands::_enumValuesJsonKey (QStringLiteral("enumValues")); |
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const QString MissionCommands::_friendlyEditJsonKey (QStringLiteral("friendlyEdit")); |
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const QString MissionCommands::_friendlyNameJsonKey (QStringLiteral("friendlyName")); |
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const QString MissionCommands::_idJsonKey (QStringLiteral("id")); |
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const QString MissionCommands::_labelJsonKey (QStringLiteral("label")); |
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const QString MissionCommands::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo")); |
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const QString MissionCommands::_param1JsonKey (QStringLiteral("param1")); |
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const QString MissionCommands::_param2JsonKey (QStringLiteral("param2")); |
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const QString MissionCommands::_param3JsonKey (QStringLiteral("param3")); |
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const QString MissionCommands::_param4JsonKey (QStringLiteral("param4")); |
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const QString MissionCommands::_paramJsonKeyFormat (QStringLiteral("param%1")); |
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const QString MissionCommands::_rawNameJsonKey (QStringLiteral("rawName")); |
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const QString MissionCommands::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate")); |
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const QString MissionCommands::_unitsJsonKey (QStringLiteral("units")); |
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const QString MissionCommands::_versionJsonKey (QStringLiteral("version")); |
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const QString MissionCommands::_degreesConvertUnits (QStringLiteral("degreesConvert")); |
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const QString MissionCommands::_degreesUnits (QStringLiteral("degrees")); |
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MissionCommands::MissionCommands(QGCApplication* app) |
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: QGCTool(app) |
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{ |
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_loadMavCmdInfoJson(); |
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} |
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bool MissionCommands::_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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return true; |
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} |
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void MissionCommands::_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; |
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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; |
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} |
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QJsonObject json = doc.object(); |
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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; |
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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; |
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} |
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QJsonArray jsonArray = jsonValue.toArray(); |
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foreach(QJsonValue info, jsonArray) { |
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if (!info.isObject()) { |
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qWarning() << "mavCmdArray should contain objects"; |
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return; |
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} |
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QJsonObject jsonObject = info.toObject(); |
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// Make sure we have the required keys
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QStringList requiredKeys; |
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requiredKeys << _idJsonKey << _rawNameJsonKey; |
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foreach (QString key, requiredKeys) { |
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if (!jsonObject.contains(key)) { |
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qWarning() << "Mission required key" << key; |
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return; |
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} |
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} |
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// Validate key types
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QStringList keys; |
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QList<QJsonValue::Type> types; |
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keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey |
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<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey; |
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types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool |
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<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String; |
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if (!_validateKeyTypes(jsonObject, keys, types)) { |
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return; |
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} |
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MavCmdInfo* mavCmdInfo = new MavCmdInfo(this); |
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mavCmdInfo->_command = (MAV_CMD) jsonObject.value(_idJsonKey).toInt(); |
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mavCmdInfo->_category = jsonObject.value(_categoryJsonKey).toString("Advanced"); |
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mavCmdInfo->_rawName = jsonObject.value(_rawNameJsonKey).toString(); |
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mavCmdInfo->_friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString()); |
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mavCmdInfo->_description = jsonObject.value(_descriptionJsonKey).toString(QString()); |
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mavCmdInfo->_specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false); |
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mavCmdInfo->_friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false); |
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qCDebug(MissionCommandsLog) << "Command" |
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<< mavCmdInfo->_command |
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<< mavCmdInfo->_category |
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<< mavCmdInfo->_rawName |
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<< mavCmdInfo->_friendlyName |
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<< mavCmdInfo->_description |
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<< mavCmdInfo->_specifiesCoordinate |
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<< mavCmdInfo->_friendlyEdit; |
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if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) { |
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qWarning() << "Duplicate command" << mavCmdInfo->command(); |
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return; |
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} |
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_mavCmdInfoMap[mavCmdInfo->_command] = mavCmdInfo; |
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_commandList.append(mavCmdInfo); |
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// Read params
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for (int i=1; i<=7; i++) { |
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QString paramKey = QString(_paramJsonKeyFormat).arg(i); |
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if (jsonObject.contains(paramKey)) { |
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QJsonObject paramObject = jsonObject.value(paramKey).toObject(); |
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// Validate key types
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QStringList keys; |
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QList<QJsonValue::Type> types; |
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keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey; |
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types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String; |
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if (!_validateKeyTypes(paramObject, keys, types)) { |
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return; |
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} |
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mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params
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if (!paramObject.contains(_labelJsonKey)) { |
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qWarning() << "param object missing label key" << mavCmdInfo->rawName() << paramKey; |
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return; |
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} |
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MavCmdParamInfo* paramInfo = new MavCmdParamInfo(this); |
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paramInfo->_label = paramObject.value(_labelJsonKey).toString(); |
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paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0); |
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paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces); |
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paramInfo->_enumStrings = paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts); |
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paramInfo->_param = i; |
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paramInfo->_units = paramObject.value(_unitsJsonKey).toString(); |
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QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts); |
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foreach (QString enumValue, enumValues) { |
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bool convertOk; |
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double value = enumValue.toDouble(&convertOk); |
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if (!convertOk) { |
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qWarning() << "Bad enumValue" << enumValue; |
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return; |
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} |
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paramInfo->_enumValues << QVariant(value); |
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} |
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if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) { |
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qWarning() << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count(); |
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return; |
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} |
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qCDebug(MissionCommandsLog) << "Param" |
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<< paramInfo->_label |
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<< paramInfo->_defaultValue |
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<< paramInfo->_decimalPlaces |
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<< paramInfo->_param |
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<< paramInfo->_units |
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<< paramInfo->_enumStrings |
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<< paramInfo->_enumValues; |
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mavCmdInfo->_paramInfoMap[i] = paramInfo; |
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} |
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} |
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// We don't add categories till down here, since friendly edit isn't valid till here
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if (mavCmdInfo->_command != MAV_CMD_NAV_LAST) { |
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// Don't add fake home postion command to categories
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if (!_categories.contains(mavCmdInfo->category()) && mavCmdInfo->friendlyEdit()) { |
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// Only friendly edit commands go in category list
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qCDebug(MissionCommandsLog) << "Adding new category"; |
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_categories.append(mavCmdInfo->category()); |
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_categoryToMavCmdInfoListMap[mavCmdInfo->category()] = new QmlObjectListModel(this); |
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} |
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if (mavCmdInfo->friendlyEdit()) { |
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// Only friendly edit commands go in category list
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_categoryToMavCmdInfoListMap[mavCmdInfo->category()]->append(mavCmdInfo); |
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} |
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} |
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if (mavCmdInfo->friendlyEdit()) { |
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if (mavCmdInfo->description().isEmpty()) { |
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qWarning() << "Missing description" << mavCmdInfo->rawName(); |
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return; |
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} |
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if (mavCmdInfo->rawName() == mavCmdInfo->friendlyName()) { |
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qWarning() << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName(); |
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return; |
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} |
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} |
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} |
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} |
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@ -0,0 +1,178 @@ |
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 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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|
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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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#ifndef MissionCommands_H |
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#define MissionCommands_H |
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#include "QGCToolbox.h" |
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#include "QGCMAVLink.h" |
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#include "QGCLoggingCategory.h" |
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#include "QmlObjectListModel.h" |
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#include "MavlinkQmlSingleton.h" |
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#include <QObject> |
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#include <QString> |
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#include <QJsonObject> |
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#include <QJsonValue> |
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Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog) |
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class MissionCommands; |
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class MavCmdParamInfo : public QObject { |
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Q_OBJECT |
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public: |
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MavCmdParamInfo(QObject* parent = NULL) |
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: QObject(parent) |
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{ |
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} |
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Q_PROPERTY(int decimalPlaces READ decimalPlaces CONSTANT) |
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Q_PROPERTY(double defaultValue READ defaultValue CONSTANT) |
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Q_PROPERTY(QStringList enumStrings READ enumStrings CONSTANT) |
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Q_PROPERTY(QVariantList enumValues READ enumValues CONSTANT) |
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Q_PROPERTY(QString label READ label CONSTANT) |
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Q_PROPERTY(int param READ param CONSTANT) |
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Q_PROPERTY(QString units READ units CONSTANT) |
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int decimalPlaces (void) const { return _decimalPlaces; } |
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double defaultValue (void) const { return _defaultValue; } |
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QStringList enumStrings (void) const { return _enumStrings; } |
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QVariantList enumValues (void) const { return _enumValues; } |
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QString label (void) const { return _label; } |
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int param (void) const { return _param; } |
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QString units (void) const { return _units; } |
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private: |
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int _decimalPlaces; |
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double _defaultValue; |
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QStringList _enumStrings; |
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QVariantList _enumValues; |
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QString _label; |
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int _param; |
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QString _units; |
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friend class MissionCommands; |
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}; |
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class MavCmdInfo : public QObject { |
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Q_OBJECT |
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public: |
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MavCmdInfo(QObject* parent = NULL) |
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: QObject(parent) |
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{ |
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} |
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Q_PROPERTY(QString category READ category CONSTANT) |
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Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command CONSTANT) |
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Q_PROPERTY(QString description READ description CONSTANT) |
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Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT) |
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Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT) |
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Q_PROPERTY(QString rawName READ rawName CONSTANT) |
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Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT) |
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QString category (void) const { return _category; } |
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MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; } |
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QString description (void) const { return _description; } |
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bool friendlyEdit (void) const { return _friendlyEdit; } |
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QString friendlyName (void) const { return _friendlyName; } |
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QString rawName (void) const { return _rawName; } |
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bool specifiesCoordinate (void) const { return _specifiesCoordinate; } |
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const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; } |
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private: |
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QString _category; |
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MAV_CMD _command; |
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QString _description; |
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bool _friendlyEdit; |
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QString _friendlyName; |
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QMap<int, MavCmdParamInfo*> _paramInfoMap; |
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QString _rawName; |
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bool _specifiesCoordinate; |
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friend class MissionCommands; |
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}; |
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class MissionCommands : public QGCTool |
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{ |
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Q_OBJECT |
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public: |
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MissionCommands(QGCApplication* app); |
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Q_PROPERTY(QStringList categories READ categories CONSTANT) |
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Q_PROPERTY(const QmlObjectListModel* commands READ commands CONSTANT) |
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Q_INVOKABLE QString categoryFromCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { return _mavCmdInfoMap[(MAV_CMD)command]->category(); } |
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Q_INVOKABLE const QVariant getCommandsForCategory(const QString& category) const { return QVariant::fromValue(_categoryToMavCmdInfoListMap[category]); } |
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const QStringList categories (void) const { return _categories; } |
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const QmlObjectListModel* commands (void) const { return &_commandList; } |
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|
||||||
|
const QMap<MAV_CMD, MavCmdInfo*>& commandInfoMap(void) const { return _mavCmdInfoMap; }; |
||||||
|
|
||||||
|
static const QString _degreesUnits; |
||||||
|
static const QString _degreesConvertUnits; |
||||||
|
|
||||||
|
signals: |
||||||
|
|
||||||
|
private: |
||||||
|
void _loadMavCmdInfoJson(void); |
||||||
|
void _setupMetaData(void); |
||||||
|
bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types); |
||||||
|
|
||||||
|
private: |
||||||
|
QStringList _categories; |
||||||
|
QMap<QString, QmlObjectListModel*> _categoryToMavCmdInfoListMap; |
||||||
|
QmlObjectListModel _commandList; |
||||||
|
QMap<MAV_CMD, MavCmdInfo*> _mavCmdInfoMap; |
||||||
|
|
||||||
|
static const QString _categoryJsonKey; |
||||||
|
static const QString _decimalPlacesJsonKey; |
||||||
|
static const QString _defaultJsonKey; |
||||||
|
static const QString _descriptionJsonKey; |
||||||
|
static const QString _enumStringsJsonKey; |
||||||
|
static const QString _enumValuesJsonKey; |
||||||
|
static const QString _friendlyNameJsonKey; |
||||||
|
static const QString _friendlyEditJsonKey; |
||||||
|
static const QString _idJsonKey; |
||||||
|
static const QString _labelJsonKey; |
||||||
|
static const QString _mavCmdInfoJsonKey; |
||||||
|
static const QString _param1JsonKey; |
||||||
|
static const QString _param2JsonKey; |
||||||
|
static const QString _param3JsonKey; |
||||||
|
static const QString _param4JsonKey; |
||||||
|
static const QString _paramJsonKeyFormat; |
||||||
|
static const QString _rawNameJsonKey; |
||||||
|
static const QString _specifiesCoordinateJsonKey; |
||||||
|
static const QString _unitsJsonKey; |
||||||
|
static const QString _versionJsonKey; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif |
||||||
@ -0,0 +1,134 @@ |
|||||||
|
/*===================================================================== |
||||||
|
|
||||||
|
QGroundControl Open Source Ground Control Station |
||||||
|
|
||||||
|
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
||||||
|
|
||||||
|
This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
||||||
|
|
||||||
|
======================================================================*/ |
||||||
|
|
||||||
|
import QtQuick 2.5 |
||||||
|
import QtQuick.Controls 1.4 |
||||||
|
|
||||||
|
import QGroundControl 1.0 |
||||||
|
import QGroundControl.Controls 1.0 |
||||||
|
import QGroundControl.ScreenTools 1.0 |
||||||
|
import QGroundControl.Palette 1.0 |
||||||
|
|
||||||
|
QGCViewDialog { |
||||||
|
property var missionItem |
||||||
|
|
||||||
|
QGCPalette { id: qgcPal } |
||||||
|
|
||||||
|
QGCLabel { |
||||||
|
id: categoryLabel |
||||||
|
anchors.baseline: categoryCombo.baseline |
||||||
|
text: "Category:" |
||||||
|
} |
||||||
|
|
||||||
|
QGCComboBox { |
||||||
|
id: categoryCombo |
||||||
|
anchors.margins: ScreenTools.defaultFontPixelWidth |
||||||
|
anchors.left: categoryLabel.right |
||||||
|
anchors.right: parent.right |
||||||
|
model: QGroundControl.missionCommands.categories |
||||||
|
|
||||||
|
function categorySelected(category) { |
||||||
|
commandList.model = QGroundControl.missionCommands.getCommandsForCategory(category) |
||||||
|
console.log("changing model", category) |
||||||
|
} |
||||||
|
|
||||||
|
Component.onCompleted: { |
||||||
|
var category = missionItem.category |
||||||
|
currentIndex = find(category) |
||||||
|
categorySelected(category) |
||||||
|
} |
||||||
|
|
||||||
|
onActivated: categorySelected(textAt(index)) |
||||||
|
} |
||||||
|
|
||||||
|
ListView { |
||||||
|
id: commandList |
||||||
|
anchors.margins: ScreenTools.defaultFontPixelHeight |
||||||
|
anchors.left: parent.left |
||||||
|
anchors.right: parent.right |
||||||
|
anchors.top: categoryCombo.bottom |
||||||
|
anchors.bottom: parent.bottom |
||||||
|
spacing: ScreenTools.defaultFontPixelHeight / 2 |
||||||
|
orientation: ListView.Vertical |
||||||
|
|
||||||
|
onModelChanged: { |
||||||
|
var currentCategory = categoryCombo.currentText |
||||||
|
|
||||||
|
currentIndex = -1 |
||||||
|
if (missionItem.category == currentCategory) { |
||||||
|
var commandList = QGroundControl.missionCommands.getCommandsForCategory(currentCategory) |
||||||
|
for (var i=0; i<commandList.count; i++) { |
||||||
|
if (commandList.get(i).command == missionItem.command) { |
||||||
|
currentIndex = i |
||||||
|
break |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
highlight: Rectangle { |
||||||
|
color: qgcPal.buttonHighlight |
||||||
|
} |
||||||
|
|
||||||
|
delegate: Rectangle { |
||||||
|
width: parent.width |
||||||
|
height: commandColumn.height + ScreenTools.defaultFontPixelSize |
||||||
|
color: currentItem ? qgcPal.buttonHighlight : qgcPal.button |
||||||
|
|
||||||
|
property var mavCmdInfo: object |
||||||
|
property bool currentItem: commandList.currentItem == this |
||||||
|
property var textColor: currentItem ? qgcPal.buttonHighlightText : qgcPal.buttonText |
||||||
|
|
||||||
|
Column { |
||||||
|
id: commandColumn |
||||||
|
anchors.margins: ScreenTools.defaultFontPixelWidth |
||||||
|
anchors.left: parent.left |
||||||
|
anchors.right: parent.right |
||||||
|
anchors.top: parent.top |
||||||
|
|
||||||
|
QGCLabel { |
||||||
|
text: mavCmdInfo.friendlyName |
||||||
|
color: textColor |
||||||
|
} |
||||||
|
|
||||||
|
QGCLabel { |
||||||
|
anchors.margins: ScreenTools.defaultFontPixelWidth |
||||||
|
anchors.left: parent.left |
||||||
|
anchors.right: parent.right |
||||||
|
text: mavCmdInfo.description |
||||||
|
wrapMode: Text.WordWrap |
||||||
|
color: textColor |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
MouseArea { |
||||||
|
anchors.fill: parent |
||||||
|
onClicked: { |
||||||
|
missionItem.command = mavCmdInfo.command |
||||||
|
accept() |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
} // ListView |
||||||
|
|
||||||
|
} // QGCViewDialog |
||||||
Loading…
Reference in new issue