Don Gagne
9 years ago
31 changed files with 1441 additions and 1027 deletions
@ -0,0 +1,6 @@
@@ -0,0 +1,6 @@
|
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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] |
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} |
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@ -0,0 +1,21 @@
@@ -0,0 +1,21 @@
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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{ |
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"id": 22, |
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"rawName": "MAV_CMD_NAV_TAKEOFF", |
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"friendlyName": "Takeoff", |
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"description": "Take off from the ground.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Pitch:", |
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"units": "radians", |
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"default": 0.26179939, |
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"decimalPlaces": 2 |
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} |
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} |
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] |
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} |
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@ -0,0 +1,59 @@
@@ -0,0 +1,59 @@
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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{ |
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"id": 22, |
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"rawName": "MAV_CMD_NAV_TAKEOFF", |
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"friendlyName": "Takeoff", |
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"description": "Take off from the ground.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic" |
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}, |
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{ |
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"id": 17, |
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"rawName": "MAV_CMD_NAV_LOITER_UNLIM", |
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"friendlyName": "Loiter", |
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"description": "Travel to a position and Loiter indefinitely.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic" |
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}, |
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{ |
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"id": 18, |
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"rawName": "MAV_CMD_NAV_LOITER_TURNS", |
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"friendlyName": "Loiter (turns)", |
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"description": "Travel to a position and Circle with the specified radius for a number of turns.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Turns:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Radius:", |
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"units": "meters", |
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"default": 10.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 19, |
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"rawName": "MAV_CMD_NAV_LOITER_TIME", |
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"friendlyName": "Loiter (time)", |
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"description": "Travel to a position and Loiter for an amount of time.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Hold:", |
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"units": "seconds", |
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"default": 30, |
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"decimalPlaces": 0 |
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} |
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} |
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] |
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} |
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@ -0,0 +1,6 @@
@@ -0,0 +1,6 @@
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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] |
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} |
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@ -0,0 +1,6 @@
@@ -0,0 +1,6 @@
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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] |
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} |
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@ -0,0 +1,44 @@
@@ -0,0 +1,44 @@
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{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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{ |
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"id": 17, |
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"rawName": "MAV_CMD_NAV_LOITER_UNLIM", |
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"friendlyName": "Loiter", |
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"description": "Travel to a position and Loiter indefinitely.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic" |
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}, |
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{ |
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"id": 18, |
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"rawName": "MAV_CMD_NAV_LOITER_TURNS", |
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"friendlyName": "Loiter (turns)", |
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"description": "Travel to a position and Loiter for a number of turns.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Turns:", |
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"default": 1, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 19, |
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"rawName": "MAV_CMD_NAV_LOITER_TIME", |
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"friendlyName": "Loiter (time)", |
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"description": "Travel to a position and Loiter for an amount of time.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Hold:", |
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"units": "seconds", |
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"default": 30, |
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"decimalPlaces": 0 |
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} |
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} |
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] |
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} |
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@ -0,0 +1,274 @@
@@ -0,0 +1,274 @@
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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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|
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This file is part of the QGROUNDCONTROL project |
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|
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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 |
||||
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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|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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|
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#include "MissionCommandList.h" |
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#include "FactMetaData.h" |
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#include "Vehicle.h" |
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#include "FirmwarePluginManager.h" |
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#include "QGCApplication.h" |
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#include "QGroundControlQmlGlobal.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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const QString MissionCommandList::_categoryJsonKey (QStringLiteral("category")); |
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const QString MissionCommandList::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces")); |
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const QString MissionCommandList::_defaultJsonKey (QStringLiteral("default")); |
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const QString MissionCommandList::_descriptionJsonKey (QStringLiteral("description")); |
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const QString MissionCommandList::_enumStringsJsonKey (QStringLiteral("enumStrings")); |
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const QString MissionCommandList::_enumValuesJsonKey (QStringLiteral("enumValues")); |
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const QString MissionCommandList::_friendlyEditJsonKey (QStringLiteral("friendlyEdit")); |
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const QString MissionCommandList::_friendlyNameJsonKey (QStringLiteral("friendlyName")); |
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const QString MissionCommandList::_idJsonKey (QStringLiteral("id")); |
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const QString MissionCommandList::_labelJsonKey (QStringLiteral("label")); |
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const QString MissionCommandList::_mavCmdInfoJsonKey (QStringLiteral("mavCmdInfo")); |
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const QString MissionCommandList::_param1JsonKey (QStringLiteral("param1")); |
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const QString MissionCommandList::_param2JsonKey (QStringLiteral("param2")); |
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const QString MissionCommandList::_param3JsonKey (QStringLiteral("param3")); |
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const QString MissionCommandList::_param4JsonKey (QStringLiteral("param4")); |
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const QString MissionCommandList::_paramJsonKeyFormat (QStringLiteral("param%1")); |
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const QString MissionCommandList::_rawNameJsonKey (QStringLiteral("rawName")); |
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const QString MissionCommandList::_standaloneCoordinateJsonKey (QStringLiteral("standaloneCoordinate")); |
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const QString MissionCommandList::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate")); |
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const QString MissionCommandList::_unitsJsonKey (QStringLiteral("units")); |
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const QString MissionCommandList::_versionJsonKey (QStringLiteral("version")); |
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|
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MissionCommandList::MissionCommandList(const QString& jsonFilename, QObject* parent) |
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: QObject(parent) |
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{ |
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_loadMavCmdInfoJson(jsonFilename); |
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} |
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bool MissionCommandList::_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 MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename) |
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{ |
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if (jsonFilename.isEmpty()) { |
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return; |
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} |
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qCDebug(MissionCommandsLog) << "Loading" << jsonFilename; |
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QFile jsonFile(jsonFilename); |
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) { |
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qWarning() << "Unable to open file" << jsonFilename << 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 (const 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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|
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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 << _standaloneCoordinateJsonKey << _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 << 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->_standaloneCoordinate = jsonObject.value(_standaloneCoordinateJsonKey).toBool(false); |
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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->_standaloneCoordinate |
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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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// 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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|
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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 (const QString &enumValue, enumValues) { |
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bool convertOk; |
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double value = enumValue.toDouble(&convertOk); |
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|
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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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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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|
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bool MissionCommandList::contains(MAV_CMD command) const |
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{ |
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return _mavCmdInfoMap.contains(command); |
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} |
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|
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MavCmdInfo* MissionCommandList::getMavCmdInfo(MAV_CMD command) const |
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{ |
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if (!contains(command)) { |
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qWarning() << "Unknown command" << command; |
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return NULL; |
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} |
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return _mavCmdInfoMap[command]; |
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} |
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|
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QList<MAV_CMD> MissionCommandList::commandsIds(void) const |
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{ |
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QList<MAV_CMD> list; |
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|
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foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) { |
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list << (MAV_CMD)mavCmdInfo->command(); |
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} |
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|
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return list; |
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} |
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@ -0,0 +1,174 @@
@@ -0,0 +1,174 @@
|
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 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/>.
|
||||
|
||||
======================================================================*/ |
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|
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#ifndef MissionCommandList_H |
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#define MissionCommandList_H |
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|
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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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|
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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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|
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class MissionCommandList; |
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class Vehicle; |
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|
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/// The information associated with a mission command parameter.
|
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class MavCmdParamInfo : public QObject { |
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|
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Q_OBJECT |
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|
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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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} |
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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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|
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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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|
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private: |
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int _decimalPlaces; |
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double _defaultValue; |
||||
QStringList _enumStrings; |
||||
QVariantList _enumValues; |
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QString _label; |
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int _param; |
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QString _units; |
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|
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friend class MissionCommandList; |
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}; |
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|
||||
// The information associated with a mission command.
|
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class MavCmdInfo : public QObject { |
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Q_OBJECT |
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|
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public: |
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MavCmdInfo(QObject* parent = NULL) |
||||
: QObject(parent) |
||||
{ |
||||
|
||||
} |
||||
|
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Q_PROPERTY(QString category READ category CONSTANT) |
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Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ qmlCommand 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 standaloneCoordinate READ standaloneCoordinate CONSTANT) |
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Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT) |
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|
||||
MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; } |
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MAV_CMD command(void) const { return _command; } |
||||
|
||||
QString category (void) const { return _category; } |
||||
QString description (void) const { return _description; } |
||||
bool friendlyEdit (void) const { return _friendlyEdit; } |
||||
QString friendlyName (void) const { return _friendlyName; } |
||||
QString rawName (void) const { return _rawName; } |
||||
bool standaloneCoordinate(void) const { return _standaloneCoordinate; } |
||||
bool specifiesCoordinate (void) const { return _specifiesCoordinate; } |
||||
|
||||
const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; } |
||||
|
||||
private: |
||||
QString _category; |
||||
MAV_CMD _command; |
||||
QString _description; |
||||
bool _friendlyEdit; |
||||
QString _friendlyName; |
||||
QMap<int, MavCmdParamInfo*> _paramInfoMap; |
||||
QString _rawName; |
||||
bool _standaloneCoordinate; |
||||
bool _specifiesCoordinate; |
||||
|
||||
friend class MissionCommandList; |
||||
}; |
||||
|
||||
// A list of mission command info loaded from a json file.
|
||||
class MissionCommandList : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
MissionCommandList(const QString& jsonFilename, QObject* parent = NULL); |
||||
|
||||
Q_INVOKABLE bool contains(MavlinkQmlSingleton::Qml_MAV_CMD command) const { return contains((MAV_CMD)command); } |
||||
bool contains(MAV_CMD command) const; |
||||
|
||||
Q_INVOKABLE QVariant getMavCmdInfo(MavlinkQmlSingleton::Qml_MAV_CMD command) const { return QVariant::fromValue(getMavCmdInfo((MAV_CMD)command)); } |
||||
MavCmdInfo* getMavCmdInfo(MAV_CMD command) const; |
||||
|
||||
QList<MAV_CMD> commandsIds(void) const; |
||||
|
||||
private: |
||||
void _loadMavCmdInfoJson(const QString& jsonFilename); |
||||
bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types); |
||||
|
||||
private: |
||||
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 _standaloneCoordinateJsonKey; |
||||
static const QString _specifiesCoordinateJsonKey; |
||||
static const QString _unitsJsonKey; |
||||
static const QString _versionJsonKey; |
||||
}; |
||||
|
||||
#endif |
||||
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Reference in new issue