zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Support for new isLandCommand MissionCommandUIInfo

QGC4.4
DoinLakeFlyer 5 years ago
parent
4f0c4f0120
commit
f5cd1ea89e
5 changed files with 36 additions and 12 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 20
      src/MissionManager/MissionCommandUIInfo.cc
  2. 4
      src/MissionManager/MissionCommandUIInfo.h
  3. 20
      src/MissionManager/SimpleMissionItem.cc
  4. 1
      src/MissionManager/SimpleMissionItem.h
  5. 3
      src/MissionManager/VisualMissionItem.h

20
src/MissionManager/MissionCommandUIInfo.cc
Unescape View File

@ -37,6 +37,7 @@ const char* MissionCommandUIInfo::_rawNameJsonKey = "rawName"; @@ -37,6 +37,7 @@ const char* MissionCommandUIInfo::_rawNameJsonKey = "rawName";
const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey = "standaloneCoordinate";
const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey = "specifiesCoordinate";
const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
const char* MissionCommandUIInfo::_isLandCommandJsonKey = "isLandCommand";
const char* MissionCommandUIInfo::_unitsJsonKey = "units";
const char* MissionCommandUIInfo::_commentJsonKey = "comment";
const char* MissionCommandUIInfo::_advancedCategory = "Advanced";
@ -164,6 +165,15 @@ bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const @@ -164,6 +165,15 @@ bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
}
}
bool MissionCommandUIInfo::isLandCommand(void) const
{
if (_infoMap.contains(_isLandCommandJsonKey)) {
return _infoMap[_isLandCommandJsonKey].toBool();
} else {
return false;
}
}
void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
{
// Override info values
@ -199,7 +209,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ @@ -199,7 +209,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
QStringList allKeys;
allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
<<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
<< _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey;
<< _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey << _isLandCommandJsonKey;
// Look for unknown keys in top level object
for (const QString& key: jsonObject.keys()) {
@ -231,7 +241,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ @@ -231,7 +241,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
QList<QJsonValue::Type> types;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
<< QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
<< QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
errorString = _loadErrorString(internalError);
return false;
@ -262,6 +272,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ @@ -262,6 +272,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
_infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
}
if (jsonObject.contains(_isLandCommandJsonKey)) {
_infoMap[_isLandCommandJsonKey] = jsonObject.value(_isLandCommandJsonKey).toBool();
}
if (jsonObject.contains(_friendlyEditJsonKey)) {
_infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
}
@ -289,6 +302,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ @@ -289,6 +302,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
if (!_infoAvailable(_specifiesCoordinateJsonKey)) {
_setInfoValue(_specifiesCoordinateJsonKey, false);
}
if (!_infoAvailable(_isLandCommandJsonKey)) {
_setInfoValue(_isLandCommandJsonKey, false);
}
if (!_infoAvailable(_friendlyEditJsonKey)) {
_setInfoValue(_friendlyEditJsonKey, false);
}

4
src/MissionManager/MissionCommandUIInfo.h
Unescape View File

@ -96,6 +96,7 @@ private: @@ -96,6 +96,7 @@ private:
/// specifiesCoordinate bool false true: Command specifies a lat/lon/alt coordinate
/// specifiesAltitudeOnly bool false true: Command specifies an altitude only (no coordinate)
/// standaloneCoordinate bool false true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
/// isLandCommand bool false true: Command specifies a land command (LAND, VTOL_LAND, ...)
/// friendlyEdit bool false true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
/// category string Advanced Category which this command belongs to
/// paramRemove string Used by an override to remove params, example: "1,3" will remove params 1 and 3 on the override
@ -118,6 +119,7 @@ public: @@ -118,6 +119,7 @@ public:
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly CONSTANT)
Q_PROPERTY(bool isLandCommand READ isLandCommand CONSTANT)
Q_PROPERTY(int command READ intCommand CONSTANT)
MAV_CMD command(void) const { return _command; }
@ -131,6 +133,7 @@ public: @@ -131,6 +133,7 @@ public:
bool isStandaloneCoordinate (void) const;
bool specifiesCoordinate (void) const;
bool specifiesAltitudeOnly (void) const;
bool isLandCommand (void) const;
/// Load the data in the object from the specified json
/// @param jsonObject Json object to load from
@ -190,6 +193,7 @@ private: @@ -190,6 +193,7 @@ private:
static const char* _standaloneCoordinateJsonKey;
static const char* _specifiesCoordinateJsonKey;
static const char* _specifiesAltitudeOnlyJsonKey;
static const char* _isLandCommandJsonKey;
static const char* _unitsJsonKey;
static const char* _commentJsonKey;
static const char* _advancedCategory;

20
src/MissionManager/SimpleMissionItem.cc
Unescape View File

@ -182,6 +182,7 @@ void SimpleMissionItem::_connectSignals(void) @@ -182,6 +182,7 @@ void SimpleMissionItem::_connectSignals(void)
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesAltitudeOnlyChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isLandCommandChanged);
// Whenever these properties change the ui model changes as well
connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_rebuildFacts);
@ -743,21 +744,13 @@ void SimpleMissionItem::_setDefaultsForCommand(void) @@ -743,21 +744,13 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
}
}
switch (command) {
case MAV_CMD_NAV_WAYPOINT:
if (command == MAV_CMD_NAV_WAYPOINT) {
// We default all acceptance radius to 0. This allows flight controller to be in control of
// accept radius.
_missionItem.setParam2(0);
break;
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_DO_SET_ROI_LOCATION:
} else if (uiInfo->isLandCommand() || command == MAV_CMD_DO_SET_ROI_LOCATION) {
_altitudeFact.setRawValue(0);
_missionItem.setParam7(0);
break;
default:
break;
}
_missionItem.setAutoContinue(true);
@ -984,3 +977,10 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void) @@ -984,3 +977,10 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void)
return;
}
bool SimpleMissionItem::isLandCommand(void) const
{
MAV_CMD command = static_cast<MAV_CMD>(this->command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);
return uiInfo->isLandCommand();
}

1
src/MissionManager/SimpleMissionItem.h
Unescape View File

@ -100,6 +100,7 @@ public: @@ -100,6 +100,7 @@ public:
bool dirty (void) const override { return _dirty; }
bool isSimpleItem (void) const final { return true; }
bool isStandaloneCoordinate (void) const final;
bool isLandCommand (void) const final;
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final;
QString commandDescription (void) const final;

3
src/MissionManager/VisualMissionItem.h
Unescape View File

@ -68,6 +68,7 @@ public: @@ -68,6 +68,7 @@ public:
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly NOTIFY specifiesAltitudeOnlyChanged) ///< true: Item has altitude only, no full coordinate
Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem
Q_PROPERTY(bool isTakeoffItem READ isTakeoffItem NOTIFY isTakeoffItemChanged) ///< true: Takeoff item special case
Q_PROPERTY(bool isLandCommand READ isLandCommand NOTIFY isLandCommandChanged) ///< true: Takeoff item special case
Q_PROPERTY(QString editorQml MEMBER _editorQml CONSTANT) ///< Qml code for editing this item
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT) ///< QMl code for map visuals
Q_PROPERTY(double specifiedFlightSpeed READ specifiedFlightSpeed NOTIFY specifiedFlightSpeedChanged) ///< NaN for not specified
@ -131,6 +132,7 @@ public: @@ -131,6 +132,7 @@ public:
virtual bool dirty (void) const = 0;
virtual bool isSimpleItem (void) const = 0;
virtual bool isTakeoffItem (void) const { return false; }
virtual bool isLandCommand (void) const { return false; }
virtual bool isStandaloneCoordinate (void) const = 0;
virtual bool specifiesCoordinate (void) const = 0;
virtual bool specifiesAltitudeOnly (void) const = 0;
@ -208,6 +210,7 @@ signals: @@ -208,6 +210,7 @@ signals:
void sequenceNumberChanged (int sequenceNumber);
void isSimpleItemChanged (bool isSimpleItem);
void isTakeoffItemChanged (bool isTakeoffItem);
void isLandCommandChanged (void);
void specifiesCoordinateChanged (void);
void isStandaloneCoordinateChanged (void);
void specifiesAltitudeOnlyChanged (void);

Write Preview
Loading…
Cancel
Save