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111 lines
3.3 KiB
111 lines
3.3 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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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 "JsonHelper.h" |
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#include "MissionCommandUIInfo.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 char* MissionCommandList::_versionJsonKey = "version"; |
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const char* MissionCommandList::_mavCmdInfoJsonKey = "mavCmdInfo"; |
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MissionCommandList::MissionCommandList(const QString& jsonFilename, bool baseCommandList, QObject* parent) |
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: QObject(parent) |
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{ |
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_loadMavCmdInfoJson(jsonFilename, baseCommandList); |
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} |
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void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList) |
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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() << jsonFilename << "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() << jsonFilename << "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() << jsonFilename << "mavCmdInfo not array"; |
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return; |
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} |
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// Iterate over MissionCommandUIInfo objects |
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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() << jsonFilename << "mavCmdArray should contain objects"; |
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return; |
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} |
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MissionCommandUIInfo* uiInfo = new MissionCommandUIInfo(this); |
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QString errorString; |
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if (!uiInfo->loadJsonInfo(info.toObject(), baseCommandList, errorString)) { |
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uiInfo->deleteLater(); |
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qWarning() << jsonFilename << errorString; |
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return; |
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} |
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// Update list of known categories |
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QString newCategory = uiInfo->category(); |
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if (!newCategory.isEmpty() && !_categories.contains(newCategory)) { |
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_categories.append(newCategory); |
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} |
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_infoMap[uiInfo->command()] = uiInfo; |
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} |
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// Build id list |
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foreach (MAV_CMD id, _infoMap.keys()) { |
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_ids << id; |
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} |
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} |
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MissionCommandUIInfo* MissionCommandList::getUIInfo(MAV_CMD command) const |
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{ |
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if (!_infoMap.contains(command)) { |
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return NULL; |
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} |
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return _infoMap[command]; |
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}
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