483 lines
17 KiB
C++
483 lines
17 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 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 <QStringList>
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#include <QDebug>
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#include "MissionItem.h"
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#include "FirmwarePluginManager.h"
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#include "QGCApplication.h"
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#include "JsonHelper.h"
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#include "VisualMissionItem.h"
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const char* MissionItem::_jsonFrameKey = "frame";
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const char* MissionItem::_jsonCommandKey = "command";
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const char* MissionItem::_jsonAutoContinueKey = "autoContinue";
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const char* MissionItem::_jsonCoordinateKey = "coordinate";
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const char* MissionItem::_jsonParamsKey = "params";
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const char* MissionItem::_jsonDoJumpIdKey = "doJumpId";
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// Deprecated V1 format keys
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const char* MissionItem::_jsonParam1Key = "param1";
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const char* MissionItem::_jsonParam2Key = "param2";
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const char* MissionItem::_jsonParam3Key = "param3";
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const char* MissionItem::_jsonParam4Key = "param4";
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MissionItem::MissionItem(QObject* parent)
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: QObject(parent)
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, _sequenceNumber(0)
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, _doJumpId(-1)
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, _isCurrentItem(false)
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, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32)
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, _commandFact (0, "", FactMetaData::valueTypeUint32)
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, _frameFact (0, "", FactMetaData::valueTypeUint32)
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
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, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
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, _param5Fact (0, "Latitude:", FactMetaData::valueTypeDouble)
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, _param6Fact (0, "Longitude:", FactMetaData::valueTypeDouble)
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, _param7Fact (0, "Altitude:", FactMetaData::valueTypeDouble)
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{
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// Need a good command and frame before we start passing signals around
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_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
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_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
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setAutoContinue(true);
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connect(&_param1Fact, &Fact::rawValueChanged, this, &MissionItem::_param1Changed);
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connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
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connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
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}
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MissionItem::MissionItem(int sequenceNumber,
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MAV_CMD command,
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MAV_FRAME frame,
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double param1,
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double param2,
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double param3,
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double param4,
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double param5,
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double param6,
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double param7,
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bool autoContinue,
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bool isCurrentItem,
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QObject* parent)
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: QObject(parent)
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, _sequenceNumber(sequenceNumber)
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, _doJumpId(-1)
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, _isCurrentItem(isCurrentItem)
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, _commandFact (0, "", FactMetaData::valueTypeUint32)
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, _frameFact (0, "", FactMetaData::valueTypeUint32)
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
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, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
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, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
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, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
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, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
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{
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// Need a good command and frame before we start passing signals around
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_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
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_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
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setCommand(command);
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setFrame(frame);
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setAutoContinue(autoContinue);
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_param1Fact.setRawValue(param1);
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_param2Fact.setRawValue(param2);
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_param3Fact.setRawValue(param3);
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_param4Fact.setRawValue(param4);
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_param5Fact.setRawValue(param5);
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_param6Fact.setRawValue(param6);
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_param7Fact.setRawValue(param7);
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connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
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connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
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}
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MissionItem::MissionItem(const MissionItem& other, QObject* parent)
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: QObject(parent)
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, _sequenceNumber(0)
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, _doJumpId(-1)
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, _isCurrentItem(false)
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, _commandFact (0, "", FactMetaData::valueTypeUint32)
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, _frameFact (0, "", FactMetaData::valueTypeUint32)
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble)
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble)
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble)
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, _param4Fact (0, "Param4:", FactMetaData::valueTypeDouble)
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, _param5Fact (0, "Lat/X:", FactMetaData::valueTypeDouble)
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, _param6Fact (0, "Lon/Y:", FactMetaData::valueTypeDouble)
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, _param7Fact (0, "Alt/Z:", FactMetaData::valueTypeDouble)
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{
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// Need a good command and frame before we start passing signals around
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_commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
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_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
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*this = other;
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connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
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connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
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}
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const MissionItem& MissionItem::operator=(const MissionItem& other)
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{
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_doJumpId = other._doJumpId;
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setCommand(other.command());
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setFrame(other.frame());
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setSequenceNumber(other._sequenceNumber);
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setAutoContinue(other.autoContinue());
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setIsCurrentItem(other._isCurrentItem);
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_param1Fact.setRawValue(other._param1Fact.rawValue());
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_param2Fact.setRawValue(other._param2Fact.rawValue());
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_param3Fact.setRawValue(other._param3Fact.rawValue());
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_param4Fact.setRawValue(other._param4Fact.rawValue());
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_param5Fact.setRawValue(other._param5Fact.rawValue());
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_param6Fact.setRawValue(other._param6Fact.rawValue());
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_param7Fact.setRawValue(other._param7Fact.rawValue());
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return *this;
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}
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MissionItem::~MissionItem()
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{
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}
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void MissionItem::save(QJsonObject& json) const
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{
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json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
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json[_jsonFrameKey] = frame();
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json[_jsonCommandKey] = command();
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json[_jsonAutoContinueKey] = autoContinue();
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json[_jsonDoJumpIdKey] = _sequenceNumber;
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QJsonArray rgParams = { param1(), param2(), param3(), param4(), param5(), param6(), param7() };
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json[_jsonParamsKey] = rgParams;
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}
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bool MissionItem::load(QTextStream &loadStream)
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{
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const QStringList &wpParams = loadStream.readLine().split("\t");
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if (wpParams.size() == 12) {
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setCommand((MAV_CMD)wpParams[3].toInt()); // Has to be first since it triggers defaults to be set, which are then override by below set calls
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setSequenceNumber(wpParams[0].toInt());
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setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
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setFrame((MAV_FRAME)wpParams[2].toInt());
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setParam1(wpParams[4].toDouble());
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setParam2(wpParams[5].toDouble());
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setParam3(wpParams[6].toDouble());
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setParam4(wpParams[7].toDouble());
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setParam5(wpParams[8].toDouble());
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setParam6(wpParams[9].toDouble());
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setParam7(wpParams[10].toDouble());
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setAutoContinue(wpParams[11].toInt() == 1 ? true : false);
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return true;
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}
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return false;
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}
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bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString)
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{
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// V1 format type = "missionItem", V2 format type = "MissionItem"
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// V1 format has params in separate param[1-n] keys
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// V2 format has params in params array
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v2Json = json;
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if (json.contains(_jsonParamsKey)) {
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// Already V2 format
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return true;
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}
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QList<JsonHelper::KeyValidateInfo> keyInfoList = {
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{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
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{ _jsonParam1Key, QJsonValue::Double, true },
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{ _jsonParam2Key, QJsonValue::Double, true },
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{ _jsonParam3Key, QJsonValue::Double, true },
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{ _jsonParam4Key, QJsonValue::Double, true },
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};
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if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
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return false;
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}
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if (v2Json[VisualMissionItem::jsonTypeKey].toString() == QStringLiteral("missionItem")) {
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v2Json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
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}
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QJsonArray rgParams = { json[_jsonParam1Key].toDouble(), json[_jsonParam2Key].toDouble(), json[_jsonParam3Key].toDouble(), json[_jsonParam4Key].toDouble() };
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v2Json[_jsonParamsKey] = rgParams;
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v2Json.remove(_jsonParam1Key);
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v2Json.remove(_jsonParam2Key);
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v2Json.remove(_jsonParam3Key);
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v2Json.remove(_jsonParam4Key);
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return true;
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}
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bool MissionItem::_convertJsonV2ToV3(QJsonObject& json, QString& errorString)
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{
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// V2 format: param 5/6/7 stored in GeoCoordinate
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// V3 format: param 5/6/7 stored in params array
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if (!json.contains(_jsonCoordinateKey)) {
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// Already V3 format
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return true;
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}
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QList<JsonHelper::KeyValidateInfo> keyInfoList = {
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{ _jsonCoordinateKey, QJsonValue::Array, true },
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};
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if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
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return false;
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}
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QGeoCoordinate coordinate;
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if (!JsonHelper::loadGeoCoordinate(json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
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return false;
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}
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QJsonArray rgParam = json[_jsonParamsKey].toArray();
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rgParam.append(coordinate.latitude());
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rgParam.append(coordinate.longitude());
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rgParam.append(coordinate.altitude());
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json[_jsonParamsKey] = rgParam;
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json.remove(_jsonCoordinateKey);
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return true;
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}
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bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
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{
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QJsonObject convertedJson;
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if (!_convertJsonV1ToV2(json, convertedJson, errorString)) {
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return false;
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}
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if (!_convertJsonV2ToV3(convertedJson, errorString)) {
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return false;
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}
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QList<JsonHelper::KeyValidateInfo> keyInfoList = {
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{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
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{ _jsonFrameKey, QJsonValue::Double, true },
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{ _jsonCommandKey, QJsonValue::Double, true },
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{ _jsonParamsKey, QJsonValue::Array, true },
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{ _jsonAutoContinueKey, QJsonValue::Bool, true },
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{ _jsonDoJumpIdKey, QJsonValue::Double, false },
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};
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if (!JsonHelper::validateKeys(convertedJson, keyInfoList, errorString)) {
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return false;
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}
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if (convertedJson[VisualMissionItem::jsonTypeKey] != VisualMissionItem::jsonTypeSimpleItemValue) {
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errorString = tr("Type found: %1 must be: %2").arg(convertedJson[VisualMissionItem::jsonTypeKey].toString()).arg(VisualMissionItem::jsonTypeSimpleItemValue);
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return false;
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}
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QJsonArray rgParams = convertedJson[_jsonParamsKey].toArray();
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if (rgParams.count() != 7) {
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errorString = tr("%1 key must contains 7 values").arg(_jsonParamsKey);
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return false;
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}
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for (int i=0; i<4; i++) {
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if (rgParams[i].type() != QJsonValue::Double && rgParams[i].type() != QJsonValue::Null) {
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errorString = tr("Param %1 incorrect type %2, must be double or null").arg(i+1).arg(rgParams[i].type());
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return false;
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}
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}
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// Make sure to set these first since they can signal other changes
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setCommand((MAV_CMD)convertedJson[_jsonCommandKey].toInt());
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setFrame((MAV_FRAME)convertedJson[_jsonFrameKey].toInt());
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_doJumpId = -1;
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if (convertedJson.contains(_jsonDoJumpIdKey)) {
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_doJumpId = convertedJson[_jsonDoJumpIdKey].toInt();
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}
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setIsCurrentItem(false);
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setSequenceNumber(sequenceNumber);
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setAutoContinue(convertedJson[_jsonAutoContinueKey].toBool());
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setParam1(JsonHelper::possibleNaNJsonValue(rgParams[0]));
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setParam2(JsonHelper::possibleNaNJsonValue(rgParams[1]));
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setParam3(JsonHelper::possibleNaNJsonValue(rgParams[2]));
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setParam4(JsonHelper::possibleNaNJsonValue(rgParams[3]));
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setParam5(JsonHelper::possibleNaNJsonValue(rgParams[4]));
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setParam6(JsonHelper::possibleNaNJsonValue(rgParams[5]));
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setParam7(JsonHelper::possibleNaNJsonValue(rgParams[6]));
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return true;
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}
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void MissionItem::setSequenceNumber(int sequenceNumber)
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{
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if (_sequenceNumber != sequenceNumber) {
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_sequenceNumber = sequenceNumber;
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emit sequenceNumberChanged(_sequenceNumber);
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}
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}
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void MissionItem::setCommand(MAV_CMD command)
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{
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if ((MAV_CMD)this->command() != command) {
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_commandFact.setRawValue(command);
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}
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}
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void MissionItem::setFrame(MAV_FRAME frame)
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{
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if (this->frame() != frame) {
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_frameFact.setRawValue(frame);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setAutoContinue(bool autoContinue)
|
||
|
|
{
|
||
|
|
if (this->autoContinue() != autoContinue) {
|
||
|
|
_autoContinueFact.setRawValue(autoContinue);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setIsCurrentItem(bool isCurrentItem)
|
||
|
|
{
|
||
|
|
if (_isCurrentItem != isCurrentItem) {
|
||
|
|
_isCurrentItem = isCurrentItem;
|
||
|
|
emit isCurrentItemChanged(isCurrentItem);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam1(double param)
|
||
|
|
{
|
||
|
|
if (param1() != param) {
|
||
|
|
_param1Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam2(double param)
|
||
|
|
{
|
||
|
|
if (param2() != param) {
|
||
|
|
_param2Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam3(double param)
|
||
|
|
{
|
||
|
|
if (param3() != param) {
|
||
|
|
_param3Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam4(double param)
|
||
|
|
{
|
||
|
|
if (param4() != param) {
|
||
|
|
_param4Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam5(double param)
|
||
|
|
{
|
||
|
|
if (param5() != param) {
|
||
|
|
_param5Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam6(double param)
|
||
|
|
{
|
||
|
|
if (param6() != param) {
|
||
|
|
_param6Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::setParam7(double param)
|
||
|
|
{
|
||
|
|
if (param7() != param) {
|
||
|
|
_param7Fact.setRawValue(param);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
QGeoCoordinate MissionItem::coordinate(void) const
|
||
|
|
{
|
||
|
|
if(!std::isfinite(param5()) || !std::isfinite(param6())) {
|
||
|
|
//-- If either of these are NAN, return an invalid (QGeoCoordinate::isValid() == false) coordinate
|
||
|
|
return QGeoCoordinate();
|
||
|
|
}
|
||
|
|
return QGeoCoordinate(param5(), param6(), param7());
|
||
|
|
}
|
||
|
|
|
||
|
|
double MissionItem::specifiedFlightSpeed(void) const
|
||
|
|
{
|
||
|
|
double flightSpeed = std::numeric_limits<double>::quiet_NaN();
|
||
|
|
|
||
|
|
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
|
||
|
|
flightSpeed = _param2Fact.rawValue().toDouble();
|
||
|
|
}
|
||
|
|
|
||
|
|
return flightSpeed;
|
||
|
|
}
|
||
|
|
|
||
|
|
double MissionItem::specifiedGimbalYaw(void) const
|
||
|
|
{
|
||
|
|
double gimbalYaw = std::numeric_limits<double>::quiet_NaN();
|
||
|
|
|
||
|
|
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
|
||
|
|
gimbalYaw = _param3Fact.rawValue().toDouble();
|
||
|
|
}
|
||
|
|
|
||
|
|
return gimbalYaw;
|
||
|
|
}
|
||
|
|
|
||
|
|
double MissionItem::specifiedGimbalPitch(void) const
|
||
|
|
{
|
||
|
|
double gimbalPitch = std::numeric_limits<double>::quiet_NaN();
|
||
|
|
|
||
|
|
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
|
||
|
|
gimbalPitch = _param1Fact.rawValue().toDouble();
|
||
|
|
}
|
||
|
|
|
||
|
|
return gimbalPitch;
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_param1Changed(QVariant value)
|
||
|
|
{
|
||
|
|
Q_UNUSED(value);
|
||
|
|
|
||
|
|
double gimbalPitch = specifiedGimbalPitch();
|
||
|
|
if (!qIsNaN(gimbalPitch)) {
|
||
|
|
emit specifiedGimbalPitchChanged(gimbalPitch);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_param2Changed(QVariant value)
|
||
|
|
{
|
||
|
|
Q_UNUSED(value);
|
||
|
|
|
||
|
|
double flightSpeed = specifiedFlightSpeed();
|
||
|
|
if (!qIsNaN(flightSpeed)) {
|
||
|
|
emit specifiedFlightSpeedChanged(flightSpeed);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void MissionItem::_param3Changed(QVariant value)
|
||
|
|
{
|
||
|
|
Q_UNUSED(value);
|
||
|
|
|
||
|
|
double gimbalYaw = specifiedGimbalYaw();
|
||
|
|
if (!qIsNaN(gimbalYaw)) {
|
||
|
|
emit specifiedGimbalYawChanged(gimbalYaw);
|
||
|
|
}
|
||
|
|
}
|