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gcs-nf/App/MissionUI/propertyui.h
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修复航线下载没有清空表格信息bug
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#ifndef PROPERTYUI_H
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#define PROPERTYUI_H
#include <QWidget>
#include "QFile"
#include "QJsonArray"
#include "QJsonDocument"
#include "QJsonObject"
#include "QJsonParseError"
#include "QQuickWidget"
#include "QQuickView"
#include "QtQml"
#include "qqml.h"
#include "QQmlEngine"
#include "QDebug"
#include "mavlink.h"
#include "JsonHelper.h"
#include "QComboBox"
#include "QLineEdit"
#include "QLabel"
#include "QHBoxLayout"
#include "QVBoxLayout"
#include "QGridLayout"
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#include "multiselector.h"
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#include "Selector.h"
#include "Inputter.h"
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#include "Confirm.h"
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#include "QFileDialog"
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#include "QtQmlDepends"
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#include "MissionUI.h"
#include "ruledialog.h"
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#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT MissionCmdParamInfo : public QObject {
#else
class MissionCmdParamInfo : public QObject {
#endif
Q_OBJECT
public:
MissionCmdParamInfo(QObject* parent = nullptr);
MissionCmdParamInfo(const MissionCmdParamInfo& other, QObject* parent = nullptr);
const MissionCmdParamInfo& operator=(const MissionCmdParamInfo& other);
Q_PROPERTY(int decimalPlaces READ decimalPlaces CONSTANT)
Q_PROPERTY(double defaultValue READ defaultValue CONSTANT)
Q_PROPERTY(QStringList enumStrings READ enumStrings CONSTANT)
Q_PROPERTY(QVariantList enumValues READ enumValues CONSTANT)
Q_PROPERTY(QString label READ label CONSTANT)
Q_PROPERTY(int param READ param CONSTANT)
Q_PROPERTY(QString units READ units CONSTANT)
Q_PROPERTY(bool nanUnchanged READ nanUnchanged CONSTANT)
int decimalPlaces (void) const { return _decimalPlaces; }
double defaultValue (void) const { return _defaultValue; }
QStringList enumStrings (void) const { return _enumStrings; }
QVariantList enumValues (void) const { return _enumValues; }
QString label (void) const { return _label; }
int param (void) const { return _param; }
QString units (void) const { return _units; }
bool nanUnchanged (void) const { return _nanUnchanged; }
private:
int _decimalPlaces;
double _defaultValue;
QStringList _enumStrings;
QVariantList _enumValues;
QString _label;
int _param;
QString _units;
bool _nanUnchanged;
friend class propertyui;
};
#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT FrameType : public QObject {
#else
class FrameType : public QObject {
#endif
Q_OBJECT Q_ENUMS(Types)
public:
enum Types {
MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). | */
MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-down (x: north, y: east, z: down). | */
MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-up (x: east, y: north, z: up). | */
MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL). | */
MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location. | */
MAV_FRAME_LOCAL_OFFSET_NED=7, /* Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. | */
MAV_FRAME_BODY_NED=8, /* Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. | */
MAV_FRAME_BODY_OFFSET_NED=9, /* Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. | */
MAV_FRAME_GLOBAL_TERRAIN_ALT=10, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
MAV_FRAME_GLOBAL_TERRAIN_ALT_INT=11, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
MAV_FRAME_BODY_FRD=12, /* Body fixed frame of reference, Z-down (x: forward, y: right, z: down). | */
MAV_FRAME_BODY_FLU=13, /* Body fixed frame of reference, Z-up (x: forward, y: left, z: up). | */
MAV_FRAME_MOCAP_NED=14, /* Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down). | */
MAV_FRAME_MOCAP_ENU=15, /* Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up). | */
MAV_FRAME_VISION_NED=16, /* Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down). | */
MAV_FRAME_VISION_ENU=17, /* Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up). | */
MAV_FRAME_ESTIM_NED=18, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down). | */
MAV_FRAME_ESTIM_ENU=19, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up). | */
MAV_FRAME_ENUM_END=20, /* | */
};
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static QString StrByType(int const & value)
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{
QMetaObject metaObject = FrameType().staticMetaObject;
QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
QString s = metaEnum.valueToKey(value);
return s;
}
static Types TypeByStr(QString const & value)
{
QMetaObject metaObject = FrameType().staticMetaObject;
QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
Types s = (Types)metaEnum.keyToValue(value.toLatin1());
return s;
}
static QStringList TypesList()
{
QStringList ret;
QMetaObject metaObject = FrameType().staticMetaObject;
QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
for (int x = 0; x < metaEnum.keyCount(); ++x) {
ret.append(metaEnum.key(x));
}
return ret;
}
friend class propertyui;
};
//#include "waypointitem.h"
#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
namespace Ui {
class OPMAPWIDGETSHARED_EXPORT propertyui;
}
class OPMAPWIDGETSHARED_EXPORT propertyui : public QWidget{
#else
namespace Ui {
class propertyui;
}
class propertyui : public QWidget{
#endif
Q_OBJECT
public:
explicit propertyui(QWidget *parent = nullptr);
~propertyui();
Q_PROPERTY(QString category READ category CONSTANT)
Q_PROPERTY(QString description READ description CONSTANT)
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName CONSTANT)
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly CONSTANT)
Q_PROPERTY(int command READ intCommand CONSTANT)
MAV_CMD command(void) const { return _command; }
int intCommand(void) const { return (int)_command; }
QString category (void) const;
QString description (void) const;
bool friendlyEdit (void) const;
QString friendlyName (void) const;
QString rawName (void) const;
bool isStandaloneCoordinate (void) const;
bool specifiesCoordinate (void) const;
bool specifiesAltitudeOnly (void) const;
void _loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList);
bool loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString);
public slots:
修复航线下载没有清空表格信息bug
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/**
* @brief 清除表格中指定航线的信息
* @param air_route 指定航线
*/
void clearAirRouteInfo(int air_route);
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void setallPoint(QMap<int,int> list);
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void setWayPointProperty(float param1,float param2,float param3,float param4,
int32_t x,int32_t y,float z,
uint16_t seq,
uint16_t group,
uint16_t command,
uint8_t target_system,
uint8_t target_component,
uint8_t frame,
uint8_t current,
uint8_t autocontinue,
uint8_t mission_type);
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void measureState(bool flag);
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void closeMissionDialog(bool flag);
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Q_SIGNALS:
void WayPointPropertyChanged(float param1,float param2,float param3,float param4,
int32_t x,int32_t y,float z,
uint16_t seq,
uint16_t group,
uint16_t command,
uint8_t target_system,
uint8_t target_component,
uint8_t frame,
uint8_t current,
uint8_t autocontinue,
uint8_t mission_type);
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void WPnearPoint(int dir);
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void WPotherPoint(int seq);
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void WPInsert();
void WPDelete();
void WPDeleteAll(void);
void WPAdd(void);
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void WPSave(QString path);
void WPLoad(QString path);
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void WPUpload(void);
void WPDownload(void);
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void searchall(void);
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void WPGroup(int group);
void settableGroup(int);
void getAllPoints(int group);
// void ruler_clicked();
void createFenceCircle(int,qreal radius, bool inclusion, qreal lat, qreal lng);
void createFencePolygon(int,qreal vertex,bool inclusion,QList<QPointF> latlng);
void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void updateFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
void updateFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void addCircle();
void addPolygon();
void delFence(int group);
void currentPointSeleted(int group,int point);
void getCurrentPoint(int group);
void FenceGroupChanged(int old,int cur);
void clearTable();
void GetPoint(quint8);
void exitRuler();
void mousePosition(qreal lat,qreal lng);
void MeasurePosition(int num,qreal lat,qreal lng);
void Lineinfo(qreal dis,qreal bearing);
void valuechanged(int num,qreal value);
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private slots:
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void GroupChanged(int value);
void waypointSelect(int group,int idx);
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void setSeqNav(QVariant value);
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void setFriendlyName(QVariant value);
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void setAltType(QVariant value);
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void setAltitude(QVariant value);
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void setGroup(QVariant value);
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void setLatitude(QVariant value);
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void setLongitude(QVariant value);
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void setParam1(QVariant value);
void setParam2(QVariant value);
void setParam3(QVariant value);
void setParam4(QVariant value);
void setParam5(QVariant value);
void setParam6(QVariant value);
void setParam7(QVariant value);
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保存程序
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void setLoad(QVariant value);
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void WayPointPropertyUpdate(bool flag);
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void on_pushButton_friendlyName_clicked();
void on_pushButton_Alt_clicked();
void on_pushButton_Param1_clicked();
void on_pushButton_Param2_clicked();
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void on_pushButton_Param3_clicked();
void on_pushButton_Param4_clicked();
void on_pushButton_Param5_clicked();
void on_pushButton_Param6_clicked();
void on_pushButton_Param7_clicked();
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增加航点和属性界面的信号和操
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void on_pushButton_Previous_clicked();
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void on_pushButton_Next_clicked();
void on_pushButton_Insert_clicked();
void on_pushButton_Delete_clicked();
void on_pushButton_Upload_clicked();
void on_pushButton_Download_clicked();
void on_pushButton_Load_clicked();
void on_pushButton_Save_clicked();
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void on_pushButton_Seq_clicked();
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void on_pushButton_AltType_clicked();
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void on_pushButton_Lat_clicked();
void on_pushButton_Lng_clicked();
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void on_pushButton_Group_clicked();
void on_pushButton_Ruler_clicked();
void on_pushButton_Table_clicked();
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private:
QString _loadErrorString(const QString& errorString) const;
bool _infoAvailable(const QString& key) const { return _infoMap.contains(key); }
const QVariant _infoValue(const QString& key) const { return _infoMap[key]; }
void _setInfoValue(const QString& key, const QVariant& value) { _infoMap[key] = value; }
void _overrideInfo(propertyui* uiInfo);
void rebuildUI(QString CMD);
void clearLayout(QLayout *layout);
private:
MAV_CMD _command;
QMap<QString, QVariant> _infoMap;//一个
QMap<int, MissionCmdParamInfo*> _paramInfoMap;//一个
QList<int> _paramRemoveList;
static const char* _categoryJsonKey;
static const char* _decimalPlacesJsonKey;
static const char* _defaultJsonKey;
static const char* _descriptionJsonKey;
static const char* _enumStringsJsonKey;
static const char* _enumValuesJsonKey;
static const char* _nanUnchangedJsonKey;
static const char* _friendlyNameJsonKey;
static const char* _friendlyEditJsonKey;
static const char* _idJsonKey;
static const char* _labelJsonKey;
static const char* _mavCmdInfoJsonKey;
static const char* _param1JsonKey;
static const char* _param2JsonKey;
static const char* _param3JsonKey;
static const char* _param4JsonKey;
static const char* _param5JsonKey;
static const char* _param6JsonKey;
static const char* _param7JsonKey;
static const char* _paramJsonKeyFormat;
static const char* _paramRemoveJsonKey;
static const char* _rawNameJsonKey;
static const char* _standaloneCoordinateJsonKey;
static const char* _specifiesCoordinateJsonKey;
static const char* _specifiesAltitudeOnlyJsonKey;
static const char* _unitsJsonKey;
static const char* _commentJsonKey;
static const char* _advancedCategory;
static const char* _versionJsonKey;
Ui::propertyui *ui;
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MissionUI *table = nullptr;
RuleDialog *ruler = nullptr;
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QByteArray allBytes;
QJsonArray MAV_CMD_infoArray;
bool isShowDetails = false;
//因为无法使用其他类定义的东西，因此这里自己定义
float m_param1;
float m_param2;
float m_param3;
float m_param4;
int32_t m_x;
int32_t m_y;
float m_z;
uint16_t m_seq;
uint16_t m_group;
uint16_t m_command;
uint8_t m_target_system;
uint8_t m_target_component;
uint8_t m_frame;
uint8_t m_current;
uint8_t m_autocontinue;
uint8_t m_mission_type;
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QString param1_type = "QComboBox";
QString param2_type = "QComboBox";
QString param3_type = "QComboBox";
QString param4_type = "QComboBox";
QString param5_type = "QLineEdit";
QString param6_type = "QLineEdit";
QString param7_type = "QLineEdit";
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int missionGroups = 3;
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完成航点传输
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QMap<int,QVector<QString>> allPoint;//所有航点
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};
#endif // PROPERTYUI_H
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