400 lines
15 KiB
C++
400 lines
15 KiB
C++
#ifndef PROPERTYUI_H
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#define PROPERTYUI_H
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#include <QWidget>
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#include "QFile"
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#include "QJsonArray"
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#include "QJsonDocument"
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#include "QJsonObject"
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#include "QJsonParseError"
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#include "QQuickWidget"
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#include "QQuickView"
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#include "QtQml"
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#include "qqml.h"
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#include "QQmlEngine"
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#include "QDebug"
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#include "mavlink.h"
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#include "JsonHelper.h"
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#include "QComboBox"
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#include "QLineEdit"
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#include "QLabel"
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#include "QHBoxLayout"
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#include "QVBoxLayout"
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#include "QGridLayout"
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#include "multiselector.h"
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#include "Selector.h"
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#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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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT MissionCmdParamInfo : public QObject {
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#else
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class MissionCmdParamInfo : public QObject {
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#endif
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Q_OBJECT
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public:
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MissionCmdParamInfo(QObject* parent = nullptr);
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MissionCmdParamInfo(const MissionCmdParamInfo& other, QObject* parent = nullptr);
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const MissionCmdParamInfo& operator=(const MissionCmdParamInfo& other);
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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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Q_PROPERTY(bool nanUnchanged READ nanUnchanged CONSTANT)
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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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bool nanUnchanged (void) const { return _nanUnchanged; }
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private:
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int _decimalPlaces;
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double _defaultValue;
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QStringList _enumStrings;
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QVariantList _enumValues;
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QString _label;
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int _param;
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QString _units;
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bool _nanUnchanged;
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friend class propertyui;
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};
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT FrameType : public QObject {
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#else
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class FrameType : public QObject {
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#endif
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Q_OBJECT Q_ENUMS(Types)
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public:
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enum Types {
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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). | */
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MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-down (x: north, y: east, z: down). | */
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MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
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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. | */
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MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-up (x: east, y: north, z: up). | */
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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). | */
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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. | */
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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. | */
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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. | */
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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. | */
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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. | */
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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. | */
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MAV_FRAME_BODY_FRD=12, /* Body fixed frame of reference, Z-down (x: forward, y: right, z: down). | */
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MAV_FRAME_BODY_FLU=13, /* Body fixed frame of reference, Z-up (x: forward, y: left, z: up). | */
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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). | */
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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). | */
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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). | */
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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). | */
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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). | */
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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). | */
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MAV_FRAME_ENUM_END=20, /* | */
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};
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static QString StrByType(Types const & value)
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{
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QMetaObject metaObject = FrameType().staticMetaObject;
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QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
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QString s = metaEnum.valueToKey(value);
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return s;
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}
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static Types TypeByStr(QString const & value)
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{
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QMetaObject metaObject = FrameType().staticMetaObject;
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QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
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Types s = (Types)metaEnum.keyToValue(value.toLatin1());
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return s;
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}
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static QStringList TypesList()
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{
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QStringList ret;
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QMetaObject metaObject = FrameType().staticMetaObject;
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QMetaEnum metaEnum = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
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for (int x = 0; x < metaEnum.keyCount(); ++x) {
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ret.append(metaEnum.key(x));
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}
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return ret;
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}
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friend class propertyui;
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};
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//#include "waypointitem.h"
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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namespace Ui {
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class OPMAPWIDGETSHARED_EXPORT propertyui;
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}
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class OPMAPWIDGETSHARED_EXPORT propertyui : public QWidget{
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#else
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namespace Ui {
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class propertyui;
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}
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class propertyui : public QWidget{
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#endif
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Q_OBJECT
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public:
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explicit propertyui(QWidget *parent = nullptr);
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~propertyui();
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Q_PROPERTY(QString category READ category 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 isStandaloneCoordinate READ isStandaloneCoordinate CONSTANT)
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Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
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Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly CONSTANT)
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Q_PROPERTY(int command READ intCommand CONSTANT)
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MAV_CMD command(void) const { return _command; }
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int intCommand(void) const { return (int)_command; }
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QString category (void) const;
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QString description (void) const;
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bool friendlyEdit (void) const;
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QString friendlyName (void) const;
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QString rawName (void) const;
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bool isStandaloneCoordinate (void) const;
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bool specifiesCoordinate (void) const;
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bool specifiesAltitudeOnly (void) const;
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void _loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList);
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bool loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString);
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public slots:
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void setallPoint(QMap<int,int> list);
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void setWayPointProperty(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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Q_SIGNALS:
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void WayPointPropertyChanged(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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void WPotherPoint(int seq);
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void WPInsert(int seq);
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void WPDelete(int seq);
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void WPSave(QString path);
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void WPLoad(QString path);
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void WPUpload(void);
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void WPDownload(void);
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void searchall(void);
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private slots:
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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 setParam1(QVariant value);
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void setParam2(QVariant value);
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void setParam3(QVariant value);
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void setParam4(QVariant value);
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void setParam5(QVariant value);
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void setParam6(QVariant value);
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void setParam7(QVariant value);
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void setLoad(QVariant value);
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void WayPointPropertyUpdate(void);
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void on_pushButton_friendlyName_clicked();
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void on_pushButton_Alt_clicked();
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void on_pushButton_Param1_clicked();
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void on_pushButton_Param2_clicked();
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void on_pushButton_Param3_clicked();
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void on_pushButton_Param4_clicked();
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void on_pushButton_Param5_clicked();
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void on_pushButton_Param6_clicked();
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void on_pushButton_Param7_clicked();
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void on_pushButton_Previous_clicked();
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void on_pushButton_Next_clicked();
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void on_pushButton_Insert_clicked();
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void on_pushButton_Delete_clicked();
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void on_pushButton_Upload_clicked();
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void on_pushButton_Download_clicked();
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void on_pushButton_Load_clicked();
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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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private:
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QString _loadErrorString(const QString& errorString) const;
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bool _infoAvailable(const QString& key) const { return _infoMap.contains(key); }
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const QVariant _infoValue(const QString& key) const { return _infoMap[key]; }
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void _setInfoValue(const QString& key, const QVariant& value) { _infoMap[key] = value; }
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void _overrideInfo(propertyui* uiInfo);
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void rebuildUI(QString CMD);
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void clearLayout(QLayout *layout);
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private:
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MAV_CMD _command;
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QMap<QString, QVariant> _infoMap;//一个
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QMap<int, MissionCmdParamInfo*> _paramInfoMap;//一个
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QList<int> _paramRemoveList;
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static const char* _categoryJsonKey;
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static const char* _decimalPlacesJsonKey;
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static const char* _defaultJsonKey;
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static const char* _descriptionJsonKey;
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static const char* _enumStringsJsonKey;
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static const char* _enumValuesJsonKey;
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static const char* _nanUnchangedJsonKey;
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static const char* _friendlyNameJsonKey;
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static const char* _friendlyEditJsonKey;
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static const char* _idJsonKey;
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static const char* _labelJsonKey;
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static const char* _mavCmdInfoJsonKey;
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static const char* _param1JsonKey;
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static const char* _param2JsonKey;
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static const char* _param3JsonKey;
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static const char* _param4JsonKey;
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static const char* _param5JsonKey;
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static const char* _param6JsonKey;
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static const char* _param7JsonKey;
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static const char* _paramJsonKeyFormat;
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static const char* _paramRemoveJsonKey;
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static const char* _rawNameJsonKey;
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static const char* _standaloneCoordinateJsonKey;
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static const char* _specifiesCoordinateJsonKey;
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static const char* _specifiesAltitudeOnlyJsonKey;
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static const char* _unitsJsonKey;
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static const char* _commentJsonKey;
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static const char* _advancedCategory;
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static const char* _versionJsonKey;
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Ui::propertyui *ui;
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QByteArray allBytes;
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QJsonArray MAV_CMD_infoArray;
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bool isShowDetails = false;
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//因为无法使用其他类定义的东西，因此这里自己定义
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float m_param1;
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float m_param2;
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float m_param3;
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float m_param4;
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int32_t m_x;
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int32_t m_y;
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float m_z;
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uint16_t m_seq;
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uint16_t m_group;
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uint16_t m_command;
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uint8_t m_target_system;
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uint8_t m_target_component;
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uint8_t m_frame;
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uint8_t m_current;
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uint8_t m_autocontinue;
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uint8_t m_mission_type;
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QString param1_type = "QComboBox";
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QString param2_type = "QComboBox";
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QString param3_type = "QComboBox";
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QString param4_type = "QComboBox";
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QString param5_type = "QLineEdit";
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QString param6_type = "QLineEdit";
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QString param7_type = "QLineEdit";
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QMap<int,QVector<QString>> allPoint;//所有航点
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};
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#endif // PROPERTYUI_H
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