ActuatorActions.cc

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#include "ActuatorActions.h"
#include "MAVLinkLib.h"
#include "AppMessages.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
 
QGC_LOGGING_CATEGORY(ActuatorActionsLog, "Vehicle.Actuators.ActuatorActions")
 
using namespace ActuatorActions;
 
QString Config::typeToLabel() const
{
    switch (type) {
        case Type::beep: return QCoreApplication::translate("ActuatorAction", "Beep");
        case Type::set3DModeOn: return QCoreApplication::translate("ActuatorAction", "3D mode: On");
        case Type::set3DModeOff: return QCoreApplication::translate("ActuatorAction", "3D mode: Off");
        case Type::setSpinDirection1: return QCoreApplication::translate("ActuatorAction", "Set Spin Direction 1");
        case Type::setSpinDirection2: return QCoreApplication::translate("ActuatorAction", "Set Spin Direction 2");
    }
    return "";
}
 
Action::Action([[maybe_unused]] QObject *parent,
               const Config &action,
               const QString &label,
               int outputFunction,
               Vehicle *vehicle)
    : _label(label), _outputFunction(outputFunction), _type(action.type), _vehicle(vehicle)
{
}
 
void Action::trigger()
{
    if (_commandInProgress) {
        return;
    }
    sendMavlinkRequest();
}
 
void Action::ackHandlerEntry(void* resultHandlerData, int /*compId*/, const mavlink_command_ack_t& ack, VehicleTypes::MavCmdResultFailureCode_t failureCode)
{
    Action* action = (Action*)resultHandlerData;
    action->ackHandler(static_cast<MAV_RESULT>(ack.result), failureCode);
}
 
void Action::ackHandler(MAV_RESULT commandResult, VehicleTypes::MavCmdResultFailureCode_t failureCode)
{
    _commandInProgress = false;
    if (failureCode != VehicleTypes::MavCmdResultFailureNoResponseToCommand && commandResult != MAV_RESULT_ACCEPTED) {
        QGC::showAppMessage(tr("Actuator action command failed"));
    }
}
 
void Action::sendMavlinkRequest()
{
    qCDebug(ActuatorActionsLog) << "Sending actuator action, function:" << _outputFunction << "type:" << (int)_type;
 
    Vehicle::MavCmdAckHandlerInfo_t handlerInfo = {};
    handlerInfo.resultHandler       = ackHandlerEntry;
    handlerInfo.resultHandlerData   = this;
 
    _vehicle->sendMavCommandWithHandler(
            &handlerInfo,
            MAV_COMP_ID_AUTOPILOT1,           // the ID of the autopilot
            MAV_CMD_CONFIGURE_ACTUATOR,       // the mavlink command
            (int)_type,                       // action type
            0,                                // unused parameter
            0,                                // unused parameter
            0,                                // unused parameter
            1000+_outputFunction,             // function
            0,                                // unused parameter
            0);
    _commandInProgress = true;
}
 
ActionGroup::ActionGroup([[maybe_unused]] QObject *parent, const QString &label, Config::Type type)
    : _label(label), _type(type)
{
}