MavlinkActionManager.cc

Go to the documentation of this file.

#include "MavlinkActionManager.h"
#include "MavlinkAction.h"
#include "Fact.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
 
#include <QtCore/QDir>
#include <QtCore/QJsonArray>
#include <QtQml/QQmlEngine>
 
QGC_LOGGING_CATEGORY(MavlinkActionManagerLog, "QMLControls.MavlinkActionManager")
 
MavlinkActionManager::MavlinkActionManager(QObject *parent)
    : QObject(parent)
    , _actions(new QmlObjectListModel(this))
{
    // qCDebug(MavlinkActionManagerLog) << Q_FUNC_INFO << this;
}
 
MavlinkActionManager::MavlinkActionManager(Fact *actionFileNameFact, QObject *parent)
    : QObject(parent)
    , _actions(new QmlObjectListModel(this))
{
    setActionFileNameFact(actionFileNameFact);
}
 
MavlinkActionManager::~MavlinkActionManager()
{
    // qCDebug(MavlinkActionManagerLog) << Q_FUNC_INFO << this;
}
 
void MavlinkActionManager::setActionFileNameFact(Fact *actionFileNameFact)
{
    _actionFileNameFact = actionFileNameFact;
    emit actionFileNameFactChanged();
    (void) connect(_actionFileNameFact, &Fact::rawValueChanged, this, &MavlinkActionManager::_loadActionsFile);
 
    _loadActionsFile();
}
 
void MavlinkActionManager::_loadActionsFile()
{
    _actions->clearAndDeleteContents();
    const QString actionFileName = _actionFileNameFact->rawValue().toString();
    if (actionFileName.isEmpty()) {
        return;
    }
 
    // Custom actions are always loaded from the custom actions save path
    const QString savePath = SettingsManager::instance()->appSettings()->mavlinkActionsSavePath();
    const QDir saveDir = QDir(savePath);
    const QString fullPath = saveDir.absoluteFilePath(actionFileName);
 
    // It's ok for the file to not exist
    const QFileInfo fileInfo = QFileInfo(fullPath);
    if (!fileInfo.exists()) {
        return;
    }
 
    constexpr const char *kQgcFileType = "MavlinkActions";
    constexpr const char *kActionListKey = "actions";
 
    _actions->clearAndDeleteContents();
 
    QString errorString;
    int version;
    const QJsonObject jsonObject = JsonHelper::openInternalQGCJsonFile(fullPath, kQgcFileType, 1, 1, version, errorString);
    if (!errorString.isEmpty()) {
        qgcApp()->showAppMessage(tr("Failed to load custom actions file: `%1` error: `%2`").arg(fullPath, errorString));
        return;
    }
 
    const QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { kActionListKey, QJsonValue::Array, /* required= */ true },
    };
    if (!JsonHelper::validateKeys(jsonObject, keyInfoList, errorString)) {
        qgcApp()->showAppMessage(tr("Custom actions file - incorrect format: %1").arg(errorString));
        return;
    }
 
    const QJsonArray actionList = jsonObject[kActionListKey].toArray();
    for (const auto &actionJson: actionList) {
        if (!actionJson.isObject()) {
            qgcApp()->showAppMessage(tr("Custom actions file - incorrect format: JsonValue not an object"));
            _actions->clearAndDeleteContents();
            return;
        }
 
        const QList<JsonHelper::KeyValidateInfo> actionKeyInfoList = {
            { "label",          QJsonValue::String, /* required= */ true },
            { "description",    QJsonValue::String, /* required= */ true },
            { "mavCmd",         QJsonValue::Double, /* required= */ true },
 
            { "compId",         QJsonValue::Double, /* required= */ false },
            { "param1",         QJsonValue::Double, /* required= */ false },
            { "param2",         QJsonValue::Double, /* required= */ false },
            { "param3",         QJsonValue::Double, /* required= */ false },
            { "param4",         QJsonValue::Double, /* required= */ false },
            { "param5",         QJsonValue::Double, /* required= */ false },
            { "param6",         QJsonValue::Double, /* required= */ false },
            { "param7",         QJsonValue::Double, /* required= */ false },
        };
 
        const auto actionObj = actionJson.toObject();
        if (!JsonHelper::validateKeys(actionObj, actionKeyInfoList, errorString)) {
            qgcApp()->showAppMessage(tr("Custom actions file - incorrect format: %1").arg(errorString));
            _actions->clearAndDeleteContents();
            return;
        }
 
        const auto label = actionObj["label"].toString();
        const auto description = actionObj["description"].toString();
        const auto mavCmd = (MAV_CMD)actionObj["mavCmd"].toInt();
        const auto compId = (MAV_COMPONENT)actionObj["compId"].toInt(MAV_COMP_ID_AUTOPILOT1);
        const auto param1 = actionObj["param1"].toDouble(0.0);
        const auto param2 = actionObj["param2"].toDouble(0.0);
        const auto param3 = actionObj["param3"].toDouble(0.0);
        const auto param4 = actionObj["param4"].toDouble(0.0);
        const auto param5 = actionObj["param5"].toDouble(0.0);
        const auto param6 = actionObj["param6"].toDouble(0.0);
        const auto param7 = actionObj["param7"].toDouble(0.0);
 
        MavlinkAction *const action = new MavlinkAction(label, description, mavCmd, compId, param1, param2, param3, param4, param5, param6, param7, this);
        QQmlEngine::setObjectOwnership(action, QQmlEngine::CppOwnership);
        (void) _actions->append(action);
    }
}