MissionCommandList.cc

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#include "MissionCommandList.h"
#include "JsonHelper.h"
#include "MissionCommandUIInfo.h"
#include "QGCLoggingCategory.h"
 
#include <QtCore/QJsonArray>
 
MissionCommandList::MissionCommandList(const QString& jsonFilename, bool baseCommandList, QObject* parent)
    : QObject(parent)
{
    _loadMavCmdInfoJson(jsonFilename, baseCommandList);
}
 
void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList)
{
    if (jsonFilename.isEmpty()) {
        return;
    }
 
    qCDebug(MissionCommandsLog) << "Loading" << jsonFilename;
 
    QString errorString;
    int version;
    QJsonObject jsonObject = JsonHelper::openInternalQGCJsonFile(jsonFilename, qgcFileType, 1, 1, version, errorString);
    if (!errorString.isEmpty()) {
        qWarning() << "Internal Error: " << errorString;
        return;
    }
 
    QJsonValue jsonValue = jsonObject.value(_mavCmdInfoJsonKey);
    if (!jsonValue.isArray()) {
        qWarning() << jsonFilename << "mavCmdInfo not array";
        return;
    }
 
    // Iterate over MissionCommandUIInfo objects
    QJsonArray jsonArray = jsonValue.toArray();
    for(QJsonValue info: jsonArray) {
        if (!info.isObject()) {
            qWarning() << jsonFilename << "mavCmdArray should contain objects";
            return;
        }
 
        MissionCommandUIInfo* uiInfo = new MissionCommandUIInfo(this);
 
        QString uiInfoErrorString;
        if (!uiInfo->loadJsonInfo(info.toObject(), baseCommandList, uiInfoErrorString)) {
            uiInfo->deleteLater();
            qWarning() << jsonFilename << uiInfoErrorString;
            return;
        }
 
        // Update list of known categories
        QString newCategory = uiInfo->category();
        if (!newCategory.isEmpty() && !_categories.contains(newCategory)) {
            _categories.append(newCategory);
        }
 
        _infoMap[uiInfo->command()] = uiInfo;
    }
 
    // Build id list
    for (MAV_CMD id: _infoMap.keys()) {
        _ids << id;
    }
}
 
MissionCommandUIInfo* MissionCommandList::getUIInfo(MAV_CMD command) const
{
    if (!_infoMap.contains(command)) {
        return nullptr;
    }
 
    return _infoMap[command];
}