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Merge pull request mavlink#4009 from DonLakeFlyer/PX4FencePlugin
PX4 fence plugin
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| * | ||
| * QGroundControl is licensed according to the terms in the file | ||
| * COPYING.md in the root of the source code directory. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| #include "PX4GeoFenceManager.h" | ||
| #include "Vehicle.h" | ||
| #include "FirmwarePlugin.h" | ||
| #include "ParameterLoader.h" | ||
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| PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle) | ||
| : GeoFenceManager(vehicle) | ||
| , _firstParamLoadComplete(false) | ||
| , _circleRadiusFact(NULL) | ||
| { | ||
| connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady, this, &PX4GeoFenceManager::_parametersReady); | ||
| } | ||
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| PX4GeoFenceManager::~PX4GeoFenceManager() | ||
| { | ||
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| } | ||
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| void PX4GeoFenceManager::_parametersReady(void) | ||
| { | ||
| if (!_firstParamLoadComplete) { | ||
| _firstParamLoadComplete = true; | ||
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| _circleRadiusFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST")); | ||
| connect(_circleRadiusFact, &Fact::rawValueChanged, this, &PX4GeoFenceManager::_circleRadiusRawValueChanged); | ||
| emit circleRadiusChanged(circleRadius()); | ||
|
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| QStringList paramNames; | ||
| QStringList paramLabels; | ||
|
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| paramNames << QStringLiteral("GF_ACTION") << QStringLiteral("GF_MAX_HOR_DIST") << QStringLiteral("GF_MAX_VER_DIST"); | ||
| paramLabels << QStringLiteral("Action:") << QStringLiteral("Radius:") << QStringLiteral("Max Altitude:"); | ||
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| _params.clear(); | ||
| _paramLabels.clear(); | ||
| for (int i=0; i<paramNames.count(); i++) { | ||
| QString paramName = paramNames[i]; | ||
| if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) { | ||
| Fact* paramFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName); | ||
| _params << QVariant::fromValue(paramFact); | ||
| _paramLabels << paramLabels[i]; | ||
| } | ||
| } | ||
| emit paramsChanged(_params); | ||
| emit paramLabelsChanged(_paramLabels); | ||
|
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| emit circleSupportedChanged(circleSupported()); | ||
|
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| qCDebug(GeoFenceManagerLog) << "fenceSupported:circleSupported:polygonSupported:breachReturnSupported" << | ||
| fenceSupported() << circleSupported() << polygonSupported() << breachReturnSupported(); | ||
| } | ||
| } | ||
|
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| float PX4GeoFenceManager::circleRadius(void) const | ||
| { | ||
| if (_circleRadiusFact) { | ||
| return _circleRadiusFact->rawValue().toFloat(); | ||
| } else { | ||
| return 0.0; | ||
| } | ||
| } | ||
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| void PX4GeoFenceManager::_circleRadiusRawValueChanged(QVariant value) | ||
| { | ||
| emit circleRadiusChanged(value.toFloat()); | ||
| emit circleSupportedChanged(circleSupported()); | ||
| } | ||
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| bool PX4GeoFenceManager::circleSupported(void) const | ||
| { | ||
| if (_circleRadiusFact) { | ||
| return _circleRadiusFact->rawValue().toFloat() >= 0.0; | ||
| } | ||
|
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||
| return false; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| * | ||
| * QGroundControl is licensed according to the terms in the file | ||
| * COPYING.md in the root of the source code directory. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| #ifndef PX4GeoFenceManager_H | ||
| #define PX4GeoFenceManager_H | ||
|
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| #include "GeoFenceManager.h" | ||
| #include "QGCMAVLink.h" | ||
| #include "FactSystem.h" | ||
|
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| class PX4GeoFenceManager : public GeoFenceManager | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| PX4GeoFenceManager(Vehicle* vehicle); | ||
| ~PX4GeoFenceManager(); | ||
|
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| // Overrides from GeoFenceManager | ||
| bool fenceSupported (void) const final { return true; } | ||
| bool circleSupported (void) const final; | ||
| float circleRadius (void) const final; | ||
| QVariantList params (void) const final { return _params; } | ||
| QStringList paramLabels (void) const final { return _paramLabels; } | ||
|
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| private slots: | ||
| void _circleRadiusRawValueChanged(QVariant value); | ||
| void _parametersReady(void); | ||
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| private: | ||
| bool _firstParamLoadComplete; | ||
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| QVariantList _params; | ||
| QStringList _paramLabels; | ||
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| Fact* _circleRadiusFact; | ||
| }; | ||
|
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| #endif |
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