Example22: Payload Select Config Page

MissionPlanner.csproj

@@ -391,6 +391,9 @@
     <None Include="plugins\example20-multiplepositions.cs">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>
+    <None Include="plugins\example22-payloadconfig.cs">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
     <Compile Update="Utilities\AirMarket.cs">
       <SubType>UserControl</SubType>
     </Compile>

Plugins/example22-payloadconfig.cs

@@ -0,0 +1,265 @@
+using System;
+using System.Collections.Generic;
+using System.Windows.Forms;
+using MissionPlanner.Controls;
+using MissionPlanner.GCSViews;
+using MissionPlanner.Plugin;
+using log4net;
+
+namespace MissionPlanner.plugins
+{
+/// <summary>
+/// This plugin adds a "Payload Selection" page to Mission Planner's Config tab.
+/// It allows users to select various payload configurations, such as gimbals or cameras, 
+/// by checking boxes associated with each payload type. Each payload setting adjusts 
+/// specific parameters and reverts to defaults when unchecked. Parameter adjustments
+/// are only allowed while the vehicle is disarmed. 
+/// 
+/// ### WARNING:
+/// This is a simple example plugin with minimal testing and limited error handling. 
+/// It is recommended to review and test this code thoroughly in a safe environment 
+/// before relying on it in operational settings.
+///
+/// ### Modifying the Plugin:
+/// - To enable this plugin, add payloads to the `payloadParameters` dictionary. If
+///   the dictionary is empty, the plugin will not initialize.
+/// - To add new payloads, modify the `payloadParameters` dictionary with the desired 
+///   payload name as the key and a dictionary of parameter settings as the value.
+/// - Example: Adding a new payload:
+///       { "NewPayload", new Dictionary<string, double> { { "PARAM_NAME", value } } }
+/// - Each payload’s parameters are activated when checked and reverted to their default 
+///   when unchecked, if defaults exist.
+/// </summary>
+    public class example22_payloadconfig : Plugin.Plugin
+    {
+        public override string Name => "Payload Select Page";
+        public override string Version => "0.1";
+        public override string Author => "Bob Long";
+
+
+        // DEFINE YOUR PAYLOADS, AND THEIR PARAMETERS, HERE
+        public static readonly Dictionary<string, Dictionary<string, double>> payloadParameters = new Dictionary<string, Dictionary<string, double>>
+        {
+            // {
+            //     "Gimbal", new Dictionary<string, double>
+            //     {
+            //         { "MNT1_TYPE", 9},          // Set Mount1 Type to Scripting
+            //     }
+            // },
+            // {
+            //     "Mapping Camera", new Dictionary<string, double>
+            //     {
+            //         { "CAM_TRIGG_TYPE", 1 },     // Set trigger type to PWM
+            //         { "SERVO9_FUNCTION", 10 },   // Set servo 9 to camera trigger
+            //     }
+            // }
+        };
+
+        private CheckedListBox payloadCheckboxList;
+
+        public override bool Init()
+        {
+            // Only initialize the plugin if payloads have been configured.
+            return payloadParameters.Count > 0;
+        }
+
+        public override bool Loaded()
+        {
+            // Register the ConfigPayload view on the Config tab
+            SoftwareConfig.AddPluginViewPage(typeof(ConfigPayload), "Payload Selection", SoftwareConfig.pageOptions.isConnected | SoftwareConfig.pageOptions.gotAllParams);
+
+            return true;
+        }
+
+        public override bool Exit() { return true; }
+    }
+
+    public class ConfigPayload : MyUserControl, IActivate
+    {
+        private Dictionary<string, Dictionary<string, double>> payloadParameters = example22_payloadconfig.payloadParameters;
+        private readonly CheckedListBox payloadCheckboxList;
+        private readonly static ILog log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+        /// <summary>
+        /// Initializes the ConfigPayload control with a checklist of available payload selections.
+        /// </summary>
+        public ConfigPayload()
+        {
+            // Initialize CheckedListBox for payload selection
+            payloadCheckboxList = new CheckedListBox
+            {
+                CheckOnClick = true,
+                Dock = DockStyle.Left,
+            };
+
+            // Add payload options as checkboxes
+            foreach (var payload in payloadParameters.Keys)
+            {
+                payloadCheckboxList.Items.Add(payload);
+            }
+
+            // Handle check state changes
+            payloadCheckboxList.ItemCheck += PayloadCheckboxList_ItemCheck;
+
+            // Add the CheckedListBox to the control
+            Controls.Add(payloadCheckboxList);
+        }
+
+        /// <summary>
+        /// Called when the ConfigPayload view is activated.
+        /// </summary>
+        public void Activate()
+        {
+            UpdateCheckboxState();
+            CheckArmed();
+        }
+
+        /// <summary>
+        /// Checks if the vehicle is armed, disables the checkbox list and warns the user if it is.
+        /// </summary>
+        private void CheckArmed()
+        {
+            payloadCheckboxList.Enabled = !MainV2.comPort.MAV.cs.armed;
+            if (MainV2.comPort.MAV.cs.armed)
+            {
+                CustomMessageBox.Show("The vehicle is armed. Payload selection is disabled.", "Payload Selection");
+            }
+        }
+
+        /// <summary>
+        /// Updates the checked state of each checkbox based on current parameter values.
+        /// If all parameters for a payload match the predefined values, the checkbox is checked.
+        /// </summary>
+        private void UpdateCheckboxState()
+        {
+            for (int i = 0; i < payloadCheckboxList.Items.Count; i++)
+            {
+                string payload = payloadCheckboxList.Items[i].ToString();
+                if (IsPayloadActive(payloadParameters[payload]))
+                {
+                    payloadCheckboxList.SetItemChecked(i, true);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Checks if all parameters in the vehicle match a given dictionary.
+        /// </summary>
+        /// <param name="parameters">Dictionary of parameter names and values</param>
+        /// <returns>True if all parameters match, false otherwise.</returns>
+        private bool IsPayloadActive(Dictionary<string, double> parameters)
+        {
+            foreach (var param in parameters)
+            {
+                if (!MainV2.comPort.MAV.param.ContainsKey(param.Key))
+                {
+                    log.Warn($"Parameter {param.Key} not found for comparison.");
+                    return false;
+                }
+                if (!ParamEquality(MainV2.comPort.MAV.param[param.Key].Value, param.Value))
+                {
+                    return false;
+                }
+            }
+            return true;
+        }
+
+        /// <summary>
+        /// Handles checkbox state changes, applying or reverting parameters based on the checked state.
+        /// </summary>
+        private void PayloadCheckboxList_ItemCheck(object sender, ItemCheckEventArgs e)
+        {
+            CheckArmed();
+
+            string payload = payloadCheckboxList.Items[e.Index].ToString();
+            var parameters = payloadParameters[payload];
+
+            if (e.NewValue == CheckState.Checked)
+            {
+                ApplyPayloadParameters(parameters);
+            }
+            else
+            {
+                RevertParametersToDefault(parameters);
+            }
+        }
+
+        /// <summary>
+        /// Applies the specified parameters.
+        /// </summary>
+        /// <param name="parameters">Dictionary of parameter names and values to set.</param>
+        private void ApplyPayloadParameters(Dictionary<string, double> parameters)
+        {
+            foreach (var param in parameters)
+            {
+                MainV2.comPort.setParam(param.Key, param.Value);
+            }
+
+            if (CheckParamCountChanged() && parameters.Count > 1)
+            {
+                // Apply parameters again (we assume there will not be nested enable params for this plugin)
+                foreach (var param in parameters)
+                {
+                    MainV2.comPort.setParam(param.Key, param.Value);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Checks if the parameter count has changed, which might indicate new parameters were added.
+        /// If so, triggers a parameter list refresh and logs the update.
+        /// </summary>
+        private bool CheckParamCountChanged()
+        {
+            if (MainV2.comPort.MAV.param.TotalReceived != MainV2.comPort.MAV.param.TotalReported)
+            {
+                CustomMessageBox.Show("The number of available parameters changed. A full param refresh will be done.", "Params");
+                try
+                {
+                    MainV2.comPort.getParamList();
+                }
+                catch (Exception ex)
+                {
+                    log.Error("Exception getting param list", ex);
+                    CustomMessageBox.Show(Strings.ErrorReceivingParams, Strings.ERROR);
+                }
+                return true;
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// Reverts parameters for an unchecked payload to their default values.
+        /// </summary>
+        /// <param name="parameters">Dictionary of parameter names and expected default values.</param>
+        private void RevertParametersToDefault(Dictionary<string, double> parameters)
+        {
+            foreach (var param in parameters)
+            {
+                if (!MainV2.comPort.MAV.param.ContainsKey(param.Key))
+                {
+                    log.Warn($"Parameter {param.Key} missing during revert to default.");
+                    continue;
+                }
+                if (MainV2.comPort.MAV.param[param.Key].default_value == null)
+                {
+                    log.Warn($"No default value found for parameter {param.Key}");
+                    continue;
+                }
+                // This doesn't technically reset params if they get hidden after an enable param changes,
+                // but that is okay for our purposes.
+                MainV2.comPort.setParam(param.Key, MainV2.comPort.MAV.param[param.Key].default_value.Value);
+            }
+
+            CheckParamCountChanged();
+        }
+
+        /// <summary>
+        /// Checks if two parameter values are equal within a small tolerance.
+        /// </summary>
+        private bool ParamEquality(double a, double b)
+        {
+            return Math.Abs(a - b) < Math.Max(1e-6, Math.Max(Math.Abs(a), Math.Abs(b)) * 1e-6);
+        }
+    }
+}