Merge fly view and joystick custom actions in a single backend

The custom actions files are now hardwired to be loaded from the CustomActions save path location. The files uses can be set from Fly View Settings.

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 * New combined compass and attitude instrument
 * You can select between multiple instruments by clicking on the instrument conntrol on a desktop build or press and hold on mobile builds
+* Support for Fly View and Joystick custom mavlink actions has changed. Both the name and formation of the command file is different now. Go to QGC docs to understand how it works now.
 
 ## 4.1
 

docs/en/SUMMARY.md

@@ -8,6 +8,7 @@
 - [Fly](qgc-user-guide/fly_view/fly_view.md)
   - [Replay Flight Data](qgc-user-guide/fly_view/replay_flight_data.md)
   - [Video Overlay](qgc-user-guide/fly_view/video_overlay.md)
+- [Custom Mavlink Actions]((qgc-user-guide/custom_actions/custom_action.md))
 - [3D View](qgc-user-guide/viewer_3d/viewer_3d.md)
 - [Plan](qgc-user-guide/plan_view/plan_view.md)
   - [GeoFence](qgc-user-guide/plan_view/plan_geofence.md)

docs/en/qgc-user-guide/custom_actions/custom_actions.md

@@ -0,0 +1,46 @@
+# Custom Mavlink Action
+
+Both the Fly View and Joysticks support the ability execute arbitrary mavlink commands to the active vehicle. In the Fly View these will show up in the Toolstrip Action list. With Joysticks you can assign then to button presses.
+
+## Custom Actions File
+
+The custom actions available are defined in a JSON file. The format of that file is as follows:
+
+'''
+{
+    "version":    1,
+    "fileType":   "CustomActions",
+    "actions":
+[
+{
+    "label":        "First Command",
+    "description":  "This is the first command",
+    "mavCmd":       10,
+    "compId":       100,
+    "param1":       1,
+    "param2":       2,
+    ...
+},
+{
+    "label":        "Second Command",
+    "description":  "This is the second command",
+    "mavCmd":       20,
+    ...
+}
+]
+}
+'''
+
+Fields:
+* actions (required) - An array of json objects, one for each command
+* label (required) - The user visible short description for the command. This is used as the button text for the Fly View - Actions command list. For Joysticks, this is the command you select from the dropdown. For Joysticks, make sure your name doesn't conflict with the built in names.
+* description (required) - This is a longer description of the command used in the Fly View - Action list. This is not used by joysticks.
+* mavCmd (required) - The command id of the mavlink command you want to send.
+* compId (options) - The component id for where you want to send the command to. If not specified `MAV_COMP_ID_AUTOPILOT1` is used.
+* param1 thru param7 (optional) - The parameters for the command. Parameters which are not specified will default to 0.0
+
+Custom action files should be located in the CustomActions directory of the QGC save location. For example on Linux that would be `~/Documents/QGroundControl/CustomActions` or `~/Documents/QGroundControl Daily/CustomActions`. The Fly View and Joysticks each have there own custom actions files:
+* Fly View - FlyViewCustomActions.json
+* Joystick - JoystickCustomActions.json
+
+When you start up QGC it will load these files if they exist and make the commands available for use.

qgroundcontrol.pro

@@ -440,7 +440,6 @@ HEADERS += \
     src/FollowMe/FollowMe.h \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
-    src/Joystick/JoystickMavCommand.h \
     src/Utilities/JsonHelper.h \
     src/MissionManager/KMLDomDocument.h \
     src/MissionManager/KMLHelper.h \
@@ -531,6 +530,7 @@ HEADERS += \
     src/Settings/AutoConnectSettings.h \
     src/Settings/BatteryIndicatorSettings.h \
     src/Settings/BrandImageSettings.h \
+    src/Settings/CustomMavlinkActionsSettings.h \
     src/Settings/RemoteIDSettings.h \
     src/Settings/FirmwareUpgradeSettings.h \
     src/Settings/FlightMapSettings.h \
@@ -702,7 +702,6 @@ SOURCES += \
     src/FollowMe/FollowMe.cc \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
-    src/Joystick/JoystickMavCommand.cc \
     src/Utilities/JsonHelper.cc \
     src/MissionManager/KMLDomDocument.cc \
     src/MissionManager/KMLHelper.cc \
@@ -790,6 +789,7 @@ SOURCES += \
     src/Settings/AutoConnectSettings.cc \
     src/Settings/BatteryIndicatorSettings.cc \
     src/Settings/BrandImageSettings.cc \
+    src/Settings/CustomMavlinkActionsSettings.cc \
     src/Settings/RemoteIDSettings.cc \
     src/Settings/FirmwareUpgradeSettings.cc \
     src/Settings/FlightMapSettings.cc \

qgroundcontrol.qrc

@@ -361,6 +361,7 @@
         <file alias="CameraSection.FactMetaData.json">src/MissionManager/CameraSection.FactMetaData.json</file>
         <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
         <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
+        <file alias="CustomMavlinkActions.SettingsGroup.json">src/Settings/CustomMavlinkActions.SettingsGroup.json</file>
         <file alias="RemoteID.SettingsGroup.json">src/Settings/RemoteID.SettingsGroup.json</file>
         <file alias="EditPositionDialog.FactMetaData.json">src/QmlControls/EditPositionDialog.FactMetaData.json</file>
         <file alias="FirmwareUpgrade.SettingsGroup.json">src/Settings/FirmwareUpgrade.SettingsGroup.json</file>

src/FlightDisplay/GuidedActionList.qml

@@ -38,6 +38,7 @@ Rectangle {
     property real _margins:             Math.round(ScreenTools.defaultFontPixelHeight * 0.66)
     property real _actionWidth:         ScreenTools.defaultFontPixelWidth * 25
     property real _actionHorizSpacing:  ScreenTools.defaultFontPixelHeight * 2
+    property var  _flyViewSettings:     QGroundControl.settingsManager.flyViewSettings
 
     property var _model: [
         {
@@ -79,9 +80,10 @@ Rectangle {
     ]
 
     property var _customManager: CustomActionManager {
-        id: customManager
+        id:                 customManager
+        actionFileNameFact: QGroundControl.settingsManager.customMavlinkActionsSettings.flyViewActionsFile
     }
-    readonly property bool hasCustomActions: QGroundControl.settingsManager.flyViewSettings.enableCustomActions.rawValue && customManager.hasActions
+    readonly property bool hasCustomActions: customManager.actions.count > 0
 
     QGCPalette { id: qgcPal }
 
@@ -154,12 +156,11 @@ Rectangle {
 
                     ColumnLayout {
                         spacing:            ScreenTools.defaultFontPixelHeight / 2
-                        visible:            _root.hasCustomActions
                         Layout.fillHeight:  true
 
                         QGCLabel {
                             id:                     customMessage
-                            text:                   "Custom Action #" + (index + 1)
+                            text:                   object.description
                             horizontalAlignment:    Text.AlignHCenter
                             wrapMode:               Text.WordWrap
                             Layout.minimumWidth:    _actionWidth

src/Joystick/CMakeLists.txt

@@ -5,8 +5,6 @@ qt_add_library(Joystick STATIC
 	Joystick.h
 	JoystickManager.cc
 	JoystickManager.h
-	JoystickMavCommand.cc
-	JoystickMavCommand.h
 )
 
 if(ANDROID)

src/Joystick/Joystick.cc

@@ -15,6 +15,9 @@
 #include "VideoManager.h"
 #include "QGCCameraManager.h"
 #include "VehicleCameraControl.h"
+#include "CustomAction.h"
+#include "SettingsManager.h"
+#include "CustomMavlinkActionsSettings.h"
 
 #include <QSettings>
 
@@ -101,13 +104,14 @@ AssignableButtonAction::AssignableButtonAction(QObject* parent, QString action_,
 }
 
 Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager)
-    : _name(name)
-    , _axisCount(axisCount)
-    , _buttonCount(buttonCount)
-    , _hatCount(hatCount)
-    , _hatButtonCount(4 * hatCount)
-    , _totalButtonCount(_buttonCount+_hatButtonCount)
-    , _multiVehicleManager(multiVehicleManager)
+    : _name                 (name)
+    , _axisCount            (axisCount)
+    , _buttonCount          (buttonCount)
+    , _hatCount             (hatCount)
+    , _hatButtonCount       (4 * hatCount)
+    , _totalButtonCount     (_buttonCount+_hatButtonCount)
+    , _multiVehicleManager  (multiVehicleManager)
+    , _customActionManager  (qgcApp()->toolbox()->settingsManager()->customMavlinkActionsSettings()->joystickActionsFile())
 {
     qRegisterMetaType<GRIPPER_ACTIONS>();
 
@@ -126,8 +130,6 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     _loadSettings();
     connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
     connect(qgcApp()->toolbox()->multiVehicleManager()->vehicles(), &QmlObjectListModel::countChanged, this, &Joystick::_vehicleCountChanged);
-
-    _customMavCommands = JoystickMavCommand::load("JoystickMavCommands.json");
 }
 
 void Joystick::stop()
@@ -491,7 +493,6 @@ float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDead
     return std::max(-1.0f, std::min(correctedValue, 1.0f));
 }
 
-
 void Joystick::run()
 {
     //-- Joystick thread
@@ -1077,9 +1078,10 @@ void Joystick::_executeButtonAction(const QString& action, bool buttonDown)
         if (buttonDown) emit landingGearRetract();
     } else {
         if (buttonDown && _activeVehicle) {
-            for (auto& item : _customMavCommands) {
-                if (action == item.name()) {
-                    item.send(_activeVehicle);
+            for (int i=0; i<_customActionManager.actions()->count(); i++) {
+                auto customAction = _customActionManager.actions()->value<CustomAction*>(i);
+                if (action == customAction->label()) {
+                    customAction->sendTo(_activeVehicle);
                     return;
                 }
             }
@@ -1172,8 +1174,9 @@ void Joystick::_buildActionList(Vehicle* activeVehicle)
     _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionLandingGearDeploy));
     _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionLandingGearRetract));
 
-    for (auto& item : _customMavCommands) {
-        _assignableButtonActions.append(new AssignableButtonAction(this, item.name()));
+    for (int i=0; i<_customActionManager.actions()->count(); i++) {
+        auto customAction = _customActionManager.actions()->value<CustomAction*>(i);
+        _assignableButtonActions.append(new AssignableButtonAction(this, customAction->label()));
     }
 
     for(int i = 0; i < _assignableButtonActions.count(); i++) {

src/Joystick/Joystick.h

@@ -19,7 +19,7 @@
 #include "QGCLoggingCategory.h"
 #include "Vehicle.h"
 #include "MultiVehicleManager.h"
-#include "JoystickMavCommand.h"
+#include "CustomActionManager.h"
 
 // JoystickLog Category declaration moved to QGCLoggingCategory.cc to allow access in Vehicle
 Q_DECLARE_LOGGING_CATEGORY(JoystickValuesLog)
@@ -303,7 +303,7 @@ class Joystick : public QThread
     QStringList                     _availableActionTitles;
     MultiVehicleManager*            _multiVehicleManager = nullptr;
 
-    QList<JoystickMavCommand> _customMavCommands;
+    CustomActionManager _customActionManager;
 
     static const float  _minAxisFrequencyHz;
     static const float  _maxAxisFrequencyHz;