Add Frontend UI for GripperAction Feature

Now the user can release and grab the gripper while the UAV has
motors armed with the action button and also while the motors are
disarmed in a specific toolbar option.

qgcresources.qrc

@@ -55,6 +55,9 @@
         <file alias="XDelete.svg">resources/XDelete.svg</file>
         <file alias="XDeleteBlack.svg">resources/XDeleteBlack.svg</file>
         <file alias="waypoint.svg">resources/waypoint.svg</file>
+        <file alias="Gripper.svg">resources/Gripper.svg</file>
+        <file alias="GripperRelease.svg">resources/GripperRelease.svg</file>
+        <file alias="GripperGrab.svg">resources/GripperGrab.svg</file>
         <file>resources/icons/qgroundcontrol.ico</file>
     </qresource>
     <qresource prefix="/res/firmware">

qgroundcontrol.qrc

@@ -132,6 +132,7 @@
         <file alias="QGroundControl/Controls/PreFlightCheckGroup.qml">src/QmlControls/PreFlightCheckGroup.qml</file>
         <file alias="QGroundControl/Controls/PreFlightCheckModel.qml">src/QmlControls/PreFlightCheckModel.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
+        <file alias="QGroundControl/Controls/QGCColumnButton.qml">src/QmlControls/QGCColumnButton.qml</file>
         <file alias="QGroundControl/Controls/AutotuneUI.qml">src/QmlControls/AutotuneUI.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
@@ -221,6 +222,8 @@
         <file alias="QGroundControl/FlightDisplay/GuidedActionLand.qml">src/FlightDisplay/GuidedActionLand.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionList.qml">src/FlightDisplay/GuidedActionList.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionTakeoff.qml">src/FlightDisplay/GuidedActionTakeoff.qml</file>
+        <file alias="QGroundControl/FlightDisplay/GuidedActionGripper.qml">src/FlightDisplay/GuidedActionGripper.qml</file>
+        <file alias="QGroundControl/FlightDisplay/GripperMenu.qml">src/FlightDisplay/GripperMenu.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionPause.qml">src/FlightDisplay/GuidedActionPause.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionRTL.qml">src/FlightDisplay/GuidedActionRTL.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedValueSlider.qml">src/FlightDisplay/GuidedValueSlider.qml</file>

src/FlightDisplay/CMakeLists.txt

@@ -26,6 +26,8 @@ add_custom_target(FligthDisplayQml
 		GuidedActionRTL.qml
 		GuidedActionsController.qml
 		GuidedActionTakeoff.qml
+		GuidedActionGripper.qml
+		GripperMenu.qml
 		GuidedValueSlider.qml
 		GuidedToolStripAction.qml
 		MultiRotorChecklist.qml

src/FlightDisplay/FlyView.qml

@@ -52,6 +52,7 @@ Item {
     property var    _guidedController:      guidedActionsController
     property var    _guidedActionList:      guidedActionList
     property var    _guidedValueSlider:     guidedValueSlider
+    property var    _widgetLayer:           widgetLayer
     property real   _toolsMargin:           ScreenTools.defaultFontPixelWidth * 0.75
     property rect   _centerViewport:        Qt.rect(0, 0, width, height)
     property real   _rightPanelWidth:       ScreenTools.defaultFontPixelWidth * 30

src/FlightDisplay/FlyViewToolStripActionList.qml

@@ -28,6 +28,7 @@ ToolStripActionList {
         GuidedActionLand { },
         GuidedActionRTL { },
         GuidedActionPause { },
-        GuidedActionActionList { }
+        GuidedActionActionList { },
+        GuidedActionGripper { }
     ]
 }

src/FlightDisplay/FlyViewWidgetLayer.qml

@@ -48,6 +48,7 @@ Item {
     property real   _toolsMargin:           ScreenTools.defaultFontPixelWidth * 0.75
     property rect   _centerViewport:        Qt.rect(0, 0, width, height)
     property real   _rightPanelWidth:       ScreenTools.defaultFontPixelWidth * 30
+    property alias  _gripperMenu:           gripperOptions
 
     QGCToolInsets {
         id:                     _totalToolInsets
@@ -258,6 +259,10 @@ Item {
         property real leftInset: x + width
     }
 
+    GripperMenu {
+        id: gripperOptions
+    }
+
     FlyViewAirspaceIndicator {
         anchors.top:                parent.top
         anchors.topMargin:          ScreenTools.defaultFontPixelHeight * 0.25

src/FlightDisplay/GripperMenu.qml

@@ -0,0 +1,71 @@
+
+import QtQuick                  2.3
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.4
+import QtQuick.Dialogs          1.2
+import QtLocation               5.3
+import QtPositioning            5.3
+import QtQuick.Layouts          1.2
+
+import QGroundControl                           1.0
+import QGroundControl.ScreenTools               1.0
+import QGroundControl.Controls                  1.0
+import QGroundControl.Palette                   1.0
+import QGroundControl.Vehicle                   1.0
+import QGroundControl.FlightMap                 1.0
+
+Component {
+    id: messageDialogComponent  
+    QGCPopupDialog {
+        title: "Select one action"
+        property var  acceptFunction:     null
+        buttons:  StandardButton.Cancel
+
+        onRejected:{ 
+            _guidedController._gripperFunction = Vehicle.Invalid_option
+            _guidedController.closeAll() 
+            close()
+        }
+
+        onAccepted: {
+            if (acceptFunction) {
+                _guidedController._gripperFunction = Vehicle.Invalid_option
+                close()
+            }
+        }
+
+        RowLayout {
+            QGCColumnButton {
+                id: grabButton
+                text:                   "Grab"
+                iconSource:             "/res/GripperGrab.svg"  
+                pointSize:              ScreenTools.defaultFontPointSize * 3.5 
+                backRadius:             width / 40
+                heightFactor:           0.75
+                Layout.preferredHeight: releaseButton.height
+                Layout.preferredWidth:  releaseButton.width
+
+                onClicked: {
+                    _guidedController._gripperFunction = Vehicle.Gripper_grab
+                    close()
+                }
+            }
+
+            QGCColumnButton {
+                id: releaseButton
+                text:                   "Release"
+                iconSource:             "/res/GripperRelease.svg" 
+                pointSize:              ScreenTools.defaultFontPointSize * 3.5
+                backRadius:             width / 40
+                heightFactor:           0.75
+                Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 27
+                Layout.preferredHeight: Layout.preferredWidth / 1.20
+
+                onClicked: {  
+                    _guidedController._gripperFunction = Vehicle.Gripper_release
+                    close()
+                }
+            }
+        }
+    }
+}

src/FlightDisplay/GuidedActionGripper.qml

@@ -0,0 +1,24 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 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.
+ *
+ ****************************************************************************/
+
+import QGroundControl.FlightDisplay 1.0
+import QGroundControl 1.0
+
+GuidedToolStripAction {
+    property var   activeVehicle:           QGroundControl.multiVehicleManager.activeVehicle 
+    property bool  _initialConnectComplete: activeVehicle ? activeVehicle.initialConnectComplete : false
+    property bool  _grip_enable:            _initialConnectComplete ? activeVehicle.hasGripper : false
+    property bool  _isVehicleArmed:         _initialConnectComplete ? activeVehicle.armed : false
+
+    text:       "Gripper"
+    iconSource: "/res/Gripper.svg"          
+    visible:    !_isVehicleArmed && _grip_enable   // in this way if the pilot it's on the ground can release the cargo without actions tool
+    enabled:    _grip_enable
+    actionID:   _guidedController.actionGripper
+}

src/FlightDisplay/GuidedActionList.qml

@@ -69,6 +69,12 @@ Rectangle {
             text:       guidedController.changeSpeedMessage,
             action:     guidedController.actionChangeSpeed,
             visible:    guidedController.showChangeSpeed
+        },
+        {
+            title:      guidedController.gripperTitle,
+            text:       guidedController.gripperMessage,
+            action:     guidedController.actionGripper,
+            visible:    guidedController.showGripper
         }
     ]
 

src/FlightDisplay/GuidedActionsController.qml

@@ -39,6 +39,7 @@ Item {
     readonly property string disarmTitle:                   qsTr("Disarm")
     readonly property string rtlTitle:                      qsTr("Return")
     readonly property string takeoffTitle:                  qsTr("Takeoff")
+    readonly property string gripperTitle:                  qsTr("Gripper Function")
     readonly property string landTitle:                     qsTr("Land")
     readonly property string startMissionTitle:             qsTr("Start Mission")
     readonly property string mvStartMissionTitle:           qsTr("Start Mission (MV)")
@@ -62,6 +63,7 @@ Item {
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
     readonly property string emergencyStopMessage:              qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.")
     readonly property string takeoffMessage:                    qsTr("Takeoff from ground and hold position.")
+    readonly property string gripperMessage:                       qsTr("Grab or Release the cargo")
     readonly property string startMissionMessage:               qsTr("Takeoff from ground and start the current mission.")
     readonly property string continueMissionMessage:            qsTr("Continue the mission from the current waypoint.")
     readonly property string resumeMissionUploadFailMessage:    qsTr("Upload of resume mission failed. Confirm to retry upload")
@@ -105,6 +107,7 @@ Item {
     readonly property int actionActionList:                 23
     readonly property int actionForceArm:                   24
     readonly property int actionChangeSpeed:                25
+    readonly property int actionGripper:                    26
 
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
@@ -113,6 +116,7 @@ Item {
     property bool   _canArm:                    _activeVehicle ? (_checklistPassed && (!_activeVehicle.healthAndArmingCheckReport.supported || _activeVehicle.healthAndArmingCheckReport.canArm)) : false
     property bool   _canTakeoff:                _activeVehicle ? (_checklistPassed && (!_activeVehicle.healthAndArmingCheckReport.supported || _activeVehicle.healthAndArmingCheckReport.canTakeoff)) : false
     property bool   _canStartMission:           _activeVehicle ? (_checklistPassed && (!_activeVehicle.healthAndArmingCheckReport.supported || _activeVehicle.healthAndArmingCheckReport.canStartMission)) : false
+    property bool   _initialConnectComplete:    _activeVehicle ? _activeVehicle.initialConnectComplete : false
 
     property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
     property bool showArm:              _guidedActionsEnabled && !_vehicleArmed && _canArm
@@ -131,6 +135,7 @@ Item {
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
     property bool showActionList:       _guidedActionsEnabled && (showStartMission || showResumeMission || showChangeAlt || showLandAbort || actionList.hasCustomActions)
+    property bool showGripper:          _initialConnectComplete ? _activeVehicle.hasGripper : false
     property string changeSpeedTitle:   _fixedWing ? changeAirspeedTitle : changeCruiseSpeedTitle
     property string changeSpeedMessage: _fixedWing ? changeAirspeedMessage : changeCruiseSpeedMessage
 
@@ -163,6 +168,7 @@ Item {
     property bool   _fixedWingOnApproach:   _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false
     property bool   _fixedWing:             _activeVehicle ? _activeVehicle.fixedWing || _activeVehicle.vtolInFwdFlight : false
     property bool  _speedLimitsAvailable:   _activeVehicle && ((_fixedWing && _activeVehicle.haveFWSpeedLimits) || (!_fixedWing && _activeVehicle.haveMRSpeedLimits))
+    property var   _gripperFunction:        undefined
 
     // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
     property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false
@@ -496,6 +502,12 @@ Item {
             confirmDialog.message = changeSpeedMessage
             guidedValueSlider.visible = true
             break
+        case actionGripper:
+            confirmDialog.hideTrigger = true
+            confirmDialog.title = gripperTitle
+            confirmDialog.message = gripperMessage
+            _widgetLayer._gripperMenu.createObject(mainWindow).open()
+            break
         default:
             console.warn("Unknown actionCode", actionCode)
             return
@@ -585,6 +597,9 @@ Item {
                 }
             }
             break
+        case actionGripper:           
+            _gripperFunction === undefined ? _activeVehicle.sendGripperAction(Vehicle.Invalid_option) : _activeVehicle.sendGripperAction(_gripperFunction)
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break