save and load points

js/fc.js

@@ -23,6 +23,7 @@ var CONFIG,
     MOTOR_DATA,
     SERVO_DATA,
     GPS_DATA,
+    MISSION_PLANER,
     ANALOG,
     ARMING_CONFIG,
     FC_CONFIG,
@@ -196,6 +197,20 @@ var FC = {
             packetCount: 0
         };
 
+        MISSION_PLANER = {
+            maxWaypoints: 0,
+            isValidMission: 0,
+            countBusyPoints: 0,
+            bufferPoint: {
+                number: 0,
+                action: 0,
+                lat: 0,
+                lon: 0,
+                alt: 0,
+                endMission: 0
+            }
+        };
+
         ANALOG = {
             voltage: 0,
             mAhdrawn: 0,

js/msp/MSPCodes.js

@@ -17,7 +17,8 @@ var MSPCodes = {
 
     MSP_POSITION_ESTIMATION_CONFIG: 16,
     MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
-
+    MSP_WP_MISSION_SAVE: 19,
+    MSP_WP_GETINFO: 20,
     MSP_RTH_AND_LAND_CONFIG:     21,
     MSP_SET_RTH_AND_LAND_CONFIG: 22,
     MSP_FW_CONFIG:              23,

js/msp/MSPHelper.js

@@ -1106,6 +1106,12 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSPV2_SET_SETTING:
                 console.log("Setting set");
                 break;
+            case MSPCodes.MSP_WP_GETINFO:
+                // Reserved for waypoint capabilities data.getUint8(0);
+                MISSION_PLANER.maxWaypoints = data.getUint8(1);
+                MISSION_PLANER.isValidMission = data.getUint8(2);
+                MISSION_PLANER.countBusyPoints = data.getUint8(3);
+                break;
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -1586,6 +1592,43 @@ var mspHelper = (function (gui) {
                 buffer.push(SENSOR_CONFIG.opflow);
                 break;
 
+            case MSPCodes.MSP_SET_WP:
+                console.log(MISSION_PLANER.bufferPoint.number);
+                console.log(MISSION_PLANER.bufferPoint.action);
+                console.log(MISSION_PLANER.bufferPoint.lat);
+                console.log(MISSION_PLANER.bufferPoint.lon);
+                console.log(MISSION_PLANER.bufferPoint.alt);
+                console.log(MISSION_PLANER.bufferPoint.endMission);
+                console.log('---');
+
+
+                buffer.push(MISSION_PLANER.bufferPoint.number);    // sbufReadU8(src);    // number
+                buffer.push(MISSION_PLANER.bufferPoint.action);    // sbufReadU8(src);    // action
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 0));    // sbufReadU32(src);      // lat
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 1));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 2));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 3));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 0));    // sbufReadU32(src);      // lon
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 1));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 2));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 3));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 0));    // sbufReadU32(src);      // to set altitude (cm)
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 1));    // sbufReadU32(src);      // to set altitude (cm)
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 2));    // sbufReadU32(src);      // to set altitude (cm)
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3));    // sbufReadU32(src);      // to set altitude (cm)
+                buffer.push(0); //sbufReadU16(src);       // P1
+                buffer.push(0); //sbufReadU16(src);       // P2
+                buffer.push(0); //sbufReadU16(src);       // P3
+                buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src);      // future: to set nav flag
+                break;
+            case MSPCodes.MSP_WP:
+                buffer.push(MISSION_PLANER.bufferPoint.number);
+
+                break;
+            case MSPCodes.MSP_WP_MISSION_SAVE:
+                buffer.push(0);
+
+                break;
             default:
                 return false;
         }
@@ -2329,6 +2372,14 @@ var mspHelper = (function (gui) {
         }
     };
 
+    self.getMissionInfo = function (callback) {
+        if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
+            MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
+        } else {
+            callback();
+        }
+    };
+
     self._getSetting = function(name) {
         var promise;
         if (this._settings) {

main.css

@@ -1107,6 +1107,17 @@ dialog {
     opacity: 0.5;
 }
 
+.content_toolbar .btn-danger a {
+    background-color: #db250e;
+    border: 1px solid #b5480e;
+}
+
+.content_toolbar .btn-danger a:hover {
+    background-color: #b5480e;
+    transition: all ease 0.2s;
+}
+
+
 .toolbar_scroll_bottom .content_wrapper {
     /*  content wrapper in view with toolbar in scroll bottom
       leave 50px space for the toolbar

src/css/tabs/mission_planer.css

@@ -5,7 +5,7 @@
 .tab-mission-control .waypoint {
     padding-left: 19px;
     padding-right: 19px;
-    padding-bottom: 10px;
+    /*padding-bottom: 10px;*/
 }
 .tab-mission-control .waypoint-left {
     width: 54%;
@@ -21,6 +21,17 @@
     height: calc(100% - 150px);
 }
 
+.tab-mission-control .checksfail {
+    /*float: right;*/
+    margin-top: 3px;
+    height: 15px;
+    width: 15px;
+    background-image:url(../../../images/icons/nopass.svg);
+    background-size:contain;
+    background-position:center;
+    background-repeat:no-repeat;
+}
+
 .tab-mission-control .content_toolbar {
     height: 150px;
 }

tabs/mission_control.html

@@ -11,13 +11,20 @@
                 </div>
                 <div class="spacer">
                     <input type="hidden" name="pointNumber" value="">
+                    <div class="point">
+                        <select name="type" id="pointType" disabled>
+                            <option value="1">Home</option>
+                            <option value="1">Waypoint</option>
+                            <option value="4">RTH</option>
+                        </select>
+                    </div>
                     <div class="point">
                         <label class="point-label" for="pointLat">Lat: </label>
-                        <input id="pointLat" type="text" required>
+                        <input id="pointLat" type="text" value="0.0" required>
                     </div>
                     <div class="point">
                         <label class="point-label" for="pointLon">Lon: </label>
-                        <input id="pointLon" type="text" required>
+                        <input id="pointLon" type="text" value="0.0" required>
                     </div>
                     <div class="point">
                         <label class="point-label" for="pointAlt">Alt: </label>
@@ -27,10 +34,10 @@
                         <div id="savePoint" class="btn save_btn" style="padding-top: 10px; display: inline-block">
                             <a class="save" href="#" data-i18n="editPointButtonSave" style="float: left">Save</a>
                         </div>
-                        <div id="removePoint" class="btn btn-danger save_btn" style="padding-top: 10px; display: inline-block;">
+                        <div id="removePoint" class="btn btn-danger" style="padding-top: 10px; display: inline-block;">
                             <a class="save" href="#" data-i18n="editPointButtonRemove" style="float: left">Remove</a>
                         </div>
-                        <div id="removeAllPoints" class="btn save_btn" style="padding-top: 10px; display: inline-block">
+                        <div id="removeAllPoints" class="btn btn-danger" style="padding-top: 10px; display: inline-block">
                             <a class="save" href="#" data-i18n="removeAllPointButtonSave" style="float: left">Remove all points</a>
                         </div>
                     </div>
@@ -49,11 +56,16 @@
                     </div>
                     <div>
                         <span>Available Points</span>
+                        <span id="availablePoints">0/0</span>
+                    </div>
+                    <div>
+                        <span>Mission valid</span>
+                        <div id="missionValid" style="display: inline-block"></div>
                     </div>
 
                     <div class="btn save_btn">
-                        <a class="save" href="#" data-i18n="loadMissionButton">Load mission</a>
+                        <a id="loadMissionButton" class="save" href="#" data-i18n="loadMissionButton">Load mission</a>
-                        <a class="save" href="#" data-i18n="saveMissionButton">Save mission</a>
+                        <a id="saveMissionButton" class="save" href="#" data-i18n="saveMissionButton">Save mission</a>
                     </div>
                 </div>
             </div>

tabs/mission_control.js

@@ -9,11 +9,22 @@ TABS.mission_control.initialize = function (callback) {
         googleAnalytics.sendAppView('Mission Control');
     }
 
-    function load_html() {
+    var loadChainer = new MSPChainerClass();
-        $('#content').load("./tabs/mission_control.html", process_html);
+    loadChainer.setChain([
+        mspHelper.getMissionInfo
+    ]);
+    loadChainer.setExitPoint(loadHtml);
+    loadChainer.execute();
+
+    function updateTotalInfo() {
+        console.log(MISSION_PLANER.isValidMission);
+        $('#availablePoints').text(MISSION_PLANER.countBusyPoints + '/' + MISSION_PLANER.maxWaypoints);
+        $('#missionValid').html(MISSION_PLANER.isValidMission ? chrome.i18n.getMessage('armingCheckPass') : chrome.i18n.getMessage('armingCheckFail'));
     }
 
-    load_html();
+    function loadHtml() {
+        $('#content').load("./tabs/mission_control.html", process_html);
+    }
 
     function process_html() {
         if (typeof require !== "undefined") {
@@ -31,6 +42,7 @@ TABS.mission_control.initialize = function (callback) {
     var lines = [];
     var map;
     var selectedMarker;
+    var pointForSend = 0;
 
     function clearEditForm() {
         $('#pointLat').val('');
@@ -89,9 +101,9 @@ TABS.mission_control.initialize = function (callback) {
         map.addLayer(vectorLayer);
     }
 
-    function addMarker(pos) {
+    function addMarker(_pos, _alt) {
         var iconFeature = new ol.Feature({
-            geometry: new ol.geom.Point(pos),
+            geometry: new ol.geom.Point(_pos),
             name: 'Null Island',
             population: 4000,
             rainfall: 500
@@ -126,7 +138,7 @@ TABS.mission_control.initialize = function (callback) {
             source: vectorSource
         });
 
-        vectorLayer.alt = 0;
+        vectorLayer.alt = _alt;
         vectorLayer.number = markers.length;
 
         markers.push(vectorLayer);
@@ -295,7 +307,7 @@ TABS.mission_control.initialize = function (callback) {
                 $('#pointLon').val(coord[1]);
                 $('#pointAlt').val(selectedMarker.alt);
             } else {
-                map.addLayer(addMarker(evt.coordinate));
+                map.addLayer(addMarker(evt.coordinate, 0));
                 repaint();
             }
         });
@@ -353,6 +365,70 @@ TABS.mission_control.initialize = function (callback) {
                 repaint();
             }
         });
+
+        $('#loadMissionButton').on('click', function () {
+            $(this).addClass('disabled');
+            console.log('Start get point');
+            GUI.log('Start get point');
+
+            pointForSend = 0;
+            getNextPoint();
+        });
+
+        $('#saveMissionButton').on('click', function () {
+            $(this).addClass('disabled');
+            GUI.log('Start send point');
+
+            pointForSend = 0;
+            sendNextPoint();
+        });
+
+        updateTotalInfo();
+    }
+
+    function getNextPoint() {
+        if (pointForSend > 0 ) {
+            addMarker(ol.proj.fromLonLat(MISSION_PLANER.bufferPoint.lon,MISSION_PLANER.bufferPoint.lat), MISSION_PLANER.bufferPoint.alt);
+        }
+
+        if (pointForSend >= MISSION_PLANER.countBusyPoints) {
+            GUI.log('End get point');
+            $('#loadMissionButton').removeClass('disabled');
+            return;
+        }
+
+        MISSION_PLANER.bufferPoint.number = pointForSend;
+
+        pointForSend++;
+
+        MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, getNextPoint);
+    }
+
+    function sendNextPoint() {
+        if (pointForSend >= markers.length) {
+            GUI.log('End send point');
+
+            GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+            MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, false, false);
+
+            $('#saveMissionButton').removeClass('disabled');
+            return;
+        }
+
+        var geometry = markers[pointForSend].getSource().getFeatures()[0].getGeometry();
+
+        MISSION_PLANER.bufferPoint.number = pointForSend;
+        MISSION_PLANER.bufferPoint.action = 1;
+        MISSION_PLANER.bufferPoint.lat = geometry.getCoordinates()[0] * 10000000;
+        MISSION_PLANER.bufferPoint.lon = geometry.getCoordinates()[1] * 10000000;
+        MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
+
+        pointForSend++;
+        if (pointForSend >= markers.length) {
+            MISSION_PLANER.bufferPoint.endMission = 0xA5;
+        }
+
+        MSP.send_message(MSPCodes.MSP_SET_WP, false, false, sendNextPoint);
     }
 };