@ -1,24 +1,24 @@
@@ -1,24 +1,24 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
( c ) 2009 - 2014 QGROUNDCONTROL PROJECT < http : //www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software : you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation , either version 3 of the License , or
( at your option ) any later version .
QGROUNDCONTROL is distributed in the hope that it will be useful ,
but WITHOUT ANY WARRANTY ; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
GNU General Public License for more details .
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL . If not , see < http : //www.gnu.org/licenses/>.
= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = */
/// @file
@ -59,10 +59,10 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
@@ -59,10 +59,10 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
Q_ASSERT ( _autopilot ) ;
Q_ASSERT ( _vehicle ) ;
Q_ASSERT ( _mavlink ) ;
// We signal this to ouselves in order to start timer on our thread
connect ( this , & ParameterLoader : : restartWaitingParamTimer , this , & ParameterLoader : : _restartWaitingParamTimer ) ;
_waitingParamTimeoutTimer . setSingleShot ( true ) ;
_waitingParamTimeoutTimer . setInterval ( 1000 ) ;
connect ( & _waitingParamTimeoutTimer , & QTimer : : timeout , this , & ParameterLoader : : _waitingParamTimeout ) ;
@ -70,7 +70,7 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
@@ -70,7 +70,7 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
_cacheTimeoutTimer . setSingleShot ( true ) ;
_cacheTimeoutTimer . setInterval ( 2500 ) ;
connect ( & _cacheTimeoutTimer , & QTimer : : timeout , this , & ParameterLoader : : refreshAllParameters ) ;
// FIXME: Why not direct connect?
connect ( _vehicle - > uas ( ) , SIGNAL ( parameterUpdate ( int , int , QString , int , int , int , QVariant ) ) , this , SLOT ( _parameterUpdate ( int , int , QString , int , int , int , QVariant ) ) ) ;
@ -87,12 +87,12 @@ ParameterLoader::~ParameterLoader()
@@ -87,12 +87,12 @@ ParameterLoader::~ParameterLoader()
void ParameterLoader : : _parameterUpdate ( int uasId , int componentId , QString parameterName , int parameterCount , int parameterId , int mavType , QVariant value )
{
bool setMetaData = false ;
// Is this for our uas?
if ( uasId ! = _vehicle - > id ( ) ) {
return ;
}
qCDebug ( ParameterLoaderLog ) < < " _parameterUpdate (usaId: " < < uasId < <
" componentId: " < < componentId < <
" name: " < < parameterName < <
@ -101,7 +101,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -101,7 +101,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
" mavType: " < < mavType < <
" value: " < < value < <
" ) " ;
#if 0
// Handy for testing retry logic
static int counter = 0 ;
@ -118,10 +118,10 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -118,10 +118,10 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
return ;
}
_dataMutex . lock ( ) ;
// Restart our waiting for param timer
_waitingParamTimeoutTimer . start ( ) ;
// Update our total parameter counts
if ( ! _paramCountMap . contains ( componentId ) ) {
_paramCountMap [ componentId ] = parameterCount ;
@ -129,7 +129,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -129,7 +129,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
}
_mapParameterId2Name [ componentId ] [ parameterId ] = parameterName ;
// If we've never seen this component id before, setup the wait lists.
if ( ! _waitingReadParamIndexMap . contains ( componentId ) ) {
// Add all indices to the wait list, parameter index is 0-based
@ -137,14 +137,14 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -137,14 +137,14 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
// This will add the new component id, as well as the the new waiting index and set the retry count for that index to 0
_waitingReadParamIndexMap [ componentId ] [ waitingIndex ] = 0 ;
}
// The read and write waiting lists for this component are initialized the empty
_waitingReadParamNameMap [ componentId ] = QMap < QString , int > ( ) ;
_waitingWriteParamNameMap [ componentId ] = QMap < QString , int > ( ) ;
qCDebug ( ParameterLoaderLog ) < < " Seeing component for first time, id: " < < componentId < < " parameter count: " < < parameterCount ;
}
// Remove this parameter from the waiting lists
_waitingReadParamIndexMap [ componentId ] . remove ( parameterId ) ;
_waitingReadParamNameMap [ componentId ] . remove ( parameterName ) ;
@ -154,11 +154,11 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -154,11 +154,11 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
qCDebug ( ParameterLoaderLog ) < < " _waitingWriteParamNameMap " < < _waitingWriteParamNameMap [ componentId ] ;
// Track how many parameters we are still waiting for
int waitingReadParamIndexCount = 0 ;
int waitingReadParamNameCount = 0 ;
int waitingWriteParamNameCount = 0 ;
foreach ( int waitingComponentId , _waitingReadParamIndexMap . keys ( ) ) {
waitingReadParamIndexCount + = _waitingReadParamIndexMap [ waitingComponentId ] . count ( ) ;
}
@ -166,21 +166,21 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -166,21 +166,21 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
qCDebug ( ParameterLoaderLog ) < < " waitingReadParamIndexCount: " < < waitingReadParamIndexCount ;
}
foreach ( int waitingComponentId , _waitingReadParamNameMap . keys ( ) ) {
waitingReadParamNameCount + = _waitingReadParamNameMap [ waitingComponentId ] . count ( ) ;
}
if ( waitingReadParamNameCount ) {
qCDebug ( ParameterLoaderLog ) < < " waitingReadParamNameCount: " < < waitingReadParamNameCount ;
}
foreach ( int waitingComponentId , _waitingWriteParamNameMap . keys ( ) ) {
waitingWriteParamNameCount + = _waitingWriteParamNameMap [ waitingComponentId ] . count ( ) ;
}
if ( waitingWriteParamNameCount ) {
qCDebug ( ParameterLoaderLog ) < < " waitingWriteParamNameCount: " < < waitingWriteParamNameCount ;
}
int waitingParamCount = waitingReadParamIndexCount + waitingReadParamNameCount + waitingWriteParamNameCount ;
if ( waitingParamCount ) {
qCDebug ( ParameterLoaderLog ) < < " waitingParamCount: " < < waitingParamCount ;
@ -195,7 +195,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -195,7 +195,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
} else {
emit parameterListProgress ( ( float ) ( _totalParamCount - waitingParamCount ) / ( float ) _totalParamCount ) ;
}
// Attempt to determine default component id
if ( _defaultComponentId = = FactSystem : : defaultComponentId & & _defaultComponentIdParam . isEmpty ( ) ) {
_defaultComponentIdParam = _vehicle - > firmwarePlugin ( ) - > getDefaultComponentIdParam ( ) ;
@ -203,10 +203,10 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -203,10 +203,10 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
if ( ! _defaultComponentIdParam . isEmpty ( ) & & _defaultComponentIdParam = = parameterName ) {
_defaultComponentId = componentId ;
}
if ( ! _mapParameterName2Variant . contains ( componentId ) | | ! _mapParameterName2Variant [ componentId ] . contains ( parameterName ) ) {
qCDebug ( ParameterLoaderLog ) < < " Adding new fact " ;
FactMetaData : : ValueType_t factType ;
switch ( mavType ) {
case MAV_PARAM_TYPE_UINT8 :
@ -238,34 +238,34 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
@@ -238,34 +238,34 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
qCritical ( ) < < " Unsupported fact type " < < mavType ;
break ;
}
Fact * fact = new Fact ( componentId , parameterName , factType , this ) ;
setMetaData = true ;
_mapParameterName2Variant [ componentId ] [ parameterName ] = QVariant : : fromValue ( fact ) ;
// We need to know when the fact changes from QML so that we can send the new value to the parameter manager
connect ( fact , & Fact : : _containerValueChanged , this , & ParameterLoader : : _valueUpdated ) ;
}
Q_ASSERT ( _mapParameterName2Variant [ componentId ] . contains ( parameterName ) ) ;
Fact * fact = _mapParameterName2Variant [ componentId ] [ parameterName ] . value < Fact * > ( ) ;
Q_ASSERT ( fact ) ;
fact - > _containerSetValue ( value ) ;
if ( setMetaData ) {
_vehicle - > firmwarePlugin ( ) - > addMetaDataToFact ( fact ) ;
}
_dataMutex . unlock ( ) ;
if ( waitingParamCount = = 0 ) {
// Now that we know vehicle is up to date persist
_saveToEEPROM ( ) ;
_writeLocalParamCache ( ) ;
}
_checkInitialLoadComplete ( ) ;
}
@ -276,19 +276,19 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
@@ -276,19 +276,19 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
{
Fact * fact = qobject_cast < Fact * > ( sender ( ) ) ;
Q_ASSERT ( fact ) ;
int componentId = fact - > componentId ( ) ;
QString name = fact - > name ( ) ;
_dataMutex . lock ( ) ;
Q_ASSERT ( _waitingWriteParamNameMap . contains ( componentId ) ) ;
_waitingWriteParamNameMap [ componentId ] . remove ( name ) ; // Remove any old entry
_waitingWriteParamNameMap [ componentId ] [ name ] = 0 ; // Add new entry and set retry count
_waitingParamTimeoutTimer . start ( ) ;
_dataMutex . unlock ( ) ;
_writeParameterRaw ( componentId , fact - > name ( ) , value ) ;
qCDebug ( ParameterLoaderLog ) < < " Set parameter (componentId: " < < componentId < < " name: " < < name < < value < < " ) " ;
}
@ -296,7 +296,7 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
@@ -296,7 +296,7 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
void ParameterLoader : : refreshAllParameters ( void )
{
_dataMutex . lock ( ) ;
// Reset index wait lists
foreach ( int componentId , _paramCountMap . keys ( ) ) {
// Add/Update all indices to the wait list, parameter index is 0-based
@ -305,16 +305,16 @@ void ParameterLoader::refreshAllParameters(void)
@@ -305,16 +305,16 @@ void ParameterLoader::refreshAllParameters(void)
_waitingReadParamIndexMap [ componentId ] [ waitingIndex ] = 0 ;
}
}
_dataMutex . unlock ( ) ;
MAVLinkProtocol * mavlink = qgcApp ( ) - > toolbox ( ) - > mavlinkProtocol ( ) ;
Q_ASSERT ( mavlink ) ;
mavlink_message_t msg ;
mavlink_msg_param_request_list_pack ( mavlink - > getSystemId ( ) , mavlink - > getComponentId ( ) , & msg , _vehicle - > id ( ) , MAV_COMP_ID_ALL ) ;
_vehicle - > sendMessage ( msg ) ;
qCDebug ( ParameterLoaderLog ) < < " Request to refresh all parameters " ;
}
@ -324,7 +324,7 @@ void ParameterLoader::_determineDefaultComponentId(void)
@@ -324,7 +324,7 @@ void ParameterLoader::_determineDefaultComponentId(void)
// We don't have a default component id yet. That means the plugin can't provide
// the param to trigger off of. Instead we use the most prominent component id in
// the set of parameters. Better than nothing!
_defaultComponentId = - 1 ;
foreach ( int componentId , _mapParameterName2Variant . keys ( ) ) {
if ( _mapParameterName2Variant [ componentId ] . count ( ) > _defaultComponentId ) {
@ -342,7 +342,7 @@ int ParameterLoader::_actualComponentId(int componentId)
@@ -342,7 +342,7 @@ int ParameterLoader::_actualComponentId(int componentId)
componentId = _defaultComponentId ;
Q_ASSERT ( componentId ! = FactSystem : : defaultComponentId ) ;
}
return componentId ;
}
@ -350,17 +350,17 @@ void ParameterLoader::refreshParameter(int componentId, const QString& name)
@@ -350,17 +350,17 @@ void ParameterLoader::refreshParameter(int componentId, const QString& name)
{
componentId = _actualComponentId ( componentId ) ;
qCDebug ( ParameterLoaderLog ) < < " refreshParameter (component id: " < < componentId < < " name: " < < name < < " ) " ;
_dataMutex . lock ( ) ;
Q_ASSERT ( _waitingReadParamNameMap . contains ( componentId ) ) ;
if ( _waitingReadParamNameMap . contains ( componentId ) ) {
_waitingReadParamNameMap [ componentId ] . remove ( name ) ; // Remove old wait entry if there
_waitingReadParamNameMap [ componentId ] [ name ] = 0 ; // Add new wait entry and update retry count
emit restartWaitingParamTimer ( ) ;
}
_dataMutex . unlock ( ) ;
_readParameterRaw ( componentId , name , - 1 ) ;
@ -381,7 +381,7 @@ void ParameterLoader::refreshParametersPrefix(int componentId, const QString& na
@@ -381,7 +381,7 @@ void ParameterLoader::refreshParametersPrefix(int componentId, const QString& na
bool ParameterLoader : : parameterExists ( int componentId , const QString & name )
{
bool ret = false ;
componentId = _actualComponentId ( componentId ) ;
if ( _mapParameterName2Variant . contains ( componentId ) ) {
ret = _mapParameterName2Variant [ componentId ] . contains ( name ) ;
@ -393,24 +393,24 @@ bool ParameterLoader::parameterExists(int componentId, const QString& name)
@@ -393,24 +393,24 @@ bool ParameterLoader::parameterExists(int componentId, const QString& name)
Fact * ParameterLoader : : getFact ( int componentId , const QString & name )
{
componentId = _actualComponentId ( componentId ) ;
if ( ! _mapParameterName2Variant . contains ( componentId ) | | ! _mapParameterName2Variant [ componentId ] . contains ( name ) ) {
qgcApp ( ) - > reportMissingParameter ( componentId , name ) ;
return & _defaultFact ;
}
return _mapParameterName2Variant [ componentId ] [ name ] . value < Fact * > ( ) ;
}
QStringList ParameterLoader : : parameterNames ( int componentId )
{
QStringList names ;
foreach ( QString paramName , _mapParameterName2Variant [ _actualComponentId ( componentId ) ] . keys ( ) ) {
names < < paramName ;
}
return names ;
QStringList names ;
foreach ( QString paramName , _mapParameterName2Variant [ _actualComponentId ( componentId ) ] . keys ( ) ) {
names < < paramName ;
}
return names ;
}
void ParameterLoader : : _setupGroupMap ( void )
@ -433,9 +433,9 @@ void ParameterLoader::_waitingParamTimeout(void)
@@ -433,9 +433,9 @@ void ParameterLoader::_waitingParamTimeout(void)
bool paramsRequested = false ;
const int maxBatchSize = 10 ;
int batchCount = 0 ;
// We timed out waiting for some parameters from the initial set. Re-request those.
batchCount = 0 ;
foreach ( int componentId , _waitingReadParamIndexMap . keys ( ) ) {
foreach ( int paramIndex , _waitingReadParamIndexMap [ componentId ] . keys ( ) ) {
@ -450,7 +450,7 @@ void ParameterLoader::_waitingParamTimeout(void)
@@ -450,7 +450,7 @@ void ParameterLoader::_waitingParamTimeout(void)
paramsRequested = true ;
_readParameterRaw ( componentId , " " , paramIndex ) ;
qCDebug ( ParameterLoaderLog ) < < " Read re-request for (componentId: " < < componentId < < " paramIndex: " < < paramIndex < < " retryCount: " < < _waitingReadParamIndexMap [ componentId ] [ paramIndex ] < < " ) " ;
if ( + + batchCount > maxBatchSize ) {
goto Out ;
}
@ -459,7 +459,7 @@ void ParameterLoader::_waitingParamTimeout(void)
@@ -459,7 +459,7 @@ void ParameterLoader::_waitingParamTimeout(void)
}
// We need to check for initial load complete here as well, since it could complete on a max retry failure
_checkInitialLoadComplete ( ) ;
if ( ! paramsRequested ) {
foreach ( int componentId , _waitingWriteParamNameMap . keys ( ) ) {
foreach ( QString paramName , _waitingWriteParamNameMap [ componentId ] . keys ( ) ) {
@ -467,14 +467,14 @@ void ParameterLoader::_waitingParamTimeout(void)
@@ -467,14 +467,14 @@ void ParameterLoader::_waitingParamTimeout(void)
_waitingWriteParamNameMap [ componentId ] [ paramName ] + + ; // Bump retry count
_writeParameterRaw ( componentId , paramName , _autopilot - > getFact ( FactSystem : : ParameterProvider , componentId , paramName ) - > value ( ) ) ;
qCDebug ( ParameterLoaderLog ) < < " Write resend for (componentId: " < < componentId < < " paramName: " < < paramName < < " retryCount: " < < _waitingWriteParamNameMap [ componentId ] [ paramName ] < < " ) " ;
if ( + + batchCount > maxBatchSize ) {
goto Out ;
}
}
}
}
if ( ! paramsRequested ) {
foreach ( int componentId , _waitingReadParamNameMap . keys ( ) ) {
foreach ( QString paramName , _waitingReadParamNameMap [ componentId ] . keys ( ) ) {
@ -482,14 +482,14 @@ void ParameterLoader::_waitingParamTimeout(void)
@@ -482,14 +482,14 @@ void ParameterLoader::_waitingParamTimeout(void)
_waitingReadParamNameMap [ componentId ] [ paramName ] + + ; // Bump retry count
_readParameterRaw ( componentId , paramName , - 1 ) ;
qCDebug ( ParameterLoaderLog ) < < " Read re-request for (componentId: " < < componentId < < " paramName: " < < paramName < < " retryCount: " < < _waitingReadParamNameMap [ componentId ] [ paramName ] < < " ) " ;
if ( + + batchCount > maxBatchSize ) {
goto Out ;
}
}
}
}
Out :
if ( paramsRequested ) {
_waitingParamTimeoutTimer . start ( ) ;
@ -529,50 +529,50 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
@@ -529,50 +529,50 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
{
mavlink_param_set_t p ;
mavlink_param_union_t union_value ;
FactMetaData : : ValueType_t factType = _autopilot - > getFact ( FactSystem : : ParameterProvider , componentId , paramName ) - > type ( ) ;
p . param_type = _factTypeToMavType ( factType ) ;
switch ( factType ) {
case FactMetaData : : valueTypeUint8 :
union_value . param_uint8 = ( uint8_t ) value . toUInt ( ) ;
break ;
case FactMetaData : : valueTypeInt8 :
union_value . param_int8 = ( int8_t ) value . toInt ( ) ;
break ;
case FactMetaData : : valueTypeUint16 :
union_value . param_uint16 = ( uint16_t ) value . toUInt ( ) ;
break ;
case FactMetaData : : valueTypeInt16 :
union_value . param_int16 = ( int16_t ) value . toInt ( ) ;
break ;
case FactMetaData : : valueTypeUint32 :
union_value . param_uint32 = ( uint32_t ) value . toUInt ( ) ;
break ;
case FactMetaData : : valueTypeFloat :
union_value . param_float = value . toFloat ( ) ;
break ;
default :
qCritical ( ) < < " Unsupported fact type " < < factType ;
// fall through
case FactMetaData : : valueTypeInt32 :
union_value . param_int32 = ( int32_t ) value . toInt ( ) ;
break ;
}
p . param_value = union_value . param_float ;
p . target_system = ( uint8_t ) _vehicle - > id ( ) ;
p . target_component = ( uint8_t ) componentId ;
strncpy ( p . param_id , paramName . toStdString ( ) . c_str ( ) , sizeof ( p . param_id ) ) ;
mavlink_message_t msg ;
mavlink_msg_param_set_encode ( _mavlink - > getSystemId ( ) , _mavlink - > getComponentId ( ) , & msg , & p ) ;
_vehicle - > sendMessage ( msg ) ;
@ -658,7 +658,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
@@ -658,7 +658,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
{
QString errors ;
bool userWarned = false ;
while ( ! stream . atEnd ( ) ) {
QString line = stream . readLine ( ) ;
if ( ! line . startsWith ( " # " ) ) {
@ -675,13 +675,13 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
@@ -675,13 +675,13 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
if ( button = = QGCMessageBox : : Cancel ) {
return QString ( ) ;
}
}
}
int componentId = wpParams . at ( 1 ) . toInt ( ) ;
QString paramName = wpParams . at ( 2 ) ;
QString valStr = wpParams . at ( 3 ) ;
uint mavType = wpParams . at ( 4 ) . toUInt ( ) ;
if ( ! _autopilot - > factExists ( FactSystem : : ParameterProvider , componentId , paramName ) ) {
QString error ;
error = QString ( " Skipped parameter %1:%2 - does not exist on this vehicle \n " ) . arg ( componentId ) . arg ( paramName ) ;
@ -689,7 +689,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
@@ -689,7 +689,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
qCDebug ( ParameterLoaderLog ) < < error ;
continue ;
}
Fact * fact = _autopilot - > getFact ( FactSystem : : ParameterProvider , componentId , paramName ) ;
if ( fact - > type ( ) ! = _mavTypeToFactType ( ( MAV_PARAM_TYPE ) mavType ) ) {
QString error ;
@ -698,13 +698,13 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
@@ -698,13 +698,13 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
qCDebug ( ParameterLoaderLog ) < < error ;
continue ;
}
qCDebug ( ParameterLoaderLog ) < < " Updating parameter " < < componentId < < paramName < < valStr ;
fact - > setValue ( valStr ) ;
}
}
}
return errors ;
}
@ -718,11 +718,11 @@ void ParameterLoader::writeParametersToStream(QTextStream &stream)
@@ -718,11 +718,11 @@ void ParameterLoader::writeParametersToStream(QTextStream &stream)
foreach ( QString paramName , _mapParameterName2Variant [ componentId ] . keys ( ) ) {
Fact * fact = _mapParameterName2Variant [ componentId ] [ paramName ] . value < Fact * > ( ) ;
Q_ASSERT ( fact ) ;
stream < < _vehicle - > id ( ) < < " \t " < < componentId < < " \t " < < paramName < < " \t " < < fact - > valueString ( ) < < " \t " < < QString ( " %1 " ) . arg ( _factTypeToMavType ( fact - > type ( ) ) ) < < " \n " ;
}
}
stream . flush ( ) ;
}
@ -731,26 +731,26 @@ MAV_PARAM_TYPE ParameterLoader::_factTypeToMavType(FactMetaData::ValueType_t fac
@@ -731,26 +731,26 @@ MAV_PARAM_TYPE ParameterLoader::_factTypeToMavType(FactMetaData::ValueType_t fac
switch ( factType ) {
case FactMetaData : : valueTypeUint8 :
return MAV_PARAM_TYPE_UINT8 ;
case FactMetaData : : valueTypeInt8 :
return MAV_PARAM_TYPE_INT8 ;
case FactMetaData : : valueTypeUint16 :
return MAV_PARAM_TYPE_UINT16 ;
case FactMetaData : : valueTypeInt16 :
return MAV_PARAM_TYPE_INT16 ;
case FactMetaData : : valueTypeUint32 :
return MAV_PARAM_TYPE_UINT32 ;
case FactMetaData : : valueTypeFloat :
return MAV_PARAM_TYPE_REAL32 ;
default :
qWarning ( ) < < " Unsupported fact type " < < factType ;
// fall through
case FactMetaData : : valueTypeInt32 :
return MAV_PARAM_TYPE_INT32 ;
}
@ -761,26 +761,26 @@ FactMetaData::ValueType_t ParameterLoader::_mavTypeToFactType(MAV_PARAM_TYPE mav
@@ -761,26 +761,26 @@ FactMetaData::ValueType_t ParameterLoader::_mavTypeToFactType(MAV_PARAM_TYPE mav
switch ( mavType ) {
case MAV_PARAM_TYPE_UINT8 :
return FactMetaData : : valueTypeUint8 ;
case MAV_PARAM_TYPE_INT8 :
return FactMetaData : : valueTypeInt8 ;
case MAV_PARAM_TYPE_UINT16 :
return FactMetaData : : valueTypeUint16 ;
case MAV_PARAM_TYPE_INT16 :
return FactMetaData : : valueTypeInt16 ;
case MAV_PARAM_TYPE_UINT32 :
return FactMetaData : : valueTypeUint32 ;
case MAV_PARAM_TYPE_REAL32 :
return FactMetaData : : valueTypeFloat ;
default :
qWarning ( ) < < " Unsupported mav param type " < < mavType ;
// fall through
case MAV_PARAM_TYPE_INT32 :
return FactMetaData : : valueTypeInt32 ;
}
@ -797,18 +797,18 @@ void ParameterLoader::_checkInitialLoadComplete(void)
@@ -797,18 +797,18 @@ void ParameterLoader::_checkInitialLoadComplete(void)
if ( _initialLoadComplete ) {
return ;
}
foreach ( int componentId , _waitingReadParamIndexMap . keys ( ) ) {
if ( _waitingReadParamIndexMap [ componentId ] . count ( ) ) {
// We are still waiting on some parameters, not done yet
return ;
}
}
// We aren't waiting for any more initial parameter updates, initial parameter loading is complete
_initialLoadComplete = true ;
// Check for load failures
QString indexList ;
bool initialLoadFailures = false ;
@ -822,20 +822,20 @@ void ParameterLoader::_checkInitialLoadComplete(void)
@@ -822,20 +822,20 @@ void ParameterLoader::_checkInitialLoadComplete(void)
qCDebug ( ParameterLoaderLog ) < < " Gave up on initial load after max retries (componentId: " < < componentId < < " paramIndex: " < < paramIndex < < " ) " ;
}
}
// Check for any errors during vehicle boot
UASMessageHandler * msgHandler = qgcApp ( ) - > toolbox ( ) - > uasMessageHandler ( ) ;
if ( msgHandler - > getErrorCountTotal ( ) ) {
QString errors ;
bool firstError = true ;
bool errorsFound = false ;
msgHandler - > lockAccess ( ) ;
foreach ( UASMessage * msg , msgHandler - > messages ( ) ) {
if ( msg - > severityIsError ( ) ) {
if ( ! firstError ) {
errors + = " \n " ;
errors + = " <br> " ;
}
errors + = " - " ;
errors + = msg - > getText ( ) ;
@ -845,15 +845,15 @@ void ParameterLoader::_checkInitialLoadComplete(void)
@@ -845,15 +845,15 @@ void ParameterLoader::_checkInitialLoadComplete(void)
}
msgHandler - > showErrorsInToolbar ( ) ;
msgHandler - > unlockAccess ( ) ;
if ( errorsFound ) {
QString errorMsg = QString ( " Errors were detected during vehicle startup. You should resolve these prior to flight. \n %1 " ) . arg ( errors ) ;
QString errorMsg = QString ( " <b>Critical safety issue detected:</b><br> %1" ) . arg ( errors ) ;
qgcApp ( ) - > showToolBarMessage ( errorMsg ) ;
}
}
// Warn of parameter load failure
if ( initialLoadFailures ) {
QGCMessageBox : : critical ( " Parameter Load Failure " ,
" QGroundControl was unable to retrieve the full set of parameters from the vehicle. "
Gus Grubba
10 years ago
