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@ -1,4 +1,7 @@
@@ -1,4 +1,7 @@
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#include "ApmSoftwareConfig.h" |
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#include <QXmlStreamReader> |
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#include <QDir> |
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#include <QFile> |
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ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent) |
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@ -82,4 +85,356 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
@@ -82,4 +85,356 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
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ui.advParamListButton->setVisible(true); |
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ui.arduCoperPidButton->setVisible(true); |
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QDir autopilotdir(qApp->applicationDirPath() + "/files/" + uas->getAutopilotTypeName().toLower()); |
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QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml"); |
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if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly)) |
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{ |
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return; |
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} |
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QXmlStreamReader xml(xmlfile.readAll()); |
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xmlfile.close(); |
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//TODO: Testing to ensure that incorrectly formated XML won't break this.
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while (!xml.atEnd()) |
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{ |
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if (xml.isStartElement() && xml.name() == "paramfile") |
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{ |
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xml.readNext(); |
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while ((xml.name() != "paramfile") && !xml.atEnd()) |
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{ |
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QString valuetype = ""; |
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if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
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{ |
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valuetype = xml.name().toString(); |
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xml.readNext(); |
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while ((xml.name() != valuetype) && !xml.atEnd()) |
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{ |
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if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
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{ |
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QString parametersname = ""; |
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if (xml.attributes().hasAttribute("name")) |
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{ |
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parametersname = xml.attributes().value("name").toString(); |
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} |
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QVariantMap genset; |
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QVariantMap advset; |
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QString setname = parametersname; |
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xml.readNext(); |
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int genarraycount = 0; |
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int advarraycount = 0; |
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while ((xml.name() != "parameters") && !xml.atEnd()) |
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{ |
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if (xml.isStartElement() && xml.name() == "param") |
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{ |
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QString humanname = xml.attributes().value("humanName").toString(); |
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QString name = xml.attributes().value("name").toString(); |
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QString tab= xml.attributes().value("user").toString(); |
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if (tab == "Advanced") |
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{ |
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advset["title"] = parametersname; |
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} |
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else |
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{ |
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genset["title"] = parametersname; |
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} |
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if (name.contains(":")) |
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{ |
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name = name.split(":")[1]; |
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} |
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QString docs = xml.attributes().value("documentation").toString(); |
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//paramTooltips[name] = name + " - " + docs;
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int type = -1; //Type of item
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QMap<QString,QString> fieldmap; |
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QMap<QString,QString> valuemap; |
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xml.readNext(); |
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while ((xml.name() != "param") && !xml.atEnd()) |
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{ |
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if (xml.isStartElement() && xml.name() == "values") |
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{ |
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type = 1; //1 is a combobox
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if (tab == "Advanced") |
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{ |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO"; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1; |
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} |
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else |
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{ |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO"; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1; |
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} |
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int paramcount = 0; |
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xml.readNext(); |
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while ((xml.name() != "values") && !xml.atEnd()) |
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{ |
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if (xml.isStartElement() && xml.name() == "value") |
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{ |
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QString code = xml.attributes().value("code").toString(); |
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QString arg = xml.readElementText(); |
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valuemap[code] = arg; |
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if (tab == "Advanced") |
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{ |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt(); |
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} |
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else |
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{ |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt(); |
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} |
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paramcount++; |
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} |
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xml.readNext(); |
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} |
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if (tab == "Advanced") |
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{ |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount; |
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} |
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else |
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{ |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount; |
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} |
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} |
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if (xml.isStartElement() && xml.name() == "field") |
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{ |
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type = 2; //2 is a slider
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QString fieldtype = xml.attributes().value("name").toString(); |
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QString text = xml.readElementText(); |
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fieldmap[fieldtype] = text; |
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} |
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xml.readNext(); |
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} |
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if (type == -1) |
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{ |
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//Nothing inside! Assume it's a value, give it a default range.
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type = 2; |
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QString fieldtype = "Range"; |
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QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
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fieldmap[fieldtype] = text; |
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} |
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if (type == 2) |
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{ |
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if (tab == "Advanced") |
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{ |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER"; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1; |
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} |
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else |
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{ |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER"; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1; |
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} |
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if (fieldmap.contains("Range")) |
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{ |
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float min = 0; |
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float max = 0; |
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//Some range fields list "0-10" and some list "0 10". Handle both.
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if (fieldmap["Range"].split(" ").size() > 1) |
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{ |
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min = fieldmap["Range"].split(" ")[0].trimmed().toFloat(); |
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max = fieldmap["Range"].split(" ")[1].trimmed().toFloat(); |
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} |
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else if (fieldmap["Range"].split("-").size() > 1) |
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{ |
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min = fieldmap["Range"].split("-")[0].trimmed().toFloat(); |
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max = fieldmap["Range"].split("-")[1].trimmed().toFloat(); |
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} |
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if (tab == "Advanced") |
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{ |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min; |
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advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max; |
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} |
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else |
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{ |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min; |
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genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max; |
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} |
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} |
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} |
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if (tab == "Advanced") |
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{ |
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advarraycount++; |
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advset["count"] = advarraycount; |
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} |
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else |
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{ |
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genarraycount++; |
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genset["count"] = genarraycount; |
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} |
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//Right here we have a single param in memory
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name; |
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docs; |
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valuemap; |
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fieldmap; |
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//standardParamConfig
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if (valuemap.size() > 0) |
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{ |
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QList<QPair<int,QString> > valuelist; |
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for (QMap<QString,QString>::const_iterator i = valuemap.constBegin();i!=valuemap.constEnd();i++) |
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{ |
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valuelist.append(QPair<int,QString>(i.key().toInt(),i.value())); |
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} |
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if (tab == "Standard") |
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{ |
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standardParamConfig->addCombo(humanname,docs,name,valuelist); |
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} |
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else if (tab == "Advanced") |
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{ |
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advancedParamConfig->addCombo(humanname,docs,name,valuelist); |
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} |
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} |
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else if (fieldmap.size() > 0) |
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{ |
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float min = 0; |
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float max = 100; |
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if (fieldmap.contains("Range")) |
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{ |
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float min = 0; |
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float max = 0; |
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//Some range fields list "0-10" and some list "0 10". Handle both.
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if (fieldmap["Range"].split(" ").size() > 1) |
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{ |
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min = fieldmap["Range"].split(" ")[0].trimmed().toFloat(); |
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max = fieldmap["Range"].split(" ")[1].trimmed().toFloat(); |
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} |
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else if (fieldmap["Range"].split("-").size() > 1) |
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{ |
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min = fieldmap["Range"].split("-")[0].trimmed().toFloat(); |
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max = fieldmap["Range"].split("-")[1].trimmed().toFloat(); |
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} |
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} |
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if (tab == "Standard") |
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{ |
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standardParamConfig->addRange(humanname,docs,name,min,max); |
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} |
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else if (tab == "Advanced") |
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{ |
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advancedParamConfig->addRange(humanname,docs,name,max,min); |
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} |
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} |
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} |
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xml.readNext(); |
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} |
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if (genarraycount > 0) |
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{ |
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/*
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tool = new QGCToolWidget("", this); |
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tool->addUAS(mav); |
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tool->setTitle(parametersname); |
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tool->setObjectName(parametersname); |
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tool->setSettings(genset); |
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QList<QString> paramlist = tool->getParamList(); |
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for (int i=0;i<paramlist.size();i++) |
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{ |
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//Based on the airframe, we add the parameter to different categories.
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if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
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{ |
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systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool); |
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} |
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else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
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{ |
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systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool); |
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} |
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else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
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{ |
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systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool); |
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} |
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else |
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{ |
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libParamToWidgetMap->insert(paramlist[i],tool); |
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} |
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} |
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toolWidgets.append(tool); |
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QGroupBox *box = new QGroupBox(this); |
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box->setTitle(tool->objectName()); |
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box->setLayout(new QVBoxLayout()); |
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box->layout()->addWidget(tool); |
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if (valuetype == "vehicles") |
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{ |
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ui->leftGeneralLayout->addWidget(box); |
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} |
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else if (valuetype == "libraries") |
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{ |
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ui->rightGeneralLayout->addWidget(box); |
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} |
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box->hide(); |
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toolToBoxMap[tool] = box;*/ |
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} |
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if (advarraycount > 0) |
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{ |
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/*
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tool = new QGCToolWidget("", this); |
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tool->addUAS(mav); |
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tool->setTitle(parametersname); |
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tool->setObjectName(parametersname); |
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tool->setSettings(advset); |
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QList<QString> paramlist = tool->getParamList(); |
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for (int i=0;i<paramlist.size();i++) |
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{ |
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//Based on the airframe, we add the parameter to different categories.
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if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
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{ |
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systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool); |
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} |
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else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
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{ |
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systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool); |
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} |
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else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
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{ |
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systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool); |
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} |
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else |
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{ |
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libParamToWidgetMap->insert(paramlist[i],tool); |
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} |
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} |
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toolWidgets.append(tool); |
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QGroupBox *box = new QGroupBox(this); |
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box->setTitle(tool->objectName()); |
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box->setLayout(new QVBoxLayout()); |
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box->layout()->addWidget(tool); |
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if (valuetype == "vehicles") |
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{ |
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ui->leftAdvancedLayout->addWidget(box); |
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} |
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else if (valuetype == "libraries") |
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{ |
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ui->rightAdvancedLayout->addWidget(box); |
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} |
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box->hide(); |
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toolToBoxMap[tool] = box;*/ |
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} |
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} |
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xml.readNext(); |
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} |
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} |
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xml.readNext(); |
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} |
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} |
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xml.readNext(); |
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} |
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} |
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Michael Carpenter
12 years ago