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@ -35,8 +35,8 @@
@@ -35,8 +35,8 @@
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QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog") |
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bool APMParameterMetaData::_parameterMetaDataLoaded = false; |
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QMap<QString, FactMetaData*> APMParameterMetaData::_mapParameterName2FactMetaData; |
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bool APMParameterMetaData::_parameterMetaDataLoaded = false; |
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QMap<QString, ParameterNametoFactMetaDataMap> APMParameterMetaData::_vehicleTypeToParametersMap; |
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APMParameterMetaData::APMParameterMetaData(QObject* parent) : |
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QObject(parent) |
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@ -49,7 +49,8 @@ APMParameterMetaData::APMParameterMetaData(QObject* parent) :
@@ -49,7 +49,8 @@ APMParameterMetaData::APMParameterMetaData(QObject* parent) :
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/// @param type Type for Fact which dictates the QVariant type as well
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/// @param convertOk Returned: true: conversion success, false: conversion failure
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/// @return Returns the correctly type QVariant
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QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk) |
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QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, |
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FactMetaData::ValueType_t type, bool* convertOk) |
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{ |
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QVariant var(string); |
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@ -78,29 +79,384 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, Fact
@@ -78,29 +79,384 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, Fact
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return var; |
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} |
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QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum) |
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{ |
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QString vehicleName; |
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switch(vehicleTypeEnum) { |
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case MAV_TYPE_FIXED_WING: |
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vehicleName = "ArduPlane"; |
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break; |
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case MAV_TYPE_QUADROTOR: |
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case MAV_TYPE_COAXIAL: |
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case MAV_TYPE_HELICOPTER: |
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case MAV_TYPE_SUBMARINE: |
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case MAV_TYPE_HEXAROTOR: |
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case MAV_TYPE_OCTOROTOR: |
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case MAV_TYPE_TRICOPTER: |
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vehicleName = "ArduCopter"; |
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break; |
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case MAV_TYPE_ANTENNA_TRACKER: |
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vehicleName = "Antenna Tracker"; |
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case MAV_TYPE_GENERIC: |
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case MAV_TYPE_GCS: |
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case MAV_TYPE_AIRSHIP: |
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case MAV_TYPE_FREE_BALLOON: |
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case MAV_TYPE_ROCKET: |
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break; |
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case MAV_TYPE_GROUND_ROVER: |
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case MAV_TYPE_SURFACE_BOAT: |
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vehicleName = "ArduRover"; |
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break; |
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case MAV_TYPE_FLAPPING_WING: |
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case MAV_TYPE_KITE: |
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case MAV_TYPE_ONBOARD_CONTROLLER: |
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case MAV_TYPE_VTOL_DUOROTOR: |
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case MAV_TYPE_VTOL_QUADROTOR: |
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case MAV_TYPE_VTOL_TILTROTOR: |
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case MAV_TYPE_VTOL_RESERVED2: |
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case MAV_TYPE_VTOL_RESERVED3: |
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case MAV_TYPE_VTOL_RESERVED4: |
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case MAV_TYPE_VTOL_RESERVED5: |
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case MAV_TYPE_GIMBAL: |
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case MAV_TYPE_ENUM_END: |
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default: |
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break; |
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} |
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return vehicleName; |
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} |
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/// Load Parameter Fact meta data
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///
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/// The meta data comes from firmware parameters.xml file.
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void APMParameterMetaData::_loadParameterFactMetaData(void) |
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void APMParameterMetaData::_loadParameterFactMetaData() |
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{ |
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if (_parameterMetaDataLoaded) { |
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return; |
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} |
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_parameterMetaDataLoaded = true; |
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// FIXME: NYI
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QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker"); |
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QString currentCategory; |
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QString parameterFilename; |
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// Fixme:: always picking up the bundled xml, we would like to update it from web
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// just not sure right now as the xml is in bad shape.
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if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) { |
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parameterFilename = ":/FirmwarePlugin/APM/apm.pdef.xml"; |
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} |
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qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename; |
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QFile xmlFile(parameterFilename); |
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Q_ASSERT(xmlFile.exists()); |
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bool success = xmlFile.open(QIODevice::ReadOnly); |
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Q_UNUSED(success); |
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Q_ASSERT(success); |
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QXmlStreamReader xml(xmlFile.readAll()); |
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xmlFile.close(); |
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if (xml.hasError()) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, reading failed: " << xml.errorString(); |
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return; |
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} |
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QString errorString; |
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bool badMetaData = true; |
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QStack<int> xmlState; |
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APMFactMetaDataRaw* rawMetaData = NULL; |
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xmlState.push(XmlStateNone); |
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QMap<QString,QStringList> groupMembers; //used to remove groups with single item
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while (!xml.atEnd()) { |
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if (xml.isStartElement()) { |
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QString elementName = xml.name().toString(); |
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if (elementName.isEmpty()) { |
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// skip empty elements
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} else if (elementName == "paramfile") { |
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if (xmlState.top() != XmlStateNone) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, paramfile matched"; |
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} |
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xmlState.push(XmlstateParamFileFound); |
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// we don't really do anything with this element
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} else if (elementName == "vehicles") { |
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if (xmlState.top() != XmlstateParamFileFound) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, vehicles matched"; |
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return; |
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} |
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xmlState.push(XmlStateFoundVehicles); |
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} else if (elementName == "libraries") { |
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if (xmlState.top() != XmlstateParamFileFound) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, libraries matched"; |
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return; |
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} |
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currentCategory = "libraries"; |
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xmlState.push(XmlStateFoundLibraries); |
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} else if (elementName == "parameters") { |
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if (xmlState.top() != XmlStateFoundVehicles && xmlState.top() != XmlStateFoundLibraries) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, parameters matched" |
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<< "but we don't have proper vehicle or libraries yet"; |
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return; |
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} |
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if (xml.attributes().hasAttribute("name")) { |
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// we will handle metadata only for specific MAV_TYPEs and libraries
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const QString nameValue = xml.attributes().value("name").toString(); |
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if (nameValue.contains(parameterCategories)) { |
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xmlState.push(XmlStateFoundParameters); |
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currentCategory = nameValue; |
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} else if(xmlState.top() == XmlStateFoundLibraries) { |
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// we handle all libraries section under the same category libraries
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// so not setting currentCategory
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xmlState.push(XmlStateFoundParameters); |
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} else { |
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qCDebug(APMParameterMetaDataLog) << "not interested in this block of parameters skip"; |
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if (skipXMLBlock(xml, "parameters")) { |
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qCWarning(APMParameterMetaDataLog) << "something wrong with the xml, skip of the xml failed"; |
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return; |
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} |
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xml.readNext(); |
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continue; |
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} |
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} |
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} else if (elementName == "param") { |
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if (xmlState.top() != XmlStateFoundParameters) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, element param matched" |
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<< "while we are not yet in parameters"; |
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return; |
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} |
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xmlState.push(XmlStateFoundParameter); |
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if (!xml.attributes().hasAttribute("name")) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, parameter attribute name missing"; |
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return; |
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} |
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QString name = xml.attributes().value("name").toString(); |
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if (name.contains(':')) { |
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name = name.split(':').last(); |
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} |
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QString group = name.split('_').first(); |
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group = group.remove(QRegExp("[0-9]*$")); // remove any numbers from the end
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QString shortDescription = xml.attributes().value("humanName").toString(); |
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QString longDescription = xml.attributes().value("docmentation").toString(); |
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QString userLevel = xml.attributes().value("user").toString(); |
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qCDebug(APMParameterMetaDataLog) << "Found parameter name:" << name |
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<< "short Desc:" << shortDescription |
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<< "longDescription:" << longDescription |
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<< "user level: " << userLevel |
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<< "group: " << group; |
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Q_ASSERT(!rawMetaData); |
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rawMetaData = new APMFactMetaDataRaw(); |
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if (_vehicleTypeToParametersMap[currentCategory].contains(name)) { |
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// We can't trust the meta dafa since we have dups
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qCWarning(APMParameterMetaDataLog) << "Duplicate parameter found:" << name; |
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badMetaData = true; |
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} else { |
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qCDebug(APMParameterMetaDataLog) << "inserting metadata for field" << name; |
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_vehicleTypeToParametersMap[currentCategory][name] = rawMetaData; |
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rawMetaData->name = name; |
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rawMetaData->group = group; |
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rawMetaData->shortDescription = shortDescription; |
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rawMetaData->longDescription = longDescription; |
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groupMembers[group] << name; |
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} |
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// Static meta data should load all MAV_TYPEs from single meta data file in such a way that the loader
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// has multiple sets of static meta data
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} else { |
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// We should be getting meta data now
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if (xmlState.top() != XmlStateFoundParameter) { |
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qCWarning(APMParameterMetaDataLog) << "Badly formed XML, while reading parameter fields wrong state"; |
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return; |
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} |
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if (!badMetaData) { |
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if (!parseParameterAttributes(xml, rawMetaData)) { |
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qCDebug(APMParameterMetaDataLog) << "Badly formed XML, failed to read parameter attributes"; |
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return; |
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} |
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continue; |
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} |
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} |
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} else if (xml.isEndElement()) { |
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QString elementName = xml.name().toString(); |
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if (elementName == "param" && xmlState.top() == XmlStateFoundParameter) { |
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// Done loading this parameter
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// Reset for next parameter
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qCDebug(APMParameterMetaDataLog) << "done loading parameter"; |
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rawMetaData = NULL; |
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badMetaData = false; |
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xmlState.pop(); |
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} else if (elementName == "parameters") { |
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qCDebug(APMParameterMetaDataLog) << "end of parameters for category: " << currentCategory; |
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correctGroupMemberships(_vehicleTypeToParametersMap[currentCategory], groupMembers); |
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groupMembers.clear(); |
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xmlState.pop(); |
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} else if (elementName == "vehicles") { |
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qCDebug(APMParameterMetaDataLog) << "vehicles end here, libraries will follow"; |
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xmlState.pop(); |
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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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void APMParameterMetaData::correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, |
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QMap<QString,QStringList>& groupMembers) |
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{ |
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foreach(const QString& groupName, groupMembers.keys()) { |
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if (groupMembers[groupName].count() == 1) { |
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foreach(const QString& parameter, groupMembers.value(groupName)) { |
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parameterToFactMetaDataMap[parameter]->group = "others"; |
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} |
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} |
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} |
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} |
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bool APMParameterMetaData::skipXMLBlock(QXmlStreamReader& xml, const QString& blockName) |
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{ |
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QString elementName; |
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do { |
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xml.readNext(); |
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elementName = xml.name().toString(); |
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} while ((elementName != blockName) && (xml.isEndElement())); |
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return !xml.isEndDocument(); |
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} |
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bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw* rawMetaData) |
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{ |
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QString elementName = xml.name().toString(); |
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QList<QPair<QString,QString> > values; |
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// as long as param doens't end
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while (!(elementName == "param" && xml.isEndElement())) { |
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if (elementName.isEmpty()) { |
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// skip empty elements. Somehow I am getting lot of these. Dont know what to do with them.
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} else if (elementName == "field") { |
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QString attributeName = xml.attributes().value("name").toString(); |
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if ( attributeName == "Range") { |
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QString range = xml.readElementText().trimmed(); |
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QStringList rangeList = range.split(' '); |
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if (rangeList.count() != 2) { |
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qCDebug(APMParameterMetaDataLog) << "space seperator didn't work',trying 'to' separator"; |
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rangeList = range.split("to"); |
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if (rangeList.count() != 2) { |
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qCDebug(APMParameterMetaDataLog) << " 'to' seperaator didn't work', trying '-' as seperator"; |
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rangeList = range.split('-'); |
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if (rangeList.count() != 2) { |
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qCWarning(APMParameterMetaDataLog) << "something wrong with range, all three separators have failed" << range; |
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} |
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} |
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} |
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rawMetaData->min = rangeList.first().trimmed(); |
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rawMetaData->max = rangeList.last().trimmed(); |
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// sanitize min and max off any comments that they may have
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if (rawMetaData->min.contains(' ')) { |
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rawMetaData->min = rawMetaData->min.split(' ').first(); |
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} |
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if(rawMetaData->max.contains(' ')) { |
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rawMetaData->max = rawMetaData->max.split(' ').first(); |
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} |
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qCDebug(APMParameterMetaDataLog) << "read field parameter " << "min: " << rawMetaData->min |
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<< "max: " << rawMetaData->max; |
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} else if (attributeName == "Increment") { |
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QString increment = xml.readElementText(); |
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qCDebug(APMParameterMetaDataLog) << "read Increment: " << increment; |
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rawMetaData->incrementSize = increment; |
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} else if (attributeName == "Units") { |
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QString units = xml.readElementText(); |
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qCDebug(APMParameterMetaDataLog) << "read Units: " << units; |
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rawMetaData->units = units; |
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} |
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} else if (elementName == "values") { |
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// doing nothing individual value will follow anyway. May be used for sanity checking.
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} else if (elementName == "value") { |
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QString valueValue = xml.attributes().value("code").toString(); |
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QString valueName = xml.readElementText(); |
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qCDebug(APMParameterMetaDataLog) << "read value parameter " << "value desc: " |
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<< valueName << "code: " << valueValue; |
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values << QPair<QString,QString>(valueValue, valueName); |
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rawMetaData->values = values; |
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} else { |
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qCWarning(APMParameterMetaDataLog) << "Unknown parameter element in XML: " << elementName; |
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} |
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xml.readNext(); |
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elementName = xml.name().toString(); |
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} |
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return true; |
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} |
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/// Override from FactLoad which connects the meta data to the fact
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void APMParameterMetaData::addMetaDataToFact(Fact* fact) |
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void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) |
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{ |
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_loadParameterFactMetaData(); |
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// FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
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const QString mavTypeString = mavTypeToString(vehicleType); |
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APMFactMetaDataRaw* rawMetaData = NULL; |
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// check if we have metadata for fact, use generic otherwise
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if (_vehicleTypeToParametersMap[mavTypeString].contains(fact->name())) { |
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rawMetaData = _vehicleTypeToParametersMap[mavTypeString][fact->name()]; |
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} else if (_vehicleTypeToParametersMap["libraries"].contains(fact->name())) { |
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rawMetaData = _vehicleTypeToParametersMap["libraries"][fact->name()]; |
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} |
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FactMetaData *metaData = new FactMetaData(fact->type(), fact); |
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// we don't have data for this fact
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if (!rawMetaData) { |
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fact->setMetaData(metaData); |
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qCDebug(APMParameterMetaDataLog) << "No metaData for " << fact->name() << "using generic metadata"; |
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return; |
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} |
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metaData->setName(rawMetaData->name); |
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metaData->setGroup(rawMetaData->group); |
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if (!rawMetaData->shortDescription.isEmpty()) { |
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metaData->setShortDescription(rawMetaData->shortDescription); |
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} |
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if (!rawMetaData->longDescription.isEmpty()) { |
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metaData->setLongDescription(rawMetaData->longDescription); |
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} |
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if (!rawMetaData->units.isEmpty()) { |
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metaData->setUnits(rawMetaData->units); |
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} |
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if (!rawMetaData->min.isEmpty()) { |
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|
QVariant varMin; |
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|
|
QString errorString; |
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|
|
if (metaData->convertAndValidate(rawMetaData->min, true /* convertOnly */, varMin, errorString)) { |
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|
|
metaData->setMin(varMin); |
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|
} else { |
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|
|
qCDebug(APMParameterMetaDataLog) << "Invalid min value, name:" << metaData->name() |
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|
|
<< " type:" << metaData->type() << " min:" << rawMetaData->min |
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|
|
<< " error:" << errorString; |
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|
|
} |
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|
|
} |
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|
|
if (!rawMetaData->max.isEmpty()) { |
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|
|
QVariant varMax; |
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|
|
QString errorString; |
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|
|
if (metaData->convertAndValidate(rawMetaData->max, true /* convertOnly */, varMax, errorString)) { |
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|
|
metaData->setMax(varMax); |
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|
|
} else { |
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|
|
qCDebug(APMParameterMetaDataLog) << "Invalid max value, name:" << metaData->name() << " type:" |
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|
|
|
<< metaData->type() << " max:" << rawMetaData->max |
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|
|
<< " error:" << errorString; |
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|
|
} |
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|
|
} |
|
|
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|
|
FactMetaData* metaData = new FactMetaData(fact->type(), fact); |
|
|
|
|
// FixMe:: not handling values and increment size as their is no place for them in FactMetaData and no ui
|
|
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|
|
fact->setMetaData(metaData); |
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|
|
|
} |
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Pritam Ghanghas
9 years ago