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Finish airframe loader

QGC4.4
Lorenz Meier 10 years ago
parent
d542a9f1be
commit
58ef2f91e9
1 changed files with 145 additions and 197 deletions
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  1. 342
      src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc

342
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
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@ -37,10 +37,12 @@
QGC_LOGGING_CATEGORY(PX4AirframeLoaderLog, "PX4AirframeLoaderLog") QGC_LOGGING_CATEGORY(PX4AirframeLoaderLog, "PX4AirframeLoaderLog")
bool PX4AirframeLoader::_airframeMetaDataLoaded = false; bool PX4AirframeLoader::_airframeMetaDataLoaded = false;
//QMap<QString, FactMetaData*> PX4AirframeLoader::_mapParameterName2FactMetaData;
PX4AirframeLoader::PX4AirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) PX4AirframeLoader::PX4AirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent)
{ {
Q_UNUSED(autopilot);
Q_UNUSED(uas);
Q_UNUSED(parent);
Q_ASSERT(uas); Q_ASSERT(uas);
} }
@ -52,175 +54,130 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
if (_airframeMetaDataLoaded) { if (_airframeMetaDataLoaded) {
return; return;
} }
_airframeMetaDataLoaded = true;
qCDebug(PX4AirframeLoaderLog) << "Loading PX4 airframe fact meta data"; qCDebug(PX4AirframeLoaderLog) << "Loading PX4 airframe fact meta data";
qDebug() << "LOADING META DATA";
Q_ASSERT(AirframeComponentAirframes::rgAirframeTypes.count() == 0); Q_ASSERT(AirframeComponentAirframes::get().count() == 0);
// QString parameterFilename; QString airframeFilename;
// // We want unit test builds to always use the resource based meta data to provide repeatable results // We want unit test builds to always use the resource based meta data to provide repeatable results
// if (!qgcApp()->runningUnitTests()) { if (!qgcApp()->runningUnitTests()) {
// // First look for meta data that comes from a firmware download. Fall back to resource if not there. // First look for meta data that comes from a firmware download. Fall back to resource if not there.
// QSettings settings; QSettings settings;
// QDir parameterDir = QFileInfo(settings.fileName()).dir(); QDir parameterDir = QFileInfo(settings.fileName()).dir();
// parameterFilename = parameterDir.filePath("PX4AirframeFactMetaData.xml"); airframeFilename = parameterDir.filePath("PX4AirframeFactMetaData.xml");
// } }
// if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) { if (airframeFilename.isEmpty() || !QFile(airframeFilename).exists()) {
// parameterFilename = ":/AutoPilotPlugins/PX4/AirframeFactMetaData.xml"; airframeFilename = ":/AutopilotPlugins/PX4/AirframeFactMetaData.xml";
// } }
// qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << parameterFilename; qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
// QFile xmlFile(parameterFilename); QFile xmlFile(airframeFilename);
// Q_ASSERT(xmlFile.exists()); Q_ASSERT(xmlFile.exists());
// bool success = xmlFile.open(QIODevice::ReadOnly);
// Q_UNUSED(success);
// Q_ASSERT(success);
// QXmlStreamReader xml(xmlFile.readAll());
// xmlFile.close();
// if (xml.hasError()) {
// qWarning() << "Badly formed XML" << xml.errorString();
// return;
// }
// QString factGroup;
// QString errorString;
// FactMetaData* metaData = NULL;
// int xmlState = XmlStateNone;
// bool badMetaData = true;
// while (!xml.atEnd()) {
// if (xml.isStartElement()) {
// QString elementName = xml.name().toString();
// if (elementName == "parameters") {
// if (xmlState != XmlStateNone) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundParameters;
// } else if (elementName == "version") {
// if (xmlState != XmlStateFoundParameters) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundVersion;
// bool convertOk;
// QString strVersion = xml.readElementText();
// int intVersion = strVersion.toInt(&convertOk);
// if (!convertOk) {
// qWarning() << "Badly formed XML";
// return;
// }
// if (intVersion <= 2) {
// // We can't read these old files
// qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename;
// return;
// }
// } else if (elementName == "group") {
// if (xmlState != XmlStateFoundVersion) {
// // We didn't get a version stamp, assume older version we can't read
// qDebug() << "Parameter version stamp not found, skipping load" << parameterFilename;
// return;
// }
// xmlState = XmlStateFoundGroup;
// if (!xml.attributes().hasAttribute("name")) {
// qWarning() << "Badly formed XML";
// return;
// }
// factGroup = xml.attributes().value("name").toString();
// qCDebug(PX4AirframeLoaderLog) << "Found group: " << factGroup;
// } else if (elementName == "parameter") {
// if (xmlState != XmlStateFoundGroup) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundParameter;
// if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("type")) {
// qWarning() << "Badly formed XML";
// return;
// }
// QString name = xml.attributes().value("name").toString();
// QString type = xml.attributes().value("type").toString();
// QString strDefault = xml.attributes().value("default").toString();
// qCDebug(PX4AirframeLoaderLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
// // Convert type from string to FactMetaData::ValueType_t
// struct String2Type {
// const char* strType;
// FactMetaData::ValueType_t type;
// };
// static const struct String2Type rgString2Type[] = {
// { "FLOAT", FactMetaData::valueTypeFloat },
// { "INT32", FactMetaData::valueTypeInt32 },
// };
// static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]);
// bool found = false;
// FactMetaData::ValueType_t foundType;
// for (size_t i=0; i<crgString2Type; i++) {
// const struct String2Type* info = &rgString2Type[i];
// if (type == info->strType) {
// found = true;
// foundType = info->type;
// break;
// }
// }
// if (!found) {
// qWarning() << "Parameter meta data with bad type:" << type << " name:" << name;
// return;
// }
// // Now that we know type we can create meta data object and add it to the system
// metaData = new FactMetaData(foundType);
// Q_CHECK_PTR(metaData);
// if (_mapParameterName2FactMetaData.contains(name)) {
// // We can't trust the meta dafa since we have dups
// qCWarning(PX4AirframeLoaderLog) << "Duplicate parameter found:" << name;
// badMetaData = true;
// // Reset to default meta data
// _mapParameterName2FactMetaData[name] = metaData;
// } else {
// _mapParameterName2FactMetaData[name] = metaData;
// metaData->setName(name);
// metaData->setGroup(factGroup);
// if (xml.attributes().hasAttribute("default") && !strDefault.isEmpty()) {
// QVariant varDefault;
// if (metaData->convertAndValidate(strDefault, false, varDefault, errorString)) {
// metaData->setDefaultValue(varDefault);
// } else {
// qCWarning(PX4AirframeLoaderLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
// }
// }
// }
// } else { bool success = xmlFile.open(QIODevice::ReadOnly);
// // We should be getting meta data now Q_UNUSED(success);
// if (xmlState != XmlStateFoundParameter) { Q_ASSERT(success);
// qWarning() << "Badly formed XML";
// return;
// }
// if (!badMetaData) { if (!success) {
qWarning() << "Failed opening airframe XML";
return;
}
QXmlStreamReader xml(xmlFile.readAll());
xmlFile.close();
if (xml.hasError()) {
qWarning() << "Badly formed XML" << xml.errorString();
return;
}
QString airframeGroup;
QString image;
QString errorString;
int xmlState = XmlStateNone;
bool badMetaData = true;
while (!xml.atEnd()) {
if (xml.isStartElement()) {
QString elementName = xml.name().toString();
if (elementName == "airframes") {
if (xmlState != XmlStateNone) {
qWarning() << "Badly formed XML";
return;
}
xmlState = XmlStateFoundAirframes;
} else if (elementName == "version") {
if (xmlState != XmlStateFoundAirframes) {
qWarning() << "Badly formed XML";
return;
}
xmlState = XmlStateFoundVersion;
bool convertOk;
QString strVersion = xml.readElementText();
int intVersion = strVersion.toInt(&convertOk);
if (!convertOk) {
qWarning() << "Badly formed XML";
return;
}
if (intVersion < 1) {
// We can't read these old files
qDebug() << "Airframe version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << airframeFilename;
return;
}
} else if (elementName == "airframe_group") {
if (xmlState != XmlStateFoundVersion) {
// We didn't get a version stamp, assume older version we can't read
qDebug() << "Parameter version stamp not found, skipping load" << airframeFilename;
return;
}
xmlState = XmlStateFoundGroup;
if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("image")) {
qWarning() << "Badly formed XML";
return;
}
airframeGroup = xml.attributes().value("name").toString();
image = xml.attributes().value("image").toString();
qCDebug(PX4AirframeLoaderLog) << "Found group: " << airframeGroup;
} else if (elementName == "airframe") {
if (xmlState != XmlStateFoundGroup) {
qWarning() << "Badly formed XML";
return;
}
xmlState = XmlStateFoundAirframe;
if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("id")) {
qWarning() << "Badly formed XML";
return;
}
QString name = xml.attributes().value("name").toString();
QString id = xml.attributes().value("id").toString();
qCDebug(PX4AirframeLoaderLog) << "Found airframe name:" << name << " type:" << airframeGroup << " id:" << id;
// Now that we know type we can airframe meta data object and add it to the system
AirframeComponentAirframes::insert(airframeGroup, image, name, id.toInt());
} else {
// We should be getting meta data now
if (xmlState != XmlStateFoundAirframe) {
qWarning() << "Badly formed XML";
return;
}
if (!badMetaData) {
// We eventually want this, just not yet now
// if (elementName == "short_desc") { // if (elementName == "short_desc") {
// Q_ASSERT(metaData); // Q_ASSERT(metaData);
// QString text = xml.readElementText(); // QString text = xml.readElementText();
@ -266,42 +223,33 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
// metaData->setUnits(text); // metaData->setUnits(text);
// } else { // } else {
// qDebug() << "Unknown element in XML: " << elementName; qDebug() << "Unknown element in XML: " << elementName;
// }
// }
// }
// } else if (xml.isEndElement()) {
// QString elementName = xml.name().toString();
// if (elementName == "parameter") {
// // Done loading this parameter, validate default value
// if (metaData->defaultValueAvailable()) {
// QVariant var;
// if (!metaData->convertAndValidate(metaData->defaultValue(), false /* convertOnly */, var, errorString)) {
// qCWarning(PX4AirframeLoaderLog) << "Invalid default value, name:" << metaData->name() << " type:" << metaData->type() << " default:" << metaData->defaultValue() << " error:" << errorString;
// } // }
// } }
}
// // Reset for next parameter } else if (xml.isEndElement()) {
// metaData = NULL; QString elementName = xml.name().toString();
// badMetaData = false;
// xmlState = XmlStateFoundGroup; if (elementName == "airframe") {
// } else if (elementName == "group") { // Done loading this airframe, validate
// xmlState = XmlStateFoundVersion;
// } else if (elementName == "parameters") { // Reset for next airframe
// xmlState = XmlStateFoundParameters; badMetaData = false;
// } xmlState = XmlStateFoundGroup;
// } } else if (elementName == "airframe_group") {
// xml.readNext(); xmlState = XmlStateFoundVersion;
// } } else if (elementName == "airframes") {
xmlState = XmlStateFoundAirframes;
}
}
xml.readNext();
}
_airframeMetaDataLoaded = true;
} }
void PX4AirframeLoader::clearStaticData(void) void PX4AirframeLoader::clearStaticData(void)
{ {
// foreach(QString airframeName, AirframeComponentAirframes::rgAirframeTypes.keys()) { AirframeComponentAirframes::clear();
// delete AirframeComponentAirframes::rgAirframeTypes[airframeName];
// }
AirframeComponentAirframes::rgAirframeTypes.clear();
_airframeMetaDataLoaded = false; _airframeMetaDataLoaded = false;
} }

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