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Move more model code into the model class

QGC4.4
tstellanova 12 years ago
parent
47831affec
commit
59a2cbbc85
2 changed files with 236 additions and 13 deletions
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  1. 218
      src/uas/UASParameterDataModel.cc
  2. 31
      src/uas/UASParameterDataModel.h

218
src/uas/UASParameterDataModel.cc
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@ -1,8 +1,13 @@
#include "UASParameterDataModel.h" #include "UASParameterDataModel.h"
#include <float.h>
#include <QDebug> #include <QDebug>
#include <QStringList>
#include <QVariant> #include <QVariant>
#include "QGCMAVLink.h"
UASParameterDataModel::UASParameterDataModel(QObject *parent) : UASParameterDataModel::UASParameterDataModel(QObject *parent) :
QObject(parent) QObject(parent)
{ {
@ -10,21 +15,43 @@ UASParameterDataModel::UASParameterDataModel(QObject *parent) :
} }
void UASParameterDataModel::addPendingIfParameterChanged(int componentId, QString& key, QVariant &value)
bool UASParameterDataModel::checkParameterChanged(int componentId, const QString& key, const QVariant &value)
{ {
bool changed = true;
addComponent(componentId); addComponent(componentId);
QMap<QString, QVariant> *existParams = getOnbardParametersForComponent(componentId); QMap<QString, QVariant>* existParams = getOnbardParametersForComponent(componentId);
QMap<QString, QVariant> *pendParams = getPendingParametersForComponent(componentId);
if (existParams->contains(key)) {
QVariant existValue = existParams->value(key);
QMap<QString, QVariant>* pendParams = getPendingParametersForComponent(componentId);
if (pendParams->contains(key)) {
QVariant pendValue = pendParams->value(key);
if (existValue == pendValue) {
changed = false;
}
}
}
QVariant existValue = existParams->value(key); return changed;
QVariant pendValue = pendParams->value(key);
if (!(existValue == pendValue)) { }
bool UASParameterDataModel::addPendingIfParameterChanged(int componentId, QString& key, QVariant &value)
{
bool changed = checkParameterChanged(componentId,key,value);
if (changed ) {
setPendingParameter(componentId,key,value); setPendingParameter(componentId,key,value);
} }
return changed;
} }
void UASParameterDataModel::setPendingParameter(int componentId, QString& key, QVariant &value) void UASParameterDataModel::setPendingParameter(int componentId, QString& key, const QVariant &value)
{ {
//ensure we have a placeholder map for this component //ensure we have a placeholder map for this component
addComponent(componentId); addComponent(componentId);
@ -32,7 +59,7 @@ void UASParameterDataModel::setPendingParameter(int componentId, QString& key,
params->insert(key,value); params->insert(key,value);
} }
void UASParameterDataModel::setOnboardParameter(int componentId, QString& key, QVariant& value) void UASParameterDataModel::setOnboardParameter(int componentId, QString& key, const QVariant& value)
{ {
//ensure we have a placeholder map for this component //ensure we have a placeholder map for this component
addComponent(componentId); addComponent(componentId);
@ -40,6 +67,42 @@ void UASParameterDataModel::setOnboardParameter(int componentId, QString& key,
params->insert(key,value); params->insert(key,value);
} }
void UASParameterDataModel::setOnboardParameterWithType(int componentId, QString& key, QVariant& value)
{
// switch ((int)onboardParameters.value(componentId)->value(key).type())
switch ((int)value.type())
{
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
onboardParameters.value(componentId)->insert(key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
onboardParameters.value(componentId)->insert(key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
onboardParameters.value(componentId)->insert(key, fixedValue);
}
break;
case QMetaType::QChar:
{
QVariant fixedValue(QChar((unsigned char)value.toUInt()));
onboardParameters.value(componentId)->insert(key, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE";
return;
}
}
void UASParameterDataModel::addComponent(int componentId) void UASParameterDataModel::addComponent(int componentId)
{ {
if (!onboardParameters.contains(componentId)) { if (!onboardParameters.contains(componentId)) {
@ -70,3 +133,142 @@ void UASParameterDataModel::handleParameterUpdate(int componentId, QString& key,
setOnboardParameter(componentId,key, value); setOnboardParameter(componentId,key, value);
} }
bool UASParameterDataModel::getOnboardParameterValue(int componentId, const QString& key, QVariant& value) const
{
if (onboardParameters.contains(componentId)) {
if (onboardParameters.value(componentId)->contains(key)) {
value = onboardParameters.value(componentId)->value(key);
return true;
}
}
return false;
}
void UASParameterDataModel::forgetAllOnboardParameters()
{
onboardParameters.clear();
}
void UASParameterDataModel::readUpdateParametersFromStream(QTextStream& stream)
{
bool userWarned = false;
while (!stream.atEnd()) {
QString line = stream.readLine();
if (!line.startsWith("#")) {
QStringList wpParams = line.split("\t");
int lineMavId = wpParams.at(0).toInt();
if (wpParams.size() == 5) {
// Only load parameters for right mav
if (!userWarned && (uasId != lineMavId)) {
//TODO warn the user somehow
QString msg = tr("The parameters in the stream have been saved from system %1, but the currently selected system has the ID %2.").arg(lineMavId).arg(uasId);
// MainWindow::instance()->showCriticalMessage(
// tr("Parameter loading warning"),
// tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
userWarned = true;
return;
}
bool changed = false;
int componentId = wpParams.at(1).toInt();
QString key = wpParams.at(2);
QString valStr = wpParams.at(3);
double dblVal = wpParams.at(3).toDouble();
uint paramType = wpParams.at(4).toUInt();
if (!onboardParameters.contains(componentId)) {
addComponent(componentId);
changed = true;
}
else {
if (fabs((static_cast<float>(onboardParameters.value(componentId)->value(key, dblVal).toDouble())) - (dblVal)) >
2.0f * FLT_EPSILON) {
changed = true;
qDebug() << "Changed" << key << "VAL" << dblVal;
}
}
if (changed) {
switch (paramType)
{
case MAV_PARAM_TYPE_REAL32:
//receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toFloat());
setPendingParameter(componentId,key,QVariant(valStr.toFloat()));
//setParameter(componentId, key, valStr.toFloat());
break;
case MAV_PARAM_TYPE_UINT32:
//receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toUInt());
setPendingParameter(componentId,key, QVariant(valStr.toUInt()));
//setParameter(componentId, key, QVariant(valStr.toUInt()));
break;
case MAV_PARAM_TYPE_INT32:
//receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toInt());
setPendingParameter(componentId,key,QVariant(valStr.toInt()));
//setParameter(componentId, key, QVariant(valStr.toInt()));
break;
default:
qDebug() << "FAILED LOADING PARAM" << key << "UNKNOWN DATA TYPE";
}
//TODO update display
}
}
}
}
}
void UASParameterDataModel::writeOnboardParametersToStream(QTextStream& stream, const QString& name)
{
stream << "# Onboard parameters for system " << name << "\n";
stream << "#\n";
stream << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n";
// Iterate through all components, through all parameters and emit them
QMap<int, QMap<QString, QVariant>*>::iterator i;
for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) {
// Iterate through the parameters of the component
int compid = i.key();
QMap<QString, QVariant>* comp = i.value();
{
QMap<QString, QVariant>::iterator j;
for (j = comp->begin(); j != comp->end(); ++j)
{
QString paramValue("%1");
QString paramType("%1");
switch ((int)j.value().type())
{
case QVariant::Int:
paramValue = paramValue.arg(j.value().toInt());
paramType = paramType.arg(MAV_PARAM_TYPE_INT32);
break;
case QVariant::UInt:
paramValue = paramValue.arg(j.value().toUInt());
paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
break;
case QMetaType::Float:
// We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
// (see IEEE 754, 32 bit single-precision)
paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
break;
default:
qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();
return;
}
stream << this->uasId << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n";
stream.flush();
}
}
}
}

31
src/uas/UASParameterDataModel.h
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@ -5,6 +5,8 @@
#include <QObject> #include <QObject>
#include <QVariant> #include <QVariant>
class QTextStream;
class UASParameterDataModel : public QObject class UASParameterDataModel : public QObject
{ {
Q_OBJECT Q_OBJECT
@ -15,14 +17,30 @@ public:
virtual void addComponent(int componentId); virtual void addComponent(int componentId);
/** @brief Write a new pending parameter value that may be eventually sent to the UAS */ /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
virtual void setPendingParameter(int componentId, QString& paramKey, QVariant& paramValue); virtual void setPendingParameter(int componentId, QString& key, const QVariant& value);
virtual void setOnboardParameter(int componentId, QString& key, QVariant &value); virtual void setOnboardParameter(int componentId, QString& key, const QVariant& value);
/** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
virtual void setOnboardParameterWithType(int componentId, QString& key, QVariant& value);
/** @brief clears every parameter for every loaded component */
virtual void forgetAllOnboardParameters();
/**
* @return true if the parameter has changed
*/
virtual bool checkParameterChanged(int componentId, const QString& key, const QVariant &value);
/** @brief add this parameter to pending list iff it has changed from onboard value */
virtual void addPendingIfParameterChanged(int componentId, QString& key, QVariant &value);
/** @brief add this parameter to pending list iff it has changed from onboard value
* @return true if the parameter has changed
*/
virtual bool addPendingIfParameterChanged(int componentId, QString& key, QVariant& value);
void handleParameterUpdate(int componentId, QString& key, QVariant& value);
virtual void handleParameterUpdate(int componentId, QString& key, QVariant& value);
virtual bool getOnboardParameterValue(int componentId, const QString& key, QVariant& value) const;
QMap<QString , QVariant>* getPendingParametersForComponent(int componentId) { QMap<QString , QVariant>* getPendingParametersForComponent(int componentId) {
return pendingParameters.value(componentId); return pendingParameters.value(componentId);
@ -41,6 +59,9 @@ public:
} }
virtual void writeOnboardParametersToStream(QTextStream& stream, const QString& uasName);
virtual void readUpdateParametersFromStream(QTextStream& stream);
void setUASID(int anId) { this->uasId = anId; } void setUASID(int anId) { this->uasId = anId; }
signals: signals:

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