Don Gagne
11 years ago
25 changed files with 838 additions and 433 deletions
@ -0,0 +1,37 @@
@@ -0,0 +1,37 @@
|
||||
/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
||||
|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
||||
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/>.
|
||||
|
||||
======================================================================*/ |
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|
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/// @file
|
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/// @author Don Gagne <don@thegagnes.com>
|
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|
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#include "GenericParameterFacts.h" |
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#include "QGCApplication.h" |
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|
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#include <QFile> |
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#include <QDebug> |
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|
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GenericParameterFacts::GenericParameterFacts(UASInterface* uas, QObject* parent) : |
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FactLoader(uas, parent) |
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{ |
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Q_ASSERT(uas); |
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} |
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@ -0,0 +1,49 @@
@@ -0,0 +1,49 @@
|
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
||||
|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
||||
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/>.
|
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|
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======================================================================*/ |
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|
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#ifndef GenericParameterFacts_h |
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#define GenericParameterFacts_h |
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|
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#include <QObject> |
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#include <QMap> |
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#include <QXmlStreamReader> |
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#include <QLoggingCategory> |
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|
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#include "FactSystem.h" |
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#include "UASInterface.h" |
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|
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
|
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|
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/// Collection of Parameter Facts for Generic AutoPilot
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|
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class GenericParameterFacts : public FactLoader |
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{ |
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Q_OBJECT |
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|
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public: |
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/// @param uas Uas which this set of facts is associated with
|
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GenericParameterFacts(UASInterface* uas, QObject* parent = NULL); |
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}; |
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|
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#endif |
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@ -0,0 +1,159 @@
@@ -0,0 +1,159 @@
|
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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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/>.
|
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|
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======================================================================*/ |
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|
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
|
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|
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#include "FactLoader.h" |
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#include "QGCApplication.h" |
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|
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#include <QFile> |
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#include <QDebug> |
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|
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Q_LOGGING_CATEGORY(FactLoaderLog, "FactLoaderLog") |
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|
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FactLoader::FactLoader(UASInterface* uas, QObject* parent) : |
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QObject(parent), |
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_lastSeenComponent(-1), |
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_paramMgr(NULL), |
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_factsReady(false) |
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{ |
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Q_ASSERT(uas); |
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|
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_uasId = uas->getUASID(); |
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|
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_paramMgr = uas->getParamManager(); |
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Q_ASSERT(_paramMgr); |
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|
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// We need to be initialized before param mgr starts sending parameters so we catch each one
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Q_ASSERT(!_paramMgr->parametersReady()); |
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|
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// We need to know when the param mgr is done sending the initial set of paramters
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connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate())); |
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|
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// We track parameters changes to keep Facts up to date. UASInterface::parameterChanged has multiple overrides so we need to
|
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// use SIGNAL/SLOT style connect
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connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant))); |
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} |
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|
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FactLoader::~FactLoader() |
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{ |
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foreach(Fact* fact, _mapFact2ParameterName.keys()) { |
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delete fact; |
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} |
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_mapParameterName2Variant.clear(); |
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_mapFact2ParameterName.clear(); |
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} |
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|
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/// Connected to QGCUASParmManager::parameterChanged
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///
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/// When a new parameter is seen it is added to the system. If the parameter is already known it is updated.
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void FactLoader::_parameterChanged(int uas, int component, QString parameterName, QVariant value) |
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{ |
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// Is this for our uas?
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if (uas != _uasId) { |
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return; |
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} |
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|
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if (_lastSeenComponent == -1) { |
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_lastSeenComponent = component; |
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} else { |
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// Code cannot handle parameters coming form different components yets
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Q_ASSERT(component == _lastSeenComponent); |
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} |
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|
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if (!_mapParameterName2Variant.contains(parameterName)) { |
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Fact* fact = new Fact(this); |
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|
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_mapParameterName2Variant[parameterName] = QVariant::fromValue(fact); |
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_mapFact2ParameterName[fact] = parameterName; |
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|
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// We need to know when the fact changes from QML so that we can send the new value to the parameter manager
|
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connect(fact, &Fact::_containerValueChanged, this, &FactLoader::_valueUpdated); |
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|
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qCDebug(FactLoaderLog) << "Adding new fact" << parameterName; |
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} |
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|
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Q_ASSERT(_mapParameterName2Variant.contains(parameterName)); |
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|
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qCDebug(FactLoaderLog) << "Updating fact value" << parameterName << value; |
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|
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Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>(); |
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Q_ASSERT(fact); |
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fact->_containerSetValue(value); |
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} |
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|
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/// Connected to Fact::valueUpdated
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///
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/// Sets the new value into the Parameter Manager. Paramter is persisted after send.
|
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void FactLoader::_valueUpdated(QVariant value) |
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{ |
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Fact* fact = qobject_cast<Fact*>(sender()); |
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Q_ASSERT(fact); |
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|
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Q_ASSERT(_lastSeenComponent != -1); |
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Q_ASSERT(_paramMgr); |
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Q_ASSERT(_mapFact2ParameterName.contains(fact)); |
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|
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QVariant typedValue; |
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switch (fact->type()) { |
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case FactMetaData::valueTypeInt8: |
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case FactMetaData::valueTypeInt16: |
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case FactMetaData::valueTypeInt32: |
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typedValue = QVariant(value.value<int>()); |
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|
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case FactMetaData::valueTypeUint8: |
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case FactMetaData::valueTypeUint16: |
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case FactMetaData::valueTypeUint32: |
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typedValue = QVariant(value.value<uint>()); |
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break; |
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|
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case FactMetaData::valueTypeFloat: |
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typedValue = QVariant(value.toFloat()); |
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break; |
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|
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case FactMetaData::valueTypeDouble: |
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typedValue = QVariant(value.toDouble()); |
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break; |
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} |
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|
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_paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue); |
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_paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */); |
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} |
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|
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// Called when param mgr list is up to date
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void FactLoader::_paramMgrParameterListUpToDate(void) |
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{ |
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if (!_factsReady) { |
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_factsReady = true; |
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|
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// We don't need this any more
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disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate())); |
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|
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// There may be parameterUpdated signals still in our queue. Flush them out.
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qgcApp()->processEvents(); |
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// We should have all paramters now so we can signal ready
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emit factsReady(); |
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} |
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} |
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@ -0,0 +1,89 @@
@@ -0,0 +1,89 @@
|
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/*=====================================================================
|
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|
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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. |
||||
|
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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/>.
|
||||
|
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======================================================================*/ |
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|
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#ifndef FactLoader_h |
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#define FactLoader_h |
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|
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#include <QObject> |
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#include <QMap> |
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#include <QXmlStreamReader> |
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#include <QLoggingCategory> |
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|
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#include "Fact.h" |
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#include "UASInterface.h" |
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|
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
|
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|
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Q_DECLARE_LOGGING_CATEGORY(FactLoaderLog) |
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|
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/// Connects to Parameter Manager to load/update Facts
|
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///
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/// These Facts are available for binding within QML code. For example:
|
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/// @code{.unparsed}
|
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/// TextInput {
|
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/// text: autopilot.parameters["RC_MAP_THROTTLE"].value
|
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/// }
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/// @endcode
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|
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class FactLoader : public QObject |
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{ |
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Q_OBJECT |
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|
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public: |
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/// @param uas Uas which this set of facts is associated with
|
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FactLoader(UASInterface* uas, QObject* parent = NULL); |
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|
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~FactLoader(); |
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|
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/// Returns true if the full set of facts are ready
|
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bool factsAreReady(void) { return _factsReady; } |
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|
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/// Returns the fact QVariantMap
|
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const QVariantMap& factMap(void) { return _mapParameterName2Variant; } |
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|
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signals: |
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/// Signalled when the full set of facts are ready
|
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void factsReady(void); |
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|
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private slots: |
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void _parameterChanged(int uas, int component, QString parameterName, QVariant value); |
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void _valueUpdated(QVariant value); |
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void _paramMgrParameterListUpToDate(void); |
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|
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private: |
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static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false); |
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|
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QMap<Fact*, QString> _mapFact2ParameterName; ///< Maps from a Fact to a parameter name
|
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|
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int _uasId; ///< Id for uas which this set of Facts are associated with
|
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int _lastSeenComponent; |
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|
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QGCUASParamManagerInterface* _paramMgr; |
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|
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QVariantMap _mapParameterName2Variant; |
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|
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bool _factsReady; ///< All facts received from param mgr
|
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}; |
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|
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#endif |
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@ -0,0 +1,49 @@
@@ -0,0 +1,49 @@
|
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/*=====================================================================
|
||||
|
||||
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
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
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|
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#include "FactSystemTestGeneric.h" |
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#include "LinkManager.h" |
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#include "MockLink.h" |
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#include "AutoPilotPluginManager.h" |
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#include "UASManager.h" |
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#include "QGCApplication.h" |
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#include "QGCQuickWidget.h" |
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|
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#include <QQuickItem> |
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|
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UT_REGISTER_TEST(FactSystemTestGeneric) |
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|
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/// FactSystem Unit Test for PX4 autpilot
|
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FactSystemTestGeneric::FactSystemTestGeneric(void) |
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{ |
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|
||||
} |
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|
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void FactSystemTestGeneric::init(void) |
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{ |
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UnitTest::init(); |
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_init(MAV_AUTOPILOT_ARDUPILOTMEGA); |
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} |
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@ -0,0 +1,52 @@
@@ -0,0 +1,52 @@
|
||||
/*=====================================================================
|
||||
|
||||
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
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#ifndef FactSystemTestGeneric_H |
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#define FactSystemTestGeneric_H |
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|
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#include "FactSystemTestBase.h" |
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#include "UASInterface.h" |
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#include "AutoPilotPlugin.h" |
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|
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// Unit Test for Fact System on PX4 autopilot
|
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class FactSystemTestGeneric : public FactSystemTestBase |
||||
{ |
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Q_OBJECT |
||||
|
||||
public: |
||||
FactSystemTestGeneric(void); |
||||
|
||||
private slots: |
||||
void init(void); |
||||
void cleanup(void) { _cleanup(); } |
||||
|
||||
void parameter_test(void) { _parameter_test(); } |
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void qml_test(void) { _qml_test(); } |
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void paramMgrSignal_test(void) { _paramMgrSignal_test(); } |
||||
void qmlUpdate_test(void) { _qmlUpdate_test(); } |
||||
}; |
||||
|
||||
#endif |
||||
@ -0,0 +1,49 @@
@@ -0,0 +1,49 @@
|
||||
/*=====================================================================
|
||||
|
||||
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
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#include "FactSystemTestPX4.h" |
||||
#include "LinkManager.h" |
||||
#include "MockLink.h" |
||||
#include "AutoPilotPluginManager.h" |
||||
#include "UASManager.h" |
||||
#include "QGCApplication.h" |
||||
#include "QGCQuickWidget.h" |
||||
|
||||
#include <QQuickItem> |
||||
|
||||
UT_REGISTER_TEST(FactSystemTestPX4) |
||||
|
||||
/// FactSystem Unit Test for PX4 autpilot
|
||||
FactSystemTestPX4::FactSystemTestPX4(void) |
||||
{ |
||||
|
||||
} |
||||
|
||||
void FactSystemTestPX4::init(void) |
||||
{ |
||||
UnitTest::init(); |
||||
_init(MAV_AUTOPILOT_PX4); |
||||
} |
||||
@ -0,0 +1,52 @@
@@ -0,0 +1,52 @@
|
||||
/*=====================================================================
|
||||
|
||||
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
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#ifndef FactSystemTestPX4_H |
||||
#define FactSystemTestPX4_H |
||||
|
||||
#include "FactSystemTestBase.h" |
||||
#include "UASInterface.h" |
||||
#include "AutoPilotPlugin.h" |
||||
|
||||
// Unit Test for Fact System on PX4 autopilot
|
||||
class FactSystemTestPX4 : public FactSystemTestBase |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
FactSystemTestPX4(void); |
||||
|
||||
private slots: |
||||
void init(void); |
||||
void cleanup(void) { _cleanup(); } |
||||
|
||||
void parameter_test(void) { _parameter_test(); } |
||||
void qml_test(void) { _qml_test(); } |
||||
void paramMgrSignal_test(void) { _paramMgrSignal_test(); } |
||||
void qmlUpdate_test(void) { _qmlUpdate_test(); } |
||||
}; |
||||
|
||||
#endif |
||||
Loading…
Reference in new issue