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Param load from file: Support unknown params, diff ui (#9112)

QGC4.4
Don Gagne 5 years ago committed by GitHub
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7221d50c9b
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31 changed files with 784 additions and 938 deletions
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  1. 2
      ChangeLog.md
  2. 1
      qgroundcontrol.qrc
  3. 9
      src/FactSystem/Fact.h
  4. 5
      src/FactSystem/FactMetaData.cc
  5. 2
      src/FactSystem/FactMetaData.h
  6. 372
      src/FactSystem/ParameterManager.cc
  7. 57
      src/FactSystem/ParameterManager.h
  8. 1
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  9. 11
      src/FirmwarePlugin/APM/APMParameterMetaData.cc
  10. 3
      src/FirmwarePlugin/FirmwarePlugin.h
  11. 1
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
  12. 6
      src/FirmwarePlugin/PX4/PX4ParameterMetaData.h
  13. 97
      src/QmlControls/ParameterDiffDialog.qml
  14. 50
      src/QmlControls/ParameterEditor.qml
  15. 385
      src/QmlControls/ParameterEditorController.cc
  16. 151
      src/QmlControls/ParameterEditorController.h
  17. 2
      src/QmlControls/QGCTabButton.qml
  18. 1
      src/QmlControls/QGroundControl/Controls/qmldir
  19. 80
      src/Vehicle/CompInfoParam.cc
  20. 7
      src/Vehicle/CompInfoParam.h
  21. 6
      src/Vehicle/ComponentInformationManager.cc
  22. 3
      src/Vehicle/Vehicle.cc
  23. 2
      src/Vehicle/Vehicle.h
  24. 2
      src/VehicleSetup/FirmwareImage.cc
  25. 16
      src/comm/MockLink.cc
  26. 70
      src/uas/UAS.cc
  27. 2
      src/uas/UAS.h
  28. 2
      src/uas/UASInterface.h
  29. 77
      src/ui/QGCMapRCToParamDialog.cpp
  30. 58
      src/ui/QGCMapRCToParamDialog.h
  31. 241
      src/ui/QGCMapRCToParamDialog.ui

2
ChangeLog.md
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@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes. @@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes.
## 4.1 - Daily build
* Load Parameters From File: Support loading parameters which don't currently existing on the vehicle.
* Load Parameters From File: Add dialog which shows diff of file and vehicle params. Selective param upload from file.
* Video Streaming: New camera control supports capturing individual images from the stream
* Fly: Press and hold on arm button will change it to Force Arm. Click again to force arm.
* VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation

1
qgroundcontrol.qrc
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@ -116,6 +116,7 @@ @@ -116,6 +116,7 @@
<file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
<file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
<file alias="QGroundControl/Controls/OfflineMapButton.qml">src/QmlControls/OfflineMapButton.qml</file>
<file alias="QGroundControl/Controls/ParameterDiffDialog.qml">src/QmlControls/ParameterDiffDialog.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/PIDTuning.qml">src/QmlControls/PIDTuning.qml</file>

9
src/FactSystem/Fact.h
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@ -7,12 +7,7 @@ @@ -7,12 +7,7 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef Fact_H
#define Fact_H
#pragma once
#include "FactMetaData.h"
@ -215,5 +210,3 @@ protected: @@ -215,5 +210,3 @@ protected:
FactValueSliderListModel* _valueSliderModel;
bool _ignoreQGCRebootRequired;
};
#endif

5
src/FactSystem/FactMetaData.cc
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@ -36,9 +36,8 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters = 2.54; @@ -36,9 +36,8 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters = 2.54;
const qreal FactMetaData::UnitConsts_s::ouncesToGrams = 28.3495;
const qreal FactMetaData::UnitConsts_s::poundsToGrams = 453.592;
static const char* kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
static const char* kDefaultGroup = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
const char* FactMetaData::kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
const char* FactMetaData::kDefaultGroup = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
const char* FactMetaData::qgcFileType = "FactMetaData";
const char* FactMetaData::_jsonMetaDataDefinesName = "QGC.MetaData.Defines";

2
src/FactSystem/FactMetaData.h
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@ -194,6 +194,8 @@ public: @@ -194,6 +194,8 @@ public:
static const int kDefaultDecimalPlaces = 3; ///< Default value for decimal places if not specified/known
static const int kUnknownDecimalPlaces = -1; ///< Number of decimal places to specify is not known
static const char* kDefaultCategory;
static const char* kDefaultGroup;
static ValueType_t stringToType(const QString& typeString, bool& unknownType);
static QString typeToString(ValueType_t type);

372
src/FactSystem/ParameterManager.cc
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@ -82,7 +82,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle) @@ -82,7 +82,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
, _saveRequired (false)
, _metaDataAddedToFacts (false)
, _logReplay (vehicle->vehicleLinkManager()->primaryLink() && vehicle->vehicleLinkManager()->primaryLink()->isLogReplay())
, _parameterSetMajorVersion (-1)
, _prevWaitingReadParamIndexCount (0)
, _prevWaitingReadParamNameCount (0)
, _prevWaitingWriteParamNameCount (0)
@ -91,8 +90,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle) @@ -91,8 +90,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
, _indexBatchQueueActive (false)
, _totalParamCount (0)
{
_versionParam = vehicle->firmwarePlugin()->getVersionParam();
if (_vehicle->isOfflineEditingVehicle()) {
_loadOfflineEditingParams();
return;
@ -108,8 +105,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle) @@ -108,8 +105,6 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
_waitingParamTimeoutTimer.setInterval(3000);
connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_waitingParamTimeout);
connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterManager::_parameterUpdate);
// Ensure the cache directory exists
QFileInfo(QSettings().fileName()).dir().mkdir("ParamCache");
}
@ -171,26 +166,70 @@ void ParameterManager::_updateProgressBar(void) @@ -171,26 +166,70 @@ void ParameterManager::_updateProgressBar(void)
}
}
/// Called whenever a parameter is updated or first seen.
void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value)
void ParameterManager::mavlinkMessageReceived(mavlink_message_t message)
{
// Is this for our uas?
if (vehicleId != _vehicle->id()) {
return;
if (message.msgid == MAVLINK_MSG_ID_PARAM_VALUE) {
mavlink_param_value_t param_value;
mavlink_msg_param_value_decode(&message, &param_value);
// This will null terminate the name string
QByteArray bytes(param_value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
QString parameterName(bytes);
mavlink_param_union_t paramUnion;
paramUnion.param_float = param_value.param_value;
paramUnion.type = param_value.param_type;
QVariant parameterValue;
switch (paramUnion.type) {
case MAV_PARAM_TYPE_REAL32:
parameterValue = QVariant(paramUnion.param_float);
break;
case MAV_PARAM_TYPE_UINT8:
parameterValue = QVariant(paramUnion.param_uint8);
break;
case MAV_PARAM_TYPE_INT8:
parameterValue = QVariant(paramUnion.param_int8);
break;
case MAV_PARAM_TYPE_UINT16:
parameterValue = QVariant(paramUnion.param_uint16);
break;
case MAV_PARAM_TYPE_INT16:
parameterValue = QVariant(paramUnion.param_int16);
break;
case MAV_PARAM_TYPE_UINT32:
parameterValue = QVariant(paramUnion.param_uint32);
break;
case MAV_PARAM_TYPE_INT32:
parameterValue = QVariant(paramUnion.param_int32);
break;
default:
qCritical() << "ParameterManager::_handleParamValue - unsupported MAV_PARAM_TYPE" << paramUnion.type;
break;
}
_handleParamValue(message.compid, parameterName, param_value.param_count, param_value.param_index, static_cast<MAV_PARAM_TYPE>(param_value.param_type), parameterValue);
}
}
/// Called whenever a parameter is updated or first seen.
void ParameterManager::_handleParamValue(int componentId, QString parameterName, int parameterCount, int parameterIndex, MAV_PARAM_TYPE mavParamType, QVariant parameterValue)
{
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) <<
"_parameterUpdate" <<
"name:" << parameterName <<
"count:" << parameterCount <<
"index:" << parameterId <<
"mavType:" << mavType <<
"value:" << value <<
"index:" << parameterIndex <<
"mavType:" << mavParamType <<
"value:" << parameterValue <<
")";
// ArduPilot has this strange behavior of streaming parameters that we didn't ask for. This even happens before it responds to the
// PARAM_REQUEST_LIST. We disregard any of this until the initial request is responded to.
if (parameterId == 65535 && parameterName != "_HASH_CHECK" && _initialRequestTimeoutTimer.isActive()) {
if (parameterIndex == 65535 && parameterName != "_HASH_CHECK" && _initialRequestTimeoutTimer.isActive()) {
qCDebug(ParameterManagerVerbose1Log) << "Disregarding unrequested param prior to initial list response" << parameterName;
return;
}
@ -218,7 +257,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -218,7 +257,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
if (_vehicle->px4Firmware() && parameterName == "_HASH_CHECK") {
if (!_initialLoadComplete && !_logReplay) {
/* we received a cache hash, potentially load from cache */
_tryCacheHashLoad(vehicleId, componentId, value);
_tryCacheHashLoad(_vehicle->id(), componentId, parameterValue);
}
return;
}
@ -226,14 +265,13 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -226,14 +265,13 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
// Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
if (_debugCacheMap[componentId].contains(parameterName)) {
const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
const void *cacheData = cacheParamTypeVal.second.constData();
const void *vehicleData = value.constData();
const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
const void* cacheData = cacheParamTypeVal.second.constData();
const void* vehicleData = parameterValue.constData();
if (memcmp(cacheData, vehicleData, dataSize)) {
qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << value << cacheParamTypeVal.second;
qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << parameterValue << cacheParamTypeVal.second;
}
_debugCacheParamSeen[componentId][parameterName] = true;
} else {
@ -244,15 +282,13 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -244,15 +282,13 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
_initialRequestTimeoutTimer.stop();
_waitingParamTimeoutTimer.stop();
_dataMutex.lock();
// Update our total parameter counts
if (!_paramCountMap.contains(componentId)) {
_paramCountMap[componentId] = parameterCount;
_totalParamCount += parameterCount;
}
// If we've never seen this component id before, setup the wait lists.
// If we've never seen this component id before, setup the index wait lists.
if (!_waitingReadParamIndexMap.contains(componentId)) {
// Add all indices to the wait list, parameter index is 0-based
for (int waitingIndex=0; waitingIndex<parameterCount; waitingIndex++) {
@ -267,22 +303,16 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -267,22 +303,16 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Seeing component for first time - paramcount:" << parameterCount;
}
bool componentParamsComplete = false;
if (_waitingReadParamIndexMap[componentId].count() == 1) {
// We need to know when we get the last param from a component in order to complete setup
componentParamsComplete = true;
}
if (!_waitingReadParamIndexMap[componentId].contains(parameterId) &&
if (!_waitingReadParamIndexMap[componentId].contains(parameterIndex) &&
!_waitingReadParamNameMap[componentId].contains(parameterName) &&
!_waitingWriteParamNameMap[componentId].contains(parameterName)) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Unrequested param update" << parameterName;
}
// Remove this parameter from the waiting lists
if (_waitingReadParamIndexMap[componentId].contains(parameterId)) {
_waitingReadParamIndexMap[componentId].remove(parameterId);
_indexBatchQueue.removeOne(parameterId);
if (_waitingReadParamIndexMap[componentId].contains(parameterIndex)) {
_waitingReadParamIndexMap[componentId].remove(parameterIndex);
_indexBatchQueue.removeOne(parameterIndex);
_fillIndexBatchQueue(false /* waitingParamTimeout */);
}
_waitingReadParamNameMap[componentId].remove(parameterName);
@ -331,7 +361,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -331,7 +361,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
_waitingParamTimeoutTimer.start();
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer: totalWaitingParamCount:" << totalWaitingParamCount;
} else {
if (!_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
if (!_mapCompId2FactMap.contains(_vehicle->defaultComponentId())) {
// Still waiting for parameters from default component
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer (still waiting for default component params)";
_waitingParamTimeoutTimer.start();
@ -342,83 +372,27 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -342,83 +372,27 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
\
_updateProgressBar();
// Get parameter set version
if (!_versionParam.isEmpty() && _versionParam == parameterName) {
_parameterSetMajorVersion = value.toInt();
}
if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(parameterName)) {
Fact* fact = nullptr;
if (_mapCompId2FactMap.contains(componentId) && _mapCompId2FactMap[componentId].contains(parameterName)) {
fact = _mapCompId2FactMap[componentId][parameterName];
} else {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Adding new fact" << parameterName;
FactMetaData::ValueType_t factType;
switch (mavType) {
case MAV_PARAM_TYPE_UINT8:
factType = FactMetaData::valueTypeUint8;
break;
case MAV_PARAM_TYPE_INT8:
factType = FactMetaData::valueTypeInt8;
break;
case MAV_PARAM_TYPE_UINT16:
factType = FactMetaData::valueTypeUint16;
break;
case MAV_PARAM_TYPE_INT16:
factType = FactMetaData::valueTypeInt16;
break;
case MAV_PARAM_TYPE_UINT32:
factType = FactMetaData::valueTypeUint32;
break;
case MAV_PARAM_TYPE_INT32:
factType = FactMetaData::valueTypeInt32;
break;
case MAV_PARAM_TYPE_UINT64:
factType = FactMetaData::valueTypeUint64;
break;
case MAV_PARAM_TYPE_INT64:
factType = FactMetaData::valueTypeInt64;
break;
case MAV_PARAM_TYPE_REAL32:
factType = FactMetaData::valueTypeFloat;
break;
case MAV_PARAM_TYPE_REAL64:
factType = FactMetaData::valueTypeDouble;
break;
default:
factType = FactMetaData::valueTypeInt32;
qCritical() << "Unsupported fact type" << mavType;
break;
}
fact = new Fact(componentId, parameterName, mavTypeToFactType(mavParamType), this);
FactMetaData* factMetaData = _vehicle->compInfoManager()->compInfoParam(componentId)->factMetaDataForName(parameterName, fact->type());
fact->setMetaData(factMetaData);
Fact* fact = new Fact(componentId, parameterName, factType, this);
_mapCompId2FactMap[componentId][parameterName] = fact;
_mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact);
// We need to know when the fact value changes so we can update the vehicle
connect(fact, &Fact::_containerRawValueChanged, this, &ParameterManager::_factRawValueUpdated);
// We need to know when the fact changes from QML so that we can send the new value to the parameter manager
connect(fact, &Fact::_containerRawValueChanged, this, &ParameterManager::_valueUpdated);
emit factAdded(componentId, fact);
}
_dataMutex.unlock();
Fact* fact = nullptr;
if (_mapParameterName2Variant[componentId].contains(parameterName)) {
fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
}
if (fact) {
fact->_containerSetRawValue(value);
} else {
qWarning() << "Internal error";
}
if (componentParamsComplete) {
if (componentId == _vehicle->defaultComponentId()) {
// Add meta data to default component. We need to do this before we setup the group map since group
// map requires meta data.
_addMetaDataToDefaultComponent();
}
// When we are getting the very last component param index, reset the group maps to update for the
// new params. By handling this here, we can pick up components which finish up later than the default
// component param set.
_setupComponentCategoryMap(componentId);
}
fact->_containerSetRawValue(parameterValue);
// Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
// which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
@ -426,7 +400,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -426,7 +400,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
if (!_logReplay && _vehicle->px4Firmware()) {
if (_prevWaitingReadParamIndexCount + _prevWaitingReadParamNameCount != 0 && readWaitingParamCount == 0) {
// All reads just finished, update the cache
_writeLocalParamCache(vehicleId, componentId);
_writeLocalParamCache(_vehicle->id(), componentId);
}
}
@ -439,20 +413,9 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString @@ -439,20 +413,9 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "_parameterUpdate complete";
}
/// Connected to Fact::valueUpdated
///
/// Writes the parameter to mavlink, sets up for write wait
void ParameterManager::_valueUpdated(const QVariant& value)
/// Writes the parameter update to mavlink, sets up for write wait
void ParameterManager::_factRawValueUpdateWorker(int componentId, const QString& name, FactMetaData::ValueType_t valueType, const QVariant& rawValue)
{
Fact* fact = qobject_cast<Fact*>(sender());
if (!fact) {
qWarning() << "Internal error";
return;
}
int componentId = fact->componentId();
QString name = fact->name();
_dataMutex.lock();
if (_waitingWriteParamNameMap.contains(componentId)) {
@ -466,13 +429,24 @@ void ParameterManager::_valueUpdated(const QVariant& value) @@ -466,13 +429,24 @@ void ParameterManager::_valueUpdated(const QVariant& value)
_waitingParamTimeoutTimer.start();
_saveRequired = true;
} else {
qWarning() << "Internal error";
qWarning() << "Internal error ParameterManager::_factValueUpdateWorker: component id not found" << componentId;
}
_dataMutex.unlock();
_writeParameterRaw(componentId, fact->name(), value);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Set parameter - name:" << name << value << "(_waitingParamTimeoutTimer started)";
_sendParamSetToVehicle(componentId, name, valueType, rawValue);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Update parameter (_waitingParamTimeoutTimer started) - compId:name:rawValue" << componentId << name << rawValue;
}
void ParameterManager::_factRawValueUpdated(const QVariant& rawValue)
{
Fact* fact = qobject_cast<Fact*>(sender());
if (!fact) {
qWarning() << "Internal error";
return;
}
_factRawValueUpdateWorker(fact->componentId(), fact->name(), fact->type(), rawValue);
}
void ParameterManager::refreshAllParameters(uint8_t componentId)
@ -571,7 +545,7 @@ void ParameterManager::refreshParametersPrefix(int componentId, const QString& n @@ -571,7 +545,7 @@ void ParameterManager::refreshParametersPrefix(int componentId, const QString& n
componentId = _actualComponentId(componentId);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "refreshParametersPrefix - name:" << namePrefix << ")";
for(const QString &paramName: _mapParameterName2Variant[componentId].keys()) {
for (const QString &paramName: _mapCompId2FactMap[componentId].keys()) {
if (paramName.startsWith(namePrefix)) {
refreshParameter(componentId, paramName);
}
@ -583,8 +557,8 @@ bool ParameterManager::parameterExists(int componentId, const QString& paramName @@ -583,8 +557,8 @@ bool ParameterManager::parameterExists(int componentId, const QString& paramName
bool ret = false;
componentId = _actualComponentId(componentId);
if (_mapParameterName2Variant.contains(componentId)) {
ret = _mapParameterName2Variant[componentId].contains(_remapParamNameToVersion(paramName));
if (_mapCompId2FactMap.contains(componentId)) {
ret = _mapCompId2FactMap[componentId].contains(_remapParamNameToVersion(paramName));
}
return ret;
@ -595,87 +569,25 @@ Fact* ParameterManager::getParameter(int componentId, const QString& paramName) @@ -595,87 +569,25 @@ Fact* ParameterManager::getParameter(int componentId, const QString& paramName)
componentId = _actualComponentId(componentId);
QString mappedParamName = _remapParamNameToVersion(paramName);
if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(mappedParamName)) {
if (!_mapCompId2FactMap.contains(componentId) || !_mapCompId2FactMap[componentId].contains(mappedParamName)) {
qgcApp()->reportMissingParameter(componentId, mappedParamName);
return &_defaultFact;
}
return _mapParameterName2Variant[componentId][mappedParamName].value<Fact*>();
return _mapCompId2FactMap[componentId][mappedParamName];
}
QStringList ParameterManager::parameterNames(int componentId)
{
QStringList names;
for(const QString &paramName: _mapParameterName2Variant[_actualComponentId(componentId)].keys()) {
for(const QString &paramName: _mapCompId2FactMap[_actualComponentId(componentId)].keys()) {
names << paramName;
}
return names;
}
void ParameterManager::_setupComponentCategoryMap(int componentId)
{
if (componentId == _vehicle->defaultComponentId()) {
_setupDefaultComponentCategoryMap();
return;
}
ComponentCategoryMapType& componentCategoryMap = _componentCategoryMaps[componentId];
QString category = getComponentCategory(componentId);
// Must be able to handle being called multiple times
componentCategoryMap.clear();
// Fill parameters into the group determined by param name
for (const QString &paramName: _mapParameterName2Variant[componentId].keys()) {
int i = paramName.indexOf("_");
if (i > 0) {
componentCategoryMap[category][paramName.left(i)] += paramName;
} else {
componentCategoryMap[category][tr("Misc")] += paramName;
}
}
// Memorize category for component ID
if (!_componentCategoryHash.contains(category)) {
_componentCategoryHash.insert(category, componentId);
}
}
void ParameterManager::_setupDefaultComponentCategoryMap(void)
{
ComponentCategoryMapType& defaultComponentCategoryMap = _componentCategoryMaps[_vehicle->defaultComponentId()];
// Must be able to handle being called multiple times
defaultComponentCategoryMap.clear();
for (const QString &paramName: _mapParameterName2Variant[_vehicle->defaultComponentId()].keys()) {
Fact* fact = _mapParameterName2Variant[_vehicle->defaultComponentId()][paramName].value<Fact*>();
defaultComponentCategoryMap[fact->category()][fact->group()] += paramName;
}
}
QString ParameterManager::getComponentCategory(int componentId)
{
if (_mavlinkCompIdHash.contains(componentId)) {
return tr("Component %1 (%2)").arg(_mavlinkCompIdHash.value(componentId)).arg(componentId);
}
QString componentCategoryPrefix = tr("Component ");
return QString("%1%2").arg(componentCategoryPrefix).arg(componentId);
}
const QMap<QString, QMap<QString, QStringList> >& ParameterManager::getComponentCategoryMap(int componentId)
{
return _componentCategoryMaps[componentId];
}
int ParameterManager::getComponentId(const QString& category)
{
return (_componentCategoryHash.contains(category)) ? _componentCategoryHash.value(category) : _vehicle->defaultComponentId();
}
/// Requests missing index based parameters from the vehicle.
/// @param waitingParamTimeout: true: being called due to timeout, false: being called to re-fill the batch queue
/// return true: Parameters were requested, false: No more requests needed
@ -747,10 +659,10 @@ void ParameterManager::_waitingParamTimeout(void) @@ -747,10 +659,10 @@ void ParameterManager::_waitingParamTimeout(void)
// First check for any missing parameters from the initial index based load
paramsRequested = _fillIndexBatchQueue(true /* waitingParamTimeout */);
if (!paramsRequested && !_waitingForDefaultComponent && !_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
if (!paramsRequested && !_waitingForDefaultComponent && !_mapCompId2FactMap.contains(_vehicle->defaultComponentId())) {
// Initial load is complete but we still don't have any default component params. Wait one more cycle to see if the
// any show up.
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer - still don't have default component params" << _vehicle->defaultComponentId() << _mapParameterName2Variant.keys();
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer - still don't have default component params" << _vehicle->defaultComponentId();
_waitingParamTimeoutTimer.start();
_waitingForDefaultComponent = true;
return;
@ -765,7 +677,8 @@ void ParameterManager::_waitingParamTimeout(void) @@ -765,7 +677,8 @@ void ParameterManager::_waitingParamTimeout(void)
paramsRequested = true;
_waitingWriteParamNameMap[componentId][paramName]++; // Bump retry count
if (_waitingWriteParamNameMap[componentId][paramName] <= _maxReadWriteRetry) {
_writeParameterRaw(componentId, paramName, getParameter(componentId, paramName)->rawValue());
Fact* fact = getParameter(componentId, paramName);
_sendParamSetToVehicle(componentId, paramName, fact->type(), fact->rawValue());
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Write resend for (paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")";
if (++batchCount > maxBatchSize) {
goto Out;
@ -827,17 +740,16 @@ void ParameterManager::_readParameterRaw(int componentId, const QString& paramNa @@ -827,17 +740,16 @@ void ParameterManager::_readParameterRaw(int componentId, const QString& paramNa
_vehicle->sendMessageOnLinkThreadSafe(_vehicle->vehicleLinkManager()->primaryLink(), msg);
}
void ParameterManager::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
void ParameterManager::_sendParamSetToVehicle(int componentId, const QString& paramName, FactMetaData::ValueType_t valueType, const QVariant& value)
{
mavlink_param_set_t p;
mavlink_param_union_t union_value;
memset(&p, 0, sizeof(p));
FactMetaData::ValueType_t factType = getParameter(componentId, paramName)->type();
p.param_type = _factTypeToMavType(factType);
p.param_type = factTypeToMavType(valueType);
switch (factType) {
switch (valueType) {
case FactMetaData::valueTypeUint8:
union_value.param_uint8 = (uint8_t)value.toUInt();
break;
@ -863,7 +775,7 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN @@ -863,7 +775,7 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN
break;
default:
qCritical() << "Unsupported fact type" << factType;
qCritical() << "Unsupported fact falue type" << valueType;
// fall through
case FactMetaData::valueTypeInt32:
@ -890,8 +802,8 @@ void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId) @@ -890,8 +802,8 @@ void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
{
CacheMapName2ParamTypeVal cacheMap;
for(const QString& paramName: _mapParameterName2Variant[componentId].keys()) {
const Fact *fact = _mapParameterName2Variant[componentId][paramName].value<Fact*>();
for (const QString& paramName: _mapCompId2FactMap[componentId].keys()) {
const Fact *fact = _mapCompId2FactMap[componentId][paramName];
cacheMap[paramName] = ParamTypeVal(fact->type(), fact->rawValue());
}
@ -931,13 +843,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian @@ -931,13 +843,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
QDataStream ds(&cacheFile);
ds >> cacheMap;
// Load parameter meta data for the version number stored in cache.
// We need meta data so we have access to the volatile bit
if (cacheMap.contains(_versionParam)) {
_parameterSetMajorVersion = cacheMap[_versionParam].second.toInt();
}
_vehicle->compInfoManager()->compInfoParam(MAV_COMP_ID_AUTOPILOT1)->_parameterMajorVersionKnown(_parameterSetMajorVersion);
/* compute the crc of the local cache to check against the remote */
for (const QString& name: cacheMap.keys()) {
@ -962,8 +867,8 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian @@ -962,8 +867,8 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
for (const QString& name: cacheMap.keys()) {
const ParamTypeVal& paramTypeVal = cacheMap[name];
const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
const int mavType = _factTypeToMavType(fact_type);
_parameterUpdate(vehicleId, componentId, name, count, index++, mavType, paramTypeVal.second);
const MAV_PARAM_TYPE mavParamType = factTypeToMavType(fact_type);
_handleParamValue(componentId, name, count, index++, mavParamType, paramTypeVal.second);
}
// Return the hash value to notify we don't want any more updates
@ -1004,8 +909,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian @@ -1004,8 +909,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
ani->start(QAbstractAnimation::DeleteWhenStopped);
} else {
// Cache parameter version may differ from vehicle parameter version so we can't trust information loaded from cache parameter version number
_parameterSetMajorVersion = -1;
qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
_debugCacheCRC[componentId] = true;
@ -1015,7 +918,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian @@ -1015,7 +918,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
}
qgcApp()->showAppMessage(tr("Parameter cache CRC match failed"));
}
_vehicle->compInfoManager()->compInfoParam(MAV_COMP_ID_AUTOPILOT1)->_clearPX4ParameterMetaData();
}
}
@ -1048,7 +950,7 @@ QString ParameterManager::readParametersFromStream(QTextStream& stream) @@ -1048,7 +950,7 @@ QString ParameterManager::readParametersFromStream(QTextStream& stream)
}
Fact* fact = getParameter(componentId, paramName);
if (fact->type() != _mavTypeToFactType((MAV_PARAM_TYPE)mavType)) {
if (fact->type() != mavTypeToFactType((MAV_PARAM_TYPE)mavType)) {
QString error;
error = QStringLiteral("%1:%2 ").arg(componentId).arg(paramName);
typeErrors += error;
@ -1092,11 +994,11 @@ void ParameterManager::writeParametersToStream(QTextStream& stream) @@ -1092,11 +994,11 @@ void ParameterManager::writeParametersToStream(QTextStream& stream)
stream << "#\n";
stream << "# Vehicle-Id Component-Id Name Value Type\n";
for (int componentId: _mapParameterName2Variant.keys()) {
for (const QString &paramName: _mapParameterName2Variant[componentId].keys()) {
Fact* fact = _mapParameterName2Variant[componentId][paramName].value<Fact*>();
for (int componentId: _mapCompId2FactMap.keys()) {
for (const QString &paramName: _mapCompId2FactMap[componentId].keys()) {
Fact* fact = _mapCompId2FactMap[componentId][paramName];
if (fact) {
stream << _vehicle->id() << "\t" << componentId << "\t" << paramName << "\t" << fact->rawValueStringFullPrecision() << "\t" << QString("%1").arg(_factTypeToMavType(fact->type())) << "\n";
stream << _vehicle->id() << "\t" << componentId << "\t" << paramName << "\t" << fact->rawValueStringFullPrecision() << "\t" << QString("%1").arg(factTypeToMavType(fact->type())) << "\n";
} else {
qWarning() << "Internal error: missing fact";
}
@ -1106,7 +1008,7 @@ void ParameterManager::writeParametersToStream(QTextStream& stream) @@ -1106,7 +1008,7 @@ void ParameterManager::writeParametersToStream(QTextStream& stream)
stream.flush();
}
MAV_PARAM_TYPE ParameterManager::_factTypeToMavType(FactMetaData::ValueType_t factType)
MAV_PARAM_TYPE ParameterManager::factTypeToMavType(FactMetaData::ValueType_t factType)
{
switch (factType) {
case FactMetaData::valueTypeUint8:
@ -1145,7 +1047,7 @@ MAV_PARAM_TYPE ParameterManager::_factTypeToMavType(FactMetaData::ValueType_t fa @@ -1145,7 +1047,7 @@ MAV_PARAM_TYPE ParameterManager::_factTypeToMavType(FactMetaData::ValueType_t fa
}
}
FactMetaData::ValueType_t ParameterManager::_mavTypeToFactType(MAV_PARAM_TYPE mavType)
FactMetaData::ValueType_t ParameterManager::mavTypeToFactType(MAV_PARAM_TYPE mavType)
{
switch (mavType) {
case MAV_PARAM_TYPE_UINT8:
@ -1184,26 +1086,6 @@ FactMetaData::ValueType_t ParameterManager::_mavTypeToFactType(MAV_PARAM_TYPE ma @@ -1184,26 +1086,6 @@ FactMetaData::ValueType_t ParameterManager::_mavTypeToFactType(MAV_PARAM_TYPE ma
}
}
void ParameterManager::_addMetaDataToDefaultComponent(void)
{
if (_metaDataAddedToFacts) {
return;
}
_metaDataAddedToFacts = true;
_vehicle->compInfoManager()->compInfoParam(MAV_COMP_ID_AUTOPILOT1)->_parameterMajorVersionKnown(_parameterSetMajorVersion);
if (_mapParameterName2Variant.contains(MAV_COMP_ID_AUTOPILOT1)) {
// Loop over all parameters in autopilot component adding meta data
QVariantMap& factMap = _mapParameterName2Variant[MAV_COMP_ID_AUTOPILOT1];
for (const QString& key: factMap.keys()) {
Fact* fact = factMap[key].value<Fact*>();
FactMetaData* factMetaData = _vehicle->compInfoManager()->compInfoParam(MAV_COMP_ID_AUTOPILOT1)->factMetaDataForName(key, fact->type());
fact->setMetaData(factMetaData);
}
}
}
void ParameterManager::_checkInitialLoadComplete(void)
{
// Already processed?
@ -1218,7 +1100,7 @@ void ParameterManager::_checkInitialLoadComplete(void) @@ -1218,7 +1100,7 @@ void ParameterManager::_checkInitialLoadComplete(void)
}
}
if (!_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
if (!_mapCompId2FactMap.contains(_vehicle->defaultComponentId())) {
// No default component params yet, not done yet
return;
}
@ -1400,16 +1282,14 @@ void ParameterManager::_loadOfflineEditingParams(void) @@ -1400,16 +1282,14 @@ void ParameterManager::_loadOfflineEditingParams(void)
break;
}
// Get parameter set version
if (!_versionParam.isEmpty() && _versionParam == paramName) {
_parameterSetMajorVersion = paramValue.toInt();
}
Fact* fact = new Fact(defaultComponentId, paramName, mavTypeToFactType(paramType), this);
FactMetaData* factMetaData = _vehicle->compInfoManager()->compInfoParam(defaultComponentId)->factMetaDataForName(paramName, fact->type());
fact->setMetaData(factMetaData);
Fact* fact = new Fact(defaultComponentId, paramName, _mavTypeToFactType(paramType), this);
_mapParameterName2Variant[defaultComponentId][paramName] = QVariant::fromValue(fact);
_mapCompId2FactMap[defaultComponentId][paramName] = fact;
}
_setupDefaultComponentCategoryMap();
_parametersReady = true;
_initialLoadComplete = true;
_debugCacheCRC.clear();
@ -1417,7 +1297,7 @@ void ParameterManager::_loadOfflineEditingParams(void) @@ -1417,7 +1297,7 @@ void ParameterManager::_loadOfflineEditingParams(void)
void ParameterManager::resetAllParametersToDefaults()
{
_vehicle->sendMavCommand(MAV_COMP_ID_ALL,
_vehicle->sendMavCommand(MAV_COMP_ID_AUTOPILOT1,
MAV_CMD_PREFLIGHT_STORAGE,
true, // showError
2, // Reset params to default

57
src/FactSystem/ParameterManager.h
Unescape View File

@ -27,10 +27,14 @@ Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log) @@ -27,10 +27,14 @@ Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
class ParameterEditorController;
class ParameterManager : public QObject
{
Q_OBJECT
friend class ParameterEditorController;
public:
/// @param uas Uas which this set of facts is associated with
ParameterManager(Vehicle* vehicle);
@ -50,6 +54,8 @@ public: @@ -50,6 +54,8 @@ public:
/// @return Location of parameter cache file
static QString parameterCacheFile(int vehicleId, int componentId);
void mavlinkMessageReceived(mavlink_message_t message);
QList<int> componentIds(void);
/// Re-request the full set of parameters from the autopilot
@ -78,70 +84,55 @@ public: @@ -78,70 +84,55 @@ public:
/// @param name: Parameter name
Fact* getParameter(int componentId, const QString& paramName);
int getComponentId(const QString& category);
QString getComponentCategory(int componentId);
const QMap<QString, QMap<QString, QStringList> >& getComponentCategoryMap(int componentId);
/// Returns error messages from loading
QString readParametersFromStream(QTextStream& stream);
void writeParametersToStream(QTextStream& stream);
/// Returns the version number for the parameter set, -1 if not known
int parameterSetVersion(void) { return _parameterSetMajorVersion; }
bool pendingWrites(void);
Vehicle* vehicle(void) { return _vehicle; }
static MAV_PARAM_TYPE factTypeToMavType(FactMetaData::ValueType_t factType);
static FactMetaData::ValueType_t mavTypeToFactType(MAV_PARAM_TYPE mavType);
signals:
void parametersReadyChanged (bool parametersReady);
void missingParametersChanged (bool missingParameters);
void loadProgressChanged (float value);
void pendingWritesChanged (bool pendingWrites);
void factAdded (int componentId, Fact* fact);
protected:
Vehicle* _vehicle;
MAVLinkProtocol* _mavlink;
void _parameterUpdate (int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
void _valueUpdated (const QVariant& value);
void _waitingParamTimeout (void);
void _tryCacheLookup (void);
void _initialRequestTimeout (void);
private slots:
void _factRawValueUpdated (const QVariant& rawValue);
private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
void _handleParamValue (int componentId, QString parameterName, int parameterCount, int parameterIndex, MAV_PARAM_TYPE mavParamType, QVariant parameterValue);
void _factRawValueUpdateWorker (int componentId, const QString& name, FactMetaData::ValueType_t valueType, const QVariant& rawValue);
void _waitingParamTimeout (void);
void _tryCacheLookup (void);
void _initialRequestTimeout (void);
int _actualComponentId (int componentId);
void _setupComponentCategoryMap (int componentId);
void _setupDefaultComponentCategoryMap (void);
void _readParameterRaw (int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw (int componentId, const QString& paramName, const QVariant& value);
void _sendParamSetToVehicle (int componentId, const QString& paramName, FactMetaData::ValueType_t valueType, const QVariant& value);
void _writeLocalParamCache (int vehicleId, int componentId);
void _tryCacheHashLoad (int vehicleId, int componentId, QVariant hash_value);
void _loadMetaData (void);
void _clearMetaData (void);
void _addMetaDataToDefaultComponent (void);
QString _remapParamNameToVersion (const QString& paramName);
void _loadOfflineEditingParams (void);
QString _logVehiclePrefix (int componentId);
void _setLoadProgress (double loadProgress);
bool _fillIndexBatchQueue (bool waitingParamTimeout);
void _updateProgressBar (void);
void _checkInitialLoadComplete (void);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _checkInitialLoadComplete(void);
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
Vehicle* _vehicle;
MAVLinkProtocol* _mavlink;
// List of category map of component parameters
typedef QMap<QString, QMap<QString, QStringList>> ComponentCategoryMapType; //<Key: category, Value: Map< Key: group, Value: parameter names list >>
QMap<int, ComponentCategoryMapType> _componentCategoryMaps;
QHash<QString, int> _componentCategoryHash;
QMap<int /* comp id */, QMap<QString /* parameter name */, Fact*>> _mapCompId2FactMap;
double _loadProgress; ///< Parameter load progess, [0.0,1.0]
bool _parametersReady; ///< true: parameter load complete
@ -151,8 +142,6 @@ private: @@ -151,8 +142,6 @@ private:
bool _saveRequired; ///< true: _saveToEEPROM should be called
bool _metaDataAddedToFacts; ///< true: FactMetaData has been adde to the default component facts
bool _logReplay; ///< true: running with log replay link
QString _versionParam; ///< Parameter which contains parameter set version
int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known
typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;

1
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
Unescape View File

@ -98,7 +98,6 @@ public: @@ -98,7 +98,6 @@ public:
void initializeVehicle (Vehicle* vehicle) override;
bool sendHomePositionToVehicle (void) override;
QString missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override;
QString getVersionParam (void) override { return QStringLiteral("SYSID_SW_MREV"); }
QString _internalParameterMetaDataFile (Vehicle* vehicle) override;
FactMetaData* _getMetaDataForFact (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
void _getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) override { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }

11
src/FirmwarePlugin/APM/APMParameterMetaData.cc
Unescape View File

@ -242,9 +242,6 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData @@ -242,9 +242,6 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
QString group = _groupFromParameterName(name);
QString category = xml.attributes().value("user").toString();
if (category.isEmpty()) {
category = QStringLiteral("Advanced");
}
QString shortDescription = xml.attributes().value("humanName").toString();
QString longDescription = xml.attributes().value("documentation").toString();
@ -266,7 +263,9 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData @@ -266,7 +263,9 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
}
qCDebug(APMParameterMetaDataVerboseLog) << "inserting metadata for field" << name;
rawMetaData->name = name;
rawMetaData->category = category;
if (!category.isEmpty()) {
rawMetaData->category = category;
}
rawMetaData->group = group;
rawMetaData->shortDescription = shortDescription;
rawMetaData->longDescription = longDescription;
@ -448,7 +447,9 @@ FactMetaData* APMParameterMetaData::getMetaDataForFact(const QString& name, MAV_ @@ -448,7 +447,9 @@ FactMetaData* APMParameterMetaData::getMetaDataForFact(const QString& name, MAV_
}
metaData->setName(rawMetaData->name);
metaData->setCategory(rawMetaData->category);
if (!rawMetaData->category.isEmpty()) {
metaData->setCategory(rawMetaData->category);
}
metaData->setGroup(rawMetaData->group);
metaData->setVehicleRebootRequired(rawMetaData->rebootRequired);

3
src/FirmwarePlugin/FirmwarePlugin.h
Unescape View File

@ -209,9 +209,6 @@ public: @@ -209,9 +209,6 @@ public:
/// false: Do not send first item to vehicle, sequence numbers must be adjusted
virtual bool sendHomePositionToVehicle(void);
/// Returns the parameter which is used to identify the version number of parameter set
virtual QString getVersionParam(void) { return QString(); }
/// Returns the parameter set version info pulled from inside the meta data file. -1 if not found.
/// Note: The implementation for this must not vary by vehicle type.
/// Important: Only CompInfoParam code should use this method

1
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
Unescape View File

@ -56,7 +56,6 @@ public: @@ -56,7 +56,6 @@ public:
void initializeVehicle (Vehicle* vehicle) override;
bool sendHomePositionToVehicle (void) override;
QString missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override;
QString getVersionParam (void) override { return QString("SYS_PARAM_VER"); }
FactMetaData* _getMetaDataForFact (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
QString _internalParameterMetaDataFile (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
void _getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) override;

6
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h
Unescape View File

@ -7,9 +7,7 @@ @@ -7,9 +7,7 @@
*
****************************************************************************/
#ifndef PX4ParameterMetaData_H
#define PX4ParameterMetaData_H
#pragma once
#include <QObject>
#include <QMap>
@ -60,5 +58,3 @@ private: @@ -60,5 +58,3 @@ private:
bool _parameterMetaDataLoaded = false; ///< true: parameter meta data already loaded
FactMetaData::NameToMetaDataMap_t _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
};
#endif

97
src/QmlControls/ParameterDiffDialog.qml
Unescape View File

@ -0,0 +1,97 @@ @@ -0,0 +1,97 @@
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.12
import QtQuick.Layouts 1.2
import QtQuick.Controls 2.5
import QtQuick.Dialogs 1.3
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controllers 1.0
QGCPopupDialog {
title: qsTr("Load Parameters")
buttons: StandardButton.Cancel | (paramController.diffList.count ? StandardButton.Ok : 0)
property var paramController
function accept() {
hideDialog()
paramController.sendDiff();
}
Component.onDestruction: paramController.clearDiff();
ColumnLayout {
spacing: ScreenTools.defaultDialogControlSpacing
QGCLabel {
Layout.preferredWidth: mainGrid.visible ? mainGrid.width : ScreenTools.defaultFontPixelWidth * 40
wrapMode: Text.WordWrap
text: paramController.diffList.count ?
qsTr("The following parameters from the loaded file differ from what is currently set on the Vehicle. Click 'Ok' to update them on the Vehicle.") :
qsTr("There are no differences between the file loaded and the current settings on the Vehicle.")
}
GridLayout {
id: mainGrid
rows: paramController.diffList.count + 1
columns: paramController.diffMultipleComponents ? 5 : 4
flow: GridLayout.TopToBottom
visible: paramController.diffList.count
QGCCheckBox {
checked: true
onClicked: {
for (var i=0; i<paramController.diffList.count; i++) {
paramController.diffList.get(i).load = checked
}
}
}
Repeater {
model: paramController.diffList
QGCCheckBox {
checked: object.load
onClicked: object.load = checked
}
}
Repeater {
model: paramController.diffMultipleComponents ? 1 : 0
QGCLabel { text: qsTr("Comp ID") }
}
Repeater {
model: paramController.diffMultipleComponents ? paramController.diffList : 0
QGCLabel { text: object.componentId }
}
QGCLabel { text: qsTr("Name") }
Repeater {
model: paramController.diffList
QGCLabel { text: object.name }
}
QGCLabel { text: qsTr("File") }
Repeater {
model: paramController.diffList
QGCLabel { text: object.fileValue + " " + object.units }
}
QGCLabel { text: qsTr("Vehicle") }
Repeater {
model: paramController.diffList
QGCLabel { text: object.noVehicleValue ? qsTr("N/A") : object.vehicleValue + " " + object.units }
}
}
}
}

50
src/QmlControls/ParameterEditor.qml
Unescape View File

@ -26,15 +26,15 @@ Item { @@ -26,15 +26,15 @@ Item {
property Fact _editorDialogFact: Fact { }
property int _rowHeight: ScreenTools.defaultFontPixelHeight * 2
property int _rowWidth: 10 // Dynamic adjusted at runtime
property bool _searchFilter: searchText.text.trim() != "" ///< true: showing results of search
property bool _searchFilter: searchText.text.trim() != "" || controller.showModifiedOnly ///< true: showing results of search
property var _searchResults ///< List of parameter names from search results
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _showRCToParam: _activeVehicle.px4Firmware
property var _appSettings: QGroundControl.settingsManager.appSettings
property var _controller: controller
ParameterEditorController {
id: controller
onShowErrorMessage: mainWindow.showMessageDialog(qsTr("Parameter Load Errors"), errorMsg)
id: controller
}
ExclusiveGroup { id: sectionGroup }
@ -82,12 +82,11 @@ Item { @@ -82,12 +82,11 @@ Item {
}
QGCCheckBox {
text: qsTr("Show modified only")
checked: controller.showModifiedOnly
text: qsTr("Show modified only")
anchors.verticalCenter: parent.verticalCenter
onClicked: {
controller.showModifiedOnly = !controller.showModifiedOnly
}
checked: controller.showModifiedOnly
onClicked: controller.showModifiedOnly = checked
visible: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
}
} // Row - Header
@ -155,7 +154,7 @@ Item { @@ -155,7 +154,7 @@ Item {
pixelAligned: true
contentHeight: groupedViewCategoryColumn.height
flickableDirection: Flickable.VerticalFlick
visible: !_searchFilter && !controller.showModifiedOnly
visible: !_searchFilter
ColumnLayout {
id: groupedViewCategoryColumn
@ -170,41 +169,36 @@ Item { @@ -170,41 +169,36 @@ Item {
Layout.fillWidth: true
spacing: Math.ceil(ScreenTools.defaultFontPixelHeight * 0.25)
readonly property string category: modelData
SectionHeader {
id: categoryHeader
anchors.left: parent.left
anchors.right: parent.right
text: category
checked: controller.currentCategory === text
text: object.name
checked: object == controller.currentCategory
exclusiveGroup: sectionGroup
onCheckedChanged: {
if (checked) {
controller.currentCategory = category
controller.currentGroup = controller.getGroupsForCategory(category)[0]
controller.currentCategory = object
}
}
}
Repeater {
model: categoryHeader.checked ? controller.getGroupsForCategory(category) : 0
model: categoryHeader.checked ? object.groups : 0
QGCButton {
width: ScreenTools.defaultFontPixelWidth * 25
text: groupName
text: object.name
height: _rowHeight
checked: controller.currentGroup === text
checked: object == controller.currentGroup
autoExclusive: true
readonly property string groupName: modelData
onClicked: {
if (!checked) _rowWidth = 10
checked = true
controller.currentCategory = category
controller.currentGroup = groupName
controller.currentGroup = object
}
}
}
@ -217,7 +211,7 @@ Item { @@ -217,7 +211,7 @@ Item {
QGCListView {
id: editorListView
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: (_searchFilter || controller.showModifiedOnly) ? parent.left : groupScroll.right
anchors.left: _searchFilter ? parent.left : groupScroll.right
anchors.right: parent.right
anchors.top: header.bottom
anchors.bottom: parent.bottom
@ -295,8 +289,10 @@ Item { @@ -295,8 +289,10 @@ Item {
}
onAcceptedForLoad: {
controller.loadFromFile(file)
close()
if (controller.buildDiffFromFile(file)) {
mainWindow.showPopupDialogFromComponent(parameterDiffDialog)
}
}
}
@ -355,4 +351,12 @@ Item { @@ -355,4 +351,12 @@ Item {
}
}
}
Component {
id: parameterDiffDialog
ParameterDiffDialog {
paramController: _controller
}
}
}

385
src/QmlControls/ParameterEditorController.cc
Unescape View File

@ -13,55 +13,172 @@ @@ -13,55 +13,172 @@
#include "SettingsManager.h"
#include "AppSettings.h"
#ifndef __mobile__
#include "QGCMapRCToParamDialog.h"
#endif
#include <QStandardPaths>
ParameterEditorController::ParameterEditorController(void)
: _currentCategory ("Standard") // FIXME: firmware specific
, _parameters (new QmlObjectListModel(this))
, _parameterMgr (_vehicle->parameterManager())
, _showModifiedOnly (false)
: _parameterMgr(_vehicle->parameterManager())
{
const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getComponentCategoryMap(_vehicle->defaultComponentId());
_categories = categoryMap.keys();
_buildLists();
// Move default category to front
_categories.removeOne(_currentCategory);
_categories.prepend(_currentCategory);
connect(this, &ParameterEditorController::currentCategoryChanged, this, &ParameterEditorController::_currentCategoryChanged);
connect(this, &ParameterEditorController::currentGroupChanged, this, &ParameterEditorController::_currentGroupChanged);
connect(this, &ParameterEditorController::searchTextChanged, this, &ParameterEditorController::_searchTextChanged);
connect(this, &ParameterEditorController::showModifiedOnlyChanged, this, &ParameterEditorController::_searchTextChanged);
// There is a category for each non default component
for (int compId: _parameterMgr->componentIds()) {
if (compId != _vehicle->defaultComponentId()) {
_categories.append(_parameterMgr->getComponentCategory(compId));
connect(_parameterMgr, &ParameterManager::factAdded, this, &ParameterEditorController::_factAdded);
ParameterEditorCategory* category = _categories.count() ? _categories.value<ParameterEditorCategory*>(0) : nullptr;
setCurrentCategory(category);
}
ParameterEditorController::~ParameterEditorController()
{
}
void ParameterEditorController::_buildListsForComponent(int compId)
{
for (const QString& factName: _parameterMgr->parameterNames(compId)) {
Fact* fact = _parameterMgr->getParameter(compId, factName);
ParameterEditorCategory* category = nullptr;
if (_mapCategoryName2Category.contains(fact->category())) {
category = _mapCategoryName2Category[fact->category()];
} else {
category = new ParameterEditorCategory(this);
category->name = fact->category();
_mapCategoryName2Category[fact->category()] = category;
_categories.append(category);
}
ParameterEditorGroup* group = nullptr;
if (category->mapGroupName2Group.contains(fact->group())) {
group = category->mapGroupName2Group[fact->group()];
} else {
group = new ParameterEditorGroup(this);
group->componentId = compId;
group->name = fact->group();
category->mapGroupName2Group[fact->group()] = group;
category->groups.append(group);
}
group->facts.append(fact);
}
}
// Be careful about no parameters
if (categoryMap.contains(_currentCategory) && categoryMap[_currentCategory].size() != 0) {
_currentGroup = categoryMap[_currentCategory].keys()[0];
void ParameterEditorController::_buildLists(void)
{
// Autopilot component should always be first list
_buildListsForComponent(MAV_COMP_ID_AUTOPILOT1);
// "Standard" category should always be first
for (int i=0; i<_categories.count(); i++) {
ParameterEditorCategory* category = _categories.value<ParameterEditorCategory*>(i);
if (category->name == "Standard" && i != 0) {
_categories.removeAt(i);
_categories.insert(0, category);
break;
}
}
// Default category should always be last
for (int i=0; i<_categories.count(); i++) {
ParameterEditorCategory* category = _categories.value<ParameterEditorCategory*>(i);
if (category->name == FactMetaData::kDefaultCategory) {
if (i != _categories.count() - 1) {
_categories.removeAt(i);
_categories.append(category);
}
break;
}
}
_updateParameters();
// Now add other random components
for (int compId: _parameterMgr->componentIds()) {
if (compId != MAV_COMP_ID_AUTOPILOT1) {
_buildListsForComponent(compId);
}
}
connect(this, &ParameterEditorController::searchTextChanged, this, &ParameterEditorController::_updateParameters);
connect(this, &ParameterEditorController::currentCategoryChanged, this, &ParameterEditorController::_updateParameters);
connect(this, &ParameterEditorController::currentGroupChanged, this, &ParameterEditorController::_updateParameters);
connect(this, &ParameterEditorController::showModifiedOnlyChanged, this, &ParameterEditorController::_updateParameters);
// Default group should always be last
for (int i=0; i<_categories.count(); i++) {
ParameterEditorCategory* category = _categories.value<ParameterEditorCategory*>(i);
for (int j=0; j<category->groups.count(); j++) {
ParameterEditorGroup* group = category->groups.value<ParameterEditorGroup*>(j);
if (group->name == FactMetaData::kDefaultGroup) {
if (j != _categories.count() - 1) {
category->groups.removeAt(j);
category->groups.append(category);
}
break;
}
}
}
}
ParameterEditorController::~ParameterEditorController()
void ParameterEditorController::_factAdded(int compId, Fact* fact)
{
bool inserted = false;
ParameterEditorCategory* category = nullptr;
}
if (_mapCategoryName2Category.contains(fact->category())) {
category = _mapCategoryName2Category[fact->category()];
} else {
category = new ParameterEditorCategory(this);
category->name = fact->category();
_mapCategoryName2Category[fact->category()] = category;
// Insert in sorted order
inserted = false;
for (int i=0; i<_categories.count(); i++) {
if (_categories.value<ParameterEditorCategory*>(i)->name > category->name) {
_categories.insert(i, category);
inserted = true;
break;
}
}
if (!inserted) {
_categories.append(category);
}
}
QStringList ParameterEditorController::getGroupsForCategory(const QString& category)
{
int compId = _parameterMgr->getComponentId(category);
const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getComponentCategoryMap(compId);
return categoryMap[category].keys();
ParameterEditorGroup* group = nullptr;
if (category->mapGroupName2Group.contains(fact->group())) {
group = category->mapGroupName2Group[fact->group()];
} else {
group = new ParameterEditorGroup(this);
group->componentId = compId;
group->name = fact->group();
category->mapGroupName2Group[fact->group()] = group;
// Insert in sorted order
QmlObjectListModel& groups = category->groups;
inserted = false;
for (int i=0; i<groups.count(); i++) {
if (groups.value<ParameterEditorCategory*>(i)->name > group->name) {
groups.insert(i, group);
inserted = true;
break;
}
}
if (!inserted) {
groups.append(group);
}
}
// Insert in sorted order
QmlObjectListModel& facts = group->facts;
inserted = false;
for (int i=0; i<facts.count(); i++) {
if (facts.value<Fact*>(i)->name() > fact->name()) {
facts.insert(i, fact);
inserted = true;
break;
}
}
if (!inserted) {
facts.append(fact);
}
}
QStringList ParameterEditorController::searchParameters(const QString& searchText, bool searchInName, bool searchInDescriptions)
@ -107,26 +224,115 @@ void ParameterEditorController::saveToFile(const QString& filename) @@ -107,26 +224,115 @@ void ParameterEditorController::saveToFile(const QString& filename)
}
}
void ParameterEditorController::loadFromFile(const QString& filename)
void ParameterEditorController::clearDiff(void)
{
QString errors;
_diffList.clearAndDeleteContents();
_diffOtherVehicle = false;
_diffMultipleComponents = false;
if (!filename.isEmpty()) {
QFile file(filename);
emit diffOtherVehicleChanged(_diffOtherVehicle);
emit diffMultipleComponentsChanged(_diffMultipleComponents);
}
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
qgcApp()->showAppMessage(tr("Unable to open file: %1").arg(filename));
return;
void ParameterEditorController::sendDiff(void)
{
for (int i=0; i<_diffList.count(); i++) {
ParameterEditorDiff* paramDiff = _diffList.value<ParameterEditorDiff*>(i);
if (paramDiff->load) {
if (paramDiff->noVehicleValue) {
_parameterMgr->_factRawValueUpdateWorker(paramDiff->componentId, paramDiff->name, paramDiff->valueType, paramDiff->fileValueVar);
} else {
Fact* fact = _parameterMgr->getParameter(paramDiff->componentId, paramDiff->name);
fact->setRawValue(paramDiff->fileValueVar);
}
}
}
}
QTextStream stream(&file);
errors = _parameterMgr->readParametersFromStream(stream);
file.close();
bool ParameterEditorController::buildDiffFromFile(const QString& filename)
{
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
qgcApp()->showAppMessage(tr("Unable to open file: %1").arg(filename));
return false;
}
clearDiff();
QTextStream stream(&file);
int firstComponentId = -1;
while (!stream.atEnd()) {
QString line = stream.readLine();
if (!line.startsWith("#")) {
QStringList wpParams = line.split("\t");
if (wpParams.size() == 5) {
int vehicleId = wpParams.at(0).toInt();
int componentId = wpParams.at(1).toInt();
QString paramName = wpParams.at(2);
QString fileValueStr = wpParams.at(3);
int mavParamType = wpParams.at(4).toInt();
QString vehicleValueStr;
QString units;
QVariant fileValueVar = fileValueStr;
bool noVehicleValue = false;
if (_vehicle->id() != vehicleId) {
_diffOtherVehicle = true;
}
if (firstComponentId == -1) {
firstComponentId = componentId;
} else if (firstComponentId != componentId) {
_diffMultipleComponents = true;
}
if (_parameterMgr->parameterExists(componentId, paramName)) {
Fact* vehicleFact = _parameterMgr->getParameter(componentId, paramName);
FactMetaData* vehicleFactMetaData = vehicleFact->metaData();
Fact* fileFact = new Fact(vehicleFact->componentId(), vehicleFact->name(), vehicleFact->type(), this);
if (!errors.isEmpty()) {
emit showErrorMessage(errors);
// Turn off reboot messaging before setting value in fileFact
bool vehicleRebootRequired = vehicleFactMetaData->vehicleRebootRequired();
vehicleFactMetaData->setVehicleRebootRequired(false);
fileFact->setMetaData(vehicleFact->metaData());
fileFact->setRawValue(fileValueStr);
vehicleFactMetaData->setVehicleRebootRequired(vehicleRebootRequired);
if (vehicleFact->rawValue() == fileFact->rawValue()) {
continue;
}
fileValueStr = fileFact->enumOrValueString();
fileValueVar = fileFact->rawValue();
vehicleValueStr = vehicleFact->enumOrValueString();
units = vehicleFact->cookedUnits();
} else {
noVehicleValue = true;
}
ParameterEditorDiff* paramDiff = new ParameterEditorDiff(this);
paramDiff->componentId = componentId;
paramDiff->name = paramName;
paramDiff->valueType = ParameterManager::mavTypeToFactType(static_cast<MAV_PARAM_TYPE>(mavParamType));
paramDiff->fileValue = fileValueStr;
paramDiff->fileValueVar = fileValueVar;
paramDiff->vehicleValue = vehicleValueStr;
paramDiff->noVehicleValue = noVehicleValue;
paramDiff->units = units;
_diffList.append(paramDiff);
}
}
}
file.close();
emit diffOtherVehicleChanged(_diffOtherVehicle);
emit diffMultipleComponentsChanged(_diffMultipleComponents);
return true;
}
void ParameterEditorController::refresh(void)
@ -146,60 +352,93 @@ void ParameterEditorController::resetAllToVehicleConfiguration(void) @@ -146,60 +352,93 @@ void ParameterEditorController::resetAllToVehicleConfiguration(void)
refresh();
}
void ParameterEditorController::setRCToParam(const QString& paramName)
{
#ifdef __mobile__
Q_UNUSED(paramName)
#else
if (_uas) {
Q_UNUSED(paramName)
//-- TODO QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
//d->exec();
}
#endif
}
bool ParameterEditorController::_shouldShow(Fact* fact)
{
bool show = _showModifiedOnly ? (fact->defaultValueAvailable() ? (fact->valueEqualsDefault() ? false : true) : false) : true;
return show;
}
void ParameterEditorController::_updateParameters(void)
void ParameterEditorController::_searchTextChanged(void)
{
QObjectList newParameterList;
#if QT_VERSION < QT_VERSION_CHECK(5, 15, 0)
QStringList searchItems = _searchText.split(' ', QString::SkipEmptyParts);
QStringList rgSearchStrings = _searchText.split(' ', QString::SkipEmptyParts);
#else
QStringList searchItems = _searchText.split(' ', Qt::SkipEmptyParts);
QStringList rgSearchStrings = _searchText.split(' ', Qt::SkipEmptyParts);
#endif
if (searchItems.isEmpty() && !_showModifiedOnly) {
int compId = _parameterMgr->getComponentId(_currentCategory);
const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getComponentCategoryMap(compId);
for (const QString& paramName: categoryMap[_currentCategory][_currentGroup]) {
newParameterList.append(_parameterMgr->getParameter(compId, paramName));
}
if (rgSearchStrings.isEmpty() && !_showModifiedOnly) {
ParameterEditorCategory* category = _categories.count() ? _categories.value<ParameterEditorCategory*>(0) : nullptr;
setCurrentCategory(category);
_searchParameters.clear();
} else {
for(const QString &paraName: _parameterMgr->parameterNames(_vehicle->defaultComponentId())) {
_searchParameters.beginReset();
_searchParameters.clear();
for (const QString &paraName: _parameterMgr->parameterNames(_vehicle->defaultComponentId())) {
Fact* fact = _parameterMgr->getParameter(_vehicle->defaultComponentId(), paraName);
bool matched = _shouldShow(fact);
// All of the search items must match in order for the parameter to be added to the list
if(matched) {
for (const auto& searchItem : searchItems) {
if (matched) {
for (const auto& searchItem : rgSearchStrings) {
if (!fact->name().contains(searchItem, Qt::CaseInsensitive) &&
!fact->shortDescription().contains(searchItem, Qt::CaseInsensitive) &&
!fact->longDescription().contains(searchItem, Qt::CaseInsensitive)) {
!fact->shortDescription().contains(searchItem, Qt::CaseInsensitive) &&
!fact->longDescription().contains(searchItem, Qt::CaseInsensitive)) {
matched = false;
}
}
}
if (matched) {
newParameterList.append(fact);
_searchParameters.append(fact);
}
}
_searchParameters.endReset();
if (_parameters != &_searchParameters) {
_parameters = &_searchParameters;
emit parametersChanged();
_currentCategory = nullptr;
_currentGroup = nullptr;
}
}
}
void ParameterEditorController::_currentCategoryChanged(void)
{
ParameterEditorGroup* group = nullptr;
if (_currentCategory) {
// Select first group when category changes
group = _currentCategory->groups.value<ParameterEditorGroup*>(0);
} else {
group = nullptr;
}
setCurrentGroup(group);
}
void ParameterEditorController::_currentGroupChanged(void)
{
_parameters = _currentGroup ? &_currentGroup->facts : nullptr;
emit parametersChanged();
}
_parameters->swapObjectList(newParameterList);
void ParameterEditorController::setCurrentCategory(QObject* currentCategory)
{
ParameterEditorCategory* category = qobject_cast<ParameterEditorCategory*>(currentCategory);
if (category != _currentCategory) {
_currentCategory = category;
emit currentCategoryChanged();
}
}
void ParameterEditorController::setCurrentGroup(QObject* currentGroup)
{
ParameterEditorGroup* group = qobject_cast<ParameterEditorGroup*>(currentGroup);
if (group != _currentGroup) {
_currentGroup = group;
emit currentGroupChanged();
}
}

151
src/QmlControls/ParameterEditorController.h
Unescape View File

@ -7,12 +7,7 @@ @@ -7,12 +7,7 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef PARAMETEREDITORCONTROLLER_H
#define PARAMETEREDITORCONTROLLER_H
#pragma once
#include <QObject>
#include <QList>
@ -23,6 +18,69 @@ @@ -23,6 +18,69 @@
#include "QmlObjectListModel.h"
#include "ParameterManager.h"
class ParameterEditorGroup : public QObject
{
Q_OBJECT
public:
ParameterEditorGroup(QObject* parent) : QObject(parent) { }
Q_PROPERTY(QString name MEMBER name CONSTANT)
Q_PROPERTY(QmlObjectListModel* facts READ getFacts CONSTANT)
QmlObjectListModel* getFacts(void) { return &facts; }
int componentId;
QString name;
QmlObjectListModel facts;
};
class ParameterEditorCategory : public QObject
{
Q_OBJECT
public:
ParameterEditorCategory(QObject* parent) : QObject(parent) { }
Q_PROPERTY(QString name MEMBER name CONSTANT)
Q_PROPERTY(QmlObjectListModel* groups READ getGroups CONSTANT)
QmlObjectListModel* getGroups(void) { return &groups; }
QString name;
QmlObjectListModel groups;
QMap<QString, ParameterEditorGroup*> mapGroupName2Group;
};
class ParameterEditorDiff : public QObject
{
Q_OBJECT
public:
ParameterEditorDiff(QObject* parent) : QObject(parent) { }
Q_PROPERTY(int componentId MEMBER componentId CONSTANT)
Q_PROPERTY(QString name MEMBER name CONSTANT)
Q_PROPERTY(QString fileValue MEMBER fileValue CONSTANT)
Q_PROPERTY(QString vehicleValue MEMBER vehicleValue CONSTANT)
Q_PROPERTY(bool noVehicleValue MEMBER noVehicleValue CONSTANT)
Q_PROPERTY(QString units MEMBER units CONSTANT)
Q_PROPERTY(bool load MEMBER load NOTIFY loadChanged)
int componentId;
QString name;
FactMetaData::ValueType_t valueType;
QString fileValue;
QVariant fileValueVar;
QString vehicleValue;
bool noVehicleValue = false;
QString units;
bool load = true;
signals:
void loadChanged(bool load);
};
class ParameterEditorController : public FactPanelController
{
Q_OBJECT
@ -31,46 +89,67 @@ public: @@ -31,46 +89,67 @@ public:
ParameterEditorController(void);
~ParameterEditorController();
Q_PROPERTY(QString searchText MEMBER _searchText NOTIFY searchTextChanged)
Q_PROPERTY(QString currentCategory MEMBER _currentCategory NOTIFY currentCategoryChanged)
Q_PROPERTY(QString currentGroup MEMBER _currentGroup NOTIFY currentGroupChanged)
Q_PROPERTY(QmlObjectListModel* parameters MEMBER _parameters CONSTANT)
Q_PROPERTY(QStringList categories MEMBER _categories CONSTANT)
Q_PROPERTY(bool showModifiedOnly MEMBER _showModifiedOnly NOTIFY showModifiedOnlyChanged)
Q_PROPERTY(QString searchText MEMBER _searchText NOTIFY searchTextChanged)
Q_PROPERTY(QmlObjectListModel* categories READ categories CONSTANT)
Q_PROPERTY(QObject* currentCategory READ currentCategory WRITE setCurrentCategory NOTIFY currentCategoryChanged)
Q_PROPERTY(QObject* currentGroup READ currentGroup WRITE setCurrentGroup NOTIFY currentGroupChanged)
Q_PROPERTY(QmlObjectListModel* parameters MEMBER _parameters NOTIFY parametersChanged)
Q_PROPERTY(bool showModifiedOnly MEMBER _showModifiedOnly NOTIFY showModifiedOnlyChanged)
Q_INVOKABLE QStringList getGroupsForCategory(const QString& category);
Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
// These property are related to the diff associated with a load from file
Q_PROPERTY(bool diffOtherVehicle MEMBER _diffOtherVehicle NOTIFY diffOtherVehicleChanged)
Q_PROPERTY(bool diffMultipleComponents MEMBER _diffMultipleComponents NOTIFY diffMultipleComponentsChanged)
Q_PROPERTY(QmlObjectListModel* diffList READ diffList CONSTANT)
Q_INVOKABLE void saveToFile(const QString& filename);
Q_INVOKABLE void loadFromFile(const QString& filename);
Q_INVOKABLE void refresh(void);
Q_INVOKABLE void resetAllToDefaults(void);
Q_INVOKABLE void resetAllToVehicleConfiguration(void);
Q_INVOKABLE void setRCToParam(const QString& paramName);
Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
QList<QObject*> model(void);
Q_INVOKABLE void saveToFile (const QString& filename);
Q_INVOKABLE bool buildDiffFromFile (const QString& filename);
Q_INVOKABLE void clearDiff (void);
Q_INVOKABLE void sendDiff (void);
Q_INVOKABLE void refresh (void);
Q_INVOKABLE void resetAllToDefaults (void);
Q_INVOKABLE void resetAllToVehicleConfiguration (void);
QObject* currentCategory (void) { return _currentCategory; }
QObject* currentGroup (void) { return _currentGroup; }
QmlObjectListModel* categories (void) { return &_categories; }
QmlObjectListModel* diffList (void) { return &_diffList; }
void setCurrentCategory (QObject* currentCategory);
void setCurrentGroup (QObject* currentGroup);
signals:
void searchTextChanged(QString searchText);
void currentCategoryChanged(QString category);
void currentGroupChanged(QString group);
void showErrorMessage(const QString& errorMsg);
void showModifiedOnlyChanged();
void searchTextChanged (QString searchText);
void currentCategoryChanged (void);
void currentGroupChanged (void);
void showModifiedOnlyChanged (void);
void diffOtherVehicleChanged (bool diffOtherVehicle);
void diffMultipleComponentsChanged (bool diffMultipleComponents);
void parametersChanged (void);
private slots:
void _updateParameters(void);
void _currentCategoryChanged(void);
void _currentGroupChanged (void);
void _searchTextChanged (void);
void _buildLists (void);
void _buildListsForComponent(int compId);
void _factAdded (int compId, Fact* fact);
private:
bool _shouldShow(Fact *fact);
private:
QStringList _categories;
QString _searchText;
QString _currentCategory;
QString _currentGroup;
QmlObjectListModel* _parameters;
ParameterManager* _parameterMgr;
bool _showModifiedOnly;
ParameterManager* _parameterMgr = nullptr;
QString _searchText;
ParameterEditorCategory* _currentCategory = nullptr;
ParameterEditorGroup* _currentGroup = nullptr;
bool _showModifiedOnly = false;
bool _diffOtherVehicle = false;
bool _diffMultipleComponents = false;
QmlObjectListModel _categories;
QmlObjectListModel _diffList;
QmlObjectListModel _searchParameters;
QmlObjectListModel* _parameters = nullptr;
QMap<QString, ParameterEditorCategory*> _mapCategoryName2Category;
};
#endif

2
src/QmlControls/QGCTabButton.qml
Unescape View File

@ -12,6 +12,7 @@ TabButton { @@ -12,6 +12,7 @@ TabButton {
id: control
font.pointSize: ScreenTools.defaultFontPointSize
font.family: ScreenTools.normalFontFamily
icon.color: _showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
property bool _showHighlight: (pressed | hovered | checked)
@ -22,7 +23,6 @@ TabButton { @@ -22,7 +23,6 @@ TabButton {
mirrored: control.mirrored
display: control.display
icon: control.icon
text: control.text
font: control.font
color: _showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
}

1
src/QmlControls/QGroundControl/Controls/qmldir
Unescape View File

@ -43,6 +43,7 @@ MissionItemStatus 1.0 MissionItemStatus.qml @@ -43,6 +43,7 @@ MissionItemStatus 1.0 MissionItemStatus.qml
ModeSwitchDisplay 1.0 ModeSwitchDisplay.qml
MultiRotorMotorDisplay 1.0 MultiRotorMotorDisplay.qml
OfflineMapButton 1.0 OfflineMapButton.qml
ParameterDiffDialog 1.0 ParameterDiffDialog.qml
ParameterEditor 1.0 ParameterEditor.qml
ParameterEditorDialog 1.0 ParameterEditorDialog.qml
PIDTuning 1.0 PIDTuning.qml

80
src/Vehicle/CompInfoParam.cc
Unescape View File

@ -89,9 +89,14 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa @@ -89,9 +89,14 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa
{
FactMetaData* factMetaData = nullptr;
if (_opaqueParameterMetaData) {
factMetaData = vehicle->firmwarePlugin()->_getMetaDataForFact(_opaqueParameterMetaData, name, type, vehicle->vehicleType());
} else {
if (_noJsonMetadata) {
QObject* opaqueMetaData = _getOpaqueParameterMetaData();
if (opaqueMetaData) {
factMetaData = vehicle->firmwarePlugin()->_getMetaDataForFact(opaqueMetaData, name, type, vehicle->vehicleType());
}
}
if (!factMetaData) {
if (_nameToMetaDataMap.contains(name)) {
factMetaData = _nameToMetaDataMap[name];
} else {
@ -122,22 +127,31 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa @@ -122,22 +127,31 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa
if (!factMetaData) {
factMetaData = new FactMetaData(type, this);
int i = name.indexOf("_");
if (i > 0) {
factMetaData->setGroup(name.left(i));
}
if (compId != MAV_COMP_ID_AUTOPILOT1) {
factMetaData->setCategory(tr("Component %1").arg(compId));
}
}
_nameToMetaDataMap[name] = factMetaData;
}
}
return factMetaData;
}
bool CompInfoParam::_isParameterVolatile(const QString& name)
{
if (_opaqueParameterMetaData) {
return vehicle->firmwarePlugin()->_isParameterVolatile(_opaqueParameterMetaData, name, vehicle->vehicleType());
} else {
return _nameToMetaDataMap.contains(name) ? _nameToMetaDataMap[name]->volatileValue() : false;
if (_noJsonMetadata) {
QObject* opaqueMetaData = _getOpaqueParameterMetaData();
if (opaqueMetaData) {
return vehicle->firmwarePlugin()->_isParameterVolatile(opaqueMetaData, name, vehicle->vehicleType());
}
}
return _nameToMetaDataMap.contains(name) ? _nameToMetaDataMap[name]->volatileValue() : false;
}
FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmwareType)
@ -148,13 +162,14 @@ FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmw @@ -148,13 +162,14 @@ FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmw
return pluginMgr->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
}
QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int& majorVersion, int& minorVersion)
{
bool cacheHit = false;
FirmwarePlugin* plugin = _anyVehicleTypeFirmwarePlugin(firmwareType);
bool cacheHit = false;
int wantedMajorVersion = 1;
FirmwarePlugin* fwPlugin = _anyVehicleTypeFirmwarePlugin(firmwareType);
if (firmwareType != MAV_AUTOPILOT_PX4) {
return plugin->_internalParameterMetaDataFile(vehicle);
return fwPlugin->_internalParameterMetaDataFile(vehicle);
} else {
// Only PX4 support the old style cached metadata
QSettings settings;
@ -164,7 +179,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi @@ -164,7 +179,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
int cacheMinorVersion, cacheMajorVersion;
QFile cacheFile(cacheDir.filePath(QString("%1.%2.%3.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType).arg(wantedMajorVersion)));
if (cacheFile.exists()) {
plugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), cacheMajorVersion, cacheMinorVersion);
fwPlugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), cacheMajorVersion, cacheMinorVersion);
if (wantedMajorVersion != cacheMajorVersion) {
qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << cacheMajorVersion << wantedMajorVersion;
} else {
@ -196,7 +211,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi @@ -196,7 +211,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
// We have a cache hit on a lower major version, read minor version as well
int majorVersion;
cacheFile.setFileName(cacheDir.filePath(cacheHits[cacheHitIndex]));
plugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), majorVersion, cacheMinorVersion);
fwPlugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), majorVersion, cacheMinorVersion);
if (majorVersion != cacheMajorVersion) {
qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << majorVersion << cacheMajorVersion;
cacheHit = false;
@ -208,8 +223,8 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi @@ -208,8 +223,8 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
}
int internalMinorVersion, internalMajorVersion;
QString internalMetaDataFile = plugin->_internalParameterMetaDataFile(vehicle);
plugin->_getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
QString internalMetaDataFile = fwPlugin->_internalParameterMetaDataFile(vehicle);
fwPlugin->_getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
qCDebug(CompInfoParamLog) << "Internal metadata file:major:minor" << internalMetaDataFile << internalMajorVersion << internalMinorVersion;
if (cacheHit) {
// Cache hit is available, we need to check if internal meta data is a better match, if so use internal version
@ -254,11 +269,15 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile) @@ -254,11 +269,15 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile)
int newMajorVersion, newMinorVersion;
plugin->_getParameterMetaDataVersionInfo(metaDataFile, newMajorVersion, newMinorVersion);
if (newMajorVersion != 1) {
newMajorVersion = 1;
qgcApp()->showAppMessage(tr("Internal Error: Parameter MetaData major must be 1"));
}
qCDebug(CompInfoParamLog) << "ParameterManager::cacheMetaDataFile file:major;minor" << metaDataFile << newMajorVersion << newMinorVersion;
// Find the cache hit closest to this new file
int cacheMajorVersion, cacheMinorVersion;
QString cacheHit = _parameterMetaDataFile(nullptr, MAV_AUTOPILOT_PX4, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
QString cacheHit = _parameterMetaDataFile(nullptr, MAV_AUTOPILOT_PX4, cacheMajorVersion, cacheMinorVersion);
qCDebug(CompInfoParamLog) << "ParameterManager::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion;
bool cacheNewFile = false;
@ -290,28 +309,19 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile) @@ -290,28 +309,19 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile)
}
}
void CompInfoParam::_parameterMajorVersionKnown(int wantedMajorVersion)
QObject* CompInfoParam::_getOpaqueParameterMetaData(void)
{
if (_noJsonMetadata) {
if (_opaqueParameterMetaData) {
return;
}
QString metaDataFile;
int majorVersion, minorVersion;
if (!_noJsonMetadata) {
qWarning() << "CompInfoParam::_getOpaqueParameterMetaData _noJsonMetadata == false";
}
if (!_opaqueParameterMetaData && compId == MAV_COMP_ID_AUTOPILOT1) {
// Load best parameter meta data set
metaDataFile = _parameterMetaDataFile(vehicle, vehicle->firmwareType(), wantedMajorVersion, majorVersion, minorVersion);
qCDebug(CompInfoParamLog) << "Loading meta data the old way file:major:minor" << metaDataFile << majorVersion << minorVersion;
int majorVersion, minorVersion;
QString metaDataFile = _parameterMetaDataFile(vehicle, vehicle->firmwareType(), majorVersion, minorVersion);
qCDebug(CompInfoParamLog) << "Loading meta data the old way file" << metaDataFile;
_opaqueParameterMetaData = vehicle->firmwarePlugin()->_loadParameterMetaData(metaDataFile);
}
}
void CompInfoParam::_clearPX4ParameterMetaData (void)
{
if (_opaqueParameterMetaData) {
qCDebug(CompInfoParamLog) << "_clearPX4ParameterMetaData";
_opaqueParameterMetaData->deleteLater();
_opaqueParameterMetaData = nullptr;
}
return _opaqueParameterMetaData;
}

7
src/Vehicle/CompInfoParam.h
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@ -36,13 +36,14 @@ public: @@ -36,13 +36,14 @@ public:
// The following methods are used to support the old non-COMPONENT_INFORMATION based mechanism to get parameter meta data
bool _isParameterVolatile (const QString& name);
void _parameterMajorVersionKnown(int wantedMajorVersion);
void _clearPX4ParameterMetaData (void);
static void _cachePX4MetaDataFile(const QString& metaDataFile);
private:
QObject* _getOpaqueParameterMetaData(void);
static FirmwarePlugin* _anyVehicleTypeFirmwarePlugin (MAV_AUTOPILOT firmwareType);
static QString _parameterMetaDataFile (Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
static QString _parameterMetaDataFile (Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int& majorVersion, int& minorVersion);
typedef QPair<QString /* indexed name */, FactMetaData*> RegexFactMetaDataPair_t;

6
src/Vehicle/ComponentInformationManager.cc
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@ -102,7 +102,11 @@ bool ComponentInformationManager::_isCompTypeSupported(COMP_METADATA_TYPE type) @@ -102,7 +102,11 @@ bool ComponentInformationManager::_isCompTypeSupported(COMP_METADATA_TYPE type)
CompInfoParam* ComponentInformationManager::compInfoParam(uint8_t compId)
{
return _compInfoMap.contains(compId) && _compInfoMap[compId].contains(COMP_METADATA_TYPE_PARAMETER) ? qobject_cast<CompInfoParam*>(_compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER]) : nullptr;
if (!_compInfoMap.contains(compId)) {
// Create default info
_compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER] = new CompInfoParam(compId, _vehicle, this);
}
return qobject_cast<CompInfoParam*>(_compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER]);
}
CompInfoVersion* ComponentInformationManager::compInfoVersion(uint8_t compId)

3
src/Vehicle/Vehicle.cc
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@ -601,6 +601,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes @@ -601,6 +601,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
return;
}
_ftpManager->mavlinkMessageReceived(message);
_parameterManager->mavlinkMessageReceived(message);
_waitForMavlinkMessageMessageReceived(message);
@ -2616,7 +2617,7 @@ void Vehicle::_sendMavCommandWorker(bool commandInt, bool requestMessage, bool s @@ -2616,7 +2617,7 @@ void Vehicle::_sendMavCommandWorker(bool commandInt, bool requestMessage, bool s
emit mavCommandResult(_id, targetCompId, command, MAV_RESULT_FAILED, failureCode);
}
if (showError) {
qgcApp()->showAppMessage(tr("Unabled to send command: %1. %2").arg(compIdAll ? tr("Internal error") : tr("Waiting on previous response to same command.")));
qgcApp()->showAppMessage(tr("Unable to send command: %1.").arg(compIdAll ? tr("Internal error - MAV_COMP_ID_ALL not supported") : tr("Waiting on previous response to same command.")));
}
return;

2
src/Vehicle/Vehicle.h
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@ -633,7 +633,7 @@ public: @@ -633,7 +633,7 @@ public:
typedef enum {
MavCmdResultCommandResultOnly, ///< commandResult specifies full success/fail info
MavCmdResultFailureNoResponseToCommand, ///< No response from vehicle to command
MavCmdResultFailureDuplicateCommand, ///< Unabled to send command since duplicate is already being waited on for response
MavCmdResultFailureDuplicateCommand, ///< Unable to send command since duplicate is already being waited on for response
} MavCmdResultFailureCode_t;
/// Callback for sendMavCommandWithHandler

2
src/VehicleSetup/FirmwareImage.cc
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@ -238,7 +238,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename) @@ -238,7 +238,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
QStringList requiredKeys;
requiredKeys << _jsonBoardIdKey << _jsonImageKey << _jsonImageSizeKey;
if (!JsonHelper::validateRequiredKeys(px4Json, requiredKeys, errorString)) {
emit statusMessage(tr("Firmware file mission required key: %1").arg(errorString));
emit statusMessage(tr("Firmware file missing required key: %1").arg(errorString));
return false;
}

16
src/comm/MockLink.cc
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@ -1567,13 +1567,15 @@ bool MockLink::_handleRequestMessage(const mavlink_command_long_t& request, bool @@ -1567,13 +1567,15 @@ bool MockLink::_handleRequestMessage(const mavlink_command_long_t& request, bool
switch ((int)request.param1) {
case MAVLINK_MSG_ID_COMPONENT_INFORMATION:
switch (static_cast<int>(request.param2)) {
case COMP_METADATA_TYPE_VERSION:
_sendVersionMetaData();
return true;
case COMP_METADATA_TYPE_PARAMETER:
_sendParameterMetaData();
return true;
if (_firmwareType == MAV_AUTOPILOT_PX4) {
switch (static_cast<int>(request.param2)) {
case COMP_METADATA_TYPE_VERSION:
_sendVersionMetaData();
return true;
case COMP_METADATA_TYPE_PARAMETER:
_sendParameterMetaData();
return true;
}
}
break;
case MAVLINK_MSG_ID_DEBUG:

70
src/uas/UAS.cc
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@ -145,21 +145,6 @@ void UAS::receiveMessage(mavlink_message_t message) @@ -145,21 +145,6 @@ void UAS::receiveMessage(mavlink_message_t message)
{
switch (message.msgid)
{
case MAVLINK_MSG_ID_PARAM_VALUE:
{
mavlink_param_value_t rawValue;
mavlink_msg_param_value_decode(&message, &rawValue);
QByteArray bytes(rawValue.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
// Construct a string stopping at the first NUL (0) character, else copy the whole
// byte array (max MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN, so safe)
QString parameterName(bytes);
mavlink_param_union_t paramVal;
paramVal.param_float = rawValue.param_value;
paramVal.type = rawValue.param_type;
processParamValueMsg(message, parameterName,rawValue,paramVal);
}
break;
case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
{
@ -524,61 +509,6 @@ quint64 UAS::getUptime() const @@ -524,61 +509,6 @@ quint64 UAS::getUptime() const
}
}
//TODO update this to use the parameter manager / param data model instead
void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramUnion)
{
int compId = msg.compid;
QVariant paramValue;
// Insert with correct type
switch (rawValue.param_type) {
case MAV_PARAM_TYPE_REAL32:
paramValue = QVariant(paramUnion.param_float);
break;
case MAV_PARAM_TYPE_UINT8:
paramValue = QVariant(paramUnion.param_uint8);
break;
case MAV_PARAM_TYPE_INT8:
paramValue = QVariant(paramUnion.param_int8);
break;
case MAV_PARAM_TYPE_UINT16:
paramValue = QVariant(paramUnion.param_uint16);
break;
case MAV_PARAM_TYPE_INT16:
paramValue = QVariant(paramUnion.param_int16);
break;
case MAV_PARAM_TYPE_UINT32:
paramValue = QVariant(paramUnion.param_uint32);
break;
case MAV_PARAM_TYPE_INT32:
paramValue = QVariant(paramUnion.param_int32);
break;
//-- Note: These are not handled above:
//
// MAV_PARAM_TYPE_UINT64
// MAV_PARAM_TYPE_INT64
// MAV_PARAM_TYPE_REAL64
//
// No space in message (the only storage allocation is a "float") and not present in mavlink_param_union_t
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
}
qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;
emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
}
/**
* Order the robot to start receiver pairing
*/

2
src/uas/UAS.h
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@ -196,8 +196,6 @@ protected: @@ -196,8 +196,6 @@ protected:
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
bool connectionLost; ///< Flag indicates a timed out connection
quint64 connectionLossTime; ///< Time the connection was interrupted
quint64 lastVoltageWarning; ///< Time at which the last voltage warning occurred

2
src/uas/UASInterface.h
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@ -49,8 +49,6 @@ signals: @@ -49,8 +49,6 @@ signals:
/** @brief The robot is disconnected **/
void disconnected();
void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value);
/**
* @brief The battery status has been updated
*

77
src/ui/QGCMapRCToParamDialog.cpp
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@ -1,77 +0,0 @@ @@ -1,77 +0,0 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @author Thomas Gubler <thomasgubler@gmail.com>
#include "QGCMapRCToParamDialog.h"
#include "ui_QGCMapRCToParamDialog.h"
#include "ParameterManager.h"
#include <QDebug>
#include <QTimer>
#include <QEventLoop>
#include <QShowEvent>
#include <QPushButton>
QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent)
: QDialog(parent)
, param_id(param_id)
, mav(mav)
, _multiVehicleManager(multiVehicleManager)
, ui(new Ui::QGCMapRCToParamDialog)
{
ui->setupUi(this);
// refresh the parameter from onboard to make sure the current value is used
Vehicle* vehicle = _multiVehicleManager->getVehicleById(mav->getUASID());
Fact* paramFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, param_id);
ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
// only enable ok button when param was refreshed
QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
okButton->setEnabled(false);
ui->paramIdLabel->setText(param_id);
connect(paramFact, &Fact::vehicleUpdated, this, &QGCMapRCToParamDialog::_parameterUpdated);
vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, param_id);
}
QGCMapRCToParamDialog::~QGCMapRCToParamDialog()
{
delete ui;
}
void QGCMapRCToParamDialog::accept() {
emit mapRCToParamDialogResult(param_id,
(float)ui->scaleDoubleSpinBox->value(),
(float)ui->value0DoubleSpinBox->value(),
(quint8)ui->rcParamChannelComboBox->currentIndex(),
(float)ui->minValueDoubleSpinBox->value(),
(float)ui->maxValueDoubleSpinBox->value());
QDialog::accept();
}
void QGCMapRCToParamDialog::_parameterUpdated(QVariant value)
{
Q_UNUSED(value);
ui->infoLabel->setText("Parameter value is up to date");
ui->value0DoubleSpinBox->setValue(value.toDouble());
ui->value0DoubleSpinBox->setEnabled(true);
connect(this, &QGCMapRCToParamDialog::mapRCToParamDialogResult, mav, &UASInterface::sendMapRCToParam);
QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
okButton->setEnabled(true);
}

58
src/ui/QGCMapRCToParamDialog.h
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@ -1,58 +0,0 @@ @@ -1,58 +0,0 @@
/****************************************************************************
*
* (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @brief Dialog to configure RC to parameter mapping
/// @author Thomas Gubler <thomasgubler@gmail.com>
#pragma once
#include <QDialog>
#include <QThread>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
#include "MultiVehicleManager.h"
namespace Ui {
class QGCMapRCToParamDialog;
}
class QGCMapRCToParamDialog : public QDialog
{
Q_OBJECT
QThread paramLoadThread;
public:
explicit QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent = 0);
~QGCMapRCToParamDialog();
signals:
void mapRCToParamDialogResult(QString param_id, float scale, float value0,
quint8 param_rc_channel_index, float valueMin, float valueMax);
public slots:
void accept();
protected:
// void showEvent(QShowEvent * event );
QString param_id;
UASInterface *mav;
private slots:
void _parameterUpdated(QVariant value);
private:
MultiVehicleManager* _multiVehicleManager;
Ui::QGCMapRCToParamDialog* ui;
};

241
src/ui/QGCMapRCToParamDialog.ui
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@ -1,241 +0,0 @@ @@ -1,241 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCMapRCToParamDialog</class>
<widget class="QDialog" name="QGCMapRCToParamDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>358</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label1">
<property name="text">
<string>Bind</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="rcParamChannelInfoLabel">
<property name="text">
<string>Parameter Tuning ID</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rcParamChannelComboBox">
<property name="editable">
<bool>false</bool>
</property>
<property name="currentText">
<string>1</string>
</property>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>3</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="paramIdInfoLabel">
<property name="text">
<string>Parameter</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="paramIdLabel">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label3">
<property name="text">
<string>with</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="scaleInfoLabel">
<property name="text">
<string>Scale (keep default)</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="scaleDoubleSpinBox">
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="value0InfoLabel">
<property name="text">
<string>Center value</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="value0DoubleSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="decimals">
<number>8</number>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="minInfoLabel">
<property name="text">
<string>Minimum Value</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="minValueDoubleSpinBox">
<property name="decimals">
<number>8</number>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="maxInfoLabel">
<property name="text">
<string>Maximum Value</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="maxValueDoubleSpinBox">
<property name="decimals">
<number>8</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="infoLabel">
<property name="text">
<string>Waiting for parameter refresh,,,</string>
</property>
</widget>
</item>
<item row="9" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="label2">
<property name="text">
<string>Tuning IDs can be mapped to channels in the RC settings</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>accepted()</signal>
<receiver>QGCMapRCToParamDialog</receiver>
<slot>accept()</slot>
<hints>
<hint type="sourcelabel">
<x>248</x>
<y>254</y>
</hint>
<hint type="destinationlabel">
<x>157</x>
<y>274</y>
</hint>
</hints>
</connection>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>QGCMapRCToParamDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>
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