Bryan Godbolt
15 years ago
10 changed files with 369 additions and 28 deletions
@ -1,6 +1,28 @@
@@ -1,6 +1,28 @@
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#include "Parameter.h" |
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using namespace OpalRT; |
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Parameter::Parameter() |
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Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID, |
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QGCParamID paramID, unsigned short opalID) |
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: simulinkPath(new QString(simulinkPath)), |
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simulinkName(new QString(simulinkName)), |
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componentID(componentID), |
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paramID(new QGCParamID(paramID)), |
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opalID(opalID) |
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{ |
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} |
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Parameter::Parameter(const Parameter &other) |
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: componentID(other.componentID), |
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opalID(other.opalID) |
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{ |
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simulinkPath = new QString(*other.simulinkPath); |
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simulinkName = new QString(*other.simulinkName); |
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paramID = new QGCParamID(*other.paramID); |
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} |
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Parameter::~Parameter() |
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{ |
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delete simulinkPath; |
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delete simulinkName; |
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delete paramID; |
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} |
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@ -0,0 +1,159 @@
@@ -0,0 +1,159 @@
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#include "ParameterList.h" |
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using namespace OpalRT; |
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ParameterList::ParameterList() |
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{ |
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params = new QMap<int, QMap<QGCParamID, Parameter> >; |
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/* Populate the map with parameter names. There is no elegant way of doing this so all
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parameter paths and names must be known at compile time and defined here. |
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Note: This function is written in a way that calls a lot of copy constructors and is |
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therefore not particularly efficient. However since it is only called once memory |
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and computation time are sacrificed for code clarity when adding and modifying |
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parameters. |
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When defining the path, the trailing slash is necessary |
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*/ |
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Parameter *p; |
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/* Component: Navigation Filter */ |
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p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/", |
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"Value", |
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OpalRT::NAV_ID, |
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QGCParamID("NAV_FILT_INIT")); |
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(*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p); |
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delete p; |
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p = new Parameter("avionics_src/sm_ampro/Gain/", |
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"Gain", |
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OpalRT::NAV_ID, |
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QGCParamID("TEST_OUTP_GAIN")); |
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(*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p); |
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delete p; |
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/* Component: Log Facility */ |
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p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/", |
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"Value", |
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OpalRT::LOG_ID, |
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QGCParamID("LOG_FILE_ON")); |
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(*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p); |
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delete p; |
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/* Get a list of the available parameters from opal-rt */ |
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QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>; |
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getParameterList(opalParams); |
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/* Iterate over the parameters we want to use in qgc and populate their ids */ |
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QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter; |
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QMap<QGCParamID, Parameter>::iterator paramIter; |
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QString s; |
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for (componentIter = params->begin(); componentIter != params->end(); ++componentIter) |
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{ |
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for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter) |
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{ |
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s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName(); |
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if (opalParams->contains(s)) |
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{ |
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(*paramIter).setOpalID(opalParams->value(s)); |
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qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s; |
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} |
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else |
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{ |
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qDebug() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list"; |
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} |
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} |
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} |
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delete opalParams; |
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} |
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ParameterList::~ParameterList() |
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{ |
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delete params; |
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} |
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/**
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Get the list of parameters in the simulink model. This function does not require |
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any prior knowlege of the parameters. It works by first calling OpalGetParameterList to |
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get the number of paramters, then allocates the required amount of memory and then gets |
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the paramter list using a second call to OpalGetParameterList. |
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*/ |
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void ParameterList::getParameterList(QMap<QString, unsigned short> *opalParams) |
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{ |
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/* inputs */ |
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unsigned short allocatedParams=0; |
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unsigned short allocatedPathLen=0; |
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unsigned short allocatedNameLen=0; |
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unsigned short allocatedVarLen=0; |
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/* outputs */ |
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unsigned short numParams; |
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unsigned short *idParam=NULL; |
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unsigned short maxPathLen; |
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char **paths=NULL; |
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unsigned short maxNameLen; |
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char **names=NULL; |
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unsigned short maxVarLen; |
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char **var=NULL; |
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int returnValue; |
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returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam, |
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allocatedPathLen, &maxPathLen, paths, |
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allocatedNameLen, &maxNameLen, names, |
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allocatedVarLen, &maxVarLen, var); |
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if (returnValue!=E2BIG) |
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{ |
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OpalLink::setLastErrorMsg(); |
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OpalLink::displayLastErrorMsg(); |
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return; |
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} |
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// allocate memory for parameter list
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idParam = new unsigned short[numParams]; |
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allocatedParams = numParams; |
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paths = new char*[numParams]; |
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for (int i=0; i<numParams; i++) |
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paths[i]=new char[maxPathLen]; |
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allocatedPathLen = maxPathLen; |
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names = new char*[numParams]; |
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for (int i=0; i<numParams; i++) |
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names[i] = new char[maxNameLen]; |
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allocatedNameLen = maxNameLen; |
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var = new char*[numParams]; |
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for (int i=0; i<numParams; i++) |
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var[i] = new char[maxVarLen]; |
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allocatedVarLen = maxVarLen; |
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returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam, |
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allocatedPathLen, &maxPathLen, paths, |
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allocatedNameLen, &maxNameLen, names, |
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allocatedVarLen, &maxVarLen, var); |
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if (returnValue != EOK) |
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{ |
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OpalLink::setLastErrorMsg(); |
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OpalLink::displayLastErrorMsg(); |
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return; |
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} |
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QString path, name; |
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for (int i=0; i<numParams; ++i) |
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{ |
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path.clear(); |
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path.append(paths[i]); |
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name.clear(); |
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name.append(names[i]); |
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if (path[path.size()-1] == '/') |
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opalParams->insert(path+name, idParam[i]); |
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else |
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opalParams->insert(path+'/'+name, idParam[i]); |
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} |
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// Dump out the list of parameters
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// QMap<QString, unsigned short>::const_iterator paramPrint;
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// for (paramPrint = opalParams->begin(); paramPrint != opalParams->end(); ++paramPrint)
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// qDebug() << paramPrint.key();
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} |
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@ -0,0 +1,55 @@
@@ -0,0 +1,55 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef PARAMETERLIST_H |
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#define PARAMETERLIST_H |
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#include <QMap> |
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#include "mavlink_types.h" |
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#include "QGCParamID.h" |
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#include "Parameter.h" |
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#include "OpalRT.h" |
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// Forward declare ParameterList before including OpalLink.h because a member of type ParameterList is used in OpalLink
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namespace OpalRT |
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{ |
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class ParameterList; |
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} |
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#include "OpalLink.h" |
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namespace OpalRT{ |
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class ParameterList |
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{ |
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public: |
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ParameterList(); |
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~ParameterList(); |
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int setValue(int compid, QGCParamID paramid, float value); |
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float getValue(int compid, QGCParamID paramid); |
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protected: |
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QMap<int, QMap<QGCParamID, Parameter> > *params; |
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void getParameterList(QMap<QString, unsigned short>*); |
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}; |
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} |
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#endif // PARAMETERLIST_H
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@ -1,6 +1,21 @@
@@ -1,6 +1,21 @@
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#include "QGCParamID.h" |
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using namespace OpalRT; |
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QGCParamID::QGCParamID() |
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QGCParamID::QGCParamID(const char *paramid):QString(paramid) |
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{ |
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} |
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QGCParamID::QGCParamID(const QGCParamID &other):QString(other) |
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{ |
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} |
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/*
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bool QGCParamID::operator<(const QGCParamID& other) |
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{ |
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const QString *lefthand, *righthand; |
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lefthand = this; |
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righthand = &other; |
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return lefthand < righthand; |
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} |
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*/ |
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