diff --git a/qgcresources.qrc b/qgcresources.qrc index 67be220..d7fbf23 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -231,13 +231,15 @@ src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml - src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml - src/FirmwarePlugin/APM/apm.pdef.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.xml + + + src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml resources/opengl/buglist.json diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index c4bc239..0213803 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -606,7 +606,6 @@ HEADERS+= \ src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \ src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \ src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \ - src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \ src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \ src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \ src/Vehicle/MultiVehicleManager.h \ @@ -661,8 +660,8 @@ SOURCES += \ src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \ src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \ src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \ + src/FirmwarePlugin/FirmwarePlugin.cc \ src/FirmwarePlugin/FirmwarePluginManager.cc \ - src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \ src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \ src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \ src/Vehicle/MultiVehicleManager.cc \ diff --git a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc index d334a10..e45624a 100644 --- a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc @@ -25,7 +25,6 @@ /// @author Don Gagne #include "GenericAutoPilotPlugin.h" -#include "FirmwarePlugin/Generic/GenericFirmwarePlugin.h" // FIXME: Hack GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent) : AutoPilotPlugin(vehicle, parent) diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index f962149..3e8b0b1 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -1,6 +1,7 @@ 1 + 1 Emmanuel Roussel @@ -230,6 +231,13 @@ Blankered Quadrotor x + + Mark Whitehorn <kd0aij@gmail.com> + Quadrotor x + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + diff --git a/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc b/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc index 4a964da..44c83f9 100644 --- a/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc +++ b/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc @@ -134,6 +134,10 @@ void PX4AirframeLoader::loadAirframeMetaData(void) return; } + } else if (elementName == "airframe_version_major") { + // Just skip over for now + } else if (elementName == "airframe_version_minor") { + // Just skip over for now } else if (elementName == "airframe_group") { if (xmlState != XmlStateFoundVersion) { diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc index c07f40e..5ac6e52 100644 --- a/src/FactSystem/ParameterLoader.cc +++ b/src/FactSystem/ParameterLoader.cc @@ -40,14 +40,14 @@ typedef QPair ParamTypeVal; typedef QPair NamedParam; typedef QMap MapID2NamedParam; -QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog") QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog") Fact ParameterLoader::_defaultFact; -ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) - : QObject(parent) - , _autopilot(autopilot) +const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParamaterFactMetaData"; + +ParameterLoader::ParameterLoader(Vehicle* vehicle) + : QObject(vehicle) , _vehicle(vehicle) , _mavlink(qgcApp()->toolbox()->mavlinkProtocol()) , _dedicatedLink(_vehicle->priorityLink()) @@ -55,9 +55,10 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q , _initialLoadComplete(false) , _saveRequired(false) , _defaultComponentId(FactSystem::defaultComponentId) + , _parameterSetMajorVersion(-1) + , _parameterMetaData(NULL) , _totalParamCount(0) { - Q_ASSERT(_autopilot); Q_ASSERT(_vehicle); Q_ASSERT(_mavlink); @@ -74,6 +75,9 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterLoader::_parameterUpdate); + _versionParam = vehicle->firmwarePlugin()->getVersionParam(); + _defaultComponentIdParam = vehicle->firmwarePlugin()->getDefaultComponentIdParam(); + // Ensure the cache directory exists QFileInfo(QSettings().fileName()).dir().mkdir("ParamCache"); refreshAllParameters(); @@ -81,14 +85,12 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q ParameterLoader::~ParameterLoader() { - + delete _parameterMetaData; } /// Called whenever a parameter is updated or first seen. void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value) { - bool setMetaData = false; - // Is this for our uas? if (uasId != _vehicle->id()) { return; @@ -198,14 +200,16 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param emit parameterListProgress((float)(_totalParamCount - waitingParamCount) / (float)_totalParamCount); } - // Attempt to determine default component id - if (_defaultComponentId == FactSystem::defaultComponentId && _defaultComponentIdParam.isEmpty()) { - _defaultComponentIdParam = _vehicle->firmwarePlugin()->getDefaultComponentIdParam(); - } + // Determine default component id if (!_defaultComponentIdParam.isEmpty() && _defaultComponentIdParam == parameterName) { _defaultComponentId = componentId; } + // Get parameter set version + if (!_versionParam.isEmpty() && _versionParam == parameterName) { + _parameterSetMajorVersion = value.toInt(); + } + if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(parameterName)) { qCDebug(ParameterLoaderLog) << "Adding new fact"; @@ -242,7 +246,6 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param } Fact* fact = new Fact(componentId, parameterName, factType, this); - setMetaData = true; _mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact); @@ -258,10 +261,6 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param Q_ASSERT(fact); fact->_containerSetRawValue(value); - if (setMetaData) { - _vehicle->firmwarePlugin()->addMetaDataToFact(fact, _vehicle->vehicleType()); - } - if (waitingParamCount == 0) { // Now that we know vehicle is up to date persist _saveToEEPROM(); @@ -487,7 +486,7 @@ void ParameterLoader::_waitingParamTimeout(void) foreach(const QString ¶mName, _waitingWriteParamNameMap[componentId].keys()) { paramsRequested = true; _waitingWriteParamNameMap[componentId][paramName]++; // Bump retry count - _writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->rawValue()); + _writeParameterRaw(componentId, paramName, _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName)->rawValue()); qCDebug(ParameterLoaderLog) << "Write resend for (componentId:" << componentId << "paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")"; if (++batchCount > maxBatchSize) { @@ -539,7 +538,7 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa mavlink_param_set_t p; mavlink_param_union_t union_value; - FactMetaData::ValueType_t factType = _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->type(); + FactMetaData::ValueType_t factType = _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName)->type(); p.param_type = _factTypeToMavType(factType); switch (factType) { @@ -701,7 +700,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream) QString valStr = wpParams.at(3); uint mavType = wpParams.at(4).toUInt(); - if (!_autopilot->factExists(FactSystem::ParameterProvider, componentId, paramName)) { + if (!_vehicle->autopilotPlugin()->factExists(FactSystem::ParameterProvider, componentId, paramName)) { QString error; error = QString("Skipped parameter %1:%2 - does not exist on this vehicle\n").arg(componentId).arg(paramName); errors += error; @@ -709,7 +708,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream) continue; } - Fact* fact = _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName); + Fact* fact = _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName); if (fact->type() != _mavTypeToFactType((MAV_PARAM_TYPE)mavType)) { QString error; error = QString("Skipped parameter %1:%2 - type mismatch %3:%4\n").arg(componentId).arg(paramName).arg(fact->type()).arg(_mavTypeToFactType((MAV_PARAM_TYPE)mavType)); @@ -810,6 +809,33 @@ void ParameterLoader::_restartWaitingParamTimer(void) _waitingParamTimeoutTimer.start(); } +/// Adds meta data to all params after initial load completes +void ParameterLoader::_addMetaDataToAll(void) +{ + if (_defaultComponentId == FactSystem::defaultComponentId) { + // We don't know what the default component is so we can't support meta data + return; + } + + if (_parameterMetaData) { + // This should only be called once + qWarning() << "Internal Error: ParameterLoader::_addMetaDataToAll with _parameterMetaData non NULL"; + return; + } + + // Load best parameter meta data set + int majorVersion, minorVersion; + QString metaDataFile = parameterMetaDataFile(_vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion); + _parameterMetaData = _vehicle->firmwarePlugin()->loadParameterMetaData(metaDataFile); + qCDebug(ParameterLoaderLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion; + + // Loop over all parameters in default component adding meta data + QVariantMap& factMap = _mapParameterName2Variant[_defaultComponentId]; + foreach (const QString& key, factMap.keys()) { + _vehicle->firmwarePlugin()->addMetaDataToFact(_parameterMetaData, factMap[key].value(), _vehicle->vehicleType()); + } +} + void ParameterLoader::_checkInitialLoadComplete(void) { // Already processed? @@ -824,7 +850,6 @@ void ParameterLoader::_checkInitialLoadComplete(void) } } - // We aren't waiting for any more initial parameter updates, initial parameter loading is complete _initialLoadComplete = true; @@ -871,6 +896,9 @@ void ParameterLoader::_checkInitialLoadComplete(void) } } + // We can now add meta data since we should know parameter set version + _addMetaDataToAll(); + // Warn of parameter load failure if (initialLoadFailures) { @@ -895,3 +923,141 @@ void ParameterLoader::_initialRequestTimeout(void) refreshAllParameters(); _initialRequestTimeoutTimer.start(); } + +QString ParameterLoader::parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion) +{ + bool cacheHit = false; + FirmwarePlugin* plugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR); + + // Cached files are stored in settings location + QSettings settings; + QDir cacheDir = QFileInfo(settings.fileName()).dir(); + + // First look for a direct cache hit + 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); + if (wantedMajorVersion != cacheMajorVersion) { + qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << cacheMajorVersion << wantedMajorVersion; + } else { + qCDebug(ParameterLoaderLog) << "Direct cache hit on file:major:minor" << cacheFile.fileName() << cacheMajorVersion << cacheMinorVersion; + cacheHit = true; + } + } + + if (!cacheHit) { + // No direct hit, look for lower param set version + QString wildcard = QString("%1.%2.*.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType); + QStringList cacheHits = cacheDir.entryList(QStringList(wildcard), QDir::Files, QDir::Name); + + // Find the highest major version number which is below the vehicles major version number + int cacheHitIndex = -1; + cacheMajorVersion = -1; + QRegExp regExp(QString("%1\\.%2\\.(\\d*)\\.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType)); + for (int i=0; i< cacheHits.count(); i++) { + if (regExp.exactMatch(cacheHits[i]) && regExp.captureCount() == 1) { + int majorVersion = regExp.capturedTexts()[0].toInt(); + if (majorVersion > cacheMajorVersion && majorVersion < wantedMajorVersion) { + cacheMajorVersion = majorVersion; + cacheHitIndex = i; + } + } + } + + if (cacheHitIndex != -1) { + // 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); + if (majorVersion != cacheMajorVersion) { + qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << majorVersion << cacheMajorVersion; + cacheHit = false; + } else { + qCDebug(ParameterLoaderLog) << "Indirect cache hit on file:major:minor:want" << cacheFile.fileName() << cacheMajorVersion << cacheMinorVersion << wantedMajorVersion; + cacheHit = true; + } + } + } + + int internalMinorVersion, internalMajorVersion; + QString internalMetaDataFile = plugin->internalParameterMetaDataFile(); + plugin->getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion); + qCDebug(ParameterLoaderLog) << "Internal meta data 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 + if (internalMajorVersion == wantedMajorVersion) { + if (cacheMajorVersion == wantedMajorVersion) { + // Both internal and cache are direct hit on major version, Use higher minor version number + cacheHit = cacheMinorVersion > internalMinorVersion; + } else { + // Direct internal hit, but not direct hit in cache, use internal + cacheHit = false; + } + } else { + if (cacheMajorVersion == wantedMajorVersion) { + // Direct hit on cache, no direct hit on internal, use cache + cacheHit = true; + } else { + // No direct hit anywhere, use internal + cacheHit = false; + } + } + } + + QString metaDataFile; + if (cacheHit && !qgcApp()->runningUnitTests()) { + majorVersion = cacheMajorVersion; + minorVersion = cacheMinorVersion; + metaDataFile = cacheFile.fileName(); + } else { + majorVersion = internalMajorVersion; + minorVersion = internalMinorVersion; + metaDataFile = internalMetaDataFile; + } + qCDebug(ParameterLoaderLog) << "ParameterLoader::parameterMetaDataFile file:major:minor" << metaDataFile << majorVersion << minorVersion; + + return metaDataFile; +} + +void ParameterLoader::cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType) +{ + FirmwarePlugin* plugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR); + + int newMajorVersion, newMinorVersion; + plugin->getParameterMetaDataVersionInfo(metaDataFile, newMajorVersion, newMinorVersion); + qCDebug(ParameterLoaderLog) << "ParameterLoader::cacheMetaDataFile file:firmware:major;minor" << metaDataFile << firmwareType << newMajorVersion << newMinorVersion; + + // Find the cache hit closest to this new file + int cacheMajorVersion, cacheMinorVersion; + QString cacheHit = ParameterLoader::parameterMetaDataFile(firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion); + qCDebug(ParameterLoaderLog) << "ParameterLoader::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion; + + bool cacheNewFile = false; + if (cacheHit.isEmpty()) { + // No cache hits, store the new file + cacheNewFile = true; + } else if (cacheMajorVersion == newMajorVersion) { + // Direct hit on major version in cache: + // Cache new file if newer minor version + // Also delete older cache file + if (newMinorVersion > cacheMinorVersion) { + cacheNewFile = true; + QFile::remove(cacheHit); + } + } else { + // Indirect hit in cache, store new file + cacheNewFile = true; + } + + if (cacheNewFile) { + // Cached files are stored in settings location. Copy from current file to cache naming. + + QSettings settings; + QDir cacheDir = QFileInfo(settings.fileName()).dir(); + QFile cacheFile(cacheDir.filePath(QString("%1.%2.%3.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType).arg(newMajorVersion))); + qCDebug(ParameterLoaderLog) << "ParameterLoader::cacheMetaDataFile caching file:" << cacheFile.fileName(); + QFile newFile(metaDataFile); + newFile.copy(cacheFile.fileName()); + } +} diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h index 4c17cd0..9e185a4 100644 --- a/src/FactSystem/ParameterLoader.h +++ b/src/FactSystem/ParameterLoader.h @@ -40,7 +40,6 @@ /// @file /// @author Don Gagne -Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog) Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderVerboseLog) /// Connects to Parameter Manager to load/update Facts @@ -50,7 +49,7 @@ class ParameterLoader : public QObject public: /// @param uas Uas which this set of facts is associated with - ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL); + ParameterLoader(Vehicle* vehicle); ~ParameterLoader(); @@ -91,6 +90,19 @@ public: 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; } + + /// Returns the newest available parameter meta data file (from cache or internal) for the specified information. + /// @param wantedMajorVersion Major version you are looking for + /// @param[out] majorVersion Major version for found meta data + /// @param[out] minorVersion Minor version for found meta data + /// @return Meta data file name of best match, emptyString is none found + static QString parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion); + + /// If this file is newer than anything in the cache, cache it as the latest version + static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType); signals: /// Signalled when the full set of facts are ready @@ -103,7 +115,6 @@ signals: void restartWaitingParamTimer(void); protected: - AutoPilotPlugin* _autopilot; Vehicle* _vehicle; MAVLinkProtocol* _mavlink; @@ -123,6 +134,7 @@ private: void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value); void _writeLocalParamCache(int uasId, int componentId); void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value); + void _addMetaDataToAll(void); MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType); FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); @@ -134,18 +146,22 @@ private: /// First mapping is by component id /// Second mapping is parameter name, to Fact* in QVariant QMap _mapParameterName2Variant; + QMap > _mapParameterId2Name; /// First mapping is by component id /// Second mapping is group name, to Fact QMap > _mapGroup2ParameterName; - bool _parametersReady; ///< true: full set of parameters correctly loaded - bool _initialLoadComplete; ///< true: Initial load of all parameters complete, whether succesful or not - bool _saveRequired; ///< true: _saveToEEPROM should be called - int _defaultComponentId; - QString _defaultComponentIdParam; - + bool _parametersReady; ///< true: full set of parameters correctly loaded + bool _initialLoadComplete; ///< true: Initial load of all parameters complete, whether succesful or not + bool _saveRequired; ///< true: _saveToEEPROM should be called + int _defaultComponentId; + QString _defaultComponentIdParam; ///< Parameter which identifies default component + QString _versionParam; ///< Parameter which contains parameter set version + int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known + QObject* _parameterMetaData; ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall + static const int _maxInitialLoadRetry = 10; ///< Maximum a retries on initial index based load QMap _paramCountMap; ///< Key: Component id, Value: count of parameters in this component @@ -162,6 +178,8 @@ private: QMutex _dataMutex; static Fact _defaultFact; ///< Used to return default fact, when parameter not found + + static const char* _cachedMetaDataFilePrefix; }; #endif diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 6ebf05d..812993b 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -25,7 +25,6 @@ /// @author Don Gagne #include "APMFirmwarePlugin.h" -#include "Generic/GenericFirmwarePlugin.h" #include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h" // FIXME: Hack #include "QGCMAVLink.h" #include "QGCApplication.h" @@ -473,11 +472,16 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void) return true; } -void APMFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) +void APMFirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { - _parameterMetaData.addMetaDataToFact(fact, vehicleType); -} + APMParameterMetaData* apmMetaData = qobject_cast(parameterMetaData); + if (apmMetaData) { + apmMetaData->addMetaDataToFact(fact, vehicleType); + } else { + qWarning() << "Internal error: pointer passed to APMFirmwarePlugin::addMetaDataToFact not APMParameterMetaData"; + } +} QList APMFirmwarePlugin::supportedMissionCommands(void) { @@ -508,3 +512,11 @@ void APMFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QSt fixedWingJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json"); multiRotorJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json"); } + +QObject* APMFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile) +{ + Q_UNUSED(metaDataFile); + + APMParameterMetaData* metaData = new APMParameterMetaData; + return metaData; +} diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h index 58edaa1..7a7e7bc 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h @@ -80,19 +80,25 @@ class APMFirmwarePlugin : public FirmwarePlugin public: // Overrides from FirmwarePlugin - virtual bool isCapable(FirmwareCapabilities capabilities); - virtual QList componentsForVehicle(AutoPilotPlugin* vehicle); - virtual QStringList flightModes(void); - virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode); - virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode); - virtual int manualControlReservedButtonCount(void); - virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message); - virtual void initializeVehicle(Vehicle* vehicle); - virtual bool sendHomePositionToVehicle(void); - virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType); - virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); } - virtual QList supportedMissionCommands(void); - void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; + + QList componentsForVehicle(AutoPilotPlugin* vehicle) final; + QList supportedMissionCommands(void) final; + + bool isCapable(FirmwareCapabilities capabilities) final; + QStringList flightModes(void) final; + QString flightMode(uint8_t base_mode, uint32_t custom_mode) final; + bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; + int manualControlReservedButtonCount(void) final; + void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final; + void initializeVehicle(Vehicle* vehicle) final; + bool sendHomePositionToVehicle(void) final; + void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final; + QString getDefaultComponentIdParam(void) const final { return QString("SYSID_SW_TYPE"); } + void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; + QString getVersionParam(void) final { return QStringLiteral("SYSID_SW_MREV"); } + QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); } + void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); } + QObject* loadParameterMetaData (const QString& metaDataFile); protected: /// All access to singleton is through stack specific implementation @@ -109,7 +115,6 @@ private: APMFirmwareVersion _firmwareVersion; bool _textSeverityAdjustmentNeeded; QList _supportedModes; - APMParameterMetaData _parameterMetaData; }; #endif diff --git a/src/FirmwarePlugin/APM/apm.pdef.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.xml similarity index 100% rename from src/FirmwarePlugin/APM/apm.pdef.xml rename to src/FirmwarePlugin/APM/APMParameterFactMetaData.xml diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc index 2ad3c75..ce391fb 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc @@ -21,9 +21,6 @@ ======================================================================*/ -/// @file -/// @author Don Gagne - #include "APMParameterMetaData.h" #include "QGCApplication.h" #include "QGCLoggingCategory.h" @@ -34,15 +31,13 @@ #include #include -QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog") -QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog, "APMParameterMetaDataVerboseLog") - -bool APMParameterMetaData::_parameterMetaDataLoaded = false; -QMap APMParameterMetaData::_vehicleTypeToParametersMap; +QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog") +QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog, "APMParameterMetaDataVerboseLog") -APMParameterMetaData::APMParameterMetaData(QObject* parent) : - QObject(parent) +APMParameterMetaData::APMParameterMetaData(void) + : _parameterMetaDataLoaded(false) { + // APM meta data is not yet versioned _loadParameterFactMetaData(); } @@ -146,7 +141,7 @@ void APMParameterMetaData::_loadParameterFactMetaData() // Fixme:: always picking up the bundled xml, we would like to update it from web // just not sure right now as the xml is in bad shape. if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) { - parameterFilename = ":/FirmwarePlugin/APM/apm.pdef.xml"; + parameterFilename = ":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"; } qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename; @@ -428,11 +423,8 @@ bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFa return true; } -/// Override from FactLoad which connects the meta data to the fact void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) { - _loadParameterFactMetaData(); - const QString mavTypeString = mavTypeToString(vehicleType); APMFactMetaDataRaw* rawMetaData = NULL; @@ -591,3 +583,12 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) // FixMe:: not handling increment size as their is no place for it in FactMetaData and no ui fact->setMetaData(metaData); } + +void APMParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) +{ + Q_UNUSED(metaDataFile); + + // Versioning not yet supported + majorVersion = -1; + minorVersion = -1; +} diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.h b/src/FirmwarePlugin/APM/APMParameterMetaData.h index 66a4749..323c265 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.h +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.h @@ -34,6 +34,9 @@ #include "AutoPilotPlugin.h" #include "Vehicle.h" +Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog) +Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog) + class APMFactMetaDataRaw { public: @@ -54,11 +57,6 @@ public: QList > bitmask; }; -/// @file -/// @author Don Gagne - -Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog) -Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog) /// Collection of Parameter Facts for PX4 AutoPilot @@ -69,15 +67,11 @@ class APMParameterMetaData : public QObject Q_OBJECT public: - /// @param uas Uas which this set of facts is associated with - APMParameterMetaData(QObject* parent = NULL); + APMParameterMetaData(void); - /// Override from ParameterLoader - virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); } - - // Overrides from ParameterLoader - static void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType); - static void addMetaDataToFacts(QVariantMap &facts, MAV_TYPE vehicleType); + void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType); + + static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion); private: enum { @@ -90,18 +84,17 @@ private: XmlStateFoundGroup, XmlStateFoundParameter, XmlStateDone - }; - + }; - static void _loadParameterFactMetaData(); - static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); - static bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName); - static bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData); - static void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap& groupMembers); - static QString mavTypeToString(MAV_TYPE vehicleTypeEnum); + void _loadParameterFactMetaData(); + QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); + bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName); + bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData); + void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap& groupMembers); + QString mavTypeToString(MAV_TYPE vehicleTypeEnum); - static bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded - static QMap _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map> + bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded + QMap _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map> }; #endif diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc index d57d0a0..23c793f 100644 --- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc @@ -25,7 +25,6 @@ /// @author Don Gagne #include "ArduCopterFirmwarePlugin.h" -#include "Generic/GenericFirmwarePlugin.h" APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable) diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc index 3403262..2630bae 100644 --- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc @@ -25,7 +25,6 @@ /// @author Pritam Ghanghas #include "ArduPlaneFirmwarePlugin.h" -#include "Generic/GenericFirmwarePlugin.h" APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable) diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc index 7fcd859..6c695eb 100644 --- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc @@ -25,7 +25,6 @@ /// @author Pritam Ghanghas #include "ArduRoverFirmwarePlugin.h" -#include "Generic/GenericFirmwarePlugin.h" APMRoverMode::APMRoverMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable) diff --git a/src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc similarity index 69% rename from src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc rename to src/FirmwarePlugin/FirmwarePlugin.cc index a8b4cb2..2e0e38c 100644 --- a/src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc +++ b/src/FirmwarePlugin/FirmwarePlugin.cc @@ -21,22 +21,18 @@ ======================================================================*/ -/// @file -/// @author Don Gagne - -#include "GenericFirmwarePlugin.h" -#include "AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h" // FIXME: Hack +#include "FirmwarePlugin.h" #include -QList GenericFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle) +QList FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle) { Q_UNUSED(vehicle); return QList(); } -QString GenericFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) +QString FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) { QString flightMode; @@ -72,25 +68,25 @@ QString GenericFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mod return flightMode; } -bool GenericFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) +bool FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) { Q_UNUSED(flightMode); Q_UNUSED(base_mode); Q_UNUSED(custom_mode); - qWarning() << "GenericFirmwarePlugin::setFlightMode called on base class, not supported"; + qWarning() << "FirmwarePlugin::setFlightMode called on base class, not supported"; return false; } -int GenericFirmwarePlugin::manualControlReservedButtonCount(void) +int FirmwarePlugin::manualControlReservedButtonCount(void) { // We don't know whether the firmware is going to used any of these buttons. // So reserve them all. return -1; } -void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) +void FirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) { Q_UNUSED(vehicle); Q_UNUSED(message); @@ -98,14 +94,14 @@ void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_messa // Generic plugin does no message adjustment } -void GenericFirmwarePlugin::initializeVehicle(Vehicle* vehicle) +void FirmwarePlugin::initializeVehicle(Vehicle* vehicle) { Q_UNUSED(vehicle); // Generic Flight Stack is by definition "generic", so no extra work } -bool GenericFirmwarePlugin::sendHomePositionToVehicle(void) +bool FirmwarePlugin::sendHomePositionToVehicle(void) { // Generic stack does not want home position sent in the first position. // Subsequent sequence numbers must be adjusted. @@ -113,25 +109,23 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void) return false; } -void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) -{ - Q_UNUSED(vehicleType) - - // Add default meta data - FactMetaData* metaData = new FactMetaData(fact->type(), fact); - fact->setMetaData(metaData); -} - -QList GenericFirmwarePlugin::supportedMissionCommands(void) +QList FirmwarePlugin::supportedMissionCommands(void) { // Generic supports all commands return QList(); } -void GenericFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const +void FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const { // No overrides commonJsonFilename.clear(); fixedWingJsonFilename.clear(); multiRotorJsonFilename.clear(); } + +void FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) +{ + Q_UNUSED(metaDataFile); + majorVersion = -1; + minorVersion = -1; +} diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h index 14d497c..6bdc4f8 100644 --- a/src/FirmwarePlugin/FirmwarePlugin.h +++ b/src/FirmwarePlugin/FirmwarePlugin.h @@ -38,12 +38,10 @@ class Vehicle; /// This is the base class for Firmware specific plugins /// -/// The FirmwarePlugin class is the abstract base class which represents the methods and objects -/// which are specific to a certain Firmware flight stack. This is the only place where -/// flight stack specific code should reside in QGroundControl. The remainder of the -/// QGroundControl source is generic to a common mavlink implementation. The implementation -/// in the base class supports mavlink generic firmware. Override the base clase virtuals -/// to create you firmware specific plugin. +/// The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack. +/// This is the only place where flight stack specific code should reside in QGroundControl. The remainder of the +/// QGroundControl source is generic to a common mavlink implementation. The implementation in the base class supports +/// mavlink generic firmware. Override the base clase virtuals to create your own firmware specific plugin. class FirmwarePlugin : public QObject { @@ -53,31 +51,30 @@ public: /// Set of optional capabilites which firmware may support typedef enum { SetFlightModeCapability, ///< FirmwarePlugin::setFlightMode method is supported - MavCmdPreflightStorageCapability, ///< MAV_CMD_PREFLIGHT_STORAGE is supported - + MavCmdPreflightStorageCapability, ///< MAV_CMD_PREFLIGHT_STORAGE is supported } FirmwareCapabilities; /// @return true: Firmware supports all specified capabilites - virtual bool isCapable(FirmwareCapabilities capabilities) = 0; - + virtual bool isCapable(FirmwareCapabilities capabilities) { Q_UNUSED(capabilities); return false; } + /// Returns VehicleComponents for specified Vehicle /// @param vehicle Vehicle to associate with components /// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must /// free when no longer needed. - virtual QList componentsForVehicle(AutoPilotPlugin* vehicle) = 0; + virtual QList componentsForVehicle(AutoPilotPlugin* vehicle); /// Returns the list of available flight modes - virtual QStringList flightModes(void) = 0; + virtual QStringList flightModes(void) { return QStringList(); } /// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable. /// @param base_mode Base mode from mavlink HEARTBEAT message /// @param custom_mode Custom mode from mavlink HEARTBEAT message - virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) = 0; + virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode); /// Sets base_mode and custom_mode to specified flight mode. /// @param[out] base_mode Base mode for SET_MODE mavlink message /// @param[out] custom_mode Custom mode for SET_MODE mavlink message - virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0; + virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode); /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific /// not just this. I'm going to try to change that. If not, this will need to be removed. @@ -85,17 +82,17 @@ public: /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches. /// The remainder can be assigned to Vehicle actions. /// @return -1: reserver all buttons, >0 number of buttons to reserve - virtual int manualControlReservedButtonCount(void) = 0; + virtual int manualControlReservedButtonCount(void); /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin /// can adjust any message characteristics. This is handy to adjust or differences in mavlink /// spec implementations such that the base code can remain mavlink generic. /// @param vehicle Vehicle message came from /// @param message[in,out] Mavlink message to adjust if needed. - virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) = 0; + virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message); /// Called when Vehicle is first created to send any necessary mavlink messages to the firmware. - virtual void initializeVehicle(Vehicle* vehicle) = 0; + virtual void initializeVehicle(Vehicle* vehicle); /// Determines how to handle the first item of the mission item list. Internally to QGC the first item /// is always the home position. @@ -103,22 +100,38 @@ public: /// true: Send first mission item as home position to vehicle. When vehicle has no mission items on /// it, it may or may not return a home position back in position 0. /// false: Do not send first item to vehicle, sequence numbers must be adjusted - virtual bool sendHomePositionToVehicle(void) = 0; + virtual bool sendHomePositionToVehicle(void); /// Returns the parameter that is used to identify the default component - virtual QString getDefaultComponentIdParam(void) const = 0; + virtual QString getDefaultComponentIdParam(void) const { return QString(); } + + /// 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. + virtual void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion); + + /// Returns the internal resource parameter meta date file. + virtual QString internalParameterMetaDataFile(void) { return QString(); } + + /// Loads the specified parameter meta data file. + /// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is reponsible to + /// call deleteParameterMetaData when no longer needed. + virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; } /// Adds the parameter meta data to the Fact - virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) = 0; + /// @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData + virtual void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(fact); Q_UNUSED(vehicleType); return; } /// List of supported mission commands. Empty list for all commands supported. - virtual QList supportedMissionCommands(void) = 0; + virtual QList supportedMissionCommands(void); /// Returns the names for the mission command json override files. Empty string to specify no overrides. /// @param[out] commonJsonFilename Filename for common overrides /// @param[out] fixedWingJsonFilename Filename for fixed wing overrides /// @param[out] multiRotorJsonFilename Filename for multi rotor overrides - virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const = 0; + virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const; + }; #endif diff --git a/src/FirmwarePlugin/FirmwarePluginManager.cc b/src/FirmwarePlugin/FirmwarePluginManager.cc index 3cd3373..d0aa23d 100644 --- a/src/FirmwarePlugin/FirmwarePluginManager.cc +++ b/src/FirmwarePlugin/FirmwarePluginManager.cc @@ -25,7 +25,6 @@ /// @author Don Gagne #include "FirmwarePluginManager.h" -#include "Generic/GenericFirmwarePlugin.h" #include "APM/ArduCopterFirmwarePlugin.h" #include "APM/ArduPlaneFirmwarePlugin.h" #include "APM/ArduRoverFirmwarePlugin.h" @@ -91,7 +90,12 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT } if (!_genericFirmwarePlugin) { - _genericFirmwarePlugin = new GenericFirmwarePlugin; + _genericFirmwarePlugin = new FirmwarePlugin; } return _genericFirmwarePlugin; } + +void FirmwarePluginManager::clearSettings(void) +{ + // FIXME: NYI +} diff --git a/src/FirmwarePlugin/FirmwarePluginManager.h b/src/FirmwarePlugin/FirmwarePluginManager.h index 6a65501..f3d18b4 100644 --- a/src/FirmwarePlugin/FirmwarePluginManager.h +++ b/src/FirmwarePlugin/FirmwarePluginManager.h @@ -38,7 +38,6 @@ class ArduCopterFirmwarePlugin; class ArduPlaneFirmwarePlugin; class ArduRoverFirmwarePlugin; class PX4FirmwarePlugin; -class GenericFirmwarePlugin; /// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type. @@ -56,11 +55,14 @@ public: /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT. FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType); + /// Clears settings from all firmware plugins. + void clearSettings(void); + private: ArduCopterFirmwarePlugin* _arduCopterFirmwarePlugin; ArduPlaneFirmwarePlugin* _arduPlaneFirmwarePlugin; ArduRoverFirmwarePlugin* _arduRoverFirmwarePlugin; - GenericFirmwarePlugin* _genericFirmwarePlugin; + FirmwarePlugin* _genericFirmwarePlugin; PX4FirmwarePlugin* _px4FirmwarePlugin; }; diff --git a/src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h b/src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h deleted file mode 100644 index 0a21101..0000000 --- a/src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h +++ /dev/null @@ -1,53 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - This file is part of the QGROUNDCONTROL project - - QGROUNDCONTROL is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - QGROUNDCONTROL is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with QGROUNDCONTROL. If not, see . - - ======================================================================*/ - -/// @file -/// @author Don Gagne - -#ifndef GenericFirmwarePlugin_H -#define GenericFirmwarePlugin_H - -#include "FirmwarePlugin.h" - -class GenericFirmwarePlugin : public FirmwarePlugin -{ - Q_OBJECT - -public: - // Overrides from FirmwarePlugin - bool isCapable(FirmwareCapabilities capabilities) final { Q_UNUSED(capabilities); return false; } - QList componentsForVehicle(AutoPilotPlugin* vehicle) final; - QStringList flightModes(void) final { return QStringList(); } - QString flightMode(uint8_t base_mode, uint32_t custom_mode) final; - bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; - int manualControlReservedButtonCount(void) final; - void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final; - void initializeVehicle(Vehicle* vehicle) final; - bool sendHomePositionToVehicle(void) final; - void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final; - QString getDefaultComponentIdParam(void) const final { return QString(); } - QList supportedMissionCommands(void) final; - void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; -}; - -#endif diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc index 14b1a6e..90aeb08 100644 --- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc +++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc @@ -25,6 +25,7 @@ /// @author Don Gagne #include "PX4FirmwarePlugin.h" +#include "PX4ParameterMetaData.h" #include "AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h" // FIXME: Hack #include @@ -204,9 +205,15 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void) return false; } -void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) +void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { - _parameterMetaData.addMetaDataToFact(fact, vehicleType); + PX4ParameterMetaData* px4MetaData = qobject_cast(parameterMetaData); + + if (px4MetaData) { + px4MetaData->addMetaDataToFact(fact, vehicleType); + } else { + qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::addMetaDataToFact not PX4ParameterMetaData"; + } } QList PX4FirmwarePlugin::supportedMissionCommands(void) @@ -233,3 +240,10 @@ void PX4FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QSt fixedWingJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json"); multiRotorJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json"); } + +QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile) +{ + PX4ParameterMetaData* metaData = new PX4ParameterMetaData; + metaData->loadParameterFactMetaDataFile(metaDataFile); + return metaData; +} diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h index c796af3..4d8f9fd 100644 --- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h +++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h @@ -28,6 +28,7 @@ #define PX4FirmwarePlugin_H #include "FirmwarePlugin.h" +#include "ParameterLoader.h" #include "PX4ParameterMetaData.h" class PX4FirmwarePlugin : public FirmwarePlugin @@ -36,22 +37,25 @@ class PX4FirmwarePlugin : public FirmwarePlugin public: // Overrides from FirmwarePlugin - bool isCapable(FirmwareCapabilities capabilities) final; + QList componentsForVehicle(AutoPilotPlugin* vehicle) final; - QStringList flightModes(void) final; - QString flightMode(uint8_t base_mode, uint32_t custom_mode) final; - bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; - int manualControlReservedButtonCount(void) final; - void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final; - void initializeVehicle(Vehicle* vehicle) final; - bool sendHomePositionToVehicle(void) final; - void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final; - QString getDefaultComponentIdParam(void) const final { return QString("SYS_AUTOSTART"); } QList supportedMissionCommands(void) final; - void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; -private: - PX4ParameterMetaData _parameterMetaData; + bool isCapable (FirmwareCapabilities capabilities) final; + QStringList flightModes (void) final; + QString flightMode (uint8_t base_mode, uint32_t custom_mode) final; + bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; + int manualControlReservedButtonCount(void) final; + void adjustMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final; + void initializeVehicle (Vehicle* vehicle) final; + bool sendHomePositionToVehicle (void) final; + void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final; + QString getDefaultComponentIdParam (void) const final { return QString("SYS_AUTOSTART"); } + void missionCommandOverrides (QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; + QString getVersionParam (void) final { return QString("SYS_PARAM_VER"); } + QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); } + void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); } + QObject* loadParameterMetaData (const QString& metaDataFile); }; #endif diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml similarity index 99% rename from src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml rename to src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index f6f2bbb..28225ce 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -1,6 +1,8 @@ 3 + 1 + 1 Speed controller bandwidth @@ -1267,21 +1269,21 @@ replay messages for logging Enable or disable usage of terrain estimate during landing 0: disabled, 1: enabled - + Flare, minimum pitch Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 0 15.0 degrees - + Flare, maximum pitch Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 0 45.0 degrees - + Landing airspeed scale factor Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. 1.0 @@ -2001,7 +2003,7 @@ replay messages for logging 1.0 2 - + Proportional gain for horizontal position error 0.0 2 @@ -2022,12 +2024,14 @@ replay messages for logging 0.0 3 - + Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 + 20.0 m/s 2 + 1 Horizontal velocity feed forward @@ -2109,12 +2113,13 @@ replay messages for logging Hz 2 - + Maximum horizonal acceleration in velocity controlled modes 2.0 - 10.0 + 15.0 m/s/s 2 + 1 Minimum thrust diff --git a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc index 4fe2703..043eed2 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc +++ b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc @@ -35,11 +35,8 @@ QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog") -bool PX4ParameterMetaData::_parameterMetaDataLoaded = false; -QMap PX4ParameterMetaData::_mapParameterName2FactMetaData; - -PX4ParameterMetaData::PX4ParameterMetaData(QObject* parent) : - QObject(parent) +PX4ParameterMetaData::PX4ParameterMetaData(void) + : _parameterMetaDataLoaded(false) { } @@ -78,46 +75,29 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact return var; } -QString PX4ParameterMetaData::parameterMetaDataFile(void) +void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaDataFile) { - QSettings settings; - QDir parameterDir = QFileInfo(settings.fileName()).dir(); - return parameterDir.filePath("PX4ParameterFactMetaData.xml"); -} + qCDebug(ParameterLoaderLog) << "PX4ParameterMetaData::loadParameterFactMetaDataFile" << metaDataFile; -/// Load Parameter Fact meta data -/// -/// The meta data comes from firmware parameters.xml file. -void PX4ParameterMetaData::_loadParameterFactMetaData(void) -{ if (_parameterMetaDataLoaded) { + qWarning() << "Internal error: parameter meta data loaded more than once"; return; } _parameterMetaDataLoaded = true; - - qCDebug(PX4ParameterMetaDataLog) << "Loading PX4 parameter fact meta data"; + + qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile; - Q_ASSERT(_mapParameterName2FactMetaData.count() == 0); + QFile xmlFile(metaDataFile); - QString parameterFilename; - - // We want unit test builds to always use the resource based meta data to provide repeatable results - if (!qgcApp()->runningUnitTests()) { - // First look for meta data that comes from a firmware download. Fall back to resource if not there. - parameterFilename = parameterMetaDataFile(); + if (!xmlFile.exists()) { + qWarning() << "Internal error: metaDataFile mission" << metaDataFile; + return; } - if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) { - parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml"; - } - - qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename; - - QFile xmlFile(parameterFilename); - Q_ASSERT(xmlFile.exists()); - bool success = xmlFile.open(QIODevice::ReadOnly); - Q_UNUSED(success); - Q_ASSERT(success); + if (!xmlFile.open(QIODevice::ReadOnly)) { + qWarning() << "Internal error: Unable to open parameter file:" << metaDataFile << xmlFile.errorString(); + return; + } QXmlStreamReader xml(xmlFile.readAll()); xmlFile.close(); @@ -159,15 +139,19 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void) } if (intVersion <= 2) { // We can't read these old files - qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename; + qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << metaDataFile; return; } - + } else if (elementName == "parameter_version_major") { + // Just skip over for now + } else if (elementName == "parameter_version_minor") { + // Just skip over for now + } else if (elementName == "group") { if (xmlState != XmlStateFoundVersion) { // We didn't get a version stamp, assume older version we can't read - qDebug() << "Parameter version stamp not found, skipping load" << parameterFilename; + qDebug() << "Parameter version stamp not found, skipping load" << metaDataFile; return; } xmlState = XmlStateFoundGroup; @@ -354,17 +338,69 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void) } } -/// Override from FactLoad which connects the meta data to the fact void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(vehicleType) - _loadParameterFactMetaData(); if (_mapParameterName2FactMetaData.contains(fact->name())) { fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]); - } else { - // Use generic meta data - FactMetaData* metaData = new FactMetaData(fact->type(), fact); - fact->setMetaData(metaData); + } +} + +void PX4ParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) +{ + QFile xmlFile(metaDataFile); + + if (!xmlFile.exists()) { + qWarning() << "Internal error: metaDataFile mission" << metaDataFile; + return; + } + + if (!xmlFile.open(QIODevice::ReadOnly)) { + qWarning() << "Internal error: Unable to open parameter file:" << metaDataFile << xmlFile.errorString(); + return; + } + + QXmlStreamReader xml(xmlFile.readAll()); + xmlFile.close(); + if (xml.hasError()) { + qWarning() << "Badly formed XML" << xml.errorString(); + return; + } + + majorVersion = -1; + minorVersion = -1; + + while (!xml.atEnd() && (majorVersion == -1 || minorVersion == -1)) { + if (xml.isStartElement()) { + QString elementName = xml.name().toString(); + + if (elementName == "parameter_version_major") { + bool convertOk; + QString strVersion = xml.readElementText(); + majorVersion = strVersion.toInt(&convertOk); + if (!convertOk) { + qWarning() << "Badly formed XML"; + return; + } + } else if (elementName == "parameter_version_minor") { + bool convertOk; + QString strVersion = xml.readElementText(); + minorVersion = strVersion.toInt(&convertOk); + if (!convertOk) { + qWarning() << "Badly formed XML"; + return; + } + } + } + xml.readNext(); + } + + // Assume defaults if not found + if (majorVersion == -1) { + majorVersion = 1; + } + if (minorVersion == -1) { + minorVersion = 1; } } diff --git a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h index 4c9859f..f2cee1a 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h +++ b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h @@ -38,19 +38,18 @@ Q_DECLARE_LOGGING_CATEGORY(PX4ParameterMetaDataLog) -/// Collection of Parameter Facts for PX4 AutoPilot - +/// Loads and holds parameter fact meta data for PX4 stack class PX4ParameterMetaData : public QObject { Q_OBJECT public: - PX4ParameterMetaData(QObject* parent = NULL); + PX4ParameterMetaData(void); - void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType); + void loadParameterFactMetaDataFile (const QString& metaDataFile); + void addMetaDataToFact (Fact* fact, MAV_TYPE vehicleType); - /// @return Location of PX4 parameter meta data file - static QString parameterMetaDataFile(void); + static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion); private: enum { @@ -62,11 +61,10 @@ private: XmlStateDone }; - static void _loadParameterFactMetaData(void); - static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); + QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); - static bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded - static QMap _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData + bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded + QMap _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData }; #endif diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc index ca6bdc3..a79e10d 100644 --- a/src/QGCApplication.cc +++ b/src/QGCApplication.cc @@ -74,7 +74,6 @@ #include "VehicleComponent.h" #include "FirmwarePluginManager.h" #include "MultiVehicleManager.h" -#include "Generic/GenericFirmwarePlugin.h" #include "APM/ArduCopterFirmwarePlugin.h" #include "APM/ArduPlaneFirmwarePlugin.h" #include "APM/ArduRoverFirmwarePlugin.h" @@ -372,8 +371,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) settings.clear(); settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION); - QFile::remove(PX4AirframeLoader::aiframeMetaDataFile()); - QFile::remove(PX4ParameterMetaData::parameterMetaDataFile()); + // Clear parameter cache QDir paramDir(ParameterLoader::parameterCacheDir()); paramDir.removeRecursively(); paramDir.mkpath(paramDir.absolutePath()); diff --git a/src/QGCLoggingCategory.cc b/src/QGCLoggingCategory.cc index f053d13..175c123 100644 --- a/src/QGCLoggingCategory.cc +++ b/src/QGCLoggingCategory.cc @@ -31,6 +31,7 @@ QGC_LOGGING_CATEGORY(FirmwareUpgradeLog, "FirmwareUpgradeLog") QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog") QGC_LOGGING_CATEGORY(MissionCommandsLog, "MissionCommandsLog") QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog") +QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog") QGCLoggingCategoryRegister* _instance = NULL; diff --git a/src/QGCLoggingCategory.h b/src/QGCLoggingCategory.h index 4989b2a..f1c073e 100644 --- a/src/QGCLoggingCategory.h +++ b/src/QGCLoggingCategory.h @@ -35,6 +35,7 @@ Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog) Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog) Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog) Q_DECLARE_LOGGING_CATEGORY(MissionItemLog) +Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog) /// @def QGC_LOGGING_CATEGORY /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a diff --git a/src/QmlControls/QGroundControlQmlGlobal.cc b/src/QmlControls/QGroundControlQmlGlobal.cc index 37cd834..82973dc 100644 --- a/src/QmlControls/QGroundControlQmlGlobal.cc +++ b/src/QmlControls/QGroundControlQmlGlobal.cc @@ -55,6 +55,9 @@ QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app) _offlineEditingFirmwareTypeMetaData.setEnumInfo(firmwareEnumStrings, firmwareEnumValues); _offlineEditingFirmwareTypeFact.setMetaData(&_offlineEditingFirmwareTypeMetaData); + + // We clear the parent on this object since we run into shutdown problems caused by hybrid qml app. Instead we let it leak on shutdown. + setParent(NULL); } QGroundControlQmlGlobal::~QGroundControlQmlGlobal() diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 14db6c2..e0032af 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -189,7 +189,7 @@ Vehicle::Vehicle(LinkInterface* link, _missionManager = new MissionManager(this); connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError); - _parameterLoader = new ParameterLoader(_autopilotPlugin, this /* Vehicle */, this /* parent */); + _parameterLoader = new ParameterLoader(this); connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks); connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress); diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index 96d43c3..9c87184 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -641,6 +641,7 @@ private: bool _mapTrajectoryHaveFirstCoordinate; static const int _mapTrajectoryMsecsBetweenPoints = 1000; + // Toolbox references FirmwarePluginManager* _firmwarePluginManager; AutoPilotPluginManager* _autopilotPluginManager; JoystickManager* _joystickManager; diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc index 1beac43..f25b438 100644 --- a/src/VehicleSetup/FirmwareImage.cc +++ b/src/VehicleSetup/FirmwareImage.cc @@ -27,6 +27,11 @@ #include "FirmwareImage.h" #include "QGCLoggingCategory.h" +#include "JsonHelper.h" +#include "QGCMAVLink.h" +#include "QGCApplication.h" +#include "FirmwarePlugin.h" +#include "ParameterLoader.h" #include #include @@ -37,6 +42,15 @@ #include #include +const char* FirmwareImage::_jsonBoardIdKey = "board_id"; +const char* FirmwareImage::_jsonParamXmlSizeKey = "parameter_xml_size"; +const char* FirmwareImage::_jsonParamXmlKey = "parameter_xml"; +const char* FirmwareImage::_jsonAirframeXmlSizeKey = "airframe_xml_size"; +const char* FirmwareImage::_jsonAirframeXmlKey = "airframe_xml"; +const char* FirmwareImage::_jsonImageSizeKey = "image_size"; +const char* FirmwareImage::_jsonImageKey = "image"; +const char* FirmwareImage::_jsonMavAutopilotKey = "mav_autopilot"; + FirmwareImage::FirmwareImage(QObject* parent) : QObject(parent), _imageSize(0) @@ -217,38 +231,52 @@ bool FirmwareImage::_px4Load(const QString& imageFilename) QJsonObject px4Json = doc.object(); // Make sure the keys we need are available - static const char* rgJsonKeys[] = { "board_id", "image_size", "description", "git_identity" }; - for (size_t i=0; i types; + keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey << _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey; + types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double; + if (!JsonHelper::validateKeyTypes(px4Json, keys, types, errorString)) { + emit errorMessage(QString("Firmware file has invalid key: %1").arg(errorString)); + return false; + } + + uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt(); if (firmwareBoardId != _boardId) { emit errorMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId)); return false; } + + // What firmware type is this? + MAV_AUTOPILOT firmwareType = (MAV_AUTOPILOT)px4Json[_jsonMavAutopilotKey].toInt(MAV_AUTOPILOT_PX4); + emit statusMessage(QString("MAV_AUTOPILOT = %1").arg(firmwareType)); // Decompress the parameter xml and save to file QByteArray decompressedBytes; bool success = _decompressJsonValue(px4Json, // JSON object bytes, // Raw bytes of JSON document - "parameter_xml_size", // key which holds byte size - "parameter_xml", // key which holds compress bytes + _jsonParamXmlSizeKey, // key which holds byte size + _jsonParamXmlKey, // key which holds compressed bytes decompressedBytes); // Returned decompressed bytes if (success) { - // We cache the parameter xml in the same location as settings + // Use settings location as our work directory, this way is something goes wrong the file is still there + // sitting next to the cache files. QSettings settings; QDir parameterDir = QFileInfo(settings.fileName()).dir(); - QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml"); + QString parameterFilename = parameterDir.filePath("ParameterFactMetaData.xml"); QFile parameterFile(parameterFilename); if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) { qint64 bytesWritten = parameterFile.write(decompressedBytes); if (bytesWritten != decompressedBytes.count()) { - // FIXME: What about these warnings? emit statusMessage(QString("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString())); parameterFile.close(); QFile::remove(parameterFilename); @@ -258,14 +286,17 @@ bool FirmwareImage::_px4Load(const QString& imageFilename) } else { emit statusMessage(QString("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename).arg(parameterFile.errorString())); } + + // Cache this file with the system + ParameterLoader::cacheMetaDataFile(parameterFilename, firmwareType); } // Decompress the airframe xml and save to file - success = _decompressJsonValue(px4Json, // JSON object - bytes, // Raw bytes of JSON document - "airframe_xml_size", // key which holds byte size - "airframe_xml", // key which holds compress bytes - decompressedBytes); // Returned decompressed bytes + success = _decompressJsonValue(px4Json, // JSON object + bytes, // Raw bytes of JSON document + _jsonAirframeXmlSizeKey, // key which holds byte size + _jsonAirframeXmlKey, // key which holds compressed bytes + decompressedBytes); // Returned decompressed bytes if (success) { // We cache the airframe xml in the same location as settings and parameters QSettings settings; @@ -293,8 +324,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename) _imageSize = px4Json.value(QString("image_size")).toInt(); success = _decompressJsonValue(px4Json, // JSON object bytes, // Raw bytes of JSON document - "image_size", // key which holds byte size - "image", // key which holds compress bytes + _jsonImageSizeKey, // key which holds byte size + _jsonImageKey, // key which holds compressed bytes decompressedBytes); // Returned decompressed bytes if (!success) { return false; @@ -341,7 +372,7 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J } int decompressedSize = jsonObject.value(QString(sizeKey)).toInt(); if (decompressedSize == 0) { - emit errorMessage(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey)); + emit statusMessage(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey)); return false; } @@ -353,12 +384,12 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J QStringList parts = QString(jsonDocBytes).split(QString("\"%1\": \"").arg(bytesKey)); if (parts.count() == 1) { - emit errorMessage(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey)); + emit statusMessage(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey)); return false; } parts = parts.last().split("\""); if (parts.count() == 1) { - emit errorMessage(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey)); + emit statusMessage(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey)); return false; } @@ -374,11 +405,11 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J decompressedBytes = qUncompress(raw); if (decompressedBytes.count() == 0) { - emit errorMessage(QString("Firmware file has 0 length %1").arg(bytesKey)); + emit statusMessage(QString("Firmware file has 0 length %1").arg(bytesKey)); return false; } if (decompressedBytes.count() != decompressedSize) { - emit errorMessage(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count())); + emit statusMessage(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count())); return false; } diff --git a/src/VehicleSetup/FirmwareImage.h b/src/VehicleSetup/FirmwareImage.h index 6c3467d..0ec9e44 100644 --- a/src/VehicleSetup/FirmwareImage.h +++ b/src/VehicleSetup/FirmwareImage.h @@ -98,6 +98,15 @@ private: QString _binFilename; QList _ihxBlocks; uint32_t _imageSize; + + static const char* _jsonBoardIdKey; + static const char* _jsonParamXmlSizeKey; + static const char* _jsonParamXmlKey; + static const char* _jsonAirframeXmlSizeKey; + static const char* _jsonAirframeXmlKey; + static const char* _jsonImageSizeKey; + static const char* _jsonImageKey; + static const char* _jsonMavAutopilotKey; }; #endif diff --git a/src/comm/PX4MockLink.params b/src/comm/PX4MockLink.params index 5ecb10c..34531ba 100644 --- a/src/comm/PX4MockLink.params +++ b/src/comm/PX4MockLink.params @@ -508,6 +508,7 @@ 1 50 SYS_AUTOCONFIG 0 6 1 50 SYS_AUTOSTART 10016 6 1 50 SYS_COMPANION 157600 6 +1 50 SYS_PARAM_VER 1 6 1 50 SYS_RESTART_TYPE 0 6 1 50 SYS_USE_IO 1 6 1 50 TEST_D 0.01 9