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