QGCParamWidget.cc

/**
 * @param component the subsystem which has the parameter
 * @param parameterName name of the parameter, as delivered by the system
 * @param value value of the parameter
 */
void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
{
    if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName))
    {
        statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble()));
        return;
    }
    if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName))
    {
        statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
        return;
    }
    if (parameters.value(component)->value(parameterName) == value)
    {
        qDebug() << "Value not changed, not sending:" << parameterName << value;
        return;
    }

    switch (parameters.value(component)->value(parameterName).type())
    {
    case QVariant::Char:
    {
        QVariant fixedValue(QChar((unsigned char)value.toInt()));
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QVariant::Int:
    {
        QVariant fixedValue(value.toInt());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QVariant::UInt:
    {
        QVariant fixedValue(value.toUInt());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QMetaType::Float:
    {
        QVariant fixedValue(value.toFloat());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    default:
        qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
        return;
    }

    // Wait for parameter to be written back
    // mark it therefore as missing
    if (!transmissionMissingWriteAckPackets.contains(component))
    {
        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
    }

    // Insert it in missing write ACK list
    transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);

    // Set timeouts
    if (transmissionActive)
    {
        transmissionTimeout += rewriteTimeout;
    }
    else
    {
        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
        if (newTransmissionTimeout > transmissionTimeout)
        {
            transmissionTimeout = newTransmissionTimeout;
        }
        transmissionActive = true;
    }

    // Enable guard / reset timeouts
    setRetransmissionGuardEnabled(true);
}

/**
 * Set all parameter in the parameter tree on the MAV
 */
void QGCParamWidget::setParameters()
{
    // Iterate through all components, through all parameters and emit them
    int parametersSent = 0;
    QMap<int, QMap<QString, QVariant>*>::iterator i;
    for (i = changedValues.begin(); i != changedValues.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) {
                setParameter(compid, j.key(), j.value());
                parametersSent++;
            }
        }
    }

    // Change transmission status if necessary
    if (parametersSent == 0) {
        statusLabel->setText(tr("No transmission: No changed values."));
    } else {
        statusLabel->setText(tr("Transmitting %1 parameters.").arg(parametersSent));
        // Set timeouts
        if (transmissionActive)
        {
            transmissionTimeout += parametersSent*rewriteTimeout;
        }
        else
        {
            transmissionActive = true;
            quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + parametersSent*rewriteTimeout;
            if (newTransmissionTimeout > transmissionTimeout) {
                transmissionTimeout = newTransmissionTimeout;
            }
        }
        // Enable guard
        setRetransmissionGuardEnabled(true);
    }
}

/**
 * Write the current onboard parameters from RAM into
 * permanent storage, e.g. EEPROM or harddisk
 */
void QGCParamWidget::writeParameters()
{
    int changedParamCount = 0;

    QMap<int, QMap<QString, QVariant>*>::iterator i;
    for (i = changedValues.begin(); i != changedValues.end(); ++i)
    {
        // Iterate through the parameters of the component
        QMap<QString, QVariant>* comp = i.value();
        {
            QMap<QString, QVariant>::iterator j;
            for (j = comp->begin(); j != comp->end(); ++j)
            {
                changedParamCount++;
            }
        }
    }

    if (changedParamCount > 0)
    {
        QMessageBox msgBox;
        msgBox.setText(tr("There are locally changed parameters. Please transmit them first (<TRANSMIT>) or update them with the onboard values (<REFRESH>) before storing onboard from RAM to ROM."));
        msgBox.exec();
    }
    else
    {
        if (!mav) return;
        mav->writeParametersToStorage();
    }
}

void QGCParamWidget::readParameters()
{
    if (!mav) return;
    mav->readParametersFromStorage();
}

/**
 * Clear all data in the parameter widget
 */
void QGCParamWidget::clear()
{
    tree->clear();
    components->clear();
}