Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
Q
qgroundcontrol
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
GitLab community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Valentin Platzgummer
qgroundcontrol
Commits
58ef2f91
Commit
58ef2f91
authored
10 years ago
by
Lorenz Meier
Browse files
Options
Downloads
Patches
Plain Diff
Finish airframe loader
parent
d542a9f1
Branches
Branches containing commit
No related tags found
No related merge requests found
Changes
1
Show whitespace changes
Inline
Side-by-side
Showing
1 changed file
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
+145
-197
145 additions, 197 deletions
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
with
145 additions
and
197 deletions
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
+
145
−
197
View file @
58ef2f91
...
...
@@ -37,10 +37,12 @@
QGC_LOGGING_CATEGORY
(
PX4AirframeLoaderLog
,
"PX4AirframeLoaderLog"
)
bool
PX4AirframeLoader
::
_airframeMetaDataLoaded
=
false
;
//QMap<QString, FactMetaData*> PX4AirframeLoader::_mapParameterName2FactMetaData;
PX4AirframeLoader
::
PX4AirframeLoader
(
AutoPilotPlugin
*
autopilot
,
UASInterface
*
uas
,
QObject
*
parent
)
{
Q_UNUSED
(
autopilot
);
Q_UNUSED
(
uas
);
Q_UNUSED
(
parent
);
Q_ASSERT
(
uas
);
}
...
...
@@ -52,175 +54,130 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
if
(
_airframeMetaDataLoaded
)
{
return
;
}
_airframeMetaDataLoaded
=
true
;
qCDebug
(
PX4AirframeLoaderLog
)
<<
"Loading PX4 airframe fact meta data"
;
qDebug
()
<<
"LOADING META DATA"
;
Q_ASSERT
(
AirframeComponentAirframes
::
rgAirframeTypes
.
count
()
==
0
);
// 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.
// QSettings settings;
// QDir parameterDir = QFileInfo(settings.fileName()).dir();
// parameterFilename = parameterDir.filePath("PX4AirframeFactMetaData.xml");
// }
// if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) {
// parameterFilename = ":/AutoPilotPlugins/PX4/AirframeFactMetaData.xml";
// }
Q_ASSERT
(
AirframeComponentAirframes
::
get
().
count
()
==
0
);
// qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << parameterFilename;
// QFile xmlFile(parameterFilename);
// Q_ASSERT(xmlFile.exists());
// bool success = xmlFile.open(QIODevice::ReadOnly);
// Q_UNUSED(success);
// Q_ASSERT(success);
// QXmlStreamReader xml(xmlFile.readAll());
// xmlFile.close();
// if (xml.hasError()) {
// qWarning() << "Badly formed XML" << xml.errorString();
// return;
// }
QString
airframeFilename
;
// QString factGroup;
// QString errorString;
// FactMetaData* metaData = NULL;
// int xmlState = XmlStateNone;
// bool badMetaData = true;
// 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.
QSettings
settings
;
QDir
parameterDir
=
QFileInfo
(
settings
.
fileName
()).
dir
();
airframeFilename
=
parameterDir
.
filePath
(
"PX4AirframeFactMetaData.xml"
);
}
if
(
airframeFilename
.
isEmpty
()
||
!
QFile
(
airframeFilename
).
exists
())
{
airframeFilename
=
":/AutopilotPlugins/PX4/AirframeFactMetaData.xml"
;
}
// while (!xml.atEnd()) {
// if (xml.isStartElement()) {
// QString elementName = xml.name().toString();
qCDebug
(
PX4AirframeLoaderLog
)
<<
"Loading meta data file:"
<<
airframeFilename
;
// if (elementName == "parameters") {
// if (xmlState != XmlStateNone) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundParameters;
QFile
xmlFile
(
airframeFilename
);
Q_ASSERT
(
xmlFile
.
exists
());
// } else if (elementName == "version") {
// if (xmlState != XmlStateFoundParameters) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundVersion;
// bool convertOk;
// QString strVersion = xml.readElementText();
// int intVersion = strVersion.toInt(&convertOk);
// if (!convertOk) {
// qWarning() << "Badly formed XML";
// return;
// }
// if (intVersion <= 2) {
// // We can't read these old files
// qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename;
// return;
// }
bool
success
=
xmlFile
.
open
(
QIODevice
::
ReadOnly
);
Q_UNUSED
(
success
);
Q_ASSERT
(
success
);
if
(
!
success
)
{
qWarning
()
<<
"Failed opening airframe XML"
;
return
;
}
// } 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;
// return;
// }
// xmlState = XmlStateFoundGroup;
QXmlStreamReader
xml
(
xmlFile
.
readAll
());
xmlFile
.
close
();
if
(
xml
.
hasError
())
{
qWarning
()
<<
"Badly formed XML"
<<
xml
.
errorString
();
return
;
}
// if (!xml.attributes().hasAttribute("name")) {
// qWarning() << "Badly formed XML";
// return;
// }
// factGroup = xml.attributes().value("name").toString();
// qCDebug(PX4AirframeLoaderLog) << "Found group: " << factGroup;
QString
airframeGroup
;
QString
image
;
QString
errorString
;
int
xmlState
=
XmlStateNone
;
bool
badMetaData
=
true
;
// } else if (elementName == "parameter") {
// if (xmlState != XmlStateFoundGroup) {
// qWarning() << "Badly formed XML";
// return;
// }
// xmlState = XmlStateFoundParameter;
while
(
!
xml
.
atEnd
())
{
if
(
xml
.
isStartElement
())
{
QString
elementName
=
xml
.
name
().
toString
();
// if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("type")) {
// qWarning() << "Badly formed XML";
// return;
// }
if
(
elementName
==
"airframes"
)
{
if
(
xmlState
!=
XmlStateNone
)
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
xmlState
=
XmlStateFoundAirframes
;
// QString name = xml.attributes().value("name").toString();
// QString type = xml.attributes().value("type").toString();
// QString strDefault = xml.attributes().value("default").toString();
}
else
if
(
elementName
==
"version"
)
{
if
(
xmlState
!=
XmlStateFoundAirframes
)
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
xmlState
=
XmlStateFoundVersion
;
// qCDebug(PX4AirframeLoaderLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
bool
convertOk
;
QString
strVersion
=
xml
.
readElementText
();
int
intVersion
=
strVersion
.
toInt
(
&
convertOk
);
if
(
!
convertOk
)
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
if
(
intVersion
<
1
)
{
// We can't read these old files
qDebug
()
<<
"Airframe version stamp too old, skipping load. Found:"
<<
intVersion
<<
"Want: 3 File:"
<<
airframeFilename
;
return
;
}
// // Convert type from string to FactMetaData::ValueType_t
// struct String2Type {
// const char* strType;
// FactMetaData::ValueType_t type;
// };
}
else
if
(
elementName
==
"airframe_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"
<<
airframeFilename
;
return
;
}
xmlState
=
XmlStateFoundGroup
;
// static const struct String2Type rgString2Type[] = {
// { "FLOAT", FactMetaData::valueTypeFloat },
// { "INT32", FactMetaData::valueTypeInt32 },
// };
// static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]);
if
(
!
xml
.
attributes
().
hasAttribute
(
"name"
)
||
!
xml
.
attributes
().
hasAttribute
(
"image"
))
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
airframeGroup
=
xml
.
attributes
().
value
(
"name"
).
toString
();
image
=
xml
.
attributes
().
value
(
"image"
).
toString
();
qCDebug
(
PX4AirframeLoaderLog
)
<<
"Found group: "
<<
airframeGroup
;
// bool found = false;
// FactMetaData::ValueType_t foundType;
// for (size_t i=0; i<crgString2Type; i++) {
// const struct String2Type* info = &rgString2Type[i];
}
else
if
(
elementName
==
"airframe"
)
{
if
(
xmlState
!=
XmlStateFoundGroup
)
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
xmlState
=
XmlStateFoundAirframe
;
// if (type == info->strType) {
// found = true;
// foundType = info->type;
// break;
// }
// }
// if (!found) {
// qWarning() << "Parameter meta data with bad type:" << type << " name:" << name;
// return;
// }
if
(
!
xml
.
attributes
().
hasAttribute
(
"name"
)
||
!
xml
.
attributes
().
hasAttribute
(
"id"
))
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
// // Now that we know type we can create meta data object and add it to the system
QString
name
=
xml
.
attributes
().
value
(
"name"
).
toString
();
QString
id
=
xml
.
attributes
().
value
(
"id"
).
toString
();
// metaData = new FactMetaData(foundType);
// Q_CHECK_PTR(metaData);
// if (_mapParameterName2FactMetaData.contains(name)) {
// // We can't trust the meta dafa since we have dups
// qCWarning(PX4AirframeLoaderLog) << "Duplicate parameter found:" << name;
// badMetaData = true;
// // Reset to default meta data
// _mapParameterName2FactMetaData[name] = metaData;
// } else {
// _mapParameterName2FactMetaData[name] = metaData;
// metaData->setName(name);
// metaData->setGroup(factGroup);
qCDebug
(
PX4AirframeLoaderLog
)
<<
"Found airframe name:"
<<
name
<<
" type:"
<<
airframeGroup
<<
" id:"
<<
id
;
//
if (xml.attributes().hasAttribute("default") && !strDefault.isEmpty()) {
//
QVariant varDefault
;
// Now that we know type we can airframe meta data object and add it to the system
AirframeComponentAirframes
::
insert
(
airframeGroup
,
image
,
name
,
id
.
toInt
())
;
// if (metaData->convertAndValidate(strDefault, false, varDefault, errorString)) {
// metaData->setDefaultValue(varDefault);
// } else {
// qCWarning(PX4AirframeLoaderLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
// }
// }
// }
}
else
{
// We should be getting meta data now
if
(
xmlState
!=
XmlStateFoundAirframe
)
{
qWarning
()
<<
"Badly formed XML"
;
return
;
}
// } else {
// // We should be getting meta data now
// if (xmlState != XmlStateFoundParameter) {
// qWarning() << "Badly formed XML";
// return;
// }
if
(
!
badMetaData
)
{
//
if (!badMetaData) {
// We eventually want this, just not yet now
// if (elementName == "short_desc") {
// Q_ASSERT(metaData);
// QString text = xml.readElementText();
...
...
@@ -266,42 +223,33 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
// metaData->setUnits(text);
// } else {
// qDebug() << "Unknown element in XML: " << elementName;
// }
// }
// }
// } else if (xml.isEndElement()) {
// QString elementName = xml.name().toString();
// if (elementName == "parameter") {
// // Done loading this parameter, validate default value
// if (metaData->defaultValueAvailable()) {
// QVariant var;
// if (!metaData->convertAndValidate(metaData->defaultValue(), false /* convertOnly */, var, errorString)) {
// qCWarning(PX4AirframeLoaderLog) << "Invalid default value, name:" << metaData->name() << " type:" << metaData->type() << " default:" << metaData->defaultValue() << " error:" << errorString;
// }
qDebug
()
<<
"Unknown element in XML: "
<<
elementName
;
// }
}
}
}
else
if
(
xml
.
isEndElement
())
{
QString
elementName
=
xml
.
name
().
toString
();
if
(
elementName
==
"airframe"
)
{
// Done loading this airframe, validate
// Reset for next airframe
badMetaData
=
false
;
xmlState
=
XmlStateFoundGroup
;
}
else
if
(
elementName
==
"airframe_group"
)
{
xmlState
=
XmlStateFoundVersion
;
}
else
if
(
elementName
==
"airframes"
)
{
xmlState
=
XmlStateFoundAirframes
;
}
}
xml
.
readNext
();
}
// // Reset for next parameter
// metaData = NULL;
// badMetaData = false;
// xmlState = XmlStateFoundGroup;
// } else if (elementName == "group") {
// xmlState = XmlStateFoundVersion;
// } else if (elementName == "parameters") {
// xmlState = XmlStateFoundParameters;
// }
// }
// xml.readNext();
// }
_airframeMetaDataLoaded
=
true
;
}
void
PX4AirframeLoader
::
clearStaticData
(
void
)
{
// foreach(QString airframeName, AirframeComponentAirframes::rgAirframeTypes.keys()) {
// delete AirframeComponentAirframes::rgAirframeTypes[airframeName];
// }
AirframeComponentAirframes
::
rgAirframeTypes
.
clear
();
AirframeComponentAirframes
::
clear
();
_airframeMetaDataLoaded
=
false
;
}
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment