From 58ef2f91e9901c348fdae02f37180cb2cd3e2e06 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 31 Jul 2015 12:20:29 +0200
Subject: [PATCH] Finish airframe loader
---
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc | 342 ++++++++----------
1 file changed, 145 insertions(+), 197 deletions(-)
diff --git a/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc b/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
index aea2f8b9be..f0665a1334 100644
--- a/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
@@ -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";
-// }
-
-// 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 factGroup;
-// QString errorString;
-// FactMetaData* metaData = NULL;
-// int xmlState = XmlStateNone;
-// bool badMetaData = true;
-
-// while (!xml.atEnd()) {
-// if (xml.isStartElement()) {
-// QString elementName = xml.name().toString();
-
-// if (elementName == "parameters") {
-// if (xmlState != XmlStateNone) {
-// qWarning() << "Badly formed XML";
-// return;
-// }
-// xmlState = XmlStateFoundParameters;
-
-// } 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;
-// }
-
-
-// } 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;
-
-// if (!xml.attributes().hasAttribute("name")) {
-// qWarning() << "Badly formed XML";
-// return;
-// }
-// factGroup = xml.attributes().value("name").toString();
-// qCDebug(PX4AirframeLoaderLog) << "Found group: " << factGroup;
-
-// } else if (elementName == "parameter") {
-// if (xmlState != XmlStateFoundGroup) {
-// qWarning() << "Badly formed XML";
-// return;
-// }
-// xmlState = XmlStateFoundParameter;
-
-// if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("type")) {
-// qWarning() << "Badly formed XML";
-// return;
-// }
-
-// QString name = xml.attributes().value("name").toString();
-// QString type = xml.attributes().value("type").toString();
-// QString strDefault = xml.attributes().value("default").toString();
-
-// qCDebug(PX4AirframeLoaderLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
-
-// // Convert type from string to FactMetaData::ValueType_t
-
-// struct String2Type {
-// const char* strType;
-// FactMetaData::ValueType_t type;
-// };
-
-// static const struct String2Type rgString2Type[] = {
-// { "FLOAT", FactMetaData::valueTypeFloat },
-// { "INT32", FactMetaData::valueTypeInt32 },
-// };
-// static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]);
-
-// bool found = false;
-// FactMetaData::ValueType_t foundType;
-// for (size_t i=0; i<crgString2Type; i++) {
-// const struct String2Type* info = &rgString2Type[i];
-
-// if (type == info->strType) {
-// found = true;
-// foundType = info->type;
-// break;
-// }
-// }
-// if (!found) {
-// qWarning() << "Parameter meta data with bad type:" << type << " name:" << name;
-// return;
-// }
-
-// // Now that we know type we can create meta data object and add it to the system
-
-// 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);
-
-// if (xml.attributes().hasAttribute("default") && !strDefault.isEmpty()) {
-// QVariant varDefault;
-
-// if (metaData->convertAndValidate(strDefault, false, varDefault, errorString)) {
-// metaData->setDefaultValue(varDefault);
-// } else {
-// qCWarning(PX4AirframeLoaderLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
-// }
-// }
-// }
+ Q_ASSERT(AirframeComponentAirframes::get().count() == 0);
+
+ QString airframeFilename;
+
+ // 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";
+ }
+
+ qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
+
+ QFile xmlFile(airframeFilename);
+ Q_ASSERT(xmlFile.exists());
-// } else {
-// // We should be getting meta data now
-// if (xmlState != XmlStateFoundParameter) {
-// qWarning() << "Badly formed XML";
-// return;
-// }
+ bool success = xmlFile.open(QIODevice::ReadOnly);
+ Q_UNUSED(success);
+ Q_ASSERT(success);
-// if (!badMetaData) {
+ if (!success) {
+ qWarning() << "Failed opening airframe XML";
+ return;
+ }
+
+ QXmlStreamReader xml(xmlFile.readAll());
+ xmlFile.close();
+ if (xml.hasError()) {
+ qWarning() << "Badly formed XML" << xml.errorString();
+ return;
+ }
+
+ QString airframeGroup;
+ QString image;
+ QString errorString;
+ int xmlState = XmlStateNone;
+ bool badMetaData = true;
+
+ while (!xml.atEnd()) {
+ if (xml.isStartElement()) {
+ QString elementName = xml.name().toString();
+
+ if (elementName == "airframes") {
+ if (xmlState != XmlStateNone) {
+ qWarning() << "Badly formed XML";
+ return;
+ }
+ xmlState = XmlStateFoundAirframes;
+
+ } else if (elementName == "version") {
+ if (xmlState != XmlStateFoundAirframes) {
+ 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 < 1) {
+ // We can't read these old files
+ qDebug() << "Airframe version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << airframeFilename;
+ return;
+ }
+
+
+ } 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;
+
+ 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;
+
+ } else if (elementName == "airframe") {
+ if (xmlState != XmlStateFoundGroup) {
+ qWarning() << "Badly formed XML";
+ return;
+ }
+ xmlState = XmlStateFoundAirframe;
+
+ if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("id")) {
+ qWarning() << "Badly formed XML";
+ return;
+ }
+
+ QString name = xml.attributes().value("name").toString();
+ QString id = xml.attributes().value("id").toString();
+
+ qCDebug(PX4AirframeLoaderLog) << "Found airframe name:" << name << " type:" << airframeGroup << " id:" << id;
+
+ // Now that we know type we can airframe meta data object and add it to the system
+ AirframeComponentAirframes::insert(airframeGroup, image, name, id.toInt());
+
+ } else {
+ // We should be getting meta data now
+ if (xmlState != XmlStateFoundAirframe) {
+ qWarning() << "Badly formed XML";
+ return;
+ }
+
+ 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;
// }
-// }
-
-// // Reset for next parameter
-// metaData = NULL;
-// badMetaData = false;
-// xmlState = XmlStateFoundGroup;
-// } else if (elementName == "group") {
-// xmlState = XmlStateFoundVersion;
-// } else if (elementName == "parameters") {
-// xmlState = XmlStateFoundParameters;
-// }
-// }
-// xml.readNext();
-// }
+ }
+ }
+ } 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();
+ }
+
+ _airframeMetaDataLoaded = true;
}
void PX4AirframeLoader::clearStaticData(void)
{
-// foreach(QString airframeName, AirframeComponentAirframes::rgAirframeTypes.keys()) {
-// delete AirframeComponentAirframes::rgAirframeTypes[airframeName];
-// }
- AirframeComponentAirframes::rgAirframeTypes.clear();
+ AirframeComponentAirframes::clear();
_airframeMetaDataLoaded = false;
}
--
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