From 8c3e750b9bfcd42ee8c3ed489ebd78bb10fb13c0 Mon Sep 17 00:00:00 2001 From: lm Date: Thu, 24 Jun 2010 11:02:05 +0200 Subject: [PATCH] Added support for saving onboard parameters to a file --- src/ui/QGCParamWidget.cc | 119 ++++++++++++++++++++++++++++++++++++++- src/ui/QGCParamWidget.h | 6 ++ 2 files changed, 122 insertions(+), 3 deletions(-) diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index 58c9617bd0..2975442500 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -31,6 +31,8 @@ This file is part of the QGROUNDCONTROL project #include #include +#include +#include #include "QGCParamWidget.h" #include "UASInterface.h" @@ -46,7 +48,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : mav(uas), components(new QMap()), paramGroups(), - changedValues() + changedValues(), + parameters() { // Create tree widget tree = new QTreeWidget(this); @@ -73,6 +76,14 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters())); horizontalLayout->addWidget(writeButton, 1, 2); + QPushButton* loadFileButton = new QPushButton(tr("Load File")); + connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters())); + horizontalLayout->addWidget(loadFileButton, 2, 0); + + QPushButton* saveFileButton = new QPushButton(tr("Save File")); + connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters())); + horizontalLayout->addWidget(saveFileButton, 2, 1); + // Set layout this->setLayout(horizontalLayout); @@ -128,6 +139,16 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) paramGroups.insert(component, new QMap()); tree->addTopLevelItem(comp); tree->update(); + // Create map in parameters + if (!parameters.contains(component)) + { + parameters.insert(component, new QMap()); + } + // Create map in changed parameters + if (!changedValues.contains(component)) + { + changedValues.insert(component, new QMap()); + } } } @@ -148,6 +169,13 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, addComponent(uas, component, "Component #" + QString::number(component)); } + // Replace value in map + + // FIXME + if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName); + parameters.value(component)->insert(parameterName, value); + + QString splitToken = "_"; // Check if auto-grouping can work if (parameterName.contains(splitToken)) @@ -267,16 +295,101 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) if (ok) { qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value; + // Changed values list if (map->contains(str)) map->remove(str); map->insert(str, value); - //current->setBackground(0, QBrush(QColor(QGC::colorGreen))); - //current->setBackground(1, QBrush(QColor(QGC::colorGreen))); + + // Check if the value was numerically changed + if (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, 0.0f) != value) + { + current->setBackground(0, QBrush(QColor(QGC::colorGreen))); + current->setBackground(1, QBrush(QColor(QGC::colorGreen))); + } + + // All parameters list + if (parameters.value(key)->contains(str)) parameters.value(key)->remove(str); + parameters.value(key)->insert(str, value); } } } } } +void QGCParamWidget::saveParameters() +{ + QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)")); + QFile file(fileName); + if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) + { + return; + } + + QTextStream in(&file); + + in << "# Onboard parameters for system " << mav->getUASName() << "\n"; + in << "#\n"; + in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; + + // Iterate through all components, through all parameters and emit them + QMap*>::iterator i; + for (i = parameters.begin(); i != parameters.end(); ++i) + { + // Iterate through the parameters of the component + int compid = i.key(); + QMap* comp = i.value(); + { + QMap::iterator j; + for (j = comp->begin(); j != comp->end(); ++j) + { + in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << j.value() << "\n"; + in.flush(); + } + } + } + file.close(); +} + +void QGCParamWidget::loadParameters() +{ + QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)")); + QFile file(fileName); + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) + return; + + // Clear list + clear(); + + QTextStream in(&file); + while (!in.atEnd()) + { + QString line = in.readLine(); + if (!line.startsWith("#")) + { + QStringList wpParams = line.split("\t"); + if (wpParams.size() == 4) + { + // Only load parameters for right mav + if (mav->getUASID() == wpParams.at(0).toInt()) + { + addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble()); + if (changedValues.contains(wpParams.at(1).toInt())) + { + if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(1))) + { + changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(1)); + } + + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(1), (float)wpParams.at(2).toDouble()); + } + } + } + } + } + file.close(); + +} + + /** * @param component the subsystem which has the parameter * @param parameterName name of the parameter, as delivered by the system diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h index 55dfd441b9..871a987a62 100644 --- a/src/ui/QGCParamWidget.h +++ b/src/ui/QGCParamWidget.h @@ -69,12 +69,18 @@ public slots: void clear(); /** @brief Update when user changes parameters */ void parameterItemChanged(QTreeWidgetItem* prev, int column); + + /** @brief Store parameters to a file */ + void saveParameters(); + /** @brief Load parameters from a file */ + void loadParameters(); protected: UASInterface* mav; ///< The MAV this widget is controlling QTreeWidget* tree; ///< The parameter tree QMap* components; ///< The list of components QMap* > paramGroups; ///< Parameter groups QMap* > changedValues; ///< Changed values + QMap* > parameters; ///< All parameters }; -- GitLab