ParameterLoader to Vehicle, ParameterMetaData to FirmwarePlugin

QGCApplication.pro

@@ -527,14 +527,13 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
-    src/FirmwarePlugin/APM/APMParameterLoader.h \
+    src/FirmwarePlugin/APM/APMParameterMetaData.h \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
-    src/FirmwarePlugin/Generic/GenericParameterLoader.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
-    src/FirmwarePlugin/PX4/PX4ParameterLoader.h \
+    src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/Vehicle.h \
     src/VehicleSetup/VehicleComponent.h \
@@ -568,15 +567,14 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
-    src/FirmwarePlugin/APM/APMParameterLoader.cc \
+    src/FirmwarePlugin/APM/APMParameterMetaData.cc \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
-    src/FirmwarePlugin/Generic/GenericParameterLoader.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
-    src/FirmwarePlugin/PX4/PX4ParameterLoader.cc \
+    src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/Vehicle.cc \
     src/VehicleSetup/VehicleComponent.cc \

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -25,7 +25,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCMessageBox.h"
 #include "UAS.h"
-#include "FirmwarePlugin/APM/APMParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/APM/APMParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
@@ -34,9 +34,6 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     _incorrectParameterVersion(false)
 {
     Q_ASSERT(vehicle);
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 APMAutoPilotPlugin::~APMAutoPilotPlugin()
@@ -44,11 +41,6 @@ APMAutoPilotPlugin::~APMAutoPilotPlugin()
 
 }
 
-void APMAutoPilotPlugin::clearStaticData(void)
-{
-    APMParameterLoader::clearStaticData();
-}
-
 const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 {
     static const QVariantList emptyList;

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -39,8 +39,6 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
-    static void clearStaticData(void);
-
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -109,34 +109,34 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
 
 void AutoPilotPlugin::refreshAllParameters(void)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshAllParameters();
+    _vehicle->getParameterLoader()->refreshAllParameters();
 }
 
 void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParameter(componentId, name);
+    _vehicle->getParameterLoader()->refreshParameter(componentId, name);
 }
 
 void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParametersPrefix(componentId, namePrefix);
+    _vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
 }
 
 bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
+    return _vehicle->getParameterLoader()->parameterExists(componentId, name);
 }
 
 Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
+    return _vehicle->getParameterLoader()->getFact(componentId, name);
 }
 
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
+            return _vehicle->getParameterLoader()->parameterExists(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -149,7 +149,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
+            return _vehicle->getParameterLoader()->getFact(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -160,20 +160,20 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 
 QStringList AutoPilotPlugin::parameterNames(int componentId)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterNames(componentId);
+    return _vehicle->getParameterLoader()->parameterNames(componentId);
 }
 
 const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getGroupMap();
+    return _vehicle->getParameterLoader()->getGroupMap();
 }
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->writeParametersToStream(stream, _vehicle->uas()->getUASName());
+    _vehicle->getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->readParametersFromStream(stream);
+    return _vehicle->getParameterLoader()->readParametersFromStream(stream);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -114,8 +114,6 @@ public:
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
     
-    static void clearStaticData(void);
-	
 	// Property accessors
 	bool parametersReady(void) { return _parametersReady; }
     bool missingParameters(void) { return _missingParameters; }

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -37,12 +37,6 @@ AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
 
 }
 
-AutoPilotPluginManager::~AutoPilotPluginManager()
-{
-    PX4AutoPilotPlugin::clearStaticData();
-    GenericAutoPilotPlugin::clearStaticData();
-}
-
 AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
 {
     switch (vehicle->firmwareType()) {

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -49,7 +49,6 @@ public:
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     AutoPilotPluginManager(QObject* parent = NULL);
-    ~AutoPilotPluginManager();
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -31,14 +31,6 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent
     AutoPilotPlugin(vehicle, parent)
 {
     Q_ASSERT(vehicle);
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
-}
-
-void GenericAutoPilotPlugin::clearStaticData(void)
-{
-    // No Static data yet
 }
 
 const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -40,8 +40,6 @@ public:
     
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
-
-    static void clearStaticData(void);
     
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle

src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc

@@ -190,9 +190,3 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
 
     _airframeMetaDataLoaded = true;
 }
-
-void PX4AirframeLoader::clearStaticData(void)
-{
-    AirframeComponentAirframes::clear();
-    _airframeMetaDataLoaded = false;
-}

src/AutoPilotPlugins/PX4/PX4AirframeLoader.h

@@ -50,7 +50,6 @@ public:
     PX4AirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
 
     static void loadAirframeFactMetaData(void);
-    static void clearStaticData(void);
 
 private:
     enum {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -28,7 +28,7 @@
 #include "AirframeComponentController.h"
 #include "QGCMessageBox.h"
 #include "UAS.h"
-#include "FirmwarePlugin/PX4/PX4ParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h"  // FIXME: Hack
 
 /// @file
@@ -81,9 +81,6 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     Q_CHECK_PTR(_airframeFacts);
     
     PX4AirframeLoader::loadAirframeFactMetaData();
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
@@ -91,12 +88,6 @@ PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
     delete _airframeFacts;
 }
 
-void PX4AutoPilotPlugin::clearStaticData(void)
-{
-    PX4ParameterLoader::clearStaticData();
-    PX4AirframeLoader::clearStaticData();
-}
-
 const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -51,8 +51,6 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
-    static void clearStaticData(void);
-    
     // These methods should only be used by objects within the plugin
     AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
     RadioComponent*         radioComponent(void)        { return _radioComponent; }

src/FactSystem/FactSystem.h

@@ -37,7 +37,7 @@
 /// additional meta data associated with a Fact such as description, min/max ranges and so forth.
 /// The FactValidator object is a QML validator which validates input according to the FactMetaData
 /// settings. Client code can then use this system to expose sets of Facts to QML code. An example
-/// of this is the PX4ParameterLoader onbject which is part of the PX4 AutoPilot plugin. It exposes
+/// of this is the PX4ParameterMetaData onbject which is part of the PX4 AutoPilot plugin. It exposes
 /// the firmware parameters to QML such that you can bind QML ui elements directly to parameters.
 
 class FactSystem : public QGCSingleton

src/FactSystem/ParameterLoader.cc

@@ -198,7 +198,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     
     // Attempt to determine default component id
     if (_defaultComponentId == FactSystem::defaultComponentId && _defaultComponentIdParam.isEmpty()) {
-        _defaultComponentIdParam = getDefaultComponentIdParam();
+        _defaultComponentIdParam = _vehicle->firmwarePlugin()->getDefaultComponentIdParam();
     }
     if (!_defaultComponentIdParam.isEmpty() && _defaultComponentIdParam == parameterName) {
         _defaultComponentId = componentId;
@@ -255,7 +255,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     fact->_containerSetValue(value);
     
     if (setMetaData) {
-        _addMetaDataToFact(fact);
+        _vehicle->firmwarePlugin()->addMetaDataToFact(fact);
     }
     
     _dataMutex.unlock();
@@ -293,12 +293,6 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
     qCDebug(ParameterLoaderLog) << "Set parameter (componentId:" << componentId << "name:" << name << value << ")";
 }
 
-void ParameterLoader::_addMetaDataToFact(Fact* fact)
-{
-    FactMetaData* metaData = new FactMetaData(fact->type(), this);
-    fact->setMetaData(metaData);
-}
-
 void ParameterLoader::refreshAllParameters(void)
 {
     _dataMutex.lock();

src/FactSystem/ParameterLoader.h

@@ -86,10 +86,6 @@ public:
     QString readParametersFromStream(QTextStream& stream);
     
     void writeParametersToStream(QTextStream &stream, const QString& name);
-
-    /// Return the parameter for which the default component id is derived from. Return an empty
-    /// string is this is not available.
-    virtual QString getDefaultComponentIdParam(void) const = 0;
     
 signals:
     /// Signalled when the full set of facts are ready
@@ -102,10 +98,6 @@ signals:
     void restartWaitingParamTimer(void);
     
 protected:
-    /// Base implementation adds generic meta data based on variant type. Derived class can override to provide
-    /// more details meta data.
-    virtual void _addMetaDataToFact(Fact* fact);
-
     AutoPilotPlugin*    _autopilot;
     Vehicle*            _vehicle;
     MAVLinkProtocol*    _mavlink;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -141,7 +141,6 @@ QString APMCustomMode::modeString() const
 
 APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent)
     : FirmwarePlugin(parent)
-    , _parameterLoader(NULL)
 {
      _textSeverityAdjustmentNeeded = false;
 }
@@ -387,18 +386,7 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     return true;
 }
 
-ParameterLoader* APMFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
-    if (!_parameterLoader) {
-        _parameterLoader = new APMParameterLoader(autopilotPlugin, vehicle, this);
-        Q_CHECK_PTR(_parameterLoader);
-
-        // FIXME: Why do I need SIGNAL/SLOT to make this work
-        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
-        connect(_parameterLoader, &APMParameterLoader::parameterListProgress,   autopilotPlugin, &APMAutoPilotPlugin::parameterListProgress);
-
-        _parameterLoader->loadParameterFactMetaData();
-    }
-
-    return _parameterLoader;
+    _parameterMetaData.addMetaDataToFact(fact);
 }

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -29,7 +29,7 @@
 
 #include "FirmwarePlugin.h"
 #include "QGCLoggingCategory.h"
-#include "APMParameterLoader.h"
+#include "APMParameterMetaData.h"
 
 Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
 
@@ -89,7 +89,8 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
+    virtual void addMetaDataToFact(Fact* fact);
+    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
 
 protected:
     /// All access to singleton is through stack specific implementation
@@ -103,7 +104,7 @@ private:
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
     QList<APMCustomMode>    _supportedModes;
-    APMParameterLoader*     _parameterLoader;
+    APMParameterMetaData    _parameterMetaData;
 };
 
 #endif

src/FirmwarePlugin/APM/APMParameterLoader.cc → src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -24,7 +24,7 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#include "APMParameterLoader.h"
+#include "APMParameterMetaData.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 
@@ -33,15 +33,15 @@
 #include <QDir>
 #include <QDebug>
 
-QGC_LOGGING_CATEGORY(APMParameterLoaderLog, "APMParameterLoaderLog")
+QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog")
 
-bool APMParameterLoader::_parameterMetaDataLoaded = false;
-QMap<QString, FactMetaData*> APMParameterLoader::_mapParameterName2FactMetaData;
+bool                            APMParameterMetaData::_parameterMetaDataLoaded = false;
+QMap<QString, FactMetaData*>    APMParameterMetaData::_mapParameterName2FactMetaData;
 
-APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
-    ParameterLoader(autopilot, vehicle, parent)
+APMParameterMetaData::APMParameterMetaData(QObject* parent) :
+    QObject(parent)
 {
-    Q_ASSERT(vehicle);
+    _loadParameterFactMetaData();
 }
 
 /// Converts a string to a typed QVariant
@@ -49,7 +49,7 @@ APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehi
 ///     @param type Type for Fact which dictates the QVariant type as well
 ///     @param convertOk Returned: true: conversion success, false: conversion failure
 /// @return Returns the correctly type QVariant
-QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
+QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
 {
     QVariant var(string);
 
@@ -81,7 +81,7 @@ QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMe
 /// Load Parameter Fact meta data
 ///
 /// The meta data comes from firmware parameters.xml file.
-void APMParameterLoader::loadParameterFactMetaData(void)
+void APMParameterMetaData::_loadParameterFactMetaData(void)
 {
     if (_parameterMetaDataLoaded) {
         return;
@@ -94,20 +94,11 @@ void APMParameterLoader::loadParameterFactMetaData(void)
     // has multiple sets of static meta data
 }
 
-void APMParameterLoader::clearStaticData(void)
-{
-    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
-        delete _mapParameterName2FactMetaData[parameterName];
-    }
-    _mapParameterName2FactMetaData.clear();
-    _parameterMetaDataLoaded = false;
-}
-
 /// Override from FactLoad which connects the meta data to the fact
-void APMParameterLoader::_addMetaDataToFact(Fact* fact)
+void APMParameterMetaData::addMetaDataToFact(Fact* fact)
 {
     // FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
 
-    // Use generic meta data
-    ParameterLoader::_addMetaDataToFact(fact);
+    FactMetaData* metaData = new FactMetaData(fact->type(), fact);
+    fact->setMetaData(metaData);
 }

src/FirmwarePlugin/APM/APMParameterLoader.h → src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -21,15 +21,14 @@
  
  ======================================================================*/
 
-#ifndef APMParameterLoader_H
-#define APMParameterLoader_H
+#ifndef APMParameterMetaData_H
+#define APMParameterMetaData_H
 
 #include <QObject>
 #include <QMap>
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
-#include "ParameterLoader.h"
 #include "FactSystem.h"
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
@@ -37,24 +36,24 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-Q_DECLARE_LOGGING_CATEGORY(APMParameterLoaderLog)
+Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
-class APMParameterLoader : public ParameterLoader
+class APMParameterMetaData : public QObject
 {
     Q_OBJECT
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+    APMParameterMetaData(QObject* parent = NULL);
 
     /// Override from ParameterLoader
-    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
-    
-    static void loadParameterFactMetaData(void);
-    static void clearStaticData(void);
+    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }    
     
+    // Overrides from ParameterLoader
+    static void addMetaDataToFact(Fact* fact);
+
 private:
     enum {
         XmlStateNone,
@@ -65,10 +64,8 @@ private:
         XmlStateDone
     };
     
-    // Overrides from ParameterLoader
-    virtual void _addMetaDataToFact(Fact* fact);
 
-    // Class methods
+    static void _loadParameterFactMetaData(void);
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
 
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded