PX4ParameterMetaData.cc 15.5 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

27
#include "PX4ParameterMetaData.h"
28 29 30 31 32 33 34 35
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"

#include <QFile>
#include <QFileInfo>
#include <QDir>
#include <QDebug>

36
QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog")
37

38 39
bool                            PX4ParameterMetaData::_parameterMetaDataLoaded = false;
QMap<QString, FactMetaData*>    PX4ParameterMetaData::_mapParameterName2FactMetaData;
40

41 42
PX4ParameterMetaData::PX4ParameterMetaData(QObject* parent) :
    QObject(parent)
43
{
44

45 46 47 48 49 50 51
}

/// Converts a string to a typed QVariant
///     @param string String to convert
///     @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
52
QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
53 54 55
{
    QVariant var(string);

Don Gagne's avatar
Don Gagne committed
56
    int convertTo = QVariant::Int; // keep compiler warning happy
57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83
    switch (type) {
        case FactMetaData::valueTypeUint8:
        case FactMetaData::valueTypeUint16:
        case FactMetaData::valueTypeUint32:
            convertTo = QVariant::UInt;
            break;
        case FactMetaData::valueTypeInt8:
        case FactMetaData::valueTypeInt16:
        case FactMetaData::valueTypeInt32:
            convertTo = QVariant::Int;
            break;
        case FactMetaData::valueTypeFloat:
            convertTo = QMetaType::Float;
            break;
        case FactMetaData::valueTypeDouble:
            convertTo = QVariant::Double;
            break;
    }
    
    *convertOk = var.convert(convertTo);
    
    return var;
}

/// Load Parameter Fact meta data
///
/// The meta data comes from firmware parameters.xml file.
84
void PX4ParameterMetaData::_loadParameterFactMetaData(void)
85 86 87 88 89 90
{
    if (_parameterMetaDataLoaded) {
        return;
    }
    _parameterMetaDataLoaded = true;
    
91
    qCDebug(PX4ParameterMetaDataLog) << "Loading PX4 parameter fact meta data";
92 93 94

    Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);

95 96 97 98 99 100 101 102 103 104
    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("PX4ParameterFactMetaData.xml");
    }
	if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) {
105 106 107
		parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml";
	}
	
108
    qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename;
109 110 111 112 113 114 115 116 117 118 119 120 121 122 123

    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;
    }
    
124 125 126 127 128
    QString         factGroup;
    QString         errorString;
    FactMetaData*   metaData = NULL;
    int             xmlState = XmlStateNone;
    bool            badMetaData = true;
129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154
    
    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;
                }
155
                if (intVersion <= 2) {
156
                    // We can't read these old files
157
                    qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename;
158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174
                    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();
175
                qCDebug(PX4ParameterMetaDataLog) << "Found group: " << factGroup;
176 177 178 179 180 181 182 183 184 185 186 187 188 189 190
                
            } 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();
191
                QString strDefault =    xml.attributes().value("default").toString();
192
                
193
                qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224

                // 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
225
                
226 227
                metaData = new FactMetaData(foundType);
                Q_CHECK_PTR(metaData);
228
                if (_mapParameterName2FactMetaData.contains(name)) {
229
                    // We can't trust the meta dafa since we have dups
230
                    qCWarning(PX4ParameterMetaDataLog) << "Duplicate parameter found:" << name;
231 232 233
                    badMetaData = true;
                    // Reset to default meta data
                    _mapParameterName2FactMetaData[name] = metaData;
234
                } else {
235
                    _mapParameterName2FactMetaData[name] = metaData;
236
                    metaData->setName(name);
237
                    metaData->setGroup(factGroup);
238
                    
239 240 241
                    if (xml.attributes().hasAttribute("default") && !strDefault.isEmpty()) {
                        QVariant varDefault;
                        
242 243
                        if (metaData->convertAndValidateRaw(strDefault, false, varDefault, errorString)) {
                            metaData->setRawDefaultValue(varDefault);
244
                        } else {
245
                            qCWarning(PX4ParameterMetaDataLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
246
                        }
247 248 249 250 251 252 253 254 255 256
                    }
                }
                
            } else {
                // We should be getting meta data now
                if (xmlState != XmlStateFoundParameter) {
                    qWarning() << "Badly formed XML";
                    return;
                }

257 258 259 260
                if (!badMetaData) {
                    if (elementName == "short_desc") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
261
                        text = text.replace("\n", " ");
262
                        qCDebug(PX4ParameterMetaDataLog) << "Short description:" << text;
263
                        metaData->setShortDescription(text);
264

265 266 267
                    } else if (elementName == "long_desc") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
268
                        text = text.replace("\n", " ");
269
                        qCDebug(PX4ParameterMetaDataLog) << "Long description:" << text;
270 271 272 273 274
                        metaData->setLongDescription(text);
                        
                    } else if (elementName == "min") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
275
                        qCDebug(PX4ParameterMetaDataLog) << "Min:" << text;
276 277
                        
                        QVariant varMin;
278 279
                        if (metaData->convertAndValidateRaw(text, true /* convertOnly */, varMin, errorString)) {
                            metaData->setRawMin(varMin);
280
                        } else {
281
                            qCWarning(PX4ParameterMetaDataLog) << "Invalid min value, name:" << metaData->name() << " type:" << metaData->type() << " min:" << text << " error:" << errorString;
282 283 284 285 286
                        }
                        
                    } else if (elementName == "max") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
287
                        qCDebug(PX4ParameterMetaDataLog) << "Max:" << text;
288 289
                        
                        QVariant varMax;
290 291
                        if (metaData->convertAndValidateRaw(text, true /* convertOnly */, varMax, errorString)) {
                            metaData->setRawMax(varMax);
292
                        } else {
293
                            qCWarning(PX4ParameterMetaDataLog) << "Invalid max value, name:" << metaData->name() << " type:" << metaData->type() << " max:" << text << " error:" << errorString;
294 295 296 297 298
                        }
                        
                    } else if (elementName == "unit") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
299
                        qCDebug(PX4ParameterMetaDataLog) << "Unit:" << text;
300
                        metaData->setRawUnits(text);
301
                        
302 303 304
                    } else if (elementName == "decimal") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
305
                        qCDebug(PX4ParameterMetaDataLog) << "Decimal:" << text;
306 307 308 309 310 311

                        bool convertOk;
                        QVariant varDecimals = QVariant(text).toUInt(&convertOk);
                        if (convertOk) {
                            metaData->setDecimalPlaces(varDecimals.toInt());
                        } else {
312
                            qCWarning(PX4ParameterMetaDataLog) << "Invalid decimals value, name:" << metaData->name() << " type:" << metaData->type() << " decimals:" << text << " error: invalid number";
313 314
                        }

315 316 317 318 319 320 321 322
                    } else if (elementName == "reboot_required") {
                        Q_ASSERT(metaData);
                        QString text = xml.readElementText();
                        qCDebug(PX4ParameterMetaDataLog) << "RebootRequired:" << text;
                        if (text.compare("true", Qt::CaseInsensitive) == 0) {
                            metaData->setRebootRequired(true);
                        }

323
                    } else {
324
                        qDebug() << "Unknown element in XML: " << elementName;
325 326 327 328 329 330 331
                    }
                }
            }
        } else if (xml.isEndElement()) {
            QString elementName = xml.name().toString();

            if (elementName == "parameter") {
332 333 334 335
                // Done loading this parameter, validate default value
                if (metaData->defaultValueAvailable()) {
                    QVariant var;
                    
336 337
                    if (!metaData->convertAndValidateRaw(metaData->rawDefaultValue(), false /* convertOnly */, var, errorString)) {
                        qCWarning(PX4ParameterMetaDataLog) << "Invalid default value, name:" << metaData->name() << " type:" << metaData->type() << " default:" << metaData->rawDefaultValue() << " error:" << errorString;
338 339 340 341
                    }
                }
                
                // Reset for next parameter
342
                metaData = NULL;
343
                badMetaData = false;
344 345 346 347 348 349 350 351 352 353 354 355
                xmlState = XmlStateFoundGroup;
            } else if (elementName == "group") {
                xmlState = XmlStateFoundVersion;
            } else if (elementName == "parameters") {
                xmlState = XmlStateFoundParameters;
            }
        }
        xml.readNext();
    }
}

/// Override from FactLoad which connects the meta data to the fact
356
void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
357
{
358 359
    Q_UNUSED(vehicleType)

Don Gagne's avatar
Don Gagne committed
360
    _loadParameterFactMetaData();
361 362 363 364
    if (_mapParameterName2FactMetaData.contains(fact->name())) {
        fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);
    } else {
        // Use generic meta data
365 366
        FactMetaData* metaData = new FactMetaData(fact->type(), fact);
        fact->setMetaData(metaData);
367 368
    }
}