PX4AirframeLoader.cc

/*=====================================================================

 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>

#include "PX4AirframeLoader.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
#include "AirframeComponentAirframes.h"

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

QGC_LOGGING_CATEGORY(PX4AirframeLoaderLog, "PX4AirframeLoaderLog")

bool PX4AirframeLoader::_airframeMetaDataLoaded = false;
//QMap<QString, FactMetaData*> PX4AirframeLoader::_mapParameterName2FactMetaData;

PX4AirframeLoader::PX4AirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent)
{
    Q_ASSERT(uas);
}

/// Load Airframe Fact meta data
///
/// The meta data comes from firmware airframes.xml file.
void PX4AirframeLoader::loadAirframeFactMetaData(void)
{
    if (_airframeMetaDataLoaded) {
        return;
    }
    _airframeMetaDataLoaded = true;

    qCDebug(PX4AirframeLoaderLog) << "Loading PX4 airframe fact 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;
//                        }
//                    }
//                }

//            } else {
//                // We should be getting meta data now
//                if (xmlState != XmlStateFoundParameter) {
//                    qWarning() << "Badly formed XML";
//                    return;
//                }

//                if (!badMetaData) {
//                    if (elementName == "short_desc") {
//                        Q_ASSERT(metaData);
//                        QString text = xml.readElementText();
//                        text = text.replace("\n", " ");
//                        qCDebug(PX4AirframeLoaderLog) << "Short description:" << text;
//                        metaData->setShortDescription(text);

//                    } else if (elementName == "long_desc") {
//                        Q_ASSERT(metaData);
//                        QString text = xml.readElementText();
//                        text = text.replace("\n", " ");
//                        qCDebug(PX4AirframeLoaderLog) << "Long description:" << text;
//                        metaData->setLongDescription(text);

//                    } else if (elementName == "min") {
//                        Q_ASSERT(metaData);
//                        QString text = xml.readElementText();
//                        qCDebug(PX4AirframeLoaderLog) << "Min:" << text;

//                        QVariant varMin;
//                        if (metaData->convertAndValidate(text, true /* convertOnly */, varMin, errorString)) {
//                            metaData->setMin(varMin);
//                        } else {
//                            qCWarning(PX4AirframeLoaderLog) << "Invalid min value, name:" << metaData->name() << " type:" << metaData->type() << " min:" << text << " error:" << errorString;
//                        }

//                    } else if (elementName == "max") {
//                        Q_ASSERT(metaData);
//                        QString text = xml.readElementText();
//                        qCDebug(PX4AirframeLoaderLog) << "Max:" << text;

//                        QVariant varMax;
//                        if (metaData->convertAndValidate(text, true /* convertOnly */, varMax, errorString)) {
//                            metaData->setMax(varMax);
//                        } else {
//                            qCWarning(PX4AirframeLoaderLog) << "Invalid max value, name:" << metaData->name() << " type:" << metaData->type() << " max:" << text << " error:" << errorString;
//                        }

//                    } else if (elementName == "unit") {
//                        Q_ASSERT(metaData);
//                        QString text = xml.readElementText();
//                        qCDebug(PX4AirframeLoaderLog) << "Unit:" << text;
//                        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;
//                    }
//                }

//                // Reset for next parameter
//                metaData = NULL;
//                badMetaData = false;
//                xmlState = XmlStateFoundGroup;
//            } else if (elementName == "group") {
//                xmlState = XmlStateFoundVersion;
//            } else if (elementName == "parameters") {
//                xmlState = XmlStateFoundParameters;
//            }
//        }
//        xml.readNext();
//    }
}

void PX4AirframeLoader::clearStaticData(void)
{
//    foreach(QString airframeName, AirframeComponentAirframes::rgAirframeTypes.keys()) {
//        delete AirframeComponentAirframes::rgAirframeTypes[airframeName];
//    }
    AirframeComponentAirframes::rgAirframeTypes.clear();
    _airframeMetaDataLoaded = false;
}