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/*=====================================================================
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 "PX4ParameterFacts.h"
#include "QGCLoggingCategory.h"
#include <QFileInfo>
#include <QDir>
QGC_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
bool PX4ParameterFacts::_parameterMetaDataLoaded = false;
QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData;
PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
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{
Q_ASSERT(uas);
}
/// This will fill in missing meta data such as range info
void PX4ParameterFacts::_initMetaData(FactMetaData* metaData)
{
switch (metaData->type) {
case FactMetaData::valueTypeUint8:
metaData->min = QVariant(std::numeric_limits<quint8>::min());
metaData->max = QVariant(std::numeric_limits<quint8>::max());
break;
case FactMetaData::valueTypeInt8:
metaData->min = QVariant(std::numeric_limits<qint8>::min());
metaData->max = QVariant(std::numeric_limits<qint8>::max());
break;
case FactMetaData::valueTypeUint16:
metaData->min = QVariant(std::numeric_limits<quint16>::min());
metaData->max = QVariant(std::numeric_limits<quint16>::max());
break;
case FactMetaData::valueTypeInt16:
metaData->min = QVariant(std::numeric_limits<qint16>::min());
metaData->max = QVariant(std::numeric_limits<qint16>::max());
break;
case FactMetaData::valueTypeUint32:
metaData->min = QVariant(std::numeric_limits<quint32>::min());
metaData->max = QVariant(std::numeric_limits<quint32>::max());
break;
case FactMetaData::valueTypeInt32:
metaData->min = QVariant(std::numeric_limits<qint32>::min());
metaData->max = QVariant(std::numeric_limits<qint32>::max());
break;
case FactMetaData::valueTypeFloat:
metaData->min = QVariant(std::numeric_limits<float>::min());
metaData->max = QVariant(std::numeric_limits<float>::max());
break;
case FactMetaData::valueTypeDouble:
metaData->min = QVariant(std::numeric_limits<double>::min());
metaData->max = QVariant(std::numeric_limits<double>::max());
break;
}
}
/// Converts a string to a typed QVariant
/// @param type Type for Fact which dictates the QVariant type as well
/// @param failOk - true: Don't assert if convert fails
/// @return Returns the correctly type QVariant
QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk)
{
QVariant var(string);
bool convertOk;
Q_UNUSED(convertOk);
switch (type) {
case FactMetaData::valueTypeUint8:
case FactMetaData::valueTypeUint16:
case FactMetaData::valueTypeUint32:
convertOk = var.convert(QVariant::UInt);
if (!failOk) {
Q_ASSERT(convertOk);
}
break;
case FactMetaData::valueTypeInt8:
case FactMetaData::valueTypeInt16:
case FactMetaData::valueTypeInt32:
convertOk = var.convert(QVariant::Int);
if (!failOk) {
Q_ASSERT(convertOk);
}
break;
case FactMetaData::valueTypeFloat:
case FactMetaData::valueTypeDouble:
convertOk = var.convert(QVariant::Double);
if (!failOk) {
Q_ASSERT(convertOk);
}
break;
}
return var;
}
/// Load Parameter Fact meta data
///
/// The meta data comes from firmware parameters.xml file.
void PX4ParameterFacts::loadParameterFactMetaData(void)
{
if (_parameterMetaDataLoaded) {
return;
}
_parameterMetaDataLoaded = true;
qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
// 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();
QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml");
if (!QFile(parameterFilename).exists()) {
parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml";
}
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();
QString factGroup;
FactMetaData* metaData = NULL;
while (!xml.atEnd()) {
if (xml.isStartElement()) {
QString elementName = xml.name().toString();
if (elementName == "parameters") {
// Just move to next state
} else if (elementName == "group") {
factGroup = xml.attributes().value("name").toString();
qCDebug(PX4ParameterFactsMetaDataLog) << "Found group: " << factGroup;
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metaData = new FactMetaData();
Q_CHECK_PTR(metaData);
metaData->group = factGroup;
} else if (elementName == "code") {
Q_ASSERT(metaData);
QString name = xml.readElementText();
qCDebug(PX4ParameterFactsMetaDataLog) << "Found parameter: " << name;
// FIXME: Change the parameter build scheme in Firmware to get rid of ifdef dup problem
if (!_mapParameterName2FactMetaData.contains(name)) {
_mapParameterName2FactMetaData[name] = metaData;
}
} else if (elementName == "type") {
Q_ASSERT(metaData);
QString type = xml.readElementText();
// 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;
for (size_t i=0; i<crgString2Type; i++) {
const struct String2Type* info = &rgString2Type[i];
if (type == info->strType) {
found = true;
metaData->type = info->type;
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
qCDebug(PX4ParameterFactsMetaDataLog) << "Type:" << type << metaData->type;
_initMetaData(metaData);
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} else if (elementName == "short_desc") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
metaData->shortDescription = text;
} else if (elementName == "long_desc") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
metaData->longDescription = text;
} else if (elementName == "default") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
// FIXME: failOk=true Is a hack to handle enum values in default value. Need
// to implement enums in the meta data.
metaData->defaultValue = _stringToTypedVariant(text, metaData->type, true /* failOk */);
} else if (elementName == "min") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
metaData->min = _stringToTypedVariant(text, metaData->type);
} else if (elementName == "max") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
metaData->max = _stringToTypedVariant(text, metaData->type);
metaData->shortDescription = text;
} else if (elementName == "unit") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
metaData->units = text;
}
} else if (xml.isEndElement() && xml.name() == "parameter") {
metaData = NULL;
}
xml.readNext();
}
}
void PX4ParameterFacts::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 PX4ParameterFacts::_addMetaDataToFact(Fact* fact)
{
if (_mapParameterName2FactMetaData.contains(fact->name())) {
fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);
} else {
// Use generic meta data
ParameterLoader::_addMetaDataToFact(fact);