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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/>.
======================================================================*/
#ifndef PARAMETERLOADER_H
#define PARAMETERLOADER_H
#include <QObject>
#include <QMap>
#include <QXmlStreamReader>
#include <QLoggingCategory>
#include "FactSystem.h"
#include "MAVLinkProtocol.h"
#include "AutoPilotPlugin.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog)
Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderVerboseLog)
/// Connects to Parameter Manager to load/update Facts
class ParameterLoader : public QObject
{
Q_OBJECT
public:
/// @param uas Uas which this set of facts is associated with
ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
~ParameterLoader();
/// @return Location of parameter cache file
static QString parameterCacheFile(void);
/// Returns true if the full set of facts are ready
bool parametersAreReady(void) { return _parametersReady; }
/// Re-request the full set of parameters from the autopilot
void refreshAllParameters(uint8_t componentID = MAV_COMP_ID_ALL);
/// Request a refresh on the specific parameter
void refreshParameter(int componentId, const QString& name);
/// Request a refresh on all parameters that begin with the specified prefix
void refreshParametersPrefix(int componentId, const QString& namePrefix);
/// Returns true if the specifed parameter exists
bool parameterExists(int componentId, ///< fact component, -1=default component
const QString& name); ///< fact name
/// Returns all parameter names
/// Returns the specified Fact.
/// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existence first with
Fact* getFact(int componentId, ///< fact component, -1=default component
const QString& name); ///< fact name
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
/// Returns error messages from loading
QString readParametersFromStream(QTextStream& stream);
void writeParametersToStream(QTextStream &stream);
signals:
/// Signalled when the full set of facts are ready
void parametersReady(bool missingParameters);
/// Signalled to update progress of full parameter list request
void parameterListProgress(float value);
/// Signalled to ourselves in order to get call on our own thread
void restartWaitingParamTimer(void);
AutoPilotPlugin* _autopilot;
Vehicle* _vehicle;
MAVLinkProtocol* _mavlink;
void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
void _valueUpdated(const QVariant& value);
void _restartWaitingParamTimer(void);
void _waitingParamTimeout(void);
void _tryCacheLookup(void);
private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
int _actualComponentId(int componentId);
void _determineDefaultComponentId(void);
void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
void _writeLocalParamCache();
void _tryCacheHashLoad(int uasId, QVariant hash_value);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
void _checkInitialLoadComplete(void);
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
QMap<int, QMap<int, QString> > _mapParameterId2Name;
/// First mapping is by component id
/// Second mapping is group name, to Fact
QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
bool _parametersReady; ///< true: full set of parameters correctly loaded
bool _initialLoadComplete; ///< true: Initial load of all parameters complete, whether succesful or not
int _defaultComponentId;
QString _defaultComponentIdParam;
static const int _maxInitialLoadRetry = 10; ///< Maximum a retries on initial index based load
QMap<int, int> _paramCountMap; ///< Key: Component id, Value: count of parameters in this component
QMap<int, QMap<int, int> > _waitingReadParamIndexMap; ///< Key: Component id, Value: Map { Key: parameter index still waiting for, Value: retry count }
QMap<int, QMap<QString, int> > _waitingReadParamNameMap; ///< Key: Component id, Value: Map { Key: parameter name still waiting for, Value: retry count }
QMap<int, QMap<QString, int> > _waitingWriteParamNameMap; ///< Key: Component id, Value: Map { Key: parameter name still waiting for, Value: retry count }
QMap<int, QList<int> > _failedReadParamIndexMap; ///< Key: Component id, Value: failed parameter index
int _totalParamCount; ///< Number of parameters across all components
QTimer _cacheTimeoutTimer;
static Fact _defaultFact; ///< Used to return default fact, when parameter not found