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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 "UASInterface.h"
#include "MAVLinkProtocol.h"
#include "AutoPilotPlugin.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog)
/// 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, UASInterface* uas, QObject* parent = NULL);
~ParameterLoader();
/// 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(void);
/// 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
/// FIXME: component id missing
QStringList parameterNames(void);
/// Returns the specified Fact.
/// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existince first with
/// parameterExists.
Fact* getFact(int componentId, ///< fact component, -1=default component
const QString& name); ///< fact name
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
void 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
void parametersReady(void);
/// 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);
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);
private slots:
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);
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);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
AutoPilotPlugin* _autopilot;
UASInterface* _uas;
MAVLinkProtocol* _mavlink;
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
/// First mapping is by component id
/// Second mapping is group name, to Fact
QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
bool _parametersReady; ///< All params received from param mgr
int _defaultComponentId;
QString _defaultComponentIdParam;
QMap<int, int> _paramCountMap; ///< Map of total known parameter count, keyed by component id
QMap<int, QList<int> > _waitingReadParamIndexMap; ///< Map of param indices waiting for initial first time read, keyed by component id
QMap<int, QStringList> _waitingReadParamNameMap; ///< Map of param names we are waiting to hear a read response from, keyed by component id
QMap<int, QStringList> _waitingWriteParamNameMap; ///< Map of param names we are waiting to hear a write response from, keyed by component id
int _totalParamCount; ///< Number of parameters across all components
QTimer _waitingParamTimeoutTimer;
bool _fullRefresh;
QMutex _dataMutex;
static Fact _defaultFact; ///< Used to return default fact, when parameter not found