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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 "FactLoader.h"
#include "QGCApplication.h"
#include <QFile>
#include <QDebug>
Q_LOGGING_CATEGORY(FactLoaderLog, "FactLoaderLog")
FactLoader::FactLoader(UASInterface* uas, QObject* parent) :
QObject(parent),
_lastSeenComponent(-1),
_paramMgr(NULL),
_factsReady(false)
{
Q_ASSERT(uas);
_uasId = uas->getUASID();
_paramMgr = uas->getParamManager();
Q_ASSERT(_paramMgr);
// We need to be initialized before param mgr starts sending parameters so we catch each one
Q_ASSERT(!_paramMgr->parametersReady());
// We need to know when the param mgr is done sending the initial set of paramters
connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
// We track parameters changes to keep Facts up to date. UASInterface::parameterChanged has multiple overrides so we need to
// use SIGNAL/SLOT style connect
connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
}
FactLoader::~FactLoader()
{
foreach(Fact* fact, _mapFact2ParameterName.keys()) {
delete fact;
}
_mapParameterName2Variant.clear();
_mapFact2ParameterName.clear();
}
/// Connected to QGCUASParmManager::parameterChanged
///
/// When a new parameter is seen it is added to the system. If the parameter is already known it is updated.
void FactLoader::_parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
// Is this for our uas?
if (uas != _uasId) {
return;
}
if (_lastSeenComponent == -1) {
_lastSeenComponent = component;
} else {
// Code cannot handle parameters coming form different components yets
Q_ASSERT(component == _lastSeenComponent);
}
if (!_mapParameterName2Variant.contains(parameterName)) {
Fact* fact = new Fact(this);
_mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
_mapFact2ParameterName[fact] = parameterName;
// We need to know when the fact changes from QML so that we can send the new value to the parameter manager
connect(fact, &Fact::_containerValueChanged, this, &FactLoader::_valueUpdated);
qCDebug(FactLoaderLog) << "Adding new fact" << parameterName;
}
Q_ASSERT(_mapParameterName2Variant.contains(parameterName));
qCDebug(FactLoaderLog) << "Updating fact value" << parameterName << value;
Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>();
Q_ASSERT(fact);
fact->_containerSetValue(value);
}
/// Connected to Fact::valueUpdated
///
/// Sets the new value into the Parameter Manager. Paramter is persisted after send.
void FactLoader::_valueUpdated(QVariant value)
{
Fact* fact = qobject_cast<Fact*>(sender());
Q_ASSERT(fact);
Q_ASSERT(_lastSeenComponent != -1);
Q_ASSERT(_paramMgr);
Q_ASSERT(_mapFact2ParameterName.contains(fact));
QVariant typedValue;
switch (fact->type()) {
case FactMetaData::valueTypeInt8:
case FactMetaData::valueTypeInt16:
case FactMetaData::valueTypeInt32:
typedValue = QVariant(value.value<int>());
case FactMetaData::valueTypeUint8:
case FactMetaData::valueTypeUint16:
case FactMetaData::valueTypeUint32:
typedValue = QVariant(value.value<uint>());
break;
case FactMetaData::valueTypeFloat:
typedValue = QVariant(value.toFloat());
break;
case FactMetaData::valueTypeDouble:
typedValue = QVariant(value.toDouble());
break;
}
_paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue);
_paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */);
}
// Called when param mgr list is up to date
void FactLoader::_paramMgrParameterListUpToDate(void)
{
if (!_factsReady) {
_factsReady = true;
// We don't need this any more
disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
// There may be parameterUpdated signals still in our queue. Flush them out.
qgcApp()->processEvents();
// We should have all paramters now so we can signal ready
emit factsReady();
}
}