ParameterLoader.h 5.87 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
/*=====================================================================
 
 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>
31
#include <QMutex>
32 33 34

#include "FactSystem.h"
#include "UASInterface.h"
35 36
#include "MAVLinkProtocol.h"
#include "AutoPilotPlugin.h"
37
#include "QGCMAVLink.h"
38 39 40 41 42 43 44 45 46 47 48 49 50

/// @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
51
    ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL);
52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
    
    ~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);
    
67 68 69 70 71 72 73
    /// 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);
74 75
    
    /// Returns the specified Fact.
76 77
    /// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existince first with
    /// parameterExists.
78 79 80
    Fact* getFact(int               componentId,    ///< fact component, -1=default component
                  const QString&    name);          ///< fact name
    
81 82
    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
    
83 84 85
    void readParametersFromStream(QTextStream& stream);
    void writeParametersToStream(QTextStream &stream, const QString& name);

86 87 88 89 90 91 92
    /// 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);
93 94 95 96 97 98

    /// 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);
99 100 101 102 103 104 105
    
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:
106
    void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
107
    void _valueUpdated(const QVariant& value);
108 109
    void _restartWaitingParamTimer(void);
    void _waitingParamTimeout(void);
110 111 112 113 114
    
private:
    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
    int _actualComponentId(int componentId);
    void _determineDefaultComponentId(void);
115
    void _setupGroupMap(void);
116 117 118 119 120
    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);
121
    
122 123 124
    AutoPilotPlugin*    _autopilot;
    UASInterface*       _uas;
    MAVLinkProtocol*    _mavlink;
125
    
126
    /// First mapping is by component id
127 128 129
    /// Second mapping is parameter name, to Fact* in QVariant
    QMap<int, QVariantMap> _mapParameterName2Variant;
    
130 131 132 133
    /// First mapping is by component id
    /// Second mapping is group name, to Fact
    QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
    
134 135 136
    bool _parametersReady;   ///< All params received from param mgr
    int _defaultComponentId;
    QString _defaultComponentIdParam;
137 138 139 140 141 142 143 144 145 146 147 148 149
    
    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;
150 151 152
};

#endif