Parse min, max, step and unit off camera definition file

Ignore Fact index if there are no enums (avoid adding an "Unknown" entry)
Add function to convert and clamp a (Fact) value.

src/Camera/QGCCameraControl.cc

@@ -28,6 +28,8 @@ static const char* kExclusion       = "exclude";
 static const char* kExclusions      = "exclusions";
 static const char* kLocale          = "locale";
 static const char* kLocalization    = "localization";
+static const char* kMax             = "max";
+static const char* kMin             = "min";
 static const char* kModel           = "model";
 static const char* kName            = "name";
 static const char* kOption          = "option";
@@ -39,9 +41,11 @@ static const char* kParameterranges = "parameterranges";
 static const char* kParameters      = "parameters";
 static const char* kReadOnly        = "readonly";
 static const char* kRoption         = "roption";
+static const char* kStep            = "step";
 static const char* kStrings         = "strings";
 static const char* kTranslated      = "translated";
 static const char* kType            = "type";
+static const char* kUnit            = "unit";
 static const char* kUpdate          = "update";
 static const char* kUpdates         = "updates";
 static const char* kValue           = "value";
@@ -671,6 +675,61 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
             qWarning() << QStringLiteral("Duplicate fact name:") << factName;
             delete metaData;
         } else {
+            {
+                //-- Check for Min Value
+                QString attr;
+                if(read_attribute(parameterNode, kMin, attr)) {
+                    QVariant typedValue;
+                    QString  errorString;
+                    if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
+                        metaData->setRawMin(typedValue);
+                    } else {
+                        qWarning() << "Invalid min value for" << factName
+                                   << " type:"  << metaData->type()
+                                   << " value:" << attr
+                                   << " error:" << errorString;
+                    }
+                }
+            }
+            {
+                //-- Check for Max Value
+                QString attr;
+                if(read_attribute(parameterNode, kMax, attr)) {
+                    QVariant typedValue;
+                    QString  errorString;
+                    if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
+                        metaData->setRawMax(typedValue);
+                    } else {
+                        qWarning() << "Invalid max value for" << factName
+                                   << " type:"  << metaData->type()
+                                   << " value:" << attr
+                                   << " error:" << errorString;
+                    }
+                }
+            }
+            {
+                //-- Check for Step Value
+                QString attr;
+                if(read_attribute(parameterNode, kStep, attr)) {
+                    QVariant typedValue;
+                    QString  errorString;
+                    if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
+                        metaData->setIncrement(typedValue.toDouble());
+                    } else {
+                        qWarning() << "Invalid step value for" << factName
+                                   << " type:"  << metaData->type()
+                                   << " value:" << attr
+                                   << " error:" << errorString;
+                    }
+                }
+            }
+            {
+                //-- Check for Units
+                QString attr;
+                if(read_attribute(parameterNode, kUnit, attr)) {
+                    metaData->setRawUnits(attr);
+                }
+            }
             qCDebug(CameraControlLog) << "New parameter:" << factName;
             _nameToFactMetaDataMap[factName] = metaData;
             Fact* pFact = new Fact(_compID, factName, factType, this);

src/FactSystem/Fact.cc

@@ -191,28 +191,30 @@ int Fact::enumIndex(void)
 {
     static const double accuracy = 1.0 / 1000000.0;
     if (_metaData) {
-        int index = 0;
-        foreach (QVariant enumValue, _metaData->enumValues()) {
-            if (enumValue == rawValue()) {
-                return index;
-            }
-            //-- Float comparissons don't always work
-            if(type() == FactMetaData::valueTypeFloat || type() == FactMetaData::valueTypeDouble) {
-                double diff = fabs(enumValue.toDouble() - rawValue().toDouble());
-                if(diff < accuracy) {
+        //-- Only enums have an index
+        if(_metaData->enumValues().count()) {
+            int index = 0;
+            foreach (QVariant enumValue, _metaData->enumValues()) {
+                if (enumValue == rawValue()) {
                     return index;
                 }
+                //-- Float comparissons don't always work
+                if(type() == FactMetaData::valueTypeFloat || type() == FactMetaData::valueTypeDouble) {
+                    double diff = fabs(enumValue.toDouble() - rawValue().toDouble());
+                    if(diff < accuracy) {
+                        return index;
+                    }
+                }
+                index ++;
             }
-            index ++;
+            // Current value is not in list, add it manually
+            _metaData->addEnumInfo(QString("Unknown: %1").arg(rawValue().toString()), rawValue());
+            emit enumsChanged();
+            return index;
         }
-        // Current value is not in list, add it manually
-        _metaData->addEnumInfo(QString("Unknown: %1").arg(rawValue().toString()), rawValue());
-        emit enumsChanged();
-        return index;
     } else {
         qWarning() << kMissingMetadata;
     }
-
     return -1;
 }
 
@@ -537,6 +539,22 @@ QString Fact::validate(const QString& cookedValue, bool convertOnly)
     }
 }
 
+QVariant Fact::clamp(const QString& cookedValue)
+{
+    if (_metaData) {
+        QVariant typedValue;
+        if(_metaData->clampValue(cookedValue, typedValue)) {
+            return typedValue;
+        } else {
+            //-- If conversion failed, return current value
+            return rawValue();
+        }
+    } else {
+        qWarning() << kMissingMetadata;
+    }
+    return QVariant();
+}
+
 bool Fact::rebootRequired(void) const
 {
     if (_metaData) {

src/FactSystem/Fact.h

@@ -70,6 +70,8 @@ public:
     /// Convert and validate value
     ///     @param convertOnly true: validate type conversion only, false: validate against meta data as well
     Q_INVOKABLE QString validate(const QString& cookedValue, bool convertOnly);
+    /// Convert and clamp value
+    Q_INVOKABLE QVariant clamp(const QString& cookedValue);
 
     QVariant        cookedValue             (void) const;   /// Value after translation
     QVariant        rawValue                (void) const { return _rawValue; }  /// value prior to translation, careful

src/FactSystem/FactMetaData.cc

@@ -398,6 +398,67 @@ bool FactMetaData::convertAndValidateCooked(const QVariant& cookedValue, bool co
     return convertOk && errorString.isEmpty();
 }
 
+bool FactMetaData::clampValue(const QVariant& cookedValue, QVariant& typedValue)
+{
+    bool convertOk = false;
+    switch (type()) {
+    case FactMetaData::valueTypeInt8:
+    case FactMetaData::valueTypeInt16:
+    case FactMetaData::valueTypeInt32:
+        typedValue = QVariant(cookedValue.toInt(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
+    case FactMetaData::valueTypeUint8:
+    case FactMetaData::valueTypeUint16:
+    case FactMetaData::valueTypeUint32:
+        typedValue = QVariant(cookedValue.toUInt(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
+    case FactMetaData::valueTypeFloat:
+        typedValue = QVariant(cookedValue.toFloat(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
+    case FactMetaData::valueTypeElapsedTimeInSeconds:
+    case FactMetaData::valueTypeDouble:
+        typedValue = QVariant(cookedValue.toDouble(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
+    case FactMetaData::valueTypeString:
+        convertOk = true;
+        typedValue = QVariant(cookedValue.toString());
+        break;
+    case FactMetaData::valueTypeBool:
+        convertOk = true;
+        typedValue = QVariant(cookedValue.toBool());
+        break;
+    }
+    return convertOk;
+}
+
 void FactMetaData::setBitmaskInfo(const QStringList& strings, const QVariantList& values)
 {
     if (strings.count() != values.count()) {

src/FactSystem/FactMetaData.h

@@ -145,6 +145,12 @@ public:
     /// Same as convertAndValidateRaw except for cookedValue input
     bool convertAndValidateCooked(const QVariant& cookedValue, bool convertOnly, QVariant& typedValue, QString& errorString);
 
+    /// Converts the specified cooked value and clamps it (max/min)
+    ///     @param cookedValue Value to convert, can be string
+    ///     @param typeValue Converted value, correctly typed and clamped
+    /// @returns false: Convertion failed
+    bool clampValue(const QVariant& cookedValue, QVariant& typedValue);
+
     static const int defaultDecimalPlaces = 3;  ///< Default value for decimal places if not specified/known
     static const int unknownDecimalPlaces = -1; ///< Number of decimal places to specify is not known
 

src/VideoStreaming/VideoReceiver.cc

@@ -768,7 +768,10 @@ VideoReceiver::_updateTimer()
             }
         }
         if(_videoRunning) {
-            uint32_t timeout = qgcApp()->toolbox()->settingsManager()->videoSettings()->rtspTimeout()->rawValue().toUInt();
+            uint32_t timeout = 1;
+            if(qgcApp()->toolbox() && qgcApp()->toolbox()->settingsManager()) {
+                timeout = qgcApp()->toolbox()->settingsManager()->videoSettings()->rtspTimeout()->rawValue().toUInt();
+            }
             time_t elapsed = 0;
             time_t lastFrame = _videoSurface->lastFrame();
             if(lastFrame != 0) {