Merge pull request #1918 from DonLakeFlyer/ParametersReady

Allow param edit with missing parameters

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -30,17 +30,18 @@
 #include "MainWindow.h"
 #include "ParameterLoader.h"
 
-AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
-    QObject(parent),
-    _vehicle(vehicle),
-    _pluginReady(false),
-	_setupComplete(false)
+AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
+    : QObject(parent)
+    , _vehicle(vehicle)
+    , _parametersReady(false)
+    , _missingParameters(false)
+	, _setupComplete(false)
 {
     Q_ASSERT(vehicle);
 	
 	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
 
-	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
+	connect(this, &AutoPilotPlugin::parametersReadyChanged, this, &AutoPilotPlugin::_parametersReadyChanged);
 }
 
 AutoPilotPlugin::~AutoPilotPlugin()
@@ -50,13 +51,13 @@ AutoPilotPlugin::~AutoPilotPlugin()
 
 void AutoPilotPlugin::_uasDisconnected(void)
 {
-	_pluginReady = false;
-	emit pluginReadyChanged(_pluginReady);
+	_parametersReady = false;
+	emit parametersReadyChanged(_parametersReady);
 }
 
-void AutoPilotPlugin::_pluginReadyChanged(bool pluginReady)
+void AutoPilotPlugin::_parametersReadyChanged(bool parametersReady)
 {
-	if (pluginReady) {
+	if (parametersReady) {
 		_recalcSetupComplete();
 		if (!_setupComplete) {
 			QGCMessageBox::warning("Setup", "One or more vehicle components require setup prior to flight.");
@@ -92,7 +93,7 @@ void AutoPilotPlugin::_recalcSetupComplete(void)
 
 bool AutoPilotPlugin::setupComplete(void)
 {
-	Q_ASSERT(_pluginReady);
+	Q_ASSERT(_parametersReady);
 	return _setupComplete;
 }
 

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -54,8 +54,11 @@ public:
     AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
     
-	/// true: plugin is ready for use, plugin should no longer be used
-	Q_PROPERTY(bool pluginReady READ pluginReady NOTIFY pluginReadyChanged)
+	/// true: parameters are ready for use
+	Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
+    
+    /// true: parameters are missing from firmware response, false: all parameters received from firmware
+    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
 	
     /// List of VehicleComponent objects
     Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
@@ -113,13 +116,15 @@ public:
     static void clearStaticData(void);
 	
 	// Property accessors
-	bool pluginReady(void) { return _pluginReady; }
+	bool parametersReady(void) { return _parametersReady; }
+    bool missingParameters(void) { return _missingParameters; }
 	bool setupComplete(void);
 	
     Vehicle* vehicle(void) { return _vehicle; }
     
 signals:
-    void pluginReadyChanged(bool pluginReady);
+    void parametersReadyChanged(bool parametersReady);
+    void missingParametersChanged(bool missingParameters);
 	void setupCompleteChanged(bool setupComplete);
     void parameterListProgress(float value);
 	
@@ -131,12 +136,13 @@ protected:
 	virtual ParameterLoader* _getParameterLoader(void) = 0;
 	
     Vehicle*    _vehicle;
-    bool        _pluginReady;
+    bool        _parametersReady;
+    bool        _missingParameters;
 	bool		_setupComplete;
 	
 private slots:
 	void _uasDisconnected(void);
-	void _pluginReadyChanged(bool pluginReady);
+	void _parametersReadyChanged(bool parametersReady);
 	
 private:
 	void _recalcSetupComplete(void);

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -34,7 +34,7 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent
     _parameterFacts = new GenericParameterFacts(this, vehicle, this);
     Q_CHECK_PTR(_parameterFacts);
     
-    connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReady);
+    connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReadySlot);
     connect(_parameterFacts, &GenericParameterFacts::parameterListProgress, this, &GenericAutoPilotPlugin::parameterListProgress);
 }
 
@@ -50,8 +50,10 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
     return emptyList;
 }
 
-void GenericAutoPilotPlugin::_parametersReady(void)
+void GenericAutoPilotPlugin::_parametersReadySlot(bool missingParameters)
 {
-    _pluginReady = true;
-    emit pluginReadyChanged(_pluginReady);
+    _parametersReady = true;
+    _missingParameters = missingParameters;
+    emit missingParametersChanged(_missingParameters);
+    emit parametersReadyChanged(_parametersReady);
 }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -45,7 +45,7 @@ public:
     static void clearStaticData(void);
     
 private slots:
-    void _parametersReady(void);
+    void _parametersReadySlot(bool missingParameters);
     
 private:
 	// Overrides from AutoPilotPlugin

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -79,7 +79,7 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     _parameterFacts = new PX4ParameterLoader(this, vehicle, this);
     Q_CHECK_PTR(_parameterFacts);
     
-    connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_pluginReadyPreChecks);
+    connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_parametersReadyPreChecks);
     connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
 
     _airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
@@ -106,7 +106,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     if (_components.count() == 0 && !_incorrectParameterVersion) {
         Q_ASSERT(_vehicle);
         
-        if (pluginReady()) {
+        if (parametersReady()) {
             _airframeComponent = new AirframeComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
@@ -137,7 +137,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
         } else {
-            qWarning() << "Call to vehicleCompenents prior to pluginReady";
+            qWarning() << "Call to vehicleCompenents prior to parametersReady";
         }
     }
     
@@ -145,7 +145,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
 }
 
 /// This will perform various checks prior to signalling that the plug in ready
-void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
+void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
 {
     // Check for older parameter version set
     // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
@@ -156,6 +156,8 @@ void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
 										"Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
 	}
 	
-    _pluginReady = true;
-    emit pluginReadyChanged(_pluginReady);
+    _parametersReady = true;
+    _missingParameters = missingParameters;
+    emit missingParametersChanged(_missingParameters);
+    emit parametersReadyChanged(_parametersReady);
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -63,7 +63,7 @@ public:
     PowerComponent*         powerComponent(void)        { return _powerComponent; }
 
 private slots:
-    void _pluginReadyPreChecks(void);
+    void _parametersReadyPreChecks(bool missingParameters);
     
 private:
 	// Overrides from AutoPilotPlugin

src/FactSystem/FactControls/FactPanelController.cc

@@ -43,7 +43,8 @@ FactPanelController::FactPanelController(void) :
     
     _autopilot = _vehicle->autopilotPlugin();
     Q_ASSERT(_autopilot);
-    Q_ASSERT(_autopilot->pluginReady());
+    Q_ASSERT(_autopilot->parametersReady());
+    Q_ASSERT(!_autopilot->missingParameters());
     
     // Do a delayed check for the _factPanel finally being set correctly from Qml
     QTimer::singleShot(1000, this, &FactPanelController::_checkForMissingFactPanel);

src/FactSystem/ParameterLoader.cc

@@ -771,12 +771,12 @@ void ParameterLoader::_checkInitialLoadComplete(void)
                                 "If you are using modified firmware, you may need to resolve any vehicle startup errors to resolve the issue. "
                                 "If you are using standard firmware, you may need to upgrade to a newer version to resolve the issue.");
         qCWarning(ParameterLoaderLog) << "The following parameter indices could not be loaded after the maximum number of retries: " << indexList;
-
+        emit parametersReady(true);
     } else {
         // No failed parameters, ok to signal ready
         _parametersReady = true;
         _determineDefaultComponentId();
         _setupGroupMap();
-        emit parametersReady();
+        emit parametersReady(false);
     }
 }

src/FactSystem/ParameterLoader.h

@@ -91,7 +91,7 @@ public:
     
 signals:
     /// Signalled when the full set of facts are ready
-    void parametersReady(void);
+    void parametersReady(bool missingParameters);
 
     /// Signalled to update progress of full parameter list request
     void parameterListProgress(float value);

src/MissionManager/MissionManager.cc

@@ -132,7 +132,7 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
     _ackTimeoutTimer->stop();
     
     if (_retryAck != expectedAck) {
-        qCDebug(MissionManagerLog) << "Invalid ack sequence _retryAck:expectedAck" << _retryAck << expectedAck;
+        qCWarning(MissionManagerLog) << "Invalid ack sequence _retryAck:expectedAck" << _retryAck << expectedAck;
         success = false;
     } else {
         success = true;

src/Vehicle/MultiVehicleManager.cc

@@ -72,7 +72,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
         }
         
         connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
-        connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::pluginReadyChanged, this, &MultiVehicleManager::_autopilotPluginReadyChanged);
+        connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
 
         _vehicles.append(vehicle);
         
@@ -138,7 +138,7 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
     if (_activeVehicle) {
         _activeVehicle->setActive(true);
         emit activeVehicleAvailableChanged(true);
-        if (_activeVehicle->autopilotPlugin()->pluginReady()) {
+        if (_activeVehicle->autopilotPlugin()->parametersReady()) {
             emit parameterReadyVehicleAvailableChanged(true);
         }
     }
@@ -181,14 +181,14 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
         _activeVehicleAvailable = true;
         emit activeVehicleAvailableChanged(true);
         
-        if (_activeVehicle->autopilotPlugin()->pluginReady()) {
+        if (_activeVehicle->autopilotPlugin()->parametersReady()) {
             _parameterReadyVehicleAvailable = true;
             emit parameterReadyVehicleAvailableChanged(true);
         }
     }
 }
 
-void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
+void MultiVehicleManager::_autopilotParametersReadyChanged(bool parametersReady)
 {
     AutoPilotPlugin* autopilot = dynamic_cast<AutoPilotPlugin*>(sender());
     
@@ -198,8 +198,8 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
     }
     
     if (autopilot->vehicle() == _activeVehicle) {
-        _parameterReadyVehicleAvailable = pluginReady;
-        emit parameterReadyVehicleAvailableChanged(pluginReady);
+        _parameterReadyVehicleAvailable = parametersReady;
+        emit parameterReadyVehicleAvailableChanged(parametersReady);
     }
 }
 

src/Vehicle/MultiVehicleManager.h

@@ -92,7 +92,7 @@ private slots:
     void _deleteVehiclePhase1(Vehicle* vehicle);
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
-    void _autopilotPluginReadyChanged(bool pluginReady);
+    void _autopilotParametersReadyChanged(bool parametersReady);
     
 private:
     /// All access to singleton is through MultiVehicleManager::instance

src/Vehicle/Vehicle.cc

@@ -106,6 +106,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     
     _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);    
     _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
+    
+    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged, this, &Vehicle::missingParametersChanged);
 
     // Refresh timer
     connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
@@ -1058,3 +1060,8 @@ void Vehicle::setHilMode(bool hilMode)
     mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
     sendMessage(msg);
 }
+
+bool Vehicle::missingParameters(void)
+{
+    return _autopilotPlugin->missingParameters();
+}

src/Vehicle/Vehicle.h

@@ -71,6 +71,8 @@ public:
 
     Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
     
+    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
+    
     Q_INVOKABLE QString     getMavIconColor();
     
     //-- System Messages
@@ -178,6 +180,8 @@ public:
     bool hilMode(void);
     void setHilMode(bool hilMode);
     
+    bool missingParameters(void);
+    
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -248,6 +252,7 @@ signals:
     void armedChanged(bool armed);
     void flightModeChanged(const QString& flightMode);
     void hilModeChanged(bool hilMode);
+    void missingParametersChanged(bool missingParameters);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);

src/VehicleSetup/SetupView.qml

@@ -51,10 +51,14 @@ Rectangle {
     property string messagePanelText:           "missing message panel text"
     readonly property string armedVehicleText:  "This operation cannot be performed while vehicle is armed."
 
+    property bool fullParameterVehicleAvailable: multiVehicleManager.parameterReadyVehicleAvailable && !multiVehicleManager.activeVehicle.missingParameters
+
     function showSummaryPanel()
     {
-        if (multiVehicleManager.parameterReadyVehicleAvailable) {
+        if (fullParameterVehicleAvailable) {
             panelLoader.source = "VehicleSummary.qml";
+        } else if (multiVehicleManager.parameterReadyVehicleAvailable) {
+            panelLoader.sourceComponent = missingParametersVehicleSummaryComponent
         } else {
             panelLoader.sourceComponent = disconnectedVehicleSummaryComponent
         }
@@ -137,6 +141,27 @@ Rectangle {
         }
     }
 
+    Component {
+        id: missingParametersVehicleSummaryComponent
+
+        Rectangle {
+            color: palette.windowShade
+
+            QGCLabel {
+                anchors.margins:        defaultTextWidth * 2
+                anchors.fill:           parent
+                verticalAlignment:      Text.AlignVCenter
+                horizontalAlignment:    Text.AlignHCenter
+                wrapMode:               Text.WordWrap
+                font.pixelSize:         ScreenTools.mediumFontPixelSize
+                text:                   "You are currently connected to a vehicle, but that vehicle did not return back the full parameter list. " +
+                                            "Because of this the full set of vehicle setup options are not available."
+
+                onLinkActivated: Qt.openUrlExternally(link)
+            }
+        }
+    }
+
     Component {
         id: messagePanelComponent
 
@@ -194,14 +219,14 @@ Rectangle {
                 setupIndicator: true
                 setupComplete:  joystickManager.activeJoystick ? joystickManager.activeJoystick.calibrated : false
                 exclusiveGroup: setupButtonGroup
-                visible:        multiVehicleManager.parameterReadyVehicleAvailable && joystickManager.joysticks.length != 0
+                visible:        fullParameterVehicleAvailable && joystickManager.joysticks.length != 0
                 text:           "JOYSTICK"
 
                 onClicked: showJoystickPanel()
             }
 
             Repeater {
-                model: multiVehicleManager.parameterReadyVehicleAvailable ? multiVehicleManager.activeVehicle.autopilot.vehicleComponents : 0
+                model: fullParameterVehicleAvailable ? multiVehicleManager.activeVehicle.autopilot.vehicleComponents : 0
 
                 SubMenuButton {
                     width:          buttonWidth