Merge pull request #1120 from DonLakeFlyer/FSVariantArray

Switch parameter facts to QVariantMap

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -53,10 +53,9 @@ public:
     
     /// Returns the parameter facts for the specified UAS.
     ///
-    /// Access to parameter properties is done through QObject::property or the full
-    /// QMetaObject methods. The property name is the parameter name. You should not
-    /// request parameter facts until the plugin reports that it is ready.
-    virtual QObject* parameterFacts(void) const = 0;
+    /// Key is parameter name. Get Fact object like this: _mapParameterName2Variant["RC_MAP_THROTTLE"].value<Fact*>().
+    /// You should not request parameter facts until the plugin reports that it is ready.
+    virtual const QVariantMap& parameterFacts(void) const = 0;
     
     /// Adds the FactSystem properties to the Qml context. You should not call
     /// this method until the plugin reports that it is ready.

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -86,14 +86,15 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
 void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
 {
     Q_UNUSED(context);
-    
-    // Qml not yet supported for Generic
-    Q_ASSERT(false);
+    Q_ASSERT_X(false, "Not yet implemented", "");
 }
 
-QObject* GenericAutoPilotPlugin::parameterFacts(void) const
+const QVariantMap& GenericAutoPilotPlugin::parameterFacts(void) const
 {
-    return NULL;
+    static QVariantMap staticMap;
+    
+    Q_ASSERT_X(false, "Not yet implemented", "");
+    return staticMap;
 }
 
 void GenericAutoPilotPlugin::clearStaticData(void)

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -42,7 +42,7 @@ public:
     // Overrides from AutoPilotPlugin
     virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
     virtual void addFactsToQmlContext(QQmlContext* context) const;
-    virtual QObject* parameterFacts(void) const;
+    virtual const QVariantMap& parameterFacts(void) const;
     virtual bool pluginIsReady(void) const { return true; }
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -212,7 +212,7 @@ void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
     
     Q_ASSERT(_parameterFacts->factsAreReady());
     
-    context->setContextProperty("parameterFacts", _parameterFacts);
+    context->setContextProperty("parameters", _parameterFacts->factMap());
 }
 
 void PX4AutoPilotPlugin::clearStaticData(void)

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -44,7 +44,7 @@ public:
     // Overrides from AutoPilotPlugin
     virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
     virtual void addFactsToQmlContext(QQmlContext* context) const;
-    virtual QObject* parameterFacts(void) const { return _parameterFacts; }
+    virtual const QVariantMap& parameterFacts(void) const { return _parameterFacts->factMap(); }
     virtual bool pluginIsReady(void) const;
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);

src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc

@@ -64,7 +64,7 @@ PX4ParameterFacts::~PX4ParameterFacts()
     foreach(Fact* fact, _mapFact2ParameterName.keys()) {
         delete fact;
     }
-    _mapParameterName2Fact.clear();
+    _mapParameterName2Variant.clear();
     _mapFact2ParameterName.clear();
 }
 
@@ -93,28 +93,31 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
         Q_ASSERT(component == _lastSeenComponent);
     }
     
-    // If we don't have meta data for the parameter it can't be part of the FactSystem
-    if (!_mapParameterName2FactMetaData.contains(parameterName)) {
-        // FIXME: Debug or Warning. Warning will fail TC
-        qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
-        return;
-    }
-    
-    if (!_mapParameterName2Fact.contains(parameterName)) {
+    if (!_mapParameterName2Variant.contains(parameterName)) {
         Fact* fact = new Fact(this);
         
-        fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
+        if (_mapParameterName2FactMetaData.contains(parameterName)) {
+            fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
+        } else {
+            qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
+        }
         
-        _mapParameterName2Fact[parameterName] = fact;
+        _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
         _mapFact2ParameterName[fact] = parameterName;
         
         // We need to know when the fact changes so that we can send the new value to the parameter manager
         connect(fact, &Fact::_containerValueChanged, this, &PX4ParameterFacts::_valueUpdated);
-        
-        //qDebug() << "Adding new fact" << parameterName;
+
+        qCDebug(PX4ParameterFactsLog) << "Adding new fact" << parameterName;
     }
-    //qDebug() << "Updating fact value" << parameterName << value;
-    _mapParameterName2Fact[parameterName]->_containerSetValue(value);
+    
+    Q_ASSERT(_mapParameterName2Variant.contains(parameterName));
+    
+    qCDebug(PX4ParameterFactsLog) << "Updating fact value" << parameterName << value;
+    
+    Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>();
+    Q_ASSERT(fact);
+    fact->_containerSetValue(value);
 }
 
 /// Connected to Fact::valueUpdated

src/FactSystem/FactSystemTest.cc

@@ -96,13 +96,11 @@ void FactSystemTest::_parameter_test(void)
     AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
     Q_ASSERT(plugin);
     
-    QObject* parameterFacts = plugin->parameterFacts();
-    QVERIFY(parameterFacts != NULL);
+    const QVariantMap& parameterFacts = plugin->parameterFacts();
     
     // Compare the value in the Parameter Manager with the value from the FactSystem
     
-    QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE");
-    Fact* fact = factVariant.value<Fact*>();
+    Fact* fact = parameterFacts["RC_MAP_THROTTLE"].value<Fact*>();
     QVERIFY(fact != NULL);
     QVariant factValue = fact->value();
     QCOMPARE(factValue.isValid(), true);
@@ -142,11 +140,9 @@ void FactSystemTest::_paramMgrSignal_test(void)
     AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
     Q_ASSERT(plugin);
     
-    QObject* parameterFacts = plugin->parameterFacts();
-    QVERIFY(parameterFacts != NULL);
+    const QVariantMap& parameterFacts = plugin->parameterFacts();
     
-    QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE");
-    Fact* fact = factVariant.value<Fact*>();
+    Fact* fact = parameterFacts["RC_MAP_THROTTLE"].value<Fact*>();
     QVERIFY(fact != NULL);
     
     // Setting a new value into the parameter should trigger a valueChanged signal on the Fact

src/FactSystem/FactSystemTest.qml

@@ -6,11 +6,11 @@ import QGroundControlFactControls 1.0
 Item {
     TextInput {
         objectName: "testControl"
-        text: parameterFacts.RC_MAP_THROTTLE.value
+        text: parameters["RC_MAP_THROTTLE"].value
         font.family: "Helvetica"
         font.pointSize: 24
         color: "red"
         focus: true
-        onAccepted: { parameterFacts.RC_MAP_THROTTLE.value = text; }
+        onAccepted: { parameters["RC_MAP_THROTTLE"].value = text; }
     }
 }
\ No newline at end of file

src/FactSystem/FactValidator.h

@@ -36,7 +36,7 @@ class Fact;
 /// The validator uses the FactMetaData to impose restrictions on the input. It is used as follows:
 /// @code{.unparsed}
 ///     TextInput {
-///         validator: FactValidator { fact: parameterFacts.RC_MAP_THROTTLE; }
+///         validator: FactValidator { fact: parameters["RC_MAP_THROTTLE"]; }
 ///     }
 /// @endcode
 class FactValidator : public QValidator