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qgroundcontrol
Commit 39bb543e authored by tstellanova's avatar tstellanova
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fix build

parent 74f1acf5
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Showing with 161 additions and 123 deletions
src/uas/QGCUASParamManager.cc
View file @ 39bb543e
#include "QGCUASParamManager.h"
#include "UASInterface.h"
#include <QApplication>>
#include <QDir>
#include "UASInterface.h"
#include "UASParameterCommsMgr.h"
QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
......@@ -28,15 +31,15 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
void parameterUpdated(int compId, int paramId, QString paramName, QVariant value);
connect(paramDataModel, SIGNAL(parameterUpdated(int, int, QString , QVariant )),
this, SLOT(handleParameterUpdate(int,int,int,QString,QVariant));
this, SLOT(handleParameterUpdate(int,int,int,QString,QVariant)));
// connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)),
// this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant)));
// Listen for param list reload finished
connect(paramCommsMgr, SIGNAL(parameterListUpToDate(int)),
this, SLOT(handleParameterListUpToDate(int))));
connect(paramCommsMgr, SIGNAL(parameterListUpToDate()),
this, SLOT(handleParameterListUpToDate()));
......@@ -206,6 +209,10 @@ void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& param
}
void QGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
{
paramCommsMgr->setParameter(component,parameterName,value);
}
void QGCUASParamManager::loadParamMetaInfoCSV()
......
src/uas/QGCUASParamManager.h
View file @ 39bb543e
......@@ -43,16 +43,17 @@ signals:
public slots:
/** @brief Write one parameter to the MAV */
virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
/** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
virtual void setParameter(int component, QString parameterName, QVariant value);
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
/** @brief Request a single parameter by name */
/** @brief Request a single parameter by name from the MAV */
virtual void requestParameterUpdate(int component, const QString& parameter);
virtual void handleParameterUpdate(int component, int paramCount, int paramId, const QString& parameterName, QVariant value) = 0;
virtual void handleParameterListUpToDate(int component) = 0;
virtual void handleParameterListUpToDate() = 0;
protected:
......
src/uas/UASParameterCommsMgr.cc
View file @ 39bb543e
#include "UASParameterCommsMgr.h"
#include <QSettings>
#include "QGCUASParamManager.h"
#include "UASInterface.h"
......@@ -38,14 +40,14 @@ void UASParameterCommsMgr::loadParamCommsSettings()
{
QSettings settings;
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
bool valid;
bool ok;
int val = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", retransmissionTimeout).toInt(&ok);
if (valid) {
retransmissionTimeout = temp;
if (ok) {
retransmissionTimeout = val;
}
val = settings.value("PARAMETER_REWRITE_TIMEOUT", rewriteTimeout).toInt(&ok);
if (valid) {
rewriteTimeout = temp;
if (ok) {
rewriteTimeout = val;
}
settings.endGroup();
}
......@@ -224,17 +226,23 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
double dblValue = value.toDouble();
if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
setParameterStatusMsg(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
setParameterStatusMsg(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue),
ParamCommsStatusLevel_Error
);
return;
}
if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
setParameterStatusMsg(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
setParameterStatusMsg(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue),
ParamCommsStatusLevel_Error
);
return;
}
QVariant onboardVal;
paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
if (onboardVal == value) {
setParameterStatusMsg(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
setParameterStatusMsg(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue),
ParamCommsStatusLevel_Warning
);
return;
}
......@@ -246,28 +254,24 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
{
QVariant fixedValue(QChar((unsigned char)value.toInt()));
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
default:
......@@ -309,6 +313,8 @@ void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsS
qDebug() << "parameterStatusMsg: " << msg;
parameterStatusMsg = msg;
emit parameterStatusMsgUpdated(msg,level);
//TODO indicate OK status somehow (eg color)
// QPalette pal = statusLabel->palette();
// pal.setColor(backgroundRole(), QGC::colorGreen);
......@@ -360,7 +366,7 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
// Start retransmission guard
// or reset timer
paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
setRetransmissionGuardEnabled(true); //TODO
}
// Mark this parameter as received in read list
......
src/uas/UASParameterCommsMgr.h
View file @ 39bb543e
......@@ -16,16 +16,16 @@ class UASParameterCommsMgr : public QObject
{
Q_OBJECT
typedef enum ParamCommsStatusLevel {
ParamCommsStatusLevel_OK = 0,
ParamCommsStatusLevel_Warning = 2,
ParamCommsStatusLevel_Error = 4,
ParamCommsStatusLevel_Count
} ParamCommsStatusLevel_t;
public:
explicit UASParameterCommsMgr(QObject *parent = 0, UASInterface* uas = NULL);
typedef enum ParamCommsStatusLevel {
ParamCommsStatusLevel_OK = 0,
ParamCommsStatusLevel_Warning = 2,
ParamCommsStatusLevel_Error = 4,
ParamCommsStatusLevel_Count
} ParamCommsStatusLevel_t;
protected:
/** @brief Activate / deactivate parameter retransmission */
......@@ -41,7 +41,9 @@ signals:
void parameterChanged(int component, int parameterIndex, QVariant value);
void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
void parameterListUpToDate(int component);
/** @brief We have received a complete list of all parameters onboard the MAV */
void parameterListUpToDate();
void parameterUpdateRequested(int component, const QString& parameter);
void parameterUpdateRequestedById(int componentId, int paramId);
......@@ -57,6 +59,7 @@ public slots:
/** @brief Write one parameter to the MAV */
virtual void setParameter(int component, QString parameterName, QVariant value);
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
/** @brief Check for missing parameters */
......@@ -67,9 +70,9 @@ public slots:
virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value);
protected slots:
void receivedParameterChange(int uas, int component, QString parameterName, QVariant value);
void receivedParameterListChange(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
//protected slots:
// void receivedParameterChange(int uas, int component, QString parameterName, QVariant value);
// void receivedParameterListChange(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
protected:
......
src/ui/QGCParamWidget.cc
View file @ 39bb543e
......@@ -27,16 +27,17 @@ This file is part of the QGROUNDCONTROL project
*/
#include <cmath>
#include <float.h>
#include <QGridLayout>
#include <QPushButton>
#include <QFileDialog>
#include <QApplication>
#include <QDebug>
#include <QFile>
#include <QFileDialog>
#include <QGridLayout>
#include <QList>
#include <QTime>
#include <QSettings>
#include <QMessageBox>
#include <QApplication>
#include <QDebug>
#include <QPushButton>
#include <QSettings>
#include <QTime>
#include "MainWindow.h"
#include "QGC.h"
......@@ -338,7 +339,7 @@ void QGCParamWidget::handleParameterUpdate(int componentId, int paramCount, int
}
void QGCParamWidget::handleParameterListUpToDate(int component)
void QGCParamWidget::handleParameterListUpToDate()
{
// Expand visual tree
tree->expandItem(tree->topLevelItem(0));
......@@ -593,94 +594,95 @@ void QGCParamWidget::writeParameters()
* @param parameterName name of the parameter, as delivered by the system
* @param value value of the parameter
*/
void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
{
if (parameterName.isEmpty()) {
return;
}
//void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
//{
double dblValue = value.toDouble();
// if (parameterName.isEmpty()) {
// return;
// }
if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
return;
}
if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
return;
}
QVariant onboardVal;
paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
if (onboardVal == value) {
statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
return;
}
// double dblValue = value.toDouble();
//int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
int paramType = (int)value.type();
switch (paramType)
{
case QVariant::Char:
{
QVariant fixedValue(QChar((unsigned char)value.toInt()));
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, parameterName, fixedValue);
//qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
// if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
// statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
// return;
// }
// if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
// statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
// return;
// }
// QVariant onboardVal;
// paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
// if (onboardVal == value) {
// statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
// return;
// }
// Wait for parameter to be written back
// mark it therefore as missing
if (!transmissionMissingWriteAckPackets.contains(component))
{
transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
}
// //int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
// int paramType = (int)value.type();
// switch (paramType)
// {
// case QVariant::Char:
// {
// QVariant fixedValue(QChar((unsigned char)value.toInt()));
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QVariant::Int:
// {
// QVariant fixedValue(value.toInt());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QVariant::UInt:
// {
// QVariant fixedValue(value.toUInt());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// case QMetaType::Float:
// {
// QVariant fixedValue(value.toFloat());
// emit parameterChanged(component, parameterName, fixedValue);
// //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
// }
// break;
// default:
// qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
// return;
// }
// Insert it in missing write ACK list
transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
// // Wait for parameter to be written back
// // mark it therefore as missing
// if (!transmissionMissingWriteAckPackets.contains(component))
// {
// transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
// }
// Set timeouts
if (transmissionActive)
{
transmissionTimeout += rewriteTimeout;
}
else
{
quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
if (newTransmissionTimeout > transmissionTimeout)
{
transmissionTimeout = newTransmissionTimeout;
}
transmissionActive = true;
}
// // Insert it in missing write ACK list
// transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
// Enable guard / reset timeouts
paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
}
// // Set timeouts
// if (transmissionActive)
// {
// transmissionTimeout += rewriteTimeout;
// }
// else
// {
// quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
// if (newTransmissionTimeout > transmissionTimeout)
// {
// transmissionTimeout = newTransmissionTimeout;
// }
// transmissionActive = true;
// }
// // Enable guard / reset timeouts
// paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
//}
void QGCParamWidget::readParameters()
{
......@@ -696,3 +698,20 @@ void QGCParamWidget::clear()
tree->clear();
componentItems->clear();
}
void QGCParamWidget::handleParamStatusMsgUpdate(QString msg, int level)
{
QColor bgColor = QGC::colorGreen;
if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Warning == level) {
bgColor = QGC::colorOrange;
}
else if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Error == level) {
bgColor = QGC::colorRed;
}
QPalette pal = statusLabel->palette();
pal.setColor(backgroundRole(), bgColor);
statusLabel->setPalette(pal);
statusLabel->setText(msg);
}
src/ui/QGCParamWidget.h
View file @ 39bb543e
......@@ -68,14 +68,16 @@ public slots:
// void receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
virtual void handleParameterUpdate(int component, int paramCount, int paramId, const QString& parameterName, QVariant value);
virtual void handleParameterListUpToDate(int component);
virtual void handleParameterListUpToDate();
virtual void handleParamStatusMsgUpdate(QString msg, int level);
/** @brief Ensure that view of parameter matches data in the model */
void updateParameterDisplay(int component, QString parameterName, QVariant value);
/** @brief Request list of parameters from MAV */
void requestAllParamsUpdate();
/** @brief Set one parameter, changes value in RAM of MAV */
virtual void setParameter(int component, QString parameterName, QVariant value);
// virtual void setParameter(int component, QString parameterName, QVariant value);
/** @brief Set all parameters, changes the value in RAM of MAV */
void setParameters();
/** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
......
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