Parameter List for Opal-RT is now read from an XML file

qgroundcontrol.pro

@@ -18,8 +18,8 @@ TARGET = qgroundcontrol
 BASEDIR = .
 BUILDDIR = build
 LANGUAGE = C++
-CONFIG += release #debug_and_release \
-    #console
+CONFIG +=  debug_and_release \
+    console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated

settings/ParameterList.xml

+<ParameterList version="0.1">
+
+  <!-- Parameters in the top level block -->
+  <Block name="TopLevel">
+    <Parameter>
+    
+    </Parameter>
+  </Block>
+
+  <!--Parameters related to the navigation block -->
+  <Block name="Navigation">
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Navigation_Filter/NAV_FILT_INIT/"
+      SimulinkParameterName="Value"
+      QGCParamID="NAV_FILT_INIT"
+       />
+  </Block>
+
+  <!--Parameters related to the controller block -->
+  <Block name="Controller">
+
+  </Block>
+
+  <!-- Paremters for the Pilot Input/Raw RC block -->
+  <Block name="ServoInputs">
+
+  </Block>
+
+  <!-- Parameters for the servo output block -->
+  <Block name="ServoOutputs">
+
+    <!-- Settings for Aileron Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Low"
+       QGCParamID="AIL_LOW_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Center"
+       QGCParamID="AIL_CENTER_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="High"
+       QGCParamID="AIL_HIGH_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Reverse"
+       QGCParamID="AIL_REV_OUT"
+       />
+
+    <!-- Settings for Elevator Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Low"
+       QGCParamID="ELE_LOW_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Center"
+       QGCParamID="ELE_CENTER_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="High"
+       QGCParamID="ELE_HIGH_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Reverse"
+       QGCParamID="ELE_REV_OUT"
+       />
+  </Block>
+</ParameterList>

src/comm/OpalRT.h

@@ -95,8 +95,10 @@ namespace OpalRT
     enum SubsystemIds
     {
         NAV_ID = 1,
-        LOG_ID = 1,
-        CONTROLLER_ID = 1
+        LOG_ID,
+        CONTROLLER_ID,
+        SERVO_OUTPUTS,
+        SERVO_INPUTS
     };
 
     class OpalErrorMsg

src/comm/Parameter.cc

@@ -29,7 +29,17 @@ This file is part of the QGROUNDCONTROL project
 #include "Parameter.h"
 using namespace OpalRT;
 
-Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID,
+//Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID,
+//                     QGCParamID paramID, unsigned short opalID)
+//                         : simulinkPath(new QString(simulinkPath)),
+//                         simulinkName(new QString(simulinkName)),
+//                         componentID(componentID),
+//                         paramID(new QGCParamID(paramID)),
+//                         opalID(opalID)
+//
+//{
+//}
+Parameter::Parameter(QString simulinkPath, QString simulinkName, uint8_t componentID,
                      QGCParamID paramID, unsigned short opalID)
                          : simulinkPath(new QString(simulinkPath)),
                          simulinkName(new QString(simulinkName)),

src/comm/Parameter.h

@@ -46,8 +46,13 @@ namespace OpalRT
     class Parameter
     {
     public:
-        Parameter(char *simulinkPath = "",
-                  char *simulinkName = "",
+//        Parameter(char *simulinkPath = "",
+//                  char *simulinkName = "",
+//                  uint8_t componentID = 0,
+//                  QGCParamID paramID = QGCParamID(),
+//                  unsigned short opalID = 0);
+        Parameter(QString simulinkPath = QString(),
+                  QString simulinkName = QString(),
                   uint8_t componentID = 0,
                   QGCParamID paramID = QGCParamID(),
                   unsigned short opalID = 0);

src/comm/ParameterList.cc

@@ -34,9 +34,16 @@ ParameterList::ParameterList()
     :params(new QMap<int, QMap<QGCParamID, Parameter> >),
     paramList(new QList<QList<Parameter*> >())
 {
-//    params = new QMap<int, QMap<QGCParamID, Parameter> >;
 
-    /* Populate the map with parameter names.  There is no elegant way of doing this so all
+    QDir settingsDir = QDir(qApp->applicationDirPath());
+    if (settingsDir.dirName() == "bin")
+        settingsDir.cdUp();
+    settingsDir.cd("settings");
+
+    QString filename(settingsDir.path() + "/ParameterList.xml");
+    if ((QFile::exists(filename)) && open(filename))
+    {
+        /* Populate the map with parameter names.  There is no elegant way of doing this so all
        parameter paths and names must be known at compile time and defined here.
        Note: This function is written in a way that calls a lot of copy constructors and is
            therefore not particularly efficient.  However since it is only called once memory
@@ -44,58 +51,58 @@ ParameterList::ParameterList()
            parameters.
            When defining the path, the trailing slash is necessary
        */
-    Parameter *p;
-    /* Component: Navigation Filter */
-    p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/",
-                            "Value",
-                            OpalRT::NAV_ID,
-                            QGCParamID("NAV_FILT_INIT"));
-    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
-    delete p;
-
-    p = new Parameter("avionics_src/sm_ampro/Gain/",
-                            "Gain",
-                            OpalRT::NAV_ID,
-                            QGCParamID("TEST_OUTP_GAIN"));
-    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
-    delete p;
-
-    /* Component: Log Facility */
-    p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/",
-                            "Value",
-                            OpalRT::LOG_ID,
-                            QGCParamID("LOG_FILE_ON"));
-    (*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p);
-    delete p;
-
-    /* Get a list of the available parameters from opal-rt */
-    QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
-    getParameterList(opalParams);
-
-    /* Iterate over the parameters we want to use in qgc and populate their ids */
-    QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter;
-    QMap<QGCParamID, Parameter>::iterator paramIter;
-    QString s;
-    for (componentIter = params->begin(); componentIter != params->end(); ++componentIter)
-    {
-        paramList->append(QList<Parameter*>());
-        for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter)
+        //    Parameter *p;
+        //    /* Component: Navigation Filter */
+        //    p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/",
+        //                            "Value",
+        //                            OpalRT::NAV_ID,
+        //                            QGCParamID("NAV_FILT_INIT"));
+        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
+        //    delete p;
+        //
+        //    p = new Parameter("avionics_src/sm_ampro/Gain/",
+        //                            "Gain",
+        //                            OpalRT::NAV_ID,
+        //                            QGCParamID("TEST_OUTP_GAIN"));
+        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
+        //    delete p;
+        //
+        //    /* Component: Log Facility */
+        //    p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/",
+        //                            "Value",
+        //                            OpalRT::LOG_ID,
+        //                            QGCParamID("LOG_FILE_ON"));
+        //    (*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p);
+        //    delete p;
+
+        /* Get a list of the available parameters from opal-rt */
+        QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
+        getParameterList(opalParams);
+
+        /* Iterate over the parameters we want to use in qgc and populate their ids */
+        QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter;
+        QMap<QGCParamID, Parameter>::iterator paramIter;
+        QString s;
+        for (componentIter = params->begin(); componentIter != params->end(); ++componentIter)
         {
-            paramList->last().append(paramIter.operator ->());
-            s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName();
-            if (opalParams->contains(s))
-            {
-                (*paramIter).setOpalID(opalParams->value(s));
-//                qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
-            }
-            else
+            paramList->append(QList<Parameter*>());
+            for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter)
             {
-                qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
+                paramList->last().append(paramIter.operator ->());
+                s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName();
+                if (opalParams->contains(s))
+                {
+                    (*paramIter).setOpalID(opalParams->value(s));
+                    //                qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
+                }
+                else
+                {
+                    qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
+                }
             }
         }
+        delete opalParams;
     }
-    delete opalParams;
-
 }
 
 ParameterList::~ParameterList()
@@ -245,3 +252,96 @@ int ParameterList::count()
         count += (*iter).count();
     return count;
 }
+
+/* Functions related to reading the xml config file */
+
+bool ParameterList::open(QString filename)
+{
+    QFile paramFile(filename);
+    if (!paramFile.exists())
+    {
+        /// \todo open dialog box (maybe: that could also go in  comm config window)
+        return false;
+    }
+
+    if (!paramFile.open(QIODevice::ReadOnly))
+    {
+        return false;
+    }
+
+    read(&paramFile);
+
+    return true;
+}
+
+bool ParameterList::read(QIODevice *device)
+{
+    QDomDocument *paramConfig = new QDomDocument();
+
+    QString errorStr;
+    int errorLine;
+    int errorColumn;
+
+    if (!paramConfig->setContent(device, true, &errorStr, &errorLine,
+                                &errorColumn))
+    {
+        qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
+        return false;
+    }
+
+    QDomElement root = paramConfig->documentElement();
+    if (root.tagName() != "ParameterList") {
+        qDebug() << __FILE__ << __LINE__ << "This is not a parameter list xml file";
+        return false;
+    }
+
+    QDomElement child = root.firstChildElement("Block");
+    while (!child.isNull())
+    {
+        parseBlock(child);
+        child = child.nextSiblingElement("Block");
+    }
+
+    delete paramConfig;
+    return true;
+}
+
+void ParameterList::parseBlock(const QDomElement &block)
+{
+
+    QDomNodeList paramList;
+    QDomElement e;
+    Parameter *p;
+    SubsystemIds id;
+    if (block.attribute("name") == "Navigation")
+        id = OpalRT::NAV_ID;
+    else if (block.attribute("name") == "Controller")
+        id = OpalRT::CONTROLLER_ID;
+    else if (block.attribute("name") == "ServoOutputs")
+        id = OpalRT::SERVO_OUTPUTS;
+    else if (block.attribute("name") == "ServoInputs")
+        id = OpalRT::SERVO_INPUTS;
+
+        paramList = block.elementsByTagName("Parameter");
+        for (int i=0; i < paramList.size(); ++i)
+        {
+            e = paramList.item(i).toElement();
+            if (e.hasAttribute("SimulinkPath") &&
+                e.hasAttribute("SimulinkParameterName") &&
+                e.hasAttribute("QGCParamID"))
+            {
+
+                p = new Parameter(e.attribute("SimulinkPath"),
+                                  e.attribute("SimulinkParameterName"),
+                                  static_cast<uint8_t>(id),
+                                  QGCParamID(e.attribute("QGCParamID")));
+                (*params)[id].insert(p->getParamID(), *p);
+                delete p;
+            }
+            else
+            {
+                qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc";
+            }
+        }
+
+}

src/comm/ParameterList.h

@@ -26,6 +26,11 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QMap>
 #include <QVector>
+#include <QIODevice>
+#include <QFile>
+#include <QDir>
+#include <QApplication>
+#include <QtXml>
 
 #include "mavlink_types.h"
 #include "QGCParamID.h"
@@ -83,7 +88,6 @@ namespace OpalRT
              qDebug() << "PID_GAIN is at index " << index;
           \endcode          
           */
-
         int indexOf(const Parameter& p);
         bool contains(int compid, QGCParamID paramid) const {return (*params)[compid].contains(paramid);}
 
@@ -120,6 +124,19 @@ namespace OpalRT
           \param[out] opalParams Map of parameter paths/names to ids which are valid in Opal-RT
           */
         void getParameterList(QMap<QString, unsigned short>* opalParams);
+
+        /**
+          Open a file for reading in the xml config data
+          */
+        bool open(QString filename=QString());
+        /**
+          Attempt to read XML configuration data from device
+          \param[in] the device to read the xml data from
+          \return true if the configuration was read successfully, false otherwise
+          */
+        bool read(QIODevice *device);
+
+        void parseBlock(const QDomElement &block);
     };
 }
 #endif // PARAMETERLIST_H

src/comm/ParameterList.xml

-<ParameterList version="0.1">
-  <!--Parameters related to the navigation block -->
-  <Navigation>
-    <Parameter>
-      <SimulinkPath>avionics_src/sm_ampro/NAV_FILT_INIT/</SimulinkPath>
-      <SimulinkParameterName>Value</SimulinkParameterName>
-      <QGCParamID>NAV_FILT_INIT</QGCParamID>
-    </Parameter>
-  </Navigation>
-
-  <!--Parameters related to the controller block -->
-  <Controller>
-
-  </Controller>
-
-  <!-- Paremters for the Pilot Input/Raw RC block -->
-  <ServoInputs>
-
-  </ServoInputs>
-
-  <!-- Parameters for the servo output block -->
-  <ServoOutputs>
-
-  </ServoOutputs>
-</ParameterList>

src/ui/MainWindow.ui

@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>22</height>
+     <height>23</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -113,7 +113,7 @@
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
    </property>
    <property name="text">
@@ -125,7 +125,7 @@
   </action>
   <action name="actionSettings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>
      <normalon>:/images/categories/preferences-system.svg</normalon>:/images/categories/preferences-system.svg</iconset>
    </property>
@@ -138,7 +138,7 @@
   </action>
   <action name="actionLiftoff">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/launch.svg</normaloff>
      <normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
    </property>
@@ -148,7 +148,7 @@
   </action>
   <action name="actionLand">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
    </property>
    <property name="text">
@@ -173,7 +173,7 @@
   </action>
   <action name="actionAdd_Link">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
    </property>
    <property name="text">
@@ -182,7 +182,7 @@
   </action>
   <action name="actionConfiguration">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
    </property>
    <property name="text">
@@ -194,7 +194,7 @@
   </action>
   <action name="actionEngineerView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -203,7 +203,7 @@
   </action>
   <action name="actionPilotView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
    </property>
    <property name="text">
@@ -212,7 +212,7 @@
   </action>
   <action name="actionStyleConfig">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -221,7 +221,7 @@
   </action>
   <action name="actionJoystickSettings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
    </property>
    <property name="text">
@@ -230,7 +230,7 @@
   </action>
   <action name="actionOperatorView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
    </property>
    <property name="text">
@@ -242,7 +242,7 @@
   </action>
   <action name="action3DView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -257,7 +257,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
    </property>
    <property name="text">
@@ -269,7 +269,7 @@
   </action>
   <action name="actionShow_full_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
    </property>
    <property name="text">
@@ -278,7 +278,7 @@
   </action>
   <action name="actionShow_MAVLink_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
    </property>
    <property name="text">
@@ -287,7 +287,7 @@
   </action>
   <action name="actionOnline_documentation">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -296,7 +296,7 @@
   </action>
   <action name="actionShow_data_analysis_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -305,7 +305,7 @@
   </action>
   <action name="actionProject_Roadmap">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
    </property>
    <property name="text">
@@ -314,7 +314,7 @@
   </action>
   <action name="actionCredits_Developers">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -323,9 +323,7 @@
   </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
- <resources>
-  <include location="../../mavground.qrc"/>
- </resources>
+ <resources/>
  <connections>
   <connection>
    <sender>actionExit</sender>