Merge pull request #2414 from DonLakeFlyer/UnknownEnum

Handle unknown enum values in meta data

src/FactSystem/Fact.cc

@@ -165,7 +165,7 @@ QVariant Fact::cookedValue(void) const
     }
 }
 
-QString Fact::enumStringValue(void) const
+QString Fact::enumStringValue(void)
 {
     if (_metaData) {
         int enumIndex = this->enumIndex();
@@ -179,16 +179,23 @@ QString Fact::enumStringValue(void) const
     return QString();
 }
 
-int Fact::enumIndex(void) const
+int Fact::enumIndex(void)
 {
     if (_metaData) {
         int index = 0;
+
         foreach (QVariant enumValue, _metaData->enumValues()) {
             if (enumValue == rawValue()) {
                 return index;
             }
             index ++;
         }
+
+        // Current value is not in list, add it manually
+        _metaData->addEnumInfo(QString("Unknown: %1").arg(rawValue().toString()), rawValue());
+        emit enumStringsChanged();
+        emit enumValuesChanged();
+        return index;
     } else {
         qWarning() << "Meta data pointer missing";
     }

src/FactSystem/Fact.h

@@ -52,9 +52,9 @@ public:
     Q_PROPERTY(QString      defaultValueString      READ defaultValueString                                 CONSTANT)
     Q_PROPERTY(bool         defaultValueAvailable   READ defaultValueAvailable                              CONSTANT)
     Q_PROPERTY(int          enumIndex               READ enumIndex              WRITE setEnumIndex          NOTIFY valueChanged)
-    Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        CONSTANT)
+    Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumStringsChanged)
     Q_PROPERTY(QString      enumStringValue         READ enumStringValue        WRITE setEnumStringValue    NOTIFY valueChanged)
-    Q_PROPERTY(QVariantList enumValues              READ enumValues                                         CONSTANT)
+    Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumValuesChanged)
     Q_PROPERTY(QString      group                   READ group                                              CONSTANT)
     Q_PROPERTY(QString      longDescription         READ longDescription                                    CONSTANT)
     Q_PROPERTY(QVariant     max                     READ max                                                CONSTANT)
@@ -81,9 +81,9 @@ public:
     QVariant        defaultValue            (void) const;
     bool            defaultValueAvailable   (void) const;
     QString         defaultValueString      (void) const;
-    int             enumIndex               (void) const;
+    int             enumIndex               (void);         // This is not const, since an unknown value can modify the enum lists
     QStringList     enumStrings             (void) const;
-    QString         enumStringValue         (void) const;
+    QString         enumStringValue         (void);         // This is not const, since an unknown value can modify the enum lists
     QVariantList    enumValues              (void) const;
     QString         group                   (void) const;
     QString         longDescription         (void) const;
@@ -120,6 +120,9 @@ public:
     void _setName(const QString& name) { _name = name; }
     
 signals:
+    void enumStringsChanged(void);
+    void enumValuesChanged(void);
+
     /// QObject Property System signal for value property changes
     ///
     /// This signal is only meant for use by the QT property system. It should not be connected to by client code.

src/FactSystem/FactMetaData.cc

@@ -260,3 +260,9 @@ void FactMetaData::setTranslators(Translator rawTranslator, Translator cookedTra
     _rawTranslator = rawTranslator;
     _cookedTranslator = cookedTranslator;
 }
+
+void FactMetaData::addEnumInfo(const QString& name, const QVariant& value)
+{
+    _enumStrings << name;
+    _enumValues << value;
+}

src/FactSystem/FactMetaData.h

@@ -79,6 +79,9 @@ public:
     Translator      rawTranslator           (void) const { return _rawTranslator; }
     Translator      cookedTranslator        (void) const { return _cookedTranslator; }
 
+    /// Used to add new values to the enum lists after the meta data has been loaded
+    void addEnumInfo(const QString& name, const QVariant& value);
+
     void setDecimalPlaces   (int decimalPlaces)                 { _decimalPlaces = decimalPlaces; }
     void setDefaultValue    (const QVariant& defaultValue);
     void setEnumInfo        (const QStringList& strings, const QVariantList& values);

src/MissionManager/MissionItem.cc

@@ -45,18 +45,18 @@ struct EnumInfo_s {
 };
 
 static const struct EnumInfo_s _rgMavFrameInfo[] = {
-    { "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
-    { "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
-    { "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
-    { "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
-    { "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
-    { "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
-    { "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
-    { "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
-    { "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
-    { "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
-    { "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
+{ "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
+{ "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
+{ "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
+{ "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
+{ "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
+{ "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
+{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
+{ "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
+{ "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
+{ "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
+{ "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
+{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
 };
 
 QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
@@ -514,17 +514,30 @@ void MissionItem::setParam7(double param)
 
 bool MissionItem::standaloneCoordinate(void) const
 {
-    return _mavCmdInfoMap[(MAV_CMD)command()]->standaloneCoordinate();
+    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
+        return _mavCmdInfoMap[(MAV_CMD)command()]->standaloneCoordinate();
+    } else {
+        return false;
+    }
 }
 
 bool MissionItem::specifiesCoordinate(void) const
 {
-    return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();
+    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
+        return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();
+    } else {
+        return false;
+    }
 }
 
 QString MissionItem::commandDescription(void) const
 {
-    return _mavCmdInfoMap[(MAV_CMD)command()]->description();
+    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
+        return _mavCmdInfoMap[(MAV_CMD)command()]->description();
+    } else {
+        qWarning() << "Should not ask for command description on unknown command";
+        return QString();
+    }
 }
 
 void MissionItem::_clearParamMetaData(void)
@@ -676,7 +689,7 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 
 bool MissionItem::friendlyEditAllowed(void) const
 {
-    if (_mavCmdInfoMap[(MAV_CMD)command()]->friendlyEdit()) {
+    if (_mavCmdInfoMap.contains((MAV_CMD)command()) && _mavCmdInfoMap[(MAV_CMD)command()]->friendlyEdit()) {
         if (!autoContinue()) {
             return false;
         }
@@ -797,10 +810,12 @@ void MissionItem::setDefaultsForCommand(void)
     // We set these global defaults first, then if there are param defaults they will get reset
     setParam7(defaultAltitude);
 
-    foreach (const MavCmdParamInfo* paramInfo, _mavCmdInfoMap[(MAV_CMD)command()]->paramInfoMap()) {
-        Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
+    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
+        foreach (const MavCmdParamInfo* paramInfo, _mavCmdInfoMap[(MAV_CMD)command()]->paramInfoMap()) {
+            Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
 
-        rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
+            rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
+        }
     }
 
     setAutoContinue(true);
@@ -825,9 +840,12 @@ void MissionItem::_sendCommandChanged(void)
 
 QString MissionItem::commandName(void) const
 {
-    const MavCmdInfo* mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
-
-    return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
+    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
+        const MavCmdInfo* mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
+        return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
+    } else {
+        return QString("Unknown: %1").arg(command());
+    }
 }
 
 QVariant MissionItem::_degreesToRadians(const QVariant& degrees)