Add Group support to FactSystem

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -25,6 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "AutoPilotPlugin.h"
+#include "QGCUASParamManagerInterface.h"
 
 AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     QObject(parent),
@@ -34,11 +35,36 @@ AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     Q_ASSERT(_uas);
 }
 
+void AutoPilotPlugin::refreshAllParameters(void)
+{
+	_getParameterLoader()->refreshAllParameters();
+}
+
+void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
+{
+	_getParameterLoader()->refreshParameter(componentId, name);
+}
+
+void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
+{
+	_getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
+}
+
+bool AutoPilotPlugin::parameterExists(const QString& name)
+{
+	return _getParameterLoader()->parameterExists(FactSystem::defaultComponentId, name);
+}
+
+Fact* AutoPilotPlugin::getParameterFact(const QString& name)
+{
+	return _getParameterLoader()->getFact(FactSystem::defaultComponentId, name);
+}
+
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return getParameterLoader()->factExists(componentId, name);
+            return _getParameterLoader()->parameterExists(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -51,7 +77,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return getParameterLoader()->getFact(componentId, name);
+            return _getParameterLoader()->getFact(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -59,3 +85,40 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
     Q_ASSERT(false);
     return NULL;
 }
+
+QStringList AutoPilotPlugin::parameterNames(void)
+{
+	return _getParameterLoader()->parameterNames();
+}
+
+const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
+{
+    return _getParameterLoader()->getGroupMap();
+}
+
+void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
+{
+	Q_ASSERT(_uas);
+	
+	_uas->getParamManager()->writeOnboardParamsToStream(stream, _uas->getUASName());
+}
+
+void AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
+{
+	Q_ASSERT(_uas);
+	
+	Fact* autoSaveFact = NULL;
+	int previousAutoSave = 0;
+	
+	if (parameterExists("COM_AUTOS_PAR")) {
+		autoSaveFact = getParameterFact("COM_AUTOS_PAR");
+		previousAutoSave = autoSaveFact->value().toInt();
+		autoSaveFact->setValue(1);
+	}
+	
+	_uas->getParamManager()->readPendingParamsFromStream(stream);
+	
+	if (autoSaveFact) {
+		autoSaveFact->setValue(previousAutoSave);
+	}
+}

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -57,14 +57,32 @@ public:
     Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
     
     /// Re-request the full set of parameters from the autopilot
-    Q_INVOKABLE void refreshAllParameters(void) { getParameterLoader()->refreshAllParameters(); }
+	Q_INVOKABLE void refreshAllParameters(void);
     
     /// Request a refresh on the specific parameter
-    Q_INVOKABLE void refreshParameter(int componentId, const QString& name) { getParameterLoader()->refreshParameter(componentId, name); }
+	Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
     
     /// Request a refresh on all parameters that begin with the specified prefix
-    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix) { getParameterLoader()->refreshParametersPrefix(componentId, namePrefix); }
-    
+	Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
+    
+	/// Returns true if the specifed parameter exists from the default component
+	Q_INVOKABLE bool parameterExists(const QString& name);
+	
+	/// Returns all parameter names
+	/// FIXME: component id missing, generic to fact
+	QStringList parameterNames(void);
+	
+	/// Returns the specified parameter Fact from the default component
+	/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
+	/// factExists.
+	Fact* getParameterFact(const QString& name);
+	
+	/// Writes the parameter facts to the specified stream
+	void writeParametersToStream(QTextStream &stream);
+	
+	/// Reads the parameters from the stream and updates values
+	void readParametersFromStream(QTextStream &stream);
+	
     /// Returns true if the specifed fact exists
     Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
                                 int                     componentId,    ///< fact component, -1=default component
@@ -76,21 +94,12 @@ public:
     Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
                   int                       componentId,    ///< fact component, -1=default component
                   const QString&            name);          ///< fact name
-
-    /// Returns true if the specifed parameter exists from the default component
-    Q_INVOKABLE bool parameterExists(const QString& name) { return getParameterLoader()->factExists(FactSystem::defaultComponentId, name); }
-    
-    /// Returns the specified parameter Fact from the default component
-    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
-    /// factExists.
-    Fact* getParameterFact(const QString& name) { return getParameterLoader()->getFact(FactSystem::defaultComponentId, name); }
     
+    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
     
-    /// Returns the ParameterLoader
-    virtual ParameterLoader* getParameterLoader(void) = 0;
-    
     /// FIXME: Kind of hacky
     static void clearStaticData(void);
     
@@ -106,6 +115,9 @@ protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
     AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
     
+	/// Returns the ParameterLoader
+	virtual ParameterLoader* _getParameterLoader(void) = 0;
+	
     UASInterface*   _uas;
     bool            _pluginReady;
 };

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -42,7 +42,6 @@ public:
     
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
-    virtual ParameterLoader* getParameterLoader(void) { return _parameterFacts; }
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
@@ -52,6 +51,9 @@ private slots:
     void _parametersReady(void);
     
 private:
+	// Overrides from AutoPilotPlugin
+	virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
+	
     GenericParameterFacts*  _parameterFacts;
 };
 

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -90,7 +90,6 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
 {
     delete _parameterFacts;
-    PX4ParameterFacts::deleteParameterFactMetaData();
 }
 
 QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -51,7 +51,6 @@ public:
 
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
-    virtual ParameterLoader* getParameterLoader(void) { return _parameterFacts; }
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
@@ -69,6 +68,9 @@ private slots:
     void _pluginReadyPreChecks(void);
     
 private:
+	// Overrides from AutoPilotPlugin
+	virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
+	
     PX4ParameterFacts*      _parameterFacts;
     QVariantList            _components;
     AirframeComponent*      _airframeComponent;

src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc

@@ -42,14 +42,6 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
     Q_ASSERT(uas);
 }
 
-void PX4ParameterFacts::deleteParameterFactMetaData(void)
-{
-    foreach (QString param, _mapParameterName2FactMetaData.keys()) {
-        delete _mapParameterName2FactMetaData[param];
-    }
-    _mapParameterName2FactMetaData.clear();
-}
-
 /// Parse the Parameter element of parameter xml meta data
 ///     @param[in] xml stream reader
 ///     @param[in] group fact group associated with this Param element
@@ -69,6 +61,8 @@ FactMetaData* PX4ParameterFacts::_parseParameter(QXmlStreamReader& xml, const QS
     FactMetaData* metaData = new FactMetaData();
     Q_CHECK_PTR(metaData);
     
+    metaData->group = group;
+    
     // Convert type from string to FactMetaData::ValueType_t
     
     struct String2Type {

src/AutoPilotPlugins/PX4/PX4ParameterFacts.h

@@ -52,7 +52,6 @@ public:
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
     
     static void loadParameterFactMetaData(void);
-    static void deleteParameterFactMetaData(void);
     static void clearStaticData(void);
     
 private:

src/FactSystem/Fact.cc

@@ -107,7 +107,7 @@ QString Fact::shortDescription(void)
     if (_metaData) {
         return _metaData->shortDescription;
     } else {
-        return QString();
+        return QString("");
     }
 }
 
@@ -116,7 +116,7 @@ QString Fact::longDescription(void)
     if (_metaData) {
         return _metaData->longDescription;
     } else {
-        return QString();
+        return QString("");
     }
 }
 
@@ -125,7 +125,7 @@ QString Fact::units(void)
     if (_metaData) {
         return _metaData->units;
     } else {
-        return QString();
+        return QString("");
     }
 }
 
@@ -141,6 +141,15 @@ QVariant Fact::max(void)
     return _metaData->max;
 }
 
+QString Fact::group(void)
+{
+    if (_metaData) {
+        return _metaData->group;
+    } else {
+        return "Default Group";
+    }
+}
+
 void Fact::setMetaData(FactMetaData* metaData)
 {
     _metaData = metaData;

src/FactSystem/Fact.h

@@ -54,6 +54,7 @@ class Fact : public QObject
     Q_PROPERTY(QString units READ units CONSTANT)
     Q_PROPERTY(QVariant min READ min CONSTANT)
     Q_PROPERTY(QVariant max READ max CONSTANT)
+    Q_PROPERTY(QString group READ group CONSTANT)
     
     Q_ENUMS(FactMetaData::ValueType_t)
     
@@ -63,41 +64,19 @@ public:
     
     // Property system methods
     
-    /// Read accessor for name property
     QString name(void) const;
-    
-    /// Read accessor for componentId property
     int componentId(void) const;
-    
-    /// Read accessor for value property
     QVariant value(void) const;
-    
-    /// Read accessor for valueString property
     QString valueString(void) const;
-    
-    /// Write accessor for value property
     void setValue(const QVariant& value);
-    
-    /// Read accesor for defaultValue property
     QVariant defaultValue(void);
-    
-    /// Read accesor for type property
     FactMetaData::ValueType_t type(void);
-    
-    /// Read accesor for shortDescription property
     QString shortDescription(void);
-    
-    /// Read accesor for longDescription property
     QString longDescription(void);
-    
-    /// Read accesor for units property
     QString units(void);
-    
-    /// Read accesor for min property
     QVariant min(void);
-
-    /// Read accesor for max property
-    QVariant max(void);
+    QVariant max(void);    
+    QString group(void);
     
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData);

src/FactSystem/FactMetaData.h

@@ -57,7 +57,7 @@ public:
     /// Initialize the meta data given only the type.
     void initFromTypeOnly(ValueType_t initType);
 
-    // FIXME: This needs to switch over to Q_PROPERTY mechanism
+    QString     group;
     ValueType_t type;
     QVariant    defaultValue;
     QString     shortDescription;

src/FactSystem/ParameterLoader.cc

@@ -80,9 +80,6 @@ void ParameterLoader::_parameterUpdate(int uas, int componentId, QString paramet
     }
     
     if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(parameterName)) {
-        // These should not get our of sync
-        Q_ASSERT(_mapParameterName2Variant.contains(componentId) == _mapFact2ParameterName.contains(componentId));
-        
         qCDebug(ParameterLoaderLog) << "Adding new fact (component:" << componentId << "name:" << parameterName << ")";
         
         FactMetaData::ValueType_t factType;
@@ -121,7 +118,6 @@ void ParameterLoader::_parameterUpdate(int uas, int componentId, QString paramet
         setMetaData = true;
         
         _mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact);
-        _mapFact2ParameterName[componentId][fact] = parameterName;
         
         // We need to know when the fact changes from QML so that we can send the new value to the parameter manager
         connect(fact, &Fact::_containerValueChanged, this, &ParameterLoader::_valueUpdated);
@@ -151,8 +147,6 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
     int componentId = fact->componentId();
     
     Q_ASSERT(_paramMgr);
-    Q_ASSERT(_mapFact2ParameterName.contains(componentId));
-    Q_ASSERT(_mapFact2ParameterName[componentId].contains(fact));
     
     QVariant typedValue;
     switch (fact->type()) {
@@ -196,6 +190,7 @@ void ParameterLoader::_paramMgrParameterListUpToDate(void)
         qgcApp()->processEvents();
         
         _determineDefaultComponentId();
+        _setupGroupMap();
         
         // We should have all parameters now so we can signal ready
         emit parametersReady();
@@ -254,7 +249,6 @@ void ParameterLoader::refreshParametersPrefix(int componentId, const QString& na
     Q_ASSERT(_paramMgr);
     
     componentId = _actualComponentId(componentId);
-    Q_ASSERT(_mapFact2ParameterName.contains(componentId));
     foreach(QString name, _mapParameterName2Variant[componentId].keys()) {
         if (name.startsWith(namePrefix)) {
             refreshParameter(componentId, name);
@@ -262,7 +256,7 @@ void ParameterLoader::refreshParametersPrefix(int componentId, const QString& na
     }
 }
 
-bool ParameterLoader::factExists(int componentId, const QString&  name)
+bool ParameterLoader::parameterExists(int componentId, const QString&  name)
 {
     componentId = _actualComponentId(componentId);
     if (_mapParameterName2Variant.contains(componentId)) {
@@ -280,3 +274,29 @@ Fact* ParameterLoader::getFact(int componentId, const QString& name)
     Q_ASSERT(fact);
     return fact;
 }
+
+QStringList ParameterLoader::parameterNames(void)
+{
+	QStringList names;
+	
+	foreach(QString paramName, _mapParameterName2Variant[_defaultComponentId].keys()) {
+		names << paramName;
+	}
+	
+	return names;
+}
+
+void ParameterLoader::_setupGroupMap(void)
+{
+    foreach (int componentId, _mapParameterName2Variant.keys()) {
+        foreach (QString name, _mapParameterName2Variant[componentId].keys()) {
+            Fact* fact = _mapParameterName2Variant[componentId][name].value<Fact*>();
+            _mapGroup2ParameterName[componentId][fact->group()] += name;
+        }
+    }
+}
+
+const QMap<int, QMap<QString, QStringList> >& ParameterLoader::getGroupMap(void)
+{
+    return _mapGroup2ParameterName;
+}

src/FactSystem/ParameterLoader.h

@@ -60,16 +60,22 @@ public:
     /// Request a refresh on all parameters that begin with the specified prefix
     void refreshParametersPrefix(int componentId, const QString& namePrefix);
     
-    /// Returns true if the specifed fact exists
-    bool factExists(int             componentId,    ///< fact component, -1=default component
-                    const QString&  name);          ///< fact name
+    /// Returns true if the specifed parameter exists
+    bool parameterExists(int			componentId,    ///< fact component, -1=default component
+						 const QString& name);          ///< fact name
+	
+	/// Returns all parameter names
+	/// FIXME: component id missing
+	QStringList parameterNames(void);
     
     /// Returns the specified Fact.
-    /// WARNING: Will assert if fact does not exists. If that possibily exists, check for existince first with
-    /// factExists.
+    /// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existince first with
+    /// parameterExists.
     Fact* getFact(int               componentId,    ///< fact component, -1=default component
                   const QString&    name);          ///< fact name
     
+    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+    
     /// Return the parameter for which the default component id is derived from. Return an empty
     /// string is this is not available.
     virtual QString getDefaultComponentIdParam(void) const = 0;
@@ -92,11 +98,8 @@ private:
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
     int _actualComponentId(int componentId);
     void _determineDefaultComponentId(void);
+    void _setupGroupMap(void);
 
-    /// First mapping is by component id
-    /// Second mapping is parameter name, to Fact
-    QMap<int, QMap<Fact*, QString> > _mapFact2ParameterName;
-    
     int _uasId;             ///< Id for uas which this set of Facts are associated with
     
     QGCUASParamManagerInterface* _paramMgr;
@@ -105,6 +108,10 @@ private:
     /// Second mapping is parameter name, to Fact* in QVariant
     QMap<int, QVariantMap> _mapParameterName2Variant;
     
+    /// First mapping is by component id
+    /// Second mapping is group name, to Fact
+    QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
+    
     bool _parametersReady;   ///< All params received from param mgr
     int _defaultComponentId;
     QString _defaultComponentIdParam;