Initial support for parameter metadata for apm.

qgcresources.qrc

@@ -209,4 +209,7 @@
         <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
     </qresource>
 
+    <qresource prefix="/FirmwarePlugin/APM">
+        <file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
+    </qresource>
 </RCC>

src/FactSystem/FactMetaData.cc

@@ -121,7 +121,9 @@ void FactMetaData::setMin(const QVariant& min)
         _min = min;
         _minIsDefaultForType = false;
     } else {
-        qWarning() << "Attempt to set min below allowable value";
+        qWarning() << "Attempt to set min below allowable value for fact: " << name()
+                   << ", value attempted: " << min
+                   << ", type: " << type() << ", min for type: " << _minForType();
         _min = _minForType();
     }
 }
@@ -189,7 +191,7 @@ QVariant FactMetaData::_maxForType(void) const
 
 bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString)
 {
-    bool convertOk;
+    bool convertOk = false;
     
     errorString.clear();
     
@@ -236,7 +238,7 @@ bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, Q
     }
     
     if (!convertOk) {
-        errorString = "Invalid number";
+        errorString += "Invalid number";
     }
     
     return convertOk && errorString.isEmpty();

src/FactSystem/ParameterLoader.cc

@@ -254,7 +254,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     fact->_containerSetRawValue(value);
 
     if (setMetaData) {
-        _vehicle->firmwarePlugin()->addMetaDataToFact(fact);
+        _vehicle->firmwarePlugin()->addMetaDataToFact(fact, _vehicle->vehicleType());
     }
 
     _dataMutex.unlock();

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -405,11 +405,12 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     return true;
 }
 
-void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
+void APMFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact);
+    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
 }
 
+
 QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
 {
     QList<MAV_CMD> list;

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -89,7 +89,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 

src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -26,6 +26,7 @@
 
 #include <QObject>
 #include <QMap>
+#include <QPointer>
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
@@ -33,6 +34,20 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 
+class APMFactMetaDataRaw
+{
+public:
+    QString                  name;
+    QString                  group;
+    QString                  shortDescription;
+    QString                  longDescription;
+    QString                  min;
+    QString                  max;
+    QString                  incrementSize;
+    QString                  units;
+    QList<QPair<QString, QString> > values;
+};
+
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
@@ -40,6 +55,8 @@ Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
+typedef QMap<QString, APMFactMetaDataRaw*> ParameterNametoFactMetaDataMap;
+
 class APMParameterMetaData : public QObject
 {
     Q_OBJECT
@@ -52,11 +69,15 @@ public:
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }    
     
     // Overrides from ParameterLoader
-    static void addMetaDataToFact(Fact* fact);
+    static void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
+    static void addMetaDataToFacts(QVariantMap &facts, MAV_TYPE vehicleType);
 
 private:
     enum {
         XmlStateNone,
+        XmlstateParamFileFound,
+        XmlStateFoundVehicles,
+        XmlStateFoundLibraries,
         XmlStateFoundParameters,
         XmlStateFoundVersion,
         XmlStateFoundGroup,
@@ -65,11 +86,15 @@ private:
     };
     
 
-    static void _loadParameterFactMetaData(void);
+    static void _loadParameterFactMetaData();
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
+    static bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName);
+    static bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData);
+    static void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap<QString,QStringList>& groupMembers);
+    static QString mavTypeToString(MAV_TYPE vehicleTypeEnum);
 
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
+    static QMap<QString, ParameterNametoFactMetaDataMap> _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map>
 };
 
 #endif

src/FirmwarePlugin/FirmwarePlugin.h

@@ -79,7 +79,7 @@ public:
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
     
-    /// FIXME: This isn't quite correct being here. All code for Joystick support is currently firmware specific
+    /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
     /// not just this. I'm going to try to change that. If not, this will need to be removed.
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
@@ -108,7 +108,7 @@ public:
     virtual QString getDefaultComponentIdParam(void) const = 0;
 
     /// Adds the parameter meta data to the Fact
-    virtual void addMetaDataToFact(Fact* fact) = 0;
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) = 0;
 
     /// List of supported mission commands. Empty list for all commands supported.
     virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -112,8 +112,10 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact)
+void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
+    Q_UNUSED(vehicleType)
+
     // Add default meta data
     FactMetaData* metaData = new FactMetaData(fact->type(), fact);
     fact->setMetaData(metaData);

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -45,7 +45,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 };

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -203,9 +203,9 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact)
+void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact);
+    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
 }
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -45,7 +45,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -188,7 +188,7 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
                 
                 QString name = xml.attributes().value("name").toString();
                 QString type = xml.attributes().value("type").toString();
-                QString strDefault = xml.attributes().value("default").toString();
+                QString strDefault =    xml.attributes().value("default").toString();
                 
                 qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
 
@@ -345,8 +345,10 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
 }
 
 /// Override from FactLoad which connects the meta data to the fact
-void PX4ParameterMetaData::addMetaDataToFact(Fact* fact)
+void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
+    Q_UNUSED(vehicleType)
+
     _loadParameterFactMetaData();
     if (_mapParameterName2FactMetaData.contains(fact->name())) {
         fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);

src/FirmwarePlugin/PX4/PX4ParameterMetaData.h

@@ -47,7 +47,7 @@ class PX4ParameterMetaData : public QObject
 public:
     PX4ParameterMetaData(QObject* parent = NULL);
 
-    void addMetaDataToFact(Fact* fact);
+    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
 
 private:
     enum {