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Commit 4ace23f9 authored by tstellanova's avatar tstellanova
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fix counting of written params; fix wiring of pend param widget to model

parent 624bb0a4
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Showing with 157 additions and 72 deletions
src/uas/QGCUASParamManager.cc
View file @ 4ace23f9
......@@ -62,9 +62,10 @@ void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& param
}
void QGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value)
{
paramCommsMgr->setParameter(component,parameterName,value);
//paramCommsMgr->setParameter(compId,paramName,value);
paramDataModel->updatePendingParamWithValue(compId,paramName,value);
}
void QGCUASParamManager::sendPendingParameters()
......@@ -74,7 +75,7 @@ void QGCUASParamManager::sendPendingParameters()
void QGCUASParamManager::setPendingParam(int compId, QString& paramName, const QVariant& value)
{
paramDataModel->setPendingParam(compId,paramName,value);
paramDataModel->updatePendingParamWithValue(compId,paramName,value);
}
......
src/uas/UASParameterCommsMgr.cc
View file @ 4ace23f9
......@@ -27,7 +27,7 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
mav, SLOT(requestParameter(int,int)));
// Sending params to the UAS
connect(this, SIGNAL(parameterChanged(int,QString,QVariant)),
connect(this, SIGNAL(commitPendingParameter(int,QString,QVariant)),
mav, SLOT(setParameter(int,QString,QVariant)));
// Received parameter updates from UAS
......@@ -113,16 +113,16 @@ void UASParameterCommsMgr::clearRetransmissionLists(int& missingReadCount, int&
}
missingWriteCount = 0;
QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
QList<int> writeKeys = missingWriteAckPackets.keys();
foreach (int compId, writeKeys) {
missingWriteCount += transmissionMissingWriteAckPackets.value(compId)->count();
transmissionMissingWriteAckPackets.value(compId)->clear();
missingWriteCount += missingWriteAckPackets.value(compId)->count();
missingWriteAckPackets.value(compId)->clear();
}
}
void UASParameterCommsMgr::emitParameterChanged(int compId, const QString& key, QVariant& value)
void UASParameterCommsMgr::emitPendingParameterCommit(int compId, const QString& key, QVariant& value)
{
int paramType = (int)value.type();
switch (paramType)
......@@ -130,25 +130,25 @@ void UASParameterCommsMgr::emitParameterChanged(int compId, const QString& key,
case QVariant::Char:
{
QVariant fixedValue(QChar((unsigned char)value.toInt()));
emit parameterChanged(compId, key, fixedValue);
emit commitPendingParameter(compId, key, fixedValue);
}
break;
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(compId, key, fixedValue);
emit commitPendingParameter(compId, key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(compId, key, fixedValue);
emit commitPendingParameter(compId, key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(compId, key, fixedValue);
emit commitPendingParameter(compId, key, fixedValue);
}
break;
default:
......@@ -190,14 +190,14 @@ void UASParameterCommsMgr::resendReadWriteRequests()
// Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent write-request link flooding
int requestedWriteCount = 0;
compIds = transmissionMissingWriteAckPackets.keys();
compIds = missingWriteAckPackets.keys();
foreach (compId, compIds) {
QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(compId);
QMap <QString, QVariant>* missingParams = missingWriteAckPackets.value(compId);
foreach (QString key, missingParams->keys()) {
if (requestedWriteCount < retransmissionBurstRequestSize) {
// Re-request write operation
QVariant value = missingParams->value(key);
emitParameterChanged(compId, key, value);
emitPendingParameterCommit(compId, key, value);
requestedWriteCount++;
}
else {
......@@ -234,7 +234,7 @@ void UASParameterCommsMgr::retransmissionGuardTick()
quint64 curTime = QGC::groundTimeMilliseconds();
//Workaround for an apparent Qt bug that causes retransmission guard timer to fire prematurely (350ms)
quint64 elapsed = (curTime - lastTimerReset);
int elapsed = (int)(curTime - lastTimerReset);
if (elapsed < retransmissionTimeout) {
qDebug() << "retransmissionGuardTick elapsed:" << (curTime - lastTimerReset);
//reset the guard timer: it fired prematurely
......@@ -374,16 +374,16 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
return;
}
emitParameterChanged(component, parameterName, value);
emitPendingParameterCommit(component, 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>());
if (!missingWriteAckPackets.contains(component)) {
missingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
}
// Insert it in missing write ACK list
transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
missingWriteAckPackets.value(component)->insert(parameterName, value);
// Set timeouts
if (transmissionActive) {
......@@ -466,42 +466,42 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
bool writeMismatch = false;
// Mark this parameter as received in write ACK list
QMap<QString, QVariant>* map = transmissionMissingWriteAckPackets.value(compId);
QMap<QString, QVariant>* map = missingWriteAckPackets.value(compId);
if (map && map->contains(paramName)) {
justWritten = true;
QVariant newval = map->value(paramName);
if (map->value(paramName) != value) {
writeMismatch = true;
}
map->remove(paramName);
}
int missCount = 0;
int missReadCount = 0;
foreach (int key, transmissionMissingPackets.keys()) {
missCount += transmissionMissingPackets.value(key)->count();
missReadCount += transmissionMissingPackets.value(key)->count();
}
int missWriteCount = 0;
foreach (int key, transmissionMissingWriteAckPackets.keys()) {
missWriteCount += transmissionMissingWriteAckPackets.value(key)->count();
foreach (int key, missingWriteAckPackets.keys()) {
missWriteCount += missingWriteAckPackets.value(key)->count();
}
//TODO simplify this if-else tree
if (justWritten && !writeMismatch && missWriteCount == 0) {
// Just wrote one and count went to 0 - this was the last missing write parameter
setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
}
else if (justWritten && !writeMismatch) {
setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount));
}
else if (justWritten && writeMismatch) {
// Mismatch, tell user
setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(map->value(paramName).toDouble()).arg(value.toDouble()),
ParamCommsStatusLevel_Warning);
if (justWritten) {
if (!writeMismatch) {
setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount));
if (0 == missWriteCount) {
setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
paramDataModel->commitAllPendingParams();
}
}
else {
// Mismatch, tell user
setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(map->value(paramName).toDouble()).arg(value.toDouble()),
ParamCommsStatusLevel_Warning);
}
}
else {
QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
if (missCount == 0) {
if (missReadCount == 0) {
// Transmission done
QTime time = QTime::currentTime();
QString timeString = time.toString();
......@@ -509,13 +509,14 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
}
else {
// Transmission in progress
setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-missCount).arg(paramCount),
QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-missReadCount).arg(paramCount),
ParamCommsStatusLevel_Warning);
}
}
// Check if last parameter was received
if (missCount == 0 && missWriteCount == 0) {
if (missReadCount == 0 && missWriteCount == 0) {
resetAfterListReceive();
setRetransmissionGuardEnabled(false);
//all parameters have been received, broadcast to UI
......
src/uas/UASParameterCommsMgr.h
View file @ 4ace23f9
......@@ -44,10 +44,10 @@ protected:
void resendReadWriteRequests();
void resetAfterListReceive();
void emitParameterChanged(int compId, const QString& key, QVariant& value);
void emitPendingParameterCommit(int compId, const QString& key, QVariant& value);
signals:
void parameterChanged(int component, QString parameter, QVariant value);
void commitPendingParameter(int component, QString parameter, QVariant value);
void parameterChanged(int component, int parameterIndex, QVariant value);
void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
......@@ -93,7 +93,7 @@ protected:
// Communications management
QVector<bool> receivedParamsList; ///< Successfully received parameters
QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
QMap<int, QMap<QString, QVariant>* > missingWriteAckPackets; ///< Missing write ACK packets
bool transmissionListMode; ///< Currently requesting list
QMap<int, bool> transmissionListSizeKnown; ///< List size initialized?
bool transmissionActive; ///< Missing packets, working on list?
......
src/uas/UASParameterDataModel.cc
View file @ 4ace23f9
......@@ -18,9 +18,42 @@ UASParameterDataModel::UASParameterDataModel(QObject *parent) :
int UASParameterDataModel::countPendingParams()
{
int totalPending = 0;
QMap<int, QMap<QString, QVariant>*>::iterator i;
for (i = pendingParameters.begin(); i != pendingParameters.end(); ++i) {
// Iterate through the parameters of the component
QMap<QString, QVariant>* paramList = i.value();
totalPending += paramList->count();
}
return totalPending;
}
void UASParameterDataModel::commitAllPendingParams()
{
qDebug() << "commitAllPendingParams:" << countPendingParams();
QList<int> allCompIds = pendingParameters.keys();
foreach (int compId, allCompIds) {
// Iterate through the parameters of the component
QMap<QString, QVariant>* compParams = pendingParameters.value(compId);
QList<QString> paramNames = compParams->keys();
qDebug() << paramNames.count() << "committed params for component" << compId;
foreach (QString paramName, paramNames) {
QVariant value = compParams->value(paramName);
setOnboardParamWithType( compId, paramName, value);//update the onboard value to match pending value
emit pendingParamUpdate(compId,paramName,value,false); //no longer pending
emit parameterUpdated(compId,paramName,value);//ensure the new onboard value is broadcast
}
}
}
bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, QVariant& value)
bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
{
bool pending = true;
//ensure we have this component in our onboard and pending lists already
......@@ -44,27 +77,36 @@ bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key
return pending;
}
void UASParameterDataModel::removePendingParam(int compId, QString& key)
bool UASParameterDataModel::isParamChangePending(int compId, const QString& key)
{
QMap<QString, QVariant> *params = getPendingParamsForComponent(compId);
if (params) {
params->remove(key);
//broadcast the existing value
QVariant existVal;
bool ok = getOnboardParamValue(compId,key,existVal);
emit pendingParamUpdate(compId, key,existVal, false);
}
QMap<QString , QVariant>* pendingParms = getPendingParamsForComponent(compId);
return ((NULL != pendingParms) && pendingParms->contains(key));
}
void UASParameterDataModel::setPendingParam(int compId, QString& key, const QVariant &value)
{
//ensure we have a placeholder map for this component
addComponent(compId);
QMap<QString, QVariant> *params = getPendingParamsForComponent(compId);
params->insert(key,value);
emit pendingParamUpdate(compId, key, value, true);
QMap<QString, QVariant> *pendParams = getPendingParamsForComponent(compId);
if (pendParams) {
pendParams->insert(key,value);
emit pendingParamUpdate(compId, key, value, true);
}
}
void UASParameterDataModel::removePendingParam(int compId, QString& key)
{
qDebug() << "removePendingParam:" << key;
QMap<QString, QVariant> *pendParams = getPendingParamsForComponent(compId);
if (pendParams) {
pendParams->remove(key);
//broadcast the existing value
QVariant existVal;
getOnboardParamValue(compId,key,existVal);
emit pendingParamUpdate(compId, key,existVal, false);
}
}
void UASParameterDataModel::setOnboardParam(int compId, QString& key, const QVariant& value)
......@@ -78,7 +120,6 @@ void UASParameterDataModel::setOnboardParam(int compId, QString& key, const QVa
void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QVariant& value)
{
// switch ((int)onboardParameters.value(componentId)->value(key).type())
switch ((int)value.type())
{
case QVariant::Int:
......@@ -209,13 +250,13 @@ void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
switch (paramType)
{
case MAV_PARAM_TYPE_REAL32:
setPendingParam(componentId,key,QVariant(valStr.toFloat()));
updatePendingParamWithValue(componentId,key,QVariant(valStr.toFloat()));
break;
case MAV_PARAM_TYPE_UINT32:
setPendingParam(componentId,key, QVariant(valStr.toUInt()));
updatePendingParamWithValue(componentId,key, QVariant(valStr.toUInt()));
break;
case MAV_PARAM_TYPE_INT32:
setPendingParam(componentId,key,QVariant(valStr.toInt()));
updatePendingParamWithValue(componentId,key,QVariant(valStr.toInt()));
break;
default:
qDebug() << "FAILED LOADING PARAM" << key << "UNKNOWN DATA TYPE";
......
src/uas/UASParameterDataModel.h
View file @ 4ace23f9
......@@ -34,10 +34,9 @@ public:
*/
virtual void addComponent(int compId);
/** @brief Write a new pending parameter value that may be eventually sent to the UAS */
virtual void setPendingParam(int componentId, QString& key, const QVariant& value);
virtual void removePendingParam(int compId, QString& key);
virtual void commitAllPendingParams();///< Called by eg params comms mgr when all pending params have been sent & acked
/** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
......@@ -49,10 +48,12 @@ public:
/** @brief add this parameter to pending list iff it has changed from onboard value
* @return true if the parameter is now pending
*/
virtual bool updatePendingParamWithValue(int componentId, QString& key, QVariant& value);
virtual bool updatePendingParamWithValue(int componentId, QString& key, const QVariant &value);
virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
virtual bool isParamChangePending(int componentId,const QString& key);
QMap<QString , QVariant>* getPendingParamsForComponent(int componentId) {
return pendingParameters.value(componentId);
}
......@@ -79,6 +80,10 @@ public:
protected:
virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
/** @brief Write a new pending parameter value that may be eventually sent to the UAS */
virtual void setPendingParam(int componentId, QString& key, const QVariant& value);
int countPendingParams();
signals:
......@@ -88,6 +93,8 @@ signals:
/** @brief Notifies listeners that a param was added to or removed from the pending list */
void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
void allPendingParamsCommitted(); ///< All pending params have been committed to the MAV
public slots:
......
src/ui/QGCParamWidget.cc
View file @ 4ace23f9
......@@ -206,10 +206,10 @@ void QGCParamWidget::addComponentItem(int compId, QString compName)
void QGCParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending)
{
qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
// qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
if (updatingParamNameLock == paramName) {
qDebug() << "ignoring bounce from " << paramName;
//qDebug() << "ignoring bounce from " << paramName;
return;
}
else {
......@@ -230,10 +230,15 @@ void QGCParamWidget::handlePendingParamUpdate(int compId, const QString& paramNa
}
void QGCParamWidget::handleParameterUpdate(int componentId, const QString& paramName, QVariant value)
void QGCParamWidget::handleParameterUpdate(int compId, const QString& paramName, QVariant value)
{
// qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
if (paramName == updatingParamNameLock) {
qDebug() << "handlePendingParamUpdate ignoring bounce from " << paramName;
return;
}
updatingParamNameLock = paramName;
updateParameterDisplay(componentId, paramName, value);
updateParameterDisplay(compId, paramName, value);
updatingParamNameLock.clear();
}
......@@ -402,10 +407,10 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* paramItem, int column
if (paramItem && column > 0) {
QString key = paramItem->data(0, Qt::DisplayRole).toString();
qDebug() << "parameterItemChanged:" << key << "with updatingParamNameLock:" << updatingParamNameLock;
//qDebug() << "parameterItemChanged:" << key << "with updatingParamNameLock:" << updatingParamNameLock;
if (key == updatingParamNameLock) {
qDebug() << "ignoring parameterItemChanged" << key;
//qDebug() << "parameterItemChanged ignoring parameterItemChanged" << key;
return;
}
else {
......
src/ui/QGCPendingParamWidget.cc
View file @ 4ace23f9
......@@ -30,4 +30,33 @@ void QGCPendingParamWidget::connectSignalsAndSlots()
this, SLOT(handleParamStatusMsgUpdate(QString , int )));
}
void QGCPendingParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending)
{
// qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
if (updatingParamNameLock == paramName) {
//qDebug() << "ignoring bounce from " << paramName;
return;
}
else {
updatingParamNameLock = paramName;
}
QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
if (isPending) {
QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
paramItem->setFlags(paramItem->flags() & ~Qt::ItemIsEditable); //disallow editing
paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange)));
paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange)));
tree->expandAll();
}
else {
//we don't display non-pending items
paramItem->parent()->removeChild(paramItem);
}
updatingParamNameLock.clear();
}
src/ui/QGCPendingParamWidget.h
View file @ 4ace23f9
......@@ -20,7 +20,8 @@ protected:
signals:
public slots:
virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
};
#endif // QGCPENDINGPARAMWIDGET_H
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