Move more model code into the model class

src/uas/UASParameterDataModel.cc

 #include "UASParameterDataModel.h"
 
+#include <float.h>
+
 #include <QDebug>
+#include <QStringList>
 #include <QVariant>
 
+#include "QGCMAVLink.h"
+
 UASParameterDataModel::UASParameterDataModel(QObject *parent) :
     QObject(parent)
 {
@@ -10,21 +15,43 @@ UASParameterDataModel::UASParameterDataModel(QObject *parent) :
 
 }
 
-void UASParameterDataModel::addPendingIfParameterChanged(int componentId, QString& key,  QVariant &value)
+
+
+bool UASParameterDataModel::checkParameterChanged(int componentId, const QString& key,  const QVariant &value)
 {
+    bool changed = true;
     addComponent(componentId);
-    QMap<QString, QVariant> *existParams = getOnbardParametersForComponent(componentId);
-    QMap<QString, QVariant> *pendParams = getPendingParametersForComponent(componentId);
+    QMap<QString, QVariant>* existParams = getOnbardParametersForComponent(componentId);
 
+    if (existParams->contains(key)) {
         QVariant existValue = existParams->value(key);
+        QMap<QString, QVariant>* pendParams = getPendingParametersForComponent(componentId);
+        if (pendParams->contains(key)) {
             QVariant pendValue = pendParams->value(key);
-    if (!(existValue == pendValue)) {
+            if (existValue == pendValue) {
+                changed = false;
+            }
+        }
+    }
+
+    return changed;
+
+}
+
+bool UASParameterDataModel::addPendingIfParameterChanged(int componentId, QString& key,  QVariant &value)
+
+{
+    bool changed = checkParameterChanged(componentId,key,value);
+
+    if (changed ) {
         setPendingParameter(componentId,key,value);
     }
+
+    return changed;
 }
 
 
-void UASParameterDataModel::setPendingParameter(int componentId, QString& key,  QVariant &value)
+void UASParameterDataModel::setPendingParameter(int componentId, QString& key,  const QVariant &value)
 {
     //ensure we have a placeholder map for this component
     addComponent(componentId);
@@ -32,7 +59,7 @@ void UASParameterDataModel::setPendingParameter(int componentId, QString& key,
     params->insert(key,value);
 }
 
-void UASParameterDataModel::setOnboardParameter(int componentId, QString& key,  QVariant& value)
+void UASParameterDataModel::setOnboardParameter(int componentId, QString& key,  const QVariant& value)
 {
     //ensure we have a placeholder map for this component
     addComponent(componentId);
@@ -40,6 +67,42 @@ void UASParameterDataModel::setOnboardParameter(int componentId, QString& key,
     params->insert(key,value);
 }
 
+void UASParameterDataModel::setOnboardParameterWithType(int componentId, QString& key, QVariant& value)
+{
+
+//    switch ((int)onboardParameters.value(componentId)->value(key).type())
+    switch ((int)value.type())
+    {
+    case QVariant::Int:
+    {
+        QVariant fixedValue(value.toInt());
+        onboardParameters.value(componentId)->insert(key, fixedValue);
+    }
+        break;
+    case QVariant::UInt:
+    {
+        QVariant fixedValue(value.toUInt());
+        onboardParameters.value(componentId)->insert(key, fixedValue);
+    }
+        break;
+    case QMetaType::Float:
+    {
+        QVariant fixedValue(value.toFloat());
+        onboardParameters.value(componentId)->insert(key, fixedValue);
+    }
+        break;
+    case QMetaType::QChar:
+    {
+        QVariant fixedValue(QChar((unsigned char)value.toUInt()));
+        onboardParameters.value(componentId)->insert(key, fixedValue);
+    }
+        break;
+    default:
+        qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE";
+        return;
+    }
+}
+
 void UASParameterDataModel::addComponent(int componentId)
 {
     if (!onboardParameters.contains(componentId)) {
@@ -70,3 +133,142 @@ void UASParameterDataModel::handleParameterUpdate(int componentId, QString& key,
 
     setOnboardParameter(componentId,key, value);
 }
+
+bool UASParameterDataModel::getOnboardParameterValue(int componentId, const QString& key, QVariant& value) const
+{
+
+    if (onboardParameters.contains(componentId)) {
+        if (onboardParameters.value(componentId)->contains(key)) {
+            value = onboardParameters.value(componentId)->value(key);
+            return true;
+        }
+    }
+
+    return false;
+}
+
+void UASParameterDataModel::forgetAllOnboardParameters()
+{
+    onboardParameters.clear();
+}
+
+void UASParameterDataModel::readUpdateParametersFromStream(QTextStream& stream)
+{
+
+    bool userWarned = false;
+
+    while (!stream.atEnd()) {
+        QString line = stream.readLine();
+        if (!line.startsWith("#")) {
+            QStringList wpParams = line.split("\t");
+            int lineMavId = wpParams.at(0).toInt();
+            if (wpParams.size() == 5) {
+                // Only load parameters for right mav
+                if (!userWarned && (uasId != lineMavId)) {
+                    //TODO warn the user somehow
+                    QString msg = tr("The parameters in the stream have been saved from system %1, but the currently selected system has the ID %2.").arg(lineMavId).arg(uasId);
+//                    MainWindow::instance()->showCriticalMessage(
+//                                tr("Parameter loading warning"),
+//                                tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
+                    userWarned = true;
+                    return;
+                }
+
+                bool changed = false;
+                int componentId = wpParams.at(1).toInt();
+                QString key = wpParams.at(2);
+                QString valStr = wpParams.at(3);
+                double dblVal = wpParams.at(3).toDouble();
+                uint paramType = wpParams.at(4).toUInt();
+
+
+                if (!onboardParameters.contains(componentId)) {
+                    addComponent(componentId);
+                    changed = true;
+                }
+                else {
+                    if (fabs((static_cast<float>(onboardParameters.value(componentId)->value(key, dblVal).toDouble())) - (dblVal)) >
+                            2.0f * FLT_EPSILON) {
+                            changed = true;
+                            qDebug() << "Changed" << key << "VAL" << dblVal;
+                       }
+                }
+
+
+                if (changed) {
+                    switch (paramType)
+                    {
+                    case MAV_PARAM_TYPE_REAL32:
+                        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toFloat());
+                        setPendingParameter(componentId,key,QVariant(valStr.toFloat()));
+                        //setParameter(componentId, key, valStr.toFloat());
+                        break;
+                    case MAV_PARAM_TYPE_UINT32:
+                        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toUInt());
+                        setPendingParameter(componentId,key, QVariant(valStr.toUInt()));
+                        //setParameter(componentId, key, QVariant(valStr.toUInt()));
+                        break;
+                    case MAV_PARAM_TYPE_INT32:
+                        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, key, valStr.toInt());
+                        setPendingParameter(componentId,key,QVariant(valStr.toInt()));
+                        //setParameter(componentId, key, QVariant(valStr.toInt()));
+                        break;
+                    default:
+                        qDebug() << "FAILED LOADING PARAM" << key << "UNKNOWN DATA TYPE";
+                    }
+
+                    //TODO update display
+
+                }
+
+
+            }
+        }
+    }
+
+}
+
+void UASParameterDataModel::writeOnboardParametersToStream(QTextStream& stream, const QString& name)
+{
+    stream << "# Onboard parameters for system " << name << "\n";
+    stream << "#\n";
+    stream << "# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)\n";
+
+    // Iterate through all components, through all parameters and emit them
+    QMap<int, QMap<QString, QVariant>*>::iterator i;
+    for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) {
+        // Iterate through the parameters of the component
+        int compid = i.key();
+        QMap<QString, QVariant>* comp = i.value();
+        {
+            QMap<QString, QVariant>::iterator j;
+            for (j = comp->begin(); j != comp->end(); ++j)
+            {
+                QString paramValue("%1");
+                QString paramType("%1");
+                switch ((int)j.value().type())
+                {
+                case QVariant::Int:
+                    paramValue = paramValue.arg(j.value().toInt());
+                    paramType = paramType.arg(MAV_PARAM_TYPE_INT32);
+                    break;
+                case QVariant::UInt:
+                    paramValue = paramValue.arg(j.value().toUInt());
+                    paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
+                    break;
+                case QMetaType::Float:
+                    // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
+                    // (see IEEE 754, 32 bit single-precision)
+                    paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
+                    paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
+                    break;
+                default:
+                    qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();
+                    return;
+                }
+                stream << this->uasId << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n";
+                stream.flush();
+            }
+        }
+    }
+}

src/uas/UASParameterDataModel.h

@@ -5,6 +5,8 @@
 #include <QObject>
 #include <QVariant>
 
+class QTextStream;
+
 class UASParameterDataModel : public QObject
 {
     Q_OBJECT
@@ -15,14 +17,30 @@ public:
     virtual void addComponent(int componentId);
 
     /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
-    virtual void setPendingParameter(int componentId,  QString& paramKey,  QVariant& paramValue);
-    virtual void setOnboardParameter(int componentId, QString& key,  QVariant &value);
+    virtual void setPendingParameter(int componentId,  QString& key,  const QVariant& value);
+    virtual void setOnboardParameter(int componentId, QString& key, const QVariant& value);
+
+    /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
+    virtual void setOnboardParameterWithType(int componentId, QString& key, QVariant& value);
+
+    /** @brief clears every parameter for every loaded component */
+    virtual void forgetAllOnboardParameters();
+
+    /**
+     * @return true if the parameter has changed
+    */
+    virtual bool checkParameterChanged(int componentId, const QString& key,  const QVariant &value);
 
-    /** @brief add this parameter to pending list iff it has changed from onboard value */
-    virtual void addPendingIfParameterChanged(int componentId, QString& key,  QVariant &value);
 
+    /** @brief add this parameter to pending list iff it has changed from onboard value
+     * @return true if the parameter has changed
+    */
+    virtual bool addPendingIfParameterChanged(int componentId, QString& key,  QVariant& value);
 
-    void handleParameterUpdate(int componentId, QString& key, QVariant& value);
+
+    virtual void handleParameterUpdate(int componentId, QString& key, QVariant& value);
+
+    virtual bool getOnboardParameterValue(int componentId, const QString& key, QVariant& value) const;
 
     QMap<QString , QVariant>* getPendingParametersForComponent(int componentId) {
         return pendingParameters.value(componentId);
@@ -41,6 +59,9 @@ public:
    }
 
 
+    virtual void writeOnboardParametersToStream(QTextStream& stream, const QString& uasName);
+    virtual void readUpdateParametersFromStream(QTextStream& stream);
+
     void setUASID(int anId) {  this->uasId = anId; }
 
 signals: