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Commit 5f803dd7 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1965 from NaterGator/param-hash 

Enable quick cached load of parameters when connecting to vehicle
parents 85379ce3 9862e074
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Showing with 233 additions and 109 deletions
src/FactSystem/Fact.cc
View file @ 5f803dd7
......@@ -134,7 +134,7 @@ QString Fact::valueString(void) const
return _value.toString();
}
QVariant Fact::defaultValue(void)
QVariant Fact::defaultValue(void) const
{
if (_metaData) {
if (!_metaData->defaultValueAvailable()) {
......@@ -147,12 +147,12 @@ QVariant Fact::defaultValue(void)
}
}
FactMetaData::ValueType_t Fact::type(void)
FactMetaData::ValueType_t Fact::type(void) const
{
return _type;
}
QString Fact::shortDescription(void)
QString Fact::shortDescription(void) const
{
if (_metaData) {
return _metaData->shortDescription();
......@@ -162,7 +162,7 @@ QString Fact::shortDescription(void)
}
}
QString Fact::longDescription(void)
QString Fact::longDescription(void) const
{
if (_metaData) {
return _metaData->longDescription();
......@@ -172,7 +172,7 @@ QString Fact::longDescription(void)
}
}
QString Fact::units(void)
QString Fact::units(void) const
{
if (_metaData) {
return _metaData->units();
......@@ -182,7 +182,7 @@ QString Fact::units(void)
}
}
QVariant Fact::min(void)
QVariant Fact::min(void) const
{
if (_metaData) {
return _metaData->min();
......@@ -192,7 +192,7 @@ QVariant Fact::min(void)
}
}
QVariant Fact::max(void)
QVariant Fact::max(void) const
{
if (_metaData) {
return _metaData->max();
......@@ -202,7 +202,7 @@ QVariant Fact::max(void)
}
}
bool Fact::minIsDefaultForType(void)
bool Fact::minIsDefaultForType(void) const
{
if (_metaData) {
return _metaData->minIsDefaultForType();
......@@ -212,7 +212,7 @@ bool Fact::minIsDefaultForType(void)
}
}
bool Fact::maxIsDefaultForType(void)
bool Fact::maxIsDefaultForType(void) const
{
if (_metaData) {
return _metaData->maxIsDefaultForType();
......@@ -222,7 +222,7 @@ bool Fact::maxIsDefaultForType(void)
}
}
QString Fact::group(void)
QString Fact::group(void) const
{
if (_metaData) {
return _metaData->group();
......@@ -237,7 +237,7 @@ void Fact::setMetaData(FactMetaData* metaData)
_metaData = metaData;
}
bool Fact::valueEqualsDefault(void)
bool Fact::valueEqualsDefault(void) const
{
if (_metaData) {
if (_metaData->defaultValueAvailable()) {
......@@ -251,7 +251,7 @@ bool Fact::valueEqualsDefault(void)
}
}
bool Fact::defaultValueAvailable(void)
bool Fact::defaultValueAvailable(void) const
{
if (_metaData) {
return _metaData->defaultValueAvailable();
......
src/FactSystem/Fact.h
View file @ 5f803dd7
......@@ -74,18 +74,18 @@ public:
QVariant value(void) const;
QString valueString(void) const;
void setValue(const QVariant& value);
QVariant defaultValue(void);
bool defaultValueAvailable(void);
bool valueEqualsDefault(void);
FactMetaData::ValueType_t type(void);
QString shortDescription(void);
QString longDescription(void);
QString units(void);
QVariant min(void);
bool minIsDefaultForType(void);
QVariant max(void);
bool maxIsDefaultForType(void);
QString group(void);
QVariant defaultValue(void) const;
bool defaultValueAvailable(void) const;
bool valueEqualsDefault(void) const;
FactMetaData::ValueType_t type(void) const;
QString shortDescription(void) const;
QString longDescription(void) const;
QString units(void) const;
QVariant min(void) const;
bool minIsDefaultForType(void) const;
QVariant max(void) const;
bool maxIsDefaultForType(void) const;
QString group(void) const;
/// Sets and sends new value to vehicle even if value is the same
void forceSetValue(const QVariant& value);
......@@ -120,4 +120,4 @@ private:
FactMetaData* _metaData;
};
#endif
\ No newline at end of file
#endif
src/FactSystem/FactMetaData.cc
View file @ 5f803dd7
......@@ -80,7 +80,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
return *this;
}
QVariant FactMetaData::defaultValue(void)
QVariant FactMetaData::defaultValue(void) const
{
if (_defaultValueAvailable) {
return _defaultValue;
......@@ -122,7 +122,7 @@ void FactMetaData::setMax(const QVariant& max)
}
}
QVariant FactMetaData::_minForType(void)
QVariant FactMetaData::_minForType(void) const
{
switch (_type) {
case valueTypeUint8:
......@@ -147,7 +147,7 @@ QVariant FactMetaData::_minForType(void)
return QVariant();
}
QVariant FactMetaData::_maxForType(void)
QVariant FactMetaData::_maxForType(void) const
{
switch (_type) {
case valueTypeUint8:
......
src/FactSystem/FactMetaData.h
View file @ 5f803dd7
......@@ -57,28 +57,28 @@ public:
FactMetaData(const FactMetaData& other, QObject* parent = NULL);
const FactMetaData& operator=(const FactMetaData& other);
// Property accessors
QString name(void) { return _name; }
QString group(void) { return _group; }
ValueType_t type(void) { return _type; }
QVariant defaultValue(void);
bool defaultValueAvailable(void) { return _defaultValueAvailable; }
QString shortDescription(void) { return _shortDescription; }
QString longDescription(void) { return _longDescription;}
QString units(void) { return _units; }
QVariant min(void) { return _min; }
QVariant max(void) { return _max; }
bool minIsDefaultForType(void) { return _minIsDefaultForType; }
bool maxIsDefaultForType(void) { return _maxIsDefaultForType; }
// Property setters
// Property accessors
QString name(void) const { return _name; }
QString group(void) const { return _group; }
ValueType_t type(void) const { return _type; }
QVariant defaultValue(void) const;
bool defaultValueAvailable(void) const { return _defaultValueAvailable; }
QString shortDescription(void) const { return _shortDescription; }
QString longDescription(void) const { return _longDescription;}
QString units(void) const { return _units; }
QVariant min(void) const { return _min; }
QVariant max(void) const { return _max; }
bool minIsDefaultForType(void) const { return _minIsDefaultForType; }
bool maxIsDefaultForType(void) const { return _maxIsDefaultForType; }
// Property setters
void setName(const QString& name) { _name = name; }
void setGroup(const QString& group) { _group = group; }
void setDefaultValue(const QVariant& defaultValue);
void setShortDescription(const QString& shortDescription) { _shortDescription = shortDescription; }
void setLongDescription(const QString& longDescription) { _longDescription = longDescription;}
void setUnits(const QString& units) { _units = units; }
void setGroup(const QString& group) { _group = group; }
void setDefaultValue(const QVariant& defaultValue);
void setShortDescription(const QString& shortDescription) { _shortDescription = shortDescription; }
void setLongDescription(const QString& longDescription) { _longDescription = longDescription;}
void setUnits(const QString& units) { _units = units; }
void setMin(const QVariant& max);
void setMax(const QVariant& max);
......@@ -91,8 +91,8 @@ public:
bool convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString);
private:
QVariant _minForType(void);
QVariant _maxForType(void);
QVariant _minForType(void) const;
QVariant _maxForType(void) const;
QString _name;
QString _group;
......@@ -108,4 +108,4 @@ private:
bool _maxIsDefaultForType;
};
#endif
\ No newline at end of file
#endif
src/FactSystem/ParameterLoader.cc
View file @ 5f803dd7
......@@ -36,6 +36,11 @@
#include <QFile>
#include <QDebug>
/* types for local parameter cache */
typedef QPair<int, QVariant> ParamTypeVal;
typedef QPair<QString, ParamTypeVal> NamedParam;
typedef QMap<int, NamedParam> MapID2NamedParam;
QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog")
QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
......@@ -61,12 +66,16 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
_waitingParamTimeoutTimer.setSingleShot(true);
_waitingParamTimeoutTimer.setInterval(1000);
connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout);
_cacheTimeoutTimer.setSingleShot(true);
_cacheTimeoutTimer.setInterval(2500);
connect(&_cacheTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::refreshAllParameters);
// FIXME: Why not direct connect?
connect(_vehicle->uas(), SIGNAL(parameterUpdate(int, int, QString, int, int, int, QVariant)), this, SLOT(_parameterUpdate(int, int, QString, int, int, int, QVariant)));
// Request full param list
refreshAllParameters();
/* Initially attempt a local cache load, refresh over the link if it fails */
_tryCacheLookup();
}
ParameterLoader::~ParameterLoader()
......@@ -101,7 +110,13 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
return;
}
#endif
if (parameterName == "_HASH_CHECK") {
/* we received a cache hash, potentially load from cache */
_cacheTimeoutTimer.stop();
_tryCacheHashLoad(uasId, value);
return;
}
_dataMutex.lock();
// Restart our waiting for param timer
......@@ -112,6 +127,8 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
_paramCountMap[componentId] = parameterCount;
_totalParamCount += parameterCount;
}
_mapParameterId2Name[componentId][parameterId] = parameterName;
// If we've never seen this component id before, setup the wait lists.
if (!_waitingReadParamIndexMap.contains(componentId)) {
......@@ -246,6 +263,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
if (waitingParamCount == 0) {
// Now that we know vehicle is up to date persist
_saveToEEPROM();
_writeLocalParamCache();
}
_checkInitialLoadComplete();
......@@ -484,6 +502,19 @@ Out:
}
}
void ParameterLoader::_tryCacheLookup()
{
/* Start waiting for 2.5 seconds to get a cache hit and avoid loading all params over the radio */
_cacheTimeoutTimer.start();
MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
Q_ASSERT(mavlink);
mavlink_message_t msg;
mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1);
_vehicle->sendMessage(msg);
}
void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
{
mavlink_message_t msg;
......@@ -553,6 +584,70 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
_vehicle->sendMessage(msg);
}
void ParameterLoader::_writeLocalParamCache()
{
QMap<int, MapID2NamedParam> cache_map;
foreach(int component, _mapParameterId2Name.keys()) {
foreach(int id, _mapParameterId2Name[component].keys()) {
const QString name(_mapParameterId2Name[component][id]);
const Fact *fact = _mapParameterName2Variant[component][name].value<Fact*>();
cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->value()));
}
}
QFile cache_file(QFileInfo(QSettings().fileName()).path() + QDir::separator() + "param_cache");
cache_file.open(QIODevice::WriteOnly | QIODevice::Truncate);
QDataStream ds(&cache_file);
ds << cache_map;
}
void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value)
{
uint32_t crc32_value = 0;
/* The datastructure of the cache table */
QMap<int, MapID2NamedParam> cache_map;
const QDir settingsDir(QFileInfo(QSettings().fileName()).dir());
QFile cache_file(settingsDir.filePath("param_cache"));
if (!cache_file.exists()) {
/* no local cache, immediately refresh all params */
refreshAllParameters();
return;
}
cache_file.open(QIODevice::ReadOnly);
/* Deserialize the parameter cache table */
QDataStream ds(&cache_file);
ds >> cache_map;
/* compute the crc of the local cache to check against the remote */
foreach(int component, cache_map.keys()) {
foreach(int id, cache_map[component].keys()) {
const QString name(cache_map[component][id].first);
const void *vdat = cache_map[component][id].second.second.constData();
crc32_value = QGC::crc32((const uint8_t *)qPrintable(name), name.length(), crc32_value);
crc32_value = QGC::crc32((const uint8_t *)vdat, sizeof(uint32_t), crc32_value);
}
}
if (crc32_value == hash_value.toUInt()) {
/* if the two param set hashes match, just load from the disk */
foreach(int component, cache_map.keys()) {
int count = cache_map[component].count();
foreach(int id, cache_map[component].keys()) {
const QString &name = cache_map[component][id].first;
const QVariant &value = cache_map[component][id].second.second;
const int mavType = _factTypeToMavType(static_cast<FactMetaData::ValueType_t>(cache_map[component][id].second.first));
_parameterUpdate(uasId, component, name, count, id, mavType, value);
}
}
} else {
/* cache and remote hashes differ. Immediately request all params */
refreshAllParameters();
}
}
void ParameterLoader::_saveToEEPROM(void)
{
if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
......
src/FactSystem/ParameterLoader.h
View file @ 5f803dd7
......@@ -55,10 +55,12 @@ public:
/// Returns true if the full set of facts are ready
bool parametersAreReady(void) { return _parametersReady; }
public slots:
/// Re-request the full set of parameters from the autopilot
void refreshAllParameters(void);
public:
/// Request a refresh on the specific parameter
void refreshParameter(int componentId, const QString& name);
......@@ -109,6 +111,7 @@ private slots:
void _valueUpdated(const QVariant& value);
void _restartWaitingParamTimer(void);
void _waitingParamTimeout(void);
void _tryCacheLookup(void);
private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
......@@ -117,6 +120,9 @@ private:
void _setupGroupMap(void);
void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
void _writeLocalParamCache();
void _tryCacheHashLoad(int uasId, QVariant hash_value);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
......@@ -128,7 +134,8 @@ private:
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
QMap<int, QVariantMap> _mapParameterName2Variant;
QMap<int, QMap<int, QString> > _mapParameterId2Name;
/// First mapping is by component id
/// Second mapping is group name, to Fact
......@@ -150,10 +157,11 @@ private:
int _totalParamCount; ///< Number of parameters across all components
QTimer _waitingParamTimeoutTimer;
QTimer _cacheTimeoutTimer;
QMutex _dataMutex;
static Fact _defaultFact; ///< Used to return default fact, when parameter not found
};
#endif
\ No newline at end of file
#endif
src/QGC.cc
View file @ 5f803dd7
......@@ -94,4 +94,48 @@ double limitAngleToPMPId(double angle)
return angle;
}
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
quint32 crc32(const quint8 *src, unsigned len, unsigned state)
{
for (unsigned i = 0; i < len; i++) {
state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
}
return state;
}
}
src/QGC.h
View file @ 5f803dd7
......@@ -125,6 +125,8 @@ public:
}
};
quint32 crc32(const quint8 *src, unsigned len, unsigned state);
}
#define QGC_EVENTLOOP_DEBUG 0
......
src/VehicleSetup/Bootloader.cc
View file @ 5f803dd7
......@@ -35,50 +35,6 @@
#include "QGC.h"
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
static quint32 crc32(const uint8_t *src, unsigned len, unsigned state)
{
for (unsigned i = 0; i < len; i++) {
state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
}
return state;
}
Bootloader::Bootloader(QObject *parent) :
QObject(parent)
{
......@@ -286,7 +242,7 @@ bool Bootloader::_binProgram(QextSerialPort* port, const FirmwareImage* image)
bytesSent += bytesToSend;
// Calculate the CRC now so we can test it after the board is flashed.
_imageCRC = crc32((uint8_t *)imageBuf, bytesToSend, _imageCRC);
_imageCRC = QGC::crc32((uint8_t *)imageBuf, bytesToSend, _imageCRC);
emit updateProgress(bytesSent, imageSize);
}
......@@ -295,7 +251,7 @@ bool Bootloader::_binProgram(QextSerialPort* port, const FirmwareImage* image)
// We calculate the CRC using the entire flash size, filling the remainder with 0xFF.
while (bytesSent < _boardFlashSize) {
const uint8_t fill = 0xFF;
_imageCRC = crc32(&fill, 1, _imageCRC);
_imageCRC = QGC::crc32(&fill, 1, _imageCRC);
bytesSent++;
}
......
src/comm/MockLink.cc
View file @ 5f803dd7
......@@ -571,10 +571,31 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
{
mavlink_message_t responseMsg;
mavlink_param_request_read_t request;
mavlink_msg_param_request_read_decode(&msg, &request);
const QString param_name(QString::fromLocal8Bit(request.param_id, strnlen(request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)));
int componentId = request.target_component;
// special case for magic _HASH_CHECK value
if (request.target_component == MAV_COMP_ID_ALL && param_name == "_HASH_CHECK") {
mavlink_param_union_t valueUnion;
valueUnion.type = MAV_PARAM_TYPE_UINT32;
valueUnion.param_uint32 = 0;
// Special case of magic hash check value
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId,
&responseMsg,
request.param_id,
valueUnion.param_float,
MAV_PARAM_TYPE_UINT32,
0,
-1);
respondWithMavlinkMessage(responseMsg);
return;
}
Q_ASSERT(_mapParamName2Value.contains(componentId));
char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
......@@ -598,8 +619,6 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
Q_ASSERT(_mapParamName2MavParamType.contains(paramId));
mavlink_message_t responseMsg;
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
......
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