Fact type comes from mavlink parameter message

src/FactSystem/Fact.cc

@@ -28,12 +28,13 @@
 
 #include <QtQml>
 
-Fact::Fact(QString name, QObject* parent) :
+Fact::Fact(QString name, FactMetaData::ValueType_t type, QObject* parent) :
     QObject(parent),
     _name(name),
+    _type(type),
     _metaData(NULL)
 {
-    _value = "";
+    _value = 0;
 }
 
 void Fact::setValue(const QVariant& value)
@@ -72,8 +73,7 @@ QVariant Fact::defaultValue(void)
 
 FactMetaData::ValueType_t Fact::type(void)
 {
-    Q_ASSERT(_metaData);
-    return _metaData->type;
+    return _type;
 }
 
 QString Fact::shortDescription(void)

src/FactSystem/Fact.h

@@ -57,7 +57,7 @@ class Fact : public QObject
     Q_ENUMS(FactMetaData::ValueType_t)
     
 public:
-    Fact(QString name = "", QObject* parent = NULL);
+    Fact(QString name = "", FactMetaData::ValueType_t type = FactMetaData::valueTypeInt32, QObject* parent = NULL);
     
     // Property system methods
     
@@ -111,9 +111,10 @@ signals:
     void _containerValueChanged(QVariant& value);
     
 private:
-    QString         _name;      ///< Fact name
-    QVariant        _value;     ///< Fact value
-    FactMetaData*   _metaData;  ///< FactMetaData object for Fact
+    QString                     _name;
+    QVariant                    _value;
+    FactMetaData::ValueType_t   _type;
+    FactMetaData*               _metaData;
 };
 
 #endif
\ No newline at end of file

src/FactSystem/FactLoader.cc

@@ -51,9 +51,8 @@ FactLoader::FactLoader(UASInterface* uas, QObject* parent) :
     // We need to know when the param mgr is done sending the initial set of paramters
     connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
     
-    // We track parameters changes to keep Facts up to date. UASInterface::parameterChanged has multiple overrides so we need to
-    // use SIGNAL/SLOT style connect
-    connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
+    // We track parameters changes to keep Facts up to date.
+    connect(uas, &UASInterface::parameterUpdate, this, &FactLoader::_parameterUpdate);
 }
 
 FactLoader::~FactLoader()
@@ -65,10 +64,8 @@ FactLoader::~FactLoader()
     _mapFact2ParameterName.clear();
 }
 
-/// Connected to QGCUASParmManager::parameterChanged
-///
-/// When a new parameter is seen it is added to the system. If the parameter is already known it is updated.
-void FactLoader::_parameterChanged(int uas, int component, QString parameterName, QVariant value)
+/// Called whenever a parameter is updated or first seen.
+void FactLoader::_parameterUpdate(int uas, int component, QString parameterName, int mavType, QVariant value)
 {
     // Is this for our uas?
     if (uas != _uasId) {
@@ -86,7 +83,39 @@ void FactLoader::_parameterChanged(int uas, int component, QString parameterName
     if (!_mapParameterName2Variant.contains(parameterName)) {
         qCDebug(FactLoaderLog) << "Adding new fact" << parameterName;
         
-        Fact* fact = new Fact(parameterName, this);
+        FactMetaData::ValueType_t factType;
+        switch (mavType) {
+            case MAV_PARAM_TYPE_UINT8:
+                factType = FactMetaData::valueTypeUint8;
+                break;
+            case MAV_PARAM_TYPE_INT8:
+                factType = FactMetaData::valueTypeUint8;
+                break;
+            case MAV_PARAM_TYPE_UINT16:
+                factType = FactMetaData::valueTypeUint16;
+                break;
+            case MAV_PARAM_TYPE_INT16:
+                factType = FactMetaData::valueTypeInt16;
+                break;
+            case MAV_PARAM_TYPE_UINT32:
+                factType = FactMetaData::valueTypeUint32;
+                break;
+            case MAV_PARAM_TYPE_INT32:
+                factType = FactMetaData::valueTypeInt32;
+                break;
+            case MAV_PARAM_TYPE_REAL32:
+                factType = FactMetaData::valueTypeFloat;
+                break;
+            case MAV_PARAM_TYPE_REAL64:
+                factType = FactMetaData::valueTypeDouble;
+                break;
+            default:
+                factType = FactMetaData::valueTypeInt32;
+                qCritical() << "Unsupported fact type" << mavType;
+                break;
+        }
+        
+        Fact* fact = new Fact(parameterName, factType, this);
         setMetaData = true;
         
         _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
@@ -169,39 +198,6 @@ void FactLoader::_paramMgrParameterListUpToDate(void)
 
 void FactLoader::_addMetaDataToFact(Fact* fact)
 {
-    // Create generic meta data based on value variant type
-    
-    FactMetaData::ValueType_t factType = FactMetaData::valueTypeInt32;  // init to in32 to silence compiler warning
-    
-    switch ((QMetaType::Type)fact->value().type()) {
-        case QMetaType::Int:
-            factType = FactMetaData::valueTypeInt32;
-            break;
-            
-        case QMetaType::UInt:
-            factType = FactMetaData::valueTypeUint32;
-            break;
-            
-        case QMetaType::Double:
-            factType = FactMetaData::valueTypeDouble;
-            
-        case QMetaType::Short:
-            factType = FactMetaData::valueTypeInt16;
-            break;
-            
-        case QMetaType::UShort:
-            factType = FactMetaData::valueTypeUint16;
-            break;
-            
-        case QMetaType::Float:
-            factType = FactMetaData::valueTypeFloat;
-            break;
-            
-        default:
-            qWarning() << fact->name() << "Invalid variant type" << fact->value().type();
-            break;
-    }
-    
     FactMetaData* metaData = new FactMetaData(this);
-    metaData->initFromTypeOnly(factType);
+    metaData->initFromTypeOnly(fact->type());
 }

src/FactSystem/FactLoader.h

@@ -72,7 +72,7 @@ protected:
     virtual void _addMetaDataToFact(Fact* fact);
     
 private slots:
-    void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void _parameterUpdate(int uas, int component, QString parameterName, int mavType, QVariant value);
     void _valueUpdated(QVariant value);
     void _paramMgrParameterListUpToDate(void);
     

src/FactSystem/FactMetaData.cc

@@ -37,6 +37,4 @@ FactMetaData::FactMetaData(QObject* parent) :
 void FactMetaData::initFromTypeOnly(ValueType_t initType)
 {
     type = initType;
-    
-    // FIXME: NYI
 }