wip decoupling the UI (view) from the param data model

qgroundcontrol.pro

@@ -468,7 +468,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/SerialSettingsDialog.h \
     src/ui/configuration/terminalconsole.h \
     src/ui/configuration/ApmHighlighter.h \
-    src/ui/configuration/ApmFirmwareConfig.h
+    src/ui/configuration/ApmFirmwareConfig.h \
+    src/uas/UASParameterDataModel.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -683,7 +684,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/console.cpp \
     src/ui/configuration/SerialSettingsDialog.cc \
     src/ui/configuration/ApmHighlighter.cc \
-    src/ui/configuration/ApmFirmwareConfig.cc
+    src/ui/configuration/ApmFirmwareConfig.cc \
+    src/uas/UASParameterDataModel.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/uas/QGCUASParamManager.cc

@@ -12,6 +12,7 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
     retransmissionBurstRequestSize(5)
 {
     uas->setParamManager(this);
+    paramDataModel = uas->getParamDataModel();
 }
 
 

src/uas/QGCUASParamManager.h

@@ -7,6 +7,7 @@
 #include <QVariant>
 
 class UASInterface;
+class UASParameterDataModel;
 
 class QGCUASParamManager : public QWidget
 {
@@ -62,9 +63,14 @@ public slots:
     virtual void requestParameterList() = 0;
 
 protected:
+
+    //Parameter data model
     UASInterface* mav;   ///< The MAV this widget is controlling
-    QMap<int, QMap<QString, QVariant>* > changedValues; ///< Changed values
+//    QMap<int, QMap<QString, QVariant>* > changedValues; ///< Changed values
     QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
+    UASParameterDataModel* paramDataModel;///< Shared data model of parameters
+
+    // Communications management
     QVector<bool> received; ///< Successfully received parameters
     QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
     QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets

src/uas/UAS.cc

@@ -131,6 +131,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 
     paramsOnceRequested(false),
     paramManager(NULL),
+    paramDataModel(NULL),
 
     simulation(0),
 
@@ -151,6 +152,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         componentMulti[i] = false;
     }
 
+    paramDataModel->setUASID(this->getUASID());
+
     // Store a list of available actions for this UAS.
     // Basically everything exposted as a SLOT with no return value or arguments.
 

src/uas/UAS.h

@@ -492,6 +492,7 @@ protected: //COMMENTS FOR TEST UNIT
     QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     bool paramsOnceRequested;       ///< If the parameter list has been read at least once
     QGCUASParamManager* paramManager; ///< Parameter manager class
+    UASParameterDataModel* paramDataModel; ///< The parameter data model for this UAS
 
     /// SIMULATION
     QGCHilLink* simulation;         ///< Hardware in the loop simulation link
@@ -519,10 +520,20 @@ public:
     QGCUASParamManager* getParamManager() const {
         return paramManager;
     }
+
+    /** @brief Get reference to the parameter data model (same one shared with the parameter manager)  **/
+    UASParameterDataModel* getParamDataModel() {
+        return paramDataModel;
+    }
+
+
     /** @brief Get the HIL simulation */
     QGCHilLink* getHILSimulation() const {
         return simulation;
     }
+
+
+
     // TODO Will be removed
     /** @brief Set reference to the param manager **/
     void setParamManager(QGCUASParamManager* manager) {
@@ -949,6 +960,7 @@ protected:
     quint64 lastSendTimeSensors;
     QList<QAction*> actions; ///< A list of actions that this UAS can perform.
 
+
 protected slots:
     /** @brief Write settings to disk */
     void writeSettings();

src/uas/UASInterface.h

@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "LinkInterface.h"
 #include "ProtocolInterface.h"
+#include "UASParameterDataModel.h"
 #include "UASWaypointManager.h"
 #include "QGCUASParamManager.h"
 #include "RadioCalibration/RadioCalibrationData.h"
@@ -152,8 +153,13 @@ public:
 
     /** @brief Get reference to the waypoint manager **/
     virtual UASWaypointManager* getWaypointManager(void) = 0;
+
+    /** @brief Access the parameter data model for this UAS (sans widget).  This is the same parameter data model used by the parameter manager. **/
+    virtual UASParameterDataModel* getParamDataModel() = 0;
+
     /** @brief Get reference to the param manager **/
     virtual QGCUASParamManager* getParamManager() const = 0;
+
     // TODO Will be removed
     /** @brief Set reference to the param manager **/
     virtual void setParamManager(QGCUASParamManager* manager) = 0;

src/uas/UASParameterDataModel.cc

+#include "UASParameterDataModel.h"
+
+#include <QVariant>
+
+UASParameterDataModel::UASParameterDataModel(QObject *parent) :
+    QObject(parent)
+{
+
+
+
+
+
+}
+
+
+void UASParameterDataModel::setPendingParameter(int componentId, QString& key,  QVariant &value)
+{
+    QMap<QString, QVariant> *compPendingParams = pendingParameters.value(componentId);
+    //TODO insert blank map if necessary
+    if (NULL == compPendingParams) {
+        pendingParameters.insert(componentId,new QMap<QString, QVariant>());
+        compPendingParams = pendingParameters.value(componentId);
+    }
+
+    compPendingParams->insert(key,value);
+}

src/uas/UASParameterDataModel.h

+#ifndef UASPARAMETERDATAMODEL_H
+#define UASPARAMETERDATAMODEL_H
+
+#include <QMap>
+#include <QObject>
+#include <QVariant>
+
+class UASParameterDataModel : public QObject
+{
+    Q_OBJECT
+public:
+    explicit UASParameterDataModel(QObject *parent = 0);
+    
+
+    /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
+    virtual void setPendingParameter(int componentId,  QString& paramKey,  QVariant& paramValue) = 0;
+
+    QMap<int, QMap<QString, QVariant>* >  getPendingParameters() {
+       return pendingParameters;
+   }
+
+    QMap<int, QMap<QString, QVariant>* > getOnboardParameters() {
+       return onboardParameters;
+   }
+
+
+    void setUASID(int anId) {  this->uasId = anId; }
+
+signals:
+    
+public slots:
+
+
+protected:
+    int     uasId; ///< The UAS / MAV to which this data model pertains
+    QMap<int, QMap<QString, QVariant>* > pendingParameters; ///< Changed values that have not yet been transmitted to the UAS, by component ID
+    QMap<int, QMap<QString, QVariant>* > onboardParameters; ///< All parameters confirmed to be stored onboard the UAS, by component ID
+
+    
+};
+
+#endif // UASPARAMETERDATAMODEL_H

src/ui/QGCParamWidget.cc

@@ -105,13 +105,13 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     QPushButton* loadFileButton = new QPushButton(tr("Load File"));
     loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
     loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
-    connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
+    connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParametersFromFile()));
     horizontalLayout->addWidget(loadFileButton, 3, 0);
 
     QPushButton* saveFileButton = new QPushButton(tr("Save File"));
     saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer."));
     saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer."));
-    connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
+    connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParametersToFile()));
     horizontalLayout->addWidget(saveFileButton, 3, 1);
 
     QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
@@ -142,7 +142,7 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
 
     // New parameters from UAS
-    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant)));
+    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant)));
 
     // Connect retransmission guard
     connect(this, SIGNAL(requestParameter(int,QString)), uas, SLOT(requestParameter(int,QString)));
@@ -335,10 +335,10 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
         if (!parameters.contains(component)) {
             parameters.insert(component, new QMap<QString, QVariant>());
         }
-        // Create map in changed parameters
-        if (!changedValues.contains(component)) {
-            changedValues.insert(component, new QMap<QString, QVariant>());
-        }
+//        // Create map in changed parameters
+//        if (!changedValues.contains(component)) {
+//            changedValues.insert(component, new QMap<QString, QVariant>());
+//        }
     }
 }
 
@@ -347,9 +347,9 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
  * @param component id of the component
  * @param parameterName human friendly name of the parameter
  */
-void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value)
+void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value)
 {
-    addParameter(uas, component, parameterName, value);
+    receivedParameterUpdate(uas, component, parameterName, value);
 
     // Missing packets list has to be instantiated for all components
     if (!transmissionMissingPackets.contains(component)) {
@@ -494,7 +494,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
  * @param component id of the component
  * @param parameterName human friendly name of the parameter
  */
-void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value)
+void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString parameterName, QVariant value)
 {
     //qDebug() << "PARAM WIDGET GOT PARAM:" << value;
     Q_UNUSED(uas);
@@ -636,8 +636,18 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
     parameterItem->setToolTip(0, tooltipFormat);
     parameterItem->setToolTip(1, tooltipFormat);
 
-    //tree->update();
-    if (changedValues.contains(component)) changedValues.value(component)->remove(parameterName);
+    //verify that the value requested by the user matches the set value
+    //if it doesn't match, leave the pending parameter in the pending list!
+    QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters();
+    if (changedValues.contains(component)) {
+        QMap<QString , QVariant> *compReqVals = changedValues.value(component);
+        if ((NULL != compReqVals) && compReqVals->contains(parameterName)) {
+            QVariant reqVal = compReqVals->value(parameterName);
+            if (reqVal == value) {
+                compReqVals->remove(parameterName);
+            }
+        }
+    }
 }
 
 /**
@@ -682,9 +692,14 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
         }
         // Parent is now top-level component
         int key = components->key(parent);
+
+        //ensure we have a placeholder map for this component
+        QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters();
         if (!changedValues.contains(key)) {
             changedValues.insert(key, new QMap<QString, QVariant>());
         }
+
+        //insert the changed value into the map
         QMap<QString, QVariant>* map = changedValues.value(key, NULL);
         if (map) {
             QString str = current->data(0, Qt::DisplayRole).toString();
@@ -739,7 +754,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
     }
 }
 
-void QGCParamWidget::saveParameters()
+void QGCParamWidget::saveParametersToFile()
 {
     if (!mav) return;
     QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
@@ -794,7 +809,47 @@ void QGCParamWidget::saveParameters()
     file.close();
 }
 
-void QGCParamWidget::loadParameters()
+
+void QGCParamWidget::loadedParameterForComponent(int componentId, QStringList& wpParams )
+{
+    // Set parameter value
+
+    QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters();
+
+    // Create changed values data structure if necessary
+    if (!changedValues.contains(componentId)) {
+        changedValues.insert(componentId, new QMap<QString, QVariant>());
+    }
+
+    // Add to changed values
+    if (changedValues.value(componentId)->contains(wpParams.at(2))) {
+        changedValues.value(componentId)->remove(wpParams.at(2));
+    }
+
+    switch (wpParams.at(4).toUInt())
+    {
+    case (int)MAV_PARAM_TYPE_REAL32:
+        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toFloat());
+        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toFloat());
+        setParameter(componentId, wpParams.at(2), wpParams.at(3).toFloat());
+        break;
+    case (int)MAV_PARAM_TYPE_UINT32:
+        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toUInt());
+        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toUInt());
+        setParameter(componentId, wpParams.at(2), QVariant(wpParams.at(3).toUInt()));
+        break;
+    case (int)MAV_PARAM_TYPE_INT32:
+        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toInt());
+        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toInt());
+        setParameter(componentId, wpParams.at(2), QVariant(wpParams.at(3).toInt()));
+        break;
+    default:
+        qDebug() << "FAILED LOADING PARAM" << wpParams.at(2) << "NO KNOWN DATA TYPE";
+    }
+
+}
+
+void QGCParamWidget::loadParametersFromFile()
 {
     if (!mav) return;
     QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
@@ -817,59 +872,18 @@ void QGCParamWidget::loadParameters()
                 }
 
                 bool changed = false;
-                int component = wpParams.at(1).toInt();
+                int componentId = wpParams.at(1).toInt();
                 QString parameterName = wpParams.at(2);
-                if (!parameters.contains(component) ||
-                        fabs((static_cast<float>(parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()).toDouble())) - (wpParams.at(3).toDouble())) > 2.0f * FLT_EPSILON) {
+                if (!parameters.contains(componentId) ||
+                        fabs((static_cast<float>(parameters.value(componentId)->value(parameterName, wpParams.at(3).toDouble()).toDouble())) - (wpParams.at(3).toDouble())) > 2.0f * FLT_EPSILON) {
                     changed = true;
                     qDebug() << "Changed" << parameterName << "VAL" << wpParams.at(3).toDouble();
                 }
 
-                // Set parameter value
-
-                // Create changed values data structure if necessary
-                if (changed && !changedValues.contains(wpParams.at(1).toInt())) {
-                    changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, QVariant>());
-                }
-
-                // Add to changed values
-                if (changed && changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2))) {
-                    changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2));
-                }
-
-                switch (wpParams.at(4).toUInt())
-                {
-                case (int)MAV_PARAM_TYPE_REAL32:
-                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat());
-                    if (changed) {
-                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat());
-                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat());
-                        qDebug() << "FLOAT PARAM CHANGED";
-                    }
-                    break;
-                case (int)MAV_PARAM_TYPE_UINT32:
-                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toUInt());
-                    if (changed) {
-                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt());
-                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toUInt()));
-                    }
-                    break;
-                case (int)MAV_PARAM_TYPE_INT32:
-                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toInt());
-                    if (changed) {
-                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt());
-                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toInt()));
-                    }
-                    break;
-                default:
-                    qDebug() << "FAILED LOADING PARAM" << wpParams.at(2) << "NO KNOWN DATA TYPE";
+                if (changed) {
+                    loadedParameterForComponent(componentId,wpParams);
                 }
 
-                //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
-
-                // Mark in UI
-
-
             }
         }
     }
@@ -1098,6 +1112,7 @@ void QGCParamWidget::setParameters()
 {
     // Iterate through all components, through all parameters and emit them
     int parametersSent = 0;
+    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();
     QMap<int, QMap<QString, QVariant>*>::iterator i;
     for (i = changedValues.begin(); i != changedValues.end(); ++i) {
         // Iterate through the parameters of the component
@@ -1144,16 +1159,17 @@ void QGCParamWidget::writeParameters()
     int changedParamCount = 0;
 
     QMap<int, QMap<QString, QVariant>*>::iterator i;
-    for (i = changedValues.begin(); i != changedValues.end(); ++i)
+    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();
+
+    for (i = changedValues.begin(); i != changedValues.end() , (0 == changedParamCount);  ++i)
     {
         // Iterate through the parameters of the component
         QMap<QString, QVariant>* comp = i.value();
+        QMap<QString, QVariant>::iterator j;
+        for (j = comp->begin(); j != comp->end(); ++j)
         {
-            QMap<QString, QVariant>::iterator j;
-            for (j = comp->begin(); j != comp->end(); ++j)
-            {
-                changedParamCount++;
-            }
+            changedParamCount++;
+            break;//it only takes one changed param to warrant warning the user
         }
     }
 

src/ui/QGCParamWidget.h

@@ -71,9 +71,9 @@ public slots:
     /** @brief Add a component to the list */
     void addComponent(int uas, int component, QString componentName);
     /** @brief Add a parameter to the list with retransmission / safety checks */
-    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
+    void receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
     /** @brief Add a parameter to the list */
-    void addParameter(int uas, int component, QString parameterName, QVariant value);
+    void receivedParameterUpdate(int uas, int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
     void requestParameterList();
     /** @brief Request one single parameter */
@@ -92,9 +92,11 @@ public slots:
     void parameterItemChanged(QTreeWidgetItem* prev, int column);
 
     /** @brief Store parameters to a file */
-    void saveParameters();
+    void saveParametersToFile();
     /** @brief Load parameters from a file */
-    void loadParameters();
+    void loadParametersFromFile();
+
+    void loadedParameterForComponent(int componentId, QStringList& wpParams );
 
     /** @brief Check for missing parameters */
     void retransmissionGuardTick();