Commit 781997b2 authored by Don Gagne's avatar Don Gagne

Merge pull request #2395 from pritamghanghas/apm_metadata

Apm metadata
parents fc853305 159bce05
......@@ -209,4 +209,7 @@
<file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
</qresource>
<qresource prefix="/FirmwarePlugin/APM">
<file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
</qresource>
</RCC>
......@@ -121,7 +121,9 @@ void FactMetaData::setMin(const QVariant& min)
_min = min;
_minIsDefaultForType = false;
} else {
qWarning() << "Attempt to set min below allowable value";
qWarning() << "Attempt to set min below allowable value for fact: " << name()
<< ", value attempted: " << min
<< ", type: " << type() << ", min for type: " << _minForType();
_min = _minForType();
}
}
......@@ -189,7 +191,7 @@ QVariant FactMetaData::_maxForType(void) const
bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString)
{
bool convertOk;
bool convertOk = false;
errorString.clear();
......@@ -236,7 +238,7 @@ bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, Q
}
if (!convertOk) {
errorString = "Invalid number";
errorString += "Invalid number";
}
return convertOk && errorString.isEmpty();
......
......@@ -254,7 +254,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
fact->_containerSetRawValue(value);
if (setMetaData) {
_vehicle->firmwarePlugin()->addMetaDataToFact(fact);
_vehicle->firmwarePlugin()->addMetaDataToFact(fact, _vehicle->vehicleType());
}
_dataMutex.unlock();
......
......@@ -405,11 +405,12 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
return true;
}
void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
void APMFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
{
_parameterMetaData.addMetaDataToFact(fact);
_parameterMetaData.addMetaDataToFact(fact, vehicleType);
}
QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
{
QList<MAV_CMD> list;
......
......@@ -89,7 +89,7 @@ public:
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
virtual bool sendHomePositionToVehicle(void);
virtual void addMetaDataToFact(Fact* fact);
virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
virtual QList<MAV_CMD> supportedMissionCommands(void);
......
......@@ -26,6 +26,7 @@
#include <QObject>
#include <QMap>
#include <QPointer>
#include <QXmlStreamReader>
#include <QLoggingCategory>
......@@ -33,6 +34,20 @@
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
class APMFactMetaDataRaw
{
public:
QString name;
QString group;
QString shortDescription;
QString longDescription;
QString min;
QString max;
QString incrementSize;
QString units;
QList<QPair<QString, QString> > values;
};
/// @file
/// @author Don Gagne <don@thegagnes.com>
......@@ -40,6 +55,8 @@ Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
/// Collection of Parameter Facts for PX4 AutoPilot
typedef QMap<QString, APMFactMetaDataRaw*> ParameterNametoFactMetaDataMap;
class APMParameterMetaData : public QObject
{
Q_OBJECT
......@@ -52,11 +69,15 @@ public:
virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
// Overrides from ParameterLoader
static void addMetaDataToFact(Fact* fact);
static void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
static void addMetaDataToFacts(QVariantMap &facts, MAV_TYPE vehicleType);
private:
enum {
XmlStateNone,
XmlstateParamFileFound,
XmlStateFoundVehicles,
XmlStateFoundLibraries,
XmlStateFoundParameters,
XmlStateFoundVersion,
XmlStateFoundGroup,
......@@ -65,11 +86,15 @@ private:
};
static void _loadParameterFactMetaData(void);
static void _loadParameterFactMetaData();
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
static bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName);
static bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData);
static void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap<QString,QStringList>& groupMembers);
static QString mavTypeToString(MAV_TYPE vehicleTypeEnum);
static bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded
static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
static QMap<QString, ParameterNametoFactMetaDataMap> _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map>
};
#endif
This diff is collapsed.
......@@ -79,7 +79,7 @@ public:
/// @param[out] custom_mode Custom mode for SET_MODE mavlink message
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
/// FIXME: This isn't quite correct being here. All code for Joystick support is currently firmware specific
/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
/// not just this. I'm going to try to change that. If not, this will need to be removed.
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
......@@ -108,7 +108,7 @@ public:
virtual QString getDefaultComponentIdParam(void) const = 0;
/// Adds the parameter meta data to the Fact
virtual void addMetaDataToFact(Fact* fact) = 0;
virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) = 0;
/// List of supported mission commands. Empty list for all commands supported.
virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;
......
......@@ -112,8 +112,10 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
return false;
}
void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact)
void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
{
Q_UNUSED(vehicleType)
// Add default meta data
FactMetaData* metaData = new FactMetaData(fact->type(), fact);
fact->setMetaData(metaData);
......
......@@ -45,7 +45,7 @@ public:
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
virtual bool sendHomePositionToVehicle(void);
virtual void addMetaDataToFact(Fact* fact);
virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
virtual QString getDefaultComponentIdParam(void) const { return QString(); }
virtual QList<MAV_CMD> supportedMissionCommands(void);
};
......
......@@ -203,9 +203,9 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
return false;
}
void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact)
void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
{
_parameterMetaData.addMetaDataToFact(fact);
_parameterMetaData.addMetaDataToFact(fact, vehicleType);
}
QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
......
......@@ -45,7 +45,7 @@ public:
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
virtual bool sendHomePositionToVehicle(void);
virtual void addMetaDataToFact(Fact* fact);
virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
virtual QList<MAV_CMD> supportedMissionCommands(void);
......
......@@ -188,7 +188,7 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
QString name = xml.attributes().value("name").toString();
QString type = xml.attributes().value("type").toString();
QString strDefault = xml.attributes().value("default").toString();
QString strDefault = xml.attributes().value("default").toString();
qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
......@@ -345,8 +345,10 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
}
/// Override from FactLoad which connects the meta data to the fact
void PX4ParameterMetaData::addMetaDataToFact(Fact* fact)
void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
{
Q_UNUSED(vehicleType)
_loadParameterFactMetaData();
if (_mapParameterName2FactMetaData.contains(fact->name())) {
fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);
......
......@@ -47,7 +47,7 @@ class PX4ParameterMetaData : public QObject
public:
PX4ParameterMetaData(QObject* parent = NULL);
void addMetaDataToFact(Fact* fact);
void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
private:
enum {
......
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