Merge pull request #6993 from DonLakeFlyer/CompParam

Parameter Editor: Support editing of non-default component params

src/FactSystem/ParameterManager.cc

@@ -351,7 +351,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
             // When we are getting the very last component param index, reset the group maps to update for the
             // new params. By handling this here, we can pick up components which finish up later than the default
             // component param set.
-            _setupCategoryMap();
+            _setupDefaultComponentCategoryMap();
         }
     }
 
@@ -529,20 +529,20 @@ QStringList ParameterManager::parameterNames(int componentId)
     return names;
 }
 
-void ParameterManager::_setupCategoryMap(void)
+void ParameterManager::_setupDefaultComponentCategoryMap(void)
 {
     // Must be able to handle being called multiple times
-    _categoryMap.clear();
+    _defaultComponentCategoryMap.clear();
 
     for (const QString &name: _mapParameterName2Variant[_vehicle->defaultComponentId()].keys()) {
         Fact* fact = _mapParameterName2Variant[_vehicle->defaultComponentId()][name].value<Fact*>();
-        _categoryMap[fact->category()][fact->group()] += name;
+        _defaultComponentCategoryMap[fact->category()][fact->group()] += name;
     }
 }
 
-const QMap<QString, QMap<QString, QStringList> >& ParameterManager::getCategoryMap(void)
+const QMap<QString, QMap<QString, QStringList> >& ParameterManager::getDefaultComponentCategoryMap(void)
 {
-    return _categoryMap;
+    return _defaultComponentCategoryMap;
 }
 
 /// Requests missing index based parameters from the vehicle.
@@ -1433,7 +1433,7 @@ void ParameterManager::_loadOfflineEditingParams(void)
     }
 
     _addMetaDataToDefaultComponent();
-    _setupCategoryMap();
+    _setupDefaultComponentCategoryMap();
     _parametersReady = true;
     _initialLoadComplete = true;
     _debugCacheCRC.clear();
@@ -1567,3 +1567,8 @@ void ParameterManager::_setLoadProgress(double loadProgress)
     _loadProgress = loadProgress;
     emit loadProgressChanged(loadProgress);
 }
+
+QList<int> ParameterManager::componentIds(void)
+{
+    return _paramCountMap.keys();
+}

src/FactSystem/ParameterManager.h

@@ -49,6 +49,8 @@ public:
 
     /// @return Location of parameter cache file
     static QString parameterCacheFile(int vehicleId, int componentId);
+
+    QList<int> componentIds(void);
     
     /// Re-request the full set of parameters from the autopilot
     void refreshAllParameters(uint8_t componentID = MAV_COMP_ID_ALL);
@@ -75,7 +77,7 @@ public:
     ///     @param name Parameter name
     Fact* getParameter(int componentId, const QString& name);
     
-    const QMap<QString, QMap<QString, QStringList> >& getCategoryMap(void);
+    const QMap<QString, QMap<QString, QStringList> >& getDefaultComponentCategoryMap(void);
     
     /// Returns error messages from loading
     QString readParametersFromStream(QTextStream& stream);
@@ -128,7 +130,7 @@ protected:
 private:
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
     int _actualComponentId(int componentId);
-    void _setupCategoryMap(void);
+    void _setupDefaultComponentCategoryMap(void);
     void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
     void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
     void _writeLocalParamCache(int vehicleId, int componentId);
@@ -151,7 +153,7 @@ private:
     QMap<int, QVariantMap>            _mapParameterName2Variant;
 
     // Category map of default component parameters
-    QMap<QString /* category */, QMap<QString /* group */, QStringList /* parameter names */> > _categoryMap;
+    QMap<QString /* category */, QMap<QString /* group */, QStringList /* parameter names */> > _defaultComponentCategoryMap;
     
     double      _loadProgress;                  ///< Parameter load progess, [0.0,1.0]
     bool        _parametersReady;               ///< true: parameter load complete

src/QmlControls/ParameterEditorController.cc

@@ -7,10 +7,6 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "ParameterEditorController.h"
 #include "QGCApplication.h"
 #include "ParameterManager.h"
@@ -25,18 +21,26 @@
 
 #include <QStandardPaths>
 
-/// @Brief Constructs a new ParameterEditorController Widget. This widget is used within the PX4VehicleConfig set of screens.
 ParameterEditorController::ParameterEditorController(void)
-    : _currentCategory("Standard")  // FIXME: firmware specific
-    , _parameters(new QmlObjectListModel(this))
+    : _currentCategory          ("Standard")  // FIXME: firmware specific
+    , _parameters               (new QmlObjectListModel(this))
+    , _parameterMgr             (_vehicle->parameterManager())
+    , _componentCategoryPrefix  (tr("Component "))
 {
-    const QMap<QString, QMap<QString, QStringList> >& categoryMap = _vehicle->parameterManager()->getCategoryMap();
+    const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getDefaultComponentCategoryMap();
     _categories = categoryMap.keys();
 
     // Move default category to front
     _categories.removeOne(_currentCategory);
     _categories.prepend(_currentCategory);
 
+    // There is a category for each non default component
+    for (int compId: _parameterMgr->componentIds()) {
+        if (compId != _vehicle->defaultComponentId()) {
+            _categories.append(QString("%1%2").arg(_componentCategoryPrefix).arg(compId));
+        }
+    }
+
     // Be careful about no parameters
     if (categoryMap.contains(_currentCategory) && categoryMap[_currentCategory].size() != 0) {
         _currentGroup = categoryMap[_currentCategory].keys()[0];
@@ -54,27 +58,24 @@ ParameterEditorController::~ParameterEditorController()
 
 QStringList ParameterEditorController::getGroupsForCategory(const QString& category)
 {
-    const QMap<QString, QMap<QString, QStringList> >& categoryMap = _vehicle->parameterManager()->getCategoryMap();
-
-    return categoryMap[category].keys();
-}
-
-QStringList ParameterEditorController::getParametersForGroup(const QString& category, const QString& group)
-{
-    const QMap<QString, QMap<QString, QStringList> >& categoryMap = _vehicle->parameterManager()->getCategoryMap();
+    if (category.startsWith(_componentCategoryPrefix)) {
+        return QStringList(tr("All"));
+    } else {
+        const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getDefaultComponentCategoryMap();
 
-    return categoryMap[category][group];
+        return categoryMap[category].keys();
+    }
 }
 
 QStringList ParameterEditorController::searchParameters(const QString& searchText, bool searchInName, bool searchInDescriptions)
 {
     QStringList list;
     
-    for(const QString &paramName: _vehicle->parameterManager()->parameterNames(_vehicle->defaultComponentId())) {
+    for(const QString &paramName: _parameterMgr->parameterNames(_vehicle->defaultComponentId())) {
         if (searchText.isEmpty()) {
             list += paramName;
         } else {
-            Fact* fact = _vehicle->parameterManager()->getParameter(_vehicle->defaultComponentId(), paramName);
+            Fact* fact = _parameterMgr->getParameter(_vehicle->defaultComponentId(), paramName);
             
             if (searchInName && fact->name().contains(searchText, Qt::CaseInsensitive)) {
                 list += paramName;
@@ -111,7 +112,7 @@ void ParameterEditorController::saveToFile(const QString& filename)
         }
         
         QTextStream stream(&file);
-        _vehicle->parameterManager()->writeParametersToStream(stream);
+        _parameterMgr->writeParametersToStream(stream);
         file.close();
     }
 }
@@ -129,7 +130,7 @@ void ParameterEditorController::loadFromFile(const QString& filename)
         }
         
         QTextStream stream(&file);
-        errors = _vehicle->parameterManager()->readParametersFromStream(stream);
+        errors = _parameterMgr->readParametersFromStream(stream);
         file.close();
         
         if (!errors.isEmpty()) {
@@ -140,12 +141,12 @@ void ParameterEditorController::loadFromFile(const QString& filename)
 
 void ParameterEditorController::refresh(void)
 {
-    _vehicle->parameterManager()->refreshAllParameters();
+    _parameterMgr->refreshAllParameters();
 }
 
 void ParameterEditorController::resetAllToDefaults(void)
 {
-    _vehicle->parameterManager()->resetAllParametersToDefaults();
+    _parameterMgr->resetAllParametersToDefaults();
     refresh();
 }
 
@@ -167,13 +168,21 @@ void ParameterEditorController::_updateParameters(void)
     QStringList searchItems = _searchText.split(' ', QString::SkipEmptyParts);
 
     if (searchItems.isEmpty()) {
-        const QMap<QString, QMap<QString, QStringList> >& categoryMap = _vehicle->parameterManager()->getCategoryMap();
-        for (const QString& parameter: categoryMap[_currentCategory][_currentGroup]) {
-            newParameterList.append(_vehicle->parameterManager()->getParameter(_vehicle->defaultComponentId(), parameter));
+        if (_currentCategory.startsWith(_componentCategoryPrefix)) {
+            int compId = _currentCategory.right(_currentCategory.length() - _componentCategoryPrefix.length()).toInt();
+            for (const QString& paramName: _parameterMgr->parameterNames(compId)) {
+                newParameterList.append(_parameterMgr->getParameter(compId, paramName));
+            }
+
+        } else {
+            const QMap<QString, QMap<QString, QStringList> >& categoryMap = _parameterMgr->getDefaultComponentCategoryMap();
+            for (const QString& parameter: categoryMap[_currentCategory][_currentGroup]) {
+                newParameterList.append(_parameterMgr->getParameter(_vehicle->defaultComponentId(), parameter));
+            }
         }
     } else {
-        for(const QString &parameter: _vehicle->parameterManager()->parameterNames(_vehicle->defaultComponentId())) {
-            Fact* fact = _vehicle->parameterManager()->getParameter(_vehicle->defaultComponentId(), parameter);
+        for(const QString &parameter: _parameterMgr->parameterNames(_vehicle->defaultComponentId())) {
+            Fact* fact = _parameterMgr->getParameter(_vehicle->defaultComponentId(), parameter);
             bool matched = true;
 
             // all of the search items must match in order for the parameter to be added to the list

src/QmlControls/ParameterEditorController.h

@@ -21,6 +21,7 @@
 #include "UASInterface.h"
 #include "FactPanelController.h"
 #include "QmlObjectListModel.h"
+#include "ParameterManager.h"
 
 class ParameterEditorController : public FactPanelController
 {
@@ -37,7 +38,6 @@ public:
     Q_PROPERTY(QStringList          categories          MEMBER _categories          CONSTANT)
 	
     Q_INVOKABLE QStringList getGroupsForCategory(const QString& category);
-    Q_INVOKABLE QStringList getParametersForGroup(const QString& category, const QString& group);
     Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
 	
     Q_INVOKABLE void clearRCToParam(void);
@@ -64,6 +64,8 @@ private:
     QString             _currentCategory;
     QString             _currentGroup;
     QmlObjectListModel* _parameters;
+    ParameterManager*   _parameterMgr;
+    QString             _componentCategoryPrefix;
 };
 
 #endif

src/comm/MockLink.cc

@@ -257,6 +257,7 @@ void MockLink::_loadParams(void)
         QStringList paramData = line.split("\t");
         Q_ASSERT(paramData.count() == 5);
 
+        int compId = paramData.at(1).toInt();
         QString paramName = paramData.at(2);
         QString valStr = paramData.at(3);
         uint paramType = paramData.at(4).toUInt();
@@ -292,8 +293,8 @@ void MockLink::_loadParams(void)
 
         qCDebug(MockLinkVerboseLog) << "Loading param" << paramName << paramValue;
 
-        _mapParamName2Value[_vehicleComponentId][paramName] = paramValue;
-        _mapParamName2MavParamType[paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
+        _mapParamName2Value[compId][paramName] = paramValue;
+        _mapParamName2MavParamType[compId][paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
     }
 }
 
@@ -515,11 +516,11 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN
 
     Q_ASSERT(_mapParamName2Value.contains(componentId));
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
-    Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
+    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));
 
     valueUnion.param_float = paramFloat;
 
-    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
+    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];
 
     QVariant paramVariant;
 
@@ -569,9 +570,9 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
 
     Q_ASSERT(_mapParamName2Value.contains(componentId));
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
-    Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
+    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));
 
-    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
+    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];
     QVariant paramVar = _mapParamName2Value[componentId][paramName];
 
     switch (paramType) {
@@ -677,9 +678,9 @@ void MockLink::_paramRequestListWorker(void)
         mavlink_message_t responseMsg;
 
         Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
-        Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
+        Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));
 
-        MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
+        MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];
 
         Q_ASSERT(paramName.length() <= MAVLINK_MSG_ID_PARAM_VALUE_LEN);
         strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
@@ -726,8 +727,9 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
     qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;
 
     Q_ASSERT(_mapParamName2Value.contains(componentId));
+    Q_ASSERT(_mapParamName2MavParamType.contains(componentId));
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
-    Q_ASSERT(request.param_type == _mapParamName2MavParamType[paramId]);
+    Q_ASSERT(request.param_type == _mapParamName2MavParamType[componentId][paramId]);
 
     // Save the new value
     _setParamFloatUnionIntoMap(componentId, paramId, request.param_value);
@@ -795,7 +797,7 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
     }
 
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
-    Q_ASSERT(_mapParamName2MavParamType.contains(paramId));
+    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramId));
 
     if (_failureMode == MockConfiguration::FailMissingParamOnAllRequests && strcmp(paramId, _failParam) == 0) {
         qCDebug(MockLinkLog) << "Ignoring request read for " << _failParam;
@@ -809,7 +811,7 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
                                       &responseMsg,                                              // Outgoing message
                                       paramId,                                                   // Parameter name
                                       _floatUnionForParam(componentId, paramId),                 // Parameter value
-                                      _mapParamName2MavParamType[paramId],                       // Parameter type
+                                      _mapParamName2MavParamType[componentId][paramId],          // Parameter type
                                       _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                       _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
     respondWithMavlinkMessage(responseMsg);

src/comm/MockLink.h

@@ -216,8 +216,8 @@ private:
     bool    _inNSH;
     bool    _mavlinkStarted;
 
-    QMap<int, QMap<QString, QVariant> > _mapParamName2Value;
-    QMap<QString, MAV_PARAM_TYPE>       _mapParamName2MavParamType;
+    QMap<int, QMap<QString, QVariant>>          _mapParamName2Value;
+    QMap<int, QMap<QString, MAV_PARAM_TYPE>>    _mapParamName2MavParamType;
 
     uint8_t     _mavBaseMode;
     uint32_t    _mavCustomMode;

src/comm/PX4MockLink.params

@@ -737,3 +737,4 @@
 1	1	TRIG_MODE	4	6
 1	1	VT_B_DEC_MSS	2.000000000000000000	9
 1	1	VT_B_REV_DEL	0.000000000000000000	9
+1	2	VT_B_REV_DEL	0.000000000000000000	9