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Valentin Platzgummer
qgroundcontrol
Commits
bf6599e4
Commit
bf6599e4
authored
Mar 04, 2016
by
Don Gagne
Browse files
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Plain Diff
Versioned parameter meta data cache
parent
8d0b28f0
Changes
34
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34 changed files
with
568 additions
and
302 deletions
+568
-302
qgcresources.qrc
qgcresources.qrc
+4
-2
qgroundcontrol.pro
qgroundcontrol.pro
+1
-2
GenericAutoPilotPlugin.cc
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
+0
-1
AirframeFactMetaData.xml
src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+8
-0
PX4AirframeLoader.cc
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
+4
-0
ParameterLoader.cc
src/FactSystem/ParameterLoader.cc
+188
-22
ParameterLoader.h
src/FactSystem/ParameterLoader.h
+27
-9
APMFirmwarePlugin.cc
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+16
-4
APMFirmwarePlugin.h
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+19
-14
APMParameterFactMetaData.xml
src/FirmwarePlugin/APM/APMParameterFactMetaData.xml
+0
-0
APMParameterMetaData.cc
src/FirmwarePlugin/APM/APMParameterMetaData.cc
+15
-14
APMParameterMetaData.h
src/FirmwarePlugin/APM/APMParameterMetaData.h
+16
-23
ArduCopterFirmwarePlugin.cc
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+0
-1
ArduPlaneFirmwarePlugin.cc
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+0
-1
ArduRoverFirmwarePlugin.cc
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+0
-1
FirmwarePlugin.cc
src/FirmwarePlugin/FirmwarePlugin.cc
+18
-24
FirmwarePlugin.h
src/FirmwarePlugin/FirmwarePlugin.h
+35
-22
FirmwarePluginManager.cc
src/FirmwarePlugin/FirmwarePluginManager.cc
+6
-2
FirmwarePluginManager.h
src/FirmwarePlugin/FirmwarePluginManager.h
+4
-2
GenericFirmwarePlugin.h
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h
+0
-53
PX4FirmwarePlugin.cc
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+16
-2
PX4FirmwarePlugin.h
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+17
-13
PX4ParameterFactMetaData.xml
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+12
-7
PX4ParameterMetaData.cc
src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc
+80
-44
PX4ParameterMetaData.h
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h
+8
-10
QGCApplication.cc
src/QGCApplication.cc
+1
-3
QGCLoggingCategory.cc
src/QGCLoggingCategory.cc
+1
-0
QGCLoggingCategory.h
src/QGCLoggingCategory.h
+1
-0
QGroundControlQmlGlobal.cc
src/QmlControls/QGroundControlQmlGlobal.cc
+3
-0
Vehicle.cc
src/Vehicle/Vehicle.cc
+1
-1
Vehicle.h
src/Vehicle/Vehicle.h
+1
-0
FirmwareImage.cc
src/VehicleSetup/FirmwareImage.cc
+56
-25
FirmwareImage.h
src/VehicleSetup/FirmwareImage.h
+9
-0
PX4MockLink.params
src/comm/PX4MockLink.params
+1
-0
No files found.
qgcresources.qrc
View file @
bf6599e4
...
...
@@ -231,13 +231,15 @@
</qresource>
<qresource prefix="/AutoPilotPlugins/PX4">
<file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml</file>
<file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
</qresource>
<qresource prefix="/AutoPilotPlugins/APM">
<file alias="APMAirframeFactMetaData.xml">src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml</file>
</qresource>
<qresource prefix="/FirmwarePlugin/APM">
<file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
<file alias="APMParameterFactMetaData.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.xml</file>
</qresource>
<qresource prefix="/FirmwarePlugin/PX4">
<file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file>
</qresource>
<qresource prefix="/opengl">
<file>resources/opengl/buglist.json</file>
...
...
qgroundcontrol.pro
View file @
bf6599e4
...
...
@@ -606,7 +606,6 @@ HEADERS+= \
src
/
FirmwarePlugin
/
APM
/
ArduCopterFirmwarePlugin
.
h
\
src
/
FirmwarePlugin
/
APM
/
ArduPlaneFirmwarePlugin
.
h
\
src
/
FirmwarePlugin
/
APM
/
ArduRoverFirmwarePlugin
.
h
\
src
/
FirmwarePlugin
/
Generic
/
GenericFirmwarePlugin
.
h
\
src
/
FirmwarePlugin
/
PX4
/
PX4FirmwarePlugin
.
h
\
src
/
FirmwarePlugin
/
PX4
/
PX4ParameterMetaData
.
h
\
src
/
Vehicle
/
MultiVehicleManager
.
h
\
...
...
@@ -661,8 +660,8 @@ SOURCES += \
src
/
FirmwarePlugin
/
APM
/
ArduCopterFirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
APM
/
ArduPlaneFirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
APM
/
ArduRoverFirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
FirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
FirmwarePluginManager
.
cc
\
src
/
FirmwarePlugin
/
Generic
/
GenericFirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
PX4
/
PX4FirmwarePlugin
.
cc
\
src
/
FirmwarePlugin
/
PX4
/
PX4ParameterMetaData
.
cc
\
src
/
Vehicle
/
MultiVehicleManager
.
cc
\
...
...
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "GenericAutoPilotPlugin.h"
#include "FirmwarePlugin/Generic/GenericFirmwarePlugin.h" // FIXME: Hack
GenericAutoPilotPlugin
::
GenericAutoPilotPlugin
(
Vehicle
*
vehicle
,
QObject
*
parent
)
:
AutoPilotPlugin
(
vehicle
,
parent
)
...
...
src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
View file @
bf6599e4
<?xml version='1.0' encoding='UTF-8'?>
<airframes>
<version>
1
</version>
<airframe_version_minor>
1
</airframe_version_minor>
<airframe_group
image=
"HelicopterCoaxial"
name=
"Coaxial Helicopter"
>
<airframe
id=
"15001"
maintainer=
"Emmanuel Roussel"
name=
"Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)"
>
<maintainer>
Emmanuel Roussel
</maintainer>
...
...
@@ -230,6 +231,13 @@
<maintainer>
Blankered
</maintainer>
<type>
Quadrotor x
</type>
</airframe>
<airframe
id=
"4050"
maintainer=
"Mark Whitehorn <kd0aij@gmail.com>"
name=
"Generic 250 Racer"
>
<maintainer>
Mark Whitehorn
<
kd0aij@gmail.com
>
</maintainer>
<type>
Quadrotor x
</type>
<output
name=
"AUX1"
>
feed-through of RC AUX1 channel
</output>
<output
name=
"AUX2"
>
feed-through of RC AUX2 channel
</output>
<output
name=
"AUX3"
>
feed-through of RC AUX3 channel
</output>
</airframe>
</airframe_group>
<airframe_group
image=
"Rover"
name=
"Rover"
>
<airframe
id=
"50001"
maintainer=
"John Doe <john@example.com>"
name=
"Axial Racing AX10"
>
...
...
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
View file @
bf6599e4
...
...
@@ -134,6 +134,10 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
return
;
}
}
else
if
(
elementName
==
"airframe_version_major"
)
{
// Just skip over for now
}
else
if
(
elementName
==
"airframe_version_minor"
)
{
// Just skip over for now
}
else
if
(
elementName
==
"airframe_group"
)
{
if
(
xmlState
!=
XmlStateFoundVersion
)
{
...
...
src/FactSystem/ParameterLoader.cc
View file @
bf6599e4
This diff is collapsed.
Click to expand it.
src/FactSystem/ParameterLoader.h
View file @
bf6599e4
...
...
@@ -40,7 +40,6 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY
(
ParameterLoaderLog
)
Q_DECLARE_LOGGING_CATEGORY
(
ParameterLoaderVerboseLog
)
/// Connects to Parameter Manager to load/update Facts
...
...
@@ -50,7 +49,7 @@ class ParameterLoader : public QObject
public:
/// @param uas Uas which this set of facts is associated with
ParameterLoader
(
AutoPilotPlugin
*
autopilot
,
Vehicle
*
vehicle
,
QObject
*
parent
=
NULL
);
ParameterLoader
(
Vehicle
*
vehicle
);
~
ParameterLoader
();
...
...
@@ -91,6 +90,19 @@ public:
QString
readParametersFromStream
(
QTextStream
&
stream
);
void
writeParametersToStream
(
QTextStream
&
stream
);
/// Returns the version number for the parameter set, -1 if not known
int
parameterSetVersion
(
void
)
{
return
_parameterSetMajorVersion
;
}
/// Returns the newest available parameter meta data file (from cache or internal) for the specified information.
/// @param wantedMajorVersion Major version you are looking for
/// @param[out] majorVersion Major version for found meta data
/// @param[out] minorVersion Minor version for found meta data
/// @return Meta data file name of best match, emptyString is none found
static
QString
parameterMetaDataFile
(
MAV_AUTOPILOT
firmwareType
,
int
wantedMajorVersion
,
int
&
majorVersion
,
int
&
minorVersion
);
/// If this file is newer than anything in the cache, cache it as the latest version
static
void
cacheMetaDataFile
(
const
QString
&
metaDataFile
,
MAV_AUTOPILOT
firmwareType
);
signals:
/// Signalled when the full set of facts are ready
...
...
@@ -103,7 +115,6 @@ signals:
void
restartWaitingParamTimer
(
void
);
protected:
AutoPilotPlugin
*
_autopilot
;
Vehicle
*
_vehicle
;
MAVLinkProtocol
*
_mavlink
;
...
...
@@ -123,6 +134,7 @@ private:
void
_writeParameterRaw
(
int
componentId
,
const
QString
&
paramName
,
const
QVariant
&
value
);
void
_writeLocalParamCache
(
int
uasId
,
int
componentId
);
void
_tryCacheHashLoad
(
int
uasId
,
int
componentId
,
QVariant
hash_value
);
void
_addMetaDataToAll
(
void
);
MAV_PARAM_TYPE
_factTypeToMavType
(
FactMetaData
::
ValueType_t
factType
);
FactMetaData
::
ValueType_t
_mavTypeToFactType
(
MAV_PARAM_TYPE
mavType
);
...
...
@@ -134,18 +146,22 @@ private:
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap
<
int
,
QVariantMap
>
_mapParameterName2Variant
;
QMap
<
int
,
QMap
<
int
,
QString
>
>
_mapParameterId2Name
;
/// First mapping is by component id
/// Second mapping is group name, to Fact
QMap
<
int
,
QMap
<
QString
,
QStringList
>
>
_mapGroup2ParameterName
;
bool
_parametersReady
;
///< true: full set of parameters correctly loaded
bool
_initialLoadComplete
;
///< true: Initial load of all parameters complete, whether succesful or not
bool
_saveRequired
;
///< true: _saveToEEPROM should be called
int
_defaultComponentId
;
QString
_defaultComponentIdParam
;
bool
_parametersReady
;
///< true: full set of parameters correctly loaded
bool
_initialLoadComplete
;
///< true: Initial load of all parameters complete, whether succesful or not
bool
_saveRequired
;
///< true: _saveToEEPROM should be called
int
_defaultComponentId
;
QString
_defaultComponentIdParam
;
///< Parameter which identifies default component
QString
_versionParam
;
///< Parameter which contains parameter set version
int
_parameterSetMajorVersion
;
///< Version for parameter set, -1 if not known
QObject
*
_parameterMetaData
;
///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall
static
const
int
_maxInitialLoadRetry
=
10
;
///< Maximum a retries on initial index based load
QMap
<
int
,
int
>
_paramCountMap
;
///< Key: Component id, Value: count of parameters in this component
...
...
@@ -162,6 +178,8 @@ private:
QMutex
_dataMutex
;
static
Fact
_defaultFact
;
///< Used to return default fact, when parameter not found
static
const
char
*
_cachedMetaDataFilePrefix
;
};
#endif
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "APMFirmwarePlugin.h"
#include "Generic/GenericFirmwarePlugin.h"
#include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h" // FIXME: Hack
#include "QGCMAVLink.h"
#include "QGCApplication.h"
...
...
@@ -473,11 +472,16 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
return
true
;
}
void
APMFirmwarePlugin
::
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
void
APMFirmwarePlugin
::
addMetaDataToFact
(
QObject
*
parameterMetaData
,
Fact
*
fact
,
MAV_TYPE
vehicleType
)
{
_parameterMetaData
.
addMetaDataToFact
(
fact
,
vehicleType
);
}
APMParameterMetaData
*
apmMetaData
=
qobject_cast
<
APMParameterMetaData
*>
(
parameterMetaData
);
if
(
apmMetaData
)
{
apmMetaData
->
addMetaDataToFact
(
fact
,
vehicleType
);
}
else
{
qWarning
()
<<
"Internal error: pointer passed to APMFirmwarePlugin::addMetaDataToFact not APMParameterMetaData"
;
}
}
QList
<
MAV_CMD
>
APMFirmwarePlugin
::
supportedMissionCommands
(
void
)
{
...
...
@@ -508,3 +512,11 @@ void APMFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QSt
fixedWingJsonFilename
=
QStringLiteral
(
":/json/APM/MavCmdInfoFixedWing.json"
);
multiRotorJsonFilename
=
QStringLiteral
(
":/json/APM/MavCmdInfoMultiRotor.json"
);
}
QObject
*
APMFirmwarePlugin
::
loadParameterMetaData
(
const
QString
&
metaDataFile
)
{
Q_UNUSED
(
metaDataFile
);
APMParameterMetaData
*
metaData
=
new
APMParameterMetaData
;
return
metaData
;
}
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @
bf6599e4
...
...
@@ -80,19 +80,25 @@ class APMFirmwarePlugin : public FirmwarePlugin
public:
// Overrides from FirmwarePlugin
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
);
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
virtual
QStringList
flightModes
(
void
);
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
);
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
);
virtual
int
manualControlReservedButtonCount
(
void
);
virtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
);
virtual
bool
sendHomePositionToVehicle
(
void
);
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYSID_SW_TYPE"
);
}
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
final
;
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
final
;
bool
isCapable
(
FirmwareCapabilities
capabilities
)
final
;
QStringList
flightModes
(
void
)
final
;
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
final
;
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
final
;
int
manualControlReservedButtonCount
(
void
)
final
;
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
final
;
void
initializeVehicle
(
Vehicle
*
vehicle
)
final
;
bool
sendHomePositionToVehicle
(
void
)
final
;
void
addMetaDataToFact
(
QObject
*
parameterMetaData
,
Fact
*
fact
,
MAV_TYPE
vehicleType
)
final
;
QString
getDefaultComponentIdParam
(
void
)
const
final
{
return
QString
(
"SYSID_SW_TYPE"
);
}
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
final
;
QString
getVersionParam
(
void
)
final
{
return
QStringLiteral
(
"SYSID_SW_MREV"
);
}
QString
internalParameterMetaDataFile
(
void
)
final
{
return
QString
(
":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"
);
}
void
getParameterMetaDataVersionInfo
(
const
QString
&
metaDataFile
,
int
&
majorVersion
,
int
&
minorVersion
)
final
{
APMParameterMetaData
::
getParameterMetaDataVersionInfo
(
metaDataFile
,
majorVersion
,
minorVersion
);
}
QObject
*
loadParameterMetaData
(
const
QString
&
metaDataFile
);
protected:
/// All access to singleton is through stack specific implementation
...
...
@@ -109,7 +115,6 @@ private:
APMFirmwareVersion
_firmwareVersion
;
bool
_textSeverityAdjustmentNeeded
;
QList
<
APMCustomMode
>
_supportedModes
;
APMParameterMetaData
_parameterMetaData
;
};
#endif
src/FirmwarePlugin/APM/
apm.pdef
.xml
→
src/FirmwarePlugin/APM/
APMParameterFactMetaData
.xml
View file @
bf6599e4
File moved
src/FirmwarePlugin/APM/APMParameterMetaData.cc
View file @
bf6599e4
...
...
@@ -21,9 +21,6 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "APMParameterMetaData.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
...
...
@@ -34,15 +31,13 @@
#include <QDebug>
#include <QStack>
QGC_LOGGING_CATEGORY
(
APMParameterMetaDataLog
,
"APMParameterMetaDataLog"
)
QGC_LOGGING_CATEGORY
(
APMParameterMetaDataVerboseLog
,
"APMParameterMetaDataVerboseLog"
)
bool
APMParameterMetaData
::
_parameterMetaDataLoaded
=
false
;
QMap
<
QString
,
ParameterNametoFactMetaDataMap
>
APMParameterMetaData
::
_vehicleTypeToParametersMap
;
QGC_LOGGING_CATEGORY
(
APMParameterMetaDataLog
,
"APMParameterMetaDataLog"
)
QGC_LOGGING_CATEGORY
(
APMParameterMetaDataVerboseLog
,
"APMParameterMetaDataVerboseLog"
)
APMParameterMetaData
::
APMParameterMetaData
(
QObject
*
parent
)
:
QObject
(
parent
)
APMParameterMetaData
::
APMParameterMetaData
(
void
)
:
_parameterMetaDataLoaded
(
false
)
{
// APM meta data is not yet versioned
_loadParameterFactMetaData
();
}
...
...
@@ -146,7 +141,7 @@ void APMParameterMetaData::_loadParameterFactMetaData()
// Fixme:: always picking up the bundled xml, we would like to update it from web
// just not sure right now as the xml is in bad shape.
if
(
parameterFilename
.
isEmpty
()
||
!
QFile
(
parameterFilename
).
exists
())
{
parameterFilename
=
":/FirmwarePlugin/APM/
apm.pdef
.xml"
;
parameterFilename
=
":/FirmwarePlugin/APM/
APMParameterFactMetaData
.xml"
;
}
qCDebug
(
APMParameterMetaDataLog
)
<<
"Loading parameter meta data:"
<<
parameterFilename
;
...
...
@@ -428,11 +423,8 @@ bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFa
return
true
;
}
/// Override from FactLoad which connects the meta data to the fact
void
APMParameterMetaData
::
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
{
_loadParameterFactMetaData
();
const
QString
mavTypeString
=
mavTypeToString
(
vehicleType
);
APMFactMetaDataRaw
*
rawMetaData
=
NULL
;
...
...
@@ -591,3 +583,12 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
// FixMe:: not handling increment size as their is no place for it in FactMetaData and no ui
fact
->
setMetaData
(
metaData
);
}
void
APMParameterMetaData
::
getParameterMetaDataVersionInfo
(
const
QString
&
metaDataFile
,
int
&
majorVersion
,
int
&
minorVersion
)
{
Q_UNUSED
(
metaDataFile
);
// Versioning not yet supported
majorVersion
=
-
1
;
minorVersion
=
-
1
;
}
src/FirmwarePlugin/APM/APMParameterMetaData.h
View file @
bf6599e4
...
...
@@ -34,6 +34,9 @@
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
Q_DECLARE_LOGGING_CATEGORY
(
APMParameterMetaDataLog
)
Q_DECLARE_LOGGING_CATEGORY
(
APMParameterMetaDataVerboseLog
)
class
APMFactMetaDataRaw
{
public:
...
...
@@ -54,11 +57,6 @@ public:
QList
<
QPair
<
QString
,
QString
>
>
bitmask
;
};
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY
(
APMParameterMetaDataLog
)
Q_DECLARE_LOGGING_CATEGORY
(
APMParameterMetaDataVerboseLog
)
/// Collection of Parameter Facts for PX4 AutoPilot
...
...
@@ -69,15 +67,11 @@ class APMParameterMetaData : public QObject
Q_OBJECT
public:
/// @param uas Uas which this set of facts is associated with
APMParameterMetaData
(
QObject
*
parent
=
NULL
);
APMParameterMetaData
(
void
);
/// Override from ParameterLoader
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
(
"SYSID_SW_TYPE"
);
}
// Overrides from ParameterLoader
static
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
static
void
addMetaDataToFacts
(
QVariantMap
&
facts
,
MAV_TYPE
vehicleType
);
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
);
static
void
getParameterMetaDataVersionInfo
(
const
QString
&
metaDataFile
,
int
&
majorVersion
,
int
&
minorVersion
);
private:
enum
{
...
...
@@ -90,18 +84,17 @@ private:
XmlStateFoundGroup
,
XmlStateFoundParameter
,
XmlStateDone
};
};
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
);
void
_loadParameterFactMetaData
();
QVariant
_stringToTypedVariant
(
const
QString
&
string
,
FactMetaData
::
ValueType_t
type
,
bool
*
convertOk
);
bool
skipXMLBlock
(
QXmlStreamReader
&
xml
,
const
QString
&
blockName
);
bool
parseParameterAttributes
(
QXmlStreamReader
&
xml
,
APMFactMetaDataRaw
*
rawMetaData
);
void
correctGroupMemberships
(
ParameterNametoFactMetaDataMap
&
parameterToFactMetaDataMap
,
QMap
<
QString
,
QStringList
>&
groupMembers
);
QString
mavTypeToString
(
MAV_TYPE
vehicleTypeEnum
);
static
bool
_parameterMetaDataLoaded
;
///< true: parameter meta data already loaded
static
QMap
<
QString
,
ParameterNametoFactMetaDataMap
>
_vehicleTypeToParametersMap
;
///< Maps from a vehicle type to paramametertoFactMeta map>
bool
_parameterMetaDataLoaded
;
///< true: parameter meta data already loaded
QMap
<
QString
,
ParameterNametoFactMetaDataMap
>
_vehicleTypeToParametersMap
;
///< Maps from a vehicle type to paramametertoFactMeta map>
};
#endif
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "ArduCopterFirmwarePlugin.h"
#include "Generic/GenericFirmwarePlugin.h"
APMCopterMode
::
APMCopterMode
(
uint32_t
mode
,
bool
settable
)
:
APMCustomMode
(
mode
,
settable
)
...
...
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduPlaneFirmwarePlugin.h"
#include "Generic/GenericFirmwarePlugin.h"
APMPlaneMode
::
APMPlaneMode
(
uint32_t
mode
,
bool
settable
)
:
APMCustomMode
(
mode
,
settable
)
...
...
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduRoverFirmwarePlugin.h"
#include "Generic/GenericFirmwarePlugin.h"
APMRoverMode
::
APMRoverMode
(
uint32_t
mode
,
bool
settable
)
:
APMCustomMode
(
mode
,
settable
)
...
...
src/FirmwarePlugin/
Generic/Generic
FirmwarePlugin.cc
→
src/FirmwarePlugin/FirmwarePlugin.cc
View file @
bf6599e4
...
...
@@ -21,22 +21,18 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "GenericFirmwarePlugin.h"
#include "AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h" // FIXME: Hack
#include "FirmwarePlugin.h"
#include <QDebug>
QList
<
VehicleComponent
*>
Generic
FirmwarePlugin
::
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
QList
<
VehicleComponent
*>
FirmwarePlugin
::
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
{
Q_UNUSED
(
vehicle
);
return
QList
<
VehicleComponent
*>
();
}
QString
Generic
FirmwarePlugin
::
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
QString
FirmwarePlugin
::
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
{
QString
flightMode
;
...
...
@@ -72,25 +68,25 @@ QString GenericFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mod
return
flightMode
;
}
bool
Generic
FirmwarePlugin
::
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
bool
FirmwarePlugin
::
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
)
{
Q_UNUSED
(
flightMode
);
Q_UNUSED
(
base_mode
);
Q_UNUSED
(
custom_mode
);
qWarning
()
<<
"
Generic
FirmwarePlugin::setFlightMode called on base class, not supported"
;
qWarning
()
<<
"FirmwarePlugin::setFlightMode called on base class, not supported"
;
return
false
;
}
int
Generic
FirmwarePlugin
::
manualControlReservedButtonCount
(
void
)
int
FirmwarePlugin
::
manualControlReservedButtonCount
(
void
)
{
// We don't know whether the firmware is going to used any of these buttons.
// So reserve them all.
return
-
1
;
}
void
Generic
FirmwarePlugin
::
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
void
FirmwarePlugin
::
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
{
Q_UNUSED
(
vehicle
);
Q_UNUSED
(
message
);
...
...
@@ -98,14 +94,14 @@ void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_messa
// Generic plugin does no message adjustment
}
void
Generic
FirmwarePlugin
::
initializeVehicle
(
Vehicle
*
vehicle
)
void
FirmwarePlugin
::
initializeVehicle
(
Vehicle
*
vehicle
)
{
Q_UNUSED
(
vehicle
);
// Generic Flight Stack is by definition "generic", so no extra work
}
bool
Generic
FirmwarePlugin
::
sendHomePositionToVehicle
(
void
)
bool
FirmwarePlugin
::
sendHomePositionToVehicle
(
void
)
{
// Generic stack does not want home position sent in the first position.
// Subsequent sequence numbers must be adjusted.
...
...
@@ -113,25 +109,23 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
return
false
;
}
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
);
}
QList
<
MAV_CMD
>
GenericFirmwarePlugin
::
supportedMissionCommands
(
void
)
QList
<
MAV_CMD
>
FirmwarePlugin
::
supportedMissionCommands
(
void
)
{
// Generic supports all commands
return
QList
<
MAV_CMD
>
();
}
void
Generic
FirmwarePlugin
::
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
void
FirmwarePlugin
::
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
{
// No overrides
commonJsonFilename
.
clear
();
fixedWingJsonFilename
.
clear
();
multiRotorJsonFilename
.
clear
();
}
void
FirmwarePlugin
::
getParameterMetaDataVersionInfo
(
const
QString
&
metaDataFile
,
int
&
majorVersion
,
int
&
minorVersion
)
{
Q_UNUSED
(
metaDataFile
);
majorVersion
=
-
1
;
minorVersion
=
-
1
;
}
src/FirmwarePlugin/FirmwarePlugin.h
View file @
bf6599e4
...
...
@@ -38,12 +38,10 @@ class Vehicle;
/// This is the base class for Firmware specific plugins
///
/// The FirmwarePlugin class is the abstract base class which represents the methods and objects
/// which are specific to a certain Firmware flight stack. This is the only place where
/// flight stack specific code should reside in QGroundControl. The remainder of the
/// QGroundControl source is generic to a common mavlink implementation. The implementation
/// in the base class supports mavlink generic firmware. Override the base clase virtuals
/// to create you firmware specific plugin.
/// The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack.
/// This is the only place where flight stack specific code should reside in QGroundControl. The remainder of the
/// QGroundControl source is generic to a common mavlink implementation. The implementation in the base class supports
/// mavlink generic firmware. Override the base clase virtuals to create your own firmware specific plugin.
class
FirmwarePlugin
:
public
QObject
{
...
...
@@ -53,31 +51,30 @@ public:
/// Set of optional capabilites which firmware may support
typedef
enum
{
SetFlightModeCapability
,
///< FirmwarePlugin::setFlightMode method is supported
MavCmdPreflightStorageCapability
,
///< MAV_CMD_PREFLIGHT_STORAGE is supported
MavCmdPreflightStorageCapability
,
///< MAV_CMD_PREFLIGHT_STORAGE is supported
}
FirmwareCapabilities
;
/// @return true: Firmware supports all specified capabilites
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
)
=
0
;
virtual
bool
isCapable
(
FirmwareCapabilities
capabilities
)
{
Q_UNUSED
(
capabilities
);
return
false
;
}
/// Returns VehicleComponents for specified Vehicle
/// @param vehicle Vehicle to associate with components
/// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must
/// free when no longer needed.
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
=
0
;
virtual
QList
<
VehicleComponent
*>
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
);
/// Returns the list of available flight modes
virtual
QStringList
flightModes
(
void
)
=
0
;
virtual
QStringList
flightModes
(
void
)
{
return
QStringList
();
}
/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
/// @param base_mode Base mode from mavlink HEARTBEAT message
/// @param custom_mode Custom mode from mavlink HEARTBEAT message
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
)
=
0
;
virtual
QString
flightMode
(
uint8_t
base_mode
,
uint32_t
custom_mode
);
/// Sets base_mode and custom_mode to specified flight mode.
/// @param[out] base_mode Base mode for SET_MODE mavlink message
/// @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
;
virtual
bool
setFlightMode
(
const
QString
&
flightMode
,
uint8_t
*
base_mode
,
uint32_t
*
custom_mode
);
/// 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.
...
...
@@ -85,17 +82,17 @@ public:
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
/// The remainder can be assigned to Vehicle actions.
/// @return -1: reserver all buttons, >0 number of buttons to reserve
virtual
int
manualControlReservedButtonCount
(
void
)
=
0
;
virtual
int
manualControlReservedButtonCount
(
void
);
/// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
/// can adjust any message characteristics. This is handy to adjust or differences in mavlink
/// spec implementations such that the base code can remain mavlink generic.
/// @param vehicle Vehicle message came from
/// @param message[in,out] Mavlink message to adjust if needed.
virtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
)
=
0
;
virtual
void
adjustMavlinkMessage
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
/// Called when Vehicle is first created to send any necessary mavlink messages to the firmware.
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
)
=
0
;
virtual
void
initializeVehicle
(
Vehicle
*
vehicle
);
/// Determines how to handle the first item of the mission item list. Internally to QGC the first item
/// is always the home position.
...
...
@@ -103,22 +100,38 @@ public:
/// true: Send first mission item as home position to vehicle. When vehicle has no mission items on
/// it, it may or may not return a home position back in position 0.
/// false: Do not send first item to vehicle, sequence numbers must be adjusted
virtual
bool
sendHomePositionToVehicle
(
void
)
=
0
;
virtual
bool
sendHomePositionToVehicle
(
void
);
/// Returns the parameter that is used to identify the default component
virtual
QString
getDefaultComponentIdParam
(
void
)
const
=
0
;
virtual
QString
getDefaultComponentIdParam
(
void
)
const
{
return
QString
();
}
/// Returns the parameter which is used to identify the version number of parameter set
virtual
QString
getVersionParam
(
void
)
{
return
QString
();
}
/// Returns the parameter set version info pulled from inside the meta data file. -1 if not found.
virtual
void
getParameterMetaDataVersionInfo
(
const
QString
&
metaDataFile
,
int
&
majorVersion
,
int
&
minorVersion
);
/// Returns the internal resource parameter meta date file.
virtual
QString
internalParameterMetaDataFile
(
void
)
{
return
QString
();
}
/// Loads the specified parameter meta data file.
/// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is reponsible to
/// call deleteParameterMetaData when no longer needed.
virtual
QObject
*
loadParameterMetaData
(
const
QString
&
metaDataFile
)
{
Q_UNUSED
(
metaDataFile
);
return
NULL
;
}
/// Adds the parameter meta data to the Fact
virtual
void
addMetaDataToFact
(
Fact
*
fact
,
MAV_TYPE
vehicleType
)
=
0
;
/// @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
virtual
void
addMetaDataToFact
(
QObject
*
parameterMetaData
,
Fact
*
fact
,
MAV_TYPE
vehicleType
)
{
Q_UNUSED
(
parameterMetaData
);
Q_UNUSED
(
fact
);
Q_UNUSED
(
vehicleType
);
return
;
}
/// List of supported mission commands. Empty list for all commands supported.
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
)
=
0
;
virtual
QList
<
MAV_CMD
>
supportedMissionCommands
(
void
);
/// Returns the names for the mission command json override files. Empty string to specify no overrides.
/// @param[out] commonJsonFilename Filename for common overrides
/// @param[out] fixedWingJsonFilename Filename for fixed wing overrides
/// @param[out] multiRotorJsonFilename Filename for multi rotor overrides
virtual
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
=
0
;
virtual
void
missionCommandOverrides
(
QString
&
commonJsonFilename
,
QString
&
fixedWingJsonFilename
,
QString
&
multiRotorJsonFilename
)
const
;
};
#endif
src/FirmwarePlugin/FirmwarePluginManager.cc
View file @
bf6599e4
...
...
@@ -25,7 +25,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "FirmwarePluginManager.h"
#include "Generic/GenericFirmwarePlugin.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
...
...
@@ -91,7 +90,12 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
}
if
(
!
_genericFirmwarePlugin
)
{
_genericFirmwarePlugin
=
new
Generic
FirmwarePlugin
;
_genericFirmwarePlugin
=
new
FirmwarePlugin
;
}
return
_genericFirmwarePlugin
;
}
void
FirmwarePluginManager
::
clearSettings
(
void
)
{
// FIXME: NYI
}
src/FirmwarePlugin/FirmwarePluginManager.h
View file @
bf6599e4
...
...
@@ -38,7 +38,6 @@ class ArduCopterFirmwarePlugin;
class
ArduPlaneFirmwarePlugin
;
class
ArduRoverFirmwarePlugin
;
class
PX4FirmwarePlugin
;
class
GenericFirmwarePlugin
;
/// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
...
...
@@ -56,11 +55,14 @@ public:
/// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
FirmwarePlugin
*
firmwarePluginForAutopilot
(
MAV_AUTOPILOT
autopilotType
,
MAV_TYPE
vehicleType
);
/// Clears settings from all firmware plugins.
void
clearSettings
(
void
);
private:
ArduCopterFirmwarePlugin
*
_arduCopterFirmwarePlugin
;
ArduPlaneFirmwarePlugin
*
_arduPlaneFirmwarePlugin
;
ArduRoverFirmwarePlugin
*
_arduRoverFirmwarePlugin
;
GenericFirmwarePlugin
*
_genericFirmwarePlugin
;
FirmwarePlugin
*
_genericFirmwarePlugin
;
PX4FirmwarePlugin
*
_px4FirmwarePlugin
;
};
...
...
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h
deleted
100644 → 0
View file @
8d0b28f0
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License