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Commit c70d9920 authored by tstellanova's avatar tstellanova
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cleanupt paramInfo (tooltips)

parent eee3e8fe
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Showing with 55 additions and 193 deletions
src/ui/QGCParamWidget.cc
View file @ c70d9920
...@@ -165,6 +165,15 @@ void QGCParamWidget::loadSettings() ...@@ -165,6 +165,15 @@ void QGCParamWidget::loadSettings()
settings.endGroup(); settings.endGroup();
} }
void QGCParamWidget::setParamInfo(const QMap<QString,QString>& paramInfo) {
if (paramInfo.isEmpty()) {
qDebug() << << __FILE__ << ":" << __LINE__ << "setParamInfo with empty";
}
paramToolTips = paramInfo;
}
void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe) void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe)
{ {
Q_UNUSED(airframe); Q_UNUSED(airframe);
...@@ -331,15 +340,10 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) ...@@ -331,15 +340,10 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
paramGroups.insert(component, new QMap<QString, QTreeWidgetItem*>()); paramGroups.insert(component, new QMap<QString, QTreeWidgetItem*>());
tree->addTopLevelItem(comp); tree->addTopLevelItem(comp);
tree->update(); tree->update();
// Create map in parameters
if (!onboardParameters.contains(component)) {
onboardParameters.insert(component, new QMap<QString, QVariant>());
}
// // Create map in changed parameters
// if (!changedValues.contains(component)) {
// changedValues.insert(component, new QMap<QString, QVariant>());
// }
} }
paramDataModel->addComponent(component);
} }
/** /**
...@@ -496,7 +500,7 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCo ...@@ -496,7 +500,7 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCo
*/ */
void QGCParamWidget::receivedParameterUpdate(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; qDebug() << "PARAM WIDGET GOT PARAM:" << parameterName;
Q_UNUSED(uas); Q_UNUSED(uas);
// Reference to item in tree // Reference to item in tree
QTreeWidgetItem* parameterItem = NULL; QTreeWidgetItem* parameterItem = NULL;
...@@ -523,9 +527,7 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString par ...@@ -523,9 +527,7 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString par
// Replace value in map // Replace value in map
// FIXME paramDataModel->setOnboardParameter(component,parameterName,value);
if (onboardParameters.value(component)->contains(parameterName)) onboardParameters.value(component)->remove(parameterName);
onboardParameters.value(component)->insert(parameterName, value);
QString splitToken = "_"; QString splitToken = "_";
...@@ -656,7 +658,7 @@ void QGCParamWidget::requestParameterList() ...@@ -656,7 +658,7 @@ void QGCParamWidget::requestParameterList()
// Clear view and request param list // Clear view and request param list
clear(); clear();
onboardParameters.clear(); paramDataModel->forgetAllOnboardParameters();
received.clear(); received.clear();
// Clear transmission state // Clear transmission state
transmissionListMode = true; transmissionListMode = true;
...@@ -681,69 +683,34 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) ...@@ -681,69 +683,34 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
parent = parent->parent(); parent = parent->parent();
} }
// Parent is now top-level component // Parent is now top-level component
int key = components->key(parent); int componentId = components->key(parent);
//ensure we have a placeholder map for this component QString key = current->data(0, Qt::DisplayRole).toString();
QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters(); QVariant value = current->data(1, Qt::DisplayRole);
if (!changedValues.contains(key)) { // Set parameter on changed list to be transmitted to MAV
changedValues.insert(key, new QMap<QString, QVariant>()); QPalette pal = statusLabel->palette();
} pal.setColor(backgroundRole(), QGC::colorOrange);
statusLabel->setPalette(pal);
statusLabel->setText(tr("Transmit pend. %1:%2: %3").arg(componentId).arg(key).arg(value.toFloat(), 5, 'f', 1, QChar(' ')));
//qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
// Changed values list
//insert the changed value into the map bool changed = paramDataModel->addPendingIfParameterChanged(componentId,key,value);
QMap<QString, QVariant>* map = changedValues.value(key, NULL);
if (map) {
QString str = current->data(0, Qt::DisplayRole).toString();
QVariant value = current->data(1, Qt::DisplayRole);
// Set parameter on changed list to be transmitted to MAV
QPalette pal = statusLabel->palette();
pal.setColor(backgroundRole(), QGC::colorOrange);
statusLabel->setPalette(pal);
statusLabel->setText(tr("Transmit pend. %1:%2: %3").arg(key).arg(str).arg(value.toFloat(), 5, 'f', 1, QChar(' ')));
//qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
// Changed values list
if (map->contains(str)) map->remove(str);
map->insert(str, value);
// Check if the value was numerically changed
if (!onboardParameters.value(key)->contains(str) || onboardParameters.value(key)->value(str, value.toDouble()-1) != value) {
current->setBackground(0, QBrush(QColor(QGC::colorOrange)));
current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
}
switch ((int)onboardParameters.value(key)->value(str).type()) // If the value was numerically changed, display it differently
{ if (changed) {
case QVariant::Int: current->setBackground(0, QBrush(QColor(QGC::colorOrange)));
{ current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
QVariant fixedValue(value.toInt());
onboardParameters.value(key)->insert(str, fixedValue); //TODO this seems incorrect-- we're pre-updating the onboard value before we've received confirmation
} paramDataModel->setOnboardParameterWithType(componentId,key,value);
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
onboardParameters.value(key)->insert(str, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
onboardParameters.value(key)->insert(str, fixedValue);
}
break;
case QMetaType::QChar:
{
QVariant fixedValue(QChar((unsigned char)value.toUInt()));
onboardParameters.value(key)->insert(str, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE";
return;
}
} }
} }
} }
void QGCParamWidget::saveParametersToFile() void QGCParamWidget::saveParametersToFile()
{ {
if (!mav) return; if (!mav) return;
...@@ -753,92 +720,12 @@ void QGCParamWidget::saveParametersToFile() ...@@ -753,92 +720,12 @@ void QGCParamWidget::saveParametersToFile()
return; return;
} }
QTextStream in(&file); QTextStream outstream(&file);
paramDataModel->writeOnboardParametersToStream(outstream,mav->getUASName());
in << "# Onboard parameters for system " << mav->getUASName() << "\n";
in << "#\n";
in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n";
// Iterate through all components, through all parameters and emit them
QMap<int, QMap<QString, QVariant>*>::iterator i;
for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) {
// Iterate through the parameters of the component
int compid = i.key();
QMap<QString, QVariant>* comp = i.value();
{
QMap<QString, QVariant>::iterator j;
for (j = comp->begin(); j != comp->end(); ++j)
{
QString paramValue("%1");
QString paramType("%1");
switch ((int)j.value().type())
{
case QVariant::Int:
paramValue = paramValue.arg(j.value().toInt());
paramType = paramType.arg(MAV_PARAM_TYPE_INT32);
break;
case QVariant::UInt:
paramValue = paramValue.arg(j.value().toUInt());
paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
break;
case QMetaType::Float:
// We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
// (see IEEE 754, 32 bit single-precision)
paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
break;
default:
qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();
return;
}
in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n";
in.flush();
}
}
}
file.close(); file.close();
} }
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() void QGCParamWidget::loadParametersFromFile()
{ {
if (!mav) return; if (!mav) return;
...@@ -847,36 +734,8 @@ void QGCParamWidget::loadParametersFromFile() ...@@ -847,36 +734,8 @@ void QGCParamWidget::loadParametersFromFile()
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return; return;
bool userWarned = false;
QTextStream in(&file); QTextStream in(&file);
while (!in.atEnd()) { paramDataModel->readUpdateParametersFromStream(in);
QString line = in.readLine();
if (!line.startsWith("#")) {
QStringList wpParams = line.split("\t");
if (wpParams.size() == 5) {
// Only load parameters for right mav
if (!userWarned && (mav->getUASID() != wpParams.at(0).toInt())) {
MainWindow::instance()->showCriticalMessage(tr("Parameter loading warning"), tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
userWarned = true;
}
bool changed = false;
int componentId = wpParams.at(1).toInt();
QString parameterName = wpParams.at(2);
if (!onboardParameters.contains(componentId) ||
fabs((static_cast<float>(onboardParameters.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();
}
if (changed) {
loadedParameterForComponent(componentId,wpParams);
}
}
}
}
file.close(); file.close();
} }
...@@ -930,7 +789,8 @@ void QGCParamWidget::retransmissionGuardTick() ...@@ -930,7 +789,8 @@ void QGCParamWidget::retransmissionGuardTick()
// Re-request at maximum retransmissionBurstRequestSize parameters at once // Re-request at maximum retransmissionBurstRequestSize parameters at once
// to prevent link flooding // to prevent link flooding
QMap<int, QMap<QString, QVariant>*>::iterator i; QMap<int, QMap<QString, QVariant>*>::iterator i;
for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) { QMap<int, QMap<QString, QVariant>*> onboardParams = paramDataModel->getOnboardParameters();
for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
// Iterate through the parameters of the component // Iterate through the parameters of the component
int component = i.key(); int component = i.key();
// Request n parameters from this component (at maximum) // Request n parameters from this component (at maximum)
...@@ -961,7 +821,7 @@ void QGCParamWidget::retransmissionGuardTick() ...@@ -961,7 +821,7 @@ void QGCParamWidget::retransmissionGuardTick()
if (count < retransmissionBurstRequestSize) { if (count < retransmissionBurstRequestSize) {
// Re-request write operation // Re-request write operation
QVariant value = missingParams->value(key); QVariant value = missingParams->value(key);
switch ((int)onboardParameters.value(component)->value(key).type()) switch ((int)onboardParams.value(component)->value(key).type())
{ {
case QVariant::Int: case QVariant::Int:
{ {
...@@ -1015,23 +875,27 @@ void QGCParamWidget::requestParameterUpdate(int component, const QString& parame ...@@ -1015,23 +875,27 @@ void QGCParamWidget::requestParameterUpdate(int component, const QString& parame
*/ */
void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value) void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
{ {
if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName)) double dblValue = value.toDouble();
if (paramMin.contains(parameterName) && dblValue < paramMin.value(parameterName))
{ {
statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble())); statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
return; return;
} }
if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName)) if (paramMax.contains(parameterName) && dblValue > paramMax.value(parameterName))
{ {
statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble())); statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
return; return;
} }
if (onboardParameters.value(component)->value(parameterName) == value) QVariant onboardVal;
{ paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble())); if (onboardVal == value) {
statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
return; return;
} }
switch ((int)onboardParameters.value(component)->value(parameterName).type()) //int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
int paramType = (int)value.type();
switch (paramType)
{ {
case QVariant::Char: case QVariant::Char:
{ {
......
src/ui/QGCParamWidget.h
View file @ c70d9920
...@@ -58,7 +58,7 @@ public: ...@@ -58,7 +58,7 @@ public:
double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); } double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); } double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
QString getParamInfo(const QString& param) { return paramToolTips.value(param, ""); } QString getParamInfo(const QString& param) { return paramToolTips.value(param, ""); }
void setParamInfo(const QMap<QString,QString>& param) { paramToolTips = param; } void setParamInfo(const QMap<QString,QString>& paramInfo);
signals: signals:
/** @brief A parameter was changed in the widget, NOT onboard */ /** @brief A parameter was changed in the widget, NOT onboard */
...@@ -96,8 +96,6 @@ public slots: ...@@ -96,8 +96,6 @@ public slots:
/** @brief Load parameters from a file */ /** @brief Load parameters from a file */
void loadParametersFromFile(); void loadParametersFromFile();
void loadedParameterForComponent(int componentId, QStringList& wpParams );
/** @brief Check for missing parameters */ /** @brief Check for missing parameters */
void retransmissionGuardTick(); void retransmissionGuardTick();
......
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