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Commit cd2bcb07 authored by LM's avatar LM
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Tested and validated parameter transmission

parent 7ca73ac3
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Showing with 211 additions and 59 deletions
src/uas/UAS.cc
View file @ cd2bcb07
......@@ -664,6 +664,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
int component = message.compid;
mavlink_param_union_t val;
val.param_float = value.param_value;
val.type = value.param_type;
// Convert to machine order if necessary
//#if MAVLINK_NEED_BYTE_SWAP
......@@ -686,22 +687,37 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
switch (value.param_type)
{
case MAVLINK_TYPE_FLOAT:
parameters.value(component)->insert(parameterName, val.param_float);
{
// Variant
QVariant param(val.param_float);
parameters.value(component)->insert(parameterName, param);
// Emit change
emit parameterChanged(uasId, message.compid, parameterName, val.param_float);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_float);
emit parameterChanged(uasId, message.compid, parameterName, param);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAVLINK_TYPE_UINT32_T:
parameters.value(component)->insert(parameterName, val.param_uint32);
{
// Variant
QVariant param(val.param_uint32);
parameters.value(component)->insert(parameterName, param);
// Emit change
emit parameterChanged(uasId, message.compid, parameterName, val.param_uint32);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint32);
emit parameterChanged(uasId, message.compid, parameterName, param);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAVLINK_TYPE_INT32_T:
parameters.value(component)->insert(parameterName, val.param_int32);
{
// Variant
QVariant param(val.param_int32);
parameters.value(component)->insert(parameterName, param);
// Emit change
emit parameterChanged(uasId, message.compid, parameterName, val.param_int32);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int32);
emit parameterChanged(uasId, message.compid, parameterName, param);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
......@@ -1861,6 +1877,8 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
p.target_system = (uint8_t)uasId;
p.target_component = (uint8_t)component;
qDebug() << "SENT PARAM:" << value;
// Copy string into buffer, ensuring not to exceed the buffer size
for (unsigned int i = 0; i < sizeof(p.param_id); i++)
{
......
src/ui/QGCParamWidget.cc
View file @ cd2bcb07
......@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include <QFile>
#include <QList>
#include <QSettings>
#include <QMessageBox>
#include "QGCParamWidget.h"
#include "UASInterface.h"
......@@ -291,8 +292,9 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
Q_UNUSED(uas);
if (components->contains(component)) {
// Update existing
components->value(component)->setData(0, Qt::DisplayRole, componentName);
components->value(component)->setData(1, Qt::DisplayRole, QString::number(component));
components->value(component)->setData(0, Qt::DisplayRole, QString("%1 (#%2)").arg(componentName).arg(component));
//components->value(component)->setData(1, Qt::DisplayRole, QString::number(component));
components->value(component)->setFirstColumnSpanned(true);
} else {
// Add new
QStringList list(QString("%1 (#%2)").arg(componentName).arg(component));
......@@ -451,6 +453,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
*/
void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value)
{
qDebug() << "PARAM WIDGET GOT PARAM:" << value;
Q_UNUSED(uas);
// Reference to item in tree
QTreeWidgetItem* parameterItem = NULL;
......@@ -458,20 +461,20 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
// Get component
if (!components->contains(component))
{
QString componentName;
switch (component)
{
case MAV_COMP_ID_CAMERA:
componentName = tr("Camera (#%1)").arg(component);
break;
case MAV_COMP_ID_IMU:
componentName = tr("IMU (#%1)").arg(component);
break;
default:
componentName = tr("Component #").arg(component);
break;
}
// QString componentName;
// switch (component)
// {
// case MAV_COMP_ID_CAMERA:
// componentName = tr("Camera (#%1)").arg(component);
// break;
// case MAV_COMP_ID_IMU:
// componentName = tr("IMU (#%1)").arg(component);
// break;
// default:
// componentName = tr("Component #").arg(component);
// break;
// }
QString componentName = tr("Component #").arg(component);
addComponent(uas, component, componentName);
}
......@@ -518,10 +521,10 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
// Insert parameter into map
QStringList plist;
plist.append(parameterName);
plist.append(QString::number(value.toDouble()));
// CREATE PARAMETER ITEM
parameterItem = new QTreeWidgetItem(plist);
// CONFIGURE PARAMETER ITEM
parameterItem->setData(1, Qt::DisplayRole, value);
compParamGroups->value(parent)->addChild(parameterItem);
parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable);
......@@ -549,10 +552,10 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
// Insert parameter into map
QStringList plist;
plist.append(parameterName);
plist.append(QString::number(value.toDouble()));
// CREATE PARAMETER ITEM
parameterItem = new QTreeWidgetItem(plist);
// CONFIGURE PARAMETER ITEM
parameterItem->setData(1, Qt::DisplayRole, value);
components->value(component)->addChild(parameterItem);
parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable);
......@@ -563,8 +566,18 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
parameterItem->setBackground(0, QBrush(QColor(0, 0, 0)));
parameterItem->setBackground(1, Qt::NoBrush);
// Add tooltip
parameterItem->setToolTip(0, paramToolTips.value(parameterName, ""));
parameterItem->setToolTip(1, paramToolTips.value(parameterName, ""));
QString tooltipFormat;
if (paramDefault.contains(parameterName))
{
tooltipFormat = tr("Default: %1, %2");
tooltipFormat = tooltipFormat.arg(paramToolTips.value(parameterName, ""), paramDefault.value(parameterName));
}
else
{
tooltipFormat = paramToolTips.value(parameterName, "");
}
parameterItem->setToolTip(0, tooltipFormat);
parameterItem->setToolTip(1, tooltipFormat);
//tree->update();
if (changedValues.contains(component)) changedValues.value(component)->remove(parameterName);
......@@ -619,28 +632,45 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
}
QMap<QString, QVariant>* map = changedValues.value(key, NULL);
if (map) {
bool ok;
QString str = current->data(0, Qt::DisplayRole).toString();
float value = current->data(1, Qt::DisplayRole).toDouble(&ok);
QVariant value = current->data(1, Qt::DisplayRole);
qDebug() << "CHANGED PARAM:" << value;
// Set parameter on changed list to be transmitted to MAV
if (ok) {
if (ok) {
statusLabel->setText(tr("Changed Param %1:%2: %3").arg(key).arg(str).arg(value));
//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 (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, 0.0f) != value) {
current->setBackground(0, QBrush(QColor(QGC::colorOrange)));
current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
}
statusLabel->setText(tr("Changed Param %1:%2: %3").arg(key).arg(str).arg(value.toDouble()));
//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 (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, value.toDouble()-1) != value) {
current->setBackground(0, QBrush(QColor(QGC::colorOrange)));
current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
}
// All parameters list
if (parameters.value(key)->contains(str)) parameters.value(key)->remove(str);
parameters.value(key)->insert(str, value);
switch (parameters.value(key)->value(str).type())
{
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
parameters.value(key)->insert(str, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
parameters.value(key)->insert(str, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
parameters.value(key)->insert(str, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE";
return;
}
}
}
......@@ -672,8 +702,26 @@ void QGCParamWidget::saveParameters()
for (j = comp->begin(); j != comp->end(); ++j)
{
QString paramValue("%1");
paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n";
QString paramType("%1");
switch (j.value().type())
{
case QVariant::Int:
paramValue = paramValue.arg(j.value().toInt());
paramType.arg(MAVLINK_TYPE_INT32_T);
break;
case QVariant::UInt:
paramValue = paramValue.arg(j.value().toUInt());
paramType.arg(MAVLINK_TYPE_UINT32_T);
break;
case QMetaType::Float:
paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
paramType.arg(MAVLINK_TYPE_FLOAT);
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();
}
}
......@@ -697,14 +745,14 @@ void QGCParamWidget::loadParameters()
QString line = in.readLine();
if (!line.startsWith("#")) {
QStringList wpParams = line.split("\t");
if (wpParams.size() == 4) {
if (wpParams.size() == 5) {
// Only load parameters for right mav
if (mav->getUASID() == wpParams.at(0).toInt()) {
bool changed = false;
int component = wpParams.at(1).toInt();
QString parameterName = wpParams.at(2);
if (!parameters.contains(component) || parameters.value(component)->value(parameterName, 0.0f) != (float)wpParams.at(3).toDouble()) {
if (!parameters.contains(component) || parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()-3.0f) != (float)wpParams.at(3).toDouble()) {
changed = true;
}
......@@ -722,9 +770,20 @@ void QGCParamWidget::loadParameters()
changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2));
}
changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), (float)wpParams.at(3).toDouble());
switch (wpParams.at(3).toUInt())
{
case MAVLINK_TYPE_FLOAT:
changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat());
break;
case MAVLINK_TYPE_UINT32_T:
changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt());
break;
case MAVLINK_TYPE_INT32_T:
changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt());
break;
}
//qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
// Mark in UI
......@@ -817,7 +876,31 @@ void QGCParamWidget::retransmissionGuardTick()
foreach (QString key, missingParams->keys()) {
if (count < retransmissionBurstRequestSize) {
// Re-request write operation
emit parameterChanged(component, key, missingParams->value(key));
QVariant value = missingParams->value(key);
switch (parameters.value(component)->value(key).type())
{
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, key, fixedValue);
}
break;
default:
qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE";
return;
}
statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble()));
count++;
} else {
......@@ -858,7 +941,35 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
return;
}
emit parameterChanged(component, parameterName, value);
switch (parameters.value(component)->value(parameterName).type())
{
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
emit parameterChanged(component, parameterName, fixedValue);
qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
emit parameterChanged(component, parameterName, fixedValue);
qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
emit parameterChanged(component, parameterName, fixedValue);
qDebug() << "PARAM WIDGET SENT:" << fixedValue;
}
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
// Wait for parameter to be written back
// mark it therefore as missing
if (!transmissionMissingWriteAckPackets.contains(component))
......@@ -914,8 +1025,6 @@ void QGCParamWidget::setParameters()
// Enable guard
setRetransmissionGuardEnabled(true);
}
changedValues.clear();
}
/**
......@@ -924,8 +1033,33 @@ void QGCParamWidget::setParameters()
*/
void QGCParamWidget::writeParameters()
{
if (!mav) return;
mav->writeParametersToStorage();
int changedParamCount = 0;
QMap<int, QMap<QString, QVariant>*>::iterator i;
for (i = changedValues.begin(); i != changedValues.end(); ++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)
{
changedParamCount++;
}
}
}
if (changedParamCount > 0)
{
QMessageBox msgBox;
msgBox.setText(tr("There are locally changed parameters. Please transmit them first (<TRANSMIT>) or update them with the onboard values (<REFRESH>) before storing onboard from RAM to ROM."));
msgBox.exec();
}
else
{
if (!mav) return;
mav->writeParametersToStorage();
}
}
void QGCParamWidget::readParameters()
......
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