Refactor parameter apis from AutoPilotPlugin to ParameterManager

QGCCommon.pri

@@ -66,7 +66,7 @@ linux {
         } else {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
         }
-        QMAKE_MAC_SDK = macosx10.11
+        QMAKE_MAC_SDK = macosx10.12
         QMAKE_CXXFLAGS += -fvisibility=hidden
     } else {
         error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported")

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -7,12 +7,9 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "APMAirframeComponent.h"
 #include "ArduCopterFirmwarePlugin.h"
+#include "ParameterManager.h"
 
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
@@ -52,7 +49,7 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
+        return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
     } else {
         return true;
     }

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

@@ -18,6 +18,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCApplication.h"
 #include "QGCFileDownload.h"
+#include "ParameterManager.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -107,7 +108,7 @@ void APMAirframeComponentController::_loadParametersFromDownloadFile(const QStri
         }
     }
     qgcApp()->restoreOverrideCursor();
-    _autopilot->refreshAllParameters();
+    _vehicle->parameterManager()->refreshAllParameters();
 }
 
 APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -59,9 +59,7 @@ APMAutoPilotPlugin::~APMAutoPilotPlugin()
 const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {
-        Q_ASSERT(_vehicle);
-
-        if (parametersReady()) {
+        if (_vehicle->parameterManager()->parametersReady()) {
             _airframeComponent = new APMAirframeComponent(_vehicle, this);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
@@ -107,7 +105,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
 
             //-- Is there an ESP8266 Connected?
-            if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
+            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                 _esp8266Component = new ESP8266Component(_vehicle, this);
                 _esp8266Component->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
@@ -119,25 +117,3 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 
     return _components;
 }
-
-/// This will perform various checks prior to signalling that the plug in ready
-void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
-{
-#if 0
-    I believe APM has parameter version stamp, we should check that
-
-            // Check for older parameter version set
-            // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
-            // should be used instead.
-            if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
-        _incorrectParameterVersion = true;
-        qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
-                              "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
-    }
-#endif
-    Q_UNUSED(missingParameters);
-    _parametersReady = true;
-    _missingParameters = false; // we apply only the parameters that do exists on the FactSystem.
-    emit missingParametersChanged(_missingParameters);
-    emit parametersReadyChanged(_parametersReady);
-}

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -52,10 +52,6 @@ public:
     APMTuningComponent*         tuningComponent     (void) const { return _tuningComponent; }
     ESP8266Component*           esp8266Component    (void) const { return _esp8266Component; }
 
-public slots:
-    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
-    void _parametersReadyPreChecks(bool missingParameters);
-
 private:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     QVariantList            _components;

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -10,6 +10,7 @@
 
 #include "APMCompassCal.h"
 #include "AutoPilotPlugin.h"
+#include "ParameterManager.h"
 
 QGC_LOGGING_CATEGORY(APMCompassCalLog, "APMCompassCalLog")
 
@@ -613,11 +614,11 @@ void APMCompassCal::startCalibration(void)
         _calWorkerThread->rgCompassAvailable[i] = true;
 
         const char* deviceIdParam = CalWorkerThread::rgCompassParams[i][3];
-        if (_vehicle->parameterExists(-1, deviceIdParam)) {
-            _calWorkerThread->rgCompassAvailable[i] = _vehicle->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
+        if (_vehicle->parameterManager()->parameterExists(-1, deviceIdParam)) {
+            _calWorkerThread->rgCompassAvailable[i] = _vehicle->parameterManager()->getParameter(-1, deviceIdParam)->rawValue().toInt() > 0;
             for (int j=0; j<3; j++) {
                 const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-                Fact* paramFact = _vehicle->getParameterFact(-1, offsetParam);
+                Fact* paramFact = _vehicle->parameterManager()->getParameter(-1, offsetParam);
 
                 _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat();
                 paramFact->setRawValue(0.0);
@@ -639,8 +640,8 @@ void APMCompassCal::cancelCalibration(void)
     for (int i=0; i<3; i++) {
         for (int j=0; j<3; j++) {
             const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-            if (_vehicle->parameterExists(-1, offsetParam)) {
-                _vehicle->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
+            if (_vehicle->parameterManager()->parameterExists(-1, offsetParam)) {
+                _vehicle->parameterManager()->getParameter(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
             }
         }
     }

src/AutoPilotPlugins/APM/APMPowerComponent.cc

@@ -11,6 +11,7 @@
 #include "APMPowerComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMPowerComponent::APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent),
@@ -40,7 +41,7 @@ bool APMPowerComponent::requiresSetup(void) const
 
 bool APMPowerComponent::setupComplete(void) const
 {
-    return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
+    return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
 }
 
 QStringList APMPowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -11,6 +11,7 @@
 #include "APMRadioComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
@@ -19,7 +20,7 @@ APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilo
     _mapParams << QStringLiteral("RCMAP_ROLL") << QStringLiteral("RCMAP_PITCH") << QStringLiteral("RCMAP_YAW") << QStringLiteral("RCMAP_THROTTLE");
 
     foreach (const QString& mapParam, _mapParams) {
-        Fact* fact = _vehicle->getParameterFact(-1, mapParam);
+        Fact* fact = _vehicle->parameterManager()->getParameter(-1, mapParam);
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }
 
@@ -56,7 +57,7 @@ bool APMRadioComponent::setupComplete(void) const
 
     // First check for all attitude controls mapped
     for (int i=0; i<_mapParams.count(); i++) {
-        mapValues << _vehicle->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
+        mapValues << _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
         if (mapValues[i] <= 0) {
             return false;
         }
@@ -64,14 +65,14 @@ bool APMRadioComponent::setupComplete(void) const
 
     // Next check RC#_MIN/MAX/TRIM all at defaults
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _vehicle->getParameterFact(-1, mapParam)->rawValue().toInt();
-        if (_vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
+        int channel = _vehicle->parameterManager()->getParameter(-1, mapParam)->rawValue().toInt();
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
             return true;
         }
-        if (_vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
             return true;
         }
-        if (_vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
             return true;
         }
     }
@@ -116,17 +117,17 @@ void APMRadioComponent::_connectSetupTriggers(void)
 
     // Get the channels for attitude controls and connect to those values for triggers
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
+        int channel = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
 
-        Fact* fact = _vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
+        Fact* fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_MIN").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
+        fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_MAX").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
+        fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_TRIM").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -12,6 +12,7 @@
 #include "APMAutoPilotPlugin.h"
 #include "APMSensorsComponentController.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 // These two list must be kept in sync
 
@@ -62,7 +63,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
     // Accelerometer triggers
     triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
 
-    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         triggers << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
         triggers << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
         triggers << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
@@ -108,10 +109,10 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
     rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
 
     for (size_t i=0; i<cCompass; i++) {
-        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
-            _vehicle->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
+        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
+            _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
             for (size_t j=0; j<cOffset; j++) {
-                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }
@@ -133,7 +134,7 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     rgOffsets.clear();
 
     // This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
-    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
 
         // We have usage information for the remaining accels, so we can test them sa well
@@ -147,9 +148,9 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     }
 
     for (int i=0; i<rgAccels.count(); i++) {
-        if (rgUse.count() == 0 || _vehicle->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
+        if (rgUse.count() == 0 || _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
             for (int j=0; j<rgAccels[0].count(); j++) {
-                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -13,6 +13,7 @@
 #include "UAS.h"
 #include "QGCApplication.h"
 #include "APMAutoPilotPlugin.h"
+#include "ParameterManager.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -214,9 +215,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    if (uasId != uas->getUASID()) {
+    if (uasId != _vehicle->id()) {
         return;
     }
 
@@ -428,12 +427,12 @@ void APMSensorsComponentController::_refreshParams(void)
     fastRefreshList << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X")
                     << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
     foreach (const QString &paramName, fastRefreshList) {
-        _autopilot->refreshParameter(FactSystem::defaultComponentId, paramName);
+        _vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, paramName);
     }
     
     // Now ask for all to refresh
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("COMPASS_"));
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("INS_"));
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("COMPASS_"));
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("INS_"));
 }
 
 void APMSensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -11,6 +11,7 @@
 #include "APMTuningComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMTuningComponent::APMTuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
@@ -60,7 +61,7 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
             // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
-            if (_vehicle->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
+            if (_vehicle->parameterManager()->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
                 qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentCopter.qml");
             }
             break;

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -21,15 +21,9 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)
     , _firmwarePlugin(vehicle->firmwarePlugin())
-    , _parametersReady(false)
-    , _missingParameters(false)
 	, _setupComplete(false)
 {
-    Q_ASSERT(vehicle);
-	
-	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
 
-	connect(this, &AutoPilotPlugin::parametersReadyChanged, this, &AutoPilotPlugin::_parametersReadyChanged);
 }
 
 AutoPilotPlugin::~AutoPilotPlugin()
@@ -37,26 +31,6 @@ AutoPilotPlugin::~AutoPilotPlugin()
     
 }
 
-void AutoPilotPlugin::_uasDisconnected(void)
-{
-	_parametersReady = false;
-	emit parametersReadyChanged(_parametersReady);
-}
-
-void AutoPilotPlugin::_parametersReadyChanged(bool parametersReady)
-{
-	if (parametersReady) {
-		_recalcSetupComplete();
-		if (!_setupComplete) {
-            qgcApp()->showMessage("One or more vehicle components require setup prior to flight.");
-			
-			// Take the user to Vehicle Summary
-            qgcApp()->showSetupView();
-			qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-		}
-	}
-}
-
 void AutoPilotPlugin::_recalcSetupComplete(void)
 {
 	bool newSetupComplete = true;
@@ -79,81 +53,17 @@ void AutoPilotPlugin::_recalcSetupComplete(void)
 
 bool AutoPilotPlugin::setupComplete(void)
 {
-	Q_ASSERT(_parametersReady);
 	return _setupComplete;
 }
 
-void AutoPilotPlugin::resetAllParametersToDefaults(void)
-{
-    mavlink_message_t msg;
-    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  _vehicle->id(),                   // Target systeem
-                                  _vehicle->defaultComponentId(),   // Target component
-                                  MAV_CMD_PREFLIGHT_STORAGE,
-                                  0,                                // Confirmation
-                                  2,                                // 2 = Reset params to default
-                                  -1,                               // -1 = No change to mission storage
-                                  0,                                // 0 = Ignore
-                                  0, 0, 0, 0);                      // Unused
-    _vehicle->sendMessageOnPriorityLink(msg);
-}
-
-void AutoPilotPlugin::refreshAllParameters(unsigned char componentID)
-{
-    _vehicle->getParameterManager()->refreshAllParameters((uint8_t)componentID);
-}
-
-void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
-{
-    _vehicle->getParameterManager()->refreshParameter(componentId, name);
-}
-
-void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
+void AutoPilotPlugin::parametersReadyPreChecks(void)
 {
-    _vehicle->getParameterManager()->refreshParametersPrefix(componentId, namePrefix);
-}
+    _recalcSetupComplete();
+    if (!_setupComplete) {
+        qgcApp()->showMessage("One or more vehicle components require setup prior to flight.");
 
-bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
-{
-    switch (provider) {
-        case FactSystem::ParameterProvider:
-            return _vehicle->getParameterManager()->parameterExists(componentId, name);
-            
-        // Other providers will go here once they come online
+        // Take the user to Vehicle Summary
+        qgcApp()->showSetupView();
+        qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    
-    Q_ASSERT(false);
-    return false;
-}
-
-Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId, const QString& name)
-{
-    switch (provider) {
-        case FactSystem::ParameterProvider:
-            return _vehicle->getParameterManager()->getFact(componentId, name);
-            
-        // Other providers will go here once they come online
-    }
-    
-    Q_ASSERT(false);
-    return NULL;
-}
-
-QStringList AutoPilotPlugin::parameterNames(int componentId)
-{
-    return _vehicle->getParameterManager()->parameterNames(componentId);
-}
-
-void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
-{
-    _vehicle->getParameterManager()->writeParametersToStream(stream);
-}
-
-QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
-{
-    return _vehicle->getParameterManager()->readParametersFromStream(stream);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -38,68 +38,24 @@ public:
     AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
 
-    /// true: parameters are ready for use
-    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
-
-    /// true: parameters are missing from firmware response, false: all parameters received from firmware
-    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
-
     /// List of VehicleComponent objects
     Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
 
     /// false: One or more vehicle components require setup
     Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
 
-    /// Reset all parameters to their default values
-    Q_INVOKABLE void resetAllParametersToDefaults(void);
-
-    /// Re-request the full set of parameters from the autopilot
-    Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
-
-    /// Request a refresh on the specific parameter
-    Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
-
-    /// Request a refresh on all parameters that begin with the specified prefix
-    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
-
-    /// Returns all parameter names
-    QStringList parameterNames(int componentId);
-
-    /// Writes the parameter facts to the specified stream
-    void writeParametersToStream(QTextStream &stream);
-
-    /// Reads the parameters from the stream and updates values
-    /// @return Errors during load. Empty string for no errors
-    QString readParametersFromStream(QTextStream &stream);
-
-    /// Returns true if the specifed fact exists
-    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
-                                int                     componentId,    ///< fact component, -1=default component
-                                const QString&          name);          ///< fact name
-
-    /// Returns the specified Fact.
-    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
-    /// factExists.
-    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
-                  int                       componentId,    ///< fact component, -1=default component
-                  const QString&            name);          ///< fact name
+    /// Called when parameters are ready for the first time. Note that parameters may still be missing.
+    /// Overrides must call base class.
+    virtual void parametersReadyPreChecks(void);
 
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
 
     // Property accessors
-    bool parametersReady(void) { return _parametersReady; }
-    bool missingParameters(void) { return _missingParameters; }
     bool setupComplete(void);
 
-    Vehicle* vehicle(void) { return _vehicle; }
-    virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
-
 signals:
-    void parametersReadyChanged(bool parametersReady);
-    void missingParametersChanged(bool missingParameters);
     void setupCompleteChanged(bool setupComplete);
-    void parameterListProgress(float value);
 
 protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
@@ -107,15 +63,8 @@ protected:
 
     Vehicle*        _vehicle;
     FirmwarePlugin* _firmwarePlugin;
-    bool            _parametersReady;
-    bool            _missingParameters;
     bool            _setupComplete;
 
-
-private slots:
-    void _uasDisconnected(void);
-    void _parametersReadyChanged(bool parametersReady);
-
 private:
     void _recalcSetupComplete(void);
 };

src/AutoPilotPlugins/Common/ESP8266ComponentController.cc

@@ -16,6 +16,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCApplication.h"
 #include "UAS.h"
+#include "ParameterManager.h"
 
 #include <QHostAddress>
 #include <QtEndian>
@@ -393,7 +394,7 @@ ESP8266ComponentController::_commandAck(uint8_t compID, uint16_t command, uint8_
             emit busyChanged();
             qCDebug(ESP8266ComponentControllerLog) << "_commandAck for" << command;
             if(command == MAV_CMD_PREFLIGHT_STORAGE) {
-                _autopilot->refreshAllParameters(MAV_COMP_ID_UDP_BRIDGE);
+                _vehicle->parameterManager()->refreshAllParameters(MAV_COMP_ID_UDP_BRIDGE);
             }
         }
     }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -25,12 +25,3 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
     
     return emptyList;
 }
-
-/// This will perform various checks prior to signalling that the plug in ready
-void GenericAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
-{
-    _parametersReady = true;
-    _missingParameters = missingParameters;
-    emit missingParametersChanged(_missingParameters);
-    emit parametersReadyChanged(_parametersReady);
-}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -27,10 +27,6 @@ public:
     
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
-    
-public slots:
-    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
-    void _parametersReadyPreChecks(bool missingParameters);
 };
 
 #endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -13,6 +13,7 @@
 
 #include "AirframeComponent.h"
 #include "QGCQmlWidgetHolder.h"
+#include "ParameterManager.h"
 
 #if 0
 // Broken by latest mavlink module changes. Not used yet. Comment out for now.
@@ -129,7 +130,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
+    return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 }
 
 QStringList AirframeComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,17 +43,17 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         return true;
     }
 
-    if (_vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
-            (_vehicle->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+    if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+            (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
         return true;
     }
 
@@ -81,7 +81,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         // No RC input
         return QString();
     } else {
@@ -92,7 +92,7 @@ QString FlightModesComponent::prerequisiteSetup(void) const
             return plugin->airframeComponent()->name();
         } else if (!plugin->radioComponent()->setupComplete()) {
             return plugin->radioComponent()->name();
-        } else if (!plugin->vehicle()->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
+        } else if (!_vehicle->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
             return plugin->sensorsComponent()->name();
         }
     }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -52,7 +52,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     if (_components.count() == 0 && !_incorrectParameterVersion) {
         Q_ASSERT(_vehicle);
 
-        if (parametersReady()) {
+        if (_vehicle->parameterManager()->parametersReady()) {
             _airframeComponent = new AirframeComponent(_vehicle, this);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
@@ -91,14 +91,14 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
 
             //-- Is there support for cameras?
-            if(factExists(FactSystem::ParameterProvider, _vehicle->id(), "TRIG_MODE")) {
+            if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
                 _cameraComponent = new CameraComponent(_vehicle, this);
                 _cameraComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
             }
 
             //-- Is there an ESP8266 Connected?
-            if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
+            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                 _esp8266Component = new ESP8266Component(_vehicle, this);
                 _esp8266Component->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
@@ -111,21 +111,18 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     return _components;
 }
 
-/// This will perform various checks prior to signalling that the plug in ready