Commit f1070496 authored by Don Gagne's avatar Don Gagne

Move ParameterLoader override to FirmwarePlugin

parent 60a46a22
......@@ -507,8 +507,8 @@ INCLUDEPATH += \
HEADERS+= \
src/AutoPilotPlugins/AutoPilotPlugin.h \
src/AutoPilotPlugins/AutoPilotPluginManager.h \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
src/AutoPilotPlugins/Generic/GenericParameterFacts.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
src/AutoPilotPlugins/PX4/AirframeComponentController.h \
......@@ -518,7 +518,6 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
src/AutoPilotPlugins/PX4/RadioComponent.h \
src/AutoPilotPlugins/PX4/RadioComponentController.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
......@@ -527,11 +526,14 @@ HEADERS+= \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
src/FirmwarePlugin/APM/APMParameterLoader.h \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
src/FirmwarePlugin/Generic/GenericParameterLoader.h \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
src/FirmwarePlugin/PX4/PX4ParameterLoader.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/Vehicle.h \
src/VehicleSetup/VehicleComponent.h \
......@@ -548,8 +550,8 @@ HEADERS += \
SOURCES += \
src/AutoPilotPlugins/AutoPilotPlugin.cc \
src/AutoPilotPlugins/AutoPilotPluginManager.cc \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
......@@ -559,19 +561,21 @@ SOURCES += \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \
src/AutoPilotPlugins/PX4/RadioComponent.cc \
src/AutoPilotPlugins/PX4/RadioComponentController.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
src/FirmwarePlugin/APM/APMParameterLoader.cc \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePluginManager.cc \
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
src/FirmwarePlugin/Generic/GenericParameterLoader.cc \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
src/FirmwarePlugin/PX4/PX4ParameterLoader.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/Vehicle.cc \
src/VehicleSetup/VehicleComponent.cc \
......
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "APMAutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "QGCMessageBox.h"
#include "UAS.h"
#include "FirmwarePlugin/APM/APMParameterLoader.h" // FIXME: Hack
#include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack
/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
AutoPilotPlugin(vehicle, parent),
_incorrectParameterVersion(false)
{
Q_ASSERT(vehicle);
// This kicks off parameter load
_firmwarePlugin->getParameterLoader(this, vehicle);
}
APMAutoPilotPlugin::~APMAutoPilotPlugin()
{
}
void APMAutoPilotPlugin::clearStaticData(void)
{
APMParameterLoader::clearStaticData();
}
const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
{
static const QVariantList emptyList;
return emptyList;
}
/// 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;
QGCMessageBox::warning("Setup", "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
_parametersReady = true;
_missingParameters = missingParameters;
emit missingParametersChanged(_missingParameters);
emit parametersReadyChanged(_parametersReady);
}
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef APMAutoPilotPlugin_H
#define APMAutoPilotPlugin_H
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
/// This is the APM specific implementation of the AutoPilot class.
class APMAutoPilotPlugin : public AutoPilotPlugin
{
Q_OBJECT
public:
APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent);
~APMAutoPilotPlugin();
// Overrides from AutoPilotPlugin
virtual const QVariantList& vehicleComponents(void);
static void clearStaticData(void);
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
};
#endif
......@@ -30,10 +30,12 @@
#include "MainWindow.h"
#include "ParameterLoader.h"
#include "UAS.h"
#include "FirmwarePlugin.h"
AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _firmwarePlugin(vehicle->firmwarePlugin())
, _parametersReady(false)
, _missingParameters(false)
, _setupComplete(false)
......@@ -107,34 +109,34 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
void AutoPilotPlugin::refreshAllParameters(void)
{
_getParameterLoader()->refreshAllParameters();
_firmwarePlugin->getParameterLoader(this, _vehicle)->refreshAllParameters();
}
void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
{
_getParameterLoader()->refreshParameter(componentId, name);
_firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParameter(componentId, name);
}
void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
{
_getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
_firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParametersPrefix(componentId, namePrefix);
}
bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
{
return _getParameterLoader()->parameterExists(componentId, name);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
}
Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
{
return _getParameterLoader()->getFact(componentId, name);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
}
bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
{
switch (provider) {
case FactSystem::ParameterProvider:
return _getParameterLoader()->parameterExists(componentId, name);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
// Other providers will go here once they come online
}
......@@ -147,7 +149,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
{
switch (provider) {
case FactSystem::ParameterProvider:
return _getParameterLoader()->getFact(componentId, name);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
// Other providers will go here once they come online
}
......@@ -158,20 +160,20 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
QStringList AutoPilotPlugin::parameterNames(int componentId)
{
return _getParameterLoader()->parameterNames(componentId);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterNames(componentId);
}
const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
{
return _getParameterLoader()->getGroupMap();
return _firmwarePlugin->getParameterLoader(this, _vehicle)->getGroupMap();
}
void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
{
_getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
_firmwarePlugin->getParameterLoader(this, _vehicle)->writeParametersToStream(stream, _vehicle->uas()->getUASName());
}
QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
{
return _getParameterLoader()->readParametersFromStream(stream);
return _firmwarePlugin->getParameterLoader(this, _vehicle)->readParametersFromStream(stream);
}
......@@ -38,6 +38,7 @@
class ParameterLoader;
class Vehicle;
class FirmwarePlugin;
/// This is the base class for AutoPilot plugins
///
......@@ -132,20 +133,18 @@ protected:
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
/// Returns the ParameterLoader
virtual ParameterLoader* _getParameterLoader(void) = 0;
Vehicle* _vehicle;
bool _parametersReady;
bool _missingParameters;
bool _setupComplete;
Vehicle* _vehicle;
FirmwarePlugin* _firmwarePlugin;
bool _parametersReady;
bool _missingParameters;
bool _setupComplete;
private slots:
void _uasDisconnected(void);
void _parametersReadyChanged(bool parametersReady);
private:
void _recalcSetupComplete(void);
void _recalcSetupComplete(void);
};
#endif
......@@ -26,6 +26,7 @@
#include "AutoPilotPluginManager.h"
#include "PX4/PX4AutoPilotPlugin.h"
#include "APM/APMAutoPilotPlugin.h"
#include "Generic/GenericAutoPilotPlugin.h"
IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
......@@ -44,9 +45,12 @@ AutoPilotPluginManager::~AutoPilotPluginManager()
AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
{
if (vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
return new PX4AutoPilotPlugin(vehicle, vehicle);
} else {
return new GenericAutoPilotPlugin(vehicle, vehicle);
switch (vehicle->firmwareType()) {
case MAV_AUTOPILOT_PX4:
return new PX4AutoPilotPlugin(vehicle, vehicle);
case MAV_AUTOPILOT_ARDUPILOTMEGA:
return new APMAutoPilotPlugin(vehicle, vehicle);
default:
return new GenericAutoPilotPlugin(vehicle, vehicle);
}
}
......@@ -25,17 +25,15 @@
/// @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)
{
Q_ASSERT(vehicle);
_parameterFacts = new GenericParameterFacts(this, vehicle, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReadySlot);
connect(_parameterFacts, &GenericParameterFacts::parameterListProgress, this, &GenericAutoPilotPlugin::parameterListProgress);
// This kicks off parameter load
_firmwarePlugin->getParameterLoader(this, vehicle);
}
void GenericAutoPilotPlugin::clearStaticData(void)
......@@ -50,7 +48,8 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
return emptyList;
}
void GenericAutoPilotPlugin::_parametersReadySlot(bool missingParameters)
/// This will perform various checks prior to signalling that the plug in ready
void GenericAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
{
_parametersReady = true;
_missingParameters = missingParameters;
......
......@@ -25,7 +25,6 @@
#define GENERICAUTOPILOT_H
#include "AutoPilotPlugin.h"
#include "GenericParameterFacts.h"
/// @file
/// @brief This is the generic implementation of the AutoPilotPlugin class for mavs
......@@ -44,14 +43,9 @@ public:
static void clearStaticData(void);
private slots:
void _parametersReadySlot(bool missingParameters);
private:
// Overrides from AutoPilotPlugin
virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
GenericParameterFacts* _parameterFacts;
public slots:
// FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
void _parametersReadyPreChecks(bool missingParameters);
};
#endif
......@@ -23,12 +23,13 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "PX4ParameterLoader.h"
#include "PX4AirframeLoader.h"
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "QGCMessageBox.h"
#include "UAS.h"
#include "FirmwarePlugin/PX4/PX4ParameterLoader.h" // FIXME: Hack
#include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h" // FIXME: Hack
/// @file
/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
......@@ -66,7 +67,6 @@ union px4_custom_mode {
PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
AutoPilotPlugin(vehicle, parent),
_parameterFacts(NULL),
_airframeComponent(NULL),
_radioComponent(NULL),
_flightModesComponent(NULL),
......@@ -77,22 +77,17 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
{
Q_ASSERT(vehicle);
_parameterFacts = new PX4ParameterLoader(this, vehicle, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_parametersReadyPreChecks);
connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
_airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
Q_CHECK_PTR(_airframeFacts);
PX4ParameterLoader::loadParameterFactMetaData();
PX4AirframeLoader::loadAirframeFactMetaData();
// This kicks off parameter load
_firmwarePlugin->getParameterLoader(this, vehicle);
}
PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
{
delete _parameterFacts;
delete _airframeFacts;
}
......
......@@ -25,7 +25,6 @@
#define PX4AUTOPILOT_H
#include "AutoPilotPlugin.h"
#include "PX4ParameterLoader.h"
#include "PX4AirframeLoader.h"
#include "AirframeComponent.h"
#include "RadioComponent.h"
......@@ -62,14 +61,11 @@ public:
SafetyComponent* safetyComponent(void) { return _safetyComponent; }
PowerComponent* powerComponent(void) { return _powerComponent; }
private slots:
public slots:
// FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
void _parametersReadyPreChecks(bool missingParameters);
private:
// Overrides from AutoPilotPlugin
virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
PX4ParameterLoader* _parameterFacts;
PX4AirframeLoader* _airframeFacts;
QVariantList _components;
AirframeComponent* _airframeComponent;
......
......@@ -105,6 +105,10 @@ protected:
/// Base implementation adds generic meta data based on variant type. Derived class can override to provide
/// more details meta data.
virtual void _addMetaDataToFact(Fact* fact);
AutoPilotPlugin* _autopilot;
Vehicle* _vehicle;
MAVLinkProtocol* _mavlink;
private slots:
void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
......@@ -128,10 +132,6 @@ private:
void _saveToEEPROM(void);
void _checkInitialLoadComplete(void);
AutoPilotPlugin* _autopilot;
Vehicle* _vehicle;
MAVLinkProtocol* _mavlink;
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
......
......@@ -26,6 +26,7 @@
#include "APMFirmwarePlugin.h"
#include "Generic/GenericFirmwarePlugin.h"
#include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h" // FIXME: Hack
#include "QGCMAVLink.h"
QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
......@@ -138,8 +139,9 @@ QString APMCustomMode::modeString() const
return mode;
}
APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) :
FirmwarePlugin(parent)
APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent)
: FirmwarePlugin(parent)
, _parameterLoader(NULL)
{
_textSeverityAdjustmentNeeded = false;
}
......@@ -384,3 +386,19 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
// APM stack wants the home position sent in the first position
return true;
}
ParameterLoader* APMFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
{
if (!_parameterLoader) {
_parameterLoader = new APMParameterLoader(autopilotPlugin, vehicle, this);
Q_CHECK_PTR(_parameterLoader);
// FIXME: Why do I need SIGNAL/SLOT to make this work
connect(_parameterLoader, SIGNAL(parametersReady(bool)), autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
connect(_parameterLoader, &APMParameterLoader::parameterListProgress, autopilotPlugin, &APMAutoPilotPlugin::parameterListProgress);
_parameterLoader->loadParameterFactMetaData();
}
return _parameterLoader;
}
......@@ -29,6 +29,7 @@
#include "FirmwarePlugin.h"
#include "QGCLoggingCategory.h"
#include "APMParameterLoader.h"
Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
......@@ -88,6 +89,7 @@ public:
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
virtual bool sendHomePositionToVehicle(void);
virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
protected:
/// All access to singleton is through stack specific implementation
......@@ -101,7 +103,7 @@ private:
APMFirmwareVersion _firmwareVersion;
bool _textSeverityAdjustmentNeeded;
QList<APMCustomMode> _supportedModes;
APMParameterLoader* _parameterLoader;
};
#endif
/*=====================================================================
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
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "APMParameterLoader.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
#include <QFile>
#include <QFileInfo>
#include <QDir>
#include <QDebug>
QGC_LOGGING_CATEGORY(APMParameterLoaderLog, "APMParameterLoaderLog")
bool APMParameterLoader::_parameterMetaDataLoaded = false;
QMap<QString, FactMetaData*> APMParameterLoader::_mapParameterName2FactMetaData;
APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
ParameterLoader(autopilot, vehicle, parent)
{
Q_ASSERT(vehicle);
}
/// Converts a string to a typed QVariant
/// @param string String to convert
/// @param type Type for Fact which dictates the QVariant type as well
/// @param convertOk Returned: true: conversion success, false: conversion failure
/// @return Returns the correctly type QVariant
QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
{
QVariant var(string);
int convertTo = QVariant::Int; // keep compiler warning happy
switch (type) {
case FactMetaData::valueTypeUint8:
case FactMetaData::valueTypeUint16:
case FactMetaData::valueTypeUint32:
convertTo = QVariant::UInt;
break;
case FactMetaData::valueTypeInt8:
case FactMetaData::valueTypeInt16:
case FactMetaData::valueTypeInt32:
convertTo = QVariant::Int;
break;
case FactMetaData::valueTypeFloat:
convertTo = QMetaType::Float;
break;
case FactMetaData::valueTypeDouble:
convertTo = QVariant::Double;
break;
}
*convertOk = var.convert(convertTo);
return var;
}
/// Load Parameter Fact meta data
///
/// The meta data comes from firmware parameters.xml file.
void APMParameterLoader::loadParameterFactMetaData(void)
{
if (_parameterMetaDataLoaded) {
return;
}
_parameterMetaDataLoaded = true;
// FIXME: NYI
// Static meta data should load all MAV_TYPEs from single meta data file in such a way that the loader
// has multiple sets of static meta data
}
void APMParameterLoader::clearStaticData(void)
{
foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
delete _mapParameterName2FactMetaData[parameterName];
}
_mapParameterName2FactMetaData.clear();
_parameterMetaDataLoaded = false;
}
/// Override from FactLoad which connects the meta data to the fact
void APMParameterLoader::_addMetaDataToFact(Fact* fact)
{
// FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
// Use generic meta data
ParameterLoader::_addMetaDataToFact(fact);
}
/*=====================================================================
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
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef APMParameterLoader_H
#define APMParameterLoader_H
#include <QObject>
#include <QMap>
#include <QXmlStreamReader>
#include <QLoggingCategory>
#include "ParameterLoader.h"
#include "FactSystem.h"
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
Q_DECLARE_LOGGING_CATEGORY<