Merge pull request #1132 from DonLakeFlyer/GenericPlugin

Generic AutopilotPlugin full implementation

qgroundcontrol.pro

@@ -669,7 +669,9 @@ HEADERS += \
     src/qgcunittest/MainWindowTest.h \
     src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h \
     src/qgcunittest/MavlinkLogTest.h \
-    src/FactSystem/FactSystemTest.h
+    src/FactSystem/FactSystemTestBase.h \
+    src/FactSystem/FactSystemTestPX4.h \
+    src/FactSystem/FactSystemTestGeneric.h
 
 SOURCES += \
     src/qgcunittest/UnitTest.cc \
@@ -691,7 +693,9 @@ SOURCES += \
     src/qgcunittest/MainWindowTest.cc \
     src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc \
     src/qgcunittest/MavlinkLogTest.cc \
-    src/FactSystem/FactSystemTest.cc
+    src/FactSystem/FactSystemTestBase.cc \
+    src/FactSystem/FactSystemTestPX4.cc \
+    src/FactSystem/FactSystemTestGeneric.cc
 }
 
 #
@@ -713,6 +717,7 @@ HEADERS+= \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
+    src/AutoPilotPlugins/Generic/GenericParameterFacts.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4Component.h \
     src/AutoPilotPlugins/PX4/RadioComponent.h \
@@ -730,6 +735,7 @@ SOURCES += \
     src/VehicleSetup/VehicleComponentSummaryItem.cc \
     src/AutoPilotPlugins/AutoPilotPluginManager.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
+    src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4Component.cc \
     src/AutoPilotPlugins/PX4/RadioComponent.cc \
@@ -750,9 +756,11 @@ HEADERS += \
     src/FactSystem/Fact.h \
     src/FactSystem/FactMetaData.h \
     src/FactSystem/FactValidator.h \
+    src/FactSystem/FactLoader.h \
 
 SOURCES += \
     src/FactSystem/FactSystem.cc \
     src/FactSystem/Fact.cc \
     src/FactSystem/FactMetaData.cc \
     src/FactSystem/FactValidator.cc \
+    src/FactSystem/FactLoader.cc \

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -89,7 +89,7 @@ void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
 {
     Q_ASSERT(uas);
     
-    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
+    MAV_AUTOPILOT autopilotType = _installedAutopilotType(static_cast<MAV_AUTOPILOT>(uas->getAutopilotType()));
     int uasId = uas->getUASID();
     Q_ASSERT(uasId != 0);
     
@@ -103,7 +103,7 @@ AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterf
 {
     Q_ASSERT(uas);
     
-    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
+    MAV_AUTOPILOT autopilotType = _installedAutopilotType(static_cast<MAV_AUTOPILOT>(uas->getAutopilotType()));
     int uasId = uas->getUASID();
     Q_ASSERT(uasId != 0);
     
@@ -134,3 +134,9 @@ QString AutoPilotPluginManager::getShortModeText(uint8_t baseMode, uint32_t cust
             return GenericAutoPilotPlugin::getShortModeText(baseMode, customMode);
     }
 }
+
+/// If autopilot is not an installed plugin, returns MAV_AUTOPILOT_GENERIC
+MAV_AUTOPILOT AutoPilotPluginManager::_installedAutopilotType(MAV_AUTOPILOT autopilot)
+{
+    return _pluginMap.contains(autopilot) ? autopilot : MAV_AUTOPILOT_GENERIC;
+}

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -71,6 +71,8 @@ private:
     AutoPilotPluginManager(QObject* parent = NULL);
     ~AutoPilotPluginManager();
     
+    MAV_AUTOPILOT _installedAutopilotType(MAV_AUTOPILOT autopilot);
+    
     QMap<MAV_AUTOPILOT, QMap<int, AutoPilotPlugin*> > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
 };
 

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -30,6 +30,12 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* paren
     AutoPilotPlugin(parent)
 {
     Q_UNUSED(uas);
+    
+    _parameterFacts = new GenericParameterFacts(uas, this);
+    Q_CHECK_PTR(_parameterFacts);
+    
+    connect(_parameterFacts, &GenericParameterFacts::factsReady, this, &GenericAutoPilotPlugin::pluginReady);
+
 }
 
 QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
@@ -84,24 +90,17 @@ void GenericAutoPilotPlugin::clearStaticData(void)
 
 const QVariantList& GenericAutoPilotPlugin::components(void)
 {
-    static QVariantList staticList;
+    static QVariantList emptyList;
     
-    Q_ASSERT_X(false, "Not yet implemented", "");
-    return staticList;
+    return emptyList;
 }
 
 const QVariantMap& GenericAutoPilotPlugin::parameters(void)
 {
-    static QVariantMap staticMap;
-    
-    Q_ASSERT_X(false, "Not yet implemented", "");
-    return staticMap;
+    return _parameterFacts->factMap();
 }
 
 QUrl GenericAutoPilotPlugin::setupBackgroundImage(void)
 {
-    static QUrl url;
-    
-    Q_ASSERT_X(false, "Not yet implemented", "");
-    return url;
+    return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png");
 }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -26,6 +26,7 @@
 
 #include "AutoPilotPlugin.h"
 #include "AutoPilotPluginManager.h"
+#include "GenericParameterFacts.h"
 
 /// @file
 ///     @brief This is the generic implementation of the AutoPilotPlugin class for mavs
@@ -40,7 +41,7 @@ public:
     GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual bool pluginIsReady(void) const { return true; }
+    virtual bool pluginIsReady(void) const { return _parameterFacts->factsAreReady(); }
     virtual QUrl setupBackgroundImage(void);
     virtual const QVariantList& components(void);
     virtual const QVariantMap& parameters(void);
@@ -49,7 +50,8 @@ public:
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);
     
-protected:
+private:
+    GenericParameterFacts*  _parameterFacts;
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericParameterFacts.cc

+/*=====================================================================
+ 
+ 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 "GenericParameterFacts.h"
+#include "QGCApplication.h"
+
+#include <QFile>
+#include <QDebug>
+
+GenericParameterFacts::GenericParameterFacts(UASInterface* uas, QObject* parent) :
+    FactLoader(uas, parent)
+{
+    Q_ASSERT(uas);
+}

src/AutoPilotPlugins/Generic/GenericParameterFacts.h

+/*=====================================================================
+ 
+ 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 GenericParameterFacts_h
+#define GenericParameterFacts_h
+
+#include <QObject>
+#include <QMap>
+#include <QXmlStreamReader>
+#include <QLoggingCategory>
+
+#include "FactSystem.h"
+#include "UASInterface.h"
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+/// Collection of Parameter Facts for Generic AutoPilot
+
+class GenericParameterFacts : public FactLoader
+{
+    Q_OBJECT
+    
+public:
+    /// @param uas Uas which this set of facts is associated with
+    GenericParameterFacts(UASInterface* uas, QObject* parent = NULL);
+};
+
+#endif
\ No newline at end of file

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -56,7 +56,6 @@ public:
 private:
     UASInterface*       _uas;
     PX4ParameterFacts*  _parameterFacts;
-    bool                _pluginReady;
     QVariantList        _components;
 };
 

src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc

@@ -30,42 +30,15 @@
 #include <QFile>
 #include <QDebug>
 
-Q_LOGGING_CATEGORY(PX4ParameterFactsLog, "PX4ParameterFactsLog")
 Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
 
 bool PX4ParameterFacts::_parameterMetaDataLoaded = false;
 QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData;
 
 PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
-    QObject(parent),
-    _lastSeenComponent(-1),
-    _paramMgr(NULL),
-    _factsReady(false)
+    FactLoader(uas, parent)
 {
     Q_ASSERT(uas);
-
-    _uasId = uas->getUASID();
-    
-    _paramMgr = uas->getParamManager();
-    Q_ASSERT(_paramMgr);
-    
-    // We need to be initialized before param mgr starts sending parameters so we catch each one
-    Q_ASSERT(!_paramMgr->parametersReady());
-    
-    // We need to know when the param mgr is done sending the initial set of paramters
-    connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
-    
-    // UASInterface::parameterChanged has multiple overrides so we need to use SIGNAL/SLOT style connect
-    connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
-}
-
-PX4ParameterFacts::~PX4ParameterFacts()
-{
-    foreach(Fact* fact, _mapFact2ParameterName.keys()) {
-        delete fact;
-    }
-    _mapParameterName2Variant.clear();
-    _mapFact2ParameterName.clear();
 }
 
 void PX4ParameterFacts::deleteParameterFactMetaData(void)
@@ -76,88 +49,6 @@ void PX4ParameterFacts::deleteParameterFactMetaData(void)
     _mapParameterName2FactMetaData.clear();
 }
 
-/// Connected to QGCUASParmManager::parameterChanged
-///
-/// When a new parameter is seen it is added to the system. If the parameter is already known it is updated.
-void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parameterName, QVariant value)
-{
-    // Is this for our uas?
-    if (uas != _uasId) {
-        return;
-    }
-    
-    if (_lastSeenComponent == -1) {
-        _lastSeenComponent = component;
-    } else {
-        // Code cannot handle parameters coming form different components yets
-        Q_ASSERT(component == _lastSeenComponent);
-    }
-    
-    if (!_mapParameterName2Variant.contains(parameterName)) {
-        Fact* fact = new Fact(this);
-        
-        if (_mapParameterName2FactMetaData.contains(parameterName)) {
-            fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
-        } else {
-            qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
-        }
-        
-        _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
-        _mapFact2ParameterName[fact] = parameterName;
-        
-        // We need to know when the fact changes so that we can send the new value to the parameter manager
-        connect(fact, &Fact::_containerValueChanged, this, &PX4ParameterFacts::_valueUpdated);
-
-        qCDebug(PX4ParameterFactsLog) << "Adding new fact" << parameterName;
-    }
-    
-    Q_ASSERT(_mapParameterName2Variant.contains(parameterName));
-    
-    qCDebug(PX4ParameterFactsLog) << "Updating fact value" << parameterName << value;
-    
-    Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>();
-    Q_ASSERT(fact);
-    fact->_containerSetValue(value);
-}
-
-/// Connected to Fact::valueUpdated
-///
-/// Sets the new value into the Parameter Manager. Paramter is persisted after send.
-void PX4ParameterFacts::_valueUpdated(QVariant value)
-{
-    Fact* fact = qobject_cast<Fact*>(sender());
-    Q_ASSERT(fact);
-    
-    Q_ASSERT(_lastSeenComponent != -1);
-    Q_ASSERT(_paramMgr);
-    Q_ASSERT(_mapFact2ParameterName.contains(fact));
-    
-    QVariant typedValue;
-    switch (fact->type()) {
-        case FactMetaData::valueTypeInt8:
-        case FactMetaData::valueTypeInt16:
-        case FactMetaData::valueTypeInt32:
-            typedValue = QVariant(value.value<int>());
-            
-        case FactMetaData::valueTypeUint8:
-        case FactMetaData::valueTypeUint16:
-        case FactMetaData::valueTypeUint32:
-            typedValue = QVariant(value.value<uint>());
-            break;
-            
-        case FactMetaData::valueTypeFloat:
-            typedValue = QVariant(value.toFloat());
-            break;
-            
-        case FactMetaData::valueTypeDouble:
-            typedValue = QVariant(value.toDouble());
-            break;
-    }
-    
-    _paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue);
-    _paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */);
-}
-
 /// Parse the Parameter element of parameter xml meta data
 ///     @param[in] xml stream reader
 ///     @param[in] group fact group associated with this Param element
@@ -327,7 +218,7 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
                 // Just move to next state
             } else if (elementName == "group") {
                 factGroup = xml.attributes().value("name").toString();
-                qCDebug(PX4ParameterFactsLog) << "Found group: " << factGroup;
+                qCDebug(PX4ParameterFactsMetaDataLog) << "Found group: " << factGroup;
             } else if (elementName == "parameter") {
                 metaData = _parseParameter(xml, factGroup);
             } else if (elementName == "short_desc") {
@@ -365,23 +256,6 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
     }
 }
 
-// Called when param mgr list is up to date
-void PX4ParameterFacts::_paramMgrParameterListUpToDate(void)
-{
-    if (!_factsReady) {
-        _factsReady = true;
-        
-        // We don't need this any more
-        disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
-
-        // There may be parameterUpdated signals still in our queue. Flush them out.
-        qgcApp()->processEvents();
-        
-        // We should have all paramters now so we can signal ready
-        emit factsReady();
-    }
-}
-
 void PX4ParameterFacts::clearStaticData(void)
 {
     foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {

src/AutoPilotPlugins/PX4/PX4ParameterFacts.h

@@ -29,27 +29,17 @@
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
-#include "Fact.h"
+#include "FactSystem.h"
 #include "UASInterface.h"
 
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-// FIXME: This file should be auto-generated from the Parameter XML file.
-
-Q_DECLARE_LOGGING_CATEGORY(PX4ParameterFactsLog)
 Q_DECLARE_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
-///
-/// These Facts are available for binding within QML code. For example:
-/// @code{.unparsed}
-///     TextInput {
-///         text: parameters["RC_MAP_THROTTLE"].value
-///     }
-/// @endcode
 
-class PX4ParameterFacts : public QObject
+class PX4ParameterFacts : public FactLoader
 {
     Q_OBJECT
     
@@ -57,45 +47,17 @@ public:
     /// @param uas Uas which this set of facts is associated with
     PX4ParameterFacts(UASInterface* uas, QObject* parent = NULL);
     
-    ~PX4ParameterFacts();
-    
-    /// Returns true if the full set of facts are ready
-    bool factsAreReady(void) { return _factsReady; }
-
-    /// Returns the fact QVariantMap
-    const QVariantMap& factMap(void) { return _mapParameterName2Variant; }
-    
     static void loadParameterFactMetaData(void);
     static void deleteParameterFactMetaData(void);
     static void clearStaticData(void);
     
-signals:
-    /// Signalled when the full set of facts are ready
-    void factsReady(void);
-    
-private slots:
-    void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
-    void _valueUpdated(QVariant value);
-    void _paramMgrParameterListUpToDate(void);
-    
 private:
     static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group);
     static void _initMetaData(FactMetaData* metaData);
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
 
-    QMap<Fact*, QString> _mapFact2ParameterName;    ///< Maps from a Fact to a parameter name
-    
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
     static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
-    
-    int _uasId;             ///< Id for uas which this set of Facts are associated with
-    int _lastSeenComponent;
-    
-    QGCUASParamManagerInterface* _paramMgr;
-    
-    QVariantMap _mapParameterName2Variant;
-    
-    bool _factsReady;   ///< All facts received from param mgr
 };
 
 #endif
\ No newline at end of file

src/FactSystem/FactLoader.cc

+/*=====================================================================
+ 
+ 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 "FactLoader.h"
+#include "QGCApplication.h"
+
+#include <QFile>
+#include <QDebug>
+
+Q_LOGGING_CATEGORY(FactLoaderLog, "FactLoaderLog")
+
+FactLoader::FactLoader(UASInterface* uas, QObject* parent) :
+    QObject(parent),
+    _lastSeenComponent(-1),
+    _paramMgr(NULL),
+    _factsReady(false)
+{
+    Q_ASSERT(uas);
+
+    _uasId = uas->getUASID();
+    
+    _paramMgr = uas->getParamManager();
+    Q_ASSERT(_paramMgr);
+    
+    // We need to be initialized before param mgr starts sending parameters so we catch each one
+    Q_ASSERT(!_paramMgr->parametersReady());
+    
+    // We need to know when the param mgr is done sending the initial set of paramters
+    connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+    
+    // We track parameters changes to keep Facts up to date. UASInterface::parameterChanged has multiple overrides so we need to
+    // use SIGNAL/SLOT style connect
+    connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
+}
+
+FactLoader::~FactLoader()
+{
+    foreach(Fact* fact, _mapFact2ParameterName.keys()) {
+        delete fact;
+    }
+    _mapParameterName2Variant.clear();
+    _mapFact2ParameterName.clear();
+}
+
+/// Connected to QGCUASParmManager::parameterChanged
+///
+/// When a new parameter is seen it is added to the system. If the parameter is already known it is updated.
+void FactLoader::_parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    // Is this for our uas?
+    if (uas != _uasId) {
+        return;
+    }
+    
+    if (_lastSeenComponent == -1) {
+        _lastSeenComponent = component;
+    } else {
+        // Code cannot handle parameters coming form different components yets
+        Q_ASSERT(component == _lastSeenComponent);
+    }
+    
+    if (!_mapParameterName2Variant.contains(parameterName)) {
+        Fact* fact = new Fact(this);
+        
+        _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
+        _mapFact2ParameterName[fact] = parameterName;
+        
+        // We need to know when the fact changes from QML so that we can send the new value to the parameter manager
+        connect(fact, &Fact::_containerValueChanged, this, &FactLoader::_valueUpdated);
+
+        qCDebug(FactLoaderLog) << "Adding new fact" << parameterName;
+    }
+    
+    Q_ASSERT(_mapParameterName2Variant.contains(parameterName));
+    
+    qCDebug(FactLoaderLog) << "Updating fact value" << parameterName << value;
+    
+    Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>();
+    Q_ASSERT(fact);
+    fact->_containerSetValue(value);
+}
+
+/// Connected to Fact::valueUpdated
+///
+/// Sets the new value into the Parameter Manager. Paramter is persisted after send.
+void FactLoader::_valueUpdated(QVariant value)
+{
+    Fact* fact = qobject_cast<Fact*>(sender());
+    Q_ASSERT(fact);
+    
+    Q_ASSERT(_lastSeenComponent != -1);
+    Q_ASSERT(_paramMgr);
+    Q_ASSERT(_mapFact2ParameterName.contains(fact));
+    
+    QVariant typedValue;
+    switch (fact->type()) {
+        case FactMetaData::valueTypeInt8:
+        case FactMetaData::valueTypeInt16:
+        case FactMetaData::valueTypeInt32:
+            typedValue = QVariant(value.value<int>());
+            
+        case FactMetaData::valueTypeUint8:
+        case FactMetaData::valueTypeUint16:
+        case FactMetaData::valueTypeUint32:
+            typedValue = QVariant(value.value<uint>());
+            break;
+            
+        case FactMetaData::valueTypeFloat:
+            typedValue = QVariant(value.toFloat());
+            break;
+            
+        case FactMetaData::valueTypeDouble:
+            typedValue = QVariant(value.toDouble());
+            break;
+    }
+    
+    _paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue);
+    _paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */);
+}
+
+// Called when param mgr list is up to date
+void FactLoader::_paramMgrParameterListUpToDate(void)
+{
+    if (!_factsReady) {
+        _factsReady = true;
+        
+        // We don't need this any more
+        disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+
+        // There may be parameterUpdated signals still in our queue. Flush them out.
+        qgcApp()->processEvents();
+        
+        // We should have all paramters now so we can signal ready
+        emit factsReady();
+    }
+}

src/FactSystem/FactLoader.h

+/*=====================================================================
+ 
+ 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 FactLoader_h
+#define FactLoader_h
+
+#include <QObject>
+#include <QMap>
+#include <QXmlStreamReader>
+#include <QLoggingCategory>
+
+#include "Fact.h"
+#include "UASInterface.h"
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+Q_DECLARE_LOGGING_CATEGORY(FactLoaderLog)
+
+/// Connects to Parameter Manager to load/update Facts
+///
+/// These Facts are available for binding within QML code. For example:
+/// @code{.unparsed}
+///     TextInput {
+///         text: autopilot.parameters["RC_MAP_THROTTLE"].value
+///     }
+/// @endcode
+
+class FactLoader : public QObject
+{
+    Q_OBJECT
+    
+public:
+    /// @param uas Uas which this set of facts is associated with
+    FactLoader(UASInterface* uas, QObject* parent = NULL);
+    
+    ~FactLoader();
+    
+    /// Returns true if the full set of facts are ready
+    bool factsAreReady(void) { return _factsReady; }
+
+    /// Returns the fact QVariantMap
+    const QVariantMap& factMap(void) { return _mapParameterName2Variant; }
+    
+signals:
+    /// Signalled when the full set of facts are ready
+    void factsReady(void);
+    
+private slots:
+    void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void _valueUpdated(QVariant value);
+    void _paramMgrParameterListUpToDate(void);
+    
+private:
+    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
+
+    QMap<Fact*, QString> _mapFact2ParameterName;    ///< Maps from a Fact to a parameter name
+    
+    int _uasId;             ///< Id for uas which this set of Facts are associated with
+    int _lastSeenComponent;
+    
+    QGCUASParamManagerInterface* _paramMgr;
+    
+    QVariantMap _mapParameterName2Variant;
+    
+    bool _factsReady;   ///< All facts received from param mgr
+};
+
+#endif
\ No newline at end of file

src/FactSystem/FactSystem.h

@@ -28,6 +28,7 @@
 #define FactSystem_h
 
 #include "Fact.h"
+#include "FactLoader.h"
 #include "FactMetaData.h"
 #include "UASInterface.h"
 #include "QGCSingleton.h"

src/FactSystem/FactSystemTest.cc → src/FactSystem/FactSystemTestBase.cc

@@ -24,7 +24,7 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#include "FactSystemTest.h"
+#include "FactSystemTestBase.h"
 #include "LinkManager.h"
 #include "MockLink.h"
 #include "AutoPilotPluginManager.h"
@@ -34,21 +34,20 @@
 
 #include <QQuickItem>
 
-UT_REGISTER_TEST(FactSystemTest)
-
 /// FactSystem Unit Test
-FactSystemTest::FactSystemTest(void)
+FactSystemTestBase::FactSystemTestBase(void)
 {
     
 }
 
-void FactSystemTest::init(void)
+void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
 {
     UnitTest::init();
     
     LinkManager* _linkMgr = LinkManager::instance();
     
     MockLink* link = new MockLink();
+    link->setAutopilotType(autopilot);
     _linkMgr->addLink(link);
     _linkMgr->connectLink(link);
     
@@ -80,13 +79,13 @@ void FactSystemTest::init(void)
     Q_ASSERT(_plugin->pluginIsReady());
 }
 
-void FactSystemTest::cleanup(void)
+void FactSystemTestBase::_cleanup(void)
 {
     UnitTest::cleanup();
 }
 
 /// Basic test of parameter values in Fact System
-void FactSystemTest::_parameter_test(void)
+void FactSystemTestBase::_parameter_test(void)
 {
     // Get the parameter facts from the AutoPilot
     
@@ -106,7 +105,7 @@ void FactSystemTest::_parameter_test(void)
 }
 
 /// Test that QML can reference a Fact
-void FactSystemTest::_qml_test(void)
+void FactSystemTestBase::_qml_test(void)
 {
     QGCQuickWidget* widget = new QGCQuickWidget;
     
@@ -126,7 +125,7 @@ void FactSystemTest::_qml_test(void)
 }
 
 // Test correct behavior when the Param Manager gets a parameter update
-void FactSystemTest::_paramMgrSignal_test(void)
+void FactSystemTestBase::_paramMgrSignal_test(void)
 {
     // Get the parameter Fact from the AutoPilot
     
@@ -156,7 +155,7 @@ void FactSystemTest::_paramMgrSignal_test(void)
 }
 
 /// Test QML getting an updated Fact value
-void FactSystemTest::_qmlUpdate_test(void)
+void FactSystemTestBase::_qmlUpdate_test(void)
 {
     QGCQuickWidget* widget = new QGCQuickWidget;
     

src/FactSystem/FactSystemTest.h → src/FactSystem/FactSystemTestBase.h

@@ -24,31 +24,30 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#ifndef FactSystemTest_H
-#define FactSystemTest_H
+#ifndef FactSystemTestBase_H
+#define FactSystemTestBase_H
 
 #include "UnitTest.h"
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
 
-// Unit Test for Fact System
-class FactSystemTest : public UnitTest
+// Base class for FactSystemTest[PX4|Generic] unit tests
+class FactSystemTestBase : public UnitTest
 {
     Q_OBJECT
     
 public:
-    FactSystemTest(void);
+    FactSystemTestBase(void);
     
-private slots:
-    void init(void);
-    void cleanup(void);
+protected:
+    void _init(MAV_AUTOPILOT autopilot);
+    void _cleanup(void);
     
     void _parameter_test(void);
     void _qml_test(void);
     void _paramMgrSignal_test(void);
     void _qmlUpdate_test(void);
     
-private:
     UASInterface*                   _uas;
     QGCUASParamManagerInterface*    _paramMgr;
     AutoPilotPlugin*                _plugin;

src/FactSystem/FactSystemTestGeneric.cc

+/*=====================================================================
+ 
+ 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 "FactSystemTestGeneric.h"
+#include "LinkManager.h"
+#include "MockLink.h"
+#include "AutoPilotPluginManager.h"
+#include "UASManager.h"
+#include "QGCApplication.h"
+#include "QGCQuickWidget.h"
+
+#include <QQuickItem>
+
+UT_REGISTER_TEST(FactSystemTestGeneric)
+
+/// FactSystem Unit Test for PX4 autpilot
+FactSystemTestGeneric::FactSystemTestGeneric(void)
+{
+    
+}
+
+void FactSystemTestGeneric::init(void)
+{
+    UnitTest::init();
+    _init(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}

src/FactSystem/FactSystemTestGeneric.h

+/*=====================================================================
+ 
+ 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>
+
+#ifndef FactSystemTestGeneric_H
+#define FactSystemTestGeneric_H
+
+#include "FactSystemTestBase.h"
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+// Unit Test for Fact System on PX4 autopilot
+class FactSystemTestGeneric : public FactSystemTestBase
+{
+    Q_OBJECT
+    
+public:
+    FactSystemTestGeneric(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void) { _cleanup(); }
+    
+    void parameter_test(void) { _parameter_test(); }
+    void qml_test(void) { _qml_test(); }
+    void paramMgrSignal_test(void) { _paramMgrSignal_test(); }
+    void qmlUpdate_test(void) { _qmlUpdate_test(); }
+};
+
+#endif

src/FactSystem/FactSystemTestPX4.cc

+/*=====================================================================
+ 
+ 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 "FactSystemTestPX4.h"
+#include "LinkManager.h"
+#include "MockLink.h"
+#include "AutoPilotPluginManager.h"
+#include "UASManager.h"
+#include "QGCApplication.h"
+#include "QGCQuickWidget.h"
+
+#include <QQuickItem>
+
+UT_REGISTER_TEST(FactSystemTestPX4)
+
+/// FactSystem Unit Test for PX4 autpilot
+FactSystemTestPX4::FactSystemTestPX4(void)
+{
+    
+}
+
+void FactSystemTestPX4::init(void)
+{
+    UnitTest::init();
+    _init(MAV_AUTOPILOT_PX4);
+}

src/FactSystem/FactSystemTestPX4.h

+/*=====================================================================
+ 
+ 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>
+
+#ifndef FactSystemTestPX4_H
+#define FactSystemTestPX4_H
+
+#include "FactSystemTestBase.h"
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+// Unit Test for Fact System on PX4 autopilot
+class FactSystemTestPX4 : public FactSystemTestBase
+{
+    Q_OBJECT
+    
+public:
+    FactSystemTestPX4(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void) { _cleanup(); }
+    
+    void parameter_test(void) { _parameter_test(); }
+    void qml_test(void) { _qml_test(); }
+    void paramMgrSignal_test(void) { _paramMgrSignal_test(); }
+    void qmlUpdate_test(void) { _qmlUpdate_test(); }
+};
+
+#endif

src/qgcunittest/MainWindowTest.cc

@@ -69,13 +69,14 @@ void MainWindowTest::_clickThrough_test(void)
     
 }
 
-void MainWindowTest::_connectWindowClose_test(void)
+void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
 {
     LinkManager* linkMgr = LinkManager::instance();
     Q_CHECK_PTR(linkMgr);
     
     MockLink* link = new MockLink();
     Q_CHECK_PTR(link);
+    link->setAutopilotType(autopilot);
     LinkManager::instance()->addLink(link);
     linkMgr->connectLink(link);
     QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
@@ -92,3 +93,11 @@ void MainWindowTest::_connectWindowClose_test(void)
     QTest::qWait(1000); // Need to allow signals to move between threads
     checkExpectedFileDialog();
 }
+
+void MainWindowTest::_connectWindowClosePX4_test(void) {
+    _connectWindowClose_test(MAV_AUTOPILOT_PX4);
+}
+
+void MainWindowTest::_connectWindowCloseGeneric_test(void) {
+    _connectWindowClose_test(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}

src/qgcunittest/MainWindowTest.h

@@ -44,9 +44,11 @@ private slots:
     void cleanup(void);
     
     void _clickThrough_test(void);
-    void _connectWindowClose_test(void);
+    void _connectWindowClosePX4_test(void);
+    void _connectWindowCloseGeneric_test(void);
     
 private:
+    void _connectWindowClose_test(MAV_AUTOPILOT autopilot);
     MainWindow* _mainWindow;
 };
 

src/qgcunittest/MockLink.cc

@@ -74,7 +74,8 @@ MockLink::MockLink(void) :
     _inNSH(false),
     _mavlinkStarted(false),
     _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED),
-    _mavState(MAV_STATE_STANDBY)
+    _mavState(MAV_STATE_STANDBY),
+    _autopilotType(MAV_AUTOPILOT_PX4)
 {
     union px4_custom_mode   px4_cm;
 
@@ -145,20 +146,20 @@ void MockLink::run(void)
 
 void MockLink::_run1HzTasks(void)
 {
-    if (_mavlinkStarted) {
+    if (_mavlinkStarted && _connected) {
         _sendHeartBeat();
     }
 }
 
 void MockLink::_run10HzTasks(void)
 {
-    if (_mavlinkStarted) {
+    if (_mavlinkStarted && _connected) {
     }
 }
 
 void MockLink::_run50HzTasks(void)
 {
-    if (_mavlinkStarted) {
+    if (_mavlinkStarted && _connected) {
     }
 }
 
@@ -219,7 +220,7 @@ void MockLink::_sendHeartBeat(void)
                                _vehicleComponentId,
                                &msg,
                                MAV_TYPE_QUADROTOR,  // MAV_TYPE
-                               MAV_AUTOPILOT_PX4,   // MAV_AUTOPILOT
+                               _autopilotType,      // MAV_AUTOPILOT
                                _mavBaseMode,        // MAV_MODE
                                _mavCustomMode,      // custom mode
                                _mavState);          // MAV_STATE

src/qgcunittest/MockLink.h

@@ -54,6 +54,10 @@ public:
     virtual qint64 getConnectionSpeed(void) const { return 100000000; }
     virtual qint64 bytesAvailable(void) { return 0; }
     
+    // MockLink methods
+    MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
+    void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
+    
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
     bool connect(void);
@@ -122,6 +126,8 @@ private:
     uint8_t _mavBaseMode;
     uint8_t _mavCustomMode;
     uint8_t _mavState;
+    
+    MAV_AUTOPILOT _autopilotType;
 };
 
 #endif