Commit fc493d75 authored by Don Gagne's avatar Don Gagne

Move UAS and MAVLinkProtocol back to main thread

Plus a large number of other changes to allow for orderly shutdown of
objects without crashes or asserts. This is need for unit tests to
create/delete global state around every test.
parent 3b328f36
......@@ -21,6 +21,9 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef AUTOPILOTPLUGIN_H
#define AUTOPILOTPLUGIN_H
......@@ -33,12 +36,12 @@
#include "VehicleComponent.h"
#include "FactSystem.h"
/// @file
/// @brief The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// generic to a common mavlink implementation.
/// @author Don Gagne <don@thegagnes.com>
/// This is the base class for AutoPilot plugins
///
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// generic to a common mavlink implementation.
class AutoPilotPlugin : public QObject
{
......@@ -46,21 +49,28 @@ class AutoPilotPlugin : public QObject
public:
/// @brief Returns the list of VehicleComponent objects associated with the AutoPilot.
virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const = 0;
virtual QList<VehicleComponent*> getVehicleComponents(void) const = 0;
/// Returns the parameter facts for the specified UAS.
///
/// Access to parameter properties is done through QObject::property or the full
/// QMetaObject methods. The property name is the parameter name. You should not
/// request parameter facts until the plugin reports that it is ready.
virtual QObject* parameterFacts(void) const = 0;
typedef struct {
uint8_t baseMode;
uint32_t customMode;
} FullMode_t;
/// Adds the FactSystem properties to the Qml context. You should not call
/// this method until the plugin reports that it is ready.
virtual void addFactsToQmlContext(QQmlContext* context) const = 0;
/// @brief Returns the list of modes which are available for this AutoPilot.
virtual QList<FullMode_t> getModes(void) const = 0;
/// Returns true if the plugin is ready for use
virtual bool pluginIsReady(void) const = 0;
/// @brief Returns a human readable short description for the specified mode.
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const = 0;
/// FIXME: Kind of hacky
static void clearStaticData(void);
/// @brief Adds the FactSystem properties associated with this AutoPilot to the Qml context.
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const = 0;
signals:
/// Signalled when plugin is ready for use
void pluginReady(void);
protected:
// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
......
......@@ -28,29 +28,109 @@
#include "PX4/PX4AutoPilotPlugin.h"
#include "Generic/GenericAutoPilotPlugin.h"
#include "QGCApplication.h"
#include "UASManager.h"
IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
QGCSingleton(parent)
{
// All plugins are constructed here so that they end up on the correct thread
_pluginMap[MAV_AUTOPILOT_PX4] = new PX4AutoPilotPlugin(this);
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
UASManagerInterface* uasMgr = UASManager::instance();
Q_ASSERT(uasMgr);
// We need to track uas coming and going so that we can instantiate plugins for each uas
connect(uasMgr, &UASManagerInterface::UASCreated, this, &AutoPilotPluginManager::_uasCreated);
connect(uasMgr, &UASManagerInterface::UASDeleted, this, &AutoPilotPluginManager::_uasDeleted);
}
_pluginMap[MAV_AUTOPILOT_GENERIC] = new GenericAutoPilotPlugin(this);
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
AutoPilotPluginManager::~AutoPilotPluginManager()
{
#ifdef QT_DEBUG
foreach(MAV_AUTOPILOT mavType, _pluginMap.keys()) {
Q_ASSERT_X(_pluginMap[mavType].count() == 0, "AutoPilotPluginManager", "LinkManager::_shutdown should have already closed all uas");
}
#endif
_pluginMap.clear();
PX4AutoPilotPlugin::clearStaticData();
GenericAutoPilotPlugin::clearStaticData();
}
/// Create the plugin for this uas
void AutoPilotPluginManager::_uasCreated(UASInterface* uas)
{
Q_ASSERT(uas);
MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
int uasId = uas->getUASID();
Q_ASSERT(uasId != 0);
if (_pluginMap.contains(autopilotType)) {
Q_ASSERT_X(!_pluginMap[autopilotType].contains(uasId), "AutoPilotPluginManager", "Either we have duplicate UAS ids, or a UAS was not removed correctly.");
}
AutoPilotPlugin* plugin;
switch (autopilotType) {
case MAV_AUTOPILOT_PX4:
plugin = new PX4AutoPilotPlugin(uas, this);
Q_CHECK_PTR(plugin);
_pluginMap[MAV_AUTOPILOT_PX4][uasId] = plugin;
break;
case MAV_AUTOPILOT_GENERIC:
default:
plugin = new GenericAutoPilotPlugin(uas, this);
Q_CHECK_PTR(plugin);
_pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = plugin;
}
}
/// Destroy the plugin associated with this uas
void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
{
Q_ASSERT(uas);
MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
int uasId = uas->getUASID();
Q_ASSERT(uasId != 0);
Q_ASSERT(_pluginMap.contains(autopilotType));
Q_ASSERT(_pluginMap[autopilotType].contains(uasId));
delete _pluginMap[autopilotType][uasId];
_pluginMap[autopilotType].remove(uasId);
}
AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
{
Q_ASSERT(uas);
MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
int uasId = uas->getUASID();
Q_ASSERT(uasId != 0);
Q_ASSERT(_pluginMap.contains(autopilotType));
Q_ASSERT(_pluginMap[autopilotType].contains(uasId));
return _pluginMap[autopilotType][uasId];
}
QList<AutoPilotPluginManager::FullMode_t> AutoPilotPluginManager::getModes(int autopilotType) const
{
switch (autopilotType) {
case MAV_AUTOPILOT_PX4:
return PX4AutoPilotPlugin::getModes();
case MAV_AUTOPILOT_GENERIC:
default:
return GenericAutoPilotPlugin::getModes();
}
}
AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(int autopilotType)
QString AutoPilotPluginManager::getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const
{
switch (autopilotType) {
case MAV_AUTOPILOT_PX4:
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
return _pluginMap[MAV_AUTOPILOT_PX4];
return PX4AutoPilotPlugin::getShortModeText(baseMode, customMode);
case MAV_AUTOPILOT_GENERIC:
default:
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
return _pluginMap[MAV_AUTOPILOT_GENERIC];
return GenericAutoPilotPlugin::getShortModeText(baseMode, customMode);
}
}
......@@ -21,6 +21,9 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef AUTOPILOTPLUGINMANAGER_H
#define AUTOPILOTPLUGINMANAGER_H
......@@ -32,11 +35,10 @@
#include "VehicleComponent.h"
#include "AutoPilotPlugin.h"
#include "QGCSingleton.h"
#include "QGCMAVLink.h"
/// @file
/// @brief The AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
///
/// @author Don Gagne <don@thegagnes.com>
/// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
class AutoPilotPluginManager : public QGCSingleton
{
......@@ -45,15 +47,31 @@ class AutoPilotPluginManager : public QGCSingleton
DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
public:
/// @brief Returns the singleton AutoPilot instance for the specified auto pilot type.
/// @param autopilotType Specified using the MAV_AUTOPILOT_* values.
AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType);
/// Returns the singleton AutoPilotPlugin instance for the specified uas.
/// @param uas Uas to get plugin for
AutoPilotPlugin* getInstanceForAutoPilotPlugin(UASInterface* uas);
typedef struct {
uint8_t baseMode;
uint32_t customMode;
} FullMode_t;
/// Returns the list of modes which are available for the specified autopilot type.
QList<FullMode_t> getModes(int autopilotType) const;
/// @brief Returns a human readable short description for the specified mode.
QString getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const;
private slots:
void _uasCreated(UASInterface* uas);
void _uasDeleted(UASInterface* uas);
private:
/// All access to singleton is through AutoPilotPluginManager::instance
AutoPilotPluginManager(QObject* parent = NULL);
~AutoPilotPluginManager();
QMap<int, AutoPilotPlugin*> _pluginMap;
QMap<MAV_AUTOPILOT, QMap<int, AutoPilotPlugin*> > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
};
#endif
......@@ -26,24 +26,22 @@
#include "GenericAutoPilotPlugin.h"
GenericAutoPilotPlugin::GenericAutoPilotPlugin(QObject* parent) :
GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(parent)
{
Q_UNUSED(uas);
}
QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(void) const
{
Q_UNUSED(uas);
// Generic autopilot has no configurable components
return QList<VehicleComponent*>();
}
QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
{
QList<FullMode_t> modeList;
FullMode_t fullMode;
AutoPilotPluginManager::FullMode_t fullMode;
QList<AutoPilotPluginManager::FullMode_t> modeList;
fullMode.customMode = 0;
......@@ -62,7 +60,7 @@ QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
return modeList;
}
QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
{
Q_UNUSED(customMode);
......@@ -85,11 +83,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
return mode;
}
void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
{
Q_UNUSED(context);
Q_UNUSED(uas);
// Qml not yet supported for Generic
Q_ASSERT(false);
}
QObject* GenericAutoPilotPlugin::parameterFacts(void) const
{
return NULL;
}
void GenericAutoPilotPlugin::clearStaticData(void)
{
// No Static data yet
}
......@@ -25,6 +25,7 @@
#define GENERICAUTOPILOT_H
#include "AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
/// @file
/// @brief This is the generic implementation of the AutoPilotPlugin class for mavs
......@@ -36,13 +37,17 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
Q_OBJECT
public:
GenericAutoPilotPlugin(QObject* parent = NULL);
GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
// Overrides from AutoPilotPlugin
virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
virtual QList<FullMode_t> getModes(void) const;
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
virtual void addFactsToQmlContext(QQmlContext* context) const;
virtual QObject* parameterFacts(void) const;
virtual bool pluginIsReady(void) const { return true; }
static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
static void clearStaticData(void);
};
#endif
......@@ -65,59 +65,59 @@ union px4_custom_mode {
float data_float;
};
PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) :
AutoPilotPlugin(parent)
PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(parent),
_uas(uas),
_parameterFacts(NULL)
{
UASManagerInterface* uasMgr = UASManager::instance();
Q_ASSERT(uasMgr);
Q_ASSERT(uas);
_parameterFacts = new PX4ParameterFacts(uas, this);
Q_CHECK_PTR(_parameterFacts);
// We need to track uas coming and going so that we can create PX4ParameterFacts instances for each uas
connect(uasMgr, &UASManagerInterface::UASCreated, this, &PX4AutoPilotPlugin::_uasCreated);
connect(uasMgr, &UASManagerInterface::UASDeleted, this, &PX4AutoPilotPlugin::_uasDeleted);
connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::pluginReady);
PX4ParameterFacts::loadParameterFactMetaData();
}
PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
{
delete _parameterFacts;
PX4ParameterFacts::deleteParameterFactMetaData();
foreach(UASInterface* uas, _mapUas2ParameterFacts.keys()) {
delete _mapUas2ParameterFacts[uas];
}
_mapUas2ParameterFacts.clear();
}
QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(void) const
{
Q_ASSERT(_uas);
QList<VehicleComponent*> components;
VehicleComponent* component;
component = new AirframeComponent(uas);
component = new AirframeComponent(_uas);
Q_CHECK_PTR(component);
components.append(component);
component = new RadioComponent(uas);
component = new RadioComponent(_uas);
Q_CHECK_PTR(component);
components.append(component);
component = new FlightModesComponent(uas);
component = new FlightModesComponent(_uas);
Q_CHECK_PTR(component);
components.append(component);
component = new SensorsComponent(uas);
component = new SensorsComponent(_uas);
Q_CHECK_PTR(component);
components.append(component);
return components;
}
QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
{
QList<FullMode_t> modeList;
FullMode_t fullMode;
union px4_custom_mode px4_cm;
union px4_custom_mode px4_cm;
AutoPilotPluginManager::FullMode_t fullMode;
QList<AutoPilotPluginManager::FullMode_t> modeList;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
......@@ -152,7 +152,7 @@ QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
return modeList;
}
QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
{
QString mode;
......@@ -187,51 +187,40 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
mode = "|OFFBOARD";
}
} else {
mode = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
// use base_mode - not autopilot-specific
if (baseMode == 0) {
mode = "|PREFLIGHT";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) {
mode = "|AUTO";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) {
mode = "|MANUAL";
if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) {
mode += "|GUIDED";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) {
mode += "|STABILIZED";
}
}
}
return mode;
}
void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
{
Q_ASSERT(context);
Q_ASSERT(uas);
QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
Q_UNUSED(paramMgr);
Q_ASSERT(paramMgr);
Q_ASSERT(paramMgr->parametersReady());
PX4ParameterFacts* facts = _parameterFactsForUas(uas);
Q_ASSERT(facts);
Q_ASSERT(_parameterFacts->factsAreReady());
context->setContextProperty("parameterFacts", facts);
context->setContextProperty("parameterFacts", _parameterFacts);
}
/// @brief When a new uas is create we add a new set of parameter facts for it
void PX4AutoPilotPlugin::_uasCreated(UASInterface* uas)
void PX4AutoPilotPlugin::clearStaticData(void)
{
Q_ASSERT(uas);
Q_ASSERT(!_mapUas2ParameterFacts.contains(uas));
// Each uas has it's own set of parameter facts
PX4ParameterFacts* facts = new PX4ParameterFacts(uas, this);
Q_CHECK_PTR(facts);
_mapUas2ParameterFacts[uas] = facts;
PX4ParameterFacts::clearStaticData();
}
/// @brief When the uas is deleted we remove the parameter facts for it from the system
void PX4AutoPilotPlugin::_uasDeleted(UASInterface* uas)
bool PX4AutoPilotPlugin::pluginIsReady(void) const
{
delete _parameterFactsForUas(uas);
_mapUas2ParameterFacts.remove(uas);
}
PX4ParameterFacts* PX4AutoPilotPlugin::_parameterFactsForUas(UASInterface* uas) const
{
Q_ASSERT(uas);
Q_ASSERT(_mapUas2ParameterFacts.contains(uas));
return _mapUas2ParameterFacts[uas];
return _parameterFacts->factsAreReady();
}
......@@ -25,6 +25,7 @@
#define PX4AUTOPILOT_H
#include "AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASInterface.h"
#include "PX4ParameterFacts.h"
......@@ -37,23 +38,23 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
Q_OBJECT
public:
PX4AutoPilotPlugin(QObject* parent);
PX4AutoPilotPlugin(UASInterface* uas, QObject* parent);
~PX4AutoPilotPlugin();
// Overrides from AutoPilotPlugin
virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
virtual QList<FullMode_t> getModes(void) const;
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
private slots:
void _uasCreated(UASInterface* uas);
void _uasDeleted(UASInterface* uas);
virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
virtual void addFactsToQmlContext(QQmlContext* context) const;
virtual QObject* parameterFacts(void) const { return _parameterFacts; }
virtual bool pluginIsReady(void) const;
static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
static void clearStaticData(void);
private:
PX4ParameterFacts* _parameterFactsForUas(UASInterface* uas) const;
QMap<UASInterface*, PX4ParameterFacts*> _mapUas2ParameterFacts;
UASInterface* _uas;
PX4ParameterFacts* _parameterFacts;
bool _pluginReady;
};
#endif
......@@ -25,6 +25,7 @@
/// @author Don Gagne <don@thegagnes.com>
#include "PX4ParameterFacts.h"
#include "QGCApplication.h"
#include <QFile>
#include <QDebug>
......@@ -32,12 +33,14 @@
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)
_paramMgr(NULL),
_factsReady(false)
{
Q_ASSERT(uas);
......@@ -46,11 +49,14 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
_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)));
// Fact meta data should already be loaded
Q_ASSERT(_mapParameterName2FactMetaData.count() != 0);
}
PX4ParameterFacts::~PX4ParameterFacts()
......@@ -90,7 +96,7 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
// If we don't have meta data for the parameter it can't be part of the FactSystem
if (!_mapParameterName2FactMetaData.contains(parameterName)) {
// FIXME: Debug or Warning. Warning will fail TC
qCDebug(PX4ParameterFactsLog) << "FactSystem meta data out of date. Missing parameter:" << parameterName;
qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
return;
}
......@@ -99,19 +105,22 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
// We need to know when the fact changes so that we can send the new value to the parameter managers
connect(fact, &Fact::valueUpdated, this, &PX4ParameterFacts::_valueUpdated);
_mapParameterName2Fact[parameterName] = 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);
//qDebug() << "Adding new fact" << parameterName;
}
_mapParameterName2Fact[parameterName]->updateValue(value);
//qDebug() << "Updating fact value" << parameterName << value;
_mapParameterName2Fact[parameterName]->_containerSetValue(value);
}
/// Connected to Fact::valueUpdated
///
/// Sets the new value into the Parameter Manager. Paramter is persisted after send.
void PX4ParameterFacts::_valueUpdated(QVariant& value)
void PX4ParameterFacts::_valueUpdated(QVariant value)
{
Fact* fact = qobject_cast<Fact*>(sender());
Q_ASSERT(fact);
......@@ -285,6 +294,11 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
/// The meta data comes from firmware parameters.xml file.
void PX4ParameterFacts::loadParameterFactMetaData(void)
{
if (_parameterMetaDataLoaded) {
return;
}
_parameterMetaDataLoaded = true;
qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
......@@ -347,3 +361,29 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
xml.readNext();
}
}
// 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()) {
delete _mapParameterName2FactMetaData[parameterName];
}
_mapParameterName2FactMetaData.clear();
_parameterMetaDataLoaded = false;
}
\ No newline at end of file
......@@ -487,6 +487,7 @@ class PX4ParameterFacts : public QObject
Q_PROPERTY(Fact* UAVCAN_BITRATE READ getUAVCAN_BITRATE CONSTANT) Fact* getUAVCAN_BITRATE(void) { return _mapParameterName2Fact["UAVCAN_BITRATE"]; }
Q_PROPERTY(Fact* UAVCAN_ENABLE READ getUAVCAN_ENABLE CONSTANT) Fact* getUAVCAN_ENABLE(void) { return _mapParameterName2Fact["UAVCAN_ENABLE"]; }
Q_PROPERTY(Fact* UAVCAN_NODE_ID READ getUAVCAN_NODE_ID CONSTANT) Fact* getUAVCAN_NODE_ID(void) { return _mapParameterName2Fact["UAVCAN_NODE_ID"]; }
Q_PROPERTY(QString testString READ getTestString CONSTANT)
public:
/// @param uas Uas which this set of facts is associated with
......@@ -496,13 +497,20 @@ public:
static void loadParameterFactMetaData(void);
static void deleteParameterFactMetaData(void);
static void clearStaticData(void);
/// Returns true if the full set of facts are ready
bool factsAreReady(void) { return _factsReady; }
signals:
/// Signalled when the full set of facts are