/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009, 2010 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ /** * @file * @brief Implementation of class QGCParamWidget * @author Lorenz Meier */ #include #include #include #include #include #include #include #include #include #include #include #include #include "MainWindow.h" #include "QGC.h" #include "QGCParamWidget.h" #include "UASInterface.h" #include "UASParameterCommsMgr.h" /** * @param uas MAV to set the parameters on * @param parent Parent widget */ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : QGCUASParamManager(uas, parent), componentItems(new QMap()) { // Create tree widget tree = new QTreeWidget(this); statusLabel = new QLabel(); statusLabel->setAutoFillBackground(true); tree->setColumnWidth(70, 30); // Set tree widget as widget onto this component QGridLayout* horizontalLayout; //form->setAutoFillBackground(false); horizontalLayout = new QGridLayout(this); horizontalLayout->setHorizontalSpacing(6); horizontalLayout->setVerticalSpacing(6); horizontalLayout->setMargin(0); horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize); //horizontalLayout->setSizeConstraint( QLayout::SetFixedSize ); // Parameter tree horizontalLayout->addWidget(tree, 0, 0, 1, 3); // Status line statusLabel->setText(tr("Click refresh to download parameters")); horizontalLayout->addWidget(statusLabel, 1, 0, 1, 3); // BUTTONS QPushButton* refreshButton = new QPushButton(tr("Get")); refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft.")); refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft.")); connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestAllParamsUpdate())); horizontalLayout->addWidget(refreshButton, 2, 0); QPushButton* setButton = new QPushButton(tr("Set")); setButton->setToolTip(tr("Set current parameters in non-permanent onboard memory")); setButton->setWhatsThis(tr("Set current parameters in non-permanent onboard memory")); connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters())); horizontalLayout->addWidget(setButton, 2, 1); QPushButton* writeButton = new QPushButton(tr("Write (ROM)")); writeButton->setToolTip(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these.")); writeButton->setWhatsThis(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these.")); connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters())); horizontalLayout->addWidget(writeButton, 2, 2); QPushButton* loadFileButton = new QPushButton(tr("Load File")); loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them.")); loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them.")); connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParametersFromFile())); horizontalLayout->addWidget(loadFileButton, 3, 0); QPushButton* saveFileButton = new QPushButton(tr("Save File")); saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer.")); saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer.")); connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParametersToFile())); horizontalLayout->addWidget(saveFileButton, 3, 1); QPushButton* readButton = new QPushButton(tr("Read (ROM)")); readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them.")); readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them.")); connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters())); horizontalLayout->addWidget(readButton, 3, 2); // Set correct vertical scaling horizontalLayout->setRowStretch(0, 100); horizontalLayout->setRowStretch(1, 10); horizontalLayout->setRowStretch(2, 10); horizontalLayout->setRowStretch(3, 10); // Set layout this->setLayout(horizontalLayout); // Set header QStringList headerItems; headerItems.append("Parameter"); headerItems.append("Value"); tree->setHeaderLabels(headerItems); tree->setColumnCount(2); tree->setExpandsOnDoubleClick(true); // Connect signals/slots connect(this, SIGNAL(parameterChanged(int,QString,QVariant)), mav, SLOT(setParameter(int,QString,QVariant))); connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int))); // New parameters from UAS connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant))); // connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick())); // connect(this, SIGNAL(requestParameter(int,QString)), uas, SLOT(requestParameter(int,QString))); // connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int))); // Get parameters if (uas) { requestAllParamsUpdate(); } } void QGCParamWidget::addComponentItem( int compId, QString compName) { if (componentItems->contains(compId)) { // Update existing componentItems->value(compId)->setData(0, Qt::DisplayRole, QString("%1 (#%2)").arg(compName).arg(compId)); //components->value(component)->setData(1, Qt::DisplayRole, QString::number(component)); componentItems->value(compId)->setFirstColumnSpanned(true); } else { // Add new QStringList list(QString("%1 (#%2)").arg(compName).arg(compId)); QTreeWidgetItem* comp = new QTreeWidgetItem(list); comp->setFirstColumnSpanned(true); componentItems->insert(compId, comp); // Create grouping and update maps paramGroups.insert(compId, new QMap()); tree->addTopLevelItem(comp); tree->update(); } //TODO it seems unlikely that the UI would know about a component before the data model... paramDataModel->addComponent(compId); } /** * @param uas System which has the component * @param component id of the component * @param parameterName human friendly name of the parameter */ //void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value) //{ // updateParameterDisplay(component, parameterName, value); // // Missing packets list has to be instantiated for all components // if (!transmissionMissingPackets.contains(component)) { // transmissionMissingPackets.insert(component, new QList()); // } // // List mode is different from single parameter transfers // if (transmissionListMode) { // // Only accept the list size once on the first packet from // // each component // if (!transmissionListSizeKnown.contains(component)) // { // // Mark list size as known // transmissionListSizeKnown.insert(component, true); // // Mark all parameters as missing // for (int i = 0; i < paramCount; ++i) // { // if (!transmissionMissingPackets.value(component)->contains(i)) // { // transmissionMissingPackets.value(component)->append(i); // } // } // // There is only one transmission timeout for all components // // since components do not manage their transmission, // // the longest timeout is safe for all components. // quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount)*retransmissionTimeout); // if (thisTransmissionTimeout > transmissionTimeout) // { // transmissionTimeout = thisTransmissionTimeout; // } // } // // Start retransmission guard // // or reset timer // paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO // } // // Mark this parameter as received in read list // int index = transmissionMissingPackets.value(component)->indexOf(paramId); // // If the MAV sent the parameter without request, it wont be in missing list // if (index != -1) transmissionMissingPackets.value(component)->removeAt(index); // bool justWritten = false; // bool writeMismatch = false; // //bool lastWritten = false; // // Mark this parameter as received in write ACK list // QMap* map = transmissionMissingWriteAckPackets.value(component); // if (map && map->contains(parameterName)) // { // justWritten = true; // QVariant newval = map->value(parameterName); // if (map->value(parameterName) != value) // { // writeMismatch = true; // } // map->remove(parameterName); // } // int missCount = 0; // foreach (int key, transmissionMissingPackets.keys()) // { // missCount += transmissionMissingPackets.value(key)->count(); // } // int missWriteCount = 0; // foreach (int key, transmissionMissingWriteAckPackets.keys()) // { // missWriteCount += transmissionMissingWriteAckPackets.value(key)->count(); // } // if (justWritten && !writeMismatch && missWriteCount == 0) // { // // Just wrote one and count went to 0 - this was the last missing write parameter // statusLabel->setText(tr("SUCCESS: WROTE ALL PARAMETERS")); // QPalette pal = statusLabel->palette(); // pal.setColor(backgroundRole(), QGC::colorGreen); // statusLabel->setPalette(pal); // } else if (justWritten && !writeMismatch) // { // statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(paramCount)); // QPalette pal = statusLabel->palette(); // pal.setColor(backgroundRole(), QGC::colorGreen); // statusLabel->setPalette(pal); // } else if (justWritten && writeMismatch) // { // // Mismatch, tell user // QPalette pal = statusLabel->palette(); // pal.setColor(backgroundRole(), QGC::colorRed); // statusLabel->setPalette(pal); // statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName).toDouble()).arg(value.toDouble())); // } // else // { // if (missCount > 0) // { // QPalette pal = statusLabel->palette(); // pal.setColor(backgroundRole(), QGC::colorOrange); // statusLabel->setPalette(pal); // } // else // { // QPalette pal = statusLabel->palette(); // pal.setColor(backgroundRole(), QGC::colorGreen); // statusLabel->setPalette(pal); // } // QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' ')); // //statusLabel->setText(tr("OK: %1 %2 #%3/%4, %5 miss").arg(parameterName).arg(val).arg(paramId+1).arg(paramCount).arg(missCount)); // if (missCount == 0) // { // // Transmission done // QTime time = QTime::currentTime(); // QString timeString = time.toString(); // statusLabel->setText(tr("All received. (updated at %1)").arg(timeString)); // } // else // { // // Transmission in progress // statusLabel->setText(tr("OK: %1 %2 (%3/%4)").arg(parameterName).arg(val).arg(paramCount-missCount).arg(paramCount)); // } // } // // Check if last parameter was received // if (missCount == 0 && missWriteCount == 0) // { // this->transmissionActive = false; // this->transmissionListMode = false; // transmissionListSizeKnown.clear(); // foreach (int key, transmissionMissingPackets.keys()) // { // transmissionMissingPackets.value(key)->clear(); // } // // Expand visual tree // tree->expandItem(tree->topLevelItem(0)); // } //} void QGCParamWidget::handleParameterUpdate(int componentId, int paramCount, int paramId, const QString& paramName, QVariant value) { Q_UNUSED(paramCount); Q_UNUSED(paramId); updateParameterDisplay(componentId, paramName, value); } void QGCParamWidget::handleParameterListUpToDate() { // Expand visual tree tree->expandItem(tree->topLevelItem(0)); } void QGCParamWidget::updateParameterDisplay(int componentId, QString parameterName, QVariant value) { // QString ptrStr; // ptrStr.sprintf("%8p", this); // qDebug() << "QGCParamWidget " << ptrStr << " got param" << parameterName; // Reference to item in tree QTreeWidgetItem* parameterItem = NULL; // Get component if (!componentItems->contains(componentId)) { QString componentName = tr("Component #%1").arg(componentId); addComponentItem(componentId, componentName); } //TODO this should be bubbling up from the model, not vice-versa, right? // // Replace value in data model // paramDataModel->handleParameterUpdate(componentId,parameterName,value); QString splitToken = "_"; // Check if auto-grouping can work if (parameterName.contains(splitToken)) { QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty); QMap* compParamGroups = paramGroups.value(componentId); if (!compParamGroups->contains(parent)) { // Insert group item QStringList glist; glist.append(parent); QTreeWidgetItem* item = new QTreeWidgetItem(glist); compParamGroups->insert(parent, item); componentItems->value(componentId)->addChild(item); } // Append child to group bool found = false; QTreeWidgetItem* parentItem = compParamGroups->value(parent); for (int i = 0; i < parentItem->childCount(); i++) { QTreeWidgetItem* child = parentItem->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); if (key == parameterName) { //qDebug() << "UPDATED CHILD"; parameterItem = child; if (value.type() == QVariant::Char) { parameterItem->setData(1, Qt::DisplayRole, value.toUInt()); } else { parameterItem->setData(1, Qt::DisplayRole, value); } found = true; } } if (!found) { // Insert parameter into map QStringList plist; plist.append(parameterName); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM if (value.type() == QVariant::Char) { parameterItem->setData(1, Qt::DisplayRole, value.toUInt()); } else { parameterItem->setData(1, Qt::DisplayRole, value); } compParamGroups->value(parent)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); } } else { bool found = false; QTreeWidgetItem* parent = componentItems->value(componentId); for (int i = 0; i < parent->childCount(); i++) { QTreeWidgetItem* child = parent->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); if (key == parameterName) { //qDebug() << "UPDATED CHILD"; parameterItem = child; parameterItem->setData(1, Qt::DisplayRole, value); found = true; } } if (!found) { // Insert parameter into map QStringList plist; plist.append(parameterName); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM parameterItem->setData(1, Qt::DisplayRole, value); componentItems->value(componentId)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); } //tree->expandAll(); } // Reset background color parameterItem->setBackground(0, Qt::NoBrush); parameterItem->setBackground(1, Qt::NoBrush); // Add tooltip QString paramDesc = paramDataModel->getParamDescription(parameterName); QString tooltipFormat; if (paramDataModel->isParamDefaultKnown(parameterName)) { tooltipFormat = tr("Default: %1, %2"); double paramDefValue = paramDataModel->getParamDefault(parameterName); tooltipFormat = tooltipFormat.arg(paramDefValue).arg(paramDesc); } else { tooltipFormat = paramDesc; } parameterItem->setToolTip(0, tooltipFormat); parameterItem->setToolTip(1, tooltipFormat); //paramDataModel->handleParameterUpdate(componentId,parameterName,value); } void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) { if (current && column > 0) { QTreeWidgetItem* parent = current->parent(); while (parent->parent() != NULL) { parent = parent->parent(); } // Parent is now top-level component int componentId = componentItems->key(parent); QString key = current->data(0, Qt::DisplayRole).toString(); QVariant value = current->data(1, Qt::DisplayRole); // Set parameter on changed list to be transmitted to MAV QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorOrange); statusLabel->setPalette(pal); statusLabel->setText(tr("Transmit pend. %1:%2: %3").arg(componentId).arg(key).arg(value.toFloat(), 5, 'f', 1, QChar(' '))); //qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value; // Changed values list bool changed = paramDataModel->addPendingIfParameterChanged(componentId,key,value); // If the value was numerically changed, display it differently if (changed) { current->setBackground(0, QBrush(QColor(QGC::colorOrange))); current->setBackground(1, QBrush(QColor(QGC::colorOrange))); //TODO this seems incorrect-- we're pre-updating the onboard value before we've received confirmation //paramDataModel->setOnboardParameterWithType(componentId,key,value); } } } void QGCParamWidget::saveParametersToFile() { if (!mav) return; QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)")); QFile file(fileName); if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { return; } QTextStream outstream(&file); paramDataModel->writeOnboardParametersToStream(outstream,mav->getUASName()); file.close(); } void QGCParamWidget::loadParametersFromFile() { if (!mav) return; QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)")); QFile file(fileName); if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) return; QTextStream in(&file); paramDataModel->readUpdateParametersFromStream(in); file.close(); } void QGCParamWidget::setParameterStatusMsg(const QString& msg) { statusLabel->setText(msg); } void QGCParamWidget::requestAllParamsUpdate() { if (!mav) { return; } // Clear view and request param list clear(); requestParameterList(); } /** * Set all parameter in the parameter tree on the MAV */ void QGCParamWidget::setParameters() { paramCommsMgr->sendPendingParameters(); } /** * Write the current onboard parameters from RAM into * permanent storage, e.g. EEPROM or harddisk */ void QGCParamWidget::writeParameters() { int changedParamCount = 0; QMap*>::iterator i; QMap*> changedValues = paramDataModel->getPendingParameters(); for (i = changedValues.begin(); i != changedValues.end() , (0 == changedParamCount); ++i) { // Iterate through the parameters of the component QMap* compPending = i.value(); changedParamCount += compPending->count(); } if (changedParamCount > 0) { QMessageBox msgBox; msgBox.setText(tr("There are locally changed parameters. Please transmit them first () or update them with the onboard values () before storing onboard from RAM to ROM.")); msgBox.exec(); } else { paramCommsMgr->writeParamsToPersistentStorage(); } } /** * @param component the subsystem which has the parameter * @param parameterName name of the parameter, as delivered by the system * @param value value of the parameter */ //void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value) //{ // if (parameterName.isEmpty()) { // return; // } // double dblValue = value.toDouble(); // if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) { // statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue)); // return; // } // if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) { // statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue)); // return; // } // QVariant onboardVal; // paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal); // if (onboardVal == value) { // statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue)); // return; // } // //int paramType = (int)onboardParameters.value(component)->value(parameterName).type(); // int paramType = (int)value.type(); // switch (paramType) // { // case QVariant::Char: // { // QVariant fixedValue(QChar((unsigned char)value.toInt())); // emit parameterChanged(component, parameterName, fixedValue); // //qDebug() << "PARAM WIDGET SENT:" << fixedValue; // } // break; // case QVariant::Int: // { // QVariant fixedValue(value.toInt()); // emit parameterChanged(component, parameterName, fixedValue); // //qDebug() << "PARAM WIDGET SENT:" << fixedValue; // } // break; // case QVariant::UInt: // { // QVariant fixedValue(value.toUInt()); // emit parameterChanged(component, parameterName, fixedValue); // //qDebug() << "PARAM WIDGET SENT:" << fixedValue; // } // break; // case QMetaType::Float: // { // QVariant fixedValue(value.toFloat()); // emit parameterChanged(component, parameterName, fixedValue); // //qDebug() << "PARAM WIDGET SENT:" << fixedValue; // } // break; // default: // qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; // return; // } // // Wait for parameter to be written back // // mark it therefore as missing // if (!transmissionMissingWriteAckPackets.contains(component)) // { // transmissionMissingWriteAckPackets.insert(component, new QMap()); // } // // Insert it in missing write ACK list // transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value); // // Set timeouts // if (transmissionActive) // { // transmissionTimeout += rewriteTimeout; // } // else // { // quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout; // if (newTransmissionTimeout > transmissionTimeout) // { // transmissionTimeout = newTransmissionTimeout; // } // transmissionActive = true; // } // // Enable guard / reset timeouts // paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO //} void QGCParamWidget::readParameters() { if (!mav) return; mav->readParametersFromStorage(); } /** * Clear all data in the parameter widget */ void QGCParamWidget::clear() { tree->clear(); componentItems->clear(); } void QGCParamWidget::handleParamStatusMsgUpdate(QString msg, int level) { QColor bgColor = QGC::colorGreen; if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Warning == level) { bgColor = QGC::colorOrange; } else if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Error == level) { bgColor = QGC::colorRed; } QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), bgColor); statusLabel->setPalette(pal); statusLabel->setText(msg); }