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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "ParameterManager.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
#include "QGCApplication.h"
#include "UASMessageHandler.h"
#include "FirmwarePlugin.h"
#include "UAS.h"
#include "JsonHelper.h"
#include <QEasingCurve>
#include <QFile>
#include <QDebug>
#include <QVariantAnimation>
#include <QJsonArray>
QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log")
QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log")
QGC_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog, "ParameterManagerDebugCacheFailureLog") // Turn on to debug parameter cache crc misses
const char* ParameterManager::_cachedMetaDataFilePrefix = "ParameterFactMetaData";
const char* ParameterManager::_jsonParametersKey = "parameters";
const char* ParameterManager::_jsonCompIdKey = "compId";
const char* ParameterManager::_jsonParamNameKey = "name";
const char* ParameterManager::_jsonParamValueKey = "value";
ParameterManager::ParameterManager(Vehicle* vehicle)
: QObject (vehicle)
, _vehicle (vehicle)
, _mavlink (nullptr)
, _loadProgress (0.0)
, _parametersReady (false)
, _missingParameters (false)
, _initialLoadComplete (false)
, _waitingForDefaultComponent (false)
, _saveRequired (false)
, _metaDataAddedToFacts (false)
, _logReplay (vehicle->priorityLink() && vehicle->priorityLink()->isLogReplay())
, _parameterSetMajorVersion (-1)
, _parameterMetaData (nullptr)
, _prevWaitingReadParamIndexCount (0)
, _prevWaitingReadParamNameCount (0)
, _prevWaitingWriteParamNameCount (0)
, _initialRequestRetryCount (0)
, _disableAllRetries (false)
, _indexBatchQueueActive (false)
, _totalParamCount (0)
{
_versionParam = vehicle->firmwarePlugin()->getVersionParam();
if (_vehicle->isOfflineEditingVehicle()) {
_loadOfflineEditingParams();
return;
}
_mavlink = qgcApp()->toolbox()->mavlinkProtocol();
_initialRequestTimeoutTimer.setSingleShot(true);
_initialRequestTimeoutTimer.setInterval(5000);
connect(&_initialRequestTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_initialRequestTimeout);
_waitingParamTimeoutTimer.setSingleShot(true);
_waitingParamTimeoutTimer.setInterval(3000);
connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_waitingParamTimeout);
connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterManager::_parameterUpdate);
// Ensure the cache directory exists
QFileInfo(QSettings().fileName()).dir().mkdir("ParamCache");
if (_vehicle->highLatencyLink()) {
// High latency links don't load parameters
_parametersReady = true;
_missingParameters = true;
_initialLoadComplete = true;
_waitingForDefaultComponent = false;
emit parametersReadyChanged(_parametersReady);
emit missingParametersChanged(_missingParameters);
} else if (!_logReplay){
refreshAllParameters();
}
}
ParameterManager::~ParameterManager()
{
delete _parameterMetaData;
}
/// Called whenever a parameter is updated or first seen.
void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value)
{
// Is this for our uas?
if (vehicleId != _vehicle->id()) {
return;
}
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) <<
"_parameterUpdate" <<
"name:" << parameterName <<
"count:" << parameterCount <<
"index:" << parameterId <<
"mavType:" << mavType <<
"value:" << value <<
")";
// ArduPilot has this strange behavior of streaming parameters that we didn't ask for. This even happens before it responds to the
// PARAM_REQUEST_LIST. We disregard any of this until the initial request is responded to.
if (parameterId == 65535 && parameterName != "_HASH_CHECK" && _initialRequestTimeoutTimer.isActive()) {
qCDebug(ParameterManagerVerbose1Log) << "Disregarding unrequested param prior to initial list response" << parameterName;
return;
}
_initialRequestTimeoutTimer.stop();
#if 0
if (!_initialLoadComplete && !_indexBatchQueueActive) {
// Handy for testing retry logic
static int counter = 0;
if (counter++ & 0x8) {
qCDebug(ParameterManagerLog) << "Artificial discard" << counter;
return;
}
}
#endif
#if 0
// Use this to test missing default component id
if (componentId == 50) {
return;
}
#endif
if (_vehicle->px4Firmware() && parameterName == "_HASH_CHECK") {
if (!_initialLoadComplete && !_logReplay) {
/* we received a cache hash, potentially load from cache */
_tryCacheHashLoad(vehicleId, componentId, value);
}
return;
}
// Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
if (_debugCacheMap[componentId].contains(parameterName)) {
const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
const void *cacheData = cacheParamTypeVal.second.constData();
const void *vehicleData = value.constData();
if (memcmp(cacheData, vehicleData, dataSize)) {
qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << value << cacheParamTypeVal.second;
}
_debugCacheParamSeen[componentId][parameterName] = true;
} else {
qDebug() << "Parameter missing from cache" << parameterName;
}
}
_initialRequestTimeoutTimer.stop();
_waitingParamTimeoutTimer.stop();
_dataMutex.lock();
// Update our total parameter counts
if (!_paramCountMap.contains(componentId)) {
_paramCountMap[componentId] = parameterCount;
_totalParamCount += parameterCount;
}
// If we've never seen this component id before, setup the wait lists.
if (!_waitingReadParamIndexMap.contains(componentId)) {
// Add all indices to the wait list, parameter index is 0-based
for (int waitingIndex=0; waitingIndex<parameterCount; waitingIndex++) {
// This will add the new component id, as well as the the new waiting index and set the retry count for that index to 0
_waitingReadParamIndexMap[componentId][waitingIndex] = 0;
}
// The read and write waiting lists for this component are initialized the empty
_waitingReadParamNameMap[componentId] = QMap<QString, int>();
_waitingWriteParamNameMap[componentId] = QMap<QString, int>();
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Seeing component for first time - paramcount:" << parameterCount;
}
bool componentParamsComplete = false;
if (_waitingReadParamIndexMap[componentId].count() == 1) {
// We need to know when we get the last param from a component in order to complete setup
componentParamsComplete = true;
}
if (!_waitingReadParamIndexMap[componentId].contains(parameterId) &&
!_waitingReadParamNameMap[componentId].contains(parameterName) &&
!_waitingWriteParamNameMap[componentId].contains(parameterName)) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Unrequested param update" << parameterName;
}
// Remove this parameter from the waiting lists
if (_waitingReadParamIndexMap[componentId].contains(parameterId)) {
_waitingReadParamIndexMap[componentId].remove(parameterId);
_indexBatchQueue.removeOne(parameterId);
_fillIndexBatchQueue(false /* waitingParamTimeout */);
}
_waitingReadParamNameMap[componentId].remove(parameterName);
_waitingWriteParamNameMap[componentId].remove(parameterName);
if (_waitingReadParamIndexMap[componentId].count()) {
qCDebug(ParameterManagerVerbose2Log) << _logVehiclePrefix(componentId) << "_waitingReadParamIndexMap:" << _waitingReadParamIndexMap[componentId];
}
if (_waitingReadParamNameMap[componentId].count()) {
qCDebug(ParameterManagerVerbose2Log) << _logVehiclePrefix(componentId) << "_waitingReadParamNameMap" << _waitingReadParamNameMap[componentId];
}
if (_waitingWriteParamNameMap[componentId].count()) {
qCDebug(ParameterManagerVerbose2Log) << _logVehiclePrefix(componentId) << "_waitingWriteParamNameMap" << _waitingWriteParamNameMap[componentId];
}
// Track how many parameters we are still waiting for
int waitingReadParamIndexCount = 0;
int waitingReadParamNameCount = 0;
int waitingWriteParamNameCount = 0;
for(int waitingComponentId: _waitingReadParamIndexMap.keys()) {
waitingReadParamIndexCount += _waitingReadParamIndexMap[waitingComponentId].count();
}
if (waitingReadParamIndexCount) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "waitingReadParamIndexCount:" << waitingReadParamIndexCount;
}
for(int waitingComponentId: _waitingReadParamNameMap.keys()) {
waitingReadParamNameCount += _waitingReadParamNameMap[waitingComponentId].count();
}
if (waitingReadParamNameCount) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "waitingReadParamNameCount:" << waitingReadParamNameCount;
}
for(int waitingComponentId: _waitingWriteParamNameMap.keys()) {
waitingWriteParamNameCount += _waitingWriteParamNameMap[waitingComponentId].count();
}
if (waitingWriteParamNameCount) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "waitingWriteParamNameCount:" << waitingWriteParamNameCount;
}
int readWaitingParamCount = waitingReadParamIndexCount + waitingReadParamNameCount;
int totalWaitingParamCount = readWaitingParamCount + waitingWriteParamNameCount;
if (totalWaitingParamCount) {
// More params to wait for, restart timer
_waitingParamTimeoutTimer.start();
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer: totalWaitingParamCount:" << totalWaitingParamCount;
} else {
if (!_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
// Still waiting for parameters from default component
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer (still waiting for default component params)";
_waitingParamTimeoutTimer.start();
} else {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(-1) << "Not restarting _waitingParamTimeoutTimer (all requests satisfied)";
}
}
// Update progress bar for waiting reads
if (readWaitingParamCount == 0) {
// We are no longer waiting for any reads to complete
if (_prevWaitingReadParamIndexCount + _prevWaitingReadParamNameCount != 0) {
// Set progress to 0 if not already there
_setLoadProgress(0.0);
}
} else {
_setLoadProgress((double)(_totalParamCount - readWaitingParamCount) / (double)_totalParamCount);
}
// Get parameter set version
if (!_versionParam.isEmpty() && _versionParam == parameterName) {
_parameterSetMajorVersion = value.toInt();
}
if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(parameterName)) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Adding new fact" << parameterName;
FactMetaData::ValueType_t factType;
switch (mavType) {
case MAV_PARAM_TYPE_UINT8:
factType = FactMetaData::valueTypeUint8;
break;
case MAV_PARAM_TYPE_INT8:
factType = FactMetaData::valueTypeInt8;
break;
case MAV_PARAM_TYPE_UINT16:
factType = FactMetaData::valueTypeUint16;
break;
case MAV_PARAM_TYPE_INT16:
factType = FactMetaData::valueTypeInt16;
break;
case MAV_PARAM_TYPE_UINT32:
factType = FactMetaData::valueTypeUint32;
break;
case MAV_PARAM_TYPE_INT32:
factType = FactMetaData::valueTypeInt32;
break;
case MAV_PARAM_TYPE_UINT64:
factType = FactMetaData::valueTypeUint64;
break;
case MAV_PARAM_TYPE_INT64:
factType = FactMetaData::valueTypeInt64;
break;
case MAV_PARAM_TYPE_REAL32:
factType = FactMetaData::valueTypeFloat;
break;
case MAV_PARAM_TYPE_REAL64:
factType = FactMetaData::valueTypeDouble;
break;
default:
factType = FactMetaData::valueTypeInt32;
qCritical() << "Unsupported fact type" << mavType;
break;
}
Fact* fact = new Fact(componentId, parameterName, factType, this);
_mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact);
// 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::_containerRawValueChanged, this, &ParameterManager::_valueUpdated);
}
_dataMutex.unlock();
Fact* fact = nullptr;
if (_mapParameterName2Variant[componentId].contains(parameterName)) {
fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
}
if (fact) {
fact->_containerSetRawValue(value);
} else {
qWarning() << "Internal error";
}
if (componentParamsComplete) {
if (componentId == _vehicle->defaultComponentId()) {
// Add meta data to default component. We need to do this before we setup the group map since group
// map requires meta data.
_addMetaDataToDefaultComponent();
// When we are getting the very last component param index, reset the group maps to update for the
// new params. By handling this here, we can pick up components which finish up later than the default
// component param set.
_setupDefaultComponentCategoryMap();
}
}
// Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
// which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
// which in turn causes a perf problem with all the param cache updates.
if (!_logReplay && _vehicle->px4Firmware()) {
if (_prevWaitingReadParamIndexCount + _prevWaitingReadParamNameCount != 0 && readWaitingParamCount == 0) {
// All reads just finished, update the cache
_writeLocalParamCache(vehicleId, componentId);
}
}
_prevWaitingReadParamIndexCount = waitingReadParamIndexCount;
_prevWaitingReadParamNameCount = waitingReadParamNameCount;
_prevWaitingWriteParamNameCount = waitingWriteParamNameCount;
_checkInitialLoadComplete();
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "_parameterUpdate complete";
}
/// Connected to Fact::valueUpdated
///
/// Writes the parameter to mavlink, sets up for write wait
void ParameterManager::_valueUpdated(const QVariant& value)
{
Fact* fact = qobject_cast<Fact*>(sender());
if (!fact) {
qWarning() << "Internal error";
return;
}
int componentId = fact->componentId();
QString name = fact->name();
_dataMutex.lock();
if (_waitingWriteParamNameMap.contains(componentId)) {
_waitingWriteParamNameMap[componentId].remove(name); // Remove any old entry
_waitingWriteParamNameMap[componentId][name] = 0; // Add new entry and set retry count
_waitingParamTimeoutTimer.start();
_saveRequired = true;
} else {
qWarning() << "Internal error";
}
_dataMutex.unlock();
_writeParameterRaw(componentId, fact->name(), value);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Set parameter - name:" << name << value << "(_waitingParamTimeoutTimer started)";
}
void ParameterManager::refreshAllParameters(uint8_t componentId)
{
if (_logReplay) {
return;
}
_dataMutex.lock();
if (!_initialLoadComplete) {
_initialRequestTimeoutTimer.start();
}
// Reset index wait lists
for (int cid: _paramCountMap.keys()) {
// Add/Update all indices to the wait list, parameter index is 0-based
if(componentId != MAV_COMP_ID_ALL && componentId != cid)
continue;
for (int waitingIndex = 0; waitingIndex < _paramCountMap[cid]; waitingIndex++) {
// This will add a new waiting index if needed and set the retry count for that index to 0
_waitingReadParamIndexMap[cid][waitingIndex] = 0;
}
}
_dataMutex.unlock();
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
mavlink_message_t msg;
mavlink_msg_param_request_list_pack_chan(mavlink->getSystemId(),
mavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
_vehicle->id(),
componentId);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
QString what = (componentId == MAV_COMP_ID_ALL) ? "MAV_COMP_ID_ALL" : QString::number(componentId);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Request to refresh all parameters for component ID:" << what;
}
/// Translates FactSystem::defaultComponentId to real component id if needed
int ParameterManager::_actualComponentId(int componentId)
{
if (componentId == FactSystem::defaultComponentId) {
componentId = _vehicle->defaultComponentId();
if (componentId == FactSystem::defaultComponentId) {
qWarning() << _logVehiclePrefix(-1) << "Default component id not set";
}
}
return componentId;
}
void ParameterManager::refreshParameter(int componentId, const QString& name)
{
componentId = _actualComponentId(componentId);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "refreshParameter - name:" << name << ")";
_dataMutex.lock();
if (_waitingReadParamNameMap.contains(componentId)) {
QString mappedParamName = _remapParamNameToVersion(name);
_waitingReadParamNameMap[componentId].remove(mappedParamName); // Remove old wait entry if there
_waitingReadParamNameMap[componentId][mappedParamName] = 0; // Add new wait entry and update retry count
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "restarting _waitingParamTimeout";
_waitingParamTimeoutTimer.start();
} else {
qWarning() << "Internal error";
}
_dataMutex.unlock();
_readParameterRaw(componentId, name, -1);
}
void ParameterManager::refreshParametersPrefix(int componentId, const QString& namePrefix)
{
componentId = _actualComponentId(componentId);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "refreshParametersPrefix - name:" << namePrefix << ")";
for(const QString &name: _mapParameterName2Variant[componentId].keys()) {
if (name.startsWith(namePrefix)) {
refreshParameter(componentId, name);
}
}
}
bool ParameterManager::parameterExists(int componentId, const QString& name)
{
bool ret = false;
componentId = _actualComponentId(componentId);
if (_mapParameterName2Variant.contains(componentId)) {
ret = _mapParameterName2Variant[componentId].contains(_remapParamNameToVersion(name));
}
return ret;
}
Fact* ParameterManager::getParameter(int componentId, const QString& name)
{
componentId = _actualComponentId(componentId);
QString mappedParamName = _remapParamNameToVersion(name);
if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(mappedParamName)) {
qgcApp()->reportMissingParameter(componentId, mappedParamName);
return &_defaultFact;
}
return _mapParameterName2Variant[componentId][mappedParamName].value<Fact*>();
}
QStringList ParameterManager::parameterNames(int componentId)
{
QStringList names;
for(const QString &paramName: _mapParameterName2Variant[_actualComponentId(componentId)].keys()) {
names << paramName;
}
return names;
}
void ParameterManager::_setupDefaultComponentCategoryMap(void)
{
// Must be able to handle being called multiple times
_defaultComponentCategoryMap.clear();
for (const QString &name: _mapParameterName2Variant[_vehicle->defaultComponentId()].keys()) {
Fact* fact = _mapParameterName2Variant[_vehicle->defaultComponentId()][name].value<Fact*>();
_defaultComponentCategoryMap[fact->category()][fact->group()] += name;
}
}
const QMap<QString, QMap<QString, QStringList> >& ParameterManager::getDefaultComponentCategoryMap(void)
{
return _defaultComponentCategoryMap;
}
/// Requests missing index based parameters from the vehicle.
/// @param waitingParamTimeout: true: being called due to timeout, false: being called to re-fill the batch queue
/// return true: Parameters were requested, false: No more requests needed
bool ParameterManager::_fillIndexBatchQueue(bool waitingParamTimeout)
{
if (!_indexBatchQueueActive) {
return false;
}
const int maxBatchSize = 10;
if (waitingParamTimeout) {
// We timed out, clear the queue and try again
qCDebug(ParameterManagerLog) << "Refilling index based batch queue due to timeout";
_indexBatchQueue.clear();
} else {
qCDebug(ParameterManagerLog) << "Refilling index based batch queue due to received parameter";
}
for(int componentId: _waitingReadParamIndexMap.keys()) {
if (_waitingReadParamIndexMap[componentId].count()) {
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "_waitingReadParamIndexMap count" << _waitingReadParamIndexMap[componentId].count();
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "_waitingReadParamIndexMap" << _waitingReadParamIndexMap[componentId];
}
for(int paramIndex: _waitingReadParamIndexMap[componentId].keys()) {
if (_indexBatchQueue.contains(paramIndex)) {
// Don't add more than once
continue;
}
if (_indexBatchQueue.count() > maxBatchSize) {
break;
}
_waitingReadParamIndexMap[componentId][paramIndex]++; // Bump retry count
if (_disableAllRetries || _waitingReadParamIndexMap[componentId][paramIndex] > _maxInitialLoadRetrySingleParam) {
// Give up on this index
_failedReadParamIndexMap[componentId] << paramIndex;
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Giving up on (paramIndex:" << paramIndex << "retryCount:" << _waitingReadParamIndexMap[componentId][paramIndex] << ")";
_waitingReadParamIndexMap[componentId].remove(paramIndex);
} else {
// Retry again
_indexBatchQueue.append(paramIndex);
_readParameterRaw(componentId, "", paramIndex);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Read re-request for (paramIndex:" << paramIndex << "retryCount:" << _waitingReadParamIndexMap[componentId][paramIndex] << ")";
}
}
}
return _indexBatchQueue.count() != 0;
}
void ParameterManager::_waitingParamTimeout(void)
{
if (_logReplay) {
return;
}
bool paramsRequested = false;
const int maxBatchSize = 10;
int batchCount = 0;
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_waitingParamTimeout";
// Now that we have timed out for possibly the first time we can activate the index batch queue
_indexBatchQueueActive = true;
// First check for any missing parameters from the initial index based load
paramsRequested = _fillIndexBatchQueue(true /* waitingParamTimeout */);
if (!paramsRequested && !_waitingForDefaultComponent && !_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
// Initial load is complete but we still don't have any default component params. Wait one more cycle to see if the
// any show up.
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer - still don't have default component params" << _vehicle->defaultComponentId() << _mapParameterName2Variant.keys();
_waitingParamTimeoutTimer.start();
_waitingForDefaultComponent = true;
return;
}
_waitingForDefaultComponent = false;
_checkInitialLoadComplete();
if (!paramsRequested) {
for(int componentId: _waitingWriteParamNameMap.keys()) {
for(const QString &paramName: _waitingWriteParamNameMap[componentId].keys()) {
paramsRequested = true;
_waitingWriteParamNameMap[componentId][paramName]++; // Bump retry count
if (_waitingWriteParamNameMap[componentId][paramName] <= _maxReadWriteRetry) {
_writeParameterRaw(componentId, paramName, getParameter(componentId, paramName)->rawValue());
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Write resend for (paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")";
if (++batchCount > maxBatchSize) {
goto Out;
}
} else {
// Exceeded max retry count, notify user
_waitingWriteParamNameMap[componentId].remove(paramName);
QString errorMsg = tr("Parameter write failed: veh:%1 comp:%2 param:%3").arg(_vehicle->id()).arg(componentId).arg(paramName);
qCDebug(ParameterManagerLog) << errorMsg;
qgcApp()->showMessage(errorMsg);
}
}
}
}
if (!paramsRequested) {
for(int componentId: _waitingReadParamNameMap.keys()) {
for(const QString &paramName: _waitingReadParamNameMap[componentId].keys()) {
paramsRequested = true;
_waitingReadParamNameMap[componentId][paramName]++; // Bump retry count
if (_waitingReadParamNameMap[componentId][paramName] <= _maxReadWriteRetry) {
_readParameterRaw(componentId, paramName, -1);
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Read re-request for (paramName:" << paramName << "retryCount:" << _waitingReadParamNameMap[componentId][paramName] << ")";
if (++batchCount > maxBatchSize) {
goto Out;
}
} else {
// Exceeded max retry count, notify user
_waitingReadParamNameMap[componentId].remove(paramName);
QString errorMsg = tr("Parameter read failed: veh:%1 comp:%2 param:%3").arg(_vehicle->id()).arg(componentId).arg(paramName);
qCDebug(ParameterManagerLog) << errorMsg;
qgcApp()->showMessage(errorMsg);
}
}
}
}
Out:
if (paramsRequested) {
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer - re-request";
_waitingParamTimeoutTimer.start();
}
}
void ParameterManager::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
{
mavlink_message_t msg;
char fixedParamName[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN];
strncpy(fixedParamName, paramName.toStdString().c_str(), sizeof(fixedParamName));
mavlink_msg_param_request_read_pack_chan(_mavlink->getSystemId(), // QGC system id
_mavlink->getComponentId(), // QGC component id
_vehicle->priorityLink()->mavlinkChannel(),
&msg, // Pack into this mavlink_message_t
_vehicle->id(), // Target system id
componentId, // Target component id
fixedParamName, // Named parameter being requested
paramIndex); // Parameter index being requested, -1 for named
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
}
void ParameterManager::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
{
mavlink_param_set_t p;
mavlink_param_union_t union_value;
memset(&p, 0, sizeof(p));
FactMetaData::ValueType_t factType = getParameter(componentId, paramName)->type();
p.param_type = _factTypeToMavType(factType);
switch (factType) {
case FactMetaData::valueTypeUint8:
union_value.param_uint8 = (uint8_t)value.toUInt();
break;
case FactMetaData::valueTypeInt8:
union_value.param_int8 = (int8_t)value.toInt();
break;
case FactMetaData::valueTypeUint16:
union_value.param_uint16 = (uint16_t)value.toUInt();
break;
case FactMetaData::valueTypeInt16:
union_value.param_int16 = (int16_t)value.toInt();
break;
case FactMetaData::valueTypeUint32:
union_value.param_uint32 = (uint32_t)value.toUInt();
break;
case FactMetaData::valueTypeFloat:
union_value.param_float = value.toFloat();
break;
default:
qCritical() << "Unsupported fact type" << factType;
// fall through
case FactMetaData::valueTypeInt32:
union_value.param_int32 = (int32_t)value.toInt();
break;
}
p.param_value = union_value.param_float;
p.target_system = (uint8_t)_vehicle->id();
p.target_component = (uint8_t)componentId;
strncpy(p.param_id, paramName.toStdString().c_str(), sizeof(p.param_id));
mavlink_message_t msg;
mavlink_msg_param_set_encode_chan(_mavlink->getSystemId(),
_mavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
&p);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
}
void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
{
CacheMapName2ParamTypeVal cacheMap;
for(const QString& name: _mapParameterName2Variant[componentId].keys()) {
const Fact *fact = _mapParameterName2Variant[componentId][name].value<Fact*>();
cacheMap[name] = ParamTypeVal(fact->type(), fact->rawValue());
}
QFile cacheFile(parameterCacheFile(vehicleId, componentId));
cacheFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
QDataStream ds(&cacheFile);
ds << cacheMap;
}
QDir ParameterManager::parameterCacheDir()
{
const QString spath(QFileInfo(QSettings().fileName()).dir().absolutePath());
return spath + QDir::separator() + "ParamCache";
}
QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)
{
return parameterCacheDir().filePath(QString("%1_%2.v2").arg(vehicleId).arg(componentId));
}
void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVariant hash_value)
{
qCInfo(ParameterManagerLog) << "Attemping load from cache";
uint32_t crc32_value = 0;
/* The datastructure of the cache table */
CacheMapName2ParamTypeVal cacheMap;
QFile cacheFile(parameterCacheFile(vehicleId, componentId));
if (!cacheFile.exists()) {
/* no local cache, just wait for them to come in*/
return;
}
cacheFile.open(QIODevice::ReadOnly);
/* Deserialize the parameter cache table */
QDataStream ds(&cacheFile);
ds >> cacheMap;
// Load parameter meta data for the version number stored in cache.
// We need meta data so we have access to the volatile bit
if (cacheMap.contains(_versionParam)) {
_parameterSetMajorVersion = cacheMap[_versionParam].second.toInt();
}
_loadMetaData();
/* compute the crc of the local cache to check against the remote */
FirmwarePlugin* firmwarePlugin = _vehicle->firmwarePlugin();
for (const QString& name: cacheMap.keys()) {
bool volatileValue = false;
FactMetaData* metaData = firmwarePlugin->getMetaDataForFact(_parameterMetaData, name, _vehicle->vehicleType());
if (metaData) {
volatileValue = metaData->volatileValue();
}
if (volatileValue) {
// Does not take part in CRC
qCDebug(ParameterManagerLog) << "Volatile parameter" << name;
} else {
const ParamTypeVal& paramTypeVal = cacheMap[name];
const void *vdat = paramTypeVal.second.constData();
const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
crc32_value = QGC::crc32((const uint8_t *)qPrintable(name), name.length(), crc32_value);
crc32_value = QGC::crc32((const uint8_t *)vdat, FactMetaData::typeToSize(fact_type), crc32_value);
}
}
/* if the two param set hashes match, just load from the disk */
if (crc32_value == hash_value.toUInt()) {
qCInfo(ParameterManagerLog) << "Parameters loaded from cache" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
int count = cacheMap.count();
int index = 0;
for (const QString& name: cacheMap.keys()) {
const ParamTypeVal& paramTypeVal = cacheMap[name];
const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
const int mavType = _factTypeToMavType(fact_type);
_parameterUpdate(vehicleId, componentId, name, count, index++, mavType, paramTypeVal.second);
}
// Return the hash value to notify we don't want any more updates
mavlink_param_set_t p;
mavlink_param_union_t union_value;
memset(&p, 0, sizeof(p));
p.param_type = MAV_PARAM_TYPE_UINT32;
strncpy(p.param_id, "_HASH_CHECK", sizeof(p.param_id));
union_value.param_uint32 = crc32_value;
p.param_value = union_value.param_float;
p.target_system = (uint8_t)_vehicle->id();
p.target_component = (uint8_t)componentId;
mavlink_message_t msg;
mavlink_msg_param_set_encode_chan(_mavlink->getSystemId(),
_mavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
&p);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
// Give the user some feedback things loaded properly
QVariantAnimation *ani = new QVariantAnimation(this);
ani->setEasingCurve(QEasingCurve::OutCubic);
ani->setStartValue(0.0);
ani->setEndValue(1.0);
ani->setDuration(750);
connect(ani, &QVariantAnimation::valueChanged, this, [this](const QVariant &value) {
_setLoadProgress(value.toDouble());
});
// Hide 500ms after animation finishes
connect(ani, &QVariantAnimation::finished, this, [this] {
QTimer::singleShot(500, [this] {
_setLoadProgress(0);
});
});
ani->start(QAbstractAnimation::DeleteWhenStopped);
} else {
// Cache parameter version may differ from vehicle parameter version so we can't trust information loaded from cache parameter version number
_parameterSetMajorVersion = -1;
_clearMetaData();
qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
_debugCacheCRC[componentId] = true;
_debugCacheMap[componentId] = cacheMap;
for (const QString& name: cacheMap.keys()) {
_debugCacheParamSeen[componentId][name] = false;
}
qgcApp()->showMessage(tr("Parameter cache CRC match failed"));
}
}
}
QString ParameterManager::readParametersFromStream(QTextStream& stream)
{
QString errors;
while (!stream.atEnd()) {
QString line = stream.readLine();
if (!line.startsWith("#")) {
QStringList wpParams = line.split("\t");
int lineMavId = wpParams.at(0).toInt();
if (wpParams.size() == 5) {
if (_vehicle->id() != lineMavId) {
return QString("The parameters in the stream have been saved from System Id %1, but the current vehicle has the System Id %2.").arg(lineMavId).arg(_vehicle->id());
}
int componentId = wpParams.at(1).toInt();
QString paramName = wpParams.at(2);
QString valStr = wpParams.at(3);
uint mavType = wpParams.at(4).toUInt();
if (!parameterExists(componentId, paramName)) {
QString error;
error = QString("Skipped parameter %1:%2 - does not exist on this vehicle\n").arg(componentId).arg(paramName);
errors += error;
qCDebug(ParameterManagerLog) << error;
continue;
}
Fact* fact = getParameter(componentId, paramName);
if (fact->type() != _mavTypeToFactType((MAV_PARAM_TYPE)mavType)) {
QString error;
error = QString("Skipped parameter %1:%2 - type mismatch %3:%4\n").arg(componentId).arg(paramName).arg(fact->type()).arg(_mavTypeToFactType((MAV_PARAM_TYPE)mavType));
errors += error;
qCDebug(ParameterManagerLog) << error;
continue;
}
qCDebug(ParameterManagerLog) << "Updating parameter" << componentId << paramName << valStr;
fact->setRawValue(valStr);
}
}
}
return errors;
}
void ParameterManager::writeParametersToStream(QTextStream &stream)
{
stream << "# Onboard parameters for Vehicle " << _vehicle->id() << "\n";
stream << "#\n";
stream << "# Stack: " << _vehicle->firmwareTypeString() << "\n";
stream << "# Vehicle: " << _vehicle->vehicleTypeString() << "\n";
stream << "# Version: "
<< _vehicle->firmwareMajorVersion() << "."
<< _vehicle->firmwareMinorVersion() << "."
<< _vehicle->firmwarePatchVersion() << " "
<< _vehicle->firmwareVersionTypeString() << "\n";
stream << "# Git Revision: " << _vehicle->gitHash() << "\n";
stream << "#\n";
stream << "# Vehicle-Id Component-Id Name Value Type\n";
for (int componentId: _mapParameterName2Variant.keys()) {
for (const QString &paramName: _mapParameterName2Variant[componentId].keys()) {
Fact* fact = _mapParameterName2Variant[componentId][paramName].value<Fact*>();
if (fact) {
stream << _vehicle->id() << "\t" << componentId << "\t" << paramName << "\t" << fact->rawValueStringFullPrecision() << "\t" << QString("%1").arg(_factTypeToMavType(fact->type())) << "\n";
} else {
qWarning() << "Internal error: missing fact";
}
}
}
stream.flush();
}
MAV_PARAM_TYPE ParameterManager::_factTypeToMavType(FactMetaData::ValueType_t factType)
{
switch (factType) {
case FactMetaData::valueTypeUint8:
return MAV_PARAM_TYPE_UINT8;
case FactMetaData::valueTypeInt8:
return MAV_PARAM_TYPE_INT8;
case FactMetaData::valueTypeUint16:
return MAV_PARAM_TYPE_UINT16;
case FactMetaData::valueTypeInt16:
return MAV_PARAM_TYPE_INT16;
case FactMetaData::valueTypeUint32:
return MAV_PARAM_TYPE_UINT32;
case FactMetaData::valueTypeUint64:
return MAV_PARAM_TYPE_UINT64;
case FactMetaData::valueTypeInt64:
return MAV_PARAM_TYPE_INT64;
case FactMetaData::valueTypeFloat:
return MAV_PARAM_TYPE_REAL32;
case FactMetaData::valueTypeDouble:
return MAV_PARAM_TYPE_REAL64;
default:
qWarning() << "Unsupported fact type" << factType;
// fall through
case FactMetaData::valueTypeInt32:
return MAV_PARAM_TYPE_INT32;
}
}
FactMetaData::ValueType_t ParameterManager::_mavTypeToFactType(MAV_PARAM_TYPE mavType)
{
switch (mavType) {
case MAV_PARAM_TYPE_UINT8:
return FactMetaData::valueTypeUint8;
case MAV_PARAM_TYPE_INT8:
return FactMetaData::valueTypeInt8;
case MAV_PARAM_TYPE_UINT16:
return FactMetaData::valueTypeUint16;
case MAV_PARAM_TYPE_INT16:
return FactMetaData::valueTypeInt16;
case MAV_PARAM_TYPE_UINT32:
return FactMetaData::valueTypeUint32;
case MAV_PARAM_TYPE_UINT64:
return FactMetaData::valueTypeUint64;
case MAV_PARAM_TYPE_INT64:
return FactMetaData::valueTypeInt64;
case MAV_PARAM_TYPE_REAL32:
return FactMetaData::valueTypeFloat;
case MAV_PARAM_TYPE_REAL64:
return FactMetaData::valueTypeDouble;
default:
qWarning() << "Unsupported mav param type" << mavType;
// fall through
case MAV_PARAM_TYPE_INT32:
return FactMetaData::valueTypeInt32;
}
}
void ParameterManager::_clearMetaData(void)
{
if (_parameterMetaData) {
_parameterMetaData->deleteLater();
_parameterMetaData = nullptr;
}
}
void ParameterManager::_loadMetaData(void)
{
if (_parameterMetaData) {
return;
}
QString metaDataFile;
int majorVersion, minorVersion;
// Load best parameter meta data set
metaDataFile = parameterMetaDataFile(_vehicle, _vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion);
qCDebug(ParameterManagerLog) << "Loading meta data file:major:minor" << metaDataFile << majorVersion << minorVersion;
_parameterMetaData = _vehicle->firmwarePlugin()->loadParameterMetaData(metaDataFile);
}
void ParameterManager::_addMetaDataToDefaultComponent(void)
{
_loadMetaData();
if (_metaDataAddedToFacts) {
return;
}
_metaDataAddedToFacts = true;
// Loop over all parameters in default component adding meta data
QVariantMap& factMap = _mapParameterName2Variant[_vehicle->defaultComponentId()];
for (const QString& key: factMap.keys()) {
_vehicle->firmwarePlugin()->addMetaDataToFact(_parameterMetaData, factMap[key].value<Fact*>(), _vehicle->vehicleType());
}
}
void ParameterManager::_checkInitialLoadComplete(void)
{
// Already processed?
if (_initialLoadComplete) {
return;
}
for (int componentId: _waitingReadParamIndexMap.keys()) {
if (_waitingReadParamIndexMap[componentId].count()) {
// We are still waiting on some parameters, not done yet
return;
}
}
if (!_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
// No default component params yet, not done yet
return;
}
// We aren't waiting for any more initial parameter updates, initial parameter loading is complete
_initialLoadComplete = true;
// Parameter cache crc failure debugging
for (int componentId: _debugCacheParamSeen.keys()) {
if (!_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
for (const QString& paramName: _debugCacheParamSeen[componentId].keys()) {
if (!_debugCacheParamSeen[componentId][paramName]) {
qDebug() << "Parameter in cache but not on vehicle componentId:Name" << componentId << paramName;
}
}
}
}
_debugCacheCRC.clear();
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Initial load complete";
// Check for index based load failures
QString indexList;
bool initialLoadFailures = false;
for (int componentId: _failedReadParamIndexMap.keys()) {
for (int paramIndex: _failedReadParamIndexMap[componentId]) {
if (initialLoadFailures) {
indexList += ", ";
}
indexList += QString("%1:%2").arg(componentId).arg(paramIndex);
initialLoadFailures = true;
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Gave up on initial load after max retries (paramIndex:" << paramIndex << ")";
}
}
_missingParameters = false;
if (initialLoadFailures) {
_missingParameters = true;
QString errorMsg = tr("%1 was unable to retrieve the full set of parameters from vehicle %2. "
"This will cause %1 to be unable to display its full user interface. "
"If you are using modified firmware, you may need to resolve any vehicle startup errors to resolve the issue. "
"If you are using standard firmware, you may need to upgrade to a newer version to resolve the issue.").arg(qgcApp()->applicationName()).arg(_vehicle->id());
qCDebug(ParameterManagerLog) << errorMsg;
qgcApp()->showMessage(errorMsg);
if (!qgcApp()->runningUnitTests()) {
qCWarning(ParameterManagerLog) << _logVehiclePrefix(-1) << "The following parameter indices could not be loaded after the maximum number of retries: " << indexList;
}
}
// Signal load complete
_parametersReady = true;
_vehicle->autopilotPlugin()->parametersReadyPreChecks();
emit parametersReadyChanged(true);
emit missingParametersChanged(_missingParameters);
}
void ParameterManager::_initialRequestTimeout(void)
{
if (!_disableAllRetries && ++_initialRequestRetryCount <= _maxInitialRequestListRetry) {
qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Retrying initial parameter request list";
refreshAllParameters();
_initialRequestTimeoutTimer.start();
} else {
if (!_vehicle->genericFirmware()) {
QString errorMsg = tr("Vehicle %1 did not respond to request for parameters. "
"This will cause %2 to be unable to display its full user interface.").arg(_vehicle->id()).arg(qgcApp()->applicationName());
qCDebug(ParameterManagerLog) << errorMsg;
qgcApp()->showMessage(errorMsg);
}
}
}
QString ParameterManager::parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
{
bool cacheHit = false;
FirmwarePlugin* plugin = _anyVehicleTypeFirmwarePlugin(firmwareType);
// Cached files are stored in settings location
QSettings settings;
QDir cacheDir = QFileInfo(settings.fileName()).dir();
// First look for a direct cache hit
int cacheMinorVersion, cacheMajorVersion;
QFile cacheFile(cacheDir.filePath(QString("%1.%2.%3.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType).arg(wantedMajorVersion)));
if (cacheFile.exists()) {
plugin->getParameterMetaDataVersionInfo(cacheFile.fileName(), cacheMajorVersion, cacheMinorVersion);
if (wantedMajorVersion != cacheMajorVersion) {
qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << cacheMajorVersion << wantedMajorVersion;
} else {
qCDebug(ParameterManagerLog) << "Direct cache hit on file:major:minor" << cacheFile.fileName() << cacheMajorVersion << cacheMinorVersion;
cacheHit = true;
}
}
if (!cacheHit) {
// No direct hit, look for lower param set version
QString wildcard = QString("%1.%2.*.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType);
QStringList cacheHits = cacheDir.entryList(QStringList(wildcard), QDir::Files, QDir::Name);
// Find the highest major version number which is below the vehicles major version number
int cacheHitIndex = -1;
cacheMajorVersion = -1;
QRegExp regExp(QString("%1\\.%2\\.(\\d*)\\.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType));
for (int i=0; i< cacheHits.count(); i++) {
if (regExp.exactMatch(cacheHits[i]) && regExp.captureCount() == 1) {
int majorVersion = regExp.capturedTexts()[0].toInt();
if (majorVersion > cacheMajorVersion && majorVersion < wantedMajorVersion) {
cacheMajorVersion = majorVersion;
cacheHitIndex = i;
}
}
}
if (cacheHitIndex != -1) {
// We have a cache hit on a lower major version, read minor version as well
int majorVersion;
cacheFile.setFileName(cacheDir.filePath(cacheHits[cacheHitIndex]));
plugin->getParameterMetaDataVersionInfo(cacheFile.fileName(), majorVersion, cacheMinorVersion);
if (majorVersion != cacheMajorVersion) {
qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << majorVersion << cacheMajorVersion;
cacheHit = false;
} else {
qCDebug(ParameterManagerLog) << "Indirect cache hit on file:major:minor:want" << cacheFile.fileName() << cacheMajorVersion << cacheMinorVersion << wantedMajorVersion;
cacheHit = true;
}
}
}
int internalMinorVersion, internalMajorVersion;
QString internalMetaDataFile = plugin->internalParameterMetaDataFile(vehicle);
plugin->getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
qCDebug(ParameterManagerLog) << "Internal meta data file:major:minor" << internalMetaDataFile << internalMajorVersion << internalMinorVersion;
if (cacheHit) {
// Cache hit is available, we need to check if internal meta data is a better match, if so use internal version
if (internalMajorVersion == wantedMajorVersion) {
if (cacheMajorVersion == wantedMajorVersion) {
// Both internal and cache are direct hit on major version, Use higher minor version number
cacheHit = cacheMinorVersion > internalMinorVersion;
} else {
// Direct internal hit, but not direct hit in cache, use internal
cacheHit = false;
}
} else {
if (cacheMajorVersion == wantedMajorVersion) {
// Direct hit on cache, no direct hit on internal, use cache
cacheHit = true;
} else {
// No direct hit anywhere, use internal
cacheHit = false;
}
}
}
QString metaDataFile;
if (cacheHit && !qgcApp()->runningUnitTests()) {
majorVersion = cacheMajorVersion;
minorVersion = cacheMinorVersion;
metaDataFile = cacheFile.fileName();
} else {
majorVersion = internalMajorVersion;
minorVersion = internalMinorVersion;
metaDataFile = internalMetaDataFile;
}
qCDebug(ParameterManagerLog) << "ParameterManager::parameterMetaDataFile file:major:minor" << metaDataFile << majorVersion << minorVersion;
return metaDataFile;
}
FirmwarePlugin* ParameterManager::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmwareType)
{
// There are cases where we need a FirmwarePlugin but we don't have a vehicle. In those specified case the plugin for any of the supported vehicle types will do.
MAV_TYPE anySupportedVehicleType = qgcApp()->toolbox()->firmwarePluginManager()->supportedVehicleTypes(firmwareType)[0];
return qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
}
void ParameterManager::cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType)
{
FirmwarePlugin* plugin = _anyVehicleTypeFirmwarePlugin(firmwareType);
int newMajorVersion, newMinorVersion;
plugin->getParameterMetaDataVersionInfo(metaDataFile, newMajorVersion, newMinorVersion);
qCDebug(ParameterManagerLog) << "ParameterManager::cacheMetaDataFile file:firmware:major;minor" << metaDataFile << firmwareType << newMajorVersion << newMinorVersion;
// Find the cache hit closest to this new file
int cacheMajorVersion, cacheMinorVersion;
QString cacheHit = ParameterManager::parameterMetaDataFile(nullptr, firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
qCDebug(ParameterManagerLog) << "ParameterManager::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion;
bool cacheNewFile = false;
if (cacheHit.isEmpty()) {
// No cache hits, store the new file
cacheNewFile = true;
} else if (cacheMajorVersion == newMajorVersion) {
// Direct hit on major version in cache:
// Cache new file if newer minor version
// Also delete older cache file
if (newMinorVersion > cacheMinorVersion) {
cacheNewFile = true;
QFile::remove(cacheHit);
}
} else {
// Indirect hit in cache, store new file
cacheNewFile = true;
}
if (cacheNewFile) {
// Cached files are stored in settings location. Copy from current file to cache naming.
QSettings settings;
QDir cacheDir = QFileInfo(settings.fileName()).dir();
QFile cacheFile(cacheDir.filePath(QString("%1.%2.%3.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType).arg(newMajorVersion)));
qCDebug(ParameterManagerLog) << "ParameterManager::cacheMetaDataFile caching file:" << cacheFile.fileName();
QFile newFile(metaDataFile);
newFile.copy(cacheFile.fileName());
}
}
/// Remap a parameter from one firmware version to another
QString ParameterManager::_remapParamNameToVersion(const QString& paramName)
{
QString mappedParamName;
if (!paramName.startsWith(QStringLiteral("r."))) {
// No version mapping wanted
return paramName;
}
int majorVersion = _vehicle->firmwareMajorVersion();
int minorVersion = _vehicle->firmwareMinorVersion();
qCDebug(ParameterManagerLog) << "_remapParamNameToVersion" << paramName << majorVersion << minorVersion;
mappedParamName = paramName.right(paramName.count() - 2);
if (majorVersion == Vehicle::versionNotSetValue) {
// Vehicle version unknown
return mappedParamName;
}
const FirmwarePlugin::remapParamNameMajorVersionMap_t& majorVersionRemap = _vehicle->firmwarePlugin()->paramNameRemapMajorVersionMap();
if (!majorVersionRemap.contains(majorVersion)) {
// No mapping for this major version
qCDebug(ParameterManagerLog) << "_remapParamNameToVersion: no major version mapping";
return mappedParamName;
}
const FirmwarePlugin::remapParamNameMinorVersionRemapMap_t& remapMinorVersion = majorVersionRemap[majorVersion];
// We must map backwards from the highest known minor version to one above the vehicle's minor version
for (int currentMinorVersion=_vehicle->firmwarePlugin()->remapParamNameHigestMinorVersionNumber(majorVersion); currentMinorVersion>minorVersion; currentMinorVersion--) {
if (remapMinorVersion.contains(currentMinorVersion)) {
const FirmwarePlugin::remapParamNameMap_t& remap = remapMinorVersion[currentMinorVersion];
if (remap.contains(mappedParamName)) {
QString toParamName = remap[mappedParamName];
qCDebug(ParameterManagerLog) << "_remapParamNameToVersion: remapped currentMinor:from:to"<< currentMinorVersion << mappedParamName << toParamName;
mappedParamName = toParamName;
}
}
}
return mappedParamName;
}
/// The offline editing vehicle can have custom loaded params bolted into it.
void ParameterManager::_loadOfflineEditingParams(void)
{
QString paramFilename = _vehicle->firmwarePlugin()->offlineEditingParamFile(_vehicle);
if (paramFilename.isEmpty()) {
return;
}
QFile paramFile(paramFilename);
if (!paramFile.open(QFile::ReadOnly)) {
qCWarning(ParameterManagerLog) << "Unable to open offline editing params file" << paramFilename;
}
QTextStream paramStream(&paramFile);
while (!paramStream.atEnd()) {
QString line = paramStream.readLine();
if (line.startsWith("#")) {
continue;
}
QStringList paramData = line.split("\t");
Q_ASSERT(paramData.count() == 5);
int defaultComponentId = paramData.at(1).toInt();
_vehicle->setOfflineEditingDefaultComponentId(defaultComponentId);
QString paramName = paramData.at(2);
QString valStr = paramData.at(3);
MAV_PARAM_TYPE paramType = static_cast<MAV_PARAM_TYPE>(paramData.at(4).toUInt());
QVariant paramValue;
switch (paramType) {
case MAV_PARAM_TYPE_REAL32:
paramValue = QVariant(valStr.toFloat());
break;
case MAV_PARAM_TYPE_UINT32:
paramValue = QVariant(valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT32:
paramValue = QVariant(valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT16:
paramValue = QVariant((quint16)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT16:
paramValue = QVariant((qint16)valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT8:
paramValue = QVariant((quint8)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT8:
paramValue = QVariant((qint8)valStr.toUInt());
break;
default:
qCritical() << "Unknown type" << paramType;
paramValue = QVariant(valStr.toInt());
break;
}
// Get parameter set version
if (!_versionParam.isEmpty() && _versionParam == paramName) {
_parameterSetMajorVersion = paramValue.toInt();
}
Fact* fact = new Fact(defaultComponentId, paramName, _mavTypeToFactType(paramType), this);
_mapParameterName2Variant[defaultComponentId][paramName] = QVariant::fromValue(fact);
}
_addMetaDataToDefaultComponent();
_setupDefaultComponentCategoryMap();
_parametersReady = true;
_initialLoadComplete = true;
_debugCacheCRC.clear();
}
void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject)
{
QList<int> rgCompIds;
QStringList rgParamNames;
if (componentId == MAV_COMP_ID_ALL) {
rgCompIds = _mapParameterName2Variant.keys();
} else {
rgCompIds.append(_actualComponentId(componentId));
}
QJsonArray rgParams;
// Loop over all requested component ids
for (int i=0; i<rgCompIds.count(); i++) {
int compId = rgCompIds[i];
if (!_mapParameterName2Variant.contains(compId)) {
qCDebug(ParameterManagerLog) << "ParameterManager::saveToJson no params for compId" << compId;
continue;
}
// Build list of parameter names if not specified
if (paramsToSave.count() == 0) {
rgParamNames = parameterNames(compId);
} else {
rgParamNames = paramsToSave;
}
// Loop over parameter names adding each to json array
for (int j=0; j<rgParamNames.count(); j++) {
QString paramName = rgParamNames[j];
if (!parameterExists(compId, paramName)) {
qCDebug(ParameterManagerLog) << "ParameterManager::saveToJson param not found compId:param" << compId << paramName;
continue;
}
QJsonObject paramJson;
Fact* fact = getParameter(compId, paramName);
paramJson.insert(_jsonCompIdKey, QJsonValue(compId));
paramJson.insert(_jsonParamNameKey, QJsonValue(fact->name()));
paramJson.insert(_jsonParamValueKey, QJsonValue(fact->rawValue().toDouble()));
rgParams.append(QJsonValue(paramJson));
}
}
saveObject.insert(_jsonParametersKey, QJsonValue(rgParams));
}
bool ParameterManager::loadFromJson(const QJsonObject& json, bool required, QString& errorString)
{
QList<QJsonValue::Type> keyTypes;
errorString.clear();
if (required) {
if (!JsonHelper::validateRequiredKeys(json, QStringList(_jsonParametersKey), errorString)) {
return false;
}
} else if (!json.contains(_jsonParametersKey)) {
return true;
}
keyTypes = { QJsonValue::Array };
if (!JsonHelper::validateKeyTypes(json, QStringList(_jsonParametersKey), keyTypes, errorString)) {
return false;
}
QJsonArray rgParams = json[_jsonParametersKey].toArray();
for (int i=0; i<rgParams.count(); i++) {
QJsonValueRef paramValue = rgParams[i];
if (!paramValue.isObject()) {
errorString = tr("%1 key is not a json object").arg(_jsonParametersKey);
return false;
}
QJsonObject param = paramValue.toObject();
QStringList requiredKeys = { _jsonCompIdKey, _jsonParamNameKey, _jsonParamValueKey };
if (!JsonHelper::validateRequiredKeys(param, requiredKeys, errorString)) {
return false;
}
keyTypes = { QJsonValue::Double, QJsonValue::String, QJsonValue::Double };
if (!JsonHelper::validateKeyTypes(param, requiredKeys, keyTypes, errorString)) {
return false;
}
int compId = param[_jsonCompIdKey].toInt();
QString name = param[_jsonParamNameKey].toString();
double value = param[_jsonParamValueKey].toDouble();
if (!parameterExists(compId, name)) {
qCDebug(ParameterManagerLog) << "ParameterManager::loadFromJson param not found compId:param" << compId << name;
continue;
}
Fact* fact = getParameter(compId, name);
fact->setRawValue(value);
}
return true;
}
void ParameterManager::resetAllParametersToDefaults()
{
_vehicle->sendMavCommand(MAV_COMP_ID_ALL,
MAV_CMD_PREFLIGHT_STORAGE,
true, // showError
2, // Reset params to default
-1); // Don't do anything with mission storage
}
void ParameterManager::resetAllToVehicleConfiguration()
{
//-- https://github.com/PX4/Firmware/pull/11760
Fact* sysAutoConfigFact = getParameter(-1, "SYS_AUTOCONFIG");
if(sysAutoConfigFact) {
sysAutoConfigFact->setRawValue(2);
}
}
QString ParameterManager::_logVehiclePrefix(int componentId)
{
if (componentId == -1) {
return QString("V:%1").arg(_vehicle->id());
} else {
return QString("V:%1 C:%2").arg(_vehicle->id()).arg(componentId);
}
}
void ParameterManager::_setLoadProgress(double loadProgress)
{
_loadProgress = loadProgress;
emit loadProgressChanged(static_cast<float>(loadProgress));
}
QList<int> ParameterManager::componentIds(void)
{
return _paramCountMap.keys();
}
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