ParameterManager.cc

Go to the documentation of this file.

#include "ParameterManager.h"
#include "AutoPilotPlugin.h"
#include "CompInfoParam.h"
#include "ComponentInformationManager.h"
#include "FactGroup.h"
#include "FirmwarePlugin.h"
#include "FTPManager.h"
#include "MAVLinkProtocol.h"
#include "QGC.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
#include "Vehicle.h"
#include "QGCStateMachine.h"
#include "MultiVehicleManager.h"
 
#include <QtCore/QEasingCurve>
#include <QtCore/QFile>
#include <QtCore/QStandardPaths>
#include <QtCore/QVariantAnimation>
 
QGC_LOGGING_CATEGORY(ParameterManagerLog, "FactSystem.ParameterManager")
QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "FactSystem.ParameterManager:verbose1")
QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "FactSystem.ParameterManager:verbose2")
QGC_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog, "FactSystem.ParameterManager:debugCacheFailure") // Turn on to debug parameter cache crc misses
 
ParameterManager::ParameterManager(Vehicle *vehicle)
    : QObject(vehicle)
    , _vehicle(vehicle)
    , _logReplay(!vehicle->vehicleLinkManager()->primaryLink().expired() && vehicle->vehicleLinkManager()->primaryLink().lock()->isLogReplay())
    , _disableAllRetries(_logReplay)
    , _tryftp(vehicle->apmFirmware())
{
    qCDebug(ParameterManagerLog) << this;
 
    if (_vehicle->isOfflineEditingVehicle()) {
        _loadOfflineEditingParams();
        return;
    }
 
    if (_logReplay) {
        qCDebug(ParameterManagerLog) << this << "In log replay mode";
    }
 
    _hashCheckTimer.setSingleShot(true);
    _hashCheckTimer.setInterval(kHashCheckTimeoutMs);
    (void) connect(&_hashCheckTimer, &QTimer::timeout, this, &ParameterManager::_hashCheckTimeout);
 
    _paramRequestListTimer.setSingleShot(true);
    _paramRequestListTimer.setInterval(qgcApp()->runningUnitTests() ? kTestInitialRequestIntervalMs : kParamRequestListTimeoutMs);
    (void) connect(&_paramRequestListTimer, &QTimer::timeout, this, &ParameterManager::_paramRequestListTimeout);
 
    _waitingParamTimeoutTimer.setSingleShot(true);
    _waitingParamTimeoutTimer.setInterval(qgcApp()->runningUnitTests() ? 500 : 3000);
    if (!_logReplay) {
        (void) connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_waitingParamTimeout);
    }
 
    // Ensure the cache directory exists
    (void) QDir().mkpath(parameterCacheDir().absolutePath());
}
 
ParameterManager::~ParameterManager()
{
    qCDebug(ParameterManagerLog) << this;
}
 
void ParameterManager::_updateProgressBar()
{
    int waitingReadParamIndexCount = 0;
 
    for (const int compId: _waitingReadParamIndexMap.keys()) {
        waitingReadParamIndexCount += _waitingReadParamIndexMap[compId].count();
    }
 
    if (waitingReadParamIndexCount == 0) {
        if (_readParamIndexProgressActive) {
            _readParamIndexProgressActive = false;
            _setLoadProgress(0.0);
            return;
        }
    } else {
        _readParamIndexProgressActive = true;
        _setLoadProgress(static_cast<double>(_totalParamCount - waitingReadParamIndexCount) / static_cast<double>(_totalParamCount));
        return;
    }
}
 
void ParameterManager::mavlinkMessageReceived(const mavlink_message_t &message)
{
    if (_tryftp && (message.compid == MAV_COMP_ID_AUTOPILOT1) && !_initialLoadComplete)
        return;
 
    if (message.msgid == MAVLINK_MSG_ID_PARAM_VALUE) {
        mavlink_param_value_t param_value{};
        mavlink_msg_param_value_decode(&message, &param_value);
 
        // This will null terminate the name string
        char parameterNameWithNull[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1] = {};
        (void) strncpy(parameterNameWithNull, param_value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
        const QString parameterName(parameterNameWithNull);
 
        mavlink_param_union_t paramUnion{};
        paramUnion.param_float = param_value.param_value;
        paramUnion.type = param_value.param_type;
 
        QVariant parameterValue;
        if (!_mavlinkParamUnionToVariant(paramUnion, parameterValue)) {
            return;
        }
 
        _handleParamValue(message.compid, parameterName, param_value.param_count, param_value.param_index, static_cast<MAV_PARAM_TYPE>(param_value.param_type), parameterValue);
    }
}
 
void ParameterManager::_handleParamValue(int componentId, const QString &parameterName, int parameterCount, int parameterIndex, MAV_PARAM_TYPE mavParamType, const QVariant &parameterValue)
{
 
    qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) <<
                                            "_parameterUpdate" <<
                                            "name:" << parameterName <<
                                            "count:" << parameterCount <<
                                            "index:" << parameterIndex <<
                                            "mavType:" << mavParamType <<
                                            "value:" << parameterValue <<
                                            ")";
 
    // 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 ((parameterIndex == 65535) && (parameterName != QStringLiteral("_HASH_CHECK")) && _paramRequestListTimer.isActive()) {
        qCDebug(ParameterManagerLog) << "Disregarding unrequested param prior to initial list response" << parameterName;
        return;
    }
 
    if (_vehicle->px4Firmware() && (parameterName == "_HASH_CHECK")) {
        _hashCheckTimer.stop();
        if (!_initialLoadComplete && !_logReplay) {
            /* we received a cache hash, potentially load from cache */
            _tryCacheHashLoad(_vehicle->id(), componentId, parameterValue);
        }
        return;
    }
 
    _paramRequestListTimer.stop();
 
    // 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];
            const size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
            const void *const cacheData = cacheParamTypeVal.second.constData();
            const void *const vehicleData = parameterValue.constData();
 
            if (memcmp(cacheData, vehicleData, dataSize) != 0) {
                qCDebug(ParameterManagerVerbose1Log) << "Cache/Vehicle values differ for name:cache:actual" << parameterName << parameterValue << cacheParamTypeVal.second;
            }
            _debugCacheParamSeen[componentId][parameterName] = true;
        } else {
            qCDebug(ParameterManagerVerbose1Log) << "Parameter missing from cache" << parameterName;
        }
    }
 
    _waitingParamTimeoutTimer.stop();
 
    // 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 index 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;
        }
 
        qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Seeing component for first time - paramcount:" << parameterCount;
    }
 
    if (!_waitingReadParamIndexMap[componentId].contains(parameterIndex)) {
        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Unrequested param update" << parameterName;
    }
 
    // Remove this parameter from the waiting lists
    if (_waitingReadParamIndexMap[componentId].contains(parameterIndex)) {
        _waitingReadParamIndexMap[componentId].remove(parameterIndex);
        (void) _indexBatchQueue.removeOne(parameterIndex);
        _fillIndexBatchQueue(false /* waitingParamTimeout */);
    }
 
    // Track how many parameters we are still waiting for
    int waitingReadParamIndexCount = 0;
 
    for (const int waitingComponentId: _waitingReadParamIndexMap.keys()) {
        waitingReadParamIndexCount += _waitingReadParamIndexMap[waitingComponentId].count();
    }
    if (waitingReadParamIndexCount) {
        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "waitingReadParamIndexCount:" << waitingReadParamIndexCount;
    }
 
    const int readWaitingParamCount = waitingReadParamIndexCount;
    const int totalWaitingParamCount = readWaitingParamCount;
    if (totalWaitingParamCount) {
        // More params to wait for, restart timer
        _waitingParamTimeoutTimer.start();
        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer: totalWaitingParamCount:" << totalWaitingParamCount;
    } else if (!_mapCompId2FactMap.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)";
    }
 
    _updateProgressBar();
 
    Fact *fact = nullptr;
    if (_mapCompId2FactMap.contains(componentId) && _mapCompId2FactMap[componentId].contains(parameterName)) {
        fact = _mapCompId2FactMap[componentId][parameterName];
    } else {
        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Adding new fact" << parameterName;
 
        fact = new Fact(componentId, parameterName, mavTypeToFactType(mavParamType), this);
        FactMetaData *const factMetaData = _vehicle->compInfoManager()->compInfoParam(componentId)->factMetaDataForName(parameterName, fact->type());
        fact->setMetaData(factMetaData);
 
        _mapCompId2FactMap[componentId][parameterName] = fact;
 
        // We need to know when the fact value changes so we can update the vehicle
        (void) connect(fact, &Fact::containerRawValueChanged, this, &ParameterManager::_factRawValueUpdated);
 
        emit factAdded(componentId, fact);
    }
 
    fact->containerSetRawValue(parameterValue);
 
    // 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 != 0 && readWaitingParamCount == 0) {
            // All reads just finished, update the cache
            _writeLocalParamCache(_vehicle->id(), componentId);
        }
    }
 
    _prevWaitingReadParamIndexCount = waitingReadParamIndexCount;
 
    _checkInitialLoadComplete();
 
    qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "_parameterUpdate complete";
}
 
QString ParameterManager::_vehicleAndComponentString(int componentId) const
{
    // If there are multiple vehicles include the vehicle id for disambiguation
    QString vehicleIdStr;
    if (MultiVehicleManager::instance()->vehicles()->count() > 1) {
        vehicleIdStr = QStringLiteral("veh: %1").arg(_vehicle->id());
    }
 
    // IF we have parameters for multiple components include the component id for disambiguation
    QString componentIdStr;
    if (_mapCompId2FactMap.keys().count() > 1) {
        componentIdStr = QStringLiteral("comp: %1").arg(componentId);
    }
 
    if (!vehicleIdStr.isEmpty() && !componentIdStr.isEmpty()) {
        return vehicleIdStr + QStringLiteral(" ") + componentIdStr;
    } else if (!vehicleIdStr.isEmpty()) {
        return vehicleIdStr;
    } else if (!componentIdStr.isEmpty()) {
        return componentIdStr;
    } else {
        return QString();
    }
}
 
void ParameterManager::_mavlinkParamSet(int componentId, const QString &paramName, FactMetaData::ValueType_t valueType, const QVariant &rawValue)
{
    auto paramSetEncoder = [this, componentId, paramName, valueType, rawValue](uint8_t /*systemId*/, uint8_t channel, mavlink_message_t *message) -> void {
        const MAV_PARAM_TYPE paramType = factTypeToMavType(valueType);
 
        mavlink_param_union_t union_value{};
        if (!_fillMavlinkParamUnion(valueType, rawValue, union_value)) {
            return;
        }
 
        char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1] = {};
        (void) strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN);
 
        (void) mavlink_msg_param_set_pack_chan(
                    MAVLinkProtocol::instance()->getSystemId(),
                    MAVLinkProtocol::getComponentId(),
                    channel,
                    message,
                    static_cast<uint8_t>(_vehicle->id()),
                    static_cast<uint8_t>(componentId),
                    paramId,
                    union_value.param_float,
                    static_cast<uint8_t>(paramType));
    };
 
    auto checkForCorrectParamValue = [this, componentId, paramName, rawValue](const mavlink_message_t &message) -> bool {
        if (message.compid != componentId) {
            return false;
        }
 
        mavlink_param_value_t param_value{};
        mavlink_msg_param_value_decode(&message, &param_value);
 
        // This will null terminate the name string
        char parameterNameWithNull[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1] = {};
        (void) strncpy(parameterNameWithNull, param_value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
        const QString parameterName(parameterNameWithNull);
 
        if (parameterName != paramName) {
            return false;
        }
 
        // Check that the value matches what we expect within tolerance, if it doesn't match then this message is not for us
        QVariant receivedValue;
        mavlink_param_union_t param_union;
        param_union.param_float = param_value.param_value;
        param_union.type = param_value.param_type;
        if (!_mavlinkParamUnionToVariant(param_union, receivedValue)) {
            return false;
        }
        if (rawValue.typeId() != receivedValue.typeId()) {
            qCWarning(ParameterManagerLog) << "QVariant type mismatch on PARAM_VALUE ack for" << paramName << ": expected type" << rawValue.typeId() << "got type" << receivedValue.typeId();
            return false;
        }
        if (param_value.param_type == MAV_PARAM_TYPE_REAL32) {
            // Float comparison must be fuzzy
            return QGC::fuzzyCompare(rawValue.toFloat(), receivedValue.toFloat());
        } else {
            return receivedValue == rawValue;
        }
    };
 
    // State Machine:
    //  Send PARAM_SET - 2 retries after initial attempt
    //  Increment pending write count
    //  Wait for PARAM_VALUE ack
    //  Decrement pending write count
    //
    //  timeout:
    //      Decrement pending write count
    //      Back up to PARAM_SET for retries
    //
    //  error:
    //      Refresh parameter from vehicle
    //      Notify user of failure
 
    // Create states
    auto stateMachine = new QGCStateMachine(QStringLiteral("ParameterManager PARAM_SET"), vehicle(), this);
    auto sendParamSetState = new SendMavlinkMessageState(stateMachine, paramSetEncoder, kParamSetRetryCount);
    auto incPendingWriteCountState = new FunctionState(QStringLiteral("ParameterManager increment pending write count"), stateMachine, [this]() {
        _incrementPendingWriteCount();
    });
    auto decPendingWriteCountState = new FunctionState(QStringLiteral("ParameterManager decrement pending write count"), stateMachine, [this]() {
        _decrementPendingWriteCount();
    });
    auto retryDecPendingWriteCountState = new FunctionState(QStringLiteral("ParameterManager retry decrement pending write count"), stateMachine, [this]() {
        _decrementPendingWriteCount();
    });
    auto waitAckState = new WaitForMavlinkMessageState(stateMachine, MAVLINK_MSG_ID_PARAM_VALUE, kWaitForParamValueAckMs, checkForCorrectParamValue);
    auto paramRefreshState = new FunctionState(QStringLiteral("ParameterManager param refresh"), stateMachine, [this, componentId, paramName]() {
        refreshParameter(componentId, paramName);
    });
    auto userNotifyState = new ShowAppMessageState(stateMachine, QStringLiteral("Parameter write failed: param: %1 %2").arg(paramName).arg(_vehicleAndComponentString(componentId)));
    auto logSuccessState = new FunctionState(QStringLiteral("ParameterManager log success"), stateMachine, [this, componentId, paramName]() {
        qCDebug(ParameterManagerLog) << "Parameter write succeeded: param:" << paramName << _vehicleAndComponentString(componentId);
        emit _paramSetSuccess(componentId, paramName);
    });
    auto logFailureState = new FunctionState(QStringLiteral("ParameterManager log failure"), stateMachine, [this, componentId, paramName]() {
        qCDebug(ParameterManagerLog) << "Parameter write failed: param:" << paramName << _vehicleAndComponentString(componentId);
        emit _paramSetFailure(componentId, paramName);
    });
    auto finalState = new QGCFinalState(stateMachine);
 
    // Successful state machine transitions
    stateMachine->setInitialState(sendParamSetState);
    sendParamSetState->addThisTransition        (&QGCState::advance, incPendingWriteCountState);
    incPendingWriteCountState->addThisTransition(&QGCState::advance, waitAckState);
    waitAckState->addThisTransition             (&QGCState::advance, decPendingWriteCountState);
    decPendingWriteCountState->addThisTransition(&QGCState::advance, logSuccessState);
    logSuccessState->addThisTransition          (&QGCState::advance, finalState);
 
    // Retry transitions
    waitAckState->addTransition(waitAckState, &WaitForMavlinkMessageState::timeout, retryDecPendingWriteCountState); // Retry on timeout
    retryDecPendingWriteCountState->addThisTransition(&QGCState::advance, sendParamSetState);
 
    // Error transitions
    sendParamSetState->addThisTransition(&QGCState::error, logFailureState); // Error is signaled after retries exhausted or internal error
 
    // Error state branching transitions
    logFailureState->addThisTransition  (&QGCState::advance, userNotifyState);
    userNotifyState->addThisTransition  (&QGCState::advance, paramRefreshState);
    paramRefreshState->addThisTransition(&QGCState::advance, finalState);
 
    qCDebug(ParameterManagerLog) << "Starting state machine for PARAM_SET on: " << paramName << _vehicleAndComponentString(componentId);
    stateMachine->start();
}
 
bool ParameterManager::_fillMavlinkParamUnion(FactMetaData::ValueType_t valueType, const QVariant &rawValue, mavlink_param_union_t &paramUnion) const
{
    bool ok = false;
 
    switch (valueType) {
    case FactMetaData::valueTypeUint8:
        paramUnion.param_uint8 = static_cast<uint8_t>(rawValue.toUInt(&ok));
        break;
    case FactMetaData::valueTypeInt8:
        paramUnion.param_int8 = static_cast<int8_t>(rawValue.toInt(&ok));
        break;
    case FactMetaData::valueTypeUint16:
        paramUnion.param_uint16 = static_cast<uint16_t>(rawValue.toUInt(&ok));
        break;
    case FactMetaData::valueTypeInt16:
        paramUnion.param_int16 = static_cast<int16_t>(rawValue.toInt(&ok));
        break;
    case FactMetaData::valueTypeUint32:
        paramUnion.param_uint32 = static_cast<uint32_t>(rawValue.toUInt(&ok));
        break;
    case FactMetaData::valueTypeFloat:
        paramUnion.param_float = rawValue.toFloat(&ok);
        break;
    case FactMetaData::valueTypeInt32:
        paramUnion.param_int32 = static_cast<int32_t>(rawValue.toInt(&ok));
        break;
    default:
        qCCritical(ParameterManagerLog) << "Internal Error: Unsupported fact value type" << valueType;
        paramUnion.param_int32 = static_cast<int32_t>(rawValue.toInt(&ok));
        break;
    }
 
    if (!ok) {
        qCCritical(ParameterManagerLog) << "Fact Failed to Convert to Param Type:" << valueType;
        return false;
    }
 
    return true;
}
 
bool ParameterManager::_mavlinkParamUnionToVariant(const mavlink_param_union_t &paramUnion, QVariant &outValue) const
{
    switch (paramUnion.type) {
    case MAV_PARAM_TYPE_REAL32:
        outValue = QVariant(paramUnion.param_float);
        return true;
    case MAV_PARAM_TYPE_UINT8:
        outValue = QVariant(paramUnion.param_uint8);
        return true;
    case MAV_PARAM_TYPE_INT8:
        outValue = QVariant(paramUnion.param_int8);
        return true;
    case MAV_PARAM_TYPE_UINT16:
        outValue = QVariant(paramUnion.param_uint16);
        return true;
    case MAV_PARAM_TYPE_INT16:
        outValue = QVariant(paramUnion.param_int16);
        return true;
    case MAV_PARAM_TYPE_UINT32:
        outValue = QVariant(paramUnion.param_uint32);
        return true;
    case MAV_PARAM_TYPE_INT32:
        outValue = QVariant(paramUnion.param_int32);
        return true;
    default:
        qCCritical(ParameterManagerLog) << "ParameterManager::_mavlinkParamUnionToVariant - unsupported MAV_PARAM_TYPE" << paramUnion.type;
        return false;
    }
}
 
void ParameterManager::_factRawValueUpdated(const QVariant &rawValue)
{
    Fact *const fact = qobject_cast<Fact*>(sender());
    if (!fact) {
        qCWarning(ParameterManagerLog) << "Internal error";
        return;
    }
 
    _mavlinkParamSet(fact->componentId(), fact->name(), fact->type(), rawValue);
}
 
void ParameterManager::_ftpDownloadComplete(const QString &fileName, const QString &errorMsg)
{
    bool continueWithDefaultParameterdownload = true;
    bool immediateRetry = false;
 
    (void) disconnect(_vehicle->ftpManager(), &FTPManager::downloadComplete, this, &ParameterManager::_ftpDownloadComplete);
    (void) disconnect(_vehicle->ftpManager(), &FTPManager::commandProgress, this, &ParameterManager::_ftpDownloadProgress);
 
    if (errorMsg.isEmpty()) {
        qCDebug(ParameterManagerLog) << "ParameterManager::_ftpDownloadComplete : Parameter file received:" << fileName;
        if (_parseParamFile(fileName)) {
            qCDebug(ParameterManagerLog) << "ParameterManager::_ftpDownloadComplete : Parsed!";
            return;
        } else {
            qCDebug(ParameterManagerLog) << "ParameterManager::_ftpDownloadComplete : Error in parameter file";
            /* This should not happen... */
        }
    } else if (errorMsg.contains("File Not Found")) {
        qCDebug(ParameterManagerLog) << "ParameterManager-ftp: No Parameterfile on vehicle - Start Conventional Parameter Download";
        if (_initialRequestRetryCount == 0) {
            immediateRetry = true;
        }
    } else if ((_loadProgress > 0.0001) && (_loadProgress < 0.01)) { /* FTP supported but too slow */
        qCDebug(ParameterManagerLog) << "ParameterManager-ftp progress too slow - Start Conventional Parameter Download";
    } else if (_initialRequestRetryCount == 1) {
        qCDebug(ParameterManagerLog) << "ParameterManager-ftp: Too many retries - Start Conventional Parameter Download";
    } else {
        qCDebug(ParameterManagerLog) << "ParameterManager-ftp Retry:" << _initialRequestRetryCount;
        continueWithDefaultParameterdownload = false;
    }
 
    if (continueWithDefaultParameterdownload) {
        _tryftp = false;
        _initialRequestRetryCount = 0;
        /* If we receive "File not Found" this indicates that the vehicle does not support
         * the parameter download via ftp. If we received this without retry, then we
         * can immediately response with the conventional parameter download request, because
         * we have no indication of communication link congestion.*/
        if (immediateRetry) {
            _paramRequestListTimeout();
        } else {
            _paramRequestListTimer.start();
        }
    } else {
        _paramRequestListTimer.start();
    }
}
 
void ParameterManager::_ftpDownloadProgress(float progress)
{
    qCDebug(ParameterManagerVerbose1Log) << "ParameterManager::_ftpDownloadProgress:" << progress;
    _setLoadProgress(static_cast<double>(progress));
    if (progress > 0.001) {
        _paramRequestListTimer.stop();
    }
}
 
void ParameterManager::refreshAllParameters(uint8_t componentId)
{
    const SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        return;
    }
 
    if (sharedLink->linkConfiguration()->isHighLatency() || _logReplay) {
        // These links don't load params
        _parametersReady = true;
        _missingParameters = true;
        _initialLoadComplete = true;
        _waitingForDefaultComponent = false;
        emit parametersReadyChanged(_parametersReady);
        emit missingParametersChanged(_missingParameters);
    }
 
    if (_tryftp && ((componentId == MAV_COMP_ID_ALL) || (componentId == MAV_COMP_ID_AUTOPILOT1))) {
        if (!_initialLoadComplete) {
            _paramRequestListTimer.start();
        }
        FTPManager *const ftpManager = _vehicle->ftpManager();
        (void) connect(ftpManager, &FTPManager::downloadComplete, this, &ParameterManager::_ftpDownloadComplete);
        _waitingParamTimeoutTimer.stop();
        if (ftpManager->download(MAV_COMP_ID_AUTOPILOT1,
                                 QStringLiteral("@PARAM/param.pck"),
                                 QStandardPaths::writableLocation(QStandardPaths::TempLocation),
                                 QStringLiteral(""),
                                 false /* No filesize check */)) {
            (void) connect(ftpManager, &FTPManager::commandProgress, this, &ParameterManager::_ftpDownloadProgress);
        } else {
            qCWarning(ParameterManagerLog) << "ParameterManager::refreshallParameters FTPManager::download returned failure";
            (void) disconnect(ftpManager, &FTPManager::downloadComplete, this, &ParameterManager::_ftpDownloadComplete);
        }
    } else if (_vehicle->px4Firmware() && !_initialLoadComplete && !_hashCheckDone) {
        // PX4: Try _HASH_CHECK first to see if we can load from cache without a full parameter stream
        _hashCheckTimer.start();
        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Requesting _HASH_CHECK before full parameter list";
        const uint8_t hashCheckCompId = (componentId == MAV_COMP_ID_ALL)
            ? static_cast<uint8_t>(MAV_COMP_ID_AUTOPILOT1)
            : componentId;
        _requestHashCheck(hashCheckCompId);
    } else {
        if (!_initialLoadComplete) {
            _paramRequestListTimer.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;
            }
        }
 
        mavlink_message_t msg{};
        mavlink_msg_param_request_list_pack_chan(MAVLinkProtocol::instance()->getSystemId(),
                                                 MAVLinkProtocol::getComponentId(),
                                                 sharedLink->mavlinkChannel(),
                                                 &msg,
                                                 _vehicle->id(),
                                                 componentId);
        (void) _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
    }
 
    const 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;
}
 
int ParameterManager::_actualComponentId(int componentId) const
{
    if (componentId == defaultComponentId) {
        componentId = _vehicle->defaultComponentId();
        if (componentId == defaultComponentId) {
            qCWarning(ParameterManagerLog) << _logVehiclePrefix(-1) << "Default component id not set";
        }
    }
 
    return componentId;
}
 
void ParameterManager::refreshParameter(int componentId, const QString &paramName)
{
    componentId = _actualComponentId(componentId);
 
    qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "refreshParameter - name:" << paramName << ")";
 
    _mavlinkParamRequestRead(componentId, paramName, -1, true /* notifyFailure */);
}
 
void ParameterManager::refreshParametersPrefix(int componentId, const QString &namePrefix)
{
    componentId = _actualComponentId(componentId);
    qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "refreshParametersPrefix - name:" << namePrefix << ")";
 
    for (const QString &paramName: _mapCompId2FactMap[componentId].keys()) {
        if (paramName.startsWith(namePrefix)) {
            refreshParameter(componentId, paramName);
        }
    }
}
 
bool ParameterManager::parameterExists(int componentId, const QString &paramName) const
{
    bool ret = false;
 
    componentId = _actualComponentId(componentId);
    if (_mapCompId2FactMap.contains(componentId)) {
        ret = _mapCompId2FactMap[componentId].contains(_remapParamNameToVersion(paramName));
    }
 
    return ret;
}
 
Fact *ParameterManager::getParameter(int componentId, const QString &paramName)
{
    componentId = _actualComponentId(componentId);
 
    const QString mappedParamName = _remapParamNameToVersion(paramName);
    if (!_mapCompId2FactMap.contains(componentId) || !_mapCompId2FactMap[componentId].contains(mappedParamName)) {
        qgcApp()->reportMissingParameter(componentId, mappedParamName);
        return &_defaultFact;
    }
 
    return _mapCompId2FactMap[componentId][mappedParamName];
}
 
QStringList ParameterManager::parameterNames(int componentId) const
{
    QStringList names;
 
    const int compId = _actualComponentId(componentId);
    const QMap<QString, Fact*> &factMap = _mapCompId2FactMap[compId];
    for (const QString &paramName: factMap.keys()) {
        names << paramName;
    }
 
    return names;
}
 
bool ParameterManager::_fillIndexBatchQueue(bool waitingParamTimeout)
{
    if (!_indexBatchQueueActive) {
        return false;
    }
 
    constexpr 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 (const 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 (const 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] << ")";
                (void) _waitingReadParamIndexMap[componentId].remove(paramIndex);
            } else {
                // Retry again
                _indexBatchQueue.append(paramIndex);
                _mavlinkParamRequestRead(componentId, QString(), paramIndex, false /* notifyFailure */);
                qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Read re-request for (paramIndex:" << paramIndex << "retryCount:" << _waitingReadParamIndexMap[componentId][paramIndex] << ")";
            }
        }
    }
 
    return (!_indexBatchQueue.isEmpty());
}
 
void ParameterManager::_waitingParamTimeout()
{
    if (_logReplay) {
        return;
    }
 
    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
    bool paramsRequested = _fillIndexBatchQueue(true /* waitingParamTimeout */);
    if (!paramsRequested && !_waitingForDefaultComponent && !_mapCompId2FactMap.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();
        _waitingParamTimeoutTimer.start();
        _waitingForDefaultComponent = true;
        return;
    }
    _waitingForDefaultComponent = false;
 
    _checkInitialLoadComplete();
 
    if (paramsRequested) {
        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Restarting _waitingParamTimeoutTimer - re-request";
        _waitingParamTimeoutTimer.start();
    }
}
 
void ParameterManager::_requestHashCheck(uint8_t componentId)
{
    const SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        return;
    }
 
    qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Sending PARAM_REQUEST_READ for _HASH_CHECK";
 
    char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1] = {};
    (void) strncpy(paramId, "_HASH_CHECK", MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
 
    mavlink_message_t msg{};
    (void) mavlink_msg_param_request_read_pack_chan(
        MAVLinkProtocol::instance()->getSystemId(),
        MAVLinkProtocol::getComponentId(),
        sharedLink->mavlinkChannel(),
        &msg,
        static_cast<uint8_t>(_vehicle->id()),
        componentId,
        paramId,
        -1);
 
    (void) _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
}
 
void ParameterManager::_mavlinkParamRequestRead(int componentId, const QString &paramName, int paramIndex, bool notifyFailure)
{
    auto paramRequestReadEncoder = [this, componentId, paramName, paramIndex](uint8_t /*systemId*/, uint8_t channel, mavlink_message_t *message) -> void {
        char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1] = {};
        (void) strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
 
        (void) mavlink_msg_param_request_read_pack_chan(MAVLinkProtocol::instance()->getSystemId(),   // QGC system id
                                                        MAVLinkProtocol::getComponentId(),            // QGC component id
                                                        channel,
                                                        message,
                                                        static_cast<uint8_t>(_vehicle->id()),
                                                        static_cast<uint8_t>(componentId),
                                                        paramId,
                                                        static_cast<int16_t>(paramIndex));
    };
 
    auto checkForCorrectParamValue = [componentId, paramName, paramIndex](const mavlink_message_t &message) -> bool {
        if (message.compid != componentId) {
            return false;
        }
 
        mavlink_param_value_t param_value{};
        mavlink_msg_param_value_decode(&message, &param_value);
 
        // This will null terminate the name string
        char parameterNameWithNull[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1] = {};
        (void) strncpy(parameterNameWithNull, param_value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
        const QString parameterName(parameterNameWithNull);
 
        // Check that this is for the parameter we requested
        if (paramIndex != -1) {
            // Index based request
            if (param_value.param_index != paramIndex) {
                return false;
            }
        } else {
            // Name based request
            if (parameterName != paramName) {
                return false;
            }
        }
 
        return true;
    };
 
    // State Machine:
    //  Send PARAM_REQUEST_READ - 2 retries after initial attempt
    //  Wait for PARAM_VALUE ack
    //
    //  timeout:
    //      Back up to PARAM_REQUEST_READ for retries
    //
    //  error:
    //      Notify user of failure
 
    // Create states
    auto stateMachine = new QGCStateMachine(QStringLiteral("PARAM_REQUEST_READ"), vehicle(), this);
    auto sendParamRequestReadState = new SendMavlinkMessageState(stateMachine, paramRequestReadEncoder, kParamRequestReadRetryCount);
    auto waitAckState = new WaitForMavlinkMessageState(stateMachine, MAVLINK_MSG_ID_PARAM_VALUE, kWaitForParamValueAckMs, checkForCorrectParamValue);
    auto userNotifyState = new ShowAppMessageState(stateMachine, QStringLiteral("Parameter read failed: param: %1 %2").arg(paramName).arg(_vehicleAndComponentString(componentId)));
    auto logSuccessState = new FunctionState(QStringLiteral("Log success"), stateMachine, [this, componentId, paramName, paramIndex]() {
        qCDebug(ParameterManagerLog) << "PARAM_REQUEST_READ succeeded: name:" << paramName << "index" << paramIndex << _vehicleAndComponentString(componentId);
        emit _paramRequestReadSuccess(componentId, paramName, paramIndex);
    });
    auto logFailureState = new FunctionState(QStringLiteral("Log failure"), stateMachine, [this, componentId, paramName, paramIndex]() {
        qCDebug(ParameterManagerLog) << "PARAM_REQUEST_READ failed: param:" << paramName << "index" << paramIndex << _vehicleAndComponentString(componentId);
        emit _paramRequestReadFailure(componentId, paramName, paramIndex);
    });
    auto finalState = new QGCFinalState(stateMachine);
 
    // Successful state machine transitions
    stateMachine->setInitialState(sendParamRequestReadState);
    sendParamRequestReadState->addThisTransition(&QGCState::advance, waitAckState);
    waitAckState->addThisTransition             (&QGCState::advance, logSuccessState);
    logSuccessState->addThisTransition          (&QGCState::advance, finalState);
 
    // Retry transitions
    waitAckState->addTransition(waitAckState, &WaitForMavlinkMessageState::timeout, sendParamRequestReadState); // Retry on timeout
 
    // Error transitions
    sendParamRequestReadState->addThisTransition(&QGCState::error, logFailureState); // Error is signaled after retries exhausted or internal error
 
    // Error state branching transitions
    if (notifyFailure) {
        logFailureState->addThisTransition  (&QGCState::advance, userNotifyState);
    } else {
        logFailureState->addThisTransition  (&QGCState::advance, finalState);
    }
    userNotifyState->addThisTransition  (&QGCState::advance, finalState);
 
    qCDebug(ParameterManagerLog) << "Starting state machine for PARAM_REQUEST_READ on: " << paramName << _vehicleAndComponentString(componentId);
    stateMachine->start();
}
 
void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
{
    CacheMapName2ParamTypeVal cacheMap;
 
    for (const QString &paramName: _mapCompId2FactMap[componentId].keys()) {
        const Fact *const fact = _mapCompId2FactMap[componentId][paramName];
        cacheMap[paramName] = ParamTypeVal(fact->type(), fact->rawValue());
    }
 
    QFile cacheFile(parameterCacheFile(vehicleId, componentId));
    if (cacheFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
        QDataStream ds(&cacheFile);
        ds << cacheMap;
    } else {
        qCWarning(ParameterManagerLog) << "Failed to open cache file for writing" << cacheFile.fileName();
    }
}
 
QDir ParameterManager::parameterCacheDir()
{
    // Use application-specific subdirectory to isolate parallel test runs
    const QFileInfo settingsFile(QSettings().fileName());
    const QString basePath = settingsFile.dir().absolutePath();
    const QString appName = settingsFile.completeBaseName();
    return QDir(basePath + QDir::separator() + appName + QDir::separator() + QStringLiteral("ParamCache"));
}
 
QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)
{
    return parameterCacheDir().filePath(QStringLiteral("%1_%2.v2").arg(vehicleId).arg(componentId));
}
 
void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, const QVariant &hashValue)
{
    qCDebug(ParameterManagerLog) << "Attemping load from cache";
 
    /* The datastructure of the cache table */
    CacheMapName2ParamTypeVal cacheMap;
    QFile cacheFile(parameterCacheFile(vehicleId, componentId));
    if (!cacheFile.exists()) {
        qCDebug(ParameterManagerLog) << "No parameter cache file";
        if (!_hashCheckDone) {
            // Standalone hash check path — fall back to PARAM_REQUEST_LIST
            _hashCheckDone = true;
            refreshAllParameters();
        }
        // If already in PARAM_REQUEST_LIST flow, just let the stream continue
        return;
    }
    (void) cacheFile.open(QIODevice::ReadOnly);
 
    /* Deserialize the parameter cache table */
    QDataStream ds(&cacheFile);
    ds >> cacheMap;
 
    /* compute the crc of the local cache to check against the remote */
    uint32_t crc32_value = 0;
    for (const QString &name: cacheMap.keys()) {
        const ParamTypeVal &paramTypeVal = cacheMap[name];
        const FactMetaData::ValueType_t factType = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
 
        if (_vehicle->compInfoManager()->compInfoParam(MAV_COMP_ID_AUTOPILOT1)->factMetaDataForName(name, factType)->volatileValue()) {
            // Does not take part in CRC
            qCDebug(ParameterManagerLog) << "Volatile parameter" << name;
        } else {
            const void *const vdat = paramTypeVal.second.constData();
            const FactMetaData::ValueType_t cacheFactType = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
            crc32_value = QGC::crc32(reinterpret_cast<const uint8_t *>(qPrintable(name)), name.length(),  crc32_value);
            crc32_value = QGC::crc32(static_cast<const uint8_t *>(vdat), FactMetaData::typeToSize(cacheFactType), crc32_value);
        }
    }
 
    /* if the two param set hashes match, just load from the disk */
    if (crc32_value == hashValue.toUInt()) {
        _hashCheckDone = true;
        _paramRequestListTimer.stop();
        qCDebug(ParameterManagerLog) << "Parameters loaded from cache" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
 
        const int count = cacheMap.count();
        int index = 0;
        for (const QString &name: cacheMap.keys()) {
            const ParamTypeVal &paramTypeVal = cacheMap[name];
            const FactMetaData::ValueType_t factType = static_cast<FactMetaData::ValueType_t>(paramTypeVal.first);
            const MAV_PARAM_TYPE mavParamType = factTypeToMavType(factType);
            _handleParamValue(componentId, name, count, index++, mavParamType, paramTypeVal.second);
        }
 
        const SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
        if (sharedLink) {
            mavlink_param_set_t p{};
            mavlink_param_union_t union_value{};
 
            // Return the hash value to notify we don't want any more updates
            p.param_type = MAV_PARAM_TYPE_UINT32;
            (void) 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 = static_cast<uint8_t>(_vehicle->id());
            p.target_component = static_cast<uint8_t>(componentId);
 
            mavlink_message_t msg{};
            (void) mavlink_msg_param_set_encode_chan(MAVLinkProtocol::instance()->getSystemId(),
                                                     MAVLinkProtocol::getComponentId(),
                                                     sharedLink->mavlinkChannel(),
                                                     &msg,
                                                     &p);
            (void) _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
        }
 
        // Give the user some feedback things loaded properly
        QVariantAnimation *const ani = new QVariantAnimation(this);
        ani->setEasingCurve(QEasingCurve::OutCubic);
        ani->setStartValue(0.0);
        ani->setEndValue(1.0);
        ani->setDuration(750);
 
        (void) 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, [this] {
                _setLoadProgress(0);
            });
        });
 
        ani->start(QAbstractAnimation::DeleteWhenStopped);
    } else {
        qCDebug(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()->showAppMessage(tr("Parameter cache CRC match failed"));
        }
        if (!_hashCheckDone) {
            // Standalone hash check path — fall back to PARAM_REQUEST_LIST
            _hashCheckDone = true;
            refreshAllParameters();
        }
        // If already in PARAM_REQUEST_LIST flow, just let the stream continue
    }
}
 
QString ParameterManager::readParametersFromStream(QTextStream &stream)
{
    QString missingErrors;
    QString typeErrors;
 
    while (!stream.atEnd()) {
        const QString line = stream.readLine();
        if (!line.startsWith("#")) {
            const QStringList wpParams = line.split("\t");
            const int lineMavId = wpParams.at(0).toInt();
            if (wpParams.size() == 5) {
                if (_vehicle->id() != lineMavId) {
                    return QStringLiteral("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());
                }
 
                const int componentId = wpParams.at(1).toInt();
                const QString paramName = wpParams.at(2);
                const QString valStr = wpParams.at(3);
                const uint mavType = wpParams.at(4).toUInt();
 
                if (!parameterExists(componentId, paramName)) {
                    QString error;
                    error += QStringLiteral("%1:%2").arg(componentId).arg(paramName);
                    missingErrors += error;
                    qCDebug(ParameterManagerLog) << "Skipped due to missing:" << error;
                    continue;
                }
 
                Fact *const fact = getParameter(componentId, paramName);
                if (fact->type() != mavTypeToFactType(static_cast<MAV_PARAM_TYPE>(mavType))) {
                    QString error;
                    error = QStringLiteral("%1:%2 ").arg(componentId).arg(paramName);
                    typeErrors += error;
                    qCDebug(ParameterManagerLog) << "Skipped due to type mismatch: %1" << error;
                    continue;
                }
 
                qCDebug(ParameterManagerLog) << "Updating parameter" << componentId << paramName << valStr;
                fact->setRawValue(valStr);
            }
        }
    }
 
    QString errors;
 
    if (!missingErrors.isEmpty()) {
        errors = tr("Parameters not loaded since they are not currently on the vehicle: %1\n").arg(missingErrors);
    }
 
    if (!typeErrors.isEmpty()) {
        errors += tr("Parameters not loaded due to type mismatch: %1").arg(typeErrors);
    }
 
    return errors;
}
 
void ParameterManager::writeParametersToStream(QTextStream &stream) const
{
    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 (const int componentId: _mapCompId2FactMap.keys()) {
        for (const QString &paramName: _mapCompId2FactMap[componentId].keys()) {
            const Fact *const fact = _mapCompId2FactMap[componentId][paramName];
            if (fact) {
                stream << _vehicle->id() << "\t" << componentId << "\t" << paramName << "\t" << fact->rawValueStringFullPrecision() << "\t" << QStringLiteral("%1").arg(factTypeToMavType(fact->type())) << "\n";
            } else {
                qCWarning(ParameterManagerLog) << "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:
        qCWarning(ParameterManagerLog) << "Unsupported fact type" << factType;
        [[fallthrough]];
    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:
        qCWarning(ParameterManagerLog) << "Unsupported mav param type" << mavType;
        [[fallthrough]];
    case MAV_PARAM_TYPE_INT32:
        return FactMetaData::valueTypeInt32;
    }
}
 
void ParameterManager::_checkInitialLoadComplete()
{
    if (_initialLoadComplete) {
        return;
    }
 
    for (const int componentId: _waitingReadParamIndexMap.keys()) {
        if (!_waitingReadParamIndexMap[componentId].isEmpty()) {
            // We are still waiting on some parameters, not done yet
            return;
        }
    }
 
    if (!_mapCompId2FactMap.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 (const int componentId: _debugCacheParamSeen.keys()) {
        if (!_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
            for (const QString &paramName: _debugCacheParamSeen[componentId].keys()) {
                if (!_debugCacheParamSeen[componentId][paramName]) {
                    qCDebug(ParameterManagerLog) << "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 (const int componentId: _failedReadParamIndexMap.keys()) {
        for (const int paramIndex: _failedReadParamIndexMap[componentId]) {
            if (initialLoadFailures) {
                indexList += ", ";
            }
            indexList += QStringLiteral("%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;
        const 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(QCoreApplication::applicationName()).arg(_vehicle->id());
        qCDebug(ParameterManagerLog) << errorMsg;
        qgcApp()->showAppMessage(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::_hashCheckTimeout()
{
    _hashCheckDone = true;
    qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_HASH_CHECK timed out, falling back to PARAM_REQUEST_LIST";
    refreshAllParameters();
}
 
void ParameterManager::_paramRequestListTimeout()
{
    if (_logReplay) {
        // Signal load complete
        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_paramRequestListTimeout (log replay): Signalling load complete";
        _initialLoadComplete = true;
        _missingParameters = false;
        _parametersReady = true;
        _vehicle->autopilotPlugin()->parametersReadyPreChecks();
        emit parametersReadyChanged(true);
        emit missingParametersChanged(_missingParameters);
        return;
    }
 
    if (!_disableAllRetries && (++_initialRequestRetryCount <= _maxInitialRequestListRetry)) {
        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Retrying initial parameter request list";
        refreshAllParameters();
    } else if (!_vehicle->genericFirmware()) {
        const 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(QCoreApplication::applicationName());
        qCDebug(ParameterManagerLog) << errorMsg;
        qgcApp()->showAppMessage(errorMsg);
    }
}
 
QString ParameterManager::_remapParamNameToVersion(const QString &paramName) const
{
    if (!paramName.startsWith(QStringLiteral("r."))) {
        // No version mapping wanted
        return paramName;
    }
 
    const int majorVersion = _vehicle->firmwareMajorVersion();
    const int minorVersion = _vehicle->firmwareMinorVersion();
 
    qCDebug(ParameterManagerLog) << "_remapParamNameToVersion" << paramName << majorVersion << minorVersion;
 
    QString mappedParamName = paramName.right(paramName.length() - 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)) {
                const QString toParamName = remap[mappedParamName];
                qCDebug(ParameterManagerLog) << "_remapParamNameToVersion: remapped currentMinor:from:to" << currentMinorVersion << mappedParamName << toParamName;
                mappedParamName = toParamName;
            }
        }
    }
 
    return mappedParamName;
}
 
void ParameterManager::_loadOfflineEditingParams()
{
    const 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()) {
        const QString line = paramStream.readLine();
        if (line.startsWith("#")) {
            continue;
        }
 
        const QStringList paramData = line.split("\t");
        Q_ASSERT(paramData.count() == 5);
 
        const int offlineDefaultComponentId = paramData.at(1).toInt();
        _vehicle->setOfflineEditingDefaultComponentId(offlineDefaultComponentId);
        const QString paramName = paramData.at(2);
        const QString valStr = paramData.at(3);
        const 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_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:
            qCCritical(ParameterManagerLog) << "Unknown type" << paramType;
            [[fallthrough]];
        case MAV_PARAM_TYPE_INT32:
            paramValue = QVariant(valStr.toInt());
            break;
        }
 
        Fact *const fact = new Fact(offlineDefaultComponentId, paramName, mavTypeToFactType(paramType), this);
 
        FactMetaData *const factMetaData = _vehicle->compInfoManager()->compInfoParam(offlineDefaultComponentId)->factMetaDataForName(paramName, fact->type());
        fact->setMetaData(factMetaData);
 
        _mapCompId2FactMap[defaultComponentId][paramName] = fact;
    }
 
    _parametersReady = true;
    _initialLoadComplete = true;
    _debugCacheCRC.clear();
}
 
void ParameterManager::resetAllParametersToDefaults()
{
    _vehicle->sendMavCommand(MAV_COMP_ID_AUTOPILOT1,
                             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 *const sysAutoConfigFact = getParameter(defaultComponentId, "SYS_AUTOCONFIG");
    if (sysAutoConfigFact) {
        sysAutoConfigFact->setRawValue(2);
    }
}
 
QString ParameterManager::_logVehiclePrefix(int componentId) const
{
    if (componentId == -1) {
        return QStringLiteral("V:%1").arg(_vehicle->id());
    } else {
        return QStringLiteral("V:%1 C:%2").arg(_vehicle->id()).arg(componentId);
    }
}
 
void ParameterManager::_setLoadProgress(double loadProgress)
{
    if (_loadProgress != loadProgress) {
        _loadProgress = loadProgress;
        emit loadProgressChanged(static_cast<float>(loadProgress));
    }
}
 
QList<int> ParameterManager::componentIds() const
{
    return _paramCountMap.keys();
}
 
bool ParameterManager::pendingWrites() const
{
    return _pendingWritesCount > 0;
}
 
Vehicle *ParameterManager::vehicle()
{
    return _vehicle;
}
 
 
bool ParameterManager::_parseParamFile(const QString& filename)
{
    constexpr quint16 magic_standard = 0x671B;
    constexpr quint16 magic_withdefaults = 0x671C;
    quint32 no_of_parameters_found = 0;
    constexpr int componentId = MAV_COMP_ID_AUTOPILOT1;
    enum ap_var_type {
        AP_PARAM_NONE = 0,
        AP_PARAM_INT8,
        AP_PARAM_INT16,
        AP_PARAM_INT32,
        AP_PARAM_FLOAT,
        AP_PARAM_VECTOR3F,
        AP_PARAM_GROUP
    };
 
    qCDebug(ParameterManagerLog) << "_parseParamFile:" << filename;
    QFile file(filename);
    if (!file.open(QIODevice::ReadOnly)) {
        qCDebug(ParameterManagerLog) << "_parseParamFile: Error: Could not open downloaded parameter file.";
        return false;
    }
 
    QDataStream in(&file);
    in.setByteOrder(QDataStream::LittleEndian);
 
    quint16 magic, num_params, total_params;
    in >> magic;
    in >> num_params;
    in >> total_params;
 
    if (in.status() != QDataStream::Ok) {
        qCDebug(ParameterManagerLog) << "_parseParamFile: Error: Could not read Header";
        goto Error;
    }
 
    qCDebug(ParameterManagerVerbose2Log) << "_parseParamFile: magic: 0x" << Qt::hex << magic;
    qCDebug(ParameterManagerVerbose2Log) << "_parseParamFile: num_params:" << num_params
                                         << "total_params:" << total_params;
 
    if ((magic != magic_standard) && (magic != magic_withdefaults)) {
        qCDebug(ParameterManagerLog) << "_parseParamFile: Error: File does not start with Magic";
        goto Error;
    }
    if (num_params > total_params) {
        qCDebug(ParameterManagerLog) << "_parseParamFile: Error: total_params > num_params";
        goto Error;
    }
    if (num_params != total_params) {
        /* We requested all parameters, so this is an error here */
        qCDebug(ParameterManagerLog) << "_parseParamFile: Error: total_params != num_params";
        goto Error;
    }
 
    while (in.status() == QDataStream::Ok) {
        quint8 byte = 0;
        quint8 flags = 0;
        quint8 ptype = 0;
        quint8 name_len = 0;
        quint8 common_len = 0;
        bool withdefault = false;
        int no_read = 0;
        char name_buffer[17];
 
        while (byte == 0x0) { // Eat padding bytes
            in >> byte;
            if (in.status() != QDataStream::Ok) {
                if (no_of_parameters_found == num_params) {
                    goto Success;
                } else {
                    qCDebug(ParameterManagerLog) << "_parseParamFile: Error: unexpected EOF"
                                                 << "number of parameters expected:" << num_params
                                                 << "actual:" << no_of_parameters_found;
                    goto Error;
                }
            }
        }
        ptype = byte & 0x0F;
        flags = (byte >> 4) & 0x0F;
        withdefault = (flags & 0x01) == 0x01;
        in >> byte;
        if (in.status() != QDataStream::Ok) {
            qCritical(ParameterManagerLog) << "_parseParamFile: Error: Unexpected EOF while reading flags";
            goto Error;
        }
        name_len = ((byte >> 4) & 0x0F) + 1;
        common_len = byte & 0x0F;
        if ((name_len + common_len) > 16) {
            qCritical(ParameterManagerLog) << "_parseParamFile: Error: common_len + name_len > 16"
                                           << "name_len" << name_len
                                           << "common_len" << common_len;
            goto Error;
        }
        no_read = in.readRawData(&name_buffer[common_len], static_cast<int>(name_len));
        if (no_read != name_len) {
            qCritical(ParameterManagerLog) << "_parseParamFile: Error: Unexpected EOF while reading parameterName"
                                           << "Expected:" << name_len
                                           << "Actual:" << no_read;
            goto Error;
        }
        name_buffer[common_len + name_len] = '\0';
        const QString parameterName(name_buffer);
        qCDebug(ParameterManagerVerbose2Log) << "_parseParamFile: parameter" << parameterName
                                             << "name_len" << name_len
                                             << "common_len" << common_len
                                             << "ptype" << ptype
                                             << "flags" << flags;
 
        QVariant parameterValue = 0;
        switch (static_cast<ap_var_type>(ptype)) {
        qint8 data8;
        qint16 data16;
        qint32 data32;
        float dfloat;
        case AP_PARAM_INT8:
            in >> data8;
            parameterValue = data8;
            if (withdefault) {
                in >> data8;
            }
            break;
        case AP_PARAM_INT16:
            in >> data16;
            parameterValue = data16;
            if (withdefault) {
                in >> data16;
            }
            break;
        case AP_PARAM_INT32:
            in >> data32;
            parameterValue = data32;
            if (withdefault) {
                in >> data32;
            }
            break;
        case AP_PARAM_FLOAT:
            in >> data32;
            (void) memcpy(&dfloat, &data32, 4);
            parameterValue = dfloat;
            if (withdefault) {
                in >> data32;
            }
            break;
        default:
            qCDebug(ParameterManagerLog) << "_parseParamFile: Error: type is out of range" << ptype;
            goto Error;
            break;
        }
        qCDebug(ParameterManagerVerbose2Log) << "paramValue" << parameterValue;
 
        if (++no_of_parameters_found > num_params) {
            qCDebug(ParameterManagerLog) << "_parseParamFile: Error: more parameters in file than expected."
                                         << "Expected:" << num_params
                                         << "Actual:" << no_of_parameters_found;
            goto Error;
        }
 
        const FactMetaData::ValueType_t factType = ((ptype == AP_PARAM_INT8) ? FactMetaData::valueTypeInt8 :
                                                    (ptype == AP_PARAM_INT16) ? FactMetaData::valueTypeInt16 :
                                                    (ptype == AP_PARAM_INT32) ? FactMetaData::valueTypeInt32 :
                                                    FactMetaData::valueTypeFloat);
 
        Fact *fact = nullptr;
        if (_mapCompId2FactMap.contains(componentId) && _mapCompId2FactMap[componentId].contains(parameterName)) {
            fact = _mapCompId2FactMap[componentId][parameterName];
        } else {
            qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "Adding new fact" << parameterName;
 
            fact = new Fact(componentId, parameterName, factType, this);
            FactMetaData *const factMetaData = _vehicle->compInfoManager()->compInfoParam(componentId)->factMetaDataForName(parameterName, fact->type());
            fact->setMetaData(factMetaData);
 
            _mapCompId2FactMap[componentId][parameterName] = fact;
 
            // We need to know when the fact value changes so we can update the vehicle
            (void) connect(fact, &Fact::containerRawValueChanged, this, &ParameterManager::_factRawValueUpdated);
 
            emit factAdded(componentId, fact);
        }
        fact->containerSetRawValue(parameterValue);
    }
 
Success:
    file.close();
    /* Create empty waiting lists as we have all parameters */
    _paramCountMap[componentId] = num_params;
    _totalParamCount += num_params;
    _waitingReadParamIndexMap[componentId] = QMap<int, int>();
    _checkInitialLoadComplete();
    _setLoadProgress(0.0);
    return true;
 
Error:
    file.close();
    return false;
}
 
void ParameterManager::_incrementPendingWriteCount()
{
    _pendingWritesCount++;
    if (_pendingWritesCount == 1) {
        emit pendingWritesChanged(true);
    }
}
 
void ParameterManager::_decrementPendingWriteCount()
{
    if (_pendingWritesCount == 0) {
        qCWarning(ParameterManagerLog) << "Internal Error: _pendingWriteCount == 0";
        return;
    }
 
    _pendingWritesCount--;
    if (_pendingWritesCount == 0) {
        emit pendingWritesChanged(false);
    }
}