ParameterManager.h

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#pragma once
 
#include <QtCore/QDir>
#include <QtCore/QLoggingCategory>
#include <QtCore/QMap>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QTimer>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "Fact.h"
#include "FactMetaData.h"
#include "MAVLinkLib.h"
 
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerLog)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
 
class ParameterEditorController;
class Vehicle;
 
class ParameterManager : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    Q_PROPERTY(bool     parametersReady     READ parametersReady    NOTIFY parametersReadyChanged)      
    Q_PROPERTY(bool     missingParameters   READ missingParameters  NOTIFY missingParametersChanged)    
    Q_PROPERTY(double   loadProgress        READ loadProgress       NOTIFY loadProgressChanged)
    Q_PROPERTY(bool     pendingWrites       READ pendingWrites      NOTIFY pendingWritesChanged)        
    friend class ParameterEditorController;
 
public:
    ParameterManager(Vehicle *vehicle);
    ~ParameterManager();
 
    bool parametersReady() const { return _parametersReady; }
    bool missingParameters() const { return _missingParameters; }
    double loadProgress() const { return _loadProgress; }
 
    static QDir parameterCacheDir();
 
    static QString parameterCacheFile(int vehicleId, int componentId);
 
    void mavlinkMessageReceived(const mavlink_message_t &message);
 
    QList<int> componentIds() const;
 
    void refreshAllParameters(uint8_t componentID = MAV_COMP_ID_ALL);
 
    void refreshParameter(int componentId, const QString &paramName);
 
    void refreshParametersPrefix(int componentId, const QString &namePrefix);
 
    void resetAllParametersToDefaults();
    void resetAllToVehicleConfiguration();
 
    bool parameterExists(int componentId, const QString &paramName) const;
 
    QStringList parameterNames(int componentId) const;
 
    Fact *getParameter(int componentId, const QString &paramName);
 
    QString readParametersFromStream(QTextStream &stream);
 
    void writeParametersToStream(QTextStream &stream) const;
 
    bool pendingWrites() const;
 
    Vehicle *vehicle();
 
    static MAV_PARAM_TYPE factTypeToMavType(FactMetaData::ValueType_t factType);
    static FactMetaData::ValueType_t mavTypeToFactType(MAV_PARAM_TYPE mavType);
 
    static constexpr int defaultComponentId = -1;
 
    // These are public for creating unit tests
    static constexpr int kParamSetRetryCount = 2;                   
    static constexpr int kParamRequestReadRetryCount = 2;           
    static constexpr int kWaitForParamValueAckMs = 1000;            
    static constexpr int kMaxInitialRequestListRetry = 4;           
    static constexpr int kHashCheckTimeoutMs = 1000;                
    static constexpr int kParamRequestListTimeoutMs = 5000;        
    static constexpr int kTestInitialRequestIntervalMs = 500;       
    static constexpr int kTestMaxInitialRequestTimeMs = (kMaxInitialRequestListRetry + 1) * kTestInitialRequestIntervalMs + 1000;
 
signals:
    void parametersReadyChanged(bool parametersReady);
    void missingParametersChanged(bool missingParameters);
    void loadProgressChanged(float value);
    void pendingWritesChanged(bool pendingWrites);
    void factAdded(int componentId, Fact *fact);
 
    // These signals are used to verify unit tests
    void _paramSetSuccess(int componentId, const QString &paramName);
    void _paramSetFailure(int componentId, const QString &paramName);
    void _paramRequestReadSuccess(int componentId, const QString &paramName, int paramIndex);
    void _paramRequestReadFailure(int componentId, const QString &paramName, int paramIndex);
 
private slots:
    void _factRawValueUpdated(const QVariant &rawValue);
 
private:
    void _handleParamValue(int componentId, const QString &parameterName, int parameterCount, int parameterIndex, MAV_PARAM_TYPE mavParamType, const QVariant &parameterValue);
    void _mavlinkParamSet(int componentId, const QString &name, FactMetaData::ValueType_t valueType, const QVariant &rawValue);
    void _waitingParamTimeout();
    void _tryCacheLookup();
    void _hashCheckTimeout();
    void _paramRequestListTimeout();
    int _actualComponentId(int componentId) const;
    void _mavlinkParamRequestRead(int componentId, const QString &paramName, int paramIndex, bool notifyFailure);
    void _requestHashCheck(uint8_t componentId);
    void _writeLocalParamCache(int vehicleId, int componentId);
    void _tryCacheHashLoad(int vehicleId, int componentId, const QVariant &hashValue);
    void _loadMetaData();
    void _clearMetaData();
    QString _remapParamNameToVersion(const QString &paramName) const;
    bool _fillMavlinkParamUnion(FactMetaData::ValueType_t valueType, const QVariant &rawValue, mavlink_param_union_t &paramUnion) const;
    bool _mavlinkParamUnionToVariant(const mavlink_param_union_t &paramUnion, QVariant &outValue) const;
    void _loadOfflineEditingParams();
    QString _logVehiclePrefix(int componentId) const;
    void _setLoadProgress(double loadProgress);
    bool _fillIndexBatchQueue(bool waitingParamTimeout);
    void _updateProgressBar();
    void _checkInitialLoadComplete();
    void _ftpDownloadComplete(const QString &fileName, const QString &errorMsg);
    void _ftpDownloadProgress(float progress);
    bool _parseParamFile(const QString &filename);
    void _incrementPendingWriteCount();
    void _decrementPendingWriteCount();
    QString _vehicleAndComponentString(int componentId) const;
 
    static QVariant _stringToTypedVariant(const QString &string, FactMetaData::ValueType_t type, bool failOk = false);
 
    Vehicle *_vehicle = nullptr;
 
    QMap<int /* comp id */, QMap<QString /* parameter name */, Fact*>> _mapCompId2FactMap;
 
    double _loadProgress = 0;                   
    bool _parametersReady = false;              
    bool _missingParameters = false;            
    bool _initialLoadComplete = false;          
    bool _waitingForDefaultComponent = false;   
    bool _metaDataAddedToFacts = false;         
    bool _logReplay = false;                    
    bool _hashCheckDone = false;                
 
    typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
    typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
 
    QMap<int /* component id */, bool> _debugCacheCRC; 
    QMap<int /* component id */, CacheMapName2ParamTypeVal> _debugCacheMap;
    QMap<int /* component id */, QMap<QString /* param name */, bool /* seen */>> _debugCacheParamSeen;
 
    // Wait counts from previous parameter update cycle
    int _prevWaitingReadParamIndexCount = 0;
 
    bool _readParamIndexProgressActive = false;
 
    static constexpr int _maxInitialRequestListRetry = kMaxInitialRequestListRetry;
    int _initialRequestRetryCount = 0;                          
    static constexpr int _maxInitialLoadRetrySingleParam = 5;   
    bool _disableAllRetries = false;                            
 
    bool _indexBatchQueueActive = false;    
    QList<int> _indexBatchQueue;            
 
    QMap<int, int> _paramCountMap;                              
    QMap<int, QMap<int, int>> _waitingReadParamIndexMap;        
    QMap<int, QList<int>> _failedReadParamIndexMap;             
 
    int _totalParamCount = 0;                   
    int _pendingWritesCount = 0;                
 
    QTimer _hashCheckTimer;
    QTimer _paramRequestListTimer;
    QTimer _waitingParamTimeoutTimer;
 
    Fact _defaultFact;   
 
    bool _tryftp = false;
};