ParameterManager Class Reference

#include <ParameterManager.h>

Inheritance diagram for ParameterManager:

Collaboration diagram for ParameterManager:

Signals
void	parametersReadyChanged (bool parametersReady)
void	missingParametersChanged (bool missingParameters)
void	loadProgressChanged (float value)
void	cacheCheckOnlyFailed ()
void	pendingWritesChanged (bool pendingWrites)
void	parameterDownloadSkippedChanged ()
void	factAdded (int componentId, Fact *fact)
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)

Public Member Functions
	ParameterManager (Vehicle *vehicle)
	~ParameterManager ()
bool	parametersReady () const
bool	missingParameters () const
double	loadProgress () const
bool	parameterDownloadSkipped () const
void	setParameterDownloadSkipped (bool skipped)
void	mavlinkMessageReceived (const mavlink_message_t &message)
QList< int >	componentIds () const
void	refreshAllParameters (uint8_t componentID)
	Re-request the full set of parameters from the autopilot.
Q_INVOKABLE void	refreshAllParameters ()
void	tryHashCheckCacheLoad ()
void	refreshParameter (int componentId, const QString &paramName)
	Request a refresh on the specific parameter.
void	refreshParametersPrefix (int componentId, const QString &namePrefix)
	Request a refresh on all parameters that begin with the specified prefix.
void	resetAllParametersToDefaults ()
void	resetAllToVehicleConfiguration ()
bool	parameterExists (int componentId, const QString &paramName) const
QStringList	parameterNames (int componentId) const
	Returns all parameter names.
Fact *	getParameter (int componentId, const QString &paramName)
QString	readParametersFromStream (QTextStream &stream)
	Returns error messages from loading.
void	writeParametersToStream (QTextStream &stream) const
bool	pendingWrites () const
Vehicle *	vehicle ()

Static Public Member Functions
static QDir	parameterCacheDir ()
static QString	parameterCacheFile (int vehicleId, int componentId)
static MAV_PARAM_TYPE	factTypeToMavType (FactMetaData::ValueType_t factType)
static FactMetaData::ValueType_t	mavTypeToFactType (MAV_PARAM_TYPE mavType)

Static Public Attributes
static constexpr int	defaultComponentId = -1
static constexpr int	kParamSetRetryCount = 2
	Number of retries for PARAM_SET.
static constexpr int	kParamRequestReadRetryCount = 2
	Number of retries for PARAM_REQUEST_READ.
static constexpr int	kWaitForParamValueAckMs = 1000
	Time to wait for param value ack after set param.
static constexpr int	kMaxInitialRequestListRetry = 4
	Maximum retries for initial parameter request list.
static constexpr int	kHashCheckTimeoutMs = 1000
	Timeout for standalone _HASH_CHECK request.
static constexpr int	kParamRequestListTimeoutMs = 5000
	Timeout for PARAM_REQUEST_LIST response.
static constexpr int	kTestInitialRequestIntervalMs = 500
static constexpr int	kTestMaxInitialRequestTimeMs = (kMaxInitialRequestListRetry + 1) * kTestInitialRequestIntervalMs + 1000
	Maximum time to wait for initial request retries to exhaust in tests.

Friends
class	ParameterEditorController
	< true: Parameters are missing from firmware response, false: all parameters received from firmware

Detailed Description

Definition at line 18 of file ParameterManager.h.

Constructor & Destructor Documentation

ParameterManager()

ParameterManager::ParameterManager

(

Vehicle *

vehicle

)

Definition at line 34 of file ParameterManager.cc.

References QGC::runningUnitTests().

~ParameterManager()

ParameterManager::~ParameterManager

(

)

Definition at line 70 of file ParameterManager.cc.

Member Function Documentation

_paramRequestReadFailure

void ParameterManager::_paramRequestReadFailure ( int  componentId, const QString &  paramName, int  paramIndex  )

signal

_paramRequestReadSuccess

void ParameterManager::_paramRequestReadSuccess ( int  componentId, const QString &  paramName, int  paramIndex  )

signal

_paramSetFailure

void ParameterManager::_paramSetFailure ( int  componentId, const QString &  paramName  )

signal

_paramSetSuccess

void ParameterManager::_paramSetSuccess ( int  componentId, const QString &  paramName  )

signal

cacheCheckOnlyFailed

void ParameterManager::cacheCheckOnlyFailed ( )

signal

Referenced by tryHashCheckCacheLoad().

componentIds()

QList< int > ParameterManager::componentIds

(

)

const

Definition at line 1556 of file ParameterManager.cc.

factAdded

void ParameterManager::factAdded ( int  componentId, Fact *  fact  )

signal

Referenced by ParameterEditorController::ParameterEditorController().

factTypeToMavType()

MAV_PARAM_TYPE ParameterManager::factTypeToMavType ( FactMetaData::ValueType_t  factType )

static

Definition at line 1238 of file ParameterManager.cc.

References FactMetaData::valueTypeDouble, FactMetaData::valueTypeFloat, FactMetaData::valueTypeInt16, FactMetaData::valueTypeInt32, FactMetaData::valueTypeInt64, FactMetaData::valueTypeInt8, FactMetaData::valueTypeUint16, FactMetaData::valueTypeUint32, FactMetaData::valueTypeUint64, and FactMetaData::valueTypeUint8.

Referenced by writeParametersToStream().

getParameter()

Fact * ParameterManager::getParameter	(	int	componentId,
		const QString &	paramName
	)

Returns the specified Parameter. Returns a default empty fact is parameter does not exists. Also will pop a missing parameter error to user if parameter does not exist.

Parameters

componentId	Component id or ParameterManager::defaultComponentId
name	Parameter name

Definition at line 740 of file ParameterManager.cc.

References qgcApp.

Referenced by APMSensorsComponent::accelSetupNeeded(), ActuatorOutputs::ActuatorOutputChannel::ActuatorOutputChannel(), APMAirframeComponent::APMAirframeComponent(), APMRadioComponent::APMRadioComponent(), ParameterEditorController::buildDiffFromFile(), APMSensorsComponent::compassSetupNeeded(), Condition::Condition(), VehicleObjectAvoidance::enabled(), APMFirmwarePlugin::getHobbsMeter(), PX4FirmwarePlugin::getHobbsMeter(), FactPanelController::getParameterFact(), APMFirmwarePlugin::guidedModeChangeHeading(), APMFirmwarePlugin::hasGripper(), PX4FirmwarePlugin::hasGripper(), APMFirmwarePlugin::maximumEquivalentAirspeed(), PX4FirmwarePlugin::maximumEquivalentAirspeed(), APMFirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), PX4FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), APMFirmwarePlugin::minimumEquivalentAirspeed(), PX4FirmwarePlugin::minimumEquivalentAirspeed(), APMFirmwarePlugin::minimumTakeoffAltitudeMeters(), Vehicle::motorCount(), ArduCopterFirmwarePlugin::multiRotorXConfig(), GeoFenceController::paramCircularFence(), PX4AutoPilotPlugin::parametersReadyPreChecks(), PX4AutoPilotPlugin::prerequisiteSetup(), readParametersFromStream(), PX4RadioComponent::requiresSetup(), resetAllToVehicleConfiguration(), SensorsComponent::sections(), SensorsComponent::sectionSetupComplete(), ParameterEditorController::sendDiff(), APMRadioComponent::setupComplete(), AirframeComponent::setupComplete(), PX4RadioComponent::setupComplete(), PowerComponent::setupComplete(), SensorsComponent::setupComplete(), VehicleComponent::setupTriggerSignals(), VehicleObjectAvoidance::start(), and VehicleObjectAvoidance::stop().

loadProgress()

double ParameterManager::loadProgress ( ) const

inline

Definition at line 36 of file ParameterManager.h.

loadProgressChanged

void ParameterManager::loadProgressChanged ( float  value )

signal

mavlinkMessageReceived()

void ParameterManager::mavlinkMessageReceived

(

const mavlink_message_t &

message

)

Definition at line 96 of file ParameterManager.cc.

mavTypeToFactType()

FactMetaData::ValueType_t ParameterManager::mavTypeToFactType ( MAV_PARAM_TYPE  mavType )

static

Definition at line 1267 of file ParameterManager.cc.

References FactMetaData::valueTypeDouble, FactMetaData::valueTypeFloat, FactMetaData::valueTypeInt16, FactMetaData::valueTypeInt32, FactMetaData::valueTypeInt64, FactMetaData::valueTypeInt8, FactMetaData::valueTypeUint16, FactMetaData::valueTypeUint32, FactMetaData::valueTypeUint64, and FactMetaData::valueTypeUint8.

Referenced by ParameterEditorController::buildDiffFromFile(), and readParametersFromStream().

missingParameters()

bool ParameterManager::missingParameters ( ) const

inline

Definition at line 35 of file ParameterManager.h.

missingParametersChanged

void ParameterManager::missingParametersChanged ( bool  missingParameters )

signal

parameterCacheDir()

QDir ParameterManager::parameterCacheDir ( )

static

Returns

Directory of parameter caches

Definition at line 1012 of file ParameterManager.cc.

Referenced by parameterCacheFile(), QGCApplication::QGCApplication(), and QGCApplication::shutdown().

parameterCacheFile()

QString ParameterManager::parameterCacheFile ( int  vehicleId, int  componentId  )

static

Returns

Location of parameter cache file

Definition at line 1021 of file ParameterManager.cc.

References parameterCacheDir().

parameterDownloadSkipped()

bool ParameterManager::parameterDownloadSkipped ( ) const

inline

Definition at line 37 of file ParameterManager.h.

parameterDownloadSkippedChanged

void ParameterManager::parameterDownloadSkippedChanged ( )

signal

Referenced by setParameterDownloadSkipped().

parameterExists()

bool ParameterManager::parameterExists	(	int	componentId,
		const QString &	paramName
	)		const

Returns true if the specifed parameter exists

Parameters

componentId	Component id or ParameterManager::defaultComponentId
name	Parameter name

Definition at line 728 of file ParameterManager.cc.

Referenced by FactPanelController::_allParametersExists(), ActuatorOutputs::ActuatorOutputChannel::ActuatorOutputChannel(), APMAirframeComponent::APMAirframeComponent(), ParameterEditorController::buildDiffFromFile(), Condition::Condition(), VehicleObjectAvoidance::enabled(), APMFirmwarePlugin::fixedWingAirSpeedLimitsAvailable(), PX4FirmwarePlugin::fixedWingAirSpeedLimitsAvailable(), APMFirmwarePlugin::getHobbsMeter(), PX4FirmwarePlugin::getHobbsMeter(), FactPanelController::getParameterFact(), APMFirmwarePlugin::guidedModeChangeHeading(), APMFirmwarePlugin::hasGripper(), PX4FirmwarePlugin::hasGripper(), APMFirmwarePlugin::maximumEquivalentAirspeed(), PX4FirmwarePlugin::maximumEquivalentAirspeed(), APMFirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), PX4FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), APMFirmwarePlugin::minimumEquivalentAirspeed(), PX4FirmwarePlugin::minimumEquivalentAirspeed(), APMFirmwarePlugin::minimumTakeoffAltitudeMeters(), APMFirmwarePlugin::mulirotorSpeedLimitsAvailable(), PX4FirmwarePlugin::mulirotorSpeedLimitsAvailable(), GeoFenceController::paramCircularFence(), FactPanelController::parameterExists(), PX4AutoPilotPlugin::parametersReadyPreChecks(), readParametersFromStream(), SensorsComponent::sections(), PowerComponent::setupComplete(), SensorsComponent::setupComplete(), VehicleComponent::setupTriggerSignals(), VehicleObjectAvoidance::start(), VehicleObjectAvoidance::stop(), APMAutoPilotPlugin::vehicleComponents(), and PX4AutoPilotPlugin::vehicleComponents().

parameterNames()

QStringList ParameterManager::parameterNames

(

int

componentId

)

const

Returns all parameter names.

Definition at line 753 of file ParameterManager.cc.

parametersReady()

bool ParameterManager::parametersReady ( ) const

inline

Definition at line 34 of file ParameterManager.h.

Referenced by Actuators::init(), APMAutoPilotPlugin::vehicleComponents(), and PX4AutoPilotPlugin::vehicleComponents().

parametersReadyChanged

void ParameterManager::parametersReadyChanged ( bool  parametersReady )

signal

Referenced by APMAutoPilotPlugin::APMAutoPilotPlugin().

pendingWrites()

bool ParameterManager::pendingWrites

(

)

const

Definition at line 1561 of file ParameterManager.cc.

pendingWritesChanged

void ParameterManager::pendingWritesChanged ( bool  pendingWrites )

signal

readParametersFromStream()

QString ParameterManager::readParametersFromStream

(

QTextStream &

stream

)

Returns error messages from loading.

Definition at line 1151 of file ParameterManager.cc.

References error, getParameter(), Vehicle::id(), mavTypeToFactType(), parameterExists(), Fact::setRawValue(), and Fact::type().

refreshAllParameters() [1/2]

Q_INVOKABLE void ParameterManager::refreshAllParameters ( )

inline

Definition at line 52 of file ParameterManager.h.

References refreshAllParameters().

Referenced by refreshAllParameters().

refreshAllParameters() [2/2]

void ParameterManager::refreshAllParameters

(

uint8_t

componentID

)

Re-request the full set of parameters from the autopilot.

Definition at line 586 of file ParameterManager.cc.

References setParameterDownloadSkipped().

Referenced by ParameterEditorController::refresh().

refreshParameter()

void ParameterManager::refreshParameter	(	int	componentId,
		const QString &	paramName
	)

Request a refresh on the specific parameter.

Definition at line 707 of file ParameterManager.cc.

Referenced by FactPanelController::getMissingParameters(), refreshParametersPrefix(), and RCToParamDialogController::setTuningFact().

refreshParametersPrefix()

void ParameterManager::refreshParametersPrefix	(	int	componentId,
		const QString &	namePrefix
	)

Request a refresh on all parameters that begin with the specified prefix.

Definition at line 716 of file ParameterManager.cc.

References refreshParameter().

resetAllParametersToDefaults()

void ParameterManager::resetAllParametersToDefaults

(

)

Definition at line 1513 of file ParameterManager.cc.

References Vehicle::sendMavCommand().

Referenced by ParameterEditorController::resetAllToDefaults().

resetAllToVehicleConfiguration()

void ParameterManager::resetAllToVehicleConfiguration

(

)

Definition at line 1522 of file ParameterManager.cc.

References defaultComponentId, getParameter(), and Fact::setRawValue().

Referenced by ParameterEditorController::resetAllToVehicleConfiguration().

setParameterDownloadSkipped()

void ParameterManager::setParameterDownloadSkipped

(

bool

skipped

)

Definition at line 1548 of file ParameterManager.cc.

References parameterDownloadSkippedChanged().

Referenced by refreshAllParameters().

tryHashCheckCacheLoad()

void ParameterManager::tryHashCheckCacheLoad

(

)

Attempt a PX4 hash-check cache load only. If the cache misses or the vehicle is not PX4, cacheCheckOnlyFailed() is emitted.

Definition at line 593 of file ParameterManager.cc.

References cacheCheckOnlyFailed(), VehicleLinkManager::primaryLink(), Vehicle::px4Firmware(), and Vehicle::vehicleLinkManager().

vehicle()

Vehicle * ParameterManager::vehicle

(

)

Definition at line 1566 of file ParameterManager.cc.

writeParametersToStream()

void ParameterManager::writeParametersToStream

(

QTextStream &

stream

)

const

Definition at line 1207 of file ParameterManager.cc.

References factTypeToMavType(), QGCMAVLink::firmwareClass(), QGCMAVLink::firmwareClassToCanonicalString(), Vehicle::firmwareMajorVersion(), Vehicle::firmwareMinorVersion(), Vehicle::firmwarePatchVersion(), Vehicle::firmwareType(), Vehicle::firmwareVersionTypeString(), Vehicle::gitHash(), Vehicle::id(), Fact::rawValueStringFullPrecision(), Fact::type(), QGCMAVLink::vehicleClass(), QGCMAVLink::vehicleClassToCanonicalString(), and Vehicle::vehicleType().

Referenced by ParameterEditorController::saveToFile().

Friends And Related Symbol Documentation

ParameterEditorController

friend class ParameterEditorController

friend

< true: Parameters are missing from firmware response, false: all parameters received from firmware

< true: Parameters are ready for use < true: There are still pending write updates against the vehicle < true: Parameter download was intentionally skipped (e.g. flying)

Definition at line 28 of file ParameterManager.h.

Member Data Documentation

defaultComponentId

constexpr int ParameterManager::defaultComponentId = -1

staticconstexpr

Definition at line 93 of file ParameterManager.h.

Referenced by FactPanelController::_reportMissingParameter(), APMSensorsComponent::accelSetupNeeded(), ActuatorOutputs::ActuatorOutputChannel::ActuatorOutputChannel(), AirframeComponentController::AirframeComponentController(), APMAirframeComponent::APMAirframeComponent(), APMFlightModesComponentController::APMFlightModesComponentController(), APMRadioComponent::APMRadioComponent(), Vehicle::autoDisarm(), APMSensorsComponent::compassSetupNeeded(), Condition::Condition(), APMFirmwarePlugin::fixedWingAirSpeedLimitsAvailable(), PX4FirmwarePlugin::fixedWingAirSpeedLimitsAvailable(), APMFirmwarePlugin::getHobbsMeter(), PX4FirmwarePlugin::getHobbsMeter(), APMFirmwarePlugin::guidedModeChangeHeading(), APMFirmwarePlugin::hasGripper(), PX4FirmwarePlugin::hasGripper(), Mixer::ChannelConfig::instantiate(), APMFirmwarePlugin::maximumEquivalentAirspeed(), PX4FirmwarePlugin::maximumEquivalentAirspeed(), APMFirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), PX4FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), APMFirmwarePlugin::minimumEquivalentAirspeed(), PX4FirmwarePlugin::minimumEquivalentAirspeed(), APMFirmwarePlugin::minimumTakeoffAltitudeMeters(), APMFirmwarePlugin::mulirotorSpeedLimitsAvailable(), PX4FirmwarePlugin::mulirotorSpeedLimitsAvailable(), ArduCopterFirmwarePlugin::multiRotorXConfig(), GeoFenceController::paramCircularFence(), PX4AutoPilotPlugin::parametersReadyPreChecks(), PX4SimpleFlightModesController::PX4SimpleFlightModesController(), RadioComponentController::RadioComponentController(), resetAllToVehicleConfiguration(), VehicleComponent::sections(), SensorsComponent::sections(), SensorsComponent::sectionSetupComplete(), RCToParamDialogController::setTuningFact(), APMRadioComponent::setupComplete(), AirframeComponent::setupComplete(), PX4RadioComponent::setupComplete(), PowerComponent::setupComplete(), SensorsComponent::setupComplete(), and VehicleComponent::setupTriggerSignals().

kHashCheckTimeoutMs

constexpr int ParameterManager::kHashCheckTimeoutMs = 1000

staticconstexpr

Timeout for standalone _HASH_CHECK request.

Definition at line 100 of file ParameterManager.h.

kMaxInitialRequestListRetry

constexpr int ParameterManager::kMaxInitialRequestListRetry = 4

staticconstexpr

Maximum retries for initial parameter request list.

Definition at line 99 of file ParameterManager.h.

kParamRequestListTimeoutMs

constexpr int ParameterManager::kParamRequestListTimeoutMs = 5000

staticconstexpr

Timeout for PARAM_REQUEST_LIST response.

Definition at line 101 of file ParameterManager.h.

kParamRequestReadRetryCount

constexpr int ParameterManager::kParamRequestReadRetryCount = 2

staticconstexpr

Number of retries for PARAM_REQUEST_READ.

Definition at line 97 of file ParameterManager.h.

kParamSetRetryCount

constexpr int ParameterManager::kParamSetRetryCount = 2

staticconstexpr

Number of retries for PARAM_SET.

Definition at line 96 of file ParameterManager.h.

kTestInitialRequestIntervalMs

constexpr int ParameterManager::kTestInitialRequestIntervalMs = 500

staticconstexpr

Timer interval for initial request in test mode

Definition at line 102 of file ParameterManager.h.

kTestMaxInitialRequestTimeMs

constexpr int ParameterManager::kTestMaxInitialRequestTimeMs = (kMaxInitialRequestListRetry + 1) * kTestInitialRequestIntervalMs + 1000

staticconstexpr

Maximum time to wait for initial request retries to exhaust in tests.

Definition at line 104 of file ParameterManager.h.

kWaitForParamValueAckMs

constexpr int ParameterManager::kWaitForParamValueAckMs = 1000

staticconstexpr

Time to wait for param value ack after set param.

Definition at line 98 of file ParameterManager.h.

---

The documentation for this class was generated from the following files:

• src/FactSystem/ParameterManager.h
• src/FactSystem/ParameterManager.cc