Add parameters meta support for charging station

CopterExpress · May 24, 2019 · 3195383 · 3195383
1 parent 428dbc0
commit 3195383
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Showing 6 changed files with 165 additions and 1 deletion.
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
@@ -1140,3 +1140,6 @@ contains (CONFIG, QGC_DISABLE_BUILD_SETUP) {
 #
 
 include(QGCInstaller.pri)
+
+RESOURCES += \
+    src/FirmwarePlugin/ChargingStation/ChargingStationResources.qrc
diff --git a/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePlugin.cc b/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePlugin.cc
@@ -1,3 +1,5 @@
+#include "PX4ParameterMetaData.h"
+
 #include "ChargingStationFirmwarePlugin.h"
 
 QString ChargingStationFirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
@@ -75,3 +77,41 @@ const QVariantList& ChargingStationFirmwarePlugin::toolBarIndicators(const Vehic
     }
     return _toolBarIndicatorList;
 }
+
+FactMetaData* ChargingStationFirmwarePlugin::getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType)
+{
+    PX4ParameterMetaData* px4MetaData = qobject_cast<PX4ParameterMetaData*>(parameterMetaData);
+
+    if (px4MetaData) {
+        return px4MetaData->getMetaDataForFact(name, vehicleType);
+    } else {
+        qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
+    }
+
+    return NULL;
+}
+
+void ChargingStationFirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
+{
+    PX4ParameterMetaData* px4MetaData = qobject_cast<PX4ParameterMetaData*>(parameterMetaData);
+
+    if (px4MetaData) {
+        px4MetaData->addMetaDataToFact(fact, vehicleType);
+    } else {
+        qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::addMetaDataToFact not PX4ParameterMetaData";
+    }
+}
+
+void ChargingStationFirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
+{
+    return PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion);
+}
+
+QObject* ChargingStationFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
+{
+    PX4ParameterMetaData* metaData = new PX4ParameterMetaData;
+    if (!metaDataFile.isEmpty()) {
+        metaData->loadParameterFactMetaDataFile(metaDataFile);
+    }
+    return metaData;
+}
diff --git a/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePlugin.h b/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePlugin.h
@@ -21,6 +21,11 @@ class ChargingStationFirmwarePlugin : public FirmwarePlugin
     bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     QString flightMode(uint8_t base_mode, uint32_t custom_mode) const override;
     const QVariantList& toolBarIndicators(const Vehicle* vehicle) override;
+    void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override;
+    FactMetaData* getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) override;
+    QString internalParameterMetaDataFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/ChargingStation/ChargingStationParameterFactMetaData.xml"); }
+    void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) override;
+    QObject* loadParameterMetaData(const QString& metaDataFile) final;
 
 private:
     QVariantList _toolBarIndicatorList;

diff --git a/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePluginFactory.cc b/src/FirmwarePlugin/ChargingStation/ChargingStationFirmwarePluginFactory.cc
@@ -21,7 +21,8 @@ FirmwarePlugin* ChargingStationFirmwarePluginFactory::firmwarePluginForAutopilot
 {
     Q_UNUSED(autopilotType);
 
-    if (vehicleType == MAV_TYPE_CHARGING_STATION) {
+    // TODO: MAV_TYPE_QUADROTOR type is set by ParameterManager, it's not okay
+    if ((vehicleType == MAV_TYPE_CHARGING_STATION) || (vehicleType == MAV_TYPE_QUADROTOR)) {
         if (!_pluginInstance) {
             _pluginInstance = new ChargingStationFirmwarePlugin;
         }

diff --git a/src/FirmwarePlugin/ChargingStation/ChargingStationParameterFactMetaData.xml b/src/FirmwarePlugin/ChargingStation/ChargingStationParameterFactMetaData.xml
@@ -0,0 +1,107 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<parameters>
+  <version>3</version>
+  <parameter_version_major>1</parameter_version_major>
+  <parameter_version_minor>0</parameter_version_minor>
+  <group name="MAVLink">
+    <parameter default="0" name="DUMMY" type="FLOAT">
+      <long_desc>QGroundControl ignores the first parameter. This is a temporary workaround.</long_desc>
+    </parameter>
+    <parameter category="System" default="17" name="SYSTEM_ID" type="UINT8">
+      <short_desc>System MAVLink ID</short_desc>
+      <long_desc>Charging station system MAVLink ID.</long_desc>
+      <min>1</min>
+      <max>255</max>
+      <reboot_required>true</reboot_required>
+    </parameter>
+  </group>
+  <group name="Position">
+    <parameter default="47.397618" name="POS_LATITUDE" type="FLOAT">
+      <short_desc>Latitude</short_desc>
+      <long_desc>Charging station static global latitude if GPS is not available.</long_desc>
+      <unit>deg</unit>
+      <decimal>6</decimal>
+      <min>-90</min>
+      <max>90</max>
+    </parameter>
+    <parameter default="8.54551" name="POS_LONGITUDE" type="FLOAT">
+      <short_desc>Longitude</short_desc>
+      <long_desc>Charging station static longitude if GPS is not available.</long_desc>
+      <unit>deg</unit>
+      <decimal>6</decimal>
+      <min>-180</min>
+      <max>180</max>
+    </parameter>
+    <parameter default="150" name="POS_ALTITUDE" type="FLOAT">
+      <short_desc>Absolute altitude</short_desc>
+      <long_desc>Charging station static absolute altitude if GPS is not available.</long_desc>
+      <unit>m</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter default="0" name="POS_HEADING" type="FLOAT">
+      <short_desc>Heading</short_desc>
+      <long_desc>Charging station heading.</long_desc>
+      <unit>deg</unit>
+      <decimal>2</decimal>
+      <min>-180</min>
+      <max>180</max>
+    </parameter>
+  </group>
+  <group name="Service">
+    <parameter category="Developer" default="0" name="CONTROL" type="INT8">
+      <short_desc>Station control</short_desc>
+      <long_desc>Charging station service control parameter.</long_desc>
+      <values>
+        <value code="-1">Restore</value>
+        <value code="0"></value>
+        <value code="1">Open</value>
+        <value code="2">Close</value>
+        <value code="3">Stop</value>
+      </values>
+    </parameter>
+  </group>
+  <group name="GPS">
+    <parameter default="0" name="ANTENNA_DX" type="FLOAT">
+      <short_desc>Antenna offset by X</short_desc>
+      <long_desc>Charging station local GPS antenna offset by X (NED).</long_desc>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <min>0</min>
+      <max>100</max>
+    </parameter>
+    <parameter default="0" name="ANTENNA_DY" type="FLOAT">
+      <short_desc>Antenna offset by Y</short_desc>
+      <long_desc>Charging station local GPS antenna offset by Y (NED).</long_desc>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <min>0</min>
+      <max>100</max>
+    </parameter>
+    <parameter default="0" name="ANTENNA_DZ" type="FLOAT">
+      <short_desc>Antenna offset by Z</short_desc>
+      <long_desc>Charging station local GPS antenna offset by Z (NED).</long_desc>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <min>0</min>
+      <max>100</max>
+    </parameter>
+  </group>
+  <group name="RTK">
+    <parameter default="0.1" name="SVIN_ACCURACY" type="FLOAT">
+      <short_desc>Survey in accuracy</short_desc>
+      <long_desc>GPS/RTK survey in accuracy.</long_desc>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <min>0.1</min>
+      <max>10</max>
+    </parameter>
+    <parameter default="10" name="SVIN_DURATION" type="UINT32">
+      <short_desc>Survey in duration</short_desc>
+      <long_desc>GPS/RTK survey in duration.</long_desc>
+      <unit>s</unit>
+      <decimal>2</decimal>
+      <min>10</min>
+      <max>21600</max>
+    </parameter>
+  </group>
+</parameters>
diff --git a/src/FirmwarePlugin/ChargingStation/ChargingStationResources.qrc b/src/FirmwarePlugin/ChargingStation/ChargingStationResources.qrc
@@ -0,0 +1,8 @@
+<RCC>
+    <qresource prefix="/qml"/>
+    <qresource prefix="/json"/>
+    <qresource prefix="/AutoPilotPlugins/PX4"/>
+    <qresource prefix="/FirmwarePlugin/ChargingStation">
+        <file>ChargingStationParameterFactMetaData.xml</file>
+    </qresource>
+</RCC>