update/import/export parameters

Signed-off-by: matt <matt@matthewgong.com>

mainwindow.cpp

@@ -2,6 +2,110 @@
 #include "./ui_mainwindow.h"
 #include <QLibrary>
 #include <QHostAddress>
+#include <QFileDialog>
+
+void MainWindow::scan_param()
+{
+    const rtwCAPI_ModelMappingStaticInfo *sm = (*getmap_func)();
+    if (sm)
+    {
+        //unsigned int n = rtwCAPI_GetNumBlockParametersFromStaticMap(sm);
+        unsigned int m = rtwCAPI_GetNumModelParametersFromStaticMap(sm);
+        ui->tableWidget->setRowCount(512);
+        QStringList hdr;
+        hdr.push_back(tr("Parameter"));
+        hdr.push_back(tr("Value"));
+        ui->tableWidget->setHorizontalHeaderLabels(hdr);
+        int cur = 0;
+
+        rtwCAPI_ModelParameters const *prm = rtwCAPI_GetModelParametersFromStaticMap(sm);
+        rtwCAPI_DataTypeMap const *dtm = rtwCAPI_GetDataTypeMapFromStaticMap(sm);
+        rtwCAPI_DimensionMap const *dmm = rtwCAPI_GetDimensionMapFromStaticMap(sm);
+        uint_T const *dam = rtwCAPI_GetDimensionArrayFromStaticMap(sm);
+        rtwCAPI_ModelMappingInfo *MMI = &(rtmGetDataMapInfo(this->m).mmi);
+        void **da = rtwCAPI_GetDataAddressMap(MMI);
+        for (unsigned int i = 0; i < m; ++i)
+        {
+            const char *name = rtwCAPI_GetModelParameterName(prm, i);
+            int idx = rtwCAPI_GetModelParameterAddrIdx(prm, i);
+            uint16_t dti = rtwCAPI_GetModelParameterDataTypeIdx(prm, i);
+            uint16_t dmi = rtwCAPI_GetModelParameterDimensionIdx(prm, i);
+            uint8_t ss = rtwCAPI_GetDataTypeSLId(dtm, dti);
+            uint16_t dai = rtwCAPI_GetDimArrayIndex(dmm, dmi);
+            uint8_t nd = rtwCAPI_GetNumDims(dmm, dmi);
+            uint16_t n = 1;
+            for (int j = 0; j < nd; ++j)
+            {
+                n *= dam[dai + j];
+            }
+            for (int j = 0; j < n; ++j)
+            {
+                QString param_name = QString::fromLatin1(name);
+                if (j>0)
+                {
+                    param_name = param_name+QString("(%1)").arg(j);
+                }
+                QString param_value;
+                switch (ss)
+                {
+                case SS_DOUBLE:
+                {
+                    double *d = (double *)da[idx];
+                    param_value = QString("%1").arg(d[j]);
+                }
+                break;
+                case SS_SINGLE:
+                {
+                    float *s = (float *)da[idx];
+                    param_value = QString("%1").arg(s[j]);
+                }
+                break;
+                case SS_INT8:
+                {
+                    int8_T *c = (int8_T *)da[idx];
+                    param_value = QString("%1").arg(c[j]);
+                }
+                break;
+                case SS_INT16:
+                {
+                    int16_T *h = (int16_T *)da[idx];
+                    param_value = QString("%1").arg(h[j]);
+                }
+                break;
+                case SS_INT32:
+                {
+                    int32_T *I = (int32_T *)da[idx];
+                    param_value = QString("%1").arg(I[j]);
+                }
+                break;
+                case SS_UINT8:
+                {
+                    uint8_T *c = (uint8_T *)da[idx];
+                    param_value = QString("%1").arg(c[j]);
+                }
+                break;
+                case SS_UINT16:
+                {
+                    uint16_T *h = (uint16_T *)da[idx];
+                    param_value = QString("%1").arg(h[j]);
+                }
+                break;
+                case SS_UINT32:
+                {
+                    uint32_T *I = (uint32_T *)da[idx];
+                    param_value = QString("%1").arg(I[j]);
+                }
+                break;
+                }
+                QTableWidgetItem *newItem = new QTableWidgetItem(param_name);
+                ui->tableWidget->setItem(cur, 0, newItem);
+                newItem = new QTableWidgetItem(param_value);
+                ui->tableWidget->setItem(cur++, 1, newItem);
+            }
+        }
+        ui->tableWidget->setRowCount(cur);
+    }
+}
 
 
 void MainWindow::setup_param(const QVector<QString> &head, const QVector<double> &onecase)
@@ -126,16 +230,20 @@ MainWindow::MainWindow(QWidget *parent)
         getmap_func = &SIL_GetCAPIStaticMap;
         u = &SIL_U;
         y = &SIL_Y;
+        m = (RT_MODEL_SIL_T *)SIL_M;
         X0 = ::X0;
         Att0 = ::Att0;
         hground = &::hground;
     }
 
-    ui->pushButton->setText(QString("Fail"));
+    ui->pushButton_start->setText(QString("Fail"));
     stage = 0;
 
     if (init_func && step_func && u && y && getmap_func && X0 && Att0 && hground)
     {
+        (*init_func)();
+        scan_param();
+
         ui->lineEditLat->setText(QString("%1").arg(X0[0]));
         ui->lineEditLon->setText(QString("%1").arg(X0[1]));
         ui->lineEditAlt->setText(QString("%1").arg(*hground));
@@ -145,7 +253,7 @@ MainWindow::MainWindow(QWidget *parent)
         qgc_sock = new QUdpSocket(this);
         if (qgc_sock->bind(QHostAddress::LocalHost, 6061))
         {
-            ui->pushButton->setText(QString("Start"));
+            ui->pushButton_start->setText(QString("Start"));
             stage = 1;
         }
     }
@@ -184,9 +292,20 @@ void MainWindow::onFire()
 {
     if (stage == 1)
     {
-        bool ok;
-        real_T val;
+        QVector<QString> head;
+        QVector<double> onecase;
 
+        int n = ui->tableWidget->rowCount();
+        for (int i=0;i<n;++i)
+        {
+            head.push_back(ui->tableWidget->item(i,0)->text());
+            onecase.push_back(ui->tableWidget->item(i,1)->text().toDouble());
+        }
+
+        setup_param(head, onecase);
+
+        double val;
+        bool ok;
         val = ui->lineEditLat->text().toDouble(&ok);
         if (ok)
         {
@@ -212,7 +331,6 @@ void MainWindow::onFire()
             Att0[2] = val/57.3;
         }
 
-        (*init_func)();
         seq = 0;
 
         timer200Hz = new QTimer(this);
@@ -220,12 +338,57 @@ void MainWindow::onFire()
         timer200Hz->start(5);
 
         stage = 2;
-        ui->pushButton->setText(QString("Launch"));
+        ui->pushButton_start->setText(QString("Launch"));
     }
     else if (stage == 2)
     {
         u->launch_trigger = 1.0;
-        ui->pushButton->setText(QString("Flying"));
+        ui->pushButton_start->setText(QString("Flying"));
         stage = 3;
     }
 }
+
+void MainWindow::onExport()
+{
+    QString filename = QFileDialog::getSaveFileName(this, tr("Save to"), QString(), tr("Text File (*.txt)"));
+    if (!filename.isEmpty())
+    {
+        QFile data(filename);
+        if (data.open(QFile::WriteOnly | QFile::Truncate)) {
+            QTextStream out(&data);
+            int n = ui->tableWidget->rowCount();
+            for (int i=0;i<n;++i)
+            {
+                out << ui->tableWidget->item(i,0)->text() << ',';
+                out << ui->tableWidget->item(i,1)->text() << '\n';
+            }
+        }
+    }
+}
+
+void MainWindow::onImport()
+{
+    QString filename = QFileDialog::getOpenFileName(this, tr("Save to"), QString(), tr("Text File (*.txt)"));
+    if (!filename.isEmpty())
+    {
+        QFile data(filename);
+        if (data.open(QFile::ReadOnly)) {
+            QTextStream stream(&data);
+            QString line;
+            while (stream.readLineInto(&line)) {
+              QStringList items = line.split(QString(","));
+              int n = ui->tableWidget->rowCount();
+              for (int i=0;i<n;++i)
+              {
+                  if (ui->tableWidget->item(i,0)->text() == items[0])
+                  {
+                      ui->tableWidget->item(i,1)->setText(items[1]);
+                      break;
+                  }
+              }
+            }
+        }
+    }
+
+}
+

mainwindow.h

@@ -32,6 +32,8 @@ public:
 public slots:
     void update200Hz();
     void onFire();
+    void onExport();
+    void onImport();
 
 private:
     Ui::MainWindow *ui;
@@ -50,6 +52,7 @@ private:
     real_T gear_height;
 
     void setup_param(const QVector<QString> &head, const QVector<double> &onecase);
+    void scan_param(void);
 
     uint8_t seq;
 

mainwindow.ui

@@ -6,70 +6,118 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>311</width>
-    <height>187</height>
+    <width>800</width>
+    <height>800</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>600</width>
+    <height>800</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Proj41 HIL</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QVBoxLayout" name="verticalLayout_2">
+   <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0,0,0">
     <item>
-     <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1">
+     <layout class="QFormLayout" name="formLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Latitude</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLineEdit" name="lineEditLat"/>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Longitude</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLineEdit" name="lineEditLon"/>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>altitude</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLineEdit" name="lineEditAlt"/>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>heading</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLineEdit" name="lineEditHdg"/>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <widget class="QTableWidget" name="tableWidget">
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="rowCount">
+       <number>10</number>
+      </property>
+      <property name="columnCount">
+       <number>2</number>
+      </property>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <row/>
+      <column/>
+      <column/>
+     </widget>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
       <item>
-       <layout class="QFormLayout" name="formLayout">
-        <item row="0" column="0">
-         <widget class="QLabel" name="label">
-          <property name="text">
-           <string>Latitude</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QLineEdit" name="lineEditLat"/>
-        </item>
-        <item row="1" column="0">
-         <widget class="QLabel" name="label_2">
-          <property name="text">
-           <string>Longitude</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="1">
-         <widget class="QLineEdit" name="lineEditLon"/>
-        </item>
-        <item row="2" column="0">
-         <widget class="QLabel" name="label_3">
-          <property name="text">
-           <string>altitude</string>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="1">
-         <widget class="QLineEdit" name="lineEditAlt"/>
-        </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_4">
-          <property name="text">
-           <string>heading</string>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="1">
-         <widget class="QLineEdit" name="lineEditHdg"/>
-        </item>
-       </layout>
+       <widget class="QPushButton" name="pushButton_import">
+        <property name="text">
+         <string>Import</string>
+        </property>
+       </widget>
       </item>
       <item>
-       <widget class="QPushButton" name="pushButton">
+       <widget class="QPushButton" name="pushButton_export">
         <property name="text">
-         <string>Start</string>
+         <string>Export</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
+    <item>
+     <widget class="QPushButton" name="pushButton_start">
+      <property name="text">
+       <string>Start</string>
+      </property>
+     </widget>
+    </item>
    </layout>
   </widget>
   <widget class="QMenuBar" name="menubar">
@@ -77,8 +125,8 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>311</width>
-     <height>22</height>
+     <width>800</width>
+     <height>21</height>
     </rect>
    </property>
   </widget>
@@ -87,23 +135,57 @@
  <resources/>
  <connections>
   <connection>
-   <sender>pushButton</sender>
-   <signal>pressed()</signal>
+   <sender>pushButton_start</sender>
+   <signal>clicked()</signal>
    <receiver>MainWindow</receiver>
    <slot>onFire()</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>155</x>
-     <y>153</y>
+     <x>317</x>
+     <y>759</y>
     </hint>
     <hint type="destinationlabel">
-     <x>255</x>
-     <y>181</y>
+     <x>376</x>
+     <y>775</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>pushButton_import</sender>
+   <signal>clicked()</signal>
+   <receiver>MainWindow</receiver>
+   <slot>onImport()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>229</x>
+     <y>732</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>246</x>
+     <y>771</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>pushButton_export</sender>
+   <signal>clicked()</signal>
+   <receiver>MainWindow</receiver>
+   <slot>onExport()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>487</x>
+     <y>735</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>516</x>
+     <y>775</y>
     </hint>
    </hints>
   </connection>
  </connections>
  <slots>
   <slot>onFire()</slot>
+  <slot>onImport()</slot>
+  <slot>onExport()</slot>
  </slots>
 </ui>