OP-1150 UI for thermal calibration: Add state transitions for saving/restoring settings and board setup

ground/openpilotgcs/src/plugins/config/calibration/thermal/settinghandlingtransitions.h

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ *
+ * @file       settinghandlingtransitions.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ *
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SETTINGSHANDLINGTRANSITIONS_H
+#define SETTINGSHANDLINGTRANSITIONS_H
+#include <QSignalTransition>
+#include <QEventTransition>
+
+#include "thermalcalibrationhelper.h"
+
+class BoardStatusSaveTransition : public QSignalTransition
+{
+    Q_OBJECT
+public:
+    BoardStatusSaveTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
+        : QSignalTransition(helper, SIGNAL(statusSaveCompleted(bool))),
+          m_helper(helper)
+    {
+        QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
+        setTargetState(targetState);
+    }
+
+    virtual bool eventTest(QEvent *e)
+    {
+        qDebug() << "BoardStatusSaveTransition::eventTest";
+        if (!QSignalTransition::eventTest(e))
+            return false;
+        QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
+
+        // check wether status stave was successful and retry if not
+        qDebug() << "BoardStatusSavedTransition::eventTest - " << se->arguments().at(0).toBool();
+        if(se->arguments().at(0).toBool()){
+            return true;
+        } else {
+            m_helper->statusSave();
+        }
+        return false;
+    }
+
+    virtual void onTransition(QEvent *e)
+    {
+        QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
+        qDebug() << "BoardStatusSaveTransition :" << se->arguments().at(0).toBool();
+    }
+public slots:
+    void enterState(){
+        m_helper->statusSave();
+    }
+private:
+    ThermalCalibrationHelper *m_helper;
+};
+
+
+class BoardStatusRestoreTransition : public QSignalTransition
+{
+    Q_OBJECT
+public:
+    BoardStatusRestoreTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
+        : QSignalTransition(helper, SIGNAL(statusRestoreCompleted(bool))),
+          m_helper(helper)
+    {
+        QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
+        setTargetState(targetState);
+    }
+
+    virtual bool eventTest(QEvent *e)
+    {
+        if (!QSignalTransition::eventTest(e))
+            return false;
+        QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
+
+        // check wether status stave was successful and retry if not
+        if(se->arguments().at(0).toBool()){
+            return true;
+        } else {
+            qDebug() << "BoardStatusRestoreTransition::eventTest - statusRestore() ";
+            m_helper->statusRestore();
+        }
+        return false;
+    }
+public slots:
+    void enterState(){
+        m_helper->statusRestore();
+    }
+private:
+    ThermalCalibrationHelper *m_helper;
+};
+
+
+#endif // SETTINGSHANDLINGTRANSITIONS_H

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp

@@ -0,0 +1,198 @@
+/**
+ ******************************************************************************
+ *
+ * @file       thermalcalibrationhelper.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ *
+ * @brief      Utilities for thermal calibration
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "thermalcalibrationhelper.h"
+
+ThermalCalibrationHelper::ThermalCalibrationHelper(QObject *parent) :
+    QObject(parent)
+{
+    m_boardInitialSettings = thermalCalibrationBoardSettings();
+}
+
+/**
+ * @brief Change board settings to prepare it for calibration
+ * @return
+ */
+
+bool ThermalCalibrationHelper::setupBoardForCalibration(){
+    qDebug() << "setupBoardForCalibration";
+
+    UAVObjectManager *objManager = getObjectManager();
+    Q_ASSERT(objManager);
+
+    // accelSensor Meta
+    AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
+    Q_ASSERT(accelSensor);
+    setMetadataForCalibration(accelSensor);
+
+    // gyroSensor Meta
+    GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
+    Q_ASSERT(gyroSensor);
+    setMetadataForCalibration(gyroSensor);
+
+    // baroSensor Meta
+    BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
+    Q_ASSERT(baroSensor);
+    setMetadataForCalibration(baroSensor);
+
+    // clean any correction before calibrating
+    RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
+    Q_ASSERT(revoSettings);
+    RevoSettings::DataFields revoSettingsData = revoSettings->getData();
+    for (int i = 0; i < RevoSettings::BAROTEMPCORRECTIONPOLYNOMIAL_NUMELEM; i++){
+        revoSettingsData.BaroTempCorrectionPolynomial[i] = 0.0f;
+    }
+    revoSettings->setData(revoSettingsData);
+
+    return true;
+}
+
+
+
+/**
+ * @brief Save board status to be later restored using restoreBoardStatus
+ * @return
+ */
+bool ThermalCalibrationHelper::saveBoardInitialSettings(){
+    // Store current board status:
+    qDebug() << "Save initial settings";
+
+    UAVObjectManager *objManager = getObjectManager();
+    Q_ASSERT(objManager);
+    // accelSensor Meta
+    AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
+    Q_ASSERT(accelSensor);
+    m_boardInitialSettings.accelSensorMeta = accelSensor->getMetadata();
+    // gyroSensor Meta
+    GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
+    Q_ASSERT(gyroSensor);
+    m_boardInitialSettings.gyroSensorMeta = gyroSensor->getMetadata();
+
+    // baroSensor Meta
+    BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
+    Q_ASSERT(baroSensor);
+    m_boardInitialSettings.baroensorMeta = baroSensor->getMetadata();
+
+    // revoSettings data
+    RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
+    Q_ASSERT(revoSettings);
+    m_boardInitialSettings.revoSettings = revoSettings->getData();
+
+    // accelGyroSettings data
+    /*
+     * Note: for revolution it is not neede but in case of CC we would prevent having
+     * a new set of xxxSensor UAVOs beside actual xxxState so it may be needed to reset the following
+    AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
+    Q_ASSERT(accelGyroSettings);
+    m_boardInitialSettings.accelGyroSettings = accelGyroSettings->getData();
+    */
+    m_boardInitialSettings.statusSaved = true;
+    return true;
+}
+
+void ThermalCalibrationHelper::setupBoard(){
+    if(setupBoardForCalibration()){
+        emit setupBoardCompleted(true);
+    } else {
+        emit setupBoardCompleted(false);
+    }
+}
+
+void ThermalCalibrationHelper::statusRestore(){
+    if(isBoardInitialSettingsSaved() && restoreInitialSettings()){
+        clearBoardInitialSettingsSaved();
+        emit statusRestoreCompleted(true);
+    } else {
+        emit statusRestoreCompleted(false);
+    }
+}
+
+void ThermalCalibrationHelper::statusSave(){
+    //prevent saving multiple times
+    if(!isBoardInitialSettingsSaved() && saveBoardInitialSettings()){
+        emit statusSaveCompleted(true);
+    } else {
+        emit statusSaveCompleted(false);
+    }
+}
+
+/**
+ * @brief restore board settings from status saved calling saveBoardStatus
+ * @return true if success
+ */
+bool ThermalCalibrationHelper::restoreInitialSettings(){
+    if(!m_boardInitialSettings.statusSaved) {
+        return false;
+    }
+    // restore initial board status
+    UAVObjectManager *objManager = getObjectManager();
+    Q_ASSERT(objManager);
+
+    // accelSensor Meta
+    AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
+    Q_ASSERT(accelSensor);
+    accelSensor->setMetadata(m_boardInitialSettings.accelSensorMeta);
+
+    // gyroSensor Meta
+    GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
+    Q_ASSERT(gyroSensor);
+    gyroSensor->setMetadata(m_boardInitialSettings.gyroSensorMeta);
+
+    // baroSensor Meta
+    BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
+    Q_ASSERT(baroSensor);
+    baroSensor->setMetadata(m_boardInitialSettings.baroensorMeta);
+
+    // revoSettings data
+    RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
+    Q_ASSERT(revoSettings);
+    revoSettings->setData(m_boardInitialSettings.revoSettings);
+
+    m_boardInitialSettings.statusSaved = false;
+    return true;
+}
+
+void ThermalCalibrationHelper::setMetadataForCalibration(UAVDataObject *uavo)
+{
+    Q_ASSERT(uavo);
+    UAVObject::Metadata meta = uavo->getMetadata();
+    UAVObject::SetFlightTelemetryUpdateMode(meta, UAVObject::UPDATEMODE_PERIODIC);
+    meta.flightTelemetryUpdatePeriod = 100;
+    uavo->setMetadata(meta);
+}
+
+/**
+ * Util function to get a pointer to the object manager
+ * @return pointer to the UAVObjectManager
+ */
+UAVObjectManager *ThermalCalibrationHelper::getObjectManager(){
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
+
+    Q_ASSERT(objMngr);
+    return objMngr;
+}

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       thermalcalibrationhelper.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ *
+ * @brief      Thermal calibration helper functions
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef THERMALCALIBRATIONHELPER_H
+#define THERMALCALIBRATIONHELPER_H
+
+#include <QObject>
+#include <QtCore>
+
+#include "uavobjectmanager.h"
+#include <uavobject.h>
+#include <uavobjectmanager.h>
+
+#include "extensionsystem/pluginmanager.h"
+
+// UAVOs
+#include <accelsensor.h>
+#include <gyrosensor.h>
+#include <barosensor.h>
+#include "accelgyrosettings.h"
+
+
+// Calibration data
+#include <accelgyrosettings.h>
+#include <revocalibration.h>
+#include <revosettings.h>
+
+
+
+typedef struct {
+    // this is not needed for revo, but should for CC/CC3D
+    // AccelGyroSettings::DataFields accelGyroSettings;
+    RevoSettings::DataFields revoSettings;
+    UAVObject::Metadata gyroSensorMeta;
+    UAVObject::Metadata accelSensorMeta;
+    UAVObject::Metadata baroensorMeta;
+    bool statusSaved = false;
+} thermalCalibrationBoardSettings;
+
+class ThermalCalibrationHelper : public QObject
+{
+    Q_OBJECT
+public:
+    explicit ThermalCalibrationHelper(QObject *parent = 0);
+
+    /* board settings save/restore */
+    bool saveBoardInitialSettings();
+    bool restoreInitialSettings();
+    bool isBoardInitialSettingsSaved(){
+        return m_boardInitialSettings.statusSaved;
+    }
+private:
+    void setMetadataForCalibration(UAVDataObject *uavo);
+    void clearBoardInitialSettingsSaved(){
+        m_boardInitialSettings.statusSaved = false;
+    }
+signals:
+    void statusRestoreCompleted(bool succesful);
+    void statusSaveCompleted(bool succesful);
+public slots:
+    void statusSave();
+    void statusRestore();
+
+    /* board configuration setup for calibration */
+public:
+    bool setupBoardForCalibration();
+signals:
+    void setupBoardCompleted(bool succesful);
+
+public slots:
+    void setupBoard();
+
+private:
+    thermalCalibrationBoardSettings m_boardInitialSettings;
+    UAVObjectManager *getObjectManager();
+};
+
+#endif // THERMALCALIBRATIONHELPER_H

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationtransitions.h

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       thermalcalibrationtransitions.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ *
+ * @brief      State transitions used to implement thermal calibration
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef THERMALCALIBRATIONTRANSITIONS_H
+#define THERMALCALIBRATIONTRANSITIONS_H
+
+#include <QSignalTransition>
+#include <QEventTransition>
+
+#include "thermalcalibrationhelper.h"
+
+class BoardSetupTransition : public QSignalTransition
+{
+    Q_OBJECT
+public:
+    BoardSetupTransition (ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
+        : QSignalTransition(helper, SIGNAL(setupBoardCompleted(bool))),
+          m_helper(helper)
+    {
+        QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
+        setTargetState(targetState);
+    }
+
+    virtual bool eventTest(QEvent *e)
+    {
+        qDebug() << "BoardSetupTransition::eventTest";
+        if (!QSignalTransition::eventTest(e))
+            return false;
+        QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
+
+        // check wether status stave was successful and retry if not
+        qDebug() << "BoardSetupTransition::eventTest - " << se->arguments().at(0).toBool();
+        if(se->arguments().at(0).toBool()){
+            return true;
+        } else {
+            m_helper->setupBoard();
+        }
+        return false;
+    }
+
+    virtual void onTransition(QEvent *e)
+    {
+        QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
+        qDebug() << "BoardSetupTransition::onTransition" << se->arguments().at(0).toBool();
+    }
+public slots:
+    void enterState(){
+        m_helper->setupBoard();
+    }
+private:
+    ThermalCalibrationHelper *m_helper;
+};
+
+
+
+#endif // THERMALCALIBRATIONTRANSITIONS_H

ground/openpilotgcs/src/plugins/config/config.pro

@@ -46,7 +46,10 @@ HEADERS += configplugin.h \
     calibration/calibrationutils.h \
     calibration/wizardstate.h \
     calibration/wizardmodel.h \
+    calibration/thermal/thermalcalibrationtransitions.h \
     calibration/thermal/thermalcalibration.h \
+    calibration/thermal/thermalcalibrationhelper.h \
+    calibration/thermal/settinghandlingtransitions.h
 
 SOURCES += configplugin.cpp \
     configgadgetwidget.cpp \
@@ -80,6 +83,7 @@ SOURCES += configplugin.cpp \
     calibration/wizardstate.cpp \
     calibration/wizardmodel.cpp \
     calibration/thermal/thermalcalibration.cpp \
+    calibration/thermal/thermalcalibrationhelper.cpp \
 
 FORMS += airframe.ui \
     airframe_ccpm.ui \