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OP-1150 UI for thermal calibration: Add state transitions for saving/restoring settings and board setup
This commit is contained in:
Alessio Morale
parent
1b13bae126
commit
026247fd5c
@ -0,0 +1,115 @@
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/**
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******************************************************************************
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*
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* @file settinghandlingtransitions.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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* @brief
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef SETTINGSHANDLINGTRANSITIONS_H
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#define SETTINGSHANDLINGTRANSITIONS_H
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#include <QSignalTransition>
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#include <QEventTransition>
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#include "thermalcalibrationhelper.h"
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class BoardStatusSaveTransition : public QSignalTransition
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{
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Q_OBJECT
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public:
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BoardStatusSaveTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
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: QSignalTransition(helper, SIGNAL(statusSaveCompleted(bool))),
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m_helper(helper)
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{
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QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
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setTargetState(targetState);
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}
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virtual bool eventTest(QEvent *e)
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{
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qDebug() << "BoardStatusSaveTransition::eventTest";
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if (!QSignalTransition::eventTest(e))
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return false;
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QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
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// check wether status stave was successful and retry if not
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qDebug() << "BoardStatusSavedTransition::eventTest - " << se->arguments().at(0).toBool();
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if(se->arguments().at(0).toBool()){
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return true;
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} else {
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m_helper->statusSave();
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}
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return false;
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}
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virtual void onTransition(QEvent *e)
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{
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QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
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qDebug() << "BoardStatusSaveTransition :" << se->arguments().at(0).toBool();
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}
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public slots:
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void enterState(){
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m_helper->statusSave();
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}
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private:
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ThermalCalibrationHelper *m_helper;
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};
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class BoardStatusRestoreTransition : public QSignalTransition
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{
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Q_OBJECT
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public:
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BoardStatusRestoreTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
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: QSignalTransition(helper, SIGNAL(statusRestoreCompleted(bool))),
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m_helper(helper)
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{
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QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
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setTargetState(targetState);
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}
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virtual bool eventTest(QEvent *e)
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{
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if (!QSignalTransition::eventTest(e))
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return false;
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QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e);
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// check wether status stave was successful and retry if not
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if(se->arguments().at(0).toBool()){
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return true;
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} else {
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qDebug() << "BoardStatusRestoreTransition::eventTest - statusRestore() ";
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m_helper->statusRestore();
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}
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return false;
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}
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public slots:
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void enterState(){
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m_helper->statusRestore();
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}
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private:
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ThermalCalibrationHelper *m_helper;
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};
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#endif // SETTINGSHANDLINGTRANSITIONS_H
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@ -0,0 +1,198 @@
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/**
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******************************************************************************
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*
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* @file thermalcalibrationhelper.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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*
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* @brief Utilities for thermal calibration
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "thermalcalibrationhelper.h"
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ThermalCalibrationHelper::ThermalCalibrationHelper(QObject *parent) :
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QObject(parent)
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{
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m_boardInitialSettings = thermalCalibrationBoardSettings();
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}
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/**
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* @brief Change board settings to prepare it for calibration
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* @return
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*/
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bool ThermalCalibrationHelper::setupBoardForCalibration(){
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qDebug() << "setupBoardForCalibration";
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UAVObjectManager *objManager = getObjectManager();
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Q_ASSERT(objManager);
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// accelSensor Meta
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AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
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Q_ASSERT(accelSensor);
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setMetadataForCalibration(accelSensor);
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// gyroSensor Meta
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GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
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Q_ASSERT(gyroSensor);
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setMetadataForCalibration(gyroSensor);
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// baroSensor Meta
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BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
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Q_ASSERT(baroSensor);
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setMetadataForCalibration(baroSensor);
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// clean any correction before calibrating
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RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
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Q_ASSERT(revoSettings);
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RevoSettings::DataFields revoSettingsData = revoSettings->getData();
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for (int i = 0; i < RevoSettings::BAROTEMPCORRECTIONPOLYNOMIAL_NUMELEM; i++){
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revoSettingsData.BaroTempCorrectionPolynomial[i] = 0.0f;
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}
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revoSettings->setData(revoSettingsData);
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return true;
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}
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/**
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* @brief Save board status to be later restored using restoreBoardStatus
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* @return
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*/
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bool ThermalCalibrationHelper::saveBoardInitialSettings(){
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// Store current board status:
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qDebug() << "Save initial settings";
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UAVObjectManager *objManager = getObjectManager();
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Q_ASSERT(objManager);
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// accelSensor Meta
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AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
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Q_ASSERT(accelSensor);
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m_boardInitialSettings.accelSensorMeta = accelSensor->getMetadata();
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// gyroSensor Meta
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GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
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Q_ASSERT(gyroSensor);
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m_boardInitialSettings.gyroSensorMeta = gyroSensor->getMetadata();
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// baroSensor Meta
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BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
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Q_ASSERT(baroSensor);
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m_boardInitialSettings.baroensorMeta = baroSensor->getMetadata();
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// revoSettings data
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RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
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Q_ASSERT(revoSettings);
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m_boardInitialSettings.revoSettings = revoSettings->getData();
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// accelGyroSettings data
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/*
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* Note: for revolution it is not neede but in case of CC we would prevent having
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* a new set of xxxSensor UAVOs beside actual xxxState so it may be needed to reset the following
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AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
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Q_ASSERT(accelGyroSettings);
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m_boardInitialSettings.accelGyroSettings = accelGyroSettings->getData();
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*/
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m_boardInitialSettings.statusSaved = true;
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return true;
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}
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void ThermalCalibrationHelper::setupBoard(){
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if(setupBoardForCalibration()){
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emit setupBoardCompleted(true);
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} else {
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emit setupBoardCompleted(false);
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}
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}
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void ThermalCalibrationHelper::statusRestore(){
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if(isBoardInitialSettingsSaved() && restoreInitialSettings()){
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clearBoardInitialSettingsSaved();
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emit statusRestoreCompleted(true);
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} else {
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emit statusRestoreCompleted(false);
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}
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}
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void ThermalCalibrationHelper::statusSave(){
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//prevent saving multiple times
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if(!isBoardInitialSettingsSaved() && saveBoardInitialSettings()){
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emit statusSaveCompleted(true);
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} else {
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emit statusSaveCompleted(false);
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}
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}
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/**
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* @brief restore board settings from status saved calling saveBoardStatus
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* @return true if success
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*/
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bool ThermalCalibrationHelper::restoreInitialSettings(){
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if(!m_boardInitialSettings.statusSaved) {
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return false;
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}
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// restore initial board status
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UAVObjectManager *objManager = getObjectManager();
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Q_ASSERT(objManager);
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// accelSensor Meta
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AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
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Q_ASSERT(accelSensor);
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accelSensor->setMetadata(m_boardInitialSettings.accelSensorMeta);
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// gyroSensor Meta
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GyroSensor *gyroSensor = GyroSensor::GetInstance(objManager);
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Q_ASSERT(gyroSensor);
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gyroSensor->setMetadata(m_boardInitialSettings.gyroSensorMeta);
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// baroSensor Meta
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BaroSensor *baroSensor = BaroSensor::GetInstance(objManager);
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Q_ASSERT(baroSensor);
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baroSensor->setMetadata(m_boardInitialSettings.baroensorMeta);
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// revoSettings data
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RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
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Q_ASSERT(revoSettings);
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revoSettings->setData(m_boardInitialSettings.revoSettings);
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m_boardInitialSettings.statusSaved = false;
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return true;
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}
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void ThermalCalibrationHelper::setMetadataForCalibration(UAVDataObject *uavo)
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{
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Q_ASSERT(uavo);
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UAVObject::Metadata meta = uavo->getMetadata();
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UAVObject::SetFlightTelemetryUpdateMode(meta, UAVObject::UPDATEMODE_PERIODIC);
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meta.flightTelemetryUpdatePeriod = 100;
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uavo->setMetadata(meta);
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}
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/**
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* Util function to get a pointer to the object manager
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* @return pointer to the UAVObjectManager
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*/
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UAVObjectManager *ThermalCalibrationHelper::getObjectManager(){
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
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Q_ASSERT(objMngr);
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return objMngr;
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}
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@ -0,0 +1,102 @@
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/**
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******************************************************************************
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*
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* @file thermalcalibrationhelper.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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* @brief Thermal calibration helper functions
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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*****************************************************************************/
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/*
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* 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.
|
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|
*
|
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|
* This program is distributed in the hope that it will be useful, but
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|
* 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
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*/
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#ifndef THERMALCALIBRATIONHELPER_H
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#define THERMALCALIBRATIONHELPER_H
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#include <QObject>
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#include <QtCore>
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#include "uavobjectmanager.h"
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#include <uavobject.h>
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#include <uavobjectmanager.h>
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#include "extensionsystem/pluginmanager.h"
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// UAVOs
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#include <accelsensor.h>
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#include <gyrosensor.h>
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#include <barosensor.h>
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#include "accelgyrosettings.h"
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// Calibration data
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#include <accelgyrosettings.h>
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#include <revocalibration.h>
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#include <revosettings.h>
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typedef struct {
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// this is not needed for revo, but should for CC/CC3D
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// AccelGyroSettings::DataFields accelGyroSettings;
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RevoSettings::DataFields revoSettings;
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UAVObject::Metadata gyroSensorMeta;
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UAVObject::Metadata accelSensorMeta;
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UAVObject::Metadata baroensorMeta;
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bool statusSaved = false;
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} thermalCalibrationBoardSettings;
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class ThermalCalibrationHelper : public QObject
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{
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Q_OBJECT
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public:
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explicit ThermalCalibrationHelper(QObject *parent = 0);
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/* board settings save/restore */
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bool saveBoardInitialSettings();
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bool restoreInitialSettings();
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bool isBoardInitialSettingsSaved(){
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return m_boardInitialSettings.statusSaved;
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}
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private:
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void setMetadataForCalibration(UAVDataObject *uavo);
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void clearBoardInitialSettingsSaved(){
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m_boardInitialSettings.statusSaved = false;
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}
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signals:
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||||||
|
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
|
||||||
@ -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
|
||||||
@ -46,7 +46,10 @@ HEADERS += configplugin.h \
|
|||||||
calibration/calibrationutils.h \
|
calibration/calibrationutils.h \
|
||||||
calibration/wizardstate.h \
|
calibration/wizardstate.h \
|
||||||
calibration/wizardmodel.h \
|
calibration/wizardmodel.h \
|
||||||
|
calibration/thermal/thermalcalibrationtransitions.h \
|
||||||
calibration/thermal/thermalcalibration.h \
|
calibration/thermal/thermalcalibration.h \
|
||||||
|
calibration/thermal/thermalcalibrationhelper.h \
|
||||||
|
calibration/thermal/settinghandlingtransitions.h
|
||||||
|
|
||||||
SOURCES += configplugin.cpp \
|
SOURCES += configplugin.cpp \
|
||||||
configgadgetwidget.cpp \
|
configgadgetwidget.cpp \
|
||||||
@ -80,6 +83,7 @@ SOURCES += configplugin.cpp \
|
|||||||
calibration/wizardstate.cpp \
|
calibration/wizardstate.cpp \
|
||||||
calibration/wizardmodel.cpp \
|
calibration/wizardmodel.cpp \
|
||||||
calibration/thermal/thermalcalibration.cpp \
|
calibration/thermal/thermalcalibration.cpp \
|
||||||
|
calibration/thermal/thermalcalibrationhelper.cpp \
|
||||||
|
|
||||||
FORMS += airframe.ui \
|
FORMS += airframe.ui \
|
||||||
airframe_ccpm.ui \
|
airframe_ccpm.ui \
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user