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Code Issues Releases Activity

OP-1586 Fixed OutputCalibrationUtil.

Browse Source 
Moved the setup and restore of ActuatorControl metadata to static
methods. This was needed in the case when multiple channels was
manipulated since the metadata would restore to a faulty state
otherwise.
This commit is contained in:
m_thread 2014-10-30 10:56:00 +01:00
parent 7b103e9886
commit 02f50b952f
4 changed files with 78 additions and 47 deletions
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110
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
View File

@ -31,13 +31,12 @@
#include "vehicleconfigurationhelper.h"
#include "manualcontrolsettings.h"
bool OutputCalibrationUtil::c_prepared = false;
ActuatorCommand::Metadata OutputCalibrationUtil::c_savedActuatorCommandMetaData;
OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
QObject(parent), m_outputChannel(-1), m_safeValue(1000)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
m_uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(m_uavObjectManager);
}
OutputCalibrationUtil::~OutputCalibrationUtil()
@ -45,22 +44,17 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
stopChannelOutput();
}
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
void OutputCalibrationUtil::startOutputCalibration()
{
if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
// Start output...
m_outputChannel = channel;
m_safeValue = safeValue;
if (!c_prepared) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
qDebug() << "Starting output for channel " << m_outputChannel + 1 << "...";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
Q_ASSERT(actuatorCommand);
UAVObject::Metadata metaData = actuatorCommand->getMetadata();
m_savedActuatorCommandMetadata = metaData;
// Store current data for later restore
m_savedActuatorCommandData = actuatorCommand->getData();
c_savedActuatorCommandMetaData = metaData;
// Enable actuator control from GCS...
// Store current metadata for later restore
@ -73,41 +67,77 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
// Apply changes
actuatorCommand->setMetadata(metaData);
actuatorCommand->updated();
c_prepared = true;
qDebug() << "OutputCalibrationUtil started.";
}
}
qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
void OutputCalibrationUtil::stopOutputCalibration()
{
if (c_prepared) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
// Restore metadata to what it was before
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
Q_ASSERT(actuatorCommand);
actuatorCommand->setMetadata(c_savedActuatorCommandMetaData);
actuatorCommand->updated();
c_prepared = false;
qDebug() << "OutputCalibrationUtil stopped.";
}
}
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
{
if (c_prepared) {
if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
// Start output...
m_outputChannel = channel;
m_safeValue = safeValue;
qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
}
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
void OutputCalibrationUtil::stopChannelOutput()
{
if (m_outputChannel >= 0) {
qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
// Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
if (c_prepared) {
if (m_outputChannel >= 0) {
qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
// Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
// Restore metadata to what it was before
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
// actuatorCommand->setData(m_savedActuatorCommandData);
actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
m_outputChannel = -1;
m_outputChannel = -1;
}
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
{
if (m_outputChannel >= 0) {
// Set output value
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data);
if (c_prepared) {
if (m_outputChannel >= 0) {
// Set output value
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data);
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
}

10
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
View File

@ -42,20 +42,18 @@ public:
explicit OutputCalibrationUtil(QObject *parent = 0);
~OutputCalibrationUtil();
signals:
static void startOutputCalibration();
static void stopOutputCalibration();
public slots:
void startChannelOutput(quint16 channel, quint16 safeValue);
void stopChannelOutput();
void setChannelOutputValue(quint16 value);
private:
static bool c_prepared;
static ActuatorCommand::Metadata c_savedActuatorCommandMetaData;
qint16 m_outputChannel;
quint16 m_safeValue;
UAVObject::Metadata m_savedActuatorCommandMetadata;
ActuatorCommand::DataFields m_savedActuatorCommandData;
UAVObjectManager *m_uavObjectManager;
};
#endif // OUTPUTCALIBRATIONUTIL_H

2
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -102,6 +102,7 @@ void EscCalibrationPage::startButtonClicked()
MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
Q_ASSERT(mSettings);
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
@ -145,6 +146,7 @@ void EscCalibrationPage::stopButtonClicked()
output->stopChannelOutput();
delete output;
}
OutputCalibrationUtil::stopOutputCalibration();
ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ui->outputHigh->setEnabled(false);
ui->outputLow->setEnabled(true);

3
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -274,7 +274,6 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
void OutputCalibrationPage::setWizardPage()
{
qDebug() << "Wizard index: " << m_currentWizardIndex;
m_calibrationUtil->stopChannelOutput();
QApplication::processEvents();
@ -386,6 +385,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
if (checkAlarms()) {
enableButtons(false);
enableServoSliders(true);
OutputCalibrationUtil::startOutputCalibration();
m_calibrationUtil->startChannelOutput(channel, safeValue);
slider->setValue(value);
m_calibrationUtil->setChannelOutputValue(value);
@ -394,6 +394,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
}
} else {
m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false);
enableButtons(true);
}