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Code Issues Releases Activity

OP-1150 UI for thermal calibration: Uncrustify

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This commit is contained in:
Alessio Morale 2014-01-13 02:35:41 +01:00
parent 70e13b461f
commit 0a43971dc1
15 changed files with 278 additions and 253 deletions
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196
ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp
View File

@ -28,12 +28,13 @@
#include "calibrationutils.h" #include "calibrationutils.h"
using namespace Eigen; using namespace Eigen;
namespace OpenPilot{ namespace OpenPilot {
/* /*
* The following ellipsoid calibration code is based on RazorImu calibration samples that can be found here: * The following ellipsoid calibration code is based on RazorImu calibration samples that can be found here:
* https://github.com/ptrbrtz/razor-9dof-ahrs/tree/master/Matlab/magnetometer_calibration * https://github.com/ptrbrtz/razor-9dof-ahrs/tree/master/Matlab/magnetometer_calibration
*/ */
bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, float nominalRange, EllipsoidCalibrationResult *result){ bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, float nominalRange, EllipsoidCalibrationResult *result)
{
Eigen::VectorXf radii; Eigen::VectorXf radii;
Eigen::Vector3f center; Eigen::Vector3f center;
Eigen::MatrixXf evecs; Eigen::MatrixXf evecs;
@ -43,13 +44,13 @@ bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf samplesX, Eigen::Vec
result->Scale.setZero(); result->Scale.setZero();
result->Scale << nominalRange / radii.coeff(0), result->Scale << nominalRange / radii.coeff(0),
nominalRange / radii.coeff(1), nominalRange / radii.coeff(1),
nominalRange / radii.coeff(2); nominalRange / radii.coeff(2);
Eigen::Matrix3f tmp; Eigen::Matrix3f tmp;
tmp << result->Scale.coeff(0), 0, 0, tmp << result->Scale.coeff(0), 0, 0,
0, result->Scale.coeff(1), 0, 0, result->Scale.coeff(1), 0,
0, 0, result->Scale.coeff(2); 0, 0, result->Scale.coeff(2);
result->CalibrationMatrix = evecs * tmp * evecs.transpose(); result->CalibrationMatrix = evecs * tmp * evecs.transpose();
result->Bias.setZero(); result->Bias.setZero();
@ -57,8 +58,8 @@ bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf samplesX, Eigen::Vec
return true; return true;
} }
bool CalibrationUtils::PolynomialCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, int degree, Eigen::Ref<Eigen::VectorXf> result){ bool CalibrationUtils::PolynomialCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, int degree, Eigen::Ref<Eigen::VectorXf> result)
{
int samples = samplesX.rows(); int samples = samplesX.rows();
// perform internal calculation using doubles // perform internal calculation using doubles
VectorXd doubleX = samplesX.cast<double>(); VectorXd doubleX = samplesX.cast<double>();
@ -67,13 +68,13 @@ bool CalibrationUtils::PolynomialCalibration(Eigen::VectorXf samplesX, Eigen::Ve
x.setOnes(samples, degree + 1); x.setOnes(samples, degree + 1);
for(int i = 1; i < degree + 1; i++){ for (int i = 1; i < degree + 1; i++) {
Eigen::MatrixXd tmp = Eigen::MatrixXd(x.col(i-1)); Eigen::MatrixXd tmp = Eigen::MatrixXd(x.col(i - 1));
Eigen::MatrixXd tmp2 = tmp.cwiseProduct(doubleX); Eigen::MatrixXd tmp2 = tmp.cwiseProduct(doubleX);
x.col(i) = tmp2; x.col(i) = tmp2;
} }
Eigen::MatrixXd xt = x.transpose(); Eigen::MatrixXd xt = x.transpose();
Eigen::MatrixXd xtx = xt * x; Eigen::MatrixXd xtx = xt * x;
@ -86,91 +87,91 @@ bool CalibrationUtils::PolynomialCalibration(Eigen::VectorXf samplesX, Eigen::Ve
/* C++ Implementation of Yury Petrov's ellipsoid fit algorithm /* C++ Implementation of Yury Petrov's ellipsoid fit algorithm
* Following is the origial code and its license from which this implementation is derived * Following is the origial code and its license from which this implementation is derived
* *
Copyright (c) 2009, Yury Petrov Copyright (c) 2009, Yury Petrov
All rights reserved. All rights reserved.
Redistribution and use in source and binary forms, with or without Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are modification, are permitted provided that the following conditions are
met: met:
* Redistributions of source code must retain the above copyright * Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer. notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright * Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the distribution the documentation and/or other materials provided with the distribution
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. POSSIBILITY OF SUCH DAMAGE.
function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals ) function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals )
% %
% Fit an ellispoid/sphere to a set of xyz data points: % Fit an ellispoid/sphere to a set of xyz data points:
% %
% [center, radii, evecs, pars ] = ellipsoid_fit( X ) % [center, radii, evecs, pars ] = ellipsoid_fit( X )
% [center, radii, evecs, pars ] = ellipsoid_fit( [x y z] ); % [center, radii, evecs, pars ] = ellipsoid_fit( [x y z] );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 1 ); % [center, radii, evecs, pars ] = ellipsoid_fit( X, 1 );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 2, 'xz' ); % [center, radii, evecs, pars ] = ellipsoid_fit( X, 2, 'xz' );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 3 ); % [center, radii, evecs, pars ] = ellipsoid_fit( X, 3 );
% %
% Parameters: % Parameters:
% * X, [x y z] - Cartesian data, n x 3 matrix or three n x 1 vectors % * X, [x y z] - Cartesian data, n x 3 matrix or three n x 1 vectors
% * flag - 0 fits an arbitrary ellipsoid (default), % * flag - 0 fits an arbitrary ellipsoid (default),
% - 1 fits an ellipsoid with its axes along [x y z] axes % - 1 fits an ellipsoid with its axes along [x y z] axes
% - 2 followed by, say, 'xy' fits as 1 but also x_rad = y_rad % - 2 followed by, say, 'xy' fits as 1 but also x_rad = y_rad
% - 3 fits a sphere % - 3 fits a sphere
% %
% Output: % Output:
% * center - ellispoid center coordinates [xc; yc; zc] % * center - ellispoid center coordinates [xc; yc; zc]
% * ax - ellipsoid radii [a; b; c] % * ax - ellipsoid radii [a; b; c]
% * evecs - ellipsoid radii directions as columns of the 3x3 matrix % * evecs - ellipsoid radii directions as columns of the 3x3 matrix
% * v - the 9 parameters describing the ellipsoid algebraically: % * v - the 9 parameters describing the ellipsoid algebraically:
% Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1 % Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
% %
% Author: % Author:
% Yury Petrov, Northeastern University, Boston, MA % Yury Petrov, Northeastern University, Boston, MA
% %
error( nargchk( 1, 3, nargin ) ); % check input arguments error( nargchk( 1, 3, nargin ) ); % check input arguments
if nargin == 1 if nargin == 1
flag = 0; % default to a free ellipsoid flag = 0; % default to a free ellipsoid
end end
if flag == 2 && nargin == 2 if flag == 2 && nargin == 2
equals = 'xy'; equals = 'xy';
end end
if size( X, 2 ) ~= 3 if size( X, 2 ) ~= 3
error( 'Input data must have three columns!' ); error( 'Input data must have three columns!' );
else else
x = X( :, 1 ); x = X( :, 1 );
y = X( :, 2 ); y = X( :, 2 );
z = X( :, 3 ); z = X( :, 3 );
end end
% need nine or more data points % need nine or more data points
if length( x ) < 9 && flag == 0 if length( x ) < 9 && flag == 0
error( 'Must have at least 9 points to fit a unique ellipsoid' ); error( 'Must have at least 9 points to fit a unique ellipsoid' );
end end
if length( x ) < 6 && flag == 1 if length( x ) < 6 && flag == 1
error( 'Must have at least 6 points to fit a unique oriented ellipsoid' ); error( 'Must have at least 6 points to fit a unique oriented ellipsoid' );
end end
if length( x ) < 5 && flag == 2 if length( x ) < 5 && flag == 2
error( 'Must have at least 5 points to fit a unique oriented ellipsoid with two axes equal' ); error( 'Must have at least 5 points to fit a unique oriented ellipsoid with two axes equal' );
end end
if length( x ) < 3 && flag == 3 if length( x ) < 3 && flag == 3
error( 'Must have at least 4 points to fit a unique sphere' ); error( 'Must have at least 4 points to fit a unique sphere' );
end end
if flag == 0 if flag == 0
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1 % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x, ... D = [ x .* x, ...
y .* y, ... y .* y, ...
@ -181,7 +182,7 @@ if flag == 0
2 * x, ... 2 * x, ...
2 * y, ... 2 * y, ...
2 * z ]; % ndatapoints x 9 ellipsoid parameters 2 * z ]; % ndatapoints x 9 ellipsoid parameters
elseif flag == 1 elseif flag == 1
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1 % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x, ... D = [ x .* x, ...
y .* y, ... y .* y, ...
@ -189,7 +190,7 @@ elseif flag == 1
2 * x, ... 2 * x, ...
2 * y, ... 2 * y, ...
2 * z ]; % ndatapoints x 6 ellipsoid parameters 2 * z ]; % ndatapoints x 6 ellipsoid parameters
elseif flag == 2 elseif flag == 2
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1, % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1,
% where A = B or B = C or A = C % where A = B or B = C or A = C
if strcmp( equals, 'yz' ) || strcmp( equals, 'zy' ) if strcmp( equals, 'yz' ) || strcmp( equals, 'zy' )
@ -211,19 +212,19 @@ elseif flag == 2
2 * y, ... 2 * y, ...
2 * z ]; 2 * z ];
end end
else else
% fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1 % fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x + y .* y + z .* z, ... D = [ x .* x + y .* y + z .* z, ...
2 * x, ... 2 * x, ...
2 * y, ... 2 * y, ...
2 * z ]; % ndatapoints x 4 sphere parameters 2 * z ]; % ndatapoints x 4 sphere parameters
end end
% solve the normal system of equations % solve the normal system of equations
v = ( D' * D ) \ ( D' * ones( size( x, 1 ), 1 ) ); v = ( D' * D ) \ ( D' * ones( size( x, 1 ), 1 ) );
% find the ellipsoid parameters % find the ellipsoid parameters
if flag == 0 if flag == 0
% form the algebraic form of the ellipsoid % form the algebraic form of the ellipsoid
A = [ v(1) v(4) v(5) v(7); ... A = [ v(1) v(4) v(5) v(7); ...
v(4) v(2) v(6) v(8); ... v(4) v(2) v(6) v(8); ...
@ -239,7 +240,7 @@ if flag == 0
% solve the eigenproblem % solve the eigenproblem
[ evecs evals ] = eig( R( 1:3, 1:3 ) / -R( 4, 4 ) ); [ evecs evals ] = eig( R( 1:3, 1:3 ) / -R( 4, 4 ) );
radii = sqrt( 1 ./ diag( evals ) ); radii = sqrt( 1 ./ diag( evals ) );
else else
if flag == 1 if flag == 1
v = [ v(1) v(2) v(3) 0 0 0 v(4) v(5) v(6) ]; v = [ v(1) v(2) v(3) 0 0 0 v(4) v(5) v(6) ];
elseif flag == 2 elseif flag == 2
@ -257,18 +258,19 @@ else
gam = 1 + ( v(7)^2 / v(1) + v(8)^2 / v(2) + v(9)^2 / v(3) ); gam = 1 + ( v(7)^2 / v(1) + v(8)^2 / v(2) + v(9)^2 / v(3) );
radii = ( sqrt( gam ./ v( 1:3 ) ) )'; radii = ( sqrt( gam ./ v( 1:3 ) ) )';
evecs = eye( 3 ); evecs = eye( 3 );
end end
*/ */
void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ,
Eigen::Vector3f *center, Eigen::Vector3f *center,
Eigen::VectorXf *radii, Eigen::VectorXf *radii,
Eigen::MatrixXf *evecs) Eigen::MatrixXf *evecs)
{ {
int numSamples = (*samplesX).rows(); int numSamples = (*samplesX).rows();
Eigen::MatrixXf D(numSamples,9); Eigen::MatrixXf D(numSamples, 9);
D.setZero(); D.setZero();
D.col(0) = (*samplesX).cwiseProduct(*samplesX); D.col(0) = (*samplesX).cwiseProduct(*samplesX);
D.col(1) = (*samplesY).cwiseProduct(*samplesY); D.col(1) = (*samplesY).cwiseProduct(*samplesY);
@ -285,7 +287,7 @@ void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *
Eigen::MatrixXf dt1 = (D.transpose() * D); Eigen::MatrixXf dt1 = (D.transpose() * D);
Eigen::MatrixXf dt2 = (D.transpose() * ones); Eigen::MatrixXf dt2 = (D.transpose() * ones);
Eigen::VectorXf v = dt1.inverse() * dt2; Eigen::VectorXf v = dt1.inverse() * dt2;
Eigen::Matrix4f A; Eigen::Matrix4f A;
A << v.coeff(0), v.coeff(3), v.coeff(4), v.coeff(6), A << v.coeff(0), v.coeff(3), v.coeff(4), v.coeff(6),
@ -293,19 +295,19 @@ void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *
v.coeff(4), v.coeff(5), v.coeff(2), v.coeff(8), v.coeff(4), v.coeff(5), v.coeff(2), v.coeff(8),
v.coeff(6), v.coeff(7), v.coeff(8), -1; v.coeff(6), v.coeff(7), v.coeff(8), -1;
(*center) = -1 * A.block(0,0,3,3).inverse() * v.segment(6,3); (*center) = -1 * A.block(0, 0, 3, 3).inverse() * v.segment(6, 3);
Eigen::Matrix4f t = Eigen::Matrix4f::Identity(); Eigen::Matrix4f t = Eigen::Matrix4f::Identity();
t.block(3,0,1,3) = center->transpose(); t.block(3, 0, 1, 3) = center->transpose();
Eigen::Matrix4f r = t * A * t.transpose(); Eigen::Matrix4f r = t * A * t.transpose();
Eigen::Matrix3f tmp2 = r.block(0,0,3,3) * -1 / r.coeff(3,3); Eigen::Matrix3f tmp2 = r.block(0, 0, 3, 3) * -1 / r.coeff(3, 3);
Eigen::EigenSolver<Eigen::Matrix3f> es(tmp2); Eigen::EigenSolver<Eigen::Matrix3f> es(tmp2);
Eigen::VectorXf evals = es.eigenvalues().real(); Eigen::VectorXf evals = es.eigenvalues().real();
(*evecs) = es.eigenvectors().real(); (*evecs) = es.eigenvectors().real();
radii->setZero(3); radii->setZero(3);
(*radii) = (evals.segment(0,3)).cwiseInverse().cwiseSqrt(); (*radii) = (evals.segment(0, 3)).cwiseInverse().cwiseSqrt();
} }
} }

16
ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h
View File

@ -34,12 +34,10 @@
#include <Eigen/LU> #include <Eigen/LU>
#include <iostream> #include <iostream>
namespace OpenPilot{ namespace OpenPilot {
class CalibrationUtils {
class CalibrationUtils
{
public: public:
struct EllipsoidCalibrationResult{ struct EllipsoidCalibrationResult {
Eigen::Matrix3f CalibrationMatrix; Eigen::Matrix3f CalibrationMatrix;
Eigen::Vector3f Scale; Eigen::Vector3f Scale;
Eigen::Vector3f Bias; Eigen::Vector3f Bias;
@ -50,11 +48,9 @@ public:
private: private:
static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ,
Eigen::Vector3f *center, Eigen::Vector3f *center,
Eigen::VectorXf *radii, Eigen::VectorXf *radii,
Eigen::MatrixXf *evecs); Eigen::MatrixXf *evecs);
}; };
} }
#endif // CALIBRATIONUTILS_H #endif // CALIBRATIONUTILS_H

35
ground/openpilotgcs/src/plugins/config/calibration/thermal/settinghandlingtransitions.h
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@ -33,28 +33,29 @@
#include "thermalcalibrationhelper.h" #include "thermalcalibrationhelper.h"
class BoardStatusSaveTransition : public QSignalTransition class BoardStatusSaveTransition : public QSignalTransition {
{
Q_OBJECT Q_OBJECT
public: public:
BoardStatusSaveTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState) BoardStatusSaveTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
: QSignalTransition(helper, SIGNAL(statusSaveCompleted(bool))), : QSignalTransition(helper, SIGNAL(statusSaveCompleted(bool))),
m_helper(helper) m_helper(helper)
{ {
QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState())); QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
setTargetState(targetState); setTargetState(targetState);
} }
virtual bool eventTest(QEvent *e) virtual bool eventTest(QEvent *e)
{ {
qDebug() << "BoardStatusSaveTransition::eventTest"; qDebug() << "BoardStatusSaveTransition::eventTest";
if (!QSignalTransition::eventTest(e)) if (!QSignalTransition::eventTest(e)) {
return false; return false;
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e); }
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
// check wether status stave was successful and retry if not // check wether status stave was successful and retry if not
qDebug() << "BoardStatusSavedTransition::eventTest - " << se->arguments().at(0).toBool(); qDebug() << "BoardStatusSavedTransition::eventTest - " << se->arguments().at(0).toBool();
if(se->arguments().at(0).toBool()){ if (se->arguments().at(0).toBool()) {
return true; return true;
} else { } else {
m_helper->statusSave(); m_helper->statusSave();
@ -64,11 +65,13 @@ public:
virtual void onTransition(QEvent *e) virtual void onTransition(QEvent *e)
{ {
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e); QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
qDebug() << "BoardStatusSaveTransition :" << se->arguments().at(0).toBool(); qDebug() << "BoardStatusSaveTransition :" << se->arguments().at(0).toBool();
} }
public slots: public slots:
void enterState(){ void enterState()
{
m_helper->statusSave(); m_helper->statusSave();
} }
private: private:
@ -76,26 +79,27 @@ private:
}; };
class BoardStatusRestoreTransition : public QSignalTransition class BoardStatusRestoreTransition : public QSignalTransition {
{
Q_OBJECT Q_OBJECT
public: public:
BoardStatusRestoreTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState) BoardStatusRestoreTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
: QSignalTransition(helper, SIGNAL(statusRestoreCompleted(bool))), : QSignalTransition(helper, SIGNAL(statusRestoreCompleted(bool))),
m_helper(helper) m_helper(helper)
{ {
QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState())); QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
setTargetState(targetState); setTargetState(targetState);
} }
virtual bool eventTest(QEvent *e) virtual bool eventTest(QEvent *e)
{ {
if (!QSignalTransition::eventTest(e)) if (!QSignalTransition::eventTest(e)) {
return false; return false;
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e); }
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
// check wether status stave was successful and retry if not // check wether status stave was successful and retry if not
if(se->arguments().at(0).toBool()){ if (se->arguments().at(0).toBool()) {
return true; return true;
} else { } else {
qDebug() << "BoardStatusRestoreTransition::eventTest - statusRestore() "; qDebug() << "BoardStatusRestoreTransition::eventTest - statusRestore() ";
@ -104,7 +108,8 @@ public:
return false; return false;
} }
public slots: public slots:
void enterState(){ void enterState()
{
m_helper->statusRestore(); m_helper->statusRestore();
} }
private: private:

31
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibration.cpp
View File

@ -32,14 +32,15 @@ bool ThermalCalibration::BarometerCalibration(Eigen::VectorXf pressure, Eigen::V
{ {
// assume the nearest reading to 20°C as the "zero bias" point // assume the nearest reading to 20°C as the "zero bias" point
int index20deg = searchReferenceValue(20.0f, temperature); int index20deg = searchReferenceValue(20.0f, temperature);
qDebug() << "Ref zero is " << index20deg << " T: " << temperature[index20deg] << " P:" << pressure[index20deg]; qDebug() << "Ref zero is " << index20deg << " T: " << temperature[index20deg] << " P:" << pressure[index20deg];
float refZero = pressure[index20deg]; float refZero = pressure[index20deg];
pressure.array() -= refZero; pressure.array() -= refZero;
qDebug() << "Rebased zero is " << pressure[index20deg]; qDebug() << "Rebased zero is " << pressure[index20deg];
Eigen::VectorXf solution(BARO_PRESSURE_POLY_DEGREE + 1); Eigen::VectorXf solution(BARO_PRESSURE_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, pressure, BARO_PRESSURE_POLY_DEGREE, solution)){ if (!CalibrationUtils::PolynomialCalibration(temperature, pressure, BARO_PRESSURE_POLY_DEGREE, solution)) {
return false; return false;
} }
@ -50,19 +51,20 @@ bool ThermalCalibration::BarometerCalibration(Eigen::VectorXf pressure, Eigen::V
bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result) bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result)
{ {
Eigen::VectorXf solution(ACCEL_X_POLY_DEGREE + 1); Eigen::VectorXf solution(ACCEL_X_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesX, ACCEL_X_POLY_DEGREE, solution)){
if (!CalibrationUtils::PolynomialCalibration(temperature, samplesX, ACCEL_X_POLY_DEGREE, solution)) {
return false; return false;
} }
result[0] = solution[1]; result[0] = solution[1];
solution.resize(ACCEL_Y_POLY_DEGREE + 1); solution.resize(ACCEL_Y_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesY, ACCEL_Y_POLY_DEGREE, solution)){ if (!CalibrationUtils::PolynomialCalibration(temperature, samplesY, ACCEL_Y_POLY_DEGREE, solution)) {
return false; return false;
} }
result[1] = solution[1]; result[1] = solution[1];
solution.resize(ACCEL_Z_POLY_DEGREE + 1); solution.resize(ACCEL_Z_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesZ, ACCEL_Z_POLY_DEGREE, solution)){ if (!CalibrationUtils::PolynomialCalibration(temperature, samplesZ, ACCEL_Z_POLY_DEGREE, solution)) {
return false; return false;
} }
result[2] = solution[1]; result[2] = solution[1];
@ -73,21 +75,22 @@ bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eige
bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result) bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result)
{ {
Eigen::VectorXf solution(GYRO_X_POLY_DEGREE + 1); Eigen::VectorXf solution(GYRO_X_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesX, GYRO_X_POLY_DEGREE, solution)){
if (!CalibrationUtils::PolynomialCalibration(temperature, samplesX, GYRO_X_POLY_DEGREE, solution)) {
return false; return false;
} }
result[0] = solution[1]; result[0] = solution[1];
std::cout << solution << std::endl << std::endl; std::cout << solution << std::endl << std::endl;
solution.resize(GYRO_Y_POLY_DEGREE + 1); solution.resize(GYRO_Y_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesY, GYRO_Y_POLY_DEGREE, solution)){ if (!CalibrationUtils::PolynomialCalibration(temperature, samplesY, GYRO_Y_POLY_DEGREE, solution)) {
return false; return false;
} }
result[1] = solution[1]; result[1] = solution[1];
std::cout << solution << std::endl << std::endl; std::cout << solution << std::endl << std::endl;
solution.resize(GYRO_Z_POLY_DEGREE + 1); solution.resize(GYRO_Z_POLY_DEGREE + 1);
if(!CalibrationUtils::PolynomialCalibration(temperature, samplesZ, GYRO_Z_POLY_DEGREE, solution)){ if (!CalibrationUtils::PolynomialCalibration(temperature, samplesZ, GYRO_Z_POLY_DEGREE, solution)) {
return false; return false;
} }
result[2] = solution[1]; result[2] = solution[1];
@ -99,14 +102,15 @@ bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::V
void ThermalCalibration::copyToArray(float *result, Eigen::VectorXf solution, int elements) void ThermalCalibration::copyToArray(float *result, Eigen::VectorXf solution, int elements)
{ {
for(int i = 0; i < elements; i++){ for (int i = 0; i < elements; i++) {
result[i] = solution[i]; result[i] = solution[i];
} }
} }
int ThermalCalibration::searchReferenceValue(float value, Eigen::VectorXf values){ int ThermalCalibration::searchReferenceValue(float value, Eigen::VectorXf values)
for(int i = 0; i < values.size(); i++){ {
if(!(values[i] < value)){ for (int i = 0; i < values.size(); i++) {
if (!(values[i] < value)) {
return i; return i;
} }
} }
@ -114,5 +118,4 @@ int ThermalCalibration::searchReferenceValue(float value, Eigen::VectorXf values
} }
ThermalCalibration::ThermalCalibration() ThermalCalibration::ThermalCalibration()
{ {}
}

8
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibration.h
View File

@ -31,10 +31,9 @@
namespace OpenPilot { namespace OpenPilot {
class ThermalCalibration { class ThermalCalibration {
static const int GYRO_X_POLY_DEGREE = 1;
static const int GYRO_X_POLY_DEGREE = 1; static const int GYRO_Y_POLY_DEGREE = 1;
static const int GYRO_Y_POLY_DEGREE = 1; static const int GYRO_Z_POLY_DEGREE = 2;
static const int GYRO_Z_POLY_DEGREE = 2;
static const int ACCEL_X_POLY_DEGREE = 1; static const int ACCEL_X_POLY_DEGREE = 1;
static const int ACCEL_Y_POLY_DEGREE = 1; static const int ACCEL_Y_POLY_DEGREE = 1;
@ -72,7 +71,6 @@ public:
static bool GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result); static bool GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result);
private: private:
static void copyToArray(float *result, Eigen::VectorXf solution, int elements); static void copyToArray(float *result, Eigen::VectorXf solution, int elements);
ThermalCalibration(); ThermalCalibration();

44
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
View File

@ -38,7 +38,8 @@ ThermalCalibrationHelper::ThermalCalibrationHelper(QObject *parent) :
* @return * @return
*/ */
bool ThermalCalibrationHelper::setupBoardForCalibration(){ bool ThermalCalibrationHelper::setupBoardForCalibration()
{
qDebug() << "setupBoardForCalibration"; qDebug() << "setupBoardForCalibration";
UAVObjectManager *objManager = getObjectManager(); UAVObjectManager *objManager = getObjectManager();
@ -63,7 +64,7 @@ bool ThermalCalibrationHelper::setupBoardForCalibration(){
RevoSettings *revoSettings = RevoSettings::GetInstance(objManager); RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
Q_ASSERT(revoSettings); Q_ASSERT(revoSettings);
RevoSettings::DataFields revoSettingsData = revoSettings->getData(); RevoSettings::DataFields revoSettingsData = revoSettings->getData();
for (int i = 0; i < RevoSettings::BAROTEMPCORRECTIONPOLYNOMIAL_NUMELEM; i++){ for (int i = 0; i < RevoSettings::BAROTEMPCORRECTIONPOLYNOMIAL_NUMELEM; i++) {
revoSettingsData.BaroTempCorrectionPolynomial[i] = 0.0f; revoSettingsData.BaroTempCorrectionPolynomial[i] = 0.0f;
} }
revoSettings->setData(revoSettingsData); revoSettings->setData(revoSettingsData);
@ -72,19 +73,19 @@ bool ThermalCalibrationHelper::setupBoardForCalibration(){
} }
/** /**
* @brief Save board status to be later restored using restoreBoardStatus * @brief Save board status to be later restored using restoreBoardStatus
* @return * @return
*/ */
bool ThermalCalibrationHelper::saveBoardInitialSettings(){ bool ThermalCalibrationHelper::saveBoardInitialSettings()
{
// Store current board status: // Store current board status:
qDebug() << "Save initial settings"; qDebug() << "Save initial settings";
UAVObjectManager *objManager = getObjectManager(); UAVObjectManager *objManager = getObjectManager();
Q_ASSERT(objManager); Q_ASSERT(objManager);
// accelSensor Meta // accelSensor Meta
AccelSensor *accelSensor = AccelSensor::GetInstance(objManager); AccelSensor *accelSensor = AccelSensor::GetInstance(objManager);
Q_ASSERT(accelSensor); Q_ASSERT(accelSensor);
m_boardInitialSettings.accelSensorMeta = accelSensor->getMetadata(); m_boardInitialSettings.accelSensorMeta = accelSensor->getMetadata();
// gyroSensor Meta // gyroSensor Meta
@ -106,24 +107,26 @@ bool ThermalCalibrationHelper::saveBoardInitialSettings(){
/* /*
* Note: for revolution it is not neede but in case of CC we would prevent having * 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 * a new set of xxxSensor UAVOs beside actual xxxState so it may be needed to reset the following
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager); AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings); Q_ASSERT(accelGyroSettings);
m_boardInitialSettings.accelGyroSettings = accelGyroSettings->getData(); m_boardInitialSettings.accelGyroSettings = accelGyroSettings->getData();
*/ */
m_boardInitialSettings.statusSaved = true; m_boardInitialSettings.statusSaved = true;
return true; return true;
} }
void ThermalCalibrationHelper::setupBoard(){ void ThermalCalibrationHelper::setupBoard()
if(setupBoardForCalibration()){ {
if (setupBoardForCalibration()) {
emit setupBoardCompleted(true); emit setupBoardCompleted(true);
} else { } else {
emit setupBoardCompleted(false); emit setupBoardCompleted(false);
} }
} }
void ThermalCalibrationHelper::statusRestore(){ void ThermalCalibrationHelper::statusRestore()
if(isBoardInitialSettingsSaved() && restoreInitialSettings()){ {
if (isBoardInitialSettingsSaved() && restoreInitialSettings()) {
clearBoardInitialSettingsSaved(); clearBoardInitialSettingsSaved();
emit statusRestoreCompleted(true); emit statusRestoreCompleted(true);
} else { } else {
@ -131,9 +134,10 @@ void ThermalCalibrationHelper::statusRestore(){
} }
} }
void ThermalCalibrationHelper::statusSave(){ void ThermalCalibrationHelper::statusSave()
//prevent saving multiple times {
if(!isBoardInitialSettingsSaved() && saveBoardInitialSettings()){ // prevent saving multiple times
if (!isBoardInitialSettingsSaved() && saveBoardInitialSettings()) {
emit statusSaveCompleted(true); emit statusSaveCompleted(true);
} else { } else {
emit statusSaveCompleted(false); emit statusSaveCompleted(false);
@ -144,8 +148,9 @@ void ThermalCalibrationHelper::statusSave(){
* @brief restore board settings from status saved calling saveBoardStatus * @brief restore board settings from status saved calling saveBoardStatus
* @return true if success * @return true if success
*/ */
bool ThermalCalibrationHelper::restoreInitialSettings(){ bool ThermalCalibrationHelper::restoreInitialSettings()
if(!m_boardInitialSettings.statusSaved) { {
if (!m_boardInitialSettings.statusSaved) {
return false; return false;
} }
// restore initial board status // restore initial board status
@ -189,7 +194,8 @@ void ThermalCalibrationHelper::setMetadataForCalibration(UAVDataObject *uavo)
* Util function to get a pointer to the object manager * Util function to get a pointer to the object manager
* @return pointer to the UAVObjectManager * @return pointer to the UAVObjectManager
*/ */
UAVObjectManager *ThermalCalibrationHelper::getObjectManager(){ UAVObjectManager *ThermalCalibrationHelper::getObjectManager()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>(); UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();

10
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h
View File

@ -50,7 +50,6 @@
#include <revosettings.h> #include <revosettings.h>
typedef struct { typedef struct {
// this is not needed for revo, but should for CC/CC3D // this is not needed for revo, but should for CC/CC3D
// AccelGyroSettings::DataFields accelGyroSettings; // AccelGyroSettings::DataFields accelGyroSettings;
@ -61,8 +60,7 @@ typedef struct {
bool statusSaved = false; bool statusSaved = false;
} thermalCalibrationBoardSettings; } thermalCalibrationBoardSettings;
class ThermalCalibrationHelper : public QObject class ThermalCalibrationHelper : public QObject {
{
Q_OBJECT Q_OBJECT
public: public:
explicit ThermalCalibrationHelper(QObject *parent = 0); explicit ThermalCalibrationHelper(QObject *parent = 0);
@ -70,12 +68,14 @@ public:
/* board settings save/restore */ /* board settings save/restore */
bool saveBoardInitialSettings(); bool saveBoardInitialSettings();
bool restoreInitialSettings(); bool restoreInitialSettings();
bool isBoardInitialSettingsSaved(){ bool isBoardInitialSettingsSaved()
{
return m_boardInitialSettings.statusSaved; return m_boardInitialSettings.statusSaved;
} }
private: private:
void setMetadataForCalibration(UAVDataObject *uavo); void setMetadataForCalibration(UAVDataObject *uavo);
void clearBoardInitialSettingsSaved(){ void clearBoardInitialSettingsSaved()
{
m_boardInitialSettings.statusSaved = false; m_boardInitialSettings.statusSaved = false;
} }
signals: signals:

40
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.cpp
View File

@ -29,27 +29,27 @@
#include "thermalcalibrationmodel.h" #include "thermalcalibrationmodel.h"
#include "thermalcalibrationtransitions.h" #include "thermalcalibrationtransitions.h"
#include "settinghandlingtransitions.h" #include "settinghandlingtransitions.h"
#define NEXT_EVENT "next" #define NEXT_EVENT "next"
#define PREVIOUS_EVENT "previous" #define PREVIOUS_EVENT "previous"
#define ABORT_EVENT "abort" #define ABORT_EVENT "abort"
ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) : ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
WizardModel(parent) WizardModel(parent)
{ {
m_helper = new ThermalCalibrationHelper(); m_helper = new ThermalCalibrationHelper();
m_readyState = new WizardState(tr("Start"), this), m_readyState = new WizardState(tr("Start"), this),
m_workingState = new WizardState("workingState",this); m_workingState = new WizardState("workingState", this);
m_saveSettingState = new WizardState(tr("Saving initial settings"), m_workingState); m_saveSettingState = new WizardState(tr("Saving initial settings"), m_workingState);
m_workingState->setInitialState(m_saveSettingState); m_workingState->setInitialState(m_saveSettingState);
m_setupState = new WizardState(tr("Setup board for calibration"), m_workingState); m_setupState = new WizardState(tr("Setup board for calibration"), m_workingState);
m_acquisitionState = new WizardState(tr("Samples acquisition"),m_workingState); m_acquisitionState = new WizardState(tr("Samples acquisition"), m_workingState);
m_calculateState = new WizardState(tr("Calculate calibration matrix"),m_workingState); m_calculateState = new WizardState(tr("Calculate calibration matrix"), m_workingState);
m_finalizeState = new WizardState(tr("Completed"),m_workingState); m_finalizeState = new WizardState(tr("Completed"), m_workingState);
m_abortState = new WizardState("abort", this); m_abortState = new WizardState("abort", this);
setTransitions(); setTransitions();
@ -57,9 +57,9 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
m_steps << m_readyState m_steps << m_readyState
<< m_setupState << m_setupState
<< m_acquisitionState << m_calculateState << m_finalizeState; << m_acquisitionState << m_calculateState << m_finalizeState;
} }
void ThermalCalibrationModel::init(){ void ThermalCalibrationModel::init()
{
setStartEnabled(true); setStartEnabled(true);
setEndEnabled(false); setEndEnabled(false);
setCancelEnabled(false); setCancelEnabled(false);
@ -69,13 +69,11 @@ void ThermalCalibrationModel::init(){
emit instructionsChanged(instructions()); emit instructionsChanged(instructions());
} }
void ThermalCalibrationModel::stepChanged(WizardState *state){ void ThermalCalibrationModel::stepChanged(WizardState *state) {}
}
void ThermalCalibrationModel::setTransitions() void ThermalCalibrationModel::setTransitions()
{ {
m_readyState->addTransition(this,SIGNAL(next()),m_workingState); m_readyState->addTransition(this, SIGNAL(next()), m_workingState);
// handles board status save // handles board status save
// Ready->WorkingState->saveSettings->setup // Ready->WorkingState->saveSettings->setup
m_saveSettingState->addTransition(new BoardStatusSaveTransition(m_helper, m_saveSettingState, m_setupState)); m_saveSettingState->addTransition(new BoardStatusSaveTransition(m_helper, m_saveSettingState, m_setupState));
@ -84,13 +82,13 @@ void ThermalCalibrationModel::setTransitions()
m_setupState->addTransition(new BoardSetupTransition(m_helper, m_setupState, m_acquisitionState)); m_setupState->addTransition(new BoardSetupTransition(m_helper, m_setupState, m_acquisitionState));
// acquisition -revertSettings-> calculation // acquisition -revertSettings-> calculation
// m_acquisitionState->addTransition(this,SIGNAL(next()),m_calculateState); // m_acquisitionState->addTransition(this,SIGNAL(next()),m_calculateState);
// revert settings after acquisition is completed // revert settings after acquisition is completed
//m_acquisitionState->addTransition(new BoardStatusRestoreTransition(m_helper, m_acquisitionState, m_calculateState)); // m_acquisitionState->addTransition(new BoardStatusRestoreTransition(m_helper, m_acquisitionState, m_calculateState));
m_acquisitionState->addTransition(this,SIGNAL(next()), m_calculateState); m_acquisitionState->addTransition(this, SIGNAL(next()), m_calculateState);
m_calculateState->addTransition(new BoardStatusRestoreTransition(m_helper,m_calculateState,m_finalizeState)); m_calculateState->addTransition(new BoardStatusRestoreTransition(m_helper, m_calculateState, m_finalizeState));
m_finalizeState->addTransition(this,SIGNAL(next()),m_readyState); m_finalizeState->addTransition(this, SIGNAL(next()), m_readyState);
// Ready // Ready
} }

54
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.h
View File

@ -38,8 +38,7 @@
#include "../wizardstate.h" #include "../wizardstate.h"
#include "../wizardmodel.h" #include "../wizardmodel.h"
class ThermalCalibrationModel : public WizardModel class ThermalCalibrationModel : public WizardModel {
{
Q_PROPERTY(bool startEnable READ startEnabled NOTIFY startEnabledChanged) Q_PROPERTY(bool startEnable READ startEnabled NOTIFY startEnabledChanged)
Q_PROPERTY(bool endEnable READ endEnabled NOTIFY endEnabledChanged) Q_PROPERTY(bool endEnable READ endEnabled NOTIFY endEnabledChanged)
Q_PROPERTY(bool cancelEnable READ cancelEnabled NOTIFY cancelEnabledChanged) Q_PROPERTY(bool cancelEnable READ cancelEnabled NOTIFY cancelEnabledChanged)
@ -51,53 +50,63 @@ class ThermalCalibrationModel : public WizardModel
public: public:
explicit ThermalCalibrationModel(QObject *parent = 0); explicit ThermalCalibrationModel(QObject *parent = 0);
bool startEnabled(){ bool startEnabled()
{
return m_startEnabled; return m_startEnabled;
} }
bool endEnabled(){ bool endEnabled()
{
return m_endEnabled; return m_endEnabled;
} }
bool cancelEnabled(){ bool cancelEnabled()
{
return m_cancelEnabled; return m_cancelEnabled;
} }
void setStartEnabled(bool status){ void setStartEnabled(bool status)
if(m_startEnabled != status){ {
if (m_startEnabled != status) {
m_startEnabled = status; m_startEnabled = status;
emit startEnabledChanged(status); emit startEnabledChanged(status);
} }
} }
void setEndEnabled(bool status){ void setEndEnabled(bool status)
if(m_endEnabled != status){ {
if (m_endEnabled != status) {
m_endEnabled = status; m_endEnabled = status;
emit endEnabledChanged(status); emit endEnabledChanged(status);
} }
} }
void setCancelEnabled(bool status) { void setCancelEnabled(bool status)
if(m_cancelEnabled != status) { {
if (m_cancelEnabled != status) {
m_cancelEnabled = status; m_cancelEnabled = status;
emit cancelEnabledChanged(status); emit cancelEnabledChanged(status);
} }
} }
QString temperature(){ QString temperature()
{
return m_temperature; return m_temperature;
} }
QString temperatureGradient(){ QString temperatureGradient()
{
return m_temperatureGradient; return m_temperatureGradient;
} }
void setTemperature(QString status) { void setTemperature(QString status)
if(m_temperature != status) { {
if (m_temperature != status) {
m_temperature = status; m_temperature = status;
emit temperatureChanged(status); emit temperatureChanged(status);
} }
} }
void setTemperatureGradient(QString status) { void setTemperatureGradient(QString status)
if(m_temperatureGradient != status) { {
if (m_temperatureGradient != status) {
m_temperatureGradient = status; m_temperatureGradient = status;
emit temperatureGradientChanged(status); emit temperatureGradientChanged(status);
} }
@ -118,7 +127,7 @@ private:
// this act as top level container for calibration state // this act as top level container for calibration state
// to share common exit signals to abortState // to share common exit signals to abortState
WizardState *m_workingState; WizardState *m_workingState;
//Save settings // Save settings
WizardState *m_saveSettingState; WizardState *m_saveSettingState;
// Setup board for calibration // Setup board for calibration
WizardState *m_setupState; WizardState *m_setupState;
@ -148,15 +157,18 @@ signals:
public slots: public slots:
void stepChanged(WizardState *state); void stepChanged(WizardState *state);
void init(); void init();
void btnStart() { void btnStart()
{
emit next(); emit next();
} }
void btnEnd() { void btnEnd()
{
emit previous(); emit previous();
} }
void btnAbort(){ void btnAbort()
{
emit abort(); emit abort();
} }
}; };

22
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationtransitions.h
View File

@ -34,28 +34,29 @@
#include "thermalcalibrationhelper.h" #include "thermalcalibrationhelper.h"
class BoardSetupTransition : public QSignalTransition class BoardSetupTransition : public QSignalTransition {
{
Q_OBJECT Q_OBJECT
public: public:
BoardSetupTransition (ThermalCalibrationHelper *helper, QState *currentState, QState *targetState) BoardSetupTransition(ThermalCalibrationHelper *helper, QState *currentState, QState *targetState)
: QSignalTransition(helper, SIGNAL(setupBoardCompleted(bool))), : QSignalTransition(helper, SIGNAL(setupBoardCompleted(bool))),
m_helper(helper) m_helper(helper)
{ {
QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState())); QObject::connect(currentState, SIGNAL(entered()), this, SLOT(enterState()));
setTargetState(targetState); setTargetState(targetState);
} }
virtual bool eventTest(QEvent *e) virtual bool eventTest(QEvent *e)
{ {
qDebug() << "BoardSetupTransition::eventTest"; qDebug() << "BoardSetupTransition::eventTest";
if (!QSignalTransition::eventTest(e)) if (!QSignalTransition::eventTest(e)) {
return false; return false;
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e); }
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
// check wether status stave was successful and retry if not // check wether status stave was successful and retry if not
qDebug() << "BoardSetupTransition::eventTest - " << se->arguments().at(0).toBool(); qDebug() << "BoardSetupTransition::eventTest - " << se->arguments().at(0).toBool();
if(se->arguments().at(0).toBool()){ if (se->arguments().at(0).toBool()) {
return true; return true;
} else { } else {
m_helper->setupBoard(); m_helper->setupBoard();
@ -65,11 +66,13 @@ public:
virtual void onTransition(QEvent *e) virtual void onTransition(QEvent *e)
{ {
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent*>(e); QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
qDebug() << "BoardSetupTransition::onTransition" << se->arguments().at(0).toBool(); qDebug() << "BoardSetupTransition::onTransition" << se->arguments().at(0).toBool();
} }
public slots: public slots:
void enterState(){ void enterState()
{
m_helper->setupBoard(); m_helper->setupBoard();
} }
private: private:
@ -77,5 +80,4 @@ private:
}; };
#endif // THERMALCALIBRATIONTRANSITIONS_H #endif // THERMALCALIBRATIONTRANSITIONS_H

12
ground/openpilotgcs/src/plugins/config/calibration/wizardmodel.cpp
View File

@ -29,13 +29,13 @@
WizardModel::WizardModel(QObject *parent) : WizardModel::WizardModel(QObject *parent) :
QStateMachine(parent) QStateMachine(parent)
{ {}
}
WizardState* WizardModel::currentState(){ WizardState *WizardModel::currentState()
foreach (QAbstractState *value, this->configuration()){ {
if(value->parent() != 0){\ foreach(QAbstractState * value, this->configuration()) {
return static_cast<WizardState*>(value); if (value->parent() != 0) { \
return static_cast<WizardState *>(value);
} }
} }
return NULL; return NULL;

20
ground/openpilotgcs/src/plugins/config/calibration/wizardmodel.h
View File

@ -33,37 +33,37 @@
#include "wizardstate.h" #include "wizardstate.h"
#include <accelsensor.h> #include <accelsensor.h>
class WizardModel : public QStateMachine class WizardModel : public QStateMachine {
{ Q_OBJECT Q_PROPERTY(QQmlListProperty<QObject> steps READ steps CONSTANT)
Q_OBJECT
Q_PROPERTY(QQmlListProperty<QObject> steps READ steps CONSTANT)
Q_PROPERTY(QString instructions READ instructions NOTIFY instructionsChanged) Q_PROPERTY(QString instructions READ instructions NOTIFY instructionsChanged)
Q_PROPERTY(WizardState* currentState READ currentState NOTIFY currentStateChanged) Q_PROPERTY(WizardState * currentState READ currentState NOTIFY currentStateChanged)
public: public:
explicit WizardModel(QObject *parent = 0); explicit WizardModel(QObject *parent = 0);
QQmlListProperty<QObject> steps() { QQmlListProperty<QObject> steps()
{
return QQmlListProperty<QObject>(this, m_steps); return QQmlListProperty<QObject>(this, m_steps);
} }
QString instructions(){ QString instructions()
{
return m_instructions; return m_instructions;
} }
void setInstructions(QString instructions){ void setInstructions(QString instructions)
{
m_instructions = instructions; m_instructions = instructions;
emit instructionsChanged(instructions); emit instructionsChanged(instructions);
} }
WizardState *currentState(); WizardState *currentState();
protected: protected:
QList<QObject*> m_steps; QList<QObject *> m_steps;
private: private:
QString m_instructions; QString m_instructions;
signals: signals:
void instructionsChanged(QString status); void instructionsChanged(QString status);
void currentStateChanged(WizardState *status); void currentStateChanged(WizardState *status);
public slots: public slots:
}; };
#endif // WIZARDMODEL_H #endif // WIZARDMODEL_H

7
ground/openpilotgcs/src/plugins/config/calibration/wizardstate.cpp
View File

@ -31,11 +31,12 @@ WizardState::WizardState(QString name, QState *parent) :
QState(parent) QState(parent)
{ {
m_stepName = name; m_stepName = name;
m_done = false; m_done = false;
m_active = false; m_active = false;
} }
void WizardState::setCompletion(qint8 completion){ void WizardState::setCompletion(qint8 completion)
{
m_completion = completion; m_completion = completion;
emit completionChanged(); emit completionChanged();
} }

18
ground/openpilotgcs/src/plugins/config/calibration/wizardstate.h
View File

@ -30,28 +30,30 @@
#include <QState> #include <QState>
class WizardState : public QState class WizardState : public QState {
{ Q_OBJECT Q_PROPERTY(bool isActive READ isActive NOTIFY isActiveChanged)
Q_OBJECT
Q_PROPERTY(bool isActive READ isActive NOTIFY isActiveChanged)
Q_PROPERTY(bool isDone READ isDone NOTIFY isDoneChanged) Q_PROPERTY(bool isDone READ isDone NOTIFY isDoneChanged)
Q_PROPERTY(qint8 completion READ completion NOTIFY completionChanged) Q_PROPERTY(qint8 completion READ completion NOTIFY completionChanged)
Q_PROPERTY(QString stepName READ stepName NOTIFY stepNameChanged) Q_PROPERTY(QString stepName READ stepName NOTIFY stepNameChanged)
public: public:
explicit WizardState(QString name, QState *parent = 0); explicit WizardState(QString name, QState *parent = 0);
bool isActive(){ bool isActive()
{
return m_active; return m_active;
} }
bool isDone(){ bool isDone()
{
return m_done; return m_done;
} }
qint8 completion(){ qint8 completion()
{
return m_completion; return m_completion;
} }
QString stepName(){ QString stepName()
{
return m_stepName; return m_stepName;
} }

18
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -224,17 +224,17 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
// connect the thermalCalibration model to UI // connect the thermalCalibration model to UI
m_thermalCalibrationModel = new ThermalCalibrationModel(this); m_thermalCalibrationModel = new ThermalCalibrationModel(this);
connect(m_ui->ThermalBiasStart, SIGNAL(clicked()),m_thermalCalibrationModel, SLOT(btnStart())); connect(m_ui->ThermalBiasStart, SIGNAL(clicked()), m_thermalCalibrationModel, SLOT(btnStart()));
connect(m_ui->ThermalBiasEnd, SIGNAL(clicked()),m_thermalCalibrationModel, SLOT(btnEnd())); connect(m_ui->ThermalBiasEnd, SIGNAL(clicked()), m_thermalCalibrationModel, SLOT(btnEnd()));
connect(m_ui->ThermalBiasCancel, SIGNAL(clicked()),m_thermalCalibrationModel, SLOT(btnAbort())); connect(m_ui->ThermalBiasCancel, SIGNAL(clicked()), m_thermalCalibrationModel, SLOT(btnAbort()));
connect(m_thermalCalibrationModel, SIGNAL(startEnabledChanged(bool)),m_ui->ThermalBiasStart, SLOT(setEnabled(bool))); connect(m_thermalCalibrationModel, SIGNAL(startEnabledChanged(bool)), m_ui->ThermalBiasStart, SLOT(setEnabled(bool)));
connect(m_thermalCalibrationModel, SIGNAL(endEnabledChanged(bool)),m_ui->ThermalBiasEnd, SLOT(setEnabled(bool))); connect(m_thermalCalibrationModel, SIGNAL(endEnabledChanged(bool)), m_ui->ThermalBiasEnd, SLOT(setEnabled(bool)));
connect(m_thermalCalibrationModel, SIGNAL(cancelEnabledChanged(bool)),m_ui->ThermalBiasCancel, SLOT(setEnabled(bool))); connect(m_thermalCalibrationModel, SIGNAL(cancelEnabledChanged(bool)), m_ui->ThermalBiasCancel, SLOT(setEnabled(bool)));
connect(m_thermalCalibrationModel, SIGNAL(instructionsChanged(QString)),m_ui->label_thermalDescription, SLOT(setText(QString))); connect(m_thermalCalibrationModel, SIGNAL(instructionsChanged(QString)), m_ui->label_thermalDescription, SLOT(setText(QString)));
connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(QString)),m_ui->label_thermalGradient, SLOT(setText(QString))); connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(QString)), m_ui->label_thermalGradient, SLOT(setText(QString)));
connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(QString)),m_ui->label_thermalGradient1, SLOT(setText(QString))); connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(QString)), m_ui->label_thermalGradient1, SLOT(setText(QString)));
m_thermalCalibrationModel->init(); m_thermalCalibrationModel->init();