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Code Issues Releases Activity

OP-1150 UI for thermal calibration: add a full debug log stored into a temporary directory.

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Path is show in console log message. Files are cleaned up as soon as board is disconnected.
This commit is contained in:
Alessio Morale 2014-02-02 18:37:33 +01:00
parent fb8bba4bec
commit 1ea4a5bf0d
4 changed files with 127 additions and 23 deletions
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114
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
View File

@ -27,16 +27,25 @@
*/
#include "thermalcalibrationhelper.h"
#include "thermalcalibration.h"
#include <uavobjectutil/uavobjectutilmanager.h>
#include <uavtalk/telemetrymanager.h>
#include "version_info/version_info.h"
namespace OpenPilot {
ThermalCalibrationHelper::ThermalCalibrationHelper(QObject *parent) :
QObject(parent)
{
m_tempdir.reset(new QTemporaryDir());
m_boardInitialSettings = thermalCalibrationBoardSettings();
m_boardInitialSettings.statusSaved = false;
m_results = thermalCalibrationResults();
m_results.accelCalibrated = false;
m_results.baroCalibrated = false;
m_results.gyroCalibrated = false;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(disconnected()), this, SLOT(cleanup()));
}
/**
@ -69,11 +78,11 @@ bool ThermalCalibrationHelper::setupBoardForCalibration()
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
AccelGyroSettings::DataFields data = accelGyroSettings->getData();
for (int i = 0; i < AccelGyroSettings::ACCEL_TEMP_COEFF_NUMELEM; i++) {
for (uint i = 0; i < AccelGyroSettings::ACCEL_TEMP_COEFF_NUMELEM; i++) {
data.accel_temp_coeff[i] = 0.0f;
}
for (int i = 0; i < AccelGyroSettings::GYRO_TEMP_COEFF_NUMELEM; i++) {
for (uint i = 0; i < AccelGyroSettings::GYRO_TEMP_COEFF_NUMELEM; i++) {
data.gyro_temp_coeff[i] = 0.0f;
}
@ -253,6 +262,12 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
AccelSensor *reading = AccelSensor::GetInstance(getObjectManager());
Q_ASSERT(reading);
m_accelSamples.append(reading->getData());
m_debugStream << "ACCEL:: " << m_accelSamples.last().temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_accelSamples.last().x <<
"\t" << m_accelSamples.last().y <<
"\t" << m_accelSamples.last().z << endl;
break;
}
case GyroSensor::OBJID:
@ -260,6 +275,11 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
GyroSensor *reading = GyroSensor::GetInstance(getObjectManager());
Q_ASSERT(reading);
m_gyroSamples.append(reading->getData());
m_debugStream << "GYRO:: " << m_gyroSamples.last().temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_gyroSamples.last().x <<
"\t" << m_gyroSamples.last().y <<
"\t" << m_gyroSamples.last().z << endl;
break;
}
case BaroSensor::OBJID:
@ -267,6 +287,10 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
BaroSensor *reading = BaroSensor::GetInstance(getObjectManager());
Q_ASSERT(reading);
m_baroSamples.append(reading->getData());
m_debugStream << "BARO:: " << m_baroSamples.last().Temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_baroSamples.last().Pressure <<
"\t" << m_baroSamples.last().Altitude << endl;
// this is needed as temperature is low pass filtered
m_temperature = reading->getTemperature();
updateTemp(m_temperature);
@ -277,6 +301,11 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
MagSensor *reading = MagSensor::GetInstance(getObjectManager());
Q_ASSERT(reading);
m_magSamples.append(reading->getData());
m_debugStream << "MAG:: " <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_magSamples.last().x <<
"\t" << m_magSamples.last().y <<
"\t" << m_magSamples.last().z << endl;
break;
}
default:
@ -286,6 +315,13 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
}
}
void ThermalCalibrationHelper::cleanup()
{
disconnectUAVOs();
m_debugStream.flush();
m_debugFile.close();
}
void ThermalCalibrationHelper::calculate()
{
@ -341,21 +377,26 @@ void ThermalCalibrationHelper::calculate()
m_results.accelCalibrated = ThermalCalibration::AccelerometerCalibration(datax, datay, dataz, datat, m_results.accel);
*/
m_results.accelCalibrated = false;
QString str;
str += QStringLiteral("info::Calibration results");
qDebug() << QStringLiteral("Calibration results");
qDebug() << QStringLiteral("Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
str += QStringLiteral("info::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
.arg(m_results.baroInSigma).arg(m_results.baroOutSigma);
qDebug() << QStringLiteral("Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
.arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + QChar::CarriageReturn;
str += QStringLiteral("info::Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3])
.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]);
qDebug() << QStringLiteral("Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + QChar::CarriageReturn;
str += QStringLiteral("info::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]);
.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + QChar::CarriageReturn;
qDebug() << str;
m_debugStream << str;
copyResultToSettings();
emit calculationCompleted();
closeDebugLog();
}
@ -375,7 +416,7 @@ void ThermalCalibrationHelper::updateTemp(float temp)
emit gradientChanged(gradient);
qDebug() << "Temp Gradient " << gradient << " Elapsed" << elapsed;
m_debugStream << "INFO::Trace Temp Gradient " << gradient << " Elapsed" << elapsed << endl;
m_lastCheckpointTime = QTime::currentTime();
m_lastCheckpointTemp = m_temperature;
}
@ -397,7 +438,11 @@ void ThermalCalibrationHelper::updateTemp(float temp)
} else if (m_gradient > .1 && m_initialGradient / 2.0f > m_gradient) {
qDebug() << "M_gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient;
// make a rough estimation of the time needed
m_targetduration = elapsed * 7;
m_targetduration = elapsed * 8;
if(m_debugFile.isOpen()){
m_debugStream << "INFO::Trace gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient
<< " target:" << m_targetduration << endl;
}
}
}
}
@ -410,6 +455,7 @@ void ThermalCalibrationHelper::endAcquisition()
void ThermalCalibrationHelper::connectUAVOs()
{
createDebugLog();
AccelSensor *accel = AccelSensor::GetInstance(getObjectManager());
connect(accel, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(collectSample(UAVObject *)));
@ -440,6 +486,52 @@ void ThermalCalibrationHelper::disconnectUAVOs()
disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(collectSample(UAVObject *)));
}
void ThermalCalibrationHelper::createDebugLog()
{
if(m_debugFile.isOpen()){
closeDebugLog();
}
if(m_tempdir->isValid()){
QString filename = QStringLiteral("thcaldebug_%1.txt").arg(QDateTime::currentDateTime().toString("dd.MM.yyyy-hh.mm.ss.zzz"));
QDir dir = QDir(m_tempdir->path());
m_debugFile.setFileName(dir.filePath(filename));
if (!m_debugFile.open(QIODevice::WriteOnly | QIODevice::Text)){
m_debugStream.setDevice(0);
return;
}
qDebug() << "Saving debug data to " << dir.filePath(filename);
m_debugStream.setDevice(&m_debugFile);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
deviceDescriptorStruct board = utilMngr->getBoardDescriptionStruct();
m_debugStream << "INFO::Hardware";
m_debugStream << " type:" << QString().setNum(board.boardType, 16);
m_debugStream << " revision:"<<QString().setNum(board.boardRevision, 16);
m_debugStream << " serial:" << QString(utilMngr->getBoardCPUSerial().toHex()) << endl;
QString uavo = board.uavoHash.toHex();
m_debugStream << "INFO::firmware tag:" << board.gitTag << " date:" << board.gitDate << " hash:" << board.gitHash <<
"uavo:" << uavo.left(8) << endl;
m_debugStream << "INFO::gcs tag:" << VersionInfo::tagOrBranch() + VersionInfo::dirty() << " date:" << VersionInfo::dateTime() <<
" hash:" << VersionInfo::hash().left(8) << " uavo:" << VersionInfo::uavoHash().left(8) << endl;
}
}
void ThermalCalibrationHelper::closeDebugLog()
{
if(m_debugFile.isOpen()){
m_debugStream.flush();
m_debugStream.setDevice(0);
m_debugFile.close();
}
}
void ThermalCalibrationHelper::copyResultToSettings()
{
UAVObjectManager *objManager = getObjectManager();

12
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h
View File

@ -31,6 +31,9 @@
#include <QObject>
#include <QtCore>
#include <QTime>
#include <QTemporaryDir>
#include <QTextStream>
#include "uavobjectmanager.h"
#include <uavobject.h>
#include <uavobjectmanager.h>
@ -151,11 +154,18 @@ public slots:
}
}
void cleanup();
private:
void updateTemp(float temp);
void connectUAVOs();
void disconnectUAVOs();
QFile m_debugFile;
QTextStream m_debugStream;
QScopedPointer<QTemporaryDir> m_tempdir;
void createDebugLog();
void closeDebugLog();
void copyResultToSettings();
QMutex sensorsUpdateLock;
@ -200,6 +210,8 @@ private:
void setMetadataForCalibration(UAVDataObject *uavo);
UAVObjectManager *getObjectManager();
//Q_DISABLE_COPY(ThermalCalibrationHelper)
};
}
#endif // THERMALCALIBRATIONHELPER_H

22
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.cpp
View File

@ -39,7 +39,7 @@ namespace OpenPilot {
ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
WizardModel(parent)
{
m_helper = new ThermalCalibrationHelper();
m_helper.reset(new ThermalCalibrationHelper());
m_readyState = new WizardState(tr("Start"), this),
m_workingState = new WizardState(NULL, this);
@ -57,9 +57,9 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
m_completedState = new WizardState("Completed", this);
setTransitions();
connect(m_helper, SIGNAL(gradientChanged(float)), this, SLOT(setTemperatureGradient(float)));
connect(m_helper, SIGNAL(temperatureChanged(float)), this, SLOT(setTemperature(float)));
connect(m_helper, SIGNAL(processPercentageChanged(int)), this, SLOT(setProgress(int)));
connect(m_helper.data(), SIGNAL(gradientChanged(float)), this, SLOT(setTemperatureGradient(float)));
connect(m_helper.data(), SIGNAL(temperatureChanged(float)), this, SLOT(setTemperature(float)));
connect(m_helper.data(), SIGNAL(processPercentageChanged(int)), this, SLOT(setProgress(int)));
connect(m_readyState, SIGNAL(entered()), this, SLOT(wizardReady()));
connect(m_readyState, SIGNAL(exited()), this, SLOT(wizardStarted()));
connect(m_completedState, SIGNAL(entered()), this, SLOT(wizardReady()));
@ -90,19 +90,19 @@ void ThermalCalibrationModel::setTransitions()
m_completedState->addTransition(this, SIGNAL(next()), m_workingState);
// handles board status save
// Ready->WorkingState->saveSettings->setup
m_saveSettingState->addTransition(new BoardStatusSaveTransition(m_helper, m_saveSettingState, m_setupState));
m_saveSettingState->addTransition(new BoardStatusSaveTransition(m_helper.data(), m_saveSettingState, m_setupState));
// board setup
// setup
m_setupState->addTransition(new BoardSetupTransition(m_helper, m_setupState, m_acquisitionState));
m_setupState->addTransition(new BoardSetupTransition(m_helper.data(), m_setupState, m_acquisitionState));
// acquisition -revertSettings-> calculation
// revert settings after acquisition is completed
// m_acquisitionState->addTransition(new BoardStatusRestoreTransition(m_helper, m_acquisitionState, m_calculateState));
m_acquisitionState->addTransition(new DataAcquisitionTransition(m_helper, m_acquisitionState, m_restoreState));
m_restoreState->addTransition(new BoardStatusRestoreTransition(m_helper, m_restoreState, m_calculateState));
m_calculateState->addTransition(new CompensationCalculationTransition(m_helper, m_calculateState, m_completedState));
m_abortState->addTransition(new BoardStatusRestoreTransition(m_helper, m_abortState, m_readyState));
m_workingState->addTransition(m_helper, SIGNAL(abort()), m_abortState);
m_acquisitionState->addTransition(new DataAcquisitionTransition(m_helper.data(), m_acquisitionState, m_restoreState));
m_restoreState->addTransition(new BoardStatusRestoreTransition(m_helper.data(), m_restoreState, m_calculateState));
m_calculateState->addTransition(new CompensationCalculationTransition(m_helper.data(), m_calculateState, m_completedState));
m_abortState->addTransition(new BoardStatusRestoreTransition(m_helper.data(), m_abortState, m_readyState));
m_workingState->addTransition(m_helper.data(), SIGNAL(abort()), m_abortState);
// Ready
}
}

2
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.h
View File

@ -138,7 +138,7 @@ private:
QString m_temperature;
QString m_temperatureGradient;
ThermalCalibrationHelper *m_helper;
QScopedPointer<ThermalCalibrationHelper> m_helper;
// Start from here
WizardState *m_readyState;