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Code Issues Releases Activity

Merge branch 'next' into thread/OP-642

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This commit is contained in:
Fredrik Arvidsson 2012-06-30 16:51:19 +02:00
commit 32abd2e32f
12 changed files with 168 additions and 78 deletions
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4
flight/PiOS.posix/posix/pios_delay.c
View File

@ -64,7 +64,7 @@ int32_t PIOS_DELAY_WaituS(uint32_t uS)
static struct timespec wait,rest;
wait.tv_sec=0;
wait.tv_nsec=1000*uS;
while (!nanosleep(&wait,&rest)) {
while (nanosleep(&wait,&rest)!=0) {
wait=rest;
}
@ -90,7 +90,7 @@ int32_t PIOS_DELAY_WaitmS(uint32_t mS)
static struct timespec wait,rest;
wait.tv_sec=mS/1000;
wait.tv_nsec=(mS%1000)*1000000;
while (!nanosleep(&wait,&rest)) {
while (nanosleep(&wait,&rest)!=0) {
wait=rest;
}
//}

8
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -59,10 +59,10 @@ typedef void* UAVObjHandle;
* Object update mode, used by multiple modules (e.g. telemetry and logger)
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UAVObjUpdateMode;
/**

6
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
View File

@ -99,7 +99,7 @@ bool SequentialPlotData::append(UAVObject* obj)
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
//Compute boxcar average
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
yDataHistory->append( currentValue );
@ -163,8 +163,8 @@ bool ChronoPlotData::append(UAVObject* obj)
QDateTime NOW = QDateTime::currentDateTime(); //THINK ABOUT REIMPLEMENTING THIS TO SHOW UAVO TIME, NOT SYSTEM TIME
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
//Compute boxcar average
if (meanSamples > 1){
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
yDataHistory->append( currentValue );

103
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -51,6 +51,7 @@
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QMutexLocker>
#include <QWheelEvent>
//using namespace Core;
@ -65,8 +66,8 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
replotTimer = new QTimer(this);
connect(replotTimer, SIGNAL(timeout()), this, SLOT(replotNewData()));
// Listen to telemetry connection/disconnection events, no point
// running the scopes if we are not connected and not replaying logs
// Listen to telemetry connection/disconnection events, no point in
// running the scopes if we are not connected and not replaying logs.
// Also listen to disconnect actions from the user
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(stopPlotting()));
@ -124,13 +125,18 @@ void ScopeGadgetWidget::mouseReleaseEvent(QMouseEvent *e)
void ScopeGadgetWidget::mouseDoubleClickEvent(QMouseEvent *e)
{
mutex.lock();
if (legend())
deleteLegend();
else
addLegend();
mutex.unlock();
update();
//On double-click, toggle legend
mutex.lock();
if (legend())
deleteLegend();
else
addLegend();
mutex.unlock();
//On double-click, reset plot zoom
setAxisAutoScale(QwtPlot::yLeft, true);
update();
QwtPlot::mouseDoubleClickEvent(e);
}
@ -142,6 +148,33 @@ void ScopeGadgetWidget::mouseMoveEvent(QMouseEvent *e)
void ScopeGadgetWidget::wheelEvent(QWheelEvent *e)
{
//Change zoom on scroll wheel event
QwtInterval yInterval=axisInterval(QwtPlot::yLeft);
if (yInterval.minValue() != yInterval.maxValue()) //Make sure that the two values are never the same. Sometimes axisInterval returns (0,0)
{
//Determine what y value to zoom about. NOTE, this approach has a bug that the in that
//the value returned by Qt includes the legend, whereas the value transformed by Qwt
//does *not*. Thus, when zooming with a legend, there will always be a small bias error.
//In practice, this seems not to be a UI problem.
QPoint mouse_pos=e->pos(); //Get the mouse coordinate in the frame
double zoomLine=invTransform(QwtPlot::yLeft, mouse_pos.y()); //Transform the y mouse coordinate into a frame value.
double zoomScale=1.1; //THIS IS AN ARBITRARY CONSTANT, AND PERHAPS SHOULD BE IN A DEFINE INSTEAD OF BURIED HERE
mutex.lock(); //DOES THIS mutex.lock NEED TO BE HERE? I DON'T KNOW, I JUST COPIED IT FROM THE ABOVE CODE
// Set the scale
if (e->delta()<0){
setAxisScale(QwtPlot::yLeft,
(yInterval.minValue()-zoomLine)*zoomScale+zoomLine,
(yInterval.maxValue()-zoomLine)*zoomScale+zoomLine );
}
else{
setAxisScale(QwtPlot::yLeft,
(yInterval.minValue()-zoomLine)/zoomScale+zoomLine,
(yInterval.maxValue()-zoomLine)/zoomScale+zoomLine );
}
mutex.unlock();
}
QwtPlot::wheelEvent(e);
}
@ -203,17 +236,17 @@ void ScopeGadgetWidget::addLegend()
// legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
// insertLegend(legend, QwtPlot::BottomLegend);
// Update the checked/unchecked state of the legend items
// -> this is necessary when hiding a legend where some plots are
// not visible, and the un-hiding it.
foreach (QwtPlotItem *item, this->itemList()) {
bool on = item->isVisible();
QWidget *w = legend->find(item);
if ( w && w->inherits("QwtLegendItem") )
((QwtLegendItem *)w)->setChecked(!on);
}
// Update the checked/unchecked state of the legend items
// -> this is necessary when hiding a legend where some plots are
// not visible, and the un-hiding it.
foreach (QwtPlotItem *item, this->itemList()) {
bool on = item->isVisible();
QWidget *w = legend->find(item);
if ( w && w->inherits("QwtLegendItem") )
((QwtLegendItem *)w)->setChecked(!on);
}
connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)), this, SLOT(showCurve(QwtPlotItem *, bool)));
connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)), this, SLOT(showCurve(QwtPlotItem *, bool)));
}
void ScopeGadgetWidget::preparePlot(PlotType plotType)
@ -234,27 +267,27 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
// setPalette(pal);
// setCanvasBackground(Utils::StyleHelper::baseColor());
setCanvasBackground(QColor(64, 64, 64));
setCanvasBackground(QColor(64, 64, 64));
//Add grid lines
QwtPlotGrid *grid = new QwtPlotGrid;
grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
grid->setMinPen(QPen(Qt::lightGray, 0, Qt::DotLine));
grid->setPen(QPen(Qt::darkGray, 1, Qt::DotLine));
grid->attach(this);
grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
grid->setMinPen(QPen(Qt::lightGray, 0, Qt::DotLine));
grid->setPen(QPen(Qt::darkGray, 1, Qt::DotLine));
grid->attach(this);
// Add the legend
addLegend();
// Add the legend
addLegend();
// Only start the timer if we are already connected
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
if (cm->getCurrentConnection() && replotTimer)
{
if (!replotTimer->isActive())
replotTimer->start(m_refreshInterval);
else
replotTimer->setInterval(m_refreshInterval);
}
if (cm->getCurrentConnection() && replotTimer)
{
if (!replotTimer->isActive())
replotTimer->start(m_refreshInterval);
else
replotTimer->setInterval(m_refreshInterval);
}
}
void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
@ -412,7 +445,7 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField
//Keep the curve details for later
m_curvesData.insert(curveNameScaled, plotData);
//Link to the signal of new data only if this UAVObject has not been to connected yet
//Link to the new signal data only if this UAVObject has not been connected yet
if (!m_connectedUAVObjects.contains(obj->getName())) {
m_connectedUAVObjects.append(obj->getName());
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
@ -470,6 +503,7 @@ void ScopeGadgetWidget::replotNewData()
replot();
}
/*
void ScopeGadgetWidget::setupExamplePlot()
{
preparePlot(SequentialPlot);
@ -514,6 +548,7 @@ void ScopeGadgetWidget::setupExamplePlot()
replot();
mutex.unlock();
}
*/
void ScopeGadgetWidget::clearCurvePlots()
{

1
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -205,6 +205,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
FieldTreeItem *item;
UAVObjectField::FieldType type = field->getType();
switch (type) {
case UAVObjectField::BITFIELD:
case UAVObjectField::ENUM: {
QStringList options = field->getOptions();
QVariant value = field->getValue();

16
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -38,17 +38,13 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject *pare
// Setup default metadata of metaobject (can not be changed)
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");
QStringList updateModeEnum;
updateModeEnum << tr("Periodic") << tr("On Change") << tr("Manual") << tr("Never");
QStringList accessModeEnum;
accessModeEnum << tr("Read/Write") << tr("Read Only");
QStringList modesBitField;
modesBitField << tr("FlightReadOnly") << tr("GCSReadOnly") << tr("FlightTelemetryAcked") << tr("GCSTelemetryAcked") << tr("FlightUpdatePeriodic") << tr("FlightUpdateOnChange") << tr("GCSUpdatePeriodic") << tr("GCSUpdateOnChange");
QList<UAVObjectField*> fields;
fields.append( new UAVObjectField(tr("Modes"), tr(""), UAVObjectField::UINT8, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Modes"), tr("boolean"), UAVObjectField::BITFIELD, modesBitField, QStringList()) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

8
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -59,10 +59,10 @@ public:
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UpdateMode;
/**

82
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -86,6 +86,10 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
case ENUM:
numBytesPerElement = sizeof(quint8);
break;
case BITFIELD:
numBytesPerElement = sizeof(quint8);
this->options = QStringList()<<tr("0")<<tr("1");
break;
case STRING:
numBytesPerElement = sizeof(quint8);
break;
@ -133,14 +137,15 @@ void UAVObjectField::limitsInitialize(const QString &limits)
QString value=_value.trimmed();
switch (type)
{
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
lstruc.values.append((quint32)value.toULong());
break;
case INT8:
case INT16:
case INT32:
case UINT8:
lstruc.values.append((quint32)value.toULong());
break;
case UINT16:
case UINT32:
lstruc.values.append((qint32)value.toLong());
break;
case FLOAT32:
@ -190,6 +195,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return true;
@ -230,6 +236,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return false;
@ -275,6 +282,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt() && var.toUInt()<=struc.values.at(1).toUInt()))
return false;
return true;
@ -316,6 +324,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt()))
return false;
return true;
@ -350,6 +359,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()<=struc.values.at(0).toUInt()))
return false;
return true;
@ -457,6 +467,8 @@ QString UAVObjectField::getTypeAsString()
return "float32";
case UAVObjectField::ENUM:
return "enum";
case UAVObjectField::BITFIELD:
return "bitfield";
case UAVObjectField::STRING:
return "string";
default:
@ -477,7 +489,15 @@ UAVObject* UAVObjectField::getObject()
void UAVObjectField::clear()
{
QMutexLocker locker(obj->getMutex());
memset(&data[offset], 0, numBytesPerElement*numElements);
switch (type)
{
case BITFIELD:
memset(&data[offset], 0, numBytesPerElement*((quint32)(1+(numElements-1)/8)));
break;
default:
memset(&data[offset], 0, numBytesPerElement*numElements);
break;
}
}
QString UAVObjectField::getName()
@ -507,7 +527,15 @@ quint32 UAVObjectField::getDataOffset()
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
switch (type)
{
case BITFIELD:
return numBytesPerElement * ((quint32) (1+(numElements-1)/8));
break;
default:
return numBytesPerElement * numElements;
break;
}
}
QString UAVObjectField::toString()
@ -584,6 +612,12 @@ qint32 UAVObjectField::pack(quint8* dataOut)
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(1+(numElements-1)/8); ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case STRING:
memcpy(dataOut, &data[offset], numElements);
break;
@ -653,6 +687,12 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(1+(numElements-1)/8); ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case STRING:
memcpy(&data[offset], dataIn, numElements);
break;
@ -661,11 +701,6 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
return getNumBytes();
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}
bool UAVObjectField::isNumeric()
{
switch (type)
@ -694,6 +729,9 @@ bool UAVObjectField::isNumeric()
case ENUM:
return false;
break;
case BITFIELD:
return true;
break;
case STRING:
return false;
break;
@ -730,6 +768,9 @@ bool UAVObjectField::isText()
case ENUM:
return true;
break;
case BITFIELD:
return false;
break;
case STRING:
return true;
break;
@ -810,6 +851,14 @@ QVariant UAVObjectField::getValue(quint32 index)
return QVariant( options[tmpenum] );
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield >> (index % 8)) & 1;
return QVariant( tmpbitfield );
break;
}
case STRING:
{
data[offset + numElements - 1] = '\0';
@ -845,6 +894,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
case UINT32:
case FLOAT32:
case STRING:
case BITFIELD:
return true;
break;
case ENUM:
@ -926,6 +976,14 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield & ~(1 << (index % 8))) | ( (value.toUInt()!=0?1:0) << (index % 8) );
memcpy(&data[offset + numBytesPerElement*((quint32)(index/8))], &tmpbitfield, numBytesPerElement);
break;
}
case STRING:
{
QString str = value.toString();

3
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -42,7 +42,7 @@ class UAVOBJECTS_EXPORT UAVObjectField: public QObject
Q_OBJECT
public:
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING } FieldType;
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING } FieldType;
typedef enum { EQUAL,NOT_EQUAL,BETWEEN,BIGGER,SMALLER } LimitType;
typedef struct
{
@ -70,7 +70,6 @@ public:
void setDouble(double value, quint32 index = 0);
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
bool isNumeric();
bool isText();
QString toString();

5
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -37,8 +37,9 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
{
QStringList updateModeStr,accessModeStr;
updateModeStr << "UPDATEMODE_PERIODIC" << "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_THROTTLED" << "UPDATEMODE_MANUAL";
updateModeStr << "UPDATEMODE_MANUAL" << "UPDATEMODE_PERIODIC"
<< "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_THROTTLED";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

2
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -34,7 +34,7 @@ UAVObjectParser::UAVObjectParser()
fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
<< "uint16" << "uint32" <<"float" << "enum";
updateModeStrXML << "periodic" << "onchange" << "throttled" << "manual";
updateModeStrXML << "manual" << "periodic" << "onchange" << "throttled";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

8
ground/uavobjgenerator/uavobjectparser.h
View File

@ -64,10 +64,10 @@ typedef struct {
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
UPDATEMODE_THROTTLED, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UpdateMode;