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Code Issues Releases Activity

Merge branch 'next' into revolution

Browse Source 
Conflicts:
	flight/PiOS/Common/pios_flashfs_objlist.c
This commit is contained in:
James Cotton 2011-12-11 22:55:54 -06:00
commit 33a12d829e
42 changed files with 2709 additions and 542 deletions
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2
.gitignore vendored
View File

@ -1,3 +1,5 @@
# Exclude temporary and system files
.DS_Store
# /flight/
/flight/*.pnproj

4
HISTORY.txt
View File

@ -1,5 +1,9 @@
Short summary of changes. For a complete list see the git log.
2011-12-10
Merged a change that sorts the UAVO fields based on size. Because this changes
all of the objects, erase all existing flash files based on this.
2011-11-04
New Spektrum/JR satellite receiver driver implementation.
It now provides explicit selection of DSM2 (and DSMJ), DSMX (10bit) and

7
MILESTONES.txt
View File

@ -157,6 +157,11 @@ C: Anders Johansson (dezent)
D: November 2011
V: http://www.youtube.com/watch?v=Xfas2TUhOPw
M: First OpenPilot over 1km FixedWing navigation flight
C: Eric Price (Corvus Corax)
D: December 2011
V: http://www.youtube.com/watch?v=nWNWuUiUTNg
M: First Altitude Hold using Sonar
C:
@ -184,8 +189,6 @@ An incomplete list of some future Milestones is below:
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
* First over 1km navigation flight
* First over 5km navigation flight
* First "Follow Me" navigation flight
* First Channel Crossing with OpenPilot

16
flight/CopterControl/System/coptercontrol.c
View File

@ -70,6 +70,12 @@ int main()
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
PIOS_LED_Off(LED1);
while (1) ;
#endif
/* Initialize modules */
MODULE_INITIALISE_ALL
@ -82,11 +88,11 @@ int main()
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
PIOS_LED_Off(LED1);
while (1) {
PIOS_LED_Toggle(LED1);
PIOS_DELAY_WaitmS(100);
}
return 0;
}

2
flight/CopterControl/System/pios_board.c
View File

@ -1430,7 +1430,9 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_USB_HID */
PIOS_IAP_Init();
#ifndef ERASE_FLASH
PIOS_WDG_Init();
#endif
}
/**

2
flight/Modules/Actuator/actuator.c
View File

@ -207,7 +207,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;

8
flight/Modules/ManualControl/manualcontrol.c
View File

@ -189,19 +189,19 @@ static void manualControlTask(void *parameters)
lastActivityTime = lastSysTime;
}
if (ManualControlCommandReadOnly(&cmd)) {
if (ManualControlCommandReadOnly()) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
ManualControlCommandGetMetadata(&metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
ManualControlCommandSetMetadata(&metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
if (!ManualControlCommandReadOnly()) {
bool valid_input_detected = true;

4
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -56,8 +56,8 @@ struct fileHeader {
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C33
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_MAGIC 0x85FB3D35
#define OBJ_MAGIC 0x3015A371
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00010000
#define SECTOR_SIZE 0x00010000

2
flight/UAVObjects/inc/uavobjecttemplate.h
View File

@ -67,7 +67,7 @@
#define $(NAME)InstUpdated(instId) UAVObjUpdated($(NAME)Handle(), instId)
#define $(NAME)GetMetadata(dataOut) UAVObjGetMetadata($(NAME)Handle(), dataOut)
#define $(NAME)SetMetadata(dataIn) UAVObjSetMetadata($(NAME)Handle(), dataIn)
#define $(NAME)ReadOnly(dataIn) UAVObjReadOnly($(NAME)Handle())
#define $(NAME)ReadOnly() UAVObjReadOnly($(NAME)Handle())
// Object data
typedef struct {

64
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -81,10 +81,10 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidget(m_config->outputRate3);
addWidget(m_config->outputRate2);
addWidget(m_config->outputRate1);
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@ -277,8 +277,17 @@ void ConfigOutputWidget::refreshWidgetsValues()
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Get Output rates for both banks
m_config->outputRate1->setValue(actuatorSettingsData.ChannelUpdateFreq[0]);
m_config->outputRate2->setValue(actuatorSettingsData.ChannelUpdateFreq[1]);
if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))==-1)
{
m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
}
if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))==-1)
{
m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
}
m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
int board = utilMngr->getBoardModel();
@ -288,24 +297,34 @@ void ConfigOutputWidget::refreshWidgetsValues()
m_config->chBank2->setText("4");
m_config->chBank3->setText("5,7-8");
m_config->chBank4->setText("6,9-10");
m_config->outputRate1->setEnabled(true);
m_config->outputRate2->setEnabled(true);
m_config->outputRate3->setEnabled(true);
m_config->outputRate4->setEnabled(true);
m_config->outputRate3->setValue(actuatorSettingsData.ChannelUpdateFreq[2]);
m_config->outputRate4->setValue(actuatorSettingsData.ChannelUpdateFreq[3]);
m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(true);
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))==-1)
{
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1)
{
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
m_config->outputRate1->setEnabled(true);
m_config->outputRate2->setEnabled(true);
m_config->outputRate3->setEnabled(false);
m_config->outputRate4->setEnabled(false);
m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(false);
m_config->cb_outputRate4->setEnabled(false);
m_config->chBank1->setText("1-4");
m_config->chBank2->setText("5-8");
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->outputRate3->setValue(0);
m_config->outputRate4->setValue(0);
m_config->cb_outputRate3->addItem("0");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText("0"));
m_config->cb_outputRate4->addItem("0");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText("0"));
}
}
@ -342,11 +361,10 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->outputRate1->value();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->outputRate2->value();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->outputRate3->value();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->outputRate4->value();
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}

1
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -94,6 +94,7 @@ void inputChannelForm::groupUpdated()
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = 5;
break;
case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0;
break;

324
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -38,102 +38,6 @@
<property name="spacing">
<number>2</number>
</property>
<item row="1" column="4">
<widget class="QSpinBox" name="outputRate4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="outputRate3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="outputRate2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="outputRate1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
@ -206,6 +110,230 @@ Leave at 50Hz for fixed wing.</string>
</item>
</layout>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="cb_outputRate1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="cb_outputRate2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="cb_outputRate3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="cb_outputRate4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -351,10 +479,6 @@ Applies and Saves all settings to SD</string>
</layout>
</widget>
<tabstops>
<tabstop>outputRate1</tabstop>
<tabstop>outputRate2</tabstop>
<tabstop>outputRate3</tabstop>
<tabstop>outputRate4</tabstop>
<tabstop>channelOutTest</tabstop>
<tabstop>saveRCOutputToRAM</tabstop>
<tabstop>saveRCOutputToSD</tabstop>

4
ground/openpilotgcs/src/plugins/config/outputchannelform.h
View File

@ -30,7 +30,7 @@
#include <QWidget>
#include "ui_outputchannelform.h"
class ConfigInputWidget;
class ConfigOnputWidget;
class OutputChannelForm : public QWidget
{
@ -39,7 +39,7 @@ class OutputChannelForm : public QWidget
public:
explicit OutputChannelForm(const int index, QWidget *parent = NULL, const bool showLegend = false);
~OutputChannelForm();
friend class ConfigInputWidget;
friend class ConfigOnputWidget;
void setAssignment(const QString &assignment);
int index() const;

44
ground/openpilotgcs/src/plugins/config/outputchannelform.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>562</width>
<height>49</height>
<width>605</width>
<height>56</height>
</rect>
</property>
<property name="windowTitle">
@ -136,6 +136,18 @@
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="actuatorRev">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Check to invert the channel.</string>
</property>
@ -143,6 +155,18 @@
</item>
<item row="1" column="10">
<widget class="QCheckBox" name="actuatorLink">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Output mode</string>
</property>
@ -213,11 +237,17 @@
<item row="0" column="9">
<widget class="QLabel" name="legend4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Rev.</string>
</property>
@ -226,11 +256,17 @@
<item row="0" column="10">
<widget class="QLabel" name="legend5">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Link</string>
</property>

34
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui
View File

@ -19,6 +19,9 @@
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>2</number>
@ -62,7 +65,7 @@
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0,0">
<property name="horizontalSpacing">
<number>10</number>
</property>
@ -86,8 +89,24 @@
<property name="mouseTracking">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="JoystickControl" name="widgetRightStick" native="true">
<property name="sizePolicy">
@ -104,19 +123,6 @@
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>

2018
ground/openpilotgcs/src/plugins/gcscontrol/images/joystick.svg
View File

@ -1,5 +1,5 @@
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Before

Width:  |  Height:  |  Size: 13 KiB

After

Width:  |  Height:  |  Size: 95 KiB

28
ground/openpilotgcs/src/plugins/logging/logfile.cpp
View File

@ -88,9 +88,12 @@ void LogFile::timerFired()
if(file.bytesAvailable() > 4)
{
// TODO: going back in time will be a problem
while ((myTime.elapsed() - timeOffset) * playbackSpeed > lastTimeStamp) {
int time;
time = myTime.elapsed();
// TODO: going back in time will be a problem
while ((lastPlayed + ((time - timeOffset)* playbackSpeed) > lastTimeStamp)) {
lastPlayed += ((time - timeOffset)* playbackSpeed);
if(file.bytesAvailable() < 4) {
stopReplay();
return;
@ -98,6 +101,11 @@ void LogFile::timerFired()
file.read((char *) &dataSize, sizeof(dataSize));
if (dataSize<1 || dataSize>(1024*1024)) {
qDebug() << "Error: Logfile corrupted! Unlikely packet size: " << dataSize << "\n";
stopReplay();
return;
}
if(file.bytesAvailable() < dataSize) {
stopReplay();
return;
@ -113,7 +121,19 @@ void LogFile::timerFired()
return;
}
int save=lastTimeStamp;
file.read((char *) &lastTimeStamp,sizeof(lastTimeStamp));
// some validity checks
if (lastTimeStamp<save // logfile goies back in time
|| (lastTimeStamp-save) > (60*60*1000)) { // gap of more than 60 minutes)
qDebug() << "Error: Logfile corrupted! Unlikely timestamp " << lastTimeStamp << " after "<< save << "\n";
stopReplay();
return;
}
timeOffset = time;
time = myTime.elapsed();
}
} else {
stopReplay();
@ -125,6 +145,7 @@ bool LogFile::startReplay() {
dataBuffer.clear();
myTime.restart();
timeOffset = 0;
lastPlayed = 0;
playbackSpeed = 1;
file.read((char *) &lastTimeStamp,sizeof(lastTimeStamp));
timer.setInterval(10);
@ -142,12 +163,11 @@ bool LogFile::stopReplay() {
void LogFile::pauseReplay()
{
timer.stop();
pausedTime = myTime.elapsed();
}
void LogFile::resumeReplay()
{
timeOffset += myTime.elapsed() - pausedTime;
timeOffset = myTime.elapsed();
timer.start();
}

4
ground/openpilotgcs/src/plugins/logging/logfile.h
View File

@ -27,7 +27,7 @@ public:
bool stopReplay();
public slots:
void setReplaySpeed(double val) { playbackSpeed = pow(10,(val)/100); qDebug() << playbackSpeed; };
void setReplaySpeed(double val) { playbackSpeed = val; qDebug() << playbackSpeed; };
void pauseReplay();
void resumeReplay();
@ -45,11 +45,11 @@ protected:
QTime myTime;
QFile file;
qint32 lastTimeStamp;
qint32 lastPlayed;
QMutex mutex;
int timeOffset;
int pausedTime;
double playbackSpeed;
};

6
ground/openpilotgcs/src/plugins/rawhid/rawhid.pro
View File

@ -7,9 +7,11 @@ HEADERS += rawhid_global.h \
rawhid.h \
pjrc_rawhid.h \
rawhid_const.h \
usbmonitor.h
usbmonitor.h \
usbsignalfilter.h
SOURCES += rawhidplugin.cpp \
rawhid.cpp
rawhid.cpp \
usbsignalfilter.cpp
FORMS +=
RESOURCES +=
DEFINES += RAWHID_LIBRARY

2
ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h
View File

@ -31,7 +31,7 @@
#include "rawhid_global.h"
#include "rawhid.h"
#include "usbmonitor.h"
#include "usbsignalfilter.h"
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>

1
ground/openpilotgcs/src/plugins/rawhid/usbmonitor.h
View File

@ -202,5 +202,4 @@ private:
#endif
};
#endif // USBMONITOR_H

40
ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp
View File

@ -78,6 +78,15 @@ USBMonitor::~USBMonitor()
QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB)
{
QList<USBPortInfo> allPorts = availableDevices();
qDebug()<<"USBMonitor::availableDevices list off all ports:";
qDebug()<<"USBMonitor::availableDevices total ports:"<<allPorts.length();
foreach (USBPortInfo info, allPorts) {
qDebug()<<"----------";
qDebug()<<"bcdDevice:"<<info.bcdDevice;
qDebug()<<"devicePath:"<<info.devicePath;
qDebug()<<"product:"<<info.product;
}
qDebug()<<"END OF LIST";
QList<USBPortInfo> thePortsWeWant;
qDebug()<<"USBMonitor::availableDevices bcdLSB="<<bcdDeviceLSB;
foreach (USBPortInfo port, allPorts) {
@ -86,6 +95,15 @@ QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceM
( (port.bcdDevice&0x00ff) ==bcdDeviceLSB || bcdDeviceLSB==-1))
thePortsWeWant.append(port);
}
qDebug()<<"USBMonitor::availableDevices list off matching ports vid pid bcdMSD bcdLSD:"<<vid<<pid<<bcdDeviceMSB<<bcdDeviceLSB;
qDebug()<<"USBMonitor::availableDevices total matching ports:"<<thePortsWeWant.length();
foreach (USBPortInfo info, thePortsWeWant) {
qDebug()<<"----------";
qDebug()<<"bcdDevice:"<<info.bcdDevice;
qDebug()<<"devicePath:"<<info.devicePath;
qDebug()<<"product:"<<info.product;
}
qDebug()<<"END OF LIST";
return thePortsWeWant;
}
@ -160,6 +178,7 @@ bool USBRegistrationWidget::winEvent( MSG* message, long* result )
#endif
bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const GUID & guid, WPARAM wParam)
{
qDebug()<<"USB_MONITOR matchAndDispatchChangedDevice deviceID="<<deviceID;
bool rv = false;
DWORD dwFlag = (DBT_DEVICEARRIVAL == wParam) ? DIGCF_PRESENT : DIGCF_ALLCLASSES;
HDEVINFO devInfo;
@ -178,10 +197,7 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
info.devicePath=deviceID;
if( wParam == DBT_DEVICEARRIVAL )
{
qDebug()<<"INSERTION";
QEventLoop m_eventloop;
QTimer::singleShot(1000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
qDebug()<<"USB_MONITOR INSERTION";
if(infoFromHandle(guid,info,devInfo,i)!=1)
{
qDebug()<<"USB_MONITOR infoFromHandle failed on matchAndDispatchChangedDevice";
@ -189,11 +205,20 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
}
bool m_break=false;
foreach (USBPortInfo m_info, knowndevices) {
if(m_info.serialNumber==info.serialNumber && m_info.productID==info.productID)
if(m_info.serialNumber==info.serialNumber && m_info.productID==info.productID && m_info.bcdDevice==info.bcdDevice && m_info.devicePath==info.devicePath)
{
qDebug()<<"USB_MONITOR device already present don't emit signal";
m_break=true;
}
}
if(m_break)
break;
if(info.bcdDevice==0 || info.product.isEmpty())
{
qDebug()<<"USB_MONITOR empty information on device not emiting signal";
break;
}
knowndevices.append(info);
qDebug()<<"USB_MONITOR emit device discovered on device:"<<info.product<<info.bcdDevice;
emit deviceDiscovered(info);
@ -208,14 +233,19 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
if(knowndevices[x].devicePath==deviceID)
{
USBPortInfo temp=knowndevices.at(x);
knowndevices.removeAt(x);
qDebug()<<"USB_MONITOR emit device removed on device:"<<temp.product<<temp.bcdDevice;
emit deviceRemoved(temp);
found=true;
break;
}
}
if(!found)
{
qDebug()<<"USB_MONITOR emit device removed on unknown device";
emit deviceRemoved(info);
}
}
break;
}

22
ground/openpilotgcs/src/plugins/rawhid/usbsignalfilter.cpp Normal file
View File

@ -0,0 +1,22 @@
#include "usbsignalfilter.h"
#include <QDebug>
void USBSignalFilter::m_deviceDiscovered(USBPortInfo port)
{
if((port.vendorID==m_vid || m_vid==-1) && (port.productID==m_pid || m_pid==-1) && ((port.bcdDevice>>8)==m_boardModel || m_boardModel==-1) &&
( (port.bcdDevice&0x00ff) ==m_runState || m_runState==-1))
{
qDebug()<<"USBSignalFilter emit device discovered";
emit deviceDiscovered();
}
}
USBSignalFilter::USBSignalFilter(int vid, int pid, int boardModel, int runState):
m_vid(vid),
m_pid(pid),
m_boardModel(boardModel),
m_runState(runState)
{
connect(USBMonitor::instance(),SIGNAL(deviceDiscovered(USBPortInfo)),this,SLOT(m_deviceDiscovered(USBPortInfo)));
}

21
ground/openpilotgcs/src/plugins/rawhid/usbsignalfilter.h Normal file
View File

@ -0,0 +1,21 @@
#ifndef USBSIGNALFILTER_H
#define USBSIGNALFILTER_H
#include <QObject>
#include "usbmonitor.h"
class RAWHID_EXPORT USBSignalFilter : public QObject
{
Q_OBJECT
private:
int m_vid;
int m_pid;
int m_boardModel;
int m_runState;
signals:
void deviceDiscovered();
private slots:
void m_deviceDiscovered(USBPortInfo port);
public:
USBSignalFilter(int vid, int pid, int boardModel, int runState);
};
#endif // USBSIGNALFILTER_H

44
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
View File

@ -49,9 +49,14 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField)
xData = new QVector<double>();
yData = new QVector<double>();
yDataHistory = new QVector<double>();
curve = 0;
scalePower = 0;
interpolationSamples = 1;
interpolationSum = 0.0f;
correctionSum = 0.0f;
correctionCount = 0;
yMinimum = 0;
yMaximum = 0;
@ -78,6 +83,7 @@ PlotData::~PlotData()
{
delete xData;
delete yData;
delete yDataHistory;
}
@ -91,7 +97,24 @@ bool SequencialPlotData::append(UAVObject* obj)
if (field) {
//Shift data forward and put the new value at the front
yData->append( valueAsDouble(obj, field) * pow(10, scalePower));
// calculate interpolated (smoothed) value
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
yData->append(interpolationSum/yDataHistory->size());
if (yData->size() > m_xWindowSize) {
yData->pop_front();
} else
@ -117,8 +140,25 @@ bool ChronoPlotData::append(UAVObject* obj)
//Put the new value at the front
QDateTime NOW = QDateTime::currentDateTime();
// calculate interpolated (smoothed) value
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0;
double valueY = valueAsDouble(obj, field) * pow(10, scalePower);
double valueY = interpolationSum/yDataHistory->size();
xData->append(valueX);
yData->append(valueY);

5
ground/openpilotgcs/src/plugins/scope/plotdata.h
View File

@ -72,12 +72,17 @@ public:
QString uavSubField;
bool haveSubField;
int scalePower; //This is the power to which each value must be raised
int interpolationSamples;
double interpolationSum;
double correctionSum;
int correctionCount;
double yMinimum;
double yMaximum;
double m_xWindowSize;
QwtPlotCurve* curve;
QVector<double>* xData;
QVector<double>* yData;
QVector<double>* yDataHistory;
virtual bool append(UAVObject* obj) = 0;
virtual PlotType plotType() = 0;

2
ground/openpilotgcs/src/plugins/scope/scopegadget.cpp
View File

@ -61,12 +61,14 @@ void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration* config)
QString uavObject = plotCurveConfig->uavObject;
QString uavField = plotCurveConfig->uavField;
int scale = plotCurveConfig->yScalePower;
int interpolation = plotCurveConfig->yInterpolationSamples;
QRgb color = plotCurveConfig->color;
widget->addCurvePlot(
uavObject,
uavField,
scale,
interpolation,
QPen( QBrush(QColor(color),Qt::SolidPattern),
// (qreal)2,
(qreal)1,

3
ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp
View File

@ -65,6 +65,7 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, QSettings* q
color = qSettings->value("color").value<QRgb>();
plotCurveConf->color = color;
plotCurveConf->yScalePower = qSettings->value("yScalePower").toInt();
plotCurveConf->yInterpolationSamples = qSettings->value("yInterpolationSamples").toInt();
plotCurveConf->yMinimum = qSettings->value("yMinimum").toDouble();
plotCurveConf->yMaximum = qSettings->value("yMaximum").toDouble();
@ -118,6 +119,7 @@ IUAVGadgetConfiguration *ScopeGadgetConfiguration::clone()
newPlotCurveConf->uavField = currentPlotCurveConf->uavField;
newPlotCurveConf->color = currentPlotCurveConf->color;
newPlotCurveConf->yScalePower = currentPlotCurveConf->yScalePower;
newPlotCurveConf->yInterpolationSamples = currentPlotCurveConf->yInterpolationSamples;
newPlotCurveConf->yMinimum = currentPlotCurveConf->yMinimum;
newPlotCurveConf->yMaximum = currentPlotCurveConf->yMaximum;
@ -157,6 +159,7 @@ void ScopeGadgetConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("uavField", plotCurveConf->uavField);
qSettings->setValue("color", plotCurveConf->color);
qSettings->setValue("yScalePower", plotCurveConf->yScalePower);
qSettings->setValue("yInterpolationSamples", plotCurveConf->yInterpolationSamples);
qSettings->setValue("yMinimum", plotCurveConf->yMinimum);
qSettings->setValue("yMaximum", plotCurveConf->yMaximum);

1
ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h
View File

@ -41,6 +41,7 @@ struct PlotCurveConfiguration
QString uavField;
int yScalePower; //This is the power to which each value must be raised
QRgb color;
int yInterpolationSamples;
double yMinimum;
double yMaximum;
};

23
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp
View File

@ -101,9 +101,10 @@ QWidget* ScopeGadgetOptionsPage::createPage(QWidget *parent)
QString uavObject = plotData->uavObject;
QString uavField = plotData->uavField;
int scale = plotData->yScalePower;
int interpolation = plotData->yInterpolationSamples;
QVariant varColor = plotData->color;
addPlotCurveConfig(uavObject,uavField,scale,varColor);
addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor);
}
if(m_config->plotCurveConfigs().count() > 0)
@ -163,6 +164,10 @@ void ScopeGadgetOptionsPage::setYAxisWidgetFromPlotCurve()
int rgb = varColor.toInt(&parseOK);
setButtonColor(QColor((QRgb)rgb));
int interpolation = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
if(!parseOK) interpolation = 1;
options_page->spnInterpolationSamples->setValue(interpolation);
}
void ScopeGadgetOptionsPage::setButtonColor(const QColor &color)
@ -236,6 +241,10 @@ void ScopeGadgetOptionsPage::apply()
else
newPlotCurveConfigs->color = (QRgb)rgb;
newPlotCurveConfigs->yInterpolationSamples = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
if(!parseOK)
newPlotCurveConfigs->yInterpolationSamples = 1;
plotCurveConfigs.append(newPlotCurveConfigs);
}
@ -261,6 +270,7 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked()
if(!parseOK)
scale = 0;
int interpolation = options_page->spnInterpolationSamples->value();
QVariant varColor = (int)QColor(options_page->btnColor->text()).rgb();
@ -270,27 +280,27 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked()
options_page->lstCurves->currentItem()->text() == uavObject + "." + uavField)
{
QListWidgetItem *listWidgetItem = options_page->lstCurves->currentItem();
setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,varColor);
setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor);
}else
{
addPlotCurveConfig(uavObject,uavField,scale,varColor);
addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor);
options_page->lstCurves->setCurrentRow(options_page->lstCurves->count() - 1);
}
}
void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, QVariant varColor)
void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor)
{
//Add a new curve config to the list
QString listItemDisplayText = uavObject + "." + uavField;
options_page->lstCurves->addItem(listItemDisplayText);
QListWidgetItem *listWidgetItem = options_page->lstCurves->item(options_page->lstCurves->count() - 1);
setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,varColor);
setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor);
}
void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, QVariant varColor)
void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor)
{
bool parseOK = false;
@ -306,6 +316,7 @@ void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetI
listWidgetItem->setData(Qt::UserRole + 1,QVariant(uavField));
listWidgetItem->setData(Qt::UserRole + 2,QVariant(scale));
listWidgetItem->setData(Qt::UserRole + 3,varColor);
listWidgetItem->setData(Qt::UserRole + 4,QVariant(interpolation));
}
/*!

4
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h
View File

@ -66,8 +66,8 @@ private:
Ui::ScopeGadgetOptionsPage *options_page;
ScopeGadgetConfiguration *m_config;
void addPlotCurveConfig(QString uavObject, QString uavField, int scale, QVariant varColor);
void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, QVariant varColor);
void addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor);
void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor);
void setYAxisWidgetFromPlotCurve();
void setButtonColor(const QColor &color);

28
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
View File

@ -159,6 +159,32 @@
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Display smoothed interpolation:</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QSpinBox" name="spnInterpolationSamples">
<property name="suffix">
<string> samples</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1001</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
@ -268,7 +294,7 @@ Update</string>
<item>
<widget class="QCheckBox" name="LoggingEnable">
<property name="text">
<string>Log data to csv file</string>
<string>Log data to csv file (not interpolated)</string>
</property>
</widget>
</item>

37
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -356,7 +356,7 @@ void ScopeGadgetWidget::setupChronoPlot()
// scaleWidget->setMinBorderDist(0, fmw);
}
void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, QPen pen)
void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, int interpolationSamples, QPen pen)
{
PlotData* plotData;
@ -369,6 +369,7 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField
plotData->m_xWindowSize = m_xWindowSize;
plotData->scalePower = scaleOrderFactor;
plotData->interpolationSamples = interpolationSamples;
//If the y-bounds are supplied, set them
if (plotData->yMinimum != plotData->yMaximum)
@ -446,6 +447,7 @@ void ScopeGadgetWidget::uavObjectReceived(UAVObject* obj)
foreach(PlotData* plotData, m_curvesData.values()) {
if (plotData->append(obj)) m_csvLoggingDataUpdated=1;
}
csvLoggingAddData();
}
void ScopeGadgetWidget::replotNewData()
@ -609,6 +611,7 @@ int ScopeGadgetWidget::csvLoggingStart()
m_csvLoggingStartTime = NOW;
m_csvLoggingHeaderSaved=0;
m_csvLoggingDataSaved=0;
m_csvLoggingBuffer.clear();
QDir PathCheck(m_csvLoggingPath);
if (!PathCheck.exists())
{
@ -676,20 +679,13 @@ int ScopeGadgetWidget::csvLoggingInsertHeader()
return 0;
}
int ScopeGadgetWidget::csvLoggingInsertData()
int ScopeGadgetWidget::csvLoggingAddData()
{
if (!m_csvLoggingStarted) return -1;
m_csvLoggingDataSaved=1;
m_csvLoggingDataValid=0;
QDateTime NOW = QDateTime::currentDateTime();
QString tempString;
if(m_csvLoggingFile.open(QIODevice::WriteOnly | QIODevice::Append)== FALSE)
{
qDebug() << "Unable to open " << m_csvLoggingFile.fileName() << " for csv logging Data";
}
else
{
QTextStream ss( &tempString );
ss << NOW.toString("yyyy-MM-dd") << ", " << NOW.toString("hh:mm:ss.z") << ", " ;
@ -709,19 +705,36 @@ int ScopeGadgetWidget::csvLoggingInsertData()
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yData->last()/pow(10,plotData2->scalePower));
ss << QString().sprintf("%3.6g",plotData2->yDataHistory->last()/pow(10,plotData2->scalePower));
m_csvLoggingDataValid=1;
}
}
ss << endl;
if (m_csvLoggingDataValid)
{
QTextStream ts( &m_csvLoggingFile );
QTextStream ts( &m_csvLoggingBuffer );
ts << tempString;
}
return 0;
}
int ScopeGadgetWidget::csvLoggingInsertData()
{
if (!m_csvLoggingStarted) return -1;
m_csvLoggingDataSaved=1;
if(m_csvLoggingFile.open(QIODevice::WriteOnly | QIODevice::Append)== FALSE)
{
qDebug() << "Unable to open " << m_csvLoggingFile.fileName() << " for csv logging Data";
}
else
{
QTextStream ts( &m_csvLoggingFile );
ts << m_csvLoggingBuffer;
m_csvLoggingFile.close();
}
m_csvLoggingBuffer.clear();
return 0;
}

4
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h
View File

@ -110,7 +110,7 @@ public:
int refreshInterval(){return m_refreshInterval;}
void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, QPen pen = QPen(Qt::black));
void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, int interpolationSamples = 1, QPen pen = QPen(Qt::black));
//void removeCurvePlot(QString uavObject, QString uavField);
void clearCurvePlots();
int csvLoggingStart();
@ -166,11 +166,13 @@ private:
QString m_csvLoggingName;
QString m_csvLoggingPath;
QString m_csvLoggingBuffer;
QFile m_csvLoggingFile;
QMutex mutex;
int csvLoggingInsertHeader();
int csvLoggingAddData();
int csvLoggingInsertData();
void deleteLegend();

39
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -492,6 +492,45 @@ QVariant UAVObjectField::getValue(quint32 index)
return QVariant();
}
bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return false;
}
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
case INT8:
case INT16:
case INT32:
case UINT8:
case UINT16:
case UINT32:
case FLOAT32:
case STRING:
return true;
break;
case ENUM:
{
qint8 tmpenum = options.indexOf( value.toString() );
return ((tmpenum < 0) ? false : true);
break;
}
default:
qDebug() << "checkValue: other types" << type;
Q_ASSERT(0); // To catch any programming errors where we tried to test invalid values
break;
}
}
}
void UAVObjectField::setValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());

1
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -56,6 +56,7 @@ public:
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
QVariant getValue(quint32 index = 0);
bool checkValue(const QVariant& data, quint32 index = 0);
void setValue(const QVariant& data, quint32 index = 0);
double getDouble(quint32 index = 0);
void setDouble(double value, quint32 index = 0);

15
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp
View File

@ -153,6 +153,7 @@ void UAVSettingsImportExportFactory::importUAVSettings()
// - Update each field
// - Issue and "updated" command
bool error=false;
bool setError=false;
QDomNode field = node.firstChild();
while(!field.isNull()) {
QDomElement f = field.toElement();
@ -161,16 +162,24 @@ void UAVSettingsImportExportFactory::importUAVSettings()
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
if (false == uavfield->checkValue(f.attribute("values"))) {
qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
setError = true;
} else
uavfield->setValue(f.attribute("values"));
} else {
// This is an enum:
int i=0;
QStringList list = f.attribute("values").split(",");
foreach (QString element, list) {
uavfield->setValue(element,i++);
if (false == uavfield->checkValue(element,i)) {
qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
setError = true;
} else
uavfield->setValue(element,i);
i++;
}
}
error = false;
} else {
error = true;
}
@ -183,6 +192,8 @@ void UAVSettingsImportExportFactory::importUAVSettings()
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else if (setError) {
swui.addLine(uavObjectName, "Warning (Objects field value(s) invalid)", false);
} else
swui.addLine(uavObjectName, "OK", true);
}

27
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -80,32 +80,43 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
}
else
{
mready = false;
QEventLoop m_eventloop;
QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
QList<USBPortInfo> devices;
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
if (devices.length()==1 && hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
qDebug()<<"OP_DFU detected first time";
mready=true;
} else {
// Wait for the board to appear on the USB bus:
connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
QTimer::singleShot(15000,&m_eventloop, SLOT(quit()));
USBSignalFilter filter(0x20a0,-1,-1,USBMonitor::Bootloader);
connect(&filter, SIGNAL(deviceDiscovered()),&m_eventloop, SLOT(quit()));
for(int x=0;x<4;++x)
{
qDebug()<<"OP_DFU trying to detect bootloader:"<<x;
if(x==0)
QTimer::singleShot(10000,&m_eventloop, SLOT(quit()));
else
QTimer::singleShot(2000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
disconnect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
QTimer::singleShot(1000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
if(hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1)
{
qDebug()<<"OP_DFU detected after delay";
mready=true;
break;
}
}
else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
}
}
}
}
}

1
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
View File

@ -4,6 +4,7 @@
#include <QByteArray>
#include <rawhid/pjrc_rawhid.h>
#include <rawhid/usbmonitor.h>
#include <rawhid/usbsignalfilter.h>
#include <QDebug>
#include <QFile>
#include <QThread>

3
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -209,6 +209,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
if ( !accessFound )
return QString("Object::access element is missing");

BIN
package/osx/OpenPilot.dmg
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Binary file not shown.

6
package/osx/package
View File

@ -30,8 +30,10 @@ cp "${ROOT_DIR}/HISTORY.txt" "/Volumes/${VOL_NAME}"
hdiutil detach ${device}
echo "Resizing dmg"
hdiutil resize -size 250m ${TEMP_FILE}
min=`hdiutil resize ${TEMP_FILE} | awk \{print\ \$\1\}`
echo "Resizing dmg to ${min}"
hdiutil resize -sectors ${min} ${TEMP_FILE}
hdiutil convert "${TEMP_FILE}" -format UDZO -o "${OUT_FILE}"
# cleanup