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Code Issues Releases Activity

Merge branch 'next' into test2

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
	ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
This commit is contained in:
James Cotton 2012-09-10 14:29:26 -05:00
commit 386a9d41ef
51 changed files with 304 additions and 195 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
flight/EntireFlash/Makefile
View File

@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
.PHONY: bin
bin: $(OUTDIR)/$(TARGET).bin
FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
$(OUTDIR)/$(TARGET).pad:
FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
$(OUTDIR)/$(TARGET).fw_pre.pad:
$(V0) @echo $(MSG_PADDING) $@
$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
$(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
$(OUTDIR)/$(TARGET).fw_post.pad:
$(V0) @echo $(MSG_PADDING) $@
$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
$(V0) @echo $(MSG_FLASH_IMG) $@
$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
.PHONY: dfu
dfu: $(OUTDIR)/$(TARGET).bin

4
flight/Modules/Attitude/attitude.c
View File

@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyrosData->z += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
GyrosSet(gyrosData);
AccelsSet(accelsData);

1
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
View File

@ -75,6 +75,7 @@ SECTIONS
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
} > BD_INFO
/* Stabs debugging sections. */

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
View File

@ -43,6 +43,8 @@ namespace core {
LanguageStr=LanguageType().toShortString(Language);
Cache::Instance();
// OPMaps::MemoryCache();
}

1
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
View File

@ -91,6 +91,7 @@ Size PlateCarreeProjection::GetTileMatrixMaxXY(const int &zoom)
Size PlateCarreeProjection::GetTileMatrixMinXY(const int &zoom)
{
Q_UNUSED(zoom);
return Size(0, 0);
}
}

1
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
View File

@ -90,6 +90,7 @@ Size PlateCarreeProjectionPergo::GetTileMatrixMaxXY(const int &zoom)
Size PlateCarreeProjectionPergo::GetTileMatrixMinXY(const int &zoom)
{
Q_UNUSED(zoom)
return Size(0, 0);
}
}

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -28,7 +28,7 @@
namespace mapcontrol
{
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
showsafearea(true),toggleRefresh(true),safearea(1000),altitude(0),isDragging(false)
{
pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);

5
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -34,7 +34,7 @@ namespace mapcontrol
{
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
,followmouse(true),compass(0),showuav(false),showhome(false),diagTimer(0),diagGraphItem(0),showDiag(false),overlayOpacity(1)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core=new internals::Core;
@ -392,7 +392,6 @@ namespace mapcontrol
}
void OPMapWidget::WPDeleteAll()
{
int x=0;
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
@ -419,7 +418,9 @@ namespace mapcontrol
}
}
}
return false;
}
void OPMapWidget::deleteAllOverlays()
{
foreach(QGraphicsItem* i,map->childItems())

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
View File

@ -37,6 +37,9 @@ TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QB
void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
painter->setBrush(m_brush);
painter->drawEllipse(-2,-2,4,4);
}

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
View File

@ -60,6 +60,9 @@ int WayPointCircle::type() const
void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
QPointF p1;
QPointF p2;
p1=QPointF(line.p1().x(),line.p1().y()+line.length());

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
View File

@ -75,6 +75,8 @@ QPainterPath WayPointLine::shape() const
}
void WayPointLine::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
QPen myPen = pen();
myPen.setColor(myColor);

2
ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
View File

@ -492,7 +492,7 @@ QString QScienceSpinBox::stripped(const QString &t, int *pos) const
}
// reimplemented function, copied from qspinbox.cpp
static bool isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
bool QScienceSpinBox::isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
{
QSBDEBUG("%lld %lld %lld", num, min, max);

2
ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
View File

@ -11,7 +11,6 @@
#include <QtCore/QDebug>
#include <QtCore/QString>
static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
class QScienceSpinBox : public QDoubleSpinBox
{
@ -24,6 +23,7 @@ public:
QString textFromValue ( double value ) const;
double valueFromText ( const QString & text ) const;
static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
private:
int dispDecimals;

2
ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
View File

@ -114,6 +114,8 @@ void MyTabbedStackWidget::showWidget(int index)
void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget)
{
Q_UNUSED(index);
widget->hide();
}

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -218,6 +218,7 @@ ConfigCcpmWidget::~ConfigCcpmWidget()
void ConfigCcpmWidget::setupUI(QString frameType)
{
Q_UNUSED(frameType);
}
void ConfigCcpmWidget::ResetActuators(GUIConfigDataUnion* configData)

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -239,7 +239,7 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{
UAVDataObject* obj;
UAVObjectField *field;
// UAVObjectField *field;
GUIConfigDataUnion config = GetConfigData();
@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -971,7 +971,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (unsigned int channel=0; channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -112,7 +112,9 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)
{
Q_UNUSED(configData);
}
QStringList VehicleConfig::getChannelDescriptions()
{
QStringList channelDesc;

2
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -218,6 +218,8 @@ void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
*/
void ConfigGadgetWidget::updatePipXStatus(UAVObject *)
{
Q_UNUSED(object);
// Restart the disconnection timer.
pipxTimeout->start(5000);
if (!pipxConnected)

2
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -1268,7 +1268,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle

2
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -231,7 +231,7 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
{
Q_UNUSED(obj);
bool dirty=isDirty();
// bool dirty=isDirty();
// Get Actuator Settings
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());

4
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -266,7 +266,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
*/
void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
{
if (!settingsUpdated)
Q_UNUSED(object);
if (!settingsUpdated)
{
settingsUpdated = true;
enableControls(true);

2
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -74,9 +74,9 @@ public:
ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
ConfigTaskWidget(parent),
collectingData(false),
m_ui(new Ui_RevoSensorsWidget()),
position(-1)
{
m_ui = new Ui_RevoSensorsWidget();
m_ui->setupUi(this);
// Initialization of the Paper plane widget

2
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -109,7 +109,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
//Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None";
for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);

4
ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
View File

@ -84,6 +84,8 @@ void ModeManager::init()
void ModeManager::addWidget(QWidget *widget)
{
Q_UNUSED(widget);
// We want the actionbar to stay on the bottom
// so m_modeStack->cornerWidgetCount() -1 inserts it at the position immediately above
// the actionbar
@ -220,6 +222,8 @@ void ModeManager::aboutToRemoveObject(QObject *obj)
void ModeManager::addAction(Command *command, int priority, QMenu *menu)
{
Q_UNUSED(menu);
m_actions.insert(command, priority);
// Count the number of commands with a higher priority

4
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -198,6 +198,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
void GCSControlGadget::gamepads(quint8 count)
{
Q_UNUSED(count);
// sdlGamepad.setGamepad(0);
// sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
}
@ -291,7 +293,7 @@ double GCSControlGadget::constrain(double value)
void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
int state;
// int state;
if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
{//this button is configured
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

4
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
View File

@ -71,6 +71,8 @@ void GCSControlGadgetOptionsPage::buttonState(ButtonNumber number, bool pressed)
void GCSControlGadgetOptionsPage::gamepads(quint8 count)
{
Q_UNUSED(count);
/*options_page->AvailableControllerList->clear();
for (int i=0;i<count;i++)
{
@ -105,6 +107,8 @@ void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
//creates options page widget (uses the UI file)
QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
int i;
options_page = new Ui::GCSControlGadgetOptionsPage();
QWidget *optionsPageWidget = new QWidget;

2
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -154,6 +154,8 @@ void GCSControlGadgetWidget::toggleArmed(int state)
void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
{
Q_UNUSED(obj);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );

2
ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
View File

@ -165,6 +165,8 @@ return s1.portName<s2.portName;
//creates options page widget (uses the UI file)
QWidget *GpsDisplayGadgetOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
options_page = new Ui::GpsDisplayGadgetOptionsPage();
QWidget *optionsPageWidget = new QWidget;
options_page->setupUi(optionsPageWidget);

2
ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
View File

@ -301,7 +301,7 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
const int sentence_total = tokenslist.at(1).toInt(); // Number of sentences for full data
const int sentence_index = tokenslist.at(2).toInt(); // sentence x of y
const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
// const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
int sats = (tokenslist.size() - 4) /4;
for(int sat = 0; sat < sats; sat++) {

2
ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
View File

@ -117,7 +117,7 @@ void TelemetryParser::updateSats( UAVObject* object1) {
UAVObjectField* azimuth = object1->getField(QString("Azimuth"));
UAVObjectField* snr = object1->getField(QString("SNR"));
for (int i=0;i< prn->getNumElements();i++) {
for (unsigned int i=0;i< prn->getNumElements();i++) {
emit satellite(i,prn->getValue(i).toInt(),elevation->getValue(i).toInt(),
azimuth->getValue(i).toInt(), snr->getValue(i).toInt());
}

2
ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
View File

@ -34,6 +34,8 @@ IPconnectionConfiguration::IPconnectionConfiguration(QString classId, QSettings*
m_Port(1000),
m_UseTCP(1)
{
Q_UNUSED(qSettings);
settings = Core::ICore::instance()->settings();
}

5
ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
View File

@ -73,7 +73,6 @@ void IPConnection::onOpenDevice(QString HostName, int Port, bool UseTCP)
{
QAbstractSocket *ipSocket;
const int Timeout = 5 * 1000;
int state;
ipConMutex.lock();
if (UseTCP) {
@ -177,6 +176,8 @@ QList <Core::IConnection::device> IPconnectionConnection::availableDevices()
QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
{
Q_UNUSED(deviceName);
QString HostName;
int Port;
bool UseTCP;
@ -211,6 +212,8 @@ QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
void IPconnectionConnection::closeDevice(const QString &deviceName)
{
Q_UNUSED(deviceName);
if (ipSocket){
ipConMutex.lock();
emit CloseSocket(ipSocket);

1
ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
View File

@ -169,6 +169,7 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const
default:
return false;
}
return false;
}
QVariant flightDataModel::getColumnByIndex(const pathPlanData *row,const int index) const
{

6
ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -60,6 +60,8 @@ void modelMapProxy::WPValuesChanged(WayPointItem * wp)
void modelMapProxy::currentRowChanged(QModelIndex current, QModelIndex previous)
{
Q_UNUSED(previous);
QList<WayPointItem*> list;
WayPointItem * wp=findWayPointNumber(current.row());
if(!wp)
@ -202,6 +204,8 @@ WayPointItem * modelMapProxy::findWayPointNumber(int number)
void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
{
Q_UNUSED(parent);
for(int x=last;x>first-1;x--)
{
myMap->WPDelete(x);
@ -211,6 +215,8 @@ void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
void modelMapProxy::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight)
{
Q_UNUSED(bottomRight);
WayPointItem * item=findWayPointNumber(topLeft.row());
if(!item)
return;

2
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
View File

@ -287,5 +287,7 @@ void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
void opmap_edit_waypoint_dialog::currentRowChanged(QModelIndex current, QModelIndex previous)
{
Q_UNUSED(previous);
mapper->setCurrentIndex(current.row());
}

1
ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
View File

@ -46,6 +46,7 @@ PFDGadgetOptionsPage::PFDGadgetOptionsPage(PFDGadgetConfiguration *config, QObje
//creates options page widget (uses the UI file)
QWidget *PFDGadgetOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
options_page = new Ui::PFDGadgetOptionsPage();
//main widget

1
ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
View File

@ -46,6 +46,7 @@ QmlViewGadgetOptionsPage::QmlViewGadgetOptionsPage(QmlViewGadgetConfiguration *c
//creates options page widget (uses the UI file)
QWidget *QmlViewGadgetOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
options_page = new Ui::QmlViewGadgetOptionsPage();
//main widget

57
ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
View File

@ -90,7 +90,7 @@ static void hid_close(hid_t *);
static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
//static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
static void timeout_callback(CFRunLoopTimerRef, void *);
@ -173,7 +173,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
if (ret != kIOReturnSuccess) {
printf("Could not start IOHIDManager");
qDebug()<< "Could not start IOHIDManager";
IOHIDManagerUnscheduleFromRunLoop(hid_manager,
CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
CFRelease(hid_manager);
@ -181,7 +181,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
}
// Set the run loop reference:
the_correct_runloop = CFRunLoopGetCurrent();
printf("run loop\n");
qDebug() << "run loop";
// let it do the callback for all devices
while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
// count up how many were added by the callback
@ -240,7 +240,7 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
break;
}
if (!hid->open) {
printf("pjrc_rawhid_recv, device not open\n");
qDebug() << "pjrc_rawhid_recv, device not open\n";
ret = -1;
break;
}
@ -263,6 +263,8 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
//
int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
{
Q_UNUSED(timeout);
hid_t *hid;
int result=-100;
@ -287,6 +289,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
#endif
#if 0
#define TIMEOUT_FIXED
// No matter what I tried this never actually sends an output
// report and output_callback never gets called. Why??
// Did I miss something? This is exactly the same params as
@ -315,7 +318,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
QString pjrc_rawhid::getserial(int num) {
hid_t *hid;
char buf[128];
// char buf[128];
hid = get_hid(num);
@ -358,6 +361,9 @@ void pjrc_rawhid::close(int num)
//
static void input_callback(void *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
{
Q_UNUSED(type);
Q_UNUSED(id);
buffer_t *n;
hid_t *hid;
@ -365,7 +371,7 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
if (ret != kIOReturnSuccess || len < 1) return;
hid = (hid_t*)context;
if (!hid || hid->ref != sender) return;
printf("Processing packet");
qDebug() << "Processing packet";
n = (buffer_t *)malloc(sizeof(buffer_t));
if (!n) return;
if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@ -385,6 +391,8 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
static void timeout_callback(CFRunLoopTimerRef timer, void *info)
{
Q_UNUSED(timer);
//qDebug("timeout_callback\n");
*(int *)info = 1;
//qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
@ -440,9 +448,13 @@ static void hid_close(hid_t *hid)
static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
hid_t *p;
printf("detach callback\n");
qDebug()<< "detach callback";
for (p = first_hid; p; p = p->next) {
if (p->ref == dev) {
p->open = 0;
@ -454,9 +466,13 @@ static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
struct hid_struct *h;
printf("attach callback\n");
qDebug() << "attach callback";
if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
h = (hid_t *)malloc(sizeof(hid_t));
if (!h) return;
@ -468,15 +484,22 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
add_hid(h);
}
#ifdef TIMEOUT_FIXED
static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
{
printf("output_callback, r=%d\n", ret);
if (ret == kIOReturnSuccess) {
*(int *)context = len;
} else {
// timeout if not success?
*(int *)context = 0;
}
CFRunLoopStop(CFRunLoopGetCurrent());
}
Q_UNUSED(sender);
Q_UNUSED(type);
Q_UNUSED(id);
Q_UNUSED(data);
qDebug()<< QString("output_callback, r=%1").arg(ret);
// printf("output_callback, r=%d\n", ret);
if (ret == kIOReturnSuccess) {
*(int *)context = len;
} else {
// timeout if not success?
*(int *)context = 0;
}
CFRunLoopStop(CFRunLoopGetCurrent());
}
#endif

11
ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
View File

@ -45,8 +45,6 @@ static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString
*/
USBMonitor::USBMonitor(QObject *parent): QThread(parent) {
hid_manager=NULL;
CFMutableDictionaryRef dict;
CFNumberRef num;
IOReturn ret;
m_instance = this;
@ -117,6 +115,10 @@ void USBMonitor::removeDevice(IOHIDDeviceRef dev) {
*/
void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
qDebug() << "USBMonitor: Device detached event";
instance()->removeDevice(dev);
}
@ -129,9 +131,12 @@ void USBMonitor::addDevice(USBPortInfo info) {
void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
bool got_properties = true;
CFTypeRef prop;
USBPortInfo deviceInfo;
deviceInfo.dev_handle = dev;

2
ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
View File

@ -38,6 +38,8 @@ SerialPluginConfiguration::SerialPluginConfiguration(QString classId, QSettings*
IUAVGadgetConfiguration(classId, parent),
m_speed("57600")
{
Q_UNUSED(qSettings);
settings = Core::ICore::instance()->settings();
}

93
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
View File

@ -55,20 +55,24 @@ if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
end
$(ALLOCATIONCODE)
$(INSTANTIATIONCODE)
fid = fopen(logfile);
buffer=fread(fid,Inf,'uchar=>uchar');
fseek(fid, 0, 'bof');
bufferIdx=1;
correctMsgByte=hex2dec('20');
correctTimestampedByte=hex2dec('A0');
correctSyncByte=hex2dec('3C');
unknownObjIDList=zeros(1,2);
% Parse log file, entry by entry
prebuf = fread(fid, 12, 'uint8');
log_size = dir(logfile);
log_size = log_size.bytes;
last_print = 0;
% prebuf = buffer(1:12);
last_print = -1e10;
startTime=clock;
@ -116,15 +120,18 @@ $(SWITCHCODE)
otherwise
unknownObjIDListIdx=find(unknownObjIDList(:,1)==objID, 1, 'first');
if isempty(unknownObjIDListIdx)
unknownObjIDList=[unknownObjIDList; objID 1];
unknownObjIDList=[unknownObjIDList; uint32(objID) 1]; %#ok<AGROW>
else
unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
end
datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
msgBytesLeft = datasize - 1 - 1 - 2 - 4;
if msgBytesLeft > 255
msgBytesLeft = 0;
end
fread(fid, msgBytesLeft, 'uint8');
bufferIdx=bufferIdx+msgBytesLeft;
end
catch
% One of the reads failed - indicates EOF
@ -132,43 +139,41 @@ $(SWITCHCODE)
end
if (wrongSyncByte ~= lastWrongSyncByte || wrongMessageByte~=lastWrongMessageByte ) ||...
(ftell(fid) / log_size - last_print) > 0.01
bufferIdx - last_print > 5e4 %Every 50,000 bytes show the status update
lastWrongSyncByte=wrongSyncByte;
lastWrongMessageByte=wrongMessageByte;
str1=[];
for i=1:length([str2 str3 str4 str5]);
str1=[str1 sprintf('\b')];
str1=[str1 sprintf('\b')]; %#ok<AGROW>
end
str2=sprintf('wrongSyncByte instances: % 10d\n', wrongSyncByte );
str3=sprintf('wrongMessageByte instances: % 10d\n\n', wrongMessageByte );
str4=sprintf('Completed bytes: % 9d of % 9d\n', ftell(fid), log_size);
str4=sprintf('Completed bytes: % 9d of % 9d\n', bufferIdx, length(buffer));
% Arbitrary times two so that it is at least as long
estTimeRemaining=(log_size-ftell(fid))/(ftell(fid)/etime(clock,startTime)) * 2;
estTimeRemaining=(length(buffer)-bufferIdx)/(bufferIdx/etime(clock,startTime)) * 2;
h=floor(estTimeRemaining/3600);
m=floor((estTimeRemaining-h*3600)/60);
s=ceil(estTimeRemaining-h*3600-m*60);
str5=sprintf('Est. time remaining, %02dh:%02dm:%02ds \n', h,m,s);
last_print = ftell(fid) / log_size;
last_print = bufferIdx;
fprintf([str1 str2 str3 str4 str5]);
end
if msgType ~= correctTimestampedByte
prebuf = fread(fid, 12, 'uint8');
%Check if at end of file. If not, load next prebuffer
if bufferIdx+12-1 > length(buffer)
break;
end
% bufferIdx=bufferIdx+12;
end
fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime));
for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
end
for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
@ -177,28 +182,25 @@ end
%% Clean Up and Save mat file
fclose(fid);
% Trim output structs
%% Prune vectors
$(CLEANUPCODE)
%% Perform typecasting on vectors
$(ALLOCATIONCODE)
%% Save data to file
if strcmpi(outputType,'mat')
matfile = strrep(logfile,'opl','mat');
[path, name]=fileparts(logfile);
matfile = fullfile(path,[name '.mat']);
save(matfile $(SAVEOBJECTSCODE));
else
$(EXPORTCSVCODE);
$(EXPORTCSVCODE)
end
fprintf('%d records in %0.2f seconds.\n', length(buffer), etime(clock,startTime));
%% Object reading functions
$(FUNCTIONSCODE)
% This function prunes the excess pre-allocated space
function [structOut]=PruneStructOfArrays(structIn, lastIndex)
fieldNames = fieldnames(structIn);
for i=1:length(fieldNames)
structOut.(fieldNames{i})=structIn.(fieldNames{i})(:,1:lastIndex);
end
function OPLog2csv(structIn, structName, logfile)
@ -236,3 +238,28 @@ function crc = compute_crc(data)
crc = crc_table(1+bitxor(data(i),crc));
end
function out=mcolon(inStart, inFinish)
%% This function was inspired by Bruno Luong's 'mcolon'. The name is kept the same as his 'mcolon'
% function, found on Matlab's file exchange. The two functions return identical
% results, although his is much faster. Unfortunately, C-compiled mex
% code would make this function non-cross-platform, so a Matlab scripted
% version is provided here.
if size(inStart,1) > 1 || size(inFinish,1) > 1
if size(inStart,2) > 1 || size(inFinish,2) > 1
error('Inputs must be vectors, i.e just one column wide.')
else
inStart=inStart';
inFinish=inFinish';
end
end
diffIn=diff([inStart; inFinish]);
numElements=sum(diffIn)+length(inStart);
out=zeros(1,numElements);
idx=1;
for i=1:length(inStart)
out(idx:idx+diffIn(i))=inStart(i):inFinish(i);
idx=idx+diffIn(i)+1;
end

4
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -268,7 +268,7 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial()
QByteArray cpuSerial;
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
for (unsigned int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
cpuSerial.append(firmwareIapData.CPUSerial[i]);
return cpuSerial;
@ -288,7 +288,7 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
QByteArray ret;
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
for (unsigned int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
ret.append(firmwareIapData.Description[i]);
return ret;

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -32,7 +32,7 @@
/**
* Constructor
*/
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),allowWidgetUpdates(true),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();

2
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -457,7 +457,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
default:
rxState = STATE_SYNC;
stats.rxErrors++;
UAVTALK_QXTLOG_DEBUG("UAVTalk: ???->Sync");
UAVTALK_QXTLOG_DEBUG("UAVTalk: \?\?\?->Sync"); //Use the escape character for '?' so that the tripgraph isn't triggered.
}
// Done

2
ground/openpilotgcs/src/plugins/uploader/SSP/port.h
View File

@ -43,7 +43,7 @@ public:
uint8_t maxRetryCount; // max. times to try to transmit the 'send' packet
uint16_t max_retry; // Maximum number of retrys for a single transmit.
int32_t timeoutLen; // how long to wait for each retry to succeed
int32_t timeout; // current timeout. when 'time' reaches this point we have timed out
uint32_t timeout; // current timeout. when 'time' reaches this point we have timed out
uint8_t txSeqNo; // current 'send' packet sequence number
uint16_t rxBufPos; // current buffer position in the receive packet
uint16_t rxBufLen; // number of 'data' bytes in the buffer

2
ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
View File

@ -802,6 +802,8 @@ qssp::qssp(port * info,bool debug):debug(debug)
}
void qssp::pfCallBack( uint8_t * buf, uint16_t size)
{
Q_UNUSED(size);
if (debug)
qDebug()<<"receive callback"<<buf[0]<<buf[1]<<buf[2]<<buf[3]<<buf[4];
}

2
ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
View File

@ -47,6 +47,8 @@ UploaderGadgetOptionsPage::UploaderGadgetOptionsPage(UploaderGadgetConfiguration
//creates options page widget
QWidget *UploaderGadgetOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
//main widget
QWidget *widget = new QWidget;

197
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
View File

@ -31,7 +31,9 @@ using namespace std;
bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
fieldTypeStrMatlab << "int8" << "int16" << "int32"
<< "uint8" << "uint16" << "uint32" << "float32" << "uint8";
<< "uint8" << "uint16" << "uint32" << "single" << "uint8";
fieldSizeStrMatlab << "1" << "2" << "4"
<< "1" << "2" << "4" << "4" << "1";
QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
QDir matlabOutputPath = QDir( outputpath + QString("matlab") );
@ -46,14 +48,15 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo* info=parser->getObjectByIndex(objidx);
process_object(info);
int numBytes=parser->getNumBytes(objidx);
process_object(info, numBytes);
}
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
@ -68,7 +71,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
/**
* Generate the matlab object files
*/
bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
{
if (info == NULL)
return false;
@ -78,75 +81,103 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
// QString objectTableName(objectName + "Objects");
QString objectTableName(objectName);
QString tableIdxName(objectName.toLower() + "Idx");
QString functionName("Read" + info->name + "Object");
QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
QString objectID(QString().setNum(info->id));
QString isSingleInst = boolTo01String( info->isSingleInst );
QString numBytesString=QString("%1").arg(numBytes);
//===================================================================//
// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
//===================================================================//
// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
QString type;
QString allocfields;
if (0){
matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
else
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
}
}
else{
matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
if (!info->isSingleInst) {
allocfields.append(",...\n\t\t 'instanceID', 0");
}
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
else
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
allocfields.append(");\n");
//=========================================================================//
// Generate instantiation code (will replace the $(INSTANTIATIONCODE) tag) //
//=========================================================================//
QString type;
QString instantiationFields;
matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
if (!info->isSingleInst) {
instantiationFields.append(",...\n\t\t 'instanceID', 0");
}
matlabAllocationCode.append(allocfields);
matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
else
instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
instantiationFields.append(");\n");
matlabInstantiationCode.append(instantiationFields);
matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
//==============================================================//
// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
//==============================================================//
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
// matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
matlabSwitchCode.append("\t\t\t\tend\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " + objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
if(!info->isSingleInst){
matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
}
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
matlabSwitchCode.append("\t\t\tend\n");
//============================================================//
// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
//============================================================//
matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" );
matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
//=================================================================//
// Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
//=================================================================//
//Generate function description comment
matlabAllocationCode.append("% " + objectName + " typecasting\n");
QString allocationFields;
//Add timestamp
allocationFields.append("\t" + objectName + ".timestamp = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
"- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
int currentIdx=0;
//Add Instance ID, if necessary
if(!info->isSingleInst){
allocationFields.append("\t" + objectName + ".instanceID = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
currentIdx+=2;
}
for (int n = 0; n < info->fields.length(); ++n) {
// Determine variabel type
type = fieldTypeStrMatlab[info->fields[n]->type];
//Determine variable type length
QString size = fieldSizeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 ){
allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
"reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
}
else{
allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
}
currentIdx+=size.toInt()*info->fields[n]->numElements;
}
matlabAllocationCode.append(allocationFields);
matlabAllocationCode.append("\n");
//========================================================================//
// Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
//========================================================================//
@ -158,56 +189,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
//==========================================================================//
matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
//=================================================================//
// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
//=================================================================//
//Generate function description comment
matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
matlabFunctionsCode.append("\t\theaderSize = 8;\n");
matlabFunctionsCode.append("\telse\n");
matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
matlabFunctionsCode.append("\t\theaderSize = 10;\n");
matlabFunctionsCode.append("\tend\n\n");
// Generate functions code, actual fields of the object
QString funcfields;
matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
else
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
}
matlabFunctionsCode.append(funcfields);
matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
matlabFunctionsCode.append("\t% read CRC\n");
matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
matlabFunctionsCode.append("\tif checkCRC\n");
matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");
matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
matlabFunctionsCode.append("\t\tend\n");
matlabFunctionsCode.append("\tend\n");
matlabFunctionsCode.append("\n\n");
return true;
}

7
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
View File

@ -35,14 +35,15 @@ public:
bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
private:
bool process_object(ObjectInfo* info);
QString matlabAllocationCode;
bool process_object(ObjectInfo* info, int numBytes);
QString matlabInstantiationCode;
QString matlabSwitchCode;
QString matlabCleanupCode;
QString matlabAllocationCode;
QString matlabSaveObjectsCode;
QString matlabExportCsvCode;
QString matlabFunctionsCode;
QStringList fieldTypeStrMatlab;
QStringList fieldSizeStrMatlab;
};