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Code Issues Releases Activity

OP-1481 send and request path plans in user space instead of relying on magic (but broken) sendAll and requestAll uavo methods

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This commit is contained in:
Philippe Renon 2014-09-16 09:10:36 +02:00
parent 92e3779997
commit 3c4d754e2f
2 changed files with 97 additions and 67 deletions
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157
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
View File

@ -26,7 +26,9 @@
*/
#include "modeluavoproxy.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjecthelper.h"
#include <QProgressDialog>
#include <math.h>
ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObject(parent), myModel(model)
@ -37,91 +39,126 @@ ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObjec
objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr != NULL);
completionCountdown = 0;
successCountdown = 0;
}
void ModelUavoProxy::sendPathPlan()
{
modelToObjects();
PathPlan *pathPlan = PathPlan::GetInstance(objMngr, 0);
connect(pathPlan, SIGNAL(transactionCompleted(UAVObject *, bool)),
this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)),
this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
const int waypointCount = pathPlan->getWaypointCount();
const int actionCount = pathPlan->getPathActionCount();
PathAction *action = PathAction::GetInstance(objMngr, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)),
this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
QProgressDialog progress(tr("Sending the path plan to the board... "), "", 0, 1 + waypointCount + actionCount);
progress.setWindowModality(Qt::WindowModal);
progress.setCancelButton(NULL);
progress.show();
// we will start 3 update all
completionCountdown = 3;
successCountdown = completionCountdown;
UAVObjectUpdaterHelper updateHelper;
pathPlan->updated();
waypoint->updatedAll();
action->updatedAll();
}
// send PathPlan
bool success = (updateHelper.doObjectAndWait(pathPlan) == UAVObjectUpdaterHelper::SUCCESS);
progress.setValue(1);
void ModelUavoProxy::pathPlanElementSent(UAVObject *obj, bool success)
{
obj->disconnect(this);
completionCountdown--;
successCountdown -= success ? 1 : 0;
if (completionCountdown == 0) {
qDebug() << "ModelUavoProxy::pathPlanSent - completed" << (successCountdown == 0);
if (successCountdown == 0) {
QMessageBox::information(NULL, tr("Path Plan Upload Successful"), tr("Path plan upload was successful."));
} else {
QMessageBox::critical(NULL, tr("Path Plan Upload Failed"), tr("Failed to upload the path plan !"));
if (success) {
// send Waypoint instances
qDebug() << "sending" << waypointCount << "waypoints";
for (int i = 0; i < waypointCount; ++i) {
Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
success = (updateHelper.doObjectAndWait(waypoint) == UAVObjectUpdaterHelper::SUCCESS);
if (!success) {
break;
}
progress.setValue(progress.value() + 1);
}
}
if (success) {
// send PathAction instances
qDebug() << "sending" << actionCount << "path actions";
for (int i = 0; i < actionCount; ++i) {
PathAction *action = PathAction::GetInstance(objMngr, i);
success = (updateHelper.doObjectAndWait(action) == UAVObjectUpdaterHelper::SUCCESS);
if (!success) {
break;
}
progress.setValue(progress.value() + 1);
}
}
qDebug() << "ModelUavoProxy::pathPlanSent - completed" << success;
if (!success) {
QMessageBox::critical(NULL, tr("Sending Path Plan Failed!"), tr("Failed to send the path plan to the board."));
}
progress.close();
}
void ModelUavoProxy::receivePathPlan()
{
PathPlan *pathPlan = PathPlan::GetInstance(objMngr, 0);
QProgressDialog progress(tr("Receiving the path plan from the board... "), "", 0, 0);
progress.setWindowModality(Qt::WindowModal);
progress.setCancelButton(NULL);
progress.show();
connect(pathPlan, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
UAVObjectRequestHelper requestHelper;
Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
bool success = (requestHelper.doObjectAndWait(pathPlan) == UAVObjectUpdaterHelper::SUCCESS);
PathAction *action = PathAction::GetInstance(objMngr, 0);
connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
const int waypointCount = pathPlan->getWaypointCount();
const int actionCount = pathPlan->getPathActionCount();
// we will start 3 update requests
completionCountdown = 3;
successCountdown = completionCountdown;
progress.setMaximum(1 + waypointCount + actionCount);
progress.setValue(1);
pathPlan->requestUpdate();
waypoint->requestUpdateAll();
action->requestUpdateAll();
}
void ModelUavoProxy::pathPlanElementReceived(UAVObject *obj, bool success)
{
obj->disconnect(this);
completionCountdown--;
successCountdown -= success ? 1 : 0;
if (completionCountdown == 0) {
qDebug() << "ModelUavoProxy::pathPlanReceived - completed" << (successCountdown == 0);
if (successCountdown == 0) {
if (objectsToModel()) {
QMessageBox::information(NULL, tr("Path Plan Download Successful"), tr("Path plan download was successful."));
if (success && (waypointCount > objMngr->getNumInstances(Waypoint::OBJID))) {
// allocate needed Waypoint instances
Waypoint *waypoint = new Waypoint;
waypoint->initialize(waypointCount - 1, waypoint->getMetaObject());
success = objMngr->registerObject(waypoint);
}
if (success) {
// request Waypoint instances
qDebug() << "requesting" << waypointCount << "waypoints";
for (int i = 0; i < waypointCount; ++i) {
Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
success = (requestHelper.doObjectAndWait(waypoint) == UAVObjectRequestHelper::SUCCESS);
if (!success) {
break;
}
} else {
QMessageBox::critical(NULL, tr("Path Plan Download Failed"), tr("Failed to download the path plan !"));
progress.setValue(progress.value() + 1);
}
}
if (success && (actionCount > objMngr->getNumInstances(PathAction::OBJID))) {
// allocate needed PathAction instances
PathAction *action = new PathAction;
action->initialize(actionCount - 1, action->getMetaObject());
success = objMngr->registerObject(action);
}
if (success) {
// request PathAction isntances
qDebug() << "requesting" << actionCount << "path actions";
for (int i = 0; i < actionCount; ++i) {
PathAction *action = PathAction::GetInstance(objMngr, i);
success = (requestHelper.doObjectAndWait(action) == UAVObjectRequestHelper::SUCCESS);
if (!success) {
break;
}
progress.setValue(progress.value() + 1);
}
}
qDebug() << "ModelUavoProxy::pathPlanReceived - completed" << success;
if (success) {
objectsToModel();
} else {
QMessageBox::critical(NULL, tr("Receiving Path Plan Failed!"), tr("Failed to receive the path plan from the board."));
}
progress.close();
}
// update waypoint and path actions UAV objects

7
ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
View File

@ -49,9 +49,6 @@ private:
UAVObjectManager *objMngr;
flightDataModel *myModel;
uint completionCountdown;
uint successCountdown;
bool modelToObjects();
bool objectsToModel();
@ -67,10 +64,6 @@ private:
void pathActionToModel(int i, PathAction::DataFields &data);
quint8 computePathPlanCrc(int waypointCount, int actionCount);
private slots:
void pathPlanElementSent(UAVObject *, bool success);
void pathPlanElementReceived(UAVObject *, bool success);
};
#endif // MODELUAVOPROXY_H