OP-1150 UI for thermal calibration: fix deadlock at end of acquisition, moved uavo disconnect at state exit to handle abort

ground/openpilotgcs/src/plugins/config/calibration/thermal/dataacquisitiontransition.h

@@ -48,9 +48,15 @@ public:
 
     virtual void onTransition(QEvent *e)
     {
+        Q_UNUSED(e);
         qDebug() << "DataAcquisitionTransition::collectionCompleted";
     }
 
+    virtual void exit(int __status){
+        Q_UNUSED(__status);
+        m_helper->endAcquisition();
+    }
+
 public slots:
     void enterState()
     {

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp

@@ -284,7 +284,7 @@ void ThermalCalibrationHelper::updateTemp(float temp)
             m_initialGradient = m_gradient;
         }
         if (m_gradient < TargetGradient) {
-            endAcquisition();
+            emit collectionCompleted();
         }
 
         if (m_targetduration != 0) {
@@ -302,16 +302,14 @@ void ThermalCalibrationHelper::updateTemp(float temp)
 
 void ThermalCalibrationHelper::endAcquisition()
 {
-    // this is called from the collectSample that already has the lock
-    // QMutexLocker lock(&sensorsUpdateLock);
+    QMutexLocker lock(&sensorsUpdateLock);
     disconnectUAVOs();
-    emit collectionCompleted();
+    setProcessPercentage(ProcessPercentageBaseCalculation);
 }
 
 void ThermalCalibrationHelper::connectUAVOs()
 {
     AccelSensor *accel = AccelSensor::GetInstance(getObjectManager());
-
     connect(accel, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(collectSample(UAVObject *)));
 
     GyroSensor *gyro = GyroSensor::GetInstance(getObjectManager());
@@ -327,7 +325,6 @@ void ThermalCalibrationHelper::connectUAVOs()
 void ThermalCalibrationHelper::disconnectUAVOs()
 {
     AccelSensor *accel = AccelSensor::GetInstance(getObjectManager());
-
     disconnect(accel, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(collectSample(UAVObject *)));
 
     GyroSensor *gyro = GyroSensor::GetInstance(getObjectManager());

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h

@@ -88,7 +88,7 @@ signals:
     void processPercentageChanged(int percentage);
     void collectionCompleted();
     void calculationCompleted();
-
+    void abort();
 
 public slots:
     /**

ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.cpp

@@ -30,6 +30,7 @@
 #include "settingshandlingtransitions.h"
 #include "boardsetuptransition.h"
 #include "dataacquisitiontransition.h"
+#include "compensationcalculationtransition.h"
 
 #define NEXT_EVENT     "next"
 #define PREVIOUS_EVENT "previous"
@@ -40,18 +41,18 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
 {
     m_helper           = new ThermalCalibrationHelper();
     m_readyState       = new WizardState(tr("Start"), this),
-    m_workingState     = new WizardState("workingState", this);
+    m_workingState     = new WizardState(NULL, this);
 
     m_saveSettingState = new WizardState(tr("Saving initial settings"), m_workingState);
     m_workingState->setInitialState(m_saveSettingState);
 
     m_setupState       = new WizardState(tr("Setup board for calibration"), m_workingState);
 
-    m_acquisitionState = new WizardState(tr("Samples acquisition"), m_workingState);
+    m_acquisitionState = new WizardState(tr("*** Please Wait *** Samples acquisition, this can take several minutes"), m_workingState);
     m_calculateState   = new WizardState(tr("Calculate calibration matrix"), m_workingState);
     m_finalizeState    = new WizardState(tr("Completed"), m_workingState);
 
-    m_abortState       = new WizardState("abort", this);
+    m_abortState       = new WizardState("Canceled", this);
 
     setTransitions();
 
@@ -75,7 +76,9 @@ void ThermalCalibrationModel::init()
     emit instructionsChanged(instructions());
 }
 
-void ThermalCalibrationModel::stepChanged(WizardState *state) {}
+void ThermalCalibrationModel::stepChanged(WizardState *state) {
+    Q_UNUSED(state);
+}
 
 void ThermalCalibrationModel::setTransitions()
 {
@@ -92,9 +95,10 @@ void ThermalCalibrationModel::setTransitions()
     // revert settings after acquisition is completed
     // m_acquisitionState->addTransition(new BoardStatusRestoreTransition(m_helper, m_acquisitionState, m_calculateState));
     m_acquisitionState->addTransition(new DataAcquisitionTransition(m_helper, m_acquisitionState, m_calculateState));
-
+    m_workingState->addTransition(m_helper, SIGNAL(abort()), m_abortState) ;
     m_calculateState->addTransition(new BoardStatusRestoreTransition(m_helper, m_calculateState, m_finalizeState));
 
+    m_abortState->addTransition(new BoardStatusRestoreTransition(m_helper, m_abortState, m_readyState));
     m_finalizeState->addTransition(this, SIGNAL(next()), m_readyState);
     // Ready
 }

ground/openpilotgcs/src/plugins/config/calibration/wizardmodel.cpp

@@ -26,7 +26,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "wizardmodel.h"
-
+#include "QDebug"
 WizardModel::WizardModel(QObject *parent) :
     QStateMachine(parent)
 {}
@@ -34,8 +34,9 @@ WizardModel::WizardModel(QObject *parent) :
 WizardState *WizardModel::currentState()
 {
     foreach(QAbstractState * value, this->configuration()) {
-        if (value->parent() != 0) { \
-            return static_cast<WizardState *>(value);
+        WizardState *state = static_cast<WizardState *>(value);
+        if (state->children().count() <= 1) {
+            return state;
         }
     }
     return NULL;