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Code Issues Releases Activity

Merge branch 'next' into amorale/OP-911_mpu6000_fix_isr

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This commit is contained in:
Alessio Morale 2013-04-22 23:25:19 +02:00
commit 594b44118f
62 changed files with 1212 additions and 2401 deletions
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133
flight/targets/CopterControl/System/alarms.c → flight/Libraries/alarms.c
View File

@ -28,7 +28,7 @@
*/
#include "openpilot.h"
#include "alarms.h"
#include "inc/alarms.h"
// Private constants
@ -46,12 +46,12 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
//AlarmsDefaultAll();
return 0;
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
//AlarmsDefaultAll();
return 0;
}
/**
@ -62,23 +62,21 @@ int32_t AlarmsInitialize(void)
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
return -1;
}
// Lock
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
if (alarms.Alarm[alarm] != severity) {
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
@ -87,6 +85,43 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
}
/**
* Set an Extended Alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @param status The Extended alarm status field
* @param subStatus The Extended alarm substatus field
* @return 0 if success, -1 if an error
*/
int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
SystemAlarmsAlarmOptions severity,
SystemAlarmsExtendedAlarmStatusOptions status,
uint8_t subStatus)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if (alarms.Alarm[alarm] != severity) {
alarms.ExtendedAlarmStatus[alarm] = status;
alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
@ -94,13 +129,12 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
@ -114,7 +148,7 @@ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
@ -122,10 +156,8 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
AlarmsDefault(n);
}
}
@ -136,7 +168,11 @@ void AlarmsDefaultAll()
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
} else {
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
}
/**
@ -144,10 +180,8 @@ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
AlarmsClear(n);
}
}
@ -157,7 +191,7 @@ void AlarmsClearAll()
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
@ -166,8 +200,9 @@ int32_t AlarmsHasWarnings()
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
}
/**
* Check if there are any alarms with critical or higher severity
@ -175,8 +210,9 @@ int32_t AlarmsHasErrors()
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
}
/**
* Check if there are any alarms with the given or higher severity
@ -184,31 +220,28 @@ int32_t AlarmsHasCritical()
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
SystemAlarmsData alarms;
// Lock
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
if (alarms.Alarm[n] >= severity) {
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

4
flight/targets/PipXtreme/System/inc/alarms.h → flight/Libraries/inc/alarms.h Executable file → Normal file
View File

@ -33,6 +33,10 @@
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
SystemAlarmsAlarmOptions severity,
SystemAlarmsExtendedAlarmStatusOptions status,
uint8_t subStatus);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();

15
flight/Libraries/inc/sanitycheck.h
View File

@ -26,9 +26,22 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <systemalarms.h>
#ifndef SANITYCHECK_H
#define SANITYCHECK_H
#define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
#define BOOTFAULT_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
#if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
(SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
#error Incongruent SystemAlarms. Please revise the UAVO definition in systemalarms.xml
#endif
extern int32_t configuration_check();
#endif /* SANITYCHECK_H */
#endif /* SANITYCHECK_H */

250
flight/Libraries/sanitycheck.c
View File

@ -26,13 +26,16 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "taskmonitor.h"
#include <openpilot.h>
#include <pios_board_info.h>
#include "sanitycheck.h"
#include "manualcontrolsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
// Private includes
#include "inc/taskmonitor.h"
#include "inc/sanitycheck.h"
// UAVOs
#include <manualcontrolsettings.h>
#include <systemsettings.h>
/****************************
* Current checks:
@ -49,98 +52,101 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
*/
int32_t configuration_check()
{
int32_t status = SYSTEMALARMS_ALARM_OK;
int32_t severity = SYSTEMALARMS_ALARM_OK;
SystemAlarmsExtendedAlarmStatusOptions alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
uint8_t alarmsubstatus = 0;
// Get board type
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Get board type
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Classify airframe type
bool multirotor = true;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch(airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
multirotor = true;
break;
default:
multirotor = false;
}
// Classify airframe type
bool multirotor = true;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch(airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
multirotor = true;
break;
default:
multirotor = false;
}
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
ManualControlSettingsFlightModePositionGet(modes);
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
ManualControlSettingsFlightModePositionGet(modes);
for(uint32_t i = 0; i < num_modes; i++) {
switch(modes[i]) {
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
if (multirotor) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol){
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error
severity = SYSTEMALARMS_ALARM_ERROR;
}
// mark the first encountered erroneous setting in status and substatus
if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) {
alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE;
alarmsubstatus = i;
}
for(uint32_t i = 0; i < num_modes; i++) {
switch(modes[i]) {
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
if (multirotor)
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error
status = SYSTEMALARMS_ALARM_ERROR;
}
}
}
// TODO: Check on a multirotor no axis supports "None"
if(status != SYSTEMALARMS_ALARM_OK)
AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
else
AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
// TODO: Check on a multirotor no axis supports "None"
if(severity != SYSTEMALARMS_ALARM_OK)
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
else
AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
return 0;
return 0;
}
/**
@ -151,39 +157,39 @@ int32_t configuration_check()
*/
static int32_t check_stabilization_settings(int index, bool multirotor)
{
// Make sure the modes have identical sizes
if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
return SYSTEMALARMS_ALARM_ERROR;
// Make sure the modes have identical sizes
if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
return SYSTEMALARMS_ALARM_ERROR;
uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
// Get the different axis modes for this switch position
switch(index) {
case 1:
ManualControlSettingsStabilization1SettingsGet(modes);
break;
case 2:
ManualControlSettingsStabilization2SettingsGet(modes);
break;
case 3:
ManualControlSettingsStabilization3SettingsGet(modes);
break;
default:
return SYSTEMALARMS_ALARM_ERROR;
}
// Get the different axis modes for this switch position
switch(index) {
case 1:
ManualControlSettingsStabilization1SettingsGet(modes);
break;
case 2:
ManualControlSettingsStabilization2SettingsGet(modes);
break;
case 3:
ManualControlSettingsStabilization3SettingsGet(modes);
break;
default:
return SYSTEMALARMS_ALARM_ERROR;
}
// For multirotors verify that nothing is set to "none"
if (multirotor) {
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
return SYSTEMALARMS_ALARM_ERROR;
}
}
// For multirotors verify that nothing is set to "none"
if (multirotor) {
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
return SYSTEMALARMS_ALARM_ERROR;
}
}
// Warning: This assumes that certain conditions in the XML file are met. That
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
// Warning: This assumes that certain conditions in the XML file are met. That
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
return SYSTEMALARMS_ALARM_OK;
return SYSTEMALARMS_ALARM_OK;
}

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

@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
} else if (init == 0) {

47
flight/Modules/System/systemmod.c
View File

@ -38,17 +38,25 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "systemmod.h"
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "hwsettings.h"
#include <openpilot.h>
// private includes
#include "inc/systemmod.h"
// UAVOs
#include <objectpersistence.h>
#include <flightstatus.h>
#include <systemstats.h>
#include <systemsettings.h>
#include <i2cstats.h>
#include <taskinfo.h>
#include <watchdogstatus.h>
#include <taskmonitor.h>
#include <hwsettings.h>
// Flight Libraries
#include <sanitycheck.h>
//#define DEBUG_THIS_FILE
@ -64,8 +72,8 @@
#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
#endif
#if defined(PIOS_SYSTEM_STACK_SIZE)
@ -85,6 +93,7 @@ static xTaskHandle systemTaskHandle;
static xQueueHandle objectPersistenceQueue;
static bool stackOverflow;
static bool mallocFailed;
static HwSettingsData bootHwSettings;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
@ -171,6 +180,8 @@ static void systemTask(void *parameters)
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Load a copy of HwSetting active at boot time
HwSettingsGet(&bootHwSettings);
// Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb);
@ -303,9 +314,10 @@ static void objectUpdatedCb(UAVObjEvent * ev)
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format(0);
#else
retval = -1;
#endif
}
switch(retval) {
@ -328,7 +340,12 @@ static void objectUpdatedCb(UAVObjEvent * ev)
*/
static void hwSettingsUpdatedCb(UAVObjEvent * ev)
{
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
HwSettingsData currentHwSettings;
HwSettingsGet(&currentHwSettings);
// check whether the Hw Configuration has changed from the one used at boot time
if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
}
}
/**

2
flight/PiOS/Common/Libraries/CMSIS2/library.mk
View File

@ -11,7 +11,7 @@ ifeq ($(USE_DSP_LIB), YES)
CMSIS_DSPLIB := $(CMSIS2_DIR)DSP_Lib/Source
# Compile all files into output directory
DSPLIB_SRC := $(wildcard $(CMSIS_DSPLIB)/*/*.c)
DSPLIB_SRC := $(sort $(wildcard $(CMSIS_DSPLIB)/*/*.c))
DSPLIB_SRCBASE := $(notdir $(basename $(DSPLIB_SRC)))
$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))

2
flight/PiOS/Common/Libraries/FreeRTOS/library.mk
View File

@ -6,5 +6,5 @@
#
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
SRC += $(sort $(wildcard $(FREERTOS_DIR)/*.c))
EXTRAINCDIRS += $(FREERTOS_DIR)/include

2
flight/PiOS/Common/Libraries/dosfs/library.mk
View File

@ -3,5 +3,5 @@
#
DOSFS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(DOSFS_DIR)*.c)
SRC += $(sort $(wildcard $(DOSFS_DIR)*.c))
EXTRAINCDIRS += $(DOSFS_DIR)

2
flight/PiOS/Common/Libraries/msheap/library.mk
View File

@ -3,5 +3,5 @@
#
MSHEAP_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(MSHEAP_DIR)*.c)
SRC += $(sort $(wildcard $(MSHEAP_DIR)*.c))
EXTRAINCDIRS += $(MSHEAP_DIR)

14
flight/PiOS/Common/pios_gcsrcvr.c
View File

@ -122,6 +122,11 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
if (!gcsrcvr_dev)
return -1;
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
/* Flush channels */
gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
/* Register uavobj callback */
GCSReceiverConnectCallback (gcsreceiver_updated);
@ -133,11 +138,18 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
return 0;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
return PIOS_RCVR_INVALID;
}
return (gcsreceiverdata.Channel[channel]);

2
flight/PiOS/Common/pios_sbus.c
View File

@ -166,7 +166,7 @@ out_fail:
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >0 channel value
* \output >=0 channel value
*/
static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel)
{

10
flight/PiOS/STM32F10x/library.mk
View File

@ -18,7 +18,7 @@ ARCHFLAGS += -mcpu=cortex-m3 --specs=nano.specs
ASRC += $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# PIOS device library source and includes
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
# CMSIS for the F1
include $(PIOS)/Common/Libraries/CMSIS2/library.mk
@ -29,12 +29,12 @@ EXTRAINCDIRS += $(CMSIS_DIR)
# ST Peripheral library
PERIPHLIB = $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
SRC += $(sort $(wildcard $(PERIPHLIB)/src/*.c))
EXTRAINCDIRS += $(PERIPHLIB)/inc
# ST USB Device library
USBDEVLIB = $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
SRC += $(wildcard $(USBDEVLIB)/src/*.c)
SRC += $(sort $(wildcard $(USBDEVLIB)/src/*.c))
EXTRAINCDIRS += $(USBDEVLIB)/inc
#
@ -45,7 +45,7 @@ EXTRAINCDIRS += $(USBDEVLIB)/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c))
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
endif

2
flight/PiOS/STM32F10x/pios_dsm.c
View File

@ -348,7 +348,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >0 channel value
* \output >=0 channel value
*/
static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
{

15
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -146,8 +146,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
/* Flush counter variables */
ppm_dev->CaptureValue[i] = 0;
ppm_dev->CaptureValueNewFrame[i] = 0;
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
@ -201,11 +201,12 @@ out_fail:
}
/**
* Get the value of an input channel
* \param[in] Channel Number of the channel desired
* \output -1 Channel not available
* \output >0 Channel value
*/
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;

11
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -171,11 +171,12 @@ out_fail:
}
/**
* Get the value of an input channel
* \param[in] Channel Number of the channel desired
* \output -1 Channel not available
* \output >0 Channel value
*/
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;

10
flight/PiOS/STM32F4xx/library.mk
View File

@ -20,18 +20,18 @@ CDEFS += -DARM_MATH_CM4 -D__FPU_PRESENT=1
ARCHFLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
# PIOS device library source and includes
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
EXTRAINCDIRS += $(PIOS_DEVLIB)inc
# CMSIS for the F4
include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
CMSIS2_DEVICEDIR := $(PIOS_DEVLIB)Libraries/CMSIS2/Device/ST/STM32F4xx
SRC += $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
SRC += $(sort $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c))
EXTRAINCDIRS += $(CMSIS2_DEVICEDIR)/Include
# ST Peripheral library
PERIPHLIB = $(PIOS_DEVLIB)Libraries/STM32F4xx_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
SRC += $(sort $(wildcard $(PERIPHLIB)/src/*.c))
EXTRAINCDIRS += $(PERIPHLIB)/inc
# ST USB OTG library
@ -42,7 +42,7 @@ EXTRAINCDIRS += $(USBOTGLIB)/inc
# ST USB Device library
USBDEVLIB = $(PIOS_DEVLIB)Libraries/STM32_USB_Device_Library
SRC += $(wildcard $(USBDEVLIB)/Core/src/*.c)
SRC += $(sort $(wildcard $(USBDEVLIB)/Core/src/*.c))
EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
@ -53,7 +53,7 @@ EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
include $(PIOSCOMMON)/Libraries/msheap/library.mk
endif

2
flight/PiOS/STM32F4xx/pios_dsm.c
View File

@ -349,7 +349,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >0 channel value
* \output >=0 channel value
*/
static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
{

15
flight/PiOS/STM32F4xx/pios_ppm.c
View File

@ -145,8 +145,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
/* Flush counter variables */
ppm_dev->CaptureValue[i] = 0;
ppm_dev->CaptureValueNewFrame[i] = 0;
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
@ -200,11 +200,12 @@ out_fail:
}
/**
* Get the value of an input channel
* \param[in] Channel Number of the channel desired
* \output -1 Channel not available
* \output >0 Channel value
*/
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;

11
flight/PiOS/STM32F4xx/pios_pwm.c
View File

@ -170,11 +170,12 @@ out_fail:
}
/**
* Get the value of an input channel
* \param[in] Channel Number of the channel desired
* \output -1 Channel not available
* \output >0 Channel value
*/
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;

6
flight/PiOS/inc/pios_rcvr.h
View File

@ -42,11 +42,11 @@ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
PIOS_RCVR_TIMEOUT = -1,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
PIOS_RCVR_INVALID = -2,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
PIOS_RCVR_NODRIVER = -3
};
#endif /* PIOS_RCVR_H */

2
flight/PiOS/posix/Libraries/FreeRTOS/library.mk
View File

@ -6,5 +6,5 @@
#
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
SRC += $(sort $(wildcard $(FREERTOS_DIR)/*.c))
EXTRAINCDIRS += $(FREERTOS_DIR)/include

6
flight/PiOS/posix/library.mk
View File

@ -27,7 +27,7 @@ ARCHFLAGS += -DARCH_POSIX
#
# PIOS device library source and includes
#
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
@ -68,8 +68,8 @@ EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c))
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/Posix
endif

2
flight/targets/CopterControl/Makefile
View File

@ -62,7 +62,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/coptercontrol.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

50
flight/targets/CopterControl/System/inc/alarms.h
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

2
flight/targets/OSD/Makefile
View File

@ -48,7 +48,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/osd.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

210
flight/targets/OSD/System/alarms.c
View File

@ -1,210 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

50
flight/targets/OSD/System/inc/alarms.h
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

214
flight/targets/PipXtreme/System/alarms.c
View File

@ -1,214 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
//AlarmsDefaultAll();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

2
flight/targets/RevoMini/Makefile
View File

@ -66,7 +66,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/revolution.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

210
flight/targets/RevoMini/System/alarms.c
View File

@ -1,210 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

50
flight/targets/RevoMini/System/inc/alarms.h
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

2
flight/targets/Revolution/Makefile
View File

@ -66,7 +66,7 @@ ifndef TESTAPP
SRC += $(OPSYSTEM)/revolution.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

210
flight/targets/Revolution/System/alarms.c
View File

@ -1,210 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

50
flight/targets/Revolution/System/inc/alarms.h
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

2
flight/targets/SimPosix/Makefile
View File

@ -78,7 +78,7 @@ SRC += ${OUTDIR}/InitMods.c
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/simposix.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c

210
flight/targets/SimPosix/System/alarms.c
View File

@ -1,210 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

50
flight/targets/SimPosix/System/inc/alarms.h
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

7
ground/openpilotgcs/src/app/gcsversioninfo.pri
View File

@ -17,16 +17,17 @@ PYTHON_DIR = python-2.7.4
# Search the python using environment override first
OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
!isEmpty(OPENPILOT_TOOLS_DIR):exists($$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python*) {
PYTHON = $$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python
PYTHON = \"$$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python\"
} else {
# If not found, search the predefined tools path
exists($$ROOT_DIR/tools/$$PYTHON_DIR/python*) {
PYTHON = $$ROOT_DIR/tools/$$PYTHON_DIR/python
PYTHON = \"$$ROOT_DIR/tools/$$PYTHON_DIR/python\"
} else {
# not found, hope it's in the path...
PYTHON = python
PYTHON = \"python\"
}
}
PYTHON = $$replace(PYTHON, \\\\, /)
message(Using python interpreter: $$PYTHON)
# Define other variables

720
ground/openpilotgcs/src/app/main.cpp
View File

@ -26,6 +26,57 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
The GCS locale is set to the system locale by default unless the "hidden" setting General/Locale has a value.
The user can not change General/Locale from the Options dialog.
The GCS language will default to the GCS locale unless the General/OverrideLanguage has a value.
The user can change General/OverrideLanguage to any available language from the Options dialog.
Both General/Locale and General/OverrideLanguage can be set from the command line or through the the factory defaults file.
The -D option is used to permanently set a user setting.
The -reset switch will clear all the user settings and will trigger a reload of the factory defaults.
You can combine it with the -config-file=<file> command line argument to quickly switch between multiple settings files.
[code]
openpilotgcs -reset -config-file ./MyOpenPilotGCS.xml
[/code]
Relative paths are relative to <install dir>/share/openpilotgcs/default_configurations/
The specified file will be used to load the factory defaults from but only when the user settings are empty.
If the user settings are not empty the file will not be used.
This switch is useful on the 1st run when the user settings are empty or in combination with -reset.
Quickly switch configurations
[code]
openpilotgcs -reset -config-file <relative or absolute path>
[/code]
Configuring GCS from installer
The -D option is used to permanently set a user setting.
If the user chooses to start GCS at the end of the installer:
[code]
openpilotgcs -D General/OverrideLanguage=de
[/code]
If the user chooses not to start GCS at the end of the installer, you still need to configure GCS.
In that case you can use -exit-after-config
[code]
openpilotgcs -D General/OverrideLanguage=de -exit-after-config
[/code]
*/
#include "qtsingleapplication.h"
#include "utils/xmlconfig.h"
#include "gcssplashscreen.h"
@ -35,6 +86,7 @@
#include <extensionsystem/iplugin.h>
#include <QtCore/QDir>
#include <QtCore/QElapsedTimer>
#include <QtCore/QTextStream>
#include <QtCore/QFileInfo>
#include <QtCore/QDebug>
@ -48,292 +100,415 @@
#include <QtGui/QApplication>
#include <QtGui/QMainWindow>
#include <QtGui/QSplashScreen>
#include <QtGui/QPainter>
#include <QElapsedTimer>
namespace {
enum { OptionIndent = 4, DescriptionIndent = 24 };
typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
typedef QMap<QString, bool> AppOptions;
typedef QMap<QString, QString> AppOptionValues;
static const char *appNameC = "OpenPilot GCS";
static const char *corePluginNameC = "Core";
static const char *fixedOptionsC =
" [OPTION]... [FILE]...\n"
"Options:\n"
" -help Display this help\n"
" -version Display program version\n"
" -client Attempt to connect to already running instance\n"
" -clean-config Delete all existing configuration settings\n"
" -exit-after-config Exit GCS after manipulating configuration settings\n"
" -D key=value Override configuration settings e.g: -D General/OverrideLanguage=de\n"
" -configfile=value Default configuration file to load if settings file is empty\n";
static const char *HELP_OPTION1 = "-h";
static const char *HELP_OPTION2 = "-help";
static const char *HELP_OPTION3 = "/h";
static const char *HELP_OPTION4 = "--help";
static const char *VERSION_OPTION = "-version";
static const char *CLIENT_OPTION = "-client";
static const char *CONFIG_OPTION = "-D";
static const char *CLEAN_CONFIG_OPTION = "-clean-config";
static const char *EXIT_AFTER_CONFIG_OPTION = "-exit-after-config";
const int OptionIndent = 4;
const int DescriptionIndent = 24;
typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
const QLatin1String APP_NAME("OpenPilot GCS");
// Helpers for displaying messages. Note that there is no console on Windows.
#ifdef Q_OS_WIN
// Format as <pre> HTML
static inline void toHtml(QString &t)
{
t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
t.insert(0, QLatin1String("<html><pre>"));
t.append(QLatin1String("</pre></html>"));
}
const QLatin1String CORE_PLUGIN_NAME("Core");
static void displayHelpText(QString t) // No console on Windows.
{
toHtml(t);
QMessageBox::information(0, QLatin1String(appNameC), t);
}
static void displayError(const QString &t) // No console on Windows.
{
QMessageBox::critical(0, QLatin1String(appNameC), t);
}
#else
static void displayHelpText(const QString &t)
{
qWarning("%s", qPrintable(t));
}
static void displayError(const QString &t)
{
qCritical("%s", qPrintable(t));
}
#endif
static void printVersion(const ExtensionSystem::PluginSpec *coreplugin,
const ExtensionSystem::PluginManager &pm)
{
QString version;
QTextStream str(&version);
str << '\n' << appNameC << ' ' << coreplugin->version()<< " based on Qt " << qVersion() << "\n\n";
pm.formatPluginVersions(str);
str << '\n' << coreplugin->copyright() << '\n';
displayHelpText(version);
}
static void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
{
QString help;
QTextStream str(&help);
str << "Usage: " << a0 << fixedOptionsC;
ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
displayHelpText(help);
}
static inline QString msgCoreLoadFailure(const QString &why)
{
return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
}
static inline QString msgSendArgumentFailed()
{
return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
}
// Prepare a remote argument: If it is a relative file, add the current directory
// since the the central instance might be running in a different directory.
static inline QString prepareRemoteArgument(const QString &a)
{
QFileInfo fi(a);
if (!fi.exists())
return a;
if (fi.isRelative())
return fi.absoluteFilePath();
return a;
}
// Send the arguments to an already running instance of OpenPilot GCS
static bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
{
if (!arguments.empty()) {
// Send off arguments
const QStringList::const_iterator acend = arguments.constEnd();
for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
if (!app.sendMessage(prepareRemoteArgument(*it))) {
displayError(msgSendArgumentFailed());
return false;
}
}
}
// Special empty argument means: Show and raise (the slot just needs to be triggered)
if (!app.sendMessage(QString())) {
displayError(msgSendArgumentFailed());
return false;
}
return true;
}
static inline QStringList getPluginPaths()
{
QStringList rc;
// Figure out root: Up one from 'bin'
QDir rootDir = QApplication::applicationDirPath();
rootDir.cdUp();
const QString rootDirPath = rootDir.canonicalPath();
// 1) "plugins" (Win/Linux)
QString pluginPath = rootDirPath;
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("openpilotgcs");
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("plugins");
rc.push_back(pluginPath);
// 2) "PlugIns" (OS X)
pluginPath = rootDirPath;
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("Plugins");
rc.push_back(pluginPath);
return rc;
}
const QLatin1String SETTINGS_ORG_NAME("OpenPilot");
const QLatin1String SETTINGS_APP_NAME("OpenPilotGCS_config");
#ifdef Q_OS_MAC
# define SHARE_PATH "/../Resources"
const QLatin1String SHARE_PATH("/../Resources");
#else
# define SHARE_PATH "/../share/openpilotgcs"
const QLatin1String SHARE_PATH("/../share/openpilotgcs");
#endif
static void overrideSettings(QSettings &settings, int argc, char **argv){
const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
QMap<QString, QString> settingOptions;
// Options like -DMy/setting=test
QRegExp rx("([^=]+)=(.*)");
const char *fixedOptionsC = " [OPTION]... [FILE]...\n"
"Options:\n"
" -help Display this help\n"
" -version Display application version\n"
" -no-splash Don't display splash screen\n"
" -client Attempt to connect to already running instance\n"
" -D <key>=<value> Permanently set a user setting, e.g: -D General/OverrideLanguage=de\n"
" -reset Reset user settings to factory defaults.\n"
" -config-file <file> Specify alternate factory defaults settings file (used with -reset)\n"
" -exit-after-config Exit after manipulating configuration settings\n";
for(int i = 0; i < argc; ++i ){
if ( QString(CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
if ( rx.indexIn(argv[++i]) > -1 ){
settingOptions.insert(rx.cap(1), rx.cap(2));
const QLatin1String HELP1_OPTION("-h");
const QLatin1String HELP2_OPTION("-help");
const QLatin1String HELP3_OPTION("/h");
const QLatin1String HELP4_OPTION("--help");
const QLatin1String VERSION_OPTION("-version");
const QLatin1String NO_SPLASH_OPTION("-no-splash");
const QLatin1String CLIENT_OPTION("-client");
const QLatin1String CONFIG_OPTION("-D");
const QLatin1String RESET_OPTION("-reset");
const QLatin1String CONFIG_FILE_OPTION("-config-file");
const QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
// Helpers for displaying messages. Note that there is no console on Windows.
void displayHelpText(QString t)
{
#ifdef Q_OS_WIN
// No console on Windows. (???)
// TODO there is a console on windows and popups are not always desired
t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
t.insert(0, QLatin1String("<html><pre>"));
t.append(QLatin1String("</pre></html>"));
QMessageBox::information(0, APP_NAME, t);
#else
qWarning("%s", qPrintable(t));
#endif
}
void displayError(const QString &t)
{
#ifdef Q_OS_WIN
// No console on Windows. (???)
// TODO there is a console on windows and popups are not always desired
QMessageBox::critical(0, APP_NAME, t);
#else
qCritical("%s", qPrintable(t));
#endif
}
void printVersion(const ExtensionSystem::PluginSpec *corePlugin, const ExtensionSystem::PluginManager &pm)
{
QString version;
QTextStream str(&version);
str << '\n' << APP_NAME << ' ' << corePlugin->version() << " based on Qt " << qVersion() << "\n\n";
pm.formatPluginVersions(str);
str << '\n' << corePlugin->copyright() << '\n';
displayHelpText(version);
}
void printHelp(const QString &appExecName, const ExtensionSystem::PluginManager &pm)
{
QString help;
QTextStream str(&help);
str << "Usage: " << appExecName << fixedOptionsC;
ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
displayHelpText(help);
}
inline QString msgCoreLoadFailure(const QString &reason)
{
return QCoreApplication::translate("Application", "Failed to load core plug-in, reason is: %1").arg(reason);
}
inline QString msgSendArgumentFailed()
{
return QCoreApplication::translate("Application",
"Unable to send command line arguments to the already running instance. It appears to be not responding.");
}
// Prepare a remote argument: If it is a relative file, add the current directory
// since the the central instance might be running in a different directory.
inline QString prepareRemoteArgument(const QString &arg)
{
QFileInfo fi(arg);
if (!fi.exists()) {
return arg;
}
if (fi.isRelative()) {
return fi.absoluteFilePath();
}
return arg;
}
// Send the arguments to an already running instance of application
bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
{
if (!arguments.empty()) {
// Send off arguments
const QStringList::const_iterator acend = arguments.constEnd();
for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
if (!app.sendMessage(prepareRemoteArgument(*it))) {
displayError(msgSendArgumentFailed());
return false;
}
}
}
if ( QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
settings.clear();
// Special empty argument means: Show and raise (the slot just needs to be triggered)
if (!app.sendMessage(QString())) {
displayError(msgSendArgumentFailed());
return false;
}
return true;
}
void systemInit()
{
#ifdef Q_OS_MAC
// increase the number of file that can be opened in application
struct rlimit rl;
getrlimit(RLIMIT_NOFILE, &rl);
rl.rlim_cur = rl.rlim_max;
setrlimit(RLIMIT_NOFILE, &rl);
#endif
#ifdef Q_OS_LINUX
QApplication::setAttribute(Qt::AA_X11InitThreads, true);
#endif
}
inline QStringList getPluginPaths()
{
QStringList rc;
// Figure out root: Up one from 'bin'
QDir rootDir = QApplication::applicationDirPath();
rootDir.cdUp();
const QString rootDirPath = rootDir.canonicalPath();
// 1) "plugins" (Win/Linux)
QString pluginPath = rootDirPath;
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("openpilotgcs");
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("plugins");
rc.push_back(pluginPath);
// 2) "PlugIns" (OS X)
pluginPath = rootDirPath;
pluginPath += QLatin1Char('/');
pluginPath += QLatin1String("Plugins");
rc.push_back(pluginPath);
return rc;
}
AppOptions options()
{
AppOptions appOptions;
appOptions.insert(HELP1_OPTION, false);
appOptions.insert(HELP2_OPTION, false);
appOptions.insert(HELP3_OPTION, false);
appOptions.insert(HELP4_OPTION, false);
appOptions.insert(VERSION_OPTION, false);
appOptions.insert(NO_SPLASH_OPTION, false);
appOptions.insert(CLIENT_OPTION, false);
appOptions.insert(CONFIG_OPTION, true);
appOptions.insert(RESET_OPTION, false);
appOptions.insert(CONFIG_FILE_OPTION, true);
appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
return appOptions;
}
AppOptionValues parseCommandLine(SharedTools::QtSingleApplication &app,
ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
{
AppOptionValues appOptionValues;
const QStringList arguments = app.arguments();
if (arguments.size() > 1) {
AppOptions appOptions = options();
pluginManager.parseOptions(arguments, appOptions, &appOptionValues, &errorMessage);
}
return appOptionValues;
}
void loadFactoryDefaults(QSettings &settings, AppOptionValues &appOptionValues)
{
QDir directory(QCoreApplication::applicationDirPath() + SHARE_PATH + QString("/default_configurations"));
qDebug() << "Looking for factory defaults configuration files in:" << directory.absolutePath();
QString fileName;
// check if command line option -config-file contains a file name
QString commandLine = appOptionValues.value(CONFIG_FILE_OPTION);
if (!commandLine.isEmpty()) {
QFileInfo fi(commandLine);
if (fi.isRelative()) {
// file name specified on command line has a relative path
commandLine = directory.absolutePath() + QDir::separator() + commandLine;
}
if (QFile::exists(commandLine)) {
fileName = commandLine;
qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
} else {
qWarning() << "Configuration file" << commandLine << "specified on command line does not exist.";
}
}
if (fileName.isEmpty()) {
// check default file
if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
// use default file name
fileName = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
qDebug() << "Default configuration file" << fileName << "will be loaded.";
} else {
qWarning() << "No default configuration file found in" << directory.absolutePath();
}
}
if (fileName.isEmpty()) {
// TODO should we exit violently?
qCritical() << "No default configuration file found!";
return;
}
// create settings from file
QSettings qs(fileName, XmlConfig::XmlSettingsFormat);
// transfer loaded settings to application settings
QStringList keys = qs.allKeys();
foreach(QString key, keys) {
settings.setValue(key, qs.value(key));
}
qDebug() << "Configuration file" << fileName << "was loaded.";
}
void overrideSettings(QSettings &settings, int argc, char **argv)
{
// Options like -D My/setting=test
QRegExp rx("([^=]+)=(.*)");
for (int i = 0; i < argc; ++i) {
if (CONFIG_OPTION == QString(argv[i])) {
if (rx.indexIn(argv[++i]) > -1) {
QString key = rx.cap(1);
QString value = rx.cap(2);
qDebug() << "User setting" << key << "set to value" << value;
settings.setValue(key, value);
}
}
}
settings.sync();
}
void loadTranslators(QString language, QTranslator &translator, QTranslator &qtTranslator)
{
const QString &creatorTrPath = QCoreApplication::applicationDirPath() + SHARE_PATH
+ QLatin1String("/translations");
if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
const QString &qtTrFile = QLatin1String("qt_") + language;
// Binary installer puts Qt tr files into creatorTrPath
if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
QCoreApplication::installTranslator(&translator);
QCoreApplication::installTranslator(&qtTranslator);
} else {
// unload()
translator.load(QString());
}
}
}
QList<QString> keys = settingOptions.keys();
foreach ( QString key, keys ){
settings.setValue(key, settingOptions.value(key));
}
settings.sync();
}
} // namespace anonymous
int main(int argc, char **argv)
{
QElapsedTimer timer;
timer.start();
#ifdef Q_OS_MAC
// increase the number of file that can be opened in OpenPilot GCS
struct rlimit rl;
getrlimit(RLIMIT_NOFILE, &rl);
rl.rlim_cur = rl.rlim_max;
setrlimit(RLIMIT_NOFILE, &rl);
#endif
#ifdef Q_OS_LINUX
QApplication::setAttribute(Qt::AA_X11InitThreads, true);
#endif
// low level init
systemInit();
//Set the default locale to EN, if this is not set the system locale will be used
//and as of now we dont want that behaviour.
QLocale::setDefault(QLocale::English);
// create application
SharedTools::QtSingleApplication app(APP_NAME, argc, argv);
SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
//Open Splashscreen
GCSSplashScreen splash;
splash.show();
QString locale = QLocale::system().name();
// Must be done before any QSettings class is created
QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
QCoreApplication::applicationDirPath()+QLatin1String(SHARE_PATH));
// keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS_config"));
overrideSettings(settings, argc, argv);
locale = settings.value("General/OverrideLanguage", locale).toString();
QTranslator translator;
QTranslator qtTranslator;
const QString &creatorTrPath = QCoreApplication::applicationDirPath()
+ QLatin1String(SHARE_PATH "/translations");
if (translator.load(QLatin1String("openpilotgcs_") + locale, creatorTrPath)) {
const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
const QString &qtTrFile = QLatin1String("qt_") + locale;
// Binary installer puts Qt tr files into creatorTrPath
if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
QCoreApplication::installTranslator(&translator);
QCoreApplication::installTranslator(&qtTranslator);
} else {
translator.load(QString()); // unload()
}
}
app.setProperty("qtc_locale", locale); // Do we need this?
splash.showProgressMessage(QObject::tr("Application starting..."));
// Load
// initialize the plugin manager
ExtensionSystem::PluginManager pluginManager;
pluginManager.setFileExtension(QLatin1String("pluginspec"));
pluginManager.setPluginPaths(getPluginPaths());
const QStringList pluginPaths = getPluginPaths();
pluginManager.setPluginPaths(pluginPaths);
const QStringList arguments = app.arguments();
QMap<QString, QString> foundAppOptions;
if (arguments.size() > 1) {
QMap<QString, bool> appOptions;
appOptions.insert(QLatin1String(HELP_OPTION1), false);
appOptions.insert(QLatin1String(HELP_OPTION2), false);
appOptions.insert(QLatin1String(HELP_OPTION3), false);
appOptions.insert(QLatin1String(HELP_OPTION4), false);
appOptions.insert(QLatin1String(VERSION_OPTION), false);
appOptions.insert(QLatin1String(CLIENT_OPTION), false);
appOptions.insert(QLatin1String(CONFIG_OPTION), true);
appOptions.insert(QLatin1String(CLEAN_CONFIG_OPTION), false);
appOptions.insert(QLatin1String(EXIT_AFTER_CONFIG_OPTION), false);
QString errorMessage;
if (!pluginManager.parseOptions(arguments,
appOptions,
&foundAppOptions,
&errorMessage)) {
displayError(errorMessage);
printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
return -1;
}
// parse command line
qDebug() << "Command line" << app.arguments();
QString errorMessage;
AppOptionValues appOptionValues = parseCommandLine(app, pluginManager, errorMessage);
if (!errorMessage.isEmpty()) {
// this will display two popups : one error popup + one usage string popup
// TODO merge two popups into one.
displayError(errorMessage);
printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
return -1;
}
// load user settings
// Must be done before any QSettings class is created
// keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
QString settingsPath = QCoreApplication::applicationDirPath() + SHARE_PATH;
qDebug() << "Loading system settings from" << settingsPath;
QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope, settingsPath);
qDebug() << "Loading user settings from" << SETTINGS_ORG_NAME << "/" << SETTINGS_APP_NAME;
QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, SETTINGS_ORG_NAME, SETTINGS_APP_NAME);
// need to reset all user settings?
if (appOptionValues.contains(RESET_OPTION)) {
qDebug() << "Resetting user settings!";
settings.clear();
}
// check if we have user settings
if (!settings.allKeys().count()) {
// no user settings, load the factory defaults
qDebug() << "No user settings found, loading factory defaults...";
loadFactoryDefaults(settings, appOptionValues);
}
// override settings with command line provided values
// take notice that the overridden values will be saved in the user settings and will continue to be effective
// in subsequent GCS runs
overrideSettings(settings, argc, argv);
// initialize GCS locale
// use the value defined by the General/Locale setting or default to system Locale.
// the General/Locale setting is not available in the Options dialog, it is a hidden setting but can still be changed:
// - through the command line
// - editing the factory defaults XML file before 1st launch
// - editing the user XML file
QString localeName = settings.value("General/Locale", QLocale::system().name()).toString();
QLocale::setDefault(localeName);
// some debugging
qDebug() << "main - system locale:" << QLocale::system().name();
qDebug() << "main - GCS locale:" << QLocale().name();
// load translation file
// the language used is defined by the General/OverrideLanguage setting (defaults to GCS locale)
// if the translation file for the given language is not found, GCS will default to built in English.
QString language = settings.value("General/OverrideLanguage", localeName).toString();
qDebug() << "main - language:" << language;
QTranslator translator;
QTranslator qtTranslator;
loadTranslators(language, translator, qtTranslator);
app.setProperty("qtc_locale", localeName); // Do we need this?
if (appOptionValues.contains(EXIT_AFTER_CONFIG_OPTION)) {
qDebug() << "main - exiting after config!";
return 0;
}
// open the splash screen
GCSSplashScreen *splash = 0;
if (!appOptionValues.contains(NO_SPLASH_OPTION)) {
splash = new GCSSplashScreen();
// show splash
splash->showProgressMessage(QObject::tr("Application starting..."));
splash->show();
// connect to track progress of plugin manager
QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)), splash,
SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
}
// find and load core plugin
const PluginSpecSet plugins = pluginManager.plugins();
ExtensionSystem::PluginSpec *coreplugin = 0;
foreach (ExtensionSystem::PluginSpec *spec, plugins) {
if (spec->name() == QLatin1String(corePluginNameC)) {
if (spec->name() == CORE_PLUGIN_NAME) {
coreplugin = spec;
break;
}
}
if(!coreplugin){
QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(nativePaths);
if (!coreplugin) {
QString nativePaths = QDir::toNativeSeparators(getPluginPaths().join(QLatin1String(",")));
const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(
nativePaths);
displayError(msgCoreLoadFailure(reason));
return 1;
}
@ -341,26 +516,21 @@ int main(int argc, char **argv)
displayError(msgCoreLoadFailure(coreplugin->errorString()));
return 1;
}
if (foundAppOptions.contains(QLatin1String(VERSION_OPTION))) {
if (appOptionValues.contains(VERSION_OPTION)) {
printVersion(coreplugin, pluginManager);
return 0;
}
if (foundAppOptions.contains(QLatin1String(EXIT_AFTER_CONFIG_OPTION))) {
return 0;
}
if (foundAppOptions.contains(QLatin1String(HELP_OPTION1))
|| foundAppOptions.contains(QLatin1String(HELP_OPTION2))
|| foundAppOptions.contains(QLatin1String(HELP_OPTION3))
|| foundAppOptions.contains(QLatin1String(HELP_OPTION4))) {
if (appOptionValues.contains(HELP1_OPTION) || appOptionValues.contains(HELP2_OPTION)
|| appOptionValues.contains(HELP3_OPTION) || appOptionValues.contains(HELP4_OPTION)) {
printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
return 0;
}
const bool isFirstInstance = !app.isRunning();
if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
&splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
const bool isFirstInstance = !app.isRunning();
if (!isFirstInstance && appOptionValues.contains(CLIENT_OPTION)) {
return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
}
pluginManager.loadPlugins();
@ -371,19 +541,21 @@ int main(int argc, char **argv)
{
QStringList errors;
foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
if (p->hasError())
foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins()) {
if (p->hasError()) {
errors.append(p->errorString());
if (!errors.isEmpty())
}
}
if (!errors.isEmpty()) {
QMessageBox::warning(0,
QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
errors.join(QString::fromLatin1("\n\n")));
QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
errors.join(QString::fromLatin1("\n\n")));
}
}
if (isFirstInstance) {
// Set up lock and remote arguments for the first instance only.
// Silently fallback to unconnected instances for any subsequent
// instances.
// Silently fallback to unconnected instances for any subsequent instances.
app.initialize();
QObject::connect(&app, SIGNAL(messageReceived(QString)), coreplugin->plugin(), SLOT(remoteArgument(QString)));
}
@ -392,15 +564,17 @@ int main(int argc, char **argv)
// Do this after the event loop has started
QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
//Update message and postpone closing of splashscreen 3 seconds
splash.showProgressMessage(QObject::tr("Application started."));
QTimer::singleShot(1500, &splash, SLOT(close()));
if (splash) {
// close and delete splash
splash->close();
delete splash;
}
qDebug() << "main() took" << timer.elapsed() << "ms";
qDebug() << "main - main took" << timer.elapsed() << "ms";
int ret = app.exec();
qDebug() << "GCS ran for" << timer.elapsed() << "ms";
qDebug() << "main - GCS ran for" << timer.elapsed() << "ms";
return ret;
}

32
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -125,23 +125,23 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos1, 0, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos2, 1, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos3, 2, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos4, 3, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos5, 4, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos6, 5, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModeNumber", m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);

3
ground/openpilotgcs/src/plugins/coreplugin/core.qrc
View File

@ -64,7 +64,8 @@
<file>images/tx-rx.svg</file>
<file>qml/images/tab.png</file>
<file>qml/AboutDialog.qml</file>
<file>qml/FlickableWebView.qml</file>
<file>qml/AuthorsModel.qml</file>
<file>qml/ScrollDecorator.qml</file>
<file>qml/TabWidget.qml</file>
</qresource>
</RCC>

19
ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
View File

@ -1,22 +1,27 @@
TEMPLATE = lib
TARGET = Core
DEFINES += CORE_LIBRARY
QT += declarative \
xml \
network \
script \
svg \
sql
include(../../openpilotgcsplugin.pri)
include(../../libs/utils/utils.pri)
include(../../shared/scriptwrapper/scriptwrapper.pri)
include(coreplugin_dependencies.pri)
INCLUDEPATH += dialogs \
uavgadgetmanager \
actionmanager
DEPENDPATH += dialogs \
uavgadgetmanager \
actionmanager
SOURCES += mainwindow.cpp \
tabpositionindicator.cpp \
fancyactionbar.cpp \
@ -64,8 +69,8 @@ SOURCES += mainwindow.cpp \
workspacesettings.cpp \
uavconfiginfo.cpp \
authorsdialog.cpp \
telemetrymonitorwidget.cpp \
dialogs/importsettings.cpp
telemetrymonitorwidget.cpp
HEADERS += mainwindow.h \
tabpositionindicator.h \
fancyactionbar.h \
@ -126,20 +131,22 @@ HEADERS += mainwindow.h \
uavconfiginfo.h \
authorsdialog.h \
iconfigurableplugin.h \
telemetrymonitorwidget.h \
dialogs/importsettings.h
telemetrymonitorwidget.h
FORMS += dialogs/settingsdialog.ui \
dialogs/shortcutsettings.ui \
generalsettings.ui \
uavgadgetoptionspage.ui \
workspacesettings.ui \
dialogs/importsettings.ui
workspacesettings.ui
RESOURCES += core.qrc \
fancyactionbar.qrc
unix:!macx {
images.files = images/openpilot_logo_*.png
images.files = images/qtcreator_logo_*.png
images.path = /share/pixmaps
INSTALLS += images
}
OTHER_FILES += Core.pluginspec

57
ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
View File

@ -1,57 +0,0 @@
#include "importsettings.h"
#include "ui_importsettings.h"
#include <QDir>
#include <QSettings>
#include <utils/xmlconfig.h>
#include <QTimer>
importSettings::importSettings(QWidget *parent) :
QDialog(parent),
ui(new Ui::importSettings)
{
ui->setupUi(this);
connect(ui->cbConfigs, SIGNAL(currentIndexChanged(int)), this, SLOT(updateDetails(int)));
connect(ui->btnLoad, SIGNAL(clicked()), this, SLOT(accept()));
QTimer::singleShot(500, this, SLOT(repaint()));
}
void importSettings::loadFiles(QString path)
{
QDir myDir(path);
QStringList filters;
filters << "*.xml";
QStringList list = myDir.entryList(filters,QDir::Files);
int x = 0;
foreach(QString fileStr, list) {
fileInfo *info = new fileInfo;
QSettings settings(path+QDir::separator() + fileStr, XmlConfig::XmlSettingsFormat);
settings.beginGroup("General");
info->description = settings.value("Description", "None").toString();
info->details = settings.value("Details", "None").toString();
settings.endGroup();
info->file = path + QDir::separator() + fileStr;
configList.insert(x,info);
ui->cbConfigs->addItem(info->description, x);
++x;
}
}
void importSettings::updateDetails(int index)
{
fileInfo *info = configList.value(ui->cbConfigs->itemData(index).toInt());
ui->lblDetails->setText(info->details);
}
QString importSettings::choosenConfig()
{
fileInfo *info = configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
return info->file;
}
importSettings::~importSettings()
{
foreach(fileInfo * info,configList.values()) {
delete info;
}
delete ui;
}

35
ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
View File

@ -1,35 +0,0 @@
#ifndef IMPORTSETTINGS_H
#define IMPORTSETTINGS_H
#include <QDialog>
#include <QMap>
namespace Ui {
class importSettings;
}
class importSettings : public QDialog
{
Q_OBJECT
struct fileInfo {
QString file;
QString description;
QString details;
};
public:
explicit importSettings(QWidget *parent = 0);
~importSettings();
void loadFiles(QString path);
QString choosenConfig();
private:
Ui::importSettings *ui;
QMap<int,fileInfo*> configList;
private slots:
void updateDetails(int);
};
#endif // IMPORTSETTINGS_H

82
ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui
View File

@ -1,82 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>importSettings</class>
<widget class="QDialog" name="importSettings">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>373</width>
<height>167</height>
</rect>
</property>
<property name="windowTitle">
<string>OpenPilotGCS</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>No configuration file could be found.
Please choose from one of the default configurations</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="cbConfigs"/>
</item>
<item>
<widget class="QLabel" name="lblDetails">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="btnLoad">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

60
ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
View File

@ -45,11 +45,11 @@ using namespace Core::Internal;
GeneralSettings::GeneralSettings():
m_saveSettingsOnExit(true),
m_dialog(0),
m_autoConnect(true),
m_autoSelect(true),
m_useUDPMirror(false),
m_useExpertMode(false)
m_useExpertMode(false),
m_dialog(0)
{
}
@ -88,23 +88,23 @@ void GeneralSettings::fillLanguageBox() const
m_page->languageBox->addItem(tr("<System Language>"), QString());
// need to add this explicitly, since there is no qm file for English
m_page->languageBox->addItem(QLatin1String("English"), QLatin1String("C"));
if (currentLocale == QLatin1String("C"))
if (currentLocale == QLatin1String("C")) {
m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
}
const QString creatorTrPath =
Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
const QString creatorTrPath = Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
const QStringList languageFiles = QDir(creatorTrPath).entryList(QStringList(QLatin1String("openpilotgcs*.qm")));
Q_FOREACH(const QString &languageFile, languageFiles)
{
int start = languageFile.indexOf(QLatin1Char('_'))+1;
foreach(QString languageFile, languageFiles) {
int start = languageFile.indexOf(QLatin1Char('_')) + 1;
int end = languageFile.lastIndexOf(QLatin1Char('.'));
const QString locale = languageFile.mid(start, end-start);
const QString locale = languageFile.mid(start, end - start);
// no need to show a language that creator will not load anyway
if (hasQmFilesForLocale(locale, creatorTrPath)) {
m_page->languageBox->addItem(QLocale::languageToString(QLocale(locale).language()), locale);
if (locale == currentLocale)
if (locale == currentLocale) {
m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
}
}
}
}
@ -114,8 +114,11 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
m_page = new Ui::GeneralSettings();
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
fillLanguageBox();
connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
connect(m_page->checkAutoConnect, SIGNAL(stateChanged(int)), this, SLOT(slotAutoConnect(int)));
m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
m_page->checkAutoConnect->setChecked(m_autoConnect);
m_page->checkAutoSelect->setChecked(m_autoSelect);
@ -123,8 +126,7 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
m_page->cbExpertMode->setChecked(m_useExpertMode);
m_page->colorButton->setColor(StyleHelper::baseColor());
connect(m_page->resetButton, SIGNAL(clicked()),
this, SLOT(resetInterfaceColor()));
connect(m_page->resetButton, SIGNAL(clicked()), this, SLOT(resetInterfaceColor()));
return w;
}
@ -148,26 +150,28 @@ void GeneralSettings::finish()
delete m_page;
}
void GeneralSettings::readSettings(QSettings* qs)
void GeneralSettings::readSettings(QSettings *qs)
{
qs->beginGroup(QLatin1String("General"));
m_language = qs->value(QLatin1String("OverrideLanguage"),QLocale::system().name()).toString();
m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
m_useExpertMode = qs->value(QLatin1String("ExpertMode"),m_useExpertMode).toBool();
m_language = qs->value(QLatin1String("OverrideLanguage"), QLocale::system().name()).toString();
m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit).toBool();
m_autoConnect = qs->value(QLatin1String("AutoConnect"), m_autoConnect).toBool();
m_autoSelect = qs->value(QLatin1String("AutoSelect"), m_autoSelect).toBool();
m_useUDPMirror = qs->value(QLatin1String("UDPMirror"), m_useUDPMirror).toBool();
m_useExpertMode = qs->value(QLatin1String("ExpertMode"), m_useExpertMode).toBool();
qs->endGroup();
}
void GeneralSettings::saveSettings(QSettings* qs)
void GeneralSettings::saveSettings(QSettings *qs)
{
qs->beginGroup(QLatin1String("General"));
if (m_language.isEmpty())
if (m_language.isEmpty()) {
qs->remove(QLatin1String("OverrideLanguage"));
else
}
else {
qs->setValue(QLatin1String("OverrideLanguage"), m_language);
}
qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
@ -217,8 +221,8 @@ void GeneralSettings::setLanguage(const QString &locale)
{
if (m_language != locale) {
if (!locale.isEmpty()) {
QMessageBox::information((QWidget*)Core::ICore::instance()->mainWindow(), tr("Restart required"),
tr("The language change will take effect after a restart of the OpenPilot GCS."));
QMessageBox::information((QWidget*) Core::ICore::instance()->mainWindow(), tr("Restart required"),
tr("The language change will take effect after a restart of the OpenPilot GCS."));
}
m_language = locale;
}
@ -251,8 +255,10 @@ bool GeneralSettings::useExpertMode() const
void GeneralSettings::slotAutoConnect(int value)
{
if (value==Qt::Checked)
if (value==Qt::Checked) {
m_page->checkAutoSelect->setEnabled(false);
else
}
else {
m_page->checkAutoSelect->setEnabled(true);
}
}

1
ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
View File

@ -85,6 +85,7 @@ private:
QList<QTextCodec *> m_codecs;
};
} // namespace Internal
} // namespace Core

61
ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
View File

@ -85,14 +85,12 @@
#include <QtGui/QMessageBox>
#include <QDesktopServices>
#include <QElapsedTimer>
#include "dialogs/importsettings.h"
#include <QDir>
using namespace Core;
using namespace Core::Internal;
static const char *uriListMimeFormatC = "text/uri-list";
static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
enum { debugMainWindow = 0 };
@ -269,66 +267,9 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
void MainWindow::extensionsInitialized()
{
QSettings *qs = m_settings;
if (!qs->allKeys().count()) {
// no user settings, so try to load some default ones
QDir directory(QCoreApplication::applicationDirPath());
#ifdef Q_OS_MAC
directory.cdUp();
directory.cd("Resources");
#else
directory.cdUp();
directory.cd("share");
directory.cd("openpilotgcs");
#endif
directory.cd("default_configurations");
qDebug() << "Looking for configuration files in:" << directory.absolutePath();
QString filename;
// check if command line contains a config file name
QString commandLine;
foreach(QString str, qApp->arguments()) {
if (str.contains("configfile")) {
commandLine = str.split("=").at(1);
}
}
if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
// use file name specified on command line
filename = directory.absolutePath() + QDir::separator() + commandLine;
qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
} else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
// use default file name
filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
qDebug() << "Default configuration file" << filename << "will be loaded.";
} else {
// prompt user for default file name
qDebug() << "Default configuration file" << directory.absolutePath() << QDir::separator()
<< DEFAULT_CONFIG_FILENAME << "was not found.";
importSettings *dialog = new importSettings(this);
dialog->loadFiles(directory.absolutePath());
dialog->exec();
filename = dialog->choosenConfig();
delete dialog;
qDebug() << "Configuration file" << filename << "was selected and will be loaded.";
}
// create settings from file
qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
// transfer loaded settings to application settings
QStringList keys = qs->allKeys();
foreach(QString key, keys) {
m_settings->setValue(key, qs->value(key));
}
// and delete loaded settings
delete qs;
qs = m_settings;
qDebug() << "Configuration file" << filename << "was loaded.";
}
qs->beginGroup("General");
m_config_description = qs->value("Description", "none").toString();
m_config_details = qs->value("Details", "none").toString();
m_config_stylesheet = qs->value("StyleSheet", "none").toString();

128
ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
View File

@ -39,72 +39,74 @@
****************************************************************************/
import QtQuick 1.1
import QtWebKit 1.0
// This is a tabbed pane element. Add a nested Rectangle to add a tab.
TabWidget {
id: tabs
width: 640; height: 480
// This tab is for the GCS version information
Rectangle {
property string title: "OpenPilot GCS"
anchors.fill: parent
color: "#e3e3e3"
Rectangle {
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
Image {
source: "../images/openpilot_logo_128.png"
x: 0; y: 0; z: 100
fillMode: Image.PreserveAspectFit
}
Flickable {
anchors.fill: parent
anchors.centerIn: parent
Text {
id: versionLabel
x: 156; y: 0
width: 430; height: 379
horizontalAlignment: Qt.AlignLeft
font.pixelSize: 12
wrapMode: Text.WordWrap
// @var version exposed in authorsdialog.cpp
text: version
}
}
// Define AuthorsModel as type
property AuthorsModel authors: AuthorsModel {}
id: tabs
width: 640; height: 480
// This tab is for the GCS version information
Rectangle {
property string title: "OpenPilot GCS"
anchors.fill: parent
color: "#e3e3e3"
Rectangle {
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
Image {
source: "../images/openpilot_logo_128.png"
x: 0; y: 0; z: 100
fillMode: Image.PreserveAspectFit
}
Flickable {
anchors.fill: parent
anchors.centerIn: parent
Text {
id: versionLabel
x: 156; y: 0
width: 430; height: 379
horizontalAlignment: Qt.AlignLeft
font.pixelSize: 12
wrapMode: Text.WordWrap
// @var version exposed in authorsdialog.cpp
text: version
}
}
}
// This is a stub for the Plugins.
// Rectangle {
// property string title: "Plugins"
// anchors.fill: parent
// color: "#e3e3e3"
//
// Rectangle {
// anchors.fill: parent; anchors.margins: 20
// color: "#7fff7f"
// Text {
// width: parent.width - 20
// anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter
// font.pixelSize: 20
// wrapMode: Text.WordWrap
// }
// }
// }
// This tab is for the authors/contributors/credits
}
// This tab is for the authors/contributors/credits
Rectangle {
property string title: "Authors"
anchors.fill: parent; color: "#e3e3e3"
Rectangle {
property string title: "Authors"
anchors.fill: parent; color: "#e3e3e3"
Rectangle {
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
FlickableWebView {
id: webView
z: 0
url: "../CREDITS.html"
anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom }
}
}
}
}
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
Text {
id: description
text: "<h4>These people have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.</h4><p>This list is sorted alphabetically by name</p>"
width: 600
wrapMode: Text.WordWrap
}
ListView {
id: authorsView
y: description.y + description.height + 20
width: parent.width; height: parent.height - description.height - 20
spacing: 3
model: authors
delegate: Text {
text: name
}
clip: true
}
ScrollDecorator {
flickableItem: authorsView
}
}
}
}

151
ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml Normal file
View File

@ -0,0 +1,151 @@
/*
This list model was created for the AuthorsDialog.
*/
import QtQuick 1.1
ListModel {
ListElement{ name:"Connor Abbott" }
ListElement{ name:"David Ankers" }
ListElement{ name:"Sergiy Anikeyev" }
ListElement{ name:"Pedro Assuncao" }
ListElement{ name:"Fredrik Arvidsson" }
ListElement{ name:"Werner Backes" }
ListElement{ name:"Jose Barros" }
ListElement{ name:"Pete Boehl" }
ListElement{ name:"David Carlson" }
ListElement{ name:"James Cotton" }
ListElement{ name:"Steve Doll" }
ListElement{ name:"Piotr Esden-Tempski" }
ListElement{ name:"Richard Flay" }
ListElement{ name:"Peter Farnworth" }
ListElement{ name:"Ed Faulkner" }
ListElement{ name:"Darren Furniss" }
ListElement{ name:"Frederic Goddeeris" }
ListElement{ name:"Daniel Godin" }
ListElement{ name:"Bani Greyling" }
ListElement{ name:"Nuno Guedes" }
ListElement{ name:"Erik Gustavsson" }
ListElement{ name:"Peter Gunnarsson" }
ListElement{ name:"Dean Hall" }
ListElement{ name:"Joe Hlebasko" }
ListElement{ name:"Andy Honecker" }
ListElement{ name:"Ryan Hunt" }
ListElement{ name:"Mark James" }
ListElement{ name:"Sami Korhonen" }
ListElement{ name:"Thorsten Klose" }
ListElement{ name:"Hallvard Kristiansen" }
ListElement{ name:"Edouard Lafargue" }
ListElement{ name:"Mike Labranche" }
ListElement{ name:"Fredrik Larsson" }
ListElement{ name:"Pablo Lema" }
ListElement{ name:"David Llama" }
ListElement{ name:"Matt Lipski" }
ListElement{ name:"Les Newell" }
ListElement{ name:"Ken Northup" }
ListElement{ name:"Greg Matthews" }
ListElement{ name:"Guy McCaldin" }
ListElement{ name:"Gary Mortimer" }
ListElement{ name:"Alessio Morale" }
ListElement{ name:"Cathy Moss" }
ListElement{ name:"Angus Peart" }
ListElement{ name:"Dmytro Poplavskiy" }
ListElement{ name:"Eric Price" }
ListElement{ name:"Richard Querin" }
ListElement{ name:"Randy Ram" }
ListElement{ name:"Laurent Ribon" }
ListElement{ name:"Julien Rouviere" }
ListElement{ name:"Jackson Russell" }
ListElement{ name:"Zik Saleeba" }
ListElement{ name:"Professor Dale Schinstock" }
ListElement{ name:"Professor Kenn Sebesta" }
ListElement{ name:"Oleg Semyonov" }
ListElement{ name:"Stacey Sheldon" }
ListElement{ name:"Troy Schultz" }
ListElement{ name:"Dr. Erhard Siegl" }
ListElement{ name:"Mike Smith" }
ListElement{ name:"Alex Sowa" }
ListElement{ name:"Pete Stapley" }
ListElement{ name:"Rowan Taubitz" }
ListElement{ name:"Andrew Thoms" }
ListElement{ name:"Jasper van Loenen" }
ListElement{ name:"Vassilis Varveropoulos" }
ListElement{ name:"Kevin Vertucio" }
ListElement{ name:"Alex Vrubel" }
ListElement{ name:"Brian Webb" }
ListElement{ name:"Justin Welander" }
ListElement{ name:"Mat Wellington" }
ListElement{ name:"Kendal Wells" }
ListElement{ name:"Dmitriy Zaitsev" }
}

196
ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml
View File

@ -1,196 +0,0 @@
/****************************************************************************
**
** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
** Contact: http://www.qt-project.org/
**
** This file is part of the QtDeclarative module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL$
** GNU Lesser General Public License Usage
** This file may be used under the terms of the GNU Lesser General Public
** License version 2.1 as published by the Free Software Foundation and
** appearing in the file LICENSE.LGPL included in the packaging of this
** file. Please review the following information to ensure the GNU Lesser
** General Public License version 2.1 requirements will be met:
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** In addition, as a special exception, Nokia gives you certain additional
** rights. These rights are described in the Nokia Qt LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU General
** Public License version 3.0 as published by the Free Software Foundation
** and appearing in the file LICENSE.GPL included in the packaging of this
** file. Please review the following information to ensure the GNU General
** Public License version 3.0 requirements will be met:
** http://www.gnu.org/copyleft/gpl.html.
**
** Other Usage
** Alternatively, this file may be used in accordance with the terms and
** conditions contained in a signed written agreement between you and Nokia.
**
**
**
**
**
**
** $QT_END_LICENSE$
**
****************************************************************************/
import QtQuick 1.0
import QtWebKit 1.0
Flickable {
property alias title: webView.title
property alias icon: webView.icon
property alias progress: webView.progress
property alias url: webView.url
property alias back: webView.back
property alias stop: webView.stop
property alias reload: webView.reload
property alias forward: webView.forward
id: flickable
width: parent.width
contentWidth: Math.max(parent.width,webView.width)
contentHeight: Math.max(parent.height,webView.height)
// anchors.top: headerSpace.bottom
anchors.bottom: parent.top
anchors.left: parent.left
anchors.right: parent.right
pressDelay: 200
clip: true
onWidthChanged : {
// Expand (but not above 1:1) if otherwise would be smaller that available width.
if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0)
webView.contentsScale = width / webView.width * webView.contentsScale;
}
WebView {
id: webView
transformOrigin: Item.TopLeft
function fixUrl(url)
{
if (url == "") return url
if (url[0] == "/") return "file://"+url
if (url.indexOf(":")<0) {
if (url.indexOf(".")<0 || url.indexOf(" ")>=0) {
// Fall back to a search engine; hard-code Wikipedia
return "http://en.wikipedia.org/w/index.php?search="+url
} else {
return "http://"+url
}
}
return url
}
url: fixUrl(webBrowser.urlString)
smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions
focus: true
onAlert: console.log(message)
function doZoom(zoom,centerX,centerY)
{
if (centerX) {
var sc = zoom*contentsScale;
scaleAnim.to = sc;
flickVX.from = flickable.contentX
flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width))
finalX.value = flickVX.to
flickVY.from = flickable.contentY
flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height))
finalY.value = flickVY.to
quickZoom.start()
}
}
Keys.onLeftPressed: webView.contentsScale -= 0.1
Keys.onRightPressed: webView.contentsScale += 0.1
preferredWidth: flickable.width
preferredHeight: flickable.height
contentsScale: 1
onContentsSizeChanged: {
// zoom out
contentsScale = Math.min(1,flickable.width / contentsSize.width)
}
onUrlChanged: {
// got to topleft
flickable.contentX = 0
flickable.contentY = 0
// if (url != null) { header.editUrl = url.toString(); }
}
onDoubleClick: {
if (!heuristicZoom(clickX,clickY,2.5)) {
var zf = flickable.width / contentsSize.width
if (zf >= contentsScale)
zf = 2.0*contentsScale // zoom in (else zooming out)
doZoom(zf,clickX*zf,clickY*zf)
}
}
SequentialAnimation {
id: quickZoom
PropertyAction {
target: webView
property: "renderingEnabled"
value: false
}
ParallelAnimation {
NumberAnimation {
id: scaleAnim
target: webView
property: "contentsScale"
// the to property is set before calling
easing.type: Easing.Linear
duration: 200
}
NumberAnimation {
id: flickVX
target: flickable
property: "contentX"
easing.type: Easing.Linear
duration: 200
from: 0 // set before calling
to: 0 // set before calling
}
NumberAnimation {
id: flickVY
target: flickable
property: "contentY"
easing.type: Easing.Linear
duration: 200
from: 0 // set before calling
to: 0 // set before calling
}
}
// Have to set the contentXY, since the above 2
// size changes may have started a correction if
// contentsScale < 1.0.
PropertyAction {
id: finalX
target: flickable
property: "contentX"
value: 0 // set before calling
}
PropertyAction {
id: finalY
target: flickable
property: "contentY"
value: 0 // set before calling
}
PropertyAction {
target: webView
property: "renderingEnabled"
value: true
}
}
onZoomTo: doZoom(zoom,centerX,centerY)
}
}

40
ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml Normal file
View File

@ -0,0 +1,40 @@
import QtQuick 1.1
Rectangle {
id: scrollDecorator
property Flickable flickableItem: null
Loader {
id: scrollLoader
sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
}
Component.onDestruction: scrollLoader.sourceComponent = undefined
Component {
id: scrollBar
Rectangle {
property Flickable flickable: scrollDecorator.flickableItem
parent: flickable
anchors.right: parent.right
smooth: true
radius: 2
color: "gray"
border.color: "lightgray"
border.width: 1.0
opacity: flickable.moving ? 0.8 : 0.4
Behavior on opacity {
NumberAnimation { duration: 500 }
}
width: 4
height: flickable.height * (flickable.height / flickable.contentHeight)
y: flickable.height * (flickable.contentY / flickable.contentHeight)
visible: flickable.height < flickable.contentHeight
}
}
}

25
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
void UAVObjectField::limitsInitialize(const QString &limits)
{
/// format
/// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller)
/// (VALX)->value
/// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3
/// example: first element bigger than 3 and second element inside [2.3,5]
/// "%BI:3,%BE:2.3:5"
// Limit string format:
// % - start char
// XXXX - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
// TY - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
// VAL - values for TY separated by colon
// , - rule separator (may have leading or trailing spaces)
// ; - element separator (may have leading or trailing spaces)
//
// Examples:
// Disable few flight modes for Revo (00903):
// "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
// Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
// "%0401BI:3; %BE:2.3:5"
// Set applicable range [0-500] for 3 elements of array for all boards:
// "%BE:0:500; %BE:0:500; %BE:0:500"
if(limits.isEmpty())
return;
QStringList stringPerElement=limits.split(",");
QStringList stringPerElement = limits.split(";");
quint32 index=0;
foreach (QString str, stringPerElement) {
QStringList ruleList=str.split(";");
QStringList ruleList = str.split(",");
QList<LimitStruct> limitList;
foreach(QString rule,ruleList)
{

7
make/apps-defs.mk
View File

@ -101,8 +101,8 @@ SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
## Modules
SRC += $(foreach mod, $(MODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
SRC += $(foreach mod, $(OPTMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
# Declare all non-optional modules as built-in to force inclusion.
# Built-in modules are always enabled and cannot be disabled.
@ -175,3 +175,6 @@ ifeq ($(MCU),cortex-m3)
else ifeq ($(MCU),cortex-m4)
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
endif
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

3
make/boot-defs.mk
View File

@ -126,3 +126,6 @@ ifeq ($(MCU),cortex-m3)
else ifeq ($(MCU),cortex-m4)
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
endif
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

5
make/common-defs.mk
View File

@ -223,13 +223,10 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add opfw target
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

9
make/tools.mk
View File

@ -52,15 +52,16 @@ endif
##############################
ifeq ($(UNAME), Linux)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
ifeq ($(ARCH), x86_64)
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux-x64.tar.bz2
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-amd64.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
else
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
endif
else ifeq ($(UNAME), Darwin)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
QT_SDK_URL := TODO/qt-4.8.4-mac.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
else ifeq ($(UNAME), Windows)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2

2
package/linux/deb_common/postinst
View File

@ -20,7 +20,7 @@ set -e
case "$1" in
configure)
sudo udevadm control --reload-rules >&2
/sbin/udevadm control --reload-rules >&2
;;
abort-upgrade|abort-remove|abort-deconfigure)

50
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -20,13 +20,55 @@
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/>
<!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
<field name="FlightModePosition"
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
limits="\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>

16
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -4,15 +4,15 @@
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>

23
shared/uavobjectdefinition/systemalarms.xml
View File

@ -1,12 +1,13 @@
<xml>
<object name="SystemAlarms" singleinstance="true" settings="false">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.</description>
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules. Some modules may have a module defined Status and Substatus fields that details its condition.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
<elementnames>
<elementname>SystemConfiguration</elementname>
<elementname>BootFault</elementname>
<elementname>OutOfMemory</elementname>
<elementname>StackOverflow</elementname>
<elementname>CPUOverload</elementname>
<elementname>SystemConfiguration</elementname>
<elementname>EventSystem</elementname>
<elementname>Telemetry</elementname>
<elementname>ManualControl</elementname>
@ -19,10 +20,26 @@
<elementname>FlightTime</elementname>
<elementname>I2C</elementname>
<elementname>GPS</elementname>
<elementname>BootFault</elementname>
<elementname>Power</elementname>
</elementnames>
</field>
<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
<elementnames>
<elementname>SystemConfiguration</elementname>
<elementname>BootFault</elementname>
</elementnames>
<options>
<option>None</option>
<option>RebootRequired</option>
<option>FlightMode</option>
</options>
</field>
<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">
<elementnames>
<elementname>SystemConfiguration</elementname>
<elementname>BootFault</elementname>
</elementnames>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>