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Code Issues Releases Activity

Merge branch 'next' into thread/OP-39

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This commit is contained in:
Fredrik Arvidsson 2012-08-09 11:17:52 +02:00
commit 59d71c2b98
13 changed files with 363 additions and 348 deletions
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1
flight/CopterControl/System/inc/pios_config_posix.h
View File

@ -33,7 +33,6 @@
#define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED #define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS #define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM #define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP #define PIOS_INCLUDE_UDP

9
flight/Modules/System/systemmod.c
View File

@ -463,15 +463,6 @@ static void updateSystemAlarms()
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW); AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
} }
#if defined(PIOS_INCLUDE_SDCARD)
// Check for SD card
if (PIOS_SDCARD_IsMounted() == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_ERROR);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
}
#endif
// Check for event errors // Check for event errors
UAVObjGetStats(&objStats); UAVObjGetStats(&objStats);
EventGetStats(&evStats); EventGetStats(&evStats);

1
flight/PipXtreme/System/inc/pios_config_posix.h
View File

@ -33,7 +33,6 @@
#define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED #define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS #define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM #define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP #define PIOS_INCLUDE_UDP

9
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -46,13 +46,6 @@
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6 #define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3 #define UAVOBJ_UPDATE_MODE_MASK 0x3
// FIXME: All this typedef for SDCARD needs to be abstracted away
#if !defined(PIOS_INCLUDE_SDCARD)
typedef struct {} FILEINFO;
#endif
typedef void* UAVObjHandle; typedef void* UAVObjHandle;
/** /**
@ -164,8 +157,10 @@ int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId); int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId); int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId); int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
#if defined(PIOS_INCLUDE_SDCARD)
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file); int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file); UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
#endif
int32_t UAVObjSaveSettings(); int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings(); int32_t UAVObjLoadSettings();
int32_t UAVObjDeleteSettings(); int32_t UAVObjDeleteSettings();

10
flight/UAVObjects/uavobjectmanager.c
View File

@ -668,6 +668,7 @@ unlock_exit:
return rc; return rc;
} }
#if defined(PIOS_INCLUDE_SDCARD)
/** /**
* Save the data of the specified object instance to the file system (SD card). * Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed. * The object will be appended and the file will not be closed.
@ -682,7 +683,6 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
{ {
PIOS_Assert(obj_handle); PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten; uint32_t bytesWritten;
// Check for file system availability // Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) { if (PIOS_SDCARD_IsMounted() == 0) {
@ -741,9 +741,9 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
} }
// Done // Done
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0; return 0;
} }
#endif /* PIOS_INCLUDE_SDCARD */
/** /**
* Save the data of the specified object to the file system (SD card). * Save the data of the specified object to the file system (SD card).
@ -811,6 +811,7 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
return 0; return 0;
} }
#if defined(PIOS_INCLUDE_SDCARD)
/** /**
* Load an object from the file system (SD card). * Load an object from the file system (SD card).
* @param[in] file File to read from * @param[in] file File to read from
@ -818,7 +819,6 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
*/ */
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file) UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{ {
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead; uint32_t bytesRead;
struct UAVOBase *objEntry; struct UAVOBase *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
@ -898,10 +898,8 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Unlock // Unlock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return obj_handle; return obj_handle;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
} }
#endif /* PIOS_INCLUDE_SDCARD */
/** /**
* Load an object from the file system (SD card). * Load an object from the file system (SD card).

20
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
View File

@ -1385,26 +1385,6 @@
id="Telemetry-Critical" id="Telemetry-Critical"
style="fill:#cf0e0e;fill-opacity:1;stroke:#ffffff;stroke-width:0.29055119;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /> style="fill:#cf0e0e;fill-opacity:1;stroke:#ffffff;stroke-width:0.29055119;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" />
</g> </g>
<g
style="display:inline"
inkscape:label="SDCard-OK"
id="layer1"
inkscape:groupmode="layer" />
<g
style="display:inline"
inkscape:label="SDCard-Warning"
id="layer6"
inkscape:groupmode="layer" />
<g
style="display:inline"
inkscape:label="SDCard-Error"
id="layer11"
inkscape:groupmode="layer" />
<g
style="display:inline"
inkscape:label="SDCard-Critical"
id="layer20"
inkscape:groupmode="layer" />
<g <g
style="display:none" style="display:none"
inkscape:label="Memory-OK" inkscape:label="Memory-OK"

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12
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -82,12 +82,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack())); connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
m_config->stackedWidget->setCurrentIndex(0); m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll"); addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");

601
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -112,327 +112,370 @@ void UAVObjectField::limitsInitialize(const QString &limits)
QStringList stringPerElement=limits.split(","); QStringList stringPerElement=limits.split(",");
quint32 index=0; quint32 index=0;
foreach (QString str, stringPerElement) { foreach (QString str, stringPerElement) {
QString _str=str.trimmed(); QStringList ruleList=str.split(";");
QStringList valuesPerElement=_str.split(":"); QList<LimitStruct> limitList;
LimitStruct lstruc; foreach(QString rule,ruleList)
bool b1=valuesPerElement.at(0).startsWith("%");
bool b2=(int)(index)<(int)numElements;
if(b1 && b2)
{ {
if(valuesPerElement.at(0).right(2)=="EQ") QString _str=rule.trimmed();
lstruc.type=EQUAL; if(_str.isEmpty())
else if(valuesPerElement.at(0).right(2)=="NE") continue;
lstruc.type=NOT_EQUAL; QStringList valuesPerElement=_str.split(":");
else if(valuesPerElement.at(0).right(2)=="BE") LimitStruct lstruc;
lstruc.type=BETWEEN; bool b1=valuesPerElement.at(0).startsWith("%");
else if(valuesPerElement.at(0).right(2)=="BI") bool b2=(int)(index)<(int)numElements;
lstruc.type=BIGGER; bool b3=valuesPerElement.at(0).size()==3;
else if(valuesPerElement.at(0).right(2)=="SM") bool auxb;
lstruc.type=SMALLER; valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
else bool b4=((valuesPerElement.at(0).size())==7 && auxb);
qDebug()<<"limits parsing failed (invalid property) on UAVObjectField"<<name; if(b1 && b2 && (b3 || b4))
valuesPerElement.removeAt(0);
foreach(QString _value,valuesPerElement)
{ {
QString value=_value.trimmed(); if(b4)
switch (type) lstruc.board=valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
else
lstruc.board=0;
if(valuesPerElement.at(0).right(2)=="EQ")
lstruc.type=EQUAL;
else if(valuesPerElement.at(0).right(2)=="NE")
lstruc.type=NOT_EQUAL;
else if(valuesPerElement.at(0).right(2)=="BE")
lstruc.type=BETWEEN;
else if(valuesPerElement.at(0).right(2)=="BI")
lstruc.type=BIGGER;
else if(valuesPerElement.at(0).right(2)=="SM")
lstruc.type=SMALLER;
else
qDebug()<<"limits parsing failed (invalid property) on UAVObjectField"<<name;
valuesPerElement.removeAt(0);
foreach(QString _value,valuesPerElement)
{ {
case UINT8: QString value=_value.trimmed();
case UINT16: switch (type)
case UINT32: {
case BITFIELD: case UINT8:
lstruc.values.append((quint32)value.toULong()); case UINT16:
break; case UINT32:
case INT8: case BITFIELD:
case INT16: lstruc.values.append((quint32)value.toULong());
case INT32: break;
lstruc.values.append((qint32)value.toLong()); case INT8:
break; case INT16:
case FLOAT32: case INT32:
lstruc.values.append((float)value.toFloat()); lstruc.values.append((qint32)value.toLong());
break; break;
case ENUM: case FLOAT32:
lstruc.values.append((QString)value); lstruc.values.append((float)value.toFloat());
break; break;
case STRING: case ENUM:
lstruc.values.append((QString)value); lstruc.values.append((QString)value);
break; break;
default: case STRING:
lstruc.values.append(QVariant()); lstruc.values.append((QString)value);
break;
default:
lstruc.values.append(QVariant());
}
} }
limitList.append(lstruc);
}
else
{
if(!valuesPerElement.at(0).isEmpty() && !b1)
qDebug()<<"limits parsing failed (property doesn't start with %) on UAVObjectField"<<name;
else if(!b2)
qDebug()<<"limits parsing failed (index>numelements) on UAVObjectField"<<name<<"index"<<index<<"numElements"<<numElements;
else if(!b3 || !b4 )
qDebug()<<"limits parsing failed limit not starting with %XX or %YYYYXX where XX is the limit type and YYYY is the board type on UAVObjectField"<<name;
} }
elementLimits.insert(index,lstruc);
++index;
} }
else elementLimits.insert(index,limitList);
++index;
}
foreach(QList<LimitStruct> limitList,elementLimits)
{
foreach(LimitStruct limit,limitList)
{ {
if(!valuesPerElement.at(0).isEmpty() && !b1) qDebug()<<"Limit type"<<limit.type<<"for board"<<limit.board<<"for field"<<getName();
qDebug()<<"limits parsing failed (property doesn't start with %) on UAVObjectField"<<name; foreach(QVariant var,limit.values)
else if(!b2) {
qDebug()<<"limits parsing failed (index>numelements) on UAVObjectField"<<name<<"index"<<index<<"numElements"<<numElements; qDebug()<<"value"<<var;
}
} }
} }
} }
bool UAVObjectField::isWithinLimits(QVariant var,quint32 index) bool UAVObjectField::isWithinLimits(QVariant var,quint32 index, int board)
{ {
if(!elementLimits.keys().contains(index)) if(!elementLimits.keys().contains(index))
return true; return true;
LimitStruct struc=elementLimits.value(index);
switch(struc.type) foreach(LimitStruct struc,elementLimits.value(index))
{ {
case EQUAL: if((struc.board!=board) && board!=0 && struc.board!=0)
switch (type) continue;
switch(struc.type)
{ {
case INT8: case EQUAL:
case INT16: switch (type)
case INT32: {
foreach (QVariant vars, struc.values) { case INT8:
if(var.toInt()==vars.toInt()) case INT16:
return true; case INT32:
foreach (QVariant vars, struc.values) {
if(var.toInt()==vars.toInt())
return true;
}
return false;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return true;
}
return false;
break;
case ENUM:
case STRING:
foreach (QVariant vars, struc.values) {
if(var.toString()==vars.toString())
return true;
}
return false;
break;
case FLOAT32:
foreach (QVariant vars, struc.values) {
if(var.toFloat()==vars.toFloat())
return true;
}
return false;
break;
default:
return true;
} }
return false;
break; break;
case UINT8: case NOT_EQUAL:
case UINT16: switch (type)
case UINT32: {
case BITFIELD: case INT8:
foreach (QVariant vars, struc.values) { case INT16:
if(var.toUInt()==vars.toUInt()) case INT32:
return true; foreach (QVariant vars, struc.values) {
if(var.toInt()==vars.toInt())
return false;
}
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return false;
}
return true;
break;
case ENUM:
case STRING:
foreach (QVariant vars, struc.values) {
if(var.toString()==vars.toString())
return false;
}
return true;
break;
case FLOAT32:
foreach (QVariant vars, struc.values) {
if(var.toFloat()==vars.toFloat())
return false;
}
return true;
break;
default:
return true;
} }
return false;
break; break;
case ENUM: case BETWEEN:
case STRING: if(struc.values.length()<2)
foreach (QVariant vars, struc.values) { {
if(var.toString()==vars.toString()) qDebug()<<__FUNCTION__<<"between limit with less than 1 pair, aborting; field:"<<name;
return true; return true;
} }
return false; if(struc.values.length()>2)
break; qDebug()<<__FUNCTION__<<"between limit with more than 1 pair, using first; field"<<name;
case FLOAT32: switch (type)
foreach (QVariant vars, struc.values) { {
if(var.toFloat()==vars.toFloat()) case INT8:
return true; case INT16:
case INT32:
if(!(var.toInt()>=struc.values.at(0).toInt() && var.toInt()<=struc.values.at(1).toInt()))
return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt() && var.toUInt()<=struc.values.at(1).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())>=options.indexOf(struc.values.at(0).toString()) && options.indexOf(var.toString())<=options.indexOf(struc.values.at(1).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()>=struc.values.at(0).toFloat() && var.toFloat()<=struc.values.at(1).toFloat()))
return false;
return true;
break;
default:
return true;
} }
return false;
break; break;
default: case BIGGER:
return true; if(struc.values.length()<1)
} {
break; qDebug()<<__FUNCTION__<<"BIGGER limit with less than 1 value, aborting; field:"<<name;
case NOT_EQUAL: return true;
switch (type)
{
case INT8:
case INT16:
case INT32:
foreach (QVariant vars, struc.values) {
if(var.toInt()==vars.toInt())
return false;
} }
return true; if(struc.values.length()>1)
break; qDebug()<<__FUNCTION__<<"BIGGER limit with more than 1 value, using first; field"<<name;
case UINT8: switch (type)
case UINT16: {
case UINT32: case INT8:
case BITFIELD: case INT16:
foreach (QVariant vars, struc.values) { case INT32:
if(var.toUInt()==vars.toUInt()) if(!(var.toInt()>=struc.values.at(0).toInt()))
return false; return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())>=options.indexOf(struc.values.at(0).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()>=struc.values.at(0).toFloat()))
return false;
return true;
break;
default:
return true;
} }
return true;
break; break;
case ENUM: case SMALLER:
case STRING: switch (type)
foreach (QVariant vars, struc.values) { {
if(var.toString()==vars.toString()) case INT8:
return false; case INT16:
case INT32:
if(!(var.toInt()<=struc.values.at(0).toInt()))
return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()<=struc.values.at(0).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())<=options.indexOf(struc.values.at(0).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()<=struc.values.at(0).toFloat()))
return false;
return true;
break;
default:
return true;
} }
return true;
break;
case FLOAT32:
foreach (QVariant vars, struc.values) {
if(var.toFloat()==vars.toFloat())
return false;
}
return true;
break;
default:
return true;
}
break;
case BETWEEN:
if(struc.values.length()<2)
{
qDebug()<<__FUNCTION__<<"between limit with less than 1 pair, aborting; field:"<<name;
return true;
}
if(struc.values.length()>2)
qDebug()<<__FUNCTION__<<"between limit with more than 1 pair, using first; field"<<name;
switch (type)
{
case INT8:
case INT16:
case INT32:
if(!(var.toInt()>=struc.values.at(0).toInt() && var.toInt()<=struc.values.at(1).toInt()))
return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt() && var.toUInt()<=struc.values.at(1).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())>=options.indexOf(struc.values.at(0).toString()) && options.indexOf(var.toString())<=options.indexOf(struc.values.at(1).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()>=struc.values.at(0).toFloat() && var.toFloat()<=struc.values.at(1).toFloat()))
return false;
return true;
break;
default:
return true;
}
break;
case BIGGER:
if(struc.values.length()<1)
{
qDebug()<<__FUNCTION__<<"BIGGER limit with less than 1 value, aborting; field:"<<name;
return true;
}
if(struc.values.length()>1)
qDebug()<<__FUNCTION__<<"BIGGER limit with more than 1 value, using first; field"<<name;
switch (type)
{
case INT8:
case INT16:
case INT32:
if(!(var.toInt()>=struc.values.at(0).toInt()))
return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())>=options.indexOf(struc.values.at(0).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()>=struc.values.at(0).toFloat()))
return false;
return true;
break;
default:
return true;
}
break;
case SMALLER:
switch (type)
{
case INT8:
case INT16:
case INT32:
if(!(var.toInt()<=struc.values.at(0).toInt()))
return false;
return true;
break;
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()<=struc.values.at(0).toUInt()))
return false;
return true;
break;
case ENUM:
if(!(options.indexOf(var.toString())<=options.indexOf(struc.values.at(0).toString())))
return false;
return true;
break;
case STRING:
return true;
break;
case FLOAT32:
if(!(var.toFloat()<=struc.values.at(0).toFloat()))
return false;
return true;
break;
default:
return true;
} }
} }
return true; return true;
} }
QVariant UAVObjectField::getMaxLimit(quint32 index) QVariant UAVObjectField::getMaxLimit(quint32 index,int board)
{ {
if(!elementLimits.keys().contains(index)) if(!elementLimits.keys().contains(index))
return QVariant(); return QVariant();
LimitStruct struc=elementLimits.value(index); foreach(LimitStruct struc,elementLimits.value(index))
switch(struc.type)
{ {
case EQUAL: if((struc.board!=board) && board!=0 && struc.board!=0)
case NOT_EQUAL: continue;
case BIGGER: switch(struc.type)
return QVariant(); {
break; case EQUAL:
break; case NOT_EQUAL:
case BETWEEN: case BIGGER:
return struc.values.at(1); return QVariant();
break; break;
case SMALLER: break;
return struc.values.at(0); case BETWEEN:
break; return struc.values.at(1);
default: break;
return QVariant(); case SMALLER:
break; return struc.values.at(0);
break;
default:
return QVariant();
break;
}
} }
return QVariant(); return QVariant();
} }
QVariant UAVObjectField::getMinLimit(quint32 index) QVariant UAVObjectField::getMinLimit(quint32 index, int board)
{ {
if(!elementLimits.keys().contains(index)) if(!elementLimits.keys().contains(index))
return QVariant(); return QVariant();
LimitStruct struc=elementLimits.value(index); foreach(LimitStruct struc,elementLimits.value(index))
switch(struc.type)
{ {
case EQUAL: if((struc.board!=board) && board!=0 && struc.board!=0)
case NOT_EQUAL: return QVariant();
case SMALLER: switch(struc.type)
return QVariant(); {
break; case EQUAL:
break; case NOT_EQUAL:
case BETWEEN: case SMALLER:
return struc.values.at(0); return QVariant();
break; break;
case BIGGER: break;
return struc.values.at(0); case BETWEEN:
break; return struc.values.at(0);
default: break;
return QVariant(); case BIGGER:
break; return struc.values.at(0);
break;
default:
return QVariant();
break;
}
} }
return QVariant(); return QVariant();
} }
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj) void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
{ {

9
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -48,6 +48,7 @@ public:
{ {
LimitType type; LimitType type;
QList<QVariant> values; QList<QVariant> values;
int board;
} LimitStruct; } LimitStruct;
UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options,const QString& limits=QString()); UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options,const QString& limits=QString());
@ -74,9 +75,9 @@ public:
bool isText(); bool isText();
QString toString(); QString toString();
bool isWithinLimits(QVariant var, quint32 index); bool isWithinLimits(QVariant var, quint32 index, int board=0);
QVariant getMaxLimit(quint32 index); QVariant getMaxLimit(quint32 index, int board=0);
QVariant getMinLimit(quint32 index); QVariant getMinLimit(quint32 index, int board=0);
signals: signals:
void fieldUpdated(UAVObjectField* field); void fieldUpdated(UAVObjectField* field);
@ -91,7 +92,7 @@ protected:
quint32 offset; quint32 offset;
quint8* data; quint8* data;
UAVObject* obj; UAVObject* obj;
QMap<quint32,LimitStruct> elementLimits; QMap<quint32, QList<LimitStruct> > elementLimits;
void clear(); void clear();
void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options, const QString &limits); void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options, const QString &limits);
void limitsInitialize(const QString &limits); void limitsInitialize(const QString &limits);

33
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -37,6 +37,7 @@ ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnecte
pm = ExtensionSystem::PluginManager::instance(); pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>(); objManager = pm->getObject<UAVObjectManager>();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>(); TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
utilMngr = pm->getObject<UAVObjectUtilManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect())); connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect())); connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected())); connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()));
@ -226,9 +227,15 @@ void ConfigTaskWidget::onAutopilotDisconnect()
void ConfigTaskWidget::onAutopilotConnect() void ConfigTaskWidget::onAutopilotConnect()
{ {
if (utilMngr)
currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
invalidateObjects(); invalidateObjects();
dirty=false; dirty=false;
isConnected=true; isConnected=true;
foreach(objectToWidget * ow,objOfInterest)
{
loadWidgetLimits(ow->widget,ow->field,ow->index,ow->isLimited,ow->scale);
}
enableControls(true); enableControls(true);
refreshWidgetsValues(); refreshWidgetsValues();
} }
@ -1057,7 +1064,7 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
{ {
if(!hasLimits) if(!hasLimits)
return; return;
if(!field->isWithinLimits(value,index)) if(!field->isWithinLimits(value,index,currentBoard))
{ {
if(!widget->property("styleBackup").isValid()) if(!widget->property("styleBackup").isValid())
widget->setProperty("styleBackup",widget->styleSheet()); widget->setProperty("styleBackup",widget->styleSheet());
@ -1131,7 +1138,7 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
{ {
foreach(QString str,option) foreach(QString str,option)
{ {
if(field->isWithinLimits(str,index)) if(field->isWithinLimits(str,index,currentBoard))
cb->addItem(str); cb->addItem(str);
} }
} }
@ -1144,33 +1151,33 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
{ {
if(field->getMaxLimit(index).isValid()) if(field->getMaxLimit(index).isValid())
{ {
cb->setMaximum((double)(field->getMaxLimit(index).toDouble()/scale)); cb->setMaximum((double)(field->getMaxLimit(index,currentBoard).toDouble()/scale));
} }
if(field->getMinLimit(index).isValid()) if(field->getMinLimit(index,currentBoard).isValid())
{ {
cb->setMinimum((double)(field->getMinLimit(index).toDouble()/scale)); cb->setMinimum((double)(field->getMinLimit(index,currentBoard).toDouble()/scale));
} }
} }
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget)) else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
{ {
if(field->getMaxLimit(index).isValid()) if(field->getMaxLimit(index,currentBoard).isValid())
{ {
cb->setMaximum((int)qRound(field->getMaxLimit(index).toDouble()/scale)); cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
} }
if(field->getMinLimit(index).isValid()) if(field->getMinLimit(index,currentBoard).isValid())
{ {
cb->setMinimum((int)qRound(field->getMinLimit(index).toDouble()/scale)); cb->setMinimum((int)qRound(field->getMinLimit(index,currentBoard).toDouble()/scale));
} }
} }
else if(QSlider * cb=qobject_cast<QSlider *>(widget)) else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{ {
if(field->getMaxLimit(index).isValid()) if(field->getMaxLimit(index,currentBoard).isValid())
{ {
cb->setMaximum((int)qRound(field->getMaxLimit(index).toDouble()/scale)); cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
} }
if(field->getMinLimit(index).isValid()) if(field->getMinLimit(index,currentBoard).isValid())
{ {
cb->setMinimum((int)(field->getMinLimit(index).toDouble()/scale)); cb->setMinimum((int)(field->getMinLimit(index,currentBoard).toDouble()/scale));
} }
} }
} }

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

@ -144,12 +144,14 @@ private slots:
void defaultButtonClicked(); void defaultButtonClicked();
void reloadButtonClicked(); void reloadButtonClicked();
private: private:
int currentBoard;
bool isConnected; bool isConnected;
bool allowWidgetUpdates; bool allowWidgetUpdates;
QStringList objectsList; QStringList objectsList;
QList <objectToWidget*> objOfInterest; QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm; ExtensionSystem::PluginManager *pm;
UAVObjectManager *objManager; UAVObjectManager *objManager;
UAVObjectUtilManager* utilMngr;
smartSaveButton *smartsave; smartSaveButton *smartsave;
QMap<UAVObject *,bool> objectUpdates; QMap<UAVObject *,bool> objectUpdates;
QMap<int,QList<objectToWidget*> *> defaultReloadGroups; QMap<int,QList<objectToWidget*> *> defaultReloadGroups;

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -24,7 +24,7 @@
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/> <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/> <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized1,Stabilized2" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/systemalarms.xml
View File

@ -2,7 +2,7 @@
<object name="SystemAlarms" singleinstance="true" settings="false"> <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.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/> elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>