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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_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP

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

@ -463,15 +463,6 @@ static void updateSystemAlarms()
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
UAVObjGetStats(&objStats);
EventGetStats(&evStats);

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

@ -33,7 +33,6 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM
#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_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;
/**
@ -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 UAVObjLoad(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);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
#endif
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();
int32_t UAVObjDeleteSettings();

10
flight/UAVObjects/uavobjectmanager.c
View File

@ -668,6 +668,7 @@ unlock_exit:
return rc;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* 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.
@ -682,7 +683,6 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
@ -741,9 +741,9 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
}
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
* 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;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
@ -818,7 +819,6 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
struct UAVOBase *objEntry;
InstanceHandle instEntry;
@ -898,10 +898,8 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj_handle;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
* 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"
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
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
style="display:none"
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()));
m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
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");

63
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -112,13 +112,27 @@ void UAVObjectField::limitsInitialize(const QString &limits)
QStringList stringPerElement=limits.split(",");
quint32 index=0;
foreach (QString str, stringPerElement) {
QString _str=str.trimmed();
QStringList ruleList=str.split(";");
QList<LimitStruct> limitList;
foreach(QString rule,ruleList)
{
QString _str=rule.trimmed();
if(_str.isEmpty())
continue;
QStringList valuesPerElement=_str.split(":");
LimitStruct lstruc;
bool b1=valuesPerElement.at(0).startsWith("%");
bool b2=(int)(index)<(int)numElements;
if(b1 && b2)
bool b3=valuesPerElement.at(0).size()==3;
bool auxb;
valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
bool b4=((valuesPerElement.at(0).size())==7 && auxb);
if(b1 && b2 && (b3 || b4))
{
if(b4)
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")
@ -161,8 +175,7 @@ void UAVObjectField::limitsInitialize(const QString &limits)
lstruc.values.append(QVariant());
}
}
elementLimits.insert(index,lstruc);
++index;
limitList.append(lstruc);
}
else
{
@ -170,14 +183,35 @@ void UAVObjectField::limitsInitialize(const QString &limits)
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,limitList);
++index;
}
foreach(QList<LimitStruct> limitList,elementLimits)
{
foreach(LimitStruct limit,limitList)
{
qDebug()<<"Limit type"<<limit.type<<"for board"<<limit.board<<"for field"<<getName();
foreach(QVariant var,limit.values)
{
qDebug()<<"value"<<var;
}
}
}
bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
}
bool UAVObjectField::isWithinLimits(QVariant var,quint32 index, int board)
{
if(!elementLimits.keys().contains(index))
return true;
LimitStruct struc=elementLimits.value(index);
foreach(LimitStruct struc,elementLimits.value(index))
{
if((struc.board!=board) && board!=0 && struc.board!=0)
continue;
switch(struc.type)
{
case EQUAL:
@ -381,14 +415,18 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
return true;
}
}
}
return true;
}
QVariant UAVObjectField::getMaxLimit(quint32 index)
QVariant UAVObjectField::getMaxLimit(quint32 index,int board)
{
if(!elementLimits.keys().contains(index))
return QVariant();
LimitStruct struc=elementLimits.value(index);
foreach(LimitStruct struc,elementLimits.value(index))
{
if((struc.board!=board) && board!=0 && struc.board!=0)
continue;
switch(struc.type)
{
case EQUAL:
@ -407,13 +445,17 @@ QVariant UAVObjectField::getMaxLimit(quint32 index)
return QVariant();
break;
}
}
return QVariant();
}
QVariant UAVObjectField::getMinLimit(quint32 index)
QVariant UAVObjectField::getMinLimit(quint32 index, int board)
{
if(!elementLimits.keys().contains(index))
return QVariant();
LimitStruct struc=elementLimits.value(index);
foreach(LimitStruct struc,elementLimits.value(index))
{
if((struc.board!=board) && board!=0 && struc.board!=0)
return QVariant();
switch(struc.type)
{
case EQUAL:
@ -432,6 +474,7 @@ QVariant UAVObjectField::getMinLimit(quint32 index)
return QVariant();
break;
}
}
return QVariant();
}
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;
QList<QVariant> values;
int board;
} LimitStruct;
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();
QString toString();
bool isWithinLimits(QVariant var, quint32 index);
QVariant getMaxLimit(quint32 index);
QVariant getMinLimit(quint32 index);
bool isWithinLimits(QVariant var, quint32 index, int board=0);
QVariant getMaxLimit(quint32 index, int board=0);
QVariant getMinLimit(quint32 index, int board=0);
signals:
void fieldUpdated(UAVObjectField* field);
@ -91,7 +92,7 @@ protected:
quint32 offset;
quint8* data;
UAVObject* obj;
QMap<quint32,LimitStruct> elementLimits;
QMap<quint32, QList<LimitStruct> > elementLimits;
void clear();
void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options, 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();
objManager = pm->getObject<UAVObjectManager>();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
utilMngr = pm->getObject<UAVObjectUtilManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()));
@ -226,9 +227,15 @@ void ConfigTaskWidget::onAutopilotDisconnect()
void ConfigTaskWidget::onAutopilotConnect()
{
if (utilMngr)
currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
invalidateObjects();
dirty=false;
isConnected=true;
foreach(objectToWidget * ow,objOfInterest)
{
loadWidgetLimits(ow->widget,ow->field,ow->index,ow->isLimited,ow->scale);
}
enableControls(true);
refreshWidgetsValues();
}
@ -1057,7 +1064,7 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
{
if(!hasLimits)
return;
if(!field->isWithinLimits(value,index))
if(!field->isWithinLimits(value,index,currentBoard))
{
if(!widget->property("styleBackup").isValid())
widget->setProperty("styleBackup",widget->styleSheet());
@ -1131,7 +1138,7 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
{
foreach(QString str,option)
{
if(field->isWithinLimits(str,index))
if(field->isWithinLimits(str,index,currentBoard))
cb->addItem(str);
}
}
@ -1144,33 +1151,33 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
{
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))
{
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))
{
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 reloadButtonClicked();
private:
int currentBoard;
bool isConnected;
bool allowWidgetUpdates;
QStringList objectsList;
QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm;
UAVObjectManager *objManager;
UAVObjectUtilManager* utilMngr;
smartSaveButton *smartsave;
QMap<UAVObject *,bool> objectUpdates;
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 -->
<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"/>
<access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/systemalarms.xml
View File

@ -2,7 +2,7 @@
<object name="SystemAlarms" singleinstance="true" settings="false">
<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"
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"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>