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Code Issues Releases Activity

OP-1150 UI for thermal calibration: show a message if calibration failed, some cleanup.

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This commit is contained in:
Alessio Morale 2014-02-04 00:54:57 +01:00
parent 6431e80a5c
commit 77288b723a
9 changed files with 43 additions and 39 deletions
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4
ground/openpilotgcs/src/plugins/config/calibration/thermal/boardsetuptransition.h
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@ -48,14 +48,12 @@ public:
virtual bool eventTest(QEvent *e)
{
qDebug() << "BoardSetupTransition::eventTest";
if (!QSignalTransition::eventTest(e)) {
return false;
}
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
// check wether status save was successful and retry if not
qDebug() << "BoardSetupTransition::eventTest - " << se->arguments().at(0).toBool();
if (se->arguments().at(0).toBool()) {
return true;
} else {
@ -67,8 +65,6 @@ public:
virtual void onTransition(QEvent *e)
{
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
qDebug() << "BoardSetupTransition::onTransition" << se->arguments().at(0).toBool();
}
public slots:
void enterState()

11
ground/openpilotgcs/src/plugins/config/calibration/thermal/compensationcalculationtransition.h
View File

@ -32,6 +32,7 @@
#include <QSignalTransition>
#include <QEventTransition>
#include "../wizardstate.h"
#include "thermalcalibrationhelper.h"
namespace OpenPilot {
class CompensationCalculationTransition : public QSignalTransition {
@ -49,13 +50,19 @@ public:
virtual void onTransition(QEvent *e)
{
Q_UNUSED(e);
qDebug() << "CompensationCalculationTransition::collectionCompleted";
QString nextStateName;
if (m_helper->calibrationSuccessful()) {
nextStateName = tr("Calibration completed succesfully");
} else {
nextStateName = tr("Calibration failed! Please read the instructions and retry");
}
static_cast<WizardState *>(targetState())->setStepName(nextStateName);
}
public slots:
void enterState()
{
qDebug() << "CompensationCalculationTransition::enterStatus";
m_helper->calculate();
}
private:

2
ground/openpilotgcs/src/plugins/config/calibration/thermal/dataacquisitiontransition.h
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@ -50,13 +50,11 @@ public:
{
Q_UNUSED(e);
m_helper->endAcquisition();
qDebug() << "DataAcquisitionTransition::collectionCompleted";
}
public slots:
void enterState()
{
qDebug() << "DataAcquisitionTransition::enterStatus";
m_helper->initAcquisition();
}
private:

6
ground/openpilotgcs/src/plugins/config/calibration/thermal/settingshandlingtransitions.h
View File

@ -47,14 +47,12 @@ public:
virtual bool eventTest(QEvent *e)
{
qDebug() << "BoardStatusSaveTransition::eventTest";
if (!QSignalTransition::eventTest(e)) {
return false;
}
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
// check wether status stave was successful and retry if not
qDebug() << "BoardStatusSavedTransition::eventTest - " << se->arguments().at(0).toBool();
if (se->arguments().at(0).toBool()) {
return true;
} else {
@ -66,8 +64,6 @@ public:
virtual void onTransition(QEvent *e)
{
QStateMachine::SignalEvent *se = static_cast<QStateMachine::SignalEvent *>(e);
qDebug() << "BoardStatusSaveTransition :" << se->arguments().at(0).toBool();
}
public slots:
void enterState()
@ -102,7 +98,6 @@ public:
if (se->arguments().at(0).toBool()) {
return true;
} else {
qDebug() << "BoardStatusRestoreTransition::eventTest - statusRestore() ";
m_helper->statusRestore();
}
return false;
@ -110,6 +105,7 @@ public:
public slots:
void enterState()
{
m_helper->endAcquisition();
m_helper->statusRestore();
}
private:

18
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
View File

@ -143,7 +143,7 @@ bool ThermalCalibrationHelper::saveBoardInitialSettings()
// accelGyroSettings data
/*
* Note: for revolution it is not neede but in case of CC we would prevent having
* TODO: for revolution it is not neede but in case of CC we would prevent having
* a new set of xxxSensor UAVOs beside actual xxxState so it may be needed to reset the following
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
@ -378,16 +378,16 @@ void ThermalCalibrationHelper::calculate()
*/
m_results.accelCalibrated = false;
QString str;
str += QStringLiteral("info::Calibration results");
str += QStringLiteral("INFO::Calibration results");
str += QStringLiteral("info::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
str += QStringLiteral("INFO::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
.arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + QChar::CarriageReturn;
str += QStringLiteral("info::Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
str += QStringLiteral("INFO::Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3])
.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + QChar::CarriageReturn;
str += QStringLiteral("info::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
str += QStringLiteral("INFO::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + QChar::CarriageReturn;
@ -449,7 +449,6 @@ void ThermalCalibrationHelper::updateTemp(float temp)
void ThermalCalibrationHelper::endAcquisition()
{
disconnectUAVOs();
setProcessPercentage(ProcessPercentageBaseCalculation);
}
void ThermalCalibrationHelper::connectUAVOs()
@ -498,7 +497,7 @@ void ThermalCalibrationHelper::createDebugLog()
m_debugStream.setDevice(0);
return;
}
qDebug() << "Saving debug data to " << dir.filePath(filename);
qDebug() << "Saving debug data for this session to " << dir.filePath(filename);
m_debugStream.setDevice(&m_debugFile);
@ -536,7 +535,7 @@ void ThermalCalibrationHelper::copyResultToSettings()
Q_ASSERT(objManager);
if (m_results.baroCalibrated) {
if (calibrationSuccessful()) {
RevoSettings *revosettings = RevoSettings::GetInstance(objManager);
Q_ASSERT(revosettings);
RevoSettings::DataFields revosettingsdata = revosettings->getData();
@ -548,9 +547,7 @@ void ThermalCalibrationHelper::copyResultToSettings()
revosettingsdata.BaroTempCorrectionExtent[1] = m_results.baroTempMax;
revosettings->setData(revosettingsdata);
revosettings->updated();
}
if (m_results.gyroCalibrated || m_results.accelCalibrated) {
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
AccelGyroSettings::DataFields data = accelGyroSettings->getData();
@ -573,7 +570,6 @@ void ThermalCalibrationHelper::copyResultToSettings()
accelGyroSettings->setData(data);
accelGyroSettings->updated();
}
setProcessPercentage(100.0f);
}
void ThermalCalibrationHelper::setMetadataForCalibration(UAVDataObject *uavo)

7
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h
View File

@ -105,6 +105,12 @@ public:
}
void endAcquisition();
bool calibrationSuccessful()
{
return m_results.baroCalibrated &&
((m_results.baroTempMax - m_results.baroTempMin) > 10.0f);
}
signals:
void statusRestoreCompleted(bool succesful);
void statusSaveCompleted(bool succesful);
@ -210,7 +216,6 @@ private:
void setMetadataForCalibration(UAVDataObject *uavo);
UAVObjectManager *getObjectManager();
};
}
#endif // THERMALCALIBRATIONHELPER_H

23
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.cpp
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@ -32,9 +32,6 @@
#include "dataacquisitiontransition.h"
#include "compensationcalculationtransition.h"
#define NEXT_EVENT "next"
#define PREVIOUS_EVENT "previous"
#define ABORT_EVENT "abort"
namespace OpenPilot {
ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
WizardModel(parent)
@ -50,11 +47,12 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
m_acquisitionState = new WizardState(tr("*** Please Wait *** Samples acquisition, this can take several minutes"), m_workingState);
m_restoreState = new WizardState(tr("Restore board settings"), m_workingState);
m_calculateState = new WizardState(tr("Calculate calibration matrix"), m_workingState);
m_calculateState = new WizardState(tr("Calculate calibration data"), m_workingState);
m_abortState = new WizardState("Canceled", this);
m_abortState = new WizardState(tr("Canceled"), this);
m_completedState = new WizardState("Completed", this);
// note: step name for this state is changed by CompensationCalculationTransition based on result
m_completedState = new WizardState(NULL, this);
setTransitions();
connect(m_helper.data(), SIGNAL(gradientChanged(float)), this, SLOT(setTemperatureGradient(float)));
@ -87,22 +85,27 @@ void ThermalCalibrationModel::stepChanged(WizardState *state)
void ThermalCalibrationModel::setTransitions()
{
m_readyState->addTransition(this, SIGNAL(next()), m_workingState);
m_readyState->assignProperty(this, "progress", 0);
m_completedState->addTransition(this, SIGNAL(next()), m_workingState);
// handles board status save
m_completedState->assignProperty(this, "progress", 100);
// handles board initial status save
// Ready->WorkingState->saveSettings->setup
m_saveSettingState->addTransition(new BoardStatusSaveTransition(m_helper.data(), m_saveSettingState, m_setupState));
// board setup
// setup
m_setupState->addTransition(new BoardSetupTransition(m_helper.data(), m_setupState, m_acquisitionState));
// acquisition -revertSettings-> calculation
// acquisition>revertSettings>calculation(save state)
// revert settings after acquisition is completed
// m_acquisitionState->addTransition(new BoardStatusRestoreTransition(m_helper, m_acquisitionState, m_calculateState));
m_acquisitionState->addTransition(new DataAcquisitionTransition(m_helper.data(), m_acquisitionState, m_restoreState));
m_restoreState->addTransition(new BoardStatusRestoreTransition(m_helper.data(), m_restoreState, m_calculateState));
m_calculateState->addTransition(new CompensationCalculationTransition(m_helper.data(), m_calculateState, m_completedState));
// abort causes initial settings to be restored and acquisition stopped.
m_abortState->addTransition(new BoardStatusRestoreTransition(m_helper.data(), m_abortState, m_readyState));
m_workingState->addTransition(m_helper.data(), SIGNAL(abort()), m_abortState);
m_workingState->addTransition(this, SIGNAL(abort()), m_abortState);
// Ready
}
}

9
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationmodel.h
View File

@ -45,7 +45,7 @@ class ThermalCalibrationModel : public WizardModel {
Q_PROPERTY(QString temperature READ temperature NOTIFY temperatureChanged)
Q_PROPERTY(QString temperatureGradient READ temperatureGradient NOTIFY temperatureGradientChanged)
Q_PROPERTY(int progress READ progress NOTIFY progressChanged)
Q_PROPERTY(int progress READ progress WRITE setProgress NOTIFY progressChanged)
Q_OBJECT
public:
explicit ThermalCalibrationModel(QObject *parent = 0);
@ -54,10 +54,12 @@ public:
{
return m_startEnabled;
}
bool endEnabled()
{
return m_endEnabled;
}
bool cancelEnabled()
{
return m_cancelEnabled;
@ -78,6 +80,7 @@ public:
emit endEnabledChanged(status);
}
}
void setCancelEnabled(bool status)
{
if (m_cancelEnabled != status) {
@ -112,6 +115,7 @@ public slots:
emit temperatureChanged(tmp);
}
}
void setTemperatureGradient(float status)
{
QString tmp = QString("%1").arg(status, 5, 'f', 2);
@ -121,6 +125,7 @@ public slots:
emit temperatureGradientChanged(tmp);
}
}
void setProgress(int status)
{
m_progress = status;
@ -163,7 +168,6 @@ private:
WizardState *m_completedState;
void setTransitions();
signals:
void startEnabledChanged(bool state);
void endEnabledChanged(bool state);
@ -186,7 +190,6 @@ public slots:
void btnEnd()
{
// emit previous();
m_helper->stopAcquisition();
}

2
ground/openpilotgcs/src/plugins/config/calibration/wizardstate.h
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@ -34,7 +34,7 @@ class WizardState : public QState {
Q_OBJECT Q_PROPERTY(bool isActive READ isActive NOTIFY isActiveChanged)
Q_PROPERTY(bool isDone READ isDone NOTIFY isDoneChanged)
Q_PROPERTY(qint8 completion READ completion NOTIFY completionChanged)
Q_PROPERTY(QString stepName READ stepName NOTIFY stepNameChanged)
Q_PROPERTY(QString stepName READ stepName WRITE setStepName NOTIFY stepNameChanged)
public:
explicit WizardState(QString name, QState *parent = 0);
bool isActive()