mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
OP-1351 simplified thermal progress bar handling and made it indeterminate when target duration not yet estimated
This commit is contained in:
Philippe Renon
parent
e0a61603bf
commit
99444babeb
@ -54,8 +54,12 @@ public:
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Q_UNUSED(e);
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QString nextStateName;
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if (m_helper->calibrationSuccessful()) {
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m_helper->setProgressMax(100);
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m_helper->setProgress(100);
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m_helper->addInstructions(tr("Calibration completed successfully."), WizardModel::Success);
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} else {
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m_helper->setProgressMax(100);
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m_helper->setProgress(0);
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m_helper->addInstructions(tr("Calibration failed! Please read the instructions and retry."), WizardModel::Failure);
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}
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}
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@ -57,6 +57,8 @@ public:
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public slots:
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void enterState()
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{
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m_helper->setProgressMax(0);
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m_helper->setProgress(0);
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m_helper->addInstructions(tr("Please wait during samples acquisition. This can take several minutes..."), WizardModel::Prompt);
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m_helper->initAcquisition();
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}
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@ -45,12 +45,15 @@ ThermalCalibrationHelper::ThermalCalibrationHelper(QObject *parent) :
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m_results.baroCalibrated = false;
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m_results.gyroCalibrated = false;
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accelSensor = AccelSensor::GetInstance(getObjectManager());
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gyroSensor = GyroSensor::GetInstance(getObjectManager());
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baroSensor = BaroSensor::GetInstance(getObjectManager());
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magSensor = MagSensor::GetInstance(getObjectManager());
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m_progress = -1;
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m_progressMax = -1;
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accelSensor = AccelSensor::GetInstance(getObjectManager());
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gyroSensor = GyroSensor::GetInstance(getObjectManager());
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baroSensor = BaroSensor::GetInstance(getObjectManager());
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magSensor = MagSensor::GetInstance(getObjectManager());
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accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
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revoSettings = RevoSettings::GetInstance(getObjectManager());
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revoSettings = RevoSettings::GetInstance(getObjectManager());
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
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@ -105,7 +108,6 @@ bool ThermalCalibrationHelper::saveBoardInitialSettings()
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m_memento.accelSensorMeta = accelSensor->getMetadata();
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m_memento.gyroSensorMeta = gyroSensor->getMetadata();
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m_memento.baroensorMeta = baroSensor->getMetadata();
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m_memento.accelGyroSettings = accelGyroSettings->getData();
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m_memento.revoSettings = revoSettings->getData();
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@ -137,12 +139,10 @@ bool ThermalCalibrationHelper::restoreInitialSettings()
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return true;
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}
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/* Methods called from transitions */
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void ThermalCalibrationHelper::setupBoard()
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{
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setProgress(ProcessPercentageSetupBoard);
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if (setupBoardForCalibration()) {
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emit setupBoardCompleted(true);
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} else {
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@ -162,7 +162,6 @@ void ThermalCalibrationHelper::statusRestore()
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void ThermalCalibrationHelper::statusSave()
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{
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setProgress(ProcessPercentageSaveSettings);
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// prevent saving multiple times
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if (!isBoardInitialSettingsSaved() && saveBoardInitialSettings()) {
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emit statusSaveCompleted(true);
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@ -173,8 +172,8 @@ void ThermalCalibrationHelper::statusSave()
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void ThermalCalibrationHelper::initAcquisition()
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{
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setProgress(ProcessPercentageBaseAcquisition);
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QMutexLocker lock(&sensorsUpdateLock);
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m_targetduration = 0;
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m_gradient = 0.0f;
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m_initialGradient = m_gradient;
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@ -209,22 +208,22 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
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case AccelSensor::OBJID:
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{
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m_accelSamples.append(accelSensor->getData());
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m_debugStream << "ACCEL:: " << m_accelSamples.last().temperature <<
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"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
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"\t" << m_accelSamples.last().x <<
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"\t" << m_accelSamples.last().y <<
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"\t" << m_accelSamples.last().z << endl;
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m_debugStream << "ACCEL:: " << m_accelSamples.last().temperature
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<< "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz")
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<< "\t" << m_accelSamples.last().x
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<< "\t" << m_accelSamples.last().y
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<< "\t" << m_accelSamples.last().z << endl;
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break;
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}
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case GyroSensor::OBJID:
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{
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m_gyroSamples.append(gyroSensor->getData());
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m_debugStream << "GYRO:: " << m_gyroSamples.last().temperature <<
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"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
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"\t" << m_gyroSamples.last().x <<
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"\t" << m_gyroSamples.last().y <<
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"\t" << m_gyroSamples.last().z << endl;
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m_debugStream << "GYRO:: " << m_gyroSamples.last().temperature
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<< "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz")
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<< "\t" << m_gyroSamples.last().x
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<< "\t" << m_gyroSamples.last().y
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<< "\t" << m_gyroSamples.last().z << endl;
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break;
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}
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case BaroSensor::OBJID:
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@ -233,13 +232,13 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
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BaroSensor::DataFields data = baroSensor->getData();
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#ifdef SIMULATE
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data.Temperature = temp;
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data.Pressure += 10.0f * temp;
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#endif
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m_baroSamples.append(data);
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m_debugStream << "BARO:: " << m_baroSamples.last().Temperature <<
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"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
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"\t" << m_baroSamples.last().Pressure <<
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"\t" << m_baroSamples.last().Altitude << endl;
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// this is needed as temperature is low pass filtered
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m_debugStream << "BARO:: " << m_baroSamples.last().Temperature
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<< "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz")
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<< "\t" << m_baroSamples.last().Pressure
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<< "\t" << m_baroSamples.last().Altitude << endl;
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// must be done last as this call might end acquisition and close the debug log file
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updateTemp(temp);
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break;
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@ -247,11 +246,10 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
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case MagSensor::OBJID:
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{
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m_magSamples.append(magSensor->getData());
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m_debugStream << "MAG:: " <<
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"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
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"\t" << m_magSamples.last().x <<
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"\t" << m_magSamples.last().y <<
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"\t" << m_magSamples.last().z << endl;
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m_debugStream << "MAG:: " << "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz")
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<< "\t" << m_magSamples.last().x
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<< "\t" << m_magSamples.last().y
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<< "\t" << m_magSamples.last().z << endl;
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break;
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}
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default:
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@ -288,8 +286,6 @@ void ThermalCalibrationHelper::cleanup()
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void ThermalCalibrationHelper::calculate()
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{
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setProgress(ProcessPercentageBaseCalculation);
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int count = m_baroSamples.count();
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Eigen::VectorXf datax(count);
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Eigen::VectorXf datay(1);
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@ -301,14 +297,15 @@ void ThermalCalibrationHelper::calculate()
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datat[x] = m_baroSamples[x].Temperature;
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}
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m_results.baroCalibrated = ThermalCalibration::BarometerCalibration(datax, datat, m_results.baro, &m_results.baroInSigma, &m_results.baroOutSigma);
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m_results.baroCalibrated = ThermalCalibration::BarometerCalibration(datax, datat, m_results.baro,
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&m_results.baroInSigma, &m_results.baroOutSigma);
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if (!m_results.baroCalibrated) {
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qDebug() << "Failed to calibrate baro!";
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}
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m_results.baroTempMin = datat.array().minCoeff();
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m_results.baroTempMax = datat.array().maxCoeff();
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setProgress(processPercentage() + 2);
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count = m_gyroSamples.count();
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datax.resize(count);
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datay.resize(count);
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@ -322,7 +319,8 @@ void ThermalCalibrationHelper::calculate()
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datat[x] = m_gyroSamples[x].temperature;
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}
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m_results.gyroCalibrated = ThermalCalibration::GyroscopeCalibration(datax, datay, dataz, datat, m_results.gyro, m_results.gyroInSigma, m_results.gyroOutSigma);
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m_results.gyroCalibrated = ThermalCalibration::GyroscopeCalibration(datax, datay, dataz, datat, m_results.gyro,
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m_results.gyroInSigma, m_results.gyroOutSigma);
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if (!m_results.gyroCalibrated) {
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qDebug() << "Failed to calibrate gyro!";
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}
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@ -330,7 +328,6 @@ void ThermalCalibrationHelper::calculate()
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m_results.accelGyroTempMax = datat.array().maxCoeff();
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// TODO: sanity checks needs to be enforced before accel calibration can be enabled and usable.
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/*
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setProgress(processPercentage() + 2);
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count = m_accelSamples.count();
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datax.resize(count);
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datay.resize(count);
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@ -338,43 +335,42 @@ void ThermalCalibrationHelper::calculate()
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datat.resize(count);
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for(int x = 0; x < count; x++){
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datax[x] = m_accelSamples[x].x;
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datay[x] = m_accelSamples[x].y;
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dataz[x] = m_accelSamples[x].z;
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datat[x] = m_accelSamples[x].temperature;
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datax[x] = m_accelSamples[x].x;
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datay[x] = m_accelSamples[x].y;
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dataz[x] = m_accelSamples[x].z;
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datat[x] = m_accelSamples[x].temperature;
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}
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m_results.accelCalibrated = ThermalCalibration::AccelerometerCalibration(datax, datay, dataz, datat, m_results.accel);
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*/
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m_results.accelCalibrated = false;
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QString str;
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str += QStringLiteral("INFO::Calibration results");
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QString str = QStringLiteral("INFO::Calibration results") + "\n";
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str += QStringLiteral("INFO::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
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.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
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.arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + QChar::CarriageReturn;
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.arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + "\n";
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str += QStringLiteral("INFO::Gyro cal x{%1, %2} y{%3, %4} z{%5, %6}; initial variance: {%7, %8, %9}; Calibrated variance {%10, %11, %12}")
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.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2])
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.arg(m_results.gyro[3]).arg(m_results.gyro[4]).arg(m_results.gyro[5])
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.arg(m_results.gyro[0]).arg(m_results.gyro[1])
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.arg(m_results.gyro[2]).arg(m_results.gyro[3])
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.arg(m_results.gyro[4]).arg(m_results.gyro[5])
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.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
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.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + QChar::CarriageReturn;
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.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + "\n";
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str += QStringLiteral("INFO::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
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.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
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.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
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.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + QChar::CarriageReturn;
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.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + "\n";
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qDebug() << str;
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m_debugStream << str;
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emit calculationCompleted();
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closeDebugLog();
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}
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/* helper methods */
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void ThermalCalibrationHelper::updateTemp(float temp)
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{
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int elapsed = m_startTime.secsTo(QTime::currentTime());
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int secondsSinceLastCheck = m_lastCheckpointTime.secsTo(QTime::currentTime());
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// temperature is low pass filtered
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m_temperature = m_temperature * 0.95f + temp * 0.05f;
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emit temperatureChanged(m_temperature);
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@ -386,6 +382,7 @@ void ThermalCalibrationHelper::updateTemp(float temp)
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qDebug() << "Temp Gradient " << gradient << " Elapsed" << elapsed;
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m_debugStream << "INFO::Trace Temp Gradient " << gradient << " Elapsed" << elapsed << endl;
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m_lastCheckpointTime = QTime::currentTime();
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m_lastCheckpointTemp = m_temperature;
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}
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@ -397,18 +394,19 @@ void ThermalCalibrationHelper::updateTemp(float temp)
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}
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if (m_targetduration != 0) {
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int tmp = ProcessPercentageBaseAcquisition + ((ProcessPercentageBaseCalculation - ProcessPercentageBaseAcquisition) * elapsed) / m_targetduration;
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tmp = tmp > ProcessPercentageBaseCalculation - 5 ? ProcessPercentageBaseCalculation - 5 : tmp;
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int tmp = (100 * elapsed) / m_targetduration;
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setProgress(tmp);
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} else if (m_gradient > .1 && m_initialGradient / 2.0f > m_gradient) {
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qDebug() << "M_gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient;
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} else if ((m_gradient > .1) && ((m_initialGradient / 2.0f) > m_gradient)) {
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// make a rough estimation of the time needed
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m_targetduration = elapsed * 8;
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m_debugStream << "INFO::Trace gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient
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<< " target:" << m_targetduration << endl;
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setProgressMax(100);
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QString str = QStringLiteral("INFO::Trace gradient : %1, elapsed : %2 initial gradient : %3, target : %4")
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.arg(m_gradient).arg(elapsed).arg(m_initialGradient).arg(m_targetduration);
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qDebug() << str;
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m_debugStream << str << endl;
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}
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if (m_gradient < TargetGradient || m_forceStopAcquisition) {
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if ((m_gradient < TargetGradient) || m_forceStopAcquisition) {
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m_acquiring = false;
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emit collectionCompleted();
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}
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@ -452,18 +450,20 @@ void ThermalCalibrationHelper::createDebugLog()
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UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
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deviceDescriptorStruct board = utilMngr->getBoardDescriptionStruct();
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m_debugStream << "INFO::Hardware";
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m_debugStream << " type:" << QString().setNum(board.boardType, 16);
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m_debugStream << " revision:" << QString().setNum(board.boardRevision, 16);
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m_debugStream << " serial:" << QString(utilMngr->getBoardCPUSerial().toHex()) << endl;
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m_debugStream << "INFO::Hardware" << " type:" << QString().setNum(board.boardType, 16)
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<< " revision:" << QString().setNum(board.boardRevision, 16)
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<< " serial:" << QString(utilMngr->getBoardCPUSerial().toHex()) << endl;
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QString uavo = board.uavoHash.toHex();
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m_debugStream << "INFO::firmware tag:" << board.gitTag << " date:" << board.gitDate << " hash:" << board.gitHash <<
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"uavo:" << uavo.left(8) << endl;
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m_debugStream << "INFO::firmware tag:" << board.gitTag
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<< " date:" << board.gitDate
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<< " hash:" << board.gitHash
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<< " uavo:" << uavo.left(8) << endl;
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m_debugStream << "INFO::gcs tag:" << VersionInfo::tagOrBranch() + VersionInfo::dirty() << " date:" << VersionInfo::dateTime() <<
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" hash:" << VersionInfo::hash().left(8) << " uavo:" << VersionInfo::uavoHash().left(8) << endl;
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m_debugStream << "INFO::gcs tag:" << VersionInfo::tagOrBranch() + VersionInfo::dirty()
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<< " date:" << VersionInfo::dateTime()
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<< " hash:" << VersionInfo::hash().left(8)
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<< " uavo:" << VersionInfo::uavoHash().left(8) << endl;
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}
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}
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@ -106,7 +106,7 @@ public:
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int processPercentage()
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{
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return m_processPercentage;
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return m_progress;
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}
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void endAcquisition();
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@ -126,9 +126,9 @@ signals:
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void temperatureChanged(float value);
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void temperatureGradientChanged(float value);
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void progressChanged(int value);
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void progressMaxChanged(int value);
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void collectionCompleted();
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void calculationCompleted();
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void abort();
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public slots:
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/**
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@ -162,11 +162,16 @@ public slots:
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void collectSample(UAVObject *sample);
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void setProgress(int value)
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{
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if (m_processPercentage != value) {
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m_processPercentage = value;
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if (m_progress != value) {
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m_progress = value;
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emit progressChanged(value);
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}
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}
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void setProgressMax(int value)
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{
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m_progressMax = value;
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emit progressMaxChanged(value);
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}
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void addInstructions(QString text, WizardModel::MessageType type = WizardModel::Info)
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{
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@ -203,15 +208,12 @@ private:
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float m_gradient;
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float m_temperature;
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float m_initialGradient;
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const static int ProcessPercentageSaveSettings = 5;
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const static int ProcessPercentageSetupBoard = 10;
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const static int ProcessPercentageBaseAcquisition = 15;
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const static int ProcessPercentageBaseCalculation = 85;
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const static int ProcessPercentageSaveResults = 95;
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int m_targetduration;
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int m_progress;
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int m_progressMax;
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const static float TargetGradient = 0.20f;
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const static float TargetTempDelta = 10.0f;
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int m_targetduration;
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int m_processPercentage;
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// convenience pointers
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AccelSensor *accelSensor;
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@ -38,7 +38,8 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
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m_startEnabled(false),
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m_cancelEnabled(false),
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m_endEnabled(false),
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m_initDone(false)
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m_initDone(false),
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m_dirty(false)
|
||||
{
|
||||
m_helper.reset(new ThermalCalibrationHelper());
|
||||
|
||||
@ -63,6 +64,7 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
|
||||
connect(m_helper.data(), SIGNAL(temperatureChanged(float)), this, SLOT(setTemperature(float)));
|
||||
connect(m_helper.data(), SIGNAL(temperatureGradientChanged(float)), this, SLOT(setTemperatureGradient(float)));
|
||||
connect(m_helper.data(), SIGNAL(progressChanged(int)), this, SLOT(setProgress(int)));
|
||||
connect(m_helper.data(), SIGNAL(progressMaxChanged(int)), this, SLOT(setProgressMax(int)));
|
||||
connect(m_helper.data(), SIGNAL(instructionsAdded(QString, WizardModel::MessageType)), this, SLOT(addInstructions(QString, WizardModel::MessageType)));
|
||||
connect(m_readyState, SIGNAL(entered()), this, SLOT(stopWizard()));
|
||||
connect(m_readyState, SIGNAL(exited()), this, SLOT(startWizard()));
|
||||
@ -95,10 +97,10 @@ void ThermalCalibrationModel::stepChanged(WizardState *state)
|
||||
void ThermalCalibrationModel::setTransitions()
|
||||
{
|
||||
m_readyState->addTransition(this, SIGNAL(next()), m_workingState);
|
||||
m_readyState->assignProperty(this, "progressMax", 100);
|
||||
m_readyState->assignProperty(this, "progress", 0);
|
||||
|
||||
m_completedState->addTransition(this, SIGNAL(next()), m_workingState);
|
||||
m_completedState->assignProperty(this, "progress", 100);
|
||||
|
||||
// handles board initial status save
|
||||
// Ready->WorkingState->saveSettings->setup
|
||||
@ -115,6 +117,7 @@ void ThermalCalibrationModel::setTransitions()
|
||||
|
||||
// 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(this, SIGNAL(abort()), m_abortState);
|
||||
// Ready
|
||||
}
|
||||
|
||||
@ -45,6 +45,7 @@ class ThermalCalibrationModel : public WizardModel {
|
||||
Q_PROPERTY(float temperature READ temperature NOTIFY temperatureChanged)
|
||||
Q_PROPERTY(float temperatureGradient READ temperatureGradient NOTIFY temperatureGradientChanged)
|
||||
Q_PROPERTY(int progress READ progress WRITE setProgress NOTIFY progressChanged)
|
||||
Q_PROPERTY(int progressMax READ progressMax WRITE setProgressMax NOTIFY progressMaxChanged)
|
||||
|
||||
public:
|
||||
explicit ThermalCalibrationModel(QObject *parent = 0);
|
||||
@ -100,6 +101,11 @@ public slots:
|
||||
return m_progress;
|
||||
}
|
||||
|
||||
int progressMax()
|
||||
{
|
||||
return m_progressMax;
|
||||
}
|
||||
|
||||
float temperature()
|
||||
{
|
||||
return m_temperature;
|
||||
@ -126,10 +132,16 @@ public slots:
|
||||
}
|
||||
}
|
||||
|
||||
void setProgress(int progress)
|
||||
void setProgress(int value)
|
||||
{
|
||||
m_progress = progress;
|
||||
emit progressChanged(progress);
|
||||
m_progress = value;
|
||||
emit progressChanged(value);
|
||||
}
|
||||
|
||||
void setProgressMax(int value)
|
||||
{
|
||||
m_progressMax = value;
|
||||
emit progressMaxChanged(value);
|
||||
}
|
||||
|
||||
private:
|
||||
@ -139,6 +151,7 @@ private:
|
||||
bool m_initDone;
|
||||
bool m_dirty;
|
||||
int m_progress;
|
||||
int m_progressMax;
|
||||
float m_temperature;
|
||||
float m_temperatureGradient;
|
||||
|
||||
@ -178,6 +191,7 @@ signals:
|
||||
void temperatureChanged(float temp);
|
||||
void temperatureGradientChanged(float tempGradient);
|
||||
void progressChanged(int value);
|
||||
void progressMaxChanged(int value);
|
||||
|
||||
void next();
|
||||
void previous();
|
||||
|
||||
@ -174,6 +174,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
|
||||
connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(float)), this, SLOT(displayTemperature(float)));
|
||||
connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(float)), this, SLOT(displayTemperatureGradient(float)));
|
||||
connect(m_thermalCalibrationModel, SIGNAL(progressChanged(int)), m_ui->thermalBiasProgress, SLOT(setValue(int)));
|
||||
connect(m_thermalCalibrationModel, SIGNAL(progressMaxChanged(int)), m_ui->thermalBiasProgress, SLOT(setMaximum(int)));
|
||||
m_ui->thermalBiasEnd->setEnabled(false);
|
||||
m_ui->thermalBiasCancel->setEnabled(false);
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user