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https://bitbucket.org/librepilot/librepilot.git
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Merge remote-tracking branch 'origin/next' into outputchannelform
Conflicts: ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
This commit is contained in:
Michael Schulz
commit
ea5caa24d5
@ -41,12 +41,18 @@
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#include <QUrl>
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#include "actuatorcommand.h"
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#include "systemalarms.h"
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#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
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ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
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{
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m_config = new Ui_OutputWidget();
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m_config->setupUi(this);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Q_ASSERT(pm);
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UAVSettingsImportExportFactor * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
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connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
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setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
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addUAVObject("ActuatorSettings");
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@ -77,6 +83,12 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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addWidget(m_config->outputRate1);
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addWidget(m_config->spinningArmed);
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
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if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
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this->setEnabled(false);
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connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
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}
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ConfigOutputWidget::~ConfigOutputWidget()
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@ -127,6 +139,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
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UAVObject::Metadata mdata = obj->getMetadata();
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if (state)
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{
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wasItMe=true;
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accInitialData = mdata;
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mdata.flightAccess = UAVObject::ACCESS_READONLY;
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mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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@ -136,9 +149,11 @@ void ConfigOutputWidget::runChannelTests(bool state)
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}
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else
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{
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wasItMe=false;
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mdata = accInitialData; // Restore metadata
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}
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obj->setMetadata(mdata);
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obj->updated();
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}
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@ -334,4 +349,18 @@ void ConfigOutputWidget::openHelp()
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Output+Configuration", QUrl::StrictMode) );
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}
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void ConfigOutputWidget::stopTests()
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{
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m_config->channelOutTest->setChecked(false);
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}
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void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
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{
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if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
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{
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if(!wasItMe)
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this->setEnabled(false);
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}
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else
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this->setEnabled(true);
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}
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@ -64,8 +64,10 @@ private:
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bool firstUpdate;
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bool wasItMe;
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private slots:
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void stopTests();
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void disableIfNotMe(UAVObject *obj);
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virtual void refreshWidgetsValues();
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void updateObjectsFromWidgets();
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void runChannelTests(bool state);
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@ -1,58 +1,65 @@
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function [] = OPLogConvert()
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%% Define indices and arrays of structures to hold data
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%% Define indices and arrays of structures to hold data
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% THIS FILE IS AUTOMATICALLY GENERATED.
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$(ALLOCATIONCODE)
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%% Open file
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%fid = fopen('log.opl');
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[FileName,PathName,FilterIndex] = uigetfile('*.opl');
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logfile = strcat(PathName,FileName);
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fid = fopen(logfile);
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while (1)
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%% Read logging header
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timestamp = fread(fid, 1, 'uint32');
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if (feof(fid)); break; end
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datasize = fread(fid, 1, 'int64');
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%% Read message header
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% get sync field (0x3C, 1 byte)
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sync = fread(fid, 1, 'uint8');
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if sync ~= hex2dec('3C')
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disp ('Wrong sync byte');
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return
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end
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% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
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msgType = fread(fid, 1, 'uint8');
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if msgType ~= hex2dec('20')
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disp ('Wrong msgType');
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return
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end
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% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
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msgSize = fread(fid, 1, 'uint16');
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% get obj id (quint32 4 bytes)
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objID = fread(fid, 1, 'uint32');
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%% Read object
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switch objID
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$(SWITCHCODE)
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otherwise
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disp('Unknown object ID');
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msgBytesLeft = datasize - 1 - 1 - 2 - 4;
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fread(fid, msgBytesLeft, 'uint8');
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end
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end
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%% Clean Up and Save mat file
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fclose(fid);
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matfile = strrep(logfile,'opl','mat');
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save(matfile $(SAVEOBJECTSCODE));
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%% Open log file
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% [FileName,PathName,FilterIndex] = uigetfile('*.opl');
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FileName='OP-2011-10-22_22-27-09.opl';
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PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
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FilterIndex=1;
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logfile = fullfile(PathName,FileName);
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fid = fopen(logfile);
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% Parse log file, entry by entry
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while (1)
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%% Read logging header
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timestamp = fread(fid, 1, 'uint32');
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if (feof(fid)); break; end
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datasize = fread(fid, 1, 'int64');
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%% Read message header
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% get sync field (0x3C, 1 byte)
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sync = fread(fid, 1, 'uint8');
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if sync ~= hex2dec('3C')
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disp ('Wrong sync byte');
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return
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end
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% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
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msgType = fread(fid, 1, 'uint8');
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if msgType ~= hex2dec('20')
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disp ('Wrong msgType');
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return
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end
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% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
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msgSize = fread(fid, 1, 'uint16');
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% get obj id (quint32 4 bytes)
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objID = fread(fid, 1, 'uint32');
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%% Read object
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switch objID
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$(SWITCHCODE)
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otherwise
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disp(['Unknown object ID: 0x' dec2hex(objID)]);
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msgBytesLeft = datasize - 1 - 1 - 2 - 4;
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fread(fid, msgBytesLeft, 'uint8');
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end
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end
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%% Clean Up and Save mat file
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fclose(fid);
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matfile = strrep(logfile,'opl','mat');
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save(matfile $(SAVEOBJECTSCODE));
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%% Object reading functions
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$(FUNCTIONSCODE)
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@ -1017,3 +1017,43 @@ int DFUObject::receiveData(void * data,int size)
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}
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}
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}
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#define BOARD_ID_MB 1
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#define BOARD_ID_INS 2
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#define BOARD_ID_PIP 3
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#define BOARD_ID_CC 4
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//#define BOARD_ID_PRO ?
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/**
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Gets the type of board connected
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*/
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OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
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{
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OP_DFU::eBoardType brdType = eBoardUnkwn;
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// First of all, check what Board type we are talking to
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int board = devices[boardNum].ID;
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qDebug() << "Board model: " << board;
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switch (board >> 8) {
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case BOARD_ID_MB: // Mainboard family
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brdType = eBoardMainbrd;
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break;
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case BOARD_ID_INS: // Inertial Nav
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brdType = eBoardINS;
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break;
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case BOARD_ID_PIP: // PIP RF Modem
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brdType = eBoardPip;
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break;
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case BOARD_ID_CC: // CopterControl family
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brdType = eBoardCC;
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break;
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#if 0 // Someday ;-)
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case BOARD_ID_PRO: // Pro board
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brdType = eBoardPro;
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break;
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#endif
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}
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return brdType;
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}
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@ -92,6 +92,16 @@ namespace OP_DFU {
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};
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enum eBoardType
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{
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eBoardUnkwn = 0,
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eBoardMainbrd = 1,
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eBoardINS,
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eBoardPip,
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eBoardCC,
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eBoardPro,
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};
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struct device
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{
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int ID;
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@ -154,6 +164,7 @@ namespace OP_DFU {
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// Helper functions:
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QString StatusToString(OP_DFU::Status const & status);
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static quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
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OP_DFU::eBoardType GetBoardType(int boardNum);
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@ -480,7 +480,7 @@ void UploaderGadgetWidget::systemRescue()
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m_config->rescueButton->setEnabled(true);
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return;
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}
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if(QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes)
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if ((eBoardCC != dfu->GetBoardType(0)) && (QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes))
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{
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log("\nWaiting...");
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QTimer::singleShot(3000, &m_eventloop, SLOT(quit()));
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@ -50,7 +50,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
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}
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwithCode);
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matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
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matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
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matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
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@ -71,6 +71,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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if (info == NULL)
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return false;
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//Declare variables
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QString objectName(info->name);
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// QString objectTableName(objectName + "Objects");
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QString objectTableName(objectName);
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@ -80,39 +81,71 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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QString objectID(QString().setNum(info->id));
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QString isSingleInst = boolTo01String( info->isSingleInst );
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// Generate allocation code (will replace the $(ALLOCATIONCODE) tag)
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matlabAllocationCode.append("\n " + tableIdxName + " = 1;\n");
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matlabAllocationCode.append(" " + objectTableName + ".timestamp = 0;\n");
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QString type;
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QString allocfields;
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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allocfields.append(" " + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
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else
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allocfields.append(" " + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
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}
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//===================================================================//
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// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
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//===================================================================//
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// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
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matlabAllocationCode.append("\n\t" + tableIdxName + " = 1;\n");
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QString type;
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QString allocfields;
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if (0){
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matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
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else
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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
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}
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}
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else{
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matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(1," + QString::number(info->fields[n]->numElements, 10) + ")");
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else
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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
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}
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allocfields.append(");\n");
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}
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matlabAllocationCode.append(allocfields);
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matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
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// Generate 'swith:' code (will replace the $(SWITCHCODE) tag)
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matlabSwithCode.append(" case " + objectID + "\n");
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matlabSwithCode.append(" " + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwithCode.append(" " + tableIdxName + " = " + tableIdxName +" + 1;\n");
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// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag)
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//=============================================================//
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// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
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//=============================================================//
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matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
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matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
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//=============================================================================//
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// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
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//=============================================================================//
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matlabSaveObjectsCode.append(",'"+objectTableName+"'");
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// Generate functions code (will replace the $(FUNCTIONSCODE) tag)
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matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
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//=================================================================//
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// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
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//=================================================================//
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//Generate function description comment
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matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
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matlabFunctionsCode.append(" if " + isSingleInst + "\n");
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matlabFunctionsCode.append(" headerSize = 8;\n");
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matlabFunctionsCode.append(" else\n");
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matlabFunctionsCode.append(" " + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
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matlabFunctionsCode.append(" headerSize = 10;\n");
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matlabFunctionsCode.append(" end\n\n");
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matlabFunctionsCode.append(" " + objectName + ".timestamp = timestamp;\n");
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matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
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matlabFunctionsCode.append("\t\theaderSize = 8;\n");
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matlabFunctionsCode.append("\telse\n");
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matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
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matlabFunctionsCode.append("\t\theaderSize = 10;\n");
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matlabFunctionsCode.append("\tend\n\n");
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matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
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// Generate functions code, actual fields of the object
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QString funcfields;
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@ -122,16 +155,16 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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funcfields.append(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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else
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funcfields.append(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
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}
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matlabFunctionsCode.append(funcfields);
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matlabFunctionsCode.append(" % read CRC\n");
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matlabFunctionsCode.append(" fread(fid, 1, 'uint8');\n");
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matlabFunctionsCode.append("\t% read CRC\n");
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matlabFunctionsCode.append("\tfread(fid, 1, 'uint8');\n");
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matlabFunctionsCode.append("end\n\n");
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matlabFunctionsCode.append("\n\n");
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return true;
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}
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@ -37,7 +37,7 @@ public:
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private:
|
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bool process_object(ObjectInfo* info);
|
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QString matlabAllocationCode;
|
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QString matlabSwithCode;
|
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QString matlabSwitchCode;
|
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QString matlabSaveObjectsCode;
|
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QString matlabFunctionsCode;
|
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QStringList fieldTypeStrMatlab;
|
||||
|
||||
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