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Code Issues Releases Activity

Merge branch 'thread/OP-1586_Test_Output' into rel-14.10

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This commit is contained in:
Fredrik Arvidsson 2014-10-31 13:05:39 +01:00
commit f36c2b31f3
4 changed files with 78 additions and 51 deletions
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110
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
View File

@ -26,18 +26,18 @@
*/
#include "outputcalibrationutil.h"
#include "actuatorcommand.h"
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "extensionsystem/pluginmanager.h"
#include "vehicleconfigurationhelper.h"
#include "manualcontrolsettings.h"
bool OutputCalibrationUtil::c_prepared = false;
ActuatorCommand::Metadata OutputCalibrationUtil::c_savedActuatorCommandMetaData;
OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
QObject(parent), m_outputChannel(-1), m_safeValue(1000)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
m_uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(m_uavObjectManager);
}
OutputCalibrationUtil::~OutputCalibrationUtil()
@ -45,22 +45,26 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
stopChannelOutput();
}
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
ActuatorCommand * OutputCalibrationUtil::getActuatorCommandObject()
{
if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
// Start output...
m_outputChannel = channel;
m_safeValue = safeValue;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
qDebug() << "Starting output for channel " << m_outputChannel + 1 << "...";
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
Q_ASSERT(actuatorCommand);
return actuatorCommand;
}
void OutputCalibrationUtil::startOutputCalibration()
{
if (!c_prepared) {
ActuatorCommand *actuatorCommand = getActuatorCommandObject();
UAVObject::Metadata metaData = actuatorCommand->getMetadata();
m_savedActuatorCommandMetadata = metaData;
// Store current data for later restore
m_savedActuatorCommandData = actuatorCommand->getData();
c_savedActuatorCommandMetaData = metaData;
// Enable actuator control from GCS...
// Store current metadata for later restore
@ -73,41 +77,65 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
// Apply changes
actuatorCommand->setMetadata(metaData);
actuatorCommand->updated();
c_prepared = true;
qDebug() << "OutputCalibrationUtil started.";
}
}
qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
void OutputCalibrationUtil::stopOutputCalibration()
{
if (c_prepared) {
ActuatorCommand *actuatorCommand = getActuatorCommandObject();
actuatorCommand->setMetadata(c_savedActuatorCommandMetaData);
actuatorCommand->updated();
c_prepared = false;
qDebug() << "OutputCalibrationUtil stopped.";
}
}
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
{
if (c_prepared) {
if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
// Start output...
m_outputChannel = channel;
m_safeValue = safeValue;
qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
}
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
void OutputCalibrationUtil::stopChannelOutput()
{
if (m_outputChannel >= 0) {
qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
// Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
if (c_prepared) {
if (m_outputChannel >= 0) {
qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
// Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
// Restore metadata to what it was before
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
// actuatorCommand->setData(m_savedActuatorCommandData);
actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
m_outputChannel = -1;
m_outputChannel = -1;
}
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
{
if (m_outputChannel >= 0) {
// Set output value
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data);
if (c_prepared) {
if (m_outputChannel >= 0) {
// Set output value
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
ActuatorCommand *actuatorCommand = getActuatorCommandObject();
ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data);
} else {
qDebug() << "OutputCalibrationUtil not started.";
}
}
}

14
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
View File

@ -29,10 +29,6 @@
#define OUTPUTCALIBRATIONUTIL_H
#include <QObject>
#include <QList>
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "vehicleconfigurationsource.h"
#include "actuatorcommand.h"
@ -42,20 +38,20 @@ public:
explicit OutputCalibrationUtil(QObject *parent = 0);
~OutputCalibrationUtil();
signals:
static void startOutputCalibration();
static void stopOutputCalibration();
static ActuatorCommand * getActuatorCommandObject();
public slots:
void startChannelOutput(quint16 channel, quint16 safeValue);
void stopChannelOutput();
void setChannelOutputValue(quint16 value);
private:
static bool c_prepared;
static ActuatorCommand::Metadata c_savedActuatorCommandMetaData;
qint16 m_outputChannel;
quint16 m_safeValue;
UAVObject::Metadata m_savedActuatorCommandMetadata;
ActuatorCommand::DataFields m_savedActuatorCommandData;
UAVObjectManager *m_uavObjectManager;
};
#endif // OUTPUTCALIBRATIONUTIL_H

2
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -102,6 +102,7 @@ void EscCalibrationPage::startButtonClicked()
MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
Q_ASSERT(mSettings);
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
@ -145,6 +146,7 @@ void EscCalibrationPage::stopButtonClicked()
output->stopChannelOutput();
delete output;
}
OutputCalibrationUtil::stopOutputCalibration();
ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ui->outputHigh->setEnabled(false);
ui->outputLow->setEnabled(true);

3
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -274,7 +274,6 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
void OutputCalibrationPage::setWizardPage()
{
qDebug() << "Wizard index: " << m_currentWizardIndex;
m_calibrationUtil->stopChannelOutput();
QApplication::processEvents();
@ -386,6 +385,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
if (checkAlarms()) {
enableButtons(false);
enableServoSliders(true);
OutputCalibrationUtil::startOutputCalibration();
m_calibrationUtil->startChannelOutput(channel, safeValue);
slider->setValue(value);
m_calibrationUtil->setChannelOutputValue(value);
@ -394,6 +394,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
}
} else {
m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false);
enableButtons(true);
}