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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
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@ -26,18 +26,18 @@
*/ */
#include "outputcalibrationutil.h" #include "outputcalibrationutil.h"
#include "actuatorcommand.h" #include "uavobject.h"
#include "uavobjectmanager.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "vehicleconfigurationhelper.h" #include "vehicleconfigurationhelper.h"
#include "manualcontrolsettings.h" #include "manualcontrolsettings.h"
bool OutputCalibrationUtil::c_prepared = false;
ActuatorCommand::Metadata OutputCalibrationUtil::c_savedActuatorCommandMetaData;
OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) : OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
QObject(parent), m_outputChannel(-1), m_safeValue(1000) 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() OutputCalibrationUtil::~OutputCalibrationUtil()
@ -45,22 +45,26 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
stopChannelOutput(); stopChannelOutput();
} }
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue) ActuatorCommand * OutputCalibrationUtil::getActuatorCommandObject()
{ {
if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
// Start output... Q_ASSERT(pm);
m_outputChannel = channel;
m_safeValue = safeValue;
qDebug() << "Starting output for channel " << m_outputChannel + 1 << "..."; UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager); ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
Q_ASSERT(actuatorCommand); Q_ASSERT(actuatorCommand);
return actuatorCommand;
}
void OutputCalibrationUtil::startOutputCalibration()
{
if (!c_prepared) {
ActuatorCommand *actuatorCommand = getActuatorCommandObject();
UAVObject::Metadata metaData = actuatorCommand->getMetadata(); UAVObject::Metadata metaData = actuatorCommand->getMetadata();
m_savedActuatorCommandMetadata = metaData; c_savedActuatorCommandMetaData = metaData;
// Store current data for later restore
m_savedActuatorCommandData = actuatorCommand->getData();
// Enable actuator control from GCS... // Enable actuator control from GCS...
// Store current metadata for later restore // Store current metadata for later restore
@ -73,41 +77,65 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
// Apply changes // Apply changes
actuatorCommand->setMetadata(metaData); actuatorCommand->setMetadata(metaData);
actuatorCommand->updated(); 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() void OutputCalibrationUtil::stopChannelOutput()
{ {
if (m_outputChannel >= 0) { if (c_prepared) {
qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "..."; if (m_outputChannel >= 0) {
// Stop output... qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
setChannelOutputValue(m_safeValue); // Stop output...
qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue; 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 m_outputChannel = -1;
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager); }
Q_ASSERT(actuatorCommand); } else {
// actuatorCommand->setData(m_savedActuatorCommandData); qDebug() << "OutputCalibrationUtil not started.";
actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
m_outputChannel = -1;
} }
} }
void OutputCalibrationUtil::setChannelOutputValue(quint16 value) void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
{ {
if (m_outputChannel >= 0) { if (c_prepared) {
// Set output value if (m_outputChannel >= 0) {
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << "."; // Set output value
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager); qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
Q_ASSERT(actuatorCommand); ActuatorCommand *actuatorCommand = getActuatorCommandObject();
ActuatorCommand::DataFields data = actuatorCommand->getData(); ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value; data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data); 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 #define OUTPUTCALIBRATIONUTIL_H
#include <QObject> #include <QObject>
#include <QList>
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "vehicleconfigurationsource.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
@ -42,20 +38,20 @@ public:
explicit OutputCalibrationUtil(QObject *parent = 0); explicit OutputCalibrationUtil(QObject *parent = 0);
~OutputCalibrationUtil(); ~OutputCalibrationUtil();
signals: static void startOutputCalibration();
static void stopOutputCalibration();
static ActuatorCommand * getActuatorCommandObject();
public slots: public slots:
void startChannelOutput(quint16 channel, quint16 safeValue); void startChannelOutput(quint16 channel, quint16 safeValue);
void stopChannelOutput(); void stopChannelOutput();
void setChannelOutputValue(quint16 value); void setChannelOutputValue(quint16 value);
private: private:
static bool c_prepared;
static ActuatorCommand::Metadata c_savedActuatorCommandMetaData;
qint16 m_outputChannel; qint16 m_outputChannel;
quint16 m_safeValue; quint16 m_safeValue;
UAVObject::Metadata m_savedActuatorCommandMetadata;
ActuatorCommand::DataFields m_savedActuatorCommandData;
UAVObjectManager *m_uavObjectManager;
}; };
#endif // OUTPUTCALIBRATIONUTIL_H #endif // OUTPUTCALIBRATIONUTIL_H

2
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
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@ -102,6 +102,7 @@ void EscCalibrationPage::startButtonClicked()
MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager); MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
Q_ASSERT(mSettings); Q_ASSERT(mSettings);
QString mixerTypePattern = "Mixer%1Type"; QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) { for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1)); UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field); Q_ASSERT(field);
@ -145,6 +146,7 @@ void EscCalibrationPage::stopButtonClicked()
output->stopChannelOutput(); output->stopChannelOutput();
delete output; delete output;
} }
OutputCalibrationUtil::stopOutputCalibration();
ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS)); ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ui->outputHigh->setEnabled(false); ui->outputHigh->setEnabled(false);
ui->outputLow->setEnabled(true); 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() void OutputCalibrationPage::setWizardPage()
{ {
qDebug() << "Wizard index: " << m_currentWizardIndex; qDebug() << "Wizard index: " << m_currentWizardIndex;
m_calibrationUtil->stopChannelOutput();
QApplication::processEvents(); QApplication::processEvents();
@ -386,6 +385,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
if (checkAlarms()) { if (checkAlarms()) {
enableButtons(false); enableButtons(false);
enableServoSliders(true); enableServoSliders(true);
OutputCalibrationUtil::startOutputCalibration();
m_calibrationUtil->startChannelOutput(channel, safeValue); m_calibrationUtil->startChannelOutput(channel, safeValue);
slider->setValue(value); slider->setValue(value);
m_calibrationUtil->setChannelOutputValue(value); m_calibrationUtil->setChannelOutputValue(value);
@ -394,6 +394,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
} }
} else { } else {
m_calibrationUtil->stopChannelOutput(); m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false); enableServoSliders(false);
enableButtons(true); enableButtons(true);
} }