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Code Issues Releases Activity

Merge remote-tracking branch 'op-public/next' into revo-next

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This commit is contained in:
Stacey Sheldon 2012-06-20 22:45:41 -04:00
commit f475088585
31 changed files with 581 additions and 255 deletions
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2
flight/Modules/System/systemmod.c
View File

@ -65,7 +65,7 @@
#define STACK_SIZE_BYTES 924
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types

6
flight/PiOS/Common/pios_flash_jedec.c
View File

@ -329,10 +329,14 @@ int32_t PIOS_Flash_Jedec_EraseChip()
PIOS_Flash_Jedec_ReleaseBus();
// Keep polling when bus is busy too
int i = 0;
while(PIOS_Flash_Jedec_Busy() != 0) {
#if defined(FLASH_FREERTOS)
#if defined(PIOS_INCLUDE_FREERTOS)
vTaskDelay(1);
#endif
if ((i++) % 100 == 0)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
}
return 0;

6
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>730</width>
<height>602</height>
<width>796</width>
<height>618</height>
</rect>
</property>
<property name="windowTitle">
@ -74,7 +74,7 @@
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -25,7 +25,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configccpmwidget.h"
//#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
@ -555,7 +554,7 @@ void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
for (i=0; i<internalCurveValues.length(); i++)
{
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
if (CurrentValue!=internalCurveValues[i])
{
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
@ -1225,11 +1224,10 @@ void ConfigCcpmWidget::setMixer()
}
//get the user data for the curve into the mixer settings
for (i=0;i<5;i++)
for (i=0;i<5;i++) {
mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
for (i=0;i<5;i++)
mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
}
//mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5

65
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -182,18 +182,16 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField(QString("FeedForward"));
UAVObjectField* field = mixer->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Set the throttle curve
setThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
//All airframe types must start with "FixedWing"
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
@ -229,36 +227,26 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
UAVDataObject* obj;
UAVObjectField *field;
UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
// Find the channel number for Elevon1 (FixedWingRoll1)
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
if (frameType == "FixedWingVtail") {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (chMixerNumber >=0) {
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Yaw");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "FixedWingVtail") {
channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)*100);
m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
}
@ -312,7 +300,10 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
@ -396,7 +387,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
@ -478,7 +472,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;

29
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -25,7 +25,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configmultirotorwidget.h"
#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
@ -296,12 +295,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -1036,20 +1031,22 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -29,6 +29,7 @@
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"

54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,60 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;
switch (curveType)
{
case MIXER_THROTTLECURVE1:
{
field = mixer->getField("ThrottleCurve1");
break;
}
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
}
if (field && field->getNumElements() == curve.length()) {
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
}
}
void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve)
{
Q_ASSERT(mixer);
Q_ASSERT(curve);
QPointer<UAVObjectField> field;
switch (curveType)
{
case MIXER_THROTTLECURVE1:
{
field = mixer->getField("ThrottleCurve1");
break;
}
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
}
if (field) {
curve->clear();
for (unsigned int i=0; i < field->getNumElements(); i++) {
curve->append(field->getValue(i).toDouble());
}
}
}
/**
Reset the contents of a field
*/

5
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -111,6 +111,9 @@ class VehicleConfig: public ConfigTaskWidget
VehicleConfig(QWidget *parent = 0);
~VehicleConfig();
/* Enumeration options for ThrottleCurves */
typedef enum { MIXER_THROTTLECURVE1=0, MIXER_THROTTLECURVE2=1 } MixerThrottleCurveElem;
/* Enumeration options for field MixerType */
typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2, MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5, MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8, MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
/* Array element names for field MixerVector */
@ -127,6 +130,8 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();

2
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -46,7 +46,7 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());

7
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -71,16 +71,10 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
firstUpdate = true;
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
// Add custom handling of displaying things
connect(this,SIGNAL(refreshWidgetsValuesRequested()), this, SLOT(refreshOutputWidgetsValues()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
@ -125,7 +119,6 @@ ConfigOutputWidget::~ConfigOutputWidget()
*/
void ConfigOutputWidget::runChannelTests(bool state)
{
qDebug()<<"configoutputwidget runChannelTests"<<state;
SystemAlarms * systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();

2
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -63,8 +63,6 @@ private:
UAVObject::Metadata accInitialData;
bool firstUpdate;
bool wasItMe;
private slots:
void stopTests();

6
ground/openpilotgcs/src/plugins/config/configplugin.cpp
View File

@ -145,7 +145,7 @@ void ConfigPlugin::eraseAllSettings()
// based on UAVO meta data
objper->setData(data);
objper->updated();
QTimer::singleShot(6000,this,SLOT(eraseFailed()));
QTimer::singleShot(FLASH_ERASE_TIMEOUT_MS,this,SLOT(eraseFailed()));
}
@ -163,7 +163,7 @@ void ConfigPlugin::eraseFailed()
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
objper->setData(data);
objper->updated();
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
QTimer::singleShot(FLASH_ERASE_TIMEOUT_MS,this,SLOT(eraseFailed()));
} else {
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
QMessageBox msgBox;
@ -190,7 +190,7 @@ void ConfigPlugin::eraseDone(UAVObject * obj)
if (data.Operation == ObjectPersistence::OPERATION_COMPLETED) {
settingsErased = true;
msgBox.setText(tr("Settings are now erased."));
msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
msgBox.setInformativeText(tr("Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset."));
} else {
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));

2
ground/openpilotgcs/src/plugins/config/configplugin.h
View File

@ -65,6 +65,8 @@ private slots:
Core::Command* cmd;
bool settingsErased;
static const int FLASH_ERASE_TIMEOUT_MS = 45000;
};
#endif // CONFIGPLUGIN_H

3
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -206,14 +206,13 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
mag_z->setTransform(QTransform::fromScale(1,0),true);
// Connect the signals
connect(m_ui->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(measureNoise()));
connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(launchAccelBiasCalibration()));
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
connect(revoCalibration, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
connect(m_ui->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(SettingsToRam()));
connect(m_ui->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(SettingsToRAM()));
connect(m_ui->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(SettingsToFlash()));
connect(m_ui->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));

168
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -36,10 +36,11 @@
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
#include <QEventLoop>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QEventLoop>
/**
Helper delegate for the custom mixer editor table.
@ -119,7 +120,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@ -780,77 +782,65 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
Note: does NOT ask for an object refresh itself!
*/
void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QList<double> curveValues;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// setup throttlecurve 1
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
if (field)
{
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
else
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
int total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
}
else {
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
curveValues.clear();
// setup throttlecurve 2
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
field = obj->getField(QString("ThrottleCurve2"));
if (field)
{
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
}
else {
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
// Update the mixer table:
for (int channel=0; channel<8; channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field)
{
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
if (q)
{
QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s));
}
field = obj->getField(mixerVectors.at(i));
if (field)
{
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Roll");
m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
m_aircraft->customMixerTable->item(1,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_aircraft->customMixerTable->item(2,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_aircraft->customMixerTable->item(3,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
m_aircraft->customMixerTable->item(4,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
m_aircraft->customMixerTable->item(5,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
}
@ -865,9 +855,6 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* obj;
UAVObjectField* field;
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -882,45 +869,42 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(QString("FeedForward"));
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
field = obj->getField("ThrottleCurve2");
curve.clear();
curve = m_aircraft->customThrottle2Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
field->setValue(q->currentText());
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
for (int channel=0; channel<8; channel++) {
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
vconfig->setMixerType(mixer,channel,
q->currentText() == "Servo" ? VehicleConfig::MIXERTYPE_SERVO : VehicleConfig::MIXERTYPE_MOTOR);
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5,channel)->text().toDouble());
}
}
// set the airframe type
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
if (field)
field->setValue(airframeType);
updateCustomAirframeUI();
}

1
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -38,6 +38,7 @@
#include "cfg_vehicletypes/configfixedwingwidget.h"
#include "cfg_vehicletypes/configmultirotorwidget.h"
#include "cfg_vehicletypes/configgroundvehiclewidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include <QtGui/QWidget>
#include <QList>

36
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -495,7 +495,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-114</y>
<y>0</y>
<width>673</width>
<height>790</height>
</rect>
@ -11797,7 +11797,7 @@ border-radius: 4;
</property>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QPushButton" name="pushButton_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -11850,7 +11850,7 @@ border-radius: 4;
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
<item row="1" column="0" colspan="4">
<widget class="QGroupBox" name="RateStabilizationGroup_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -14693,6 +14693,19 @@ value as the Kp.</string>
</layout>
</widget>
</item>
<item row="0" column="2">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -15272,7 +15285,7 @@ value as the Kp.</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="1" column="0" colspan="3">
<item row="1" column="0" colspan="4">
<widget class="QGroupBox" name="RateStabilizationGroup_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -17936,7 +17949,7 @@ border-radius: 5;</string>
</property>
</spacer>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -17999,6 +18012,19 @@ border-radius: 4;
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>

2
ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro
View File

@ -1,5 +1,5 @@
TEMPLATE = lib
TARGET = HITLV2
TARGET = HITLv2
QT += network
include(../../openpilotgcsplugin.pri)
include(hitlv2_dependencies.pri)

4
ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
View File

@ -128,7 +128,7 @@ QList <Core::IConnection::device> SerialConnection::availableDevices()
foreach( QextPortInfo port, ports ) {
device d;
d.displayName=port.friendName;
d.name=port.friendName;
d.name=port.physName;
list.append(d);
}
}
@ -143,7 +143,7 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName)
}
QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
foreach( QextPortInfo port, ports ) {
if(port.friendName == deviceName)
if(port.physName == deviceName)
{
//we need to handle port settings here...
PortSettings set;

114
ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
View File

@ -27,6 +27,77 @@
#include "treeitem.h"
/* Constructor */
HighLightManager::HighLightManager(long checkingInterval)
{
// Start the timer and connect it to the callback
m_expirationTimer.start(checkingInterval);
connect(&m_expirationTimer, SIGNAL(timeout()), this, SLOT(checkItemsExpired()));
}
/*
* Called to add item to list. Item is only added if absent.
* Returns true if item was added, otherwise false.
*/
bool HighLightManager::add(TreeItem *itemToAdd)
{
// Lock to ensure thread safety
QMutexLocker locker(&m_listMutex);
// Check so that the item isn't already in the list
if(!m_itemsList.contains(itemToAdd))
{
m_itemsList.append(itemToAdd);
return true;
}
return false;
}
/*
* Called to remove item from list.
* Returns true if item was removed, otherwise false.
*/
bool HighLightManager::remove(TreeItem *itemToRemove)
{
// Lock to ensure thread safety
QMutexLocker locker(&m_listMutex);
// Remove item and return result
return m_itemsList.removeOne(itemToRemove);
}
/*
* Callback called periodically by the timer.
* This method checks for expired highlights and
* removes them if they are expired.
* Expired highlights are restored.
*/
void HighLightManager::checkItemsExpired()
{
// Lock to ensure thread safety
QMutexLocker locker(&m_listMutex);
// Get a mutable iterator for the list
QMutableLinkedListIterator<TreeItem*> iter(m_itemsList);
// This is the timestamp to compare with
QTime now = QTime::currentTime();
// Loop over all items, check if they expired.
while(iter.hasNext())
{
TreeItem* item = iter.next();
if(item->getHiglightExpires() < now)
{
// If expired, call removeHighlight
item->removeHighlight();
// Remove from list since it is restored.
iter.remove();
}
}
}
int TreeItem::m_highlightTimeMs = 500;
TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
@ -36,7 +107,6 @@ TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
m_highlight(false),
m_changed(false)
{
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
@ -46,7 +116,6 @@ TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
m_changed(false)
{
m_data << data << "" << "";
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::~TreeItem()
@ -108,21 +177,50 @@ void TreeItem::apply() {
child->apply();
}
/*
* Called after a value has changed to trigger highlightning of tree item.
*/
void TreeItem::setHighlight(bool highlight) {
m_highlight = highlight;
m_changed = false;
if (highlight) {
if (m_timer.isActive()) {
m_timer.stop();
// Update the expires timestamp
m_highlightExpires = QTime::currentTime().addMSecs(m_highlightTimeMs);
// Add to highlightmanager
if(m_highlightManager->add(this))
{
// Only emit signal if it was added
emit updateHighlight(this);
}
m_timer.setSingleShot(true);
m_timer.start(m_highlightTimeMs);
}
emit updateHighlight(this);
else if(m_highlightManager->remove(this))
{
// Only emit signal if it was removed
emit updateHighlight(this);
}
// If we have a parent, call recursively to update highlight status of parents.
// This will ensure that the root of a leaf that is changed also is highlighted.
// Only updates that really changes values will trigger highlight of parents.
if(m_parent)
{
m_parent->setHighlight(highlight);
}
}
void TreeItem::removeHighlight() {
m_highlight = false;
update();
//update();
emit updateHighlight(this);
}
void TreeItem::setHighlightManager(HighLightManager *mgr)
{
m_highlightManager = mgr;
}
QTime TreeItem::getHiglightExpires()
{
return m_highlightExpires;
}

58
ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
View File

@ -32,10 +32,58 @@
#include "uavmetaobject.h"
#include "uavobjectfield.h"
#include <QtCore/QList>
#include <QtCore/QLinkedList>
#include <QtCore/QVariant>
#include <QtCore/QTime>
#include <QtCore/QTimer>
#include <QtCore/QObject>
#include <QtCore/QDebug>
class TreeItem;
/*
* Small utility class that handles the higlighting of
* tree grid items.
* Basicly it maintains all items due to be restored to
* non highlighted state in a linked list.
* A timer traverses this list periodically to find out
* if any of the items should be restored. All items are
* updated withan expiration timestamp when they expires.
* An item that is beeing restored is removed from the
* list and its removeHighlight() method is called. Items
* that are not expired are left in the list til next time.
* Items that are updated during the expiration time are
* left untouched in the list. This reduces unwanted emits
* of signals to the repaint/update function.
*/
class HighLightManager : public QObject
{
Q_OBJECT
public:
// Constructor taking the checking interval in ms.
HighLightManager(long checkingInterval);
// This is called when an item has been set to
// highlighted = true.
bool add(TreeItem* itemToAdd);
//This is called when an item is set to highlighted = false;
bool remove(TreeItem* itemToRemove);
private slots:
// Timer callback method.
void checkItemsExpired();
private:
// The timer checking highlight expiration.
QTimer m_expirationTimer;
// The list holding all items due to be updated.
QLinkedList<TreeItem*> m_itemsList;
//Mutex to lock when accessing list.
QMutex m_listMutex;
};
class TreeItem : public QObject
{
@ -77,11 +125,16 @@ public:
inline bool changed() { return m_changed; }
inline void setChanged(bool changed) { m_changed = changed; }
virtual void setHighlightManager(HighLightManager* mgr);
QTime getHiglightExpires();
virtual void removeHighlight();
signals:
void updateHighlight(TreeItem*);
private slots:
void removeHighlight();
private:
QList<TreeItem*> m_children;
@ -91,7 +144,8 @@ private:
TreeItem *m_parent;
bool m_highlight;
bool m_changed;
QTimer m_timer;
QTime m_highlightExpires;
HighLightManager* m_highlightManager;
public:
static const int dataColumn = 1;
private:

12
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -47,6 +47,8 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Create highlight manager, let it run every 300 ms.
m_highlightManager = new HighLightManager(300);
connect(objManager, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
@ -56,6 +58,7 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
UAVObjectTreeModel::~UAVObjectTreeModel()
{
delete m_highlightManager;
delete m_rootItem;
}
@ -67,9 +70,12 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
m_rootItem = new TreeItem(rootData);
m_settingsTree = new TopTreeItem(tr("Settings"), m_rootItem);
m_settingsTree->setHighlightManager(m_highlightManager);
m_rootItem->appendChild(m_settingsTree);
m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
m_nonSettingsTree->setHighlightManager(m_highlightManager);
m_rootItem->appendChild(m_nonSettingsTree);
m_rootItem->setHighlightManager(m_highlightManager);
connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
@ -96,6 +102,7 @@ void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
addInstance(obj, root->child(index));
} else {
DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)");
data->setHighlightManager(m_highlightManager);
connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
int index = root->nameIndex(obj->getName());
root->insert(index, data);
@ -110,6 +117,7 @@ void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
meta->setHighlightManager(m_highlightManager);
connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
foreach (UAVObjectField *field, obj->getFields()) {
if (field->getNumElements() > 1) {
@ -132,6 +140,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
} else {
QString name = tr("Instance") + " " + QString::number(obj->getInstID());
item = new InstanceTreeItem(obj, name);
item->setHighlightManager(m_highlightManager);
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
@ -148,6 +157,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
{
TreeItem *item = new ArrayFieldTreeItem(field->getName());
item->setHighlightManager(m_highlightManager);
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
for (uint i = 0; i < field->getNumElements(); ++i) {
addSingleField(i, field, item);
@ -192,6 +202,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
default:
Q_ASSERT(false);
}
item->setHighlightManager(m_highlightManager);
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
@ -352,7 +363,6 @@ void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
Q_ASSERT(obj);
ObjectTreeItem *item = findObjectTreeItem(obj);
Q_ASSERT(item);
item->setHighlight(true);
item->update();
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());

3
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
View File

@ -97,6 +97,9 @@ private:
int m_recentlyUpdatedTimeout;
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
// Highlight manager to handle highlighting of tree items.
HighLightManager *m_highlightManager;
};
#endif // UAVOBJECTTREEMODEL_H

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -84,7 +84,7 @@ public:
};
ConfigTaskWidget(QWidget *parent = 0);
~ConfigTaskWidget();
virtual ~ConfigTaskWidget();
void disableMouseWheelEvents();
bool eventFilter( QObject * obj, QEvent * evt );

22
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
View File

@ -43,6 +43,7 @@ Node::Node(MixerCurveWidget *graphWidget)
setCacheMode(DeviceCoordinateCache);
setZValue(-1);
vertical = false;
value = 0;
}
void Node::addEdge(Edge *edge)
@ -98,6 +99,15 @@ void Node::verticalMove(bool flag){
vertical = flag;
}
double Node::getValue() {
return value;
}
void Node::setValue(double val) {
value = val;
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
{
@ -117,11 +127,19 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
newPos.setY(h);
return newPos;
}
case ItemPositionHasChanged:
case ItemPositionHasChanged: {
foreach (Edge *edge, edgeList)
edge->adjust();
graph->itemMoved((h-newPos.y())/h);
double min = graph->getMin();
double range = graph->getMax() - min;
double ratio = (h - newPos.y()) / h;
double val = (range * ratio ) + min;
setValue(val);
graph->itemMoved(val);
break;
}
default:
break;
};

6
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
View File

@ -48,12 +48,16 @@ public:
enum { Type = UserType + 1 };
int type() const { return Type; }
void verticalMove(bool flag);
QRectF boundingRect() const;
QPainterPath shape() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
void setValue(double val);
double getValue();
protected:
QVariant itemChange(GraphicsItemChange change, const QVariant &value);
@ -61,6 +65,8 @@ protected:
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
private:
double value;
QList<Edge *> edgeList;
QPointF newPos;
MixerCurveWidget *graph;

175
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
View File

@ -32,8 +32,6 @@
#include <QtGui>
#include <QDebug>
/*
* Initialize the widget
*/
@ -74,11 +72,48 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
scene->setSceneRect(plot->boundingRect());
setScene(scene);
initNodes(MixerCurveWidget::NODE_NUMELEM);
}
MixerCurveWidget::~MixerCurveWidget()
{
for (int i=0; i<nodePool.count(); i++)
delete nodePool.at(i);
for (int i=0; i<edgePool.count(); i++)
delete edgePool.at(i);
}
Node* MixerCurveWidget::getNode(int index)
{
Node* node;
if (index >= 0 && index < nodePool.count())
{
node = nodePool.at(index);
}
else {
node = new Node(this);
nodePool.append(node);
}
return node;
}
Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
{
Edge* edge;
if (index >= 0 && index < edgePool.count())
{
edge = edgePool.at(index);
edge->setSourceNode(sourceNode);
edge->setDestNode(destNode);
}
else {
edge = new Edge(sourceNode,destNode);
edgePool.append(edge);
}
return edge;
}
/**
@ -89,60 +124,62 @@ MixerCurveWidget::~MixerCurveWidget()
*/
void MixerCurveWidget::initCurve(QList<double> points)
{
if (points.length() < 2)
return; // We need at least 2 points on a curve!
// First of all, reset the list
// TODO: one edge might not get deleted properly, small mem leak maybe...
if (nodeList.count() != points.count())
initNodes(points.count());
// finally, set node positions
setCurve(points);
}
void MixerCurveWidget::initNodes(int numPoints)
{
// First of all, clear any existing list
if (nodeList.count()) {
foreach (Node *node, nodeList ) {
QList<Edge*> edges = node->edges();
foreach(Edge *edge, edges) {
if (scene()->items().contains(edge))
scene()->removeItem(edge);
else
if (edge->destNode() == node) {
delete edge;
}
else {
scene()->removeItem(edge);
}
}
scene()->removeItem(node);
delete node;
}
nodeList.clear();
scene()->removeItem(node);
}
nodeList.clear();
}
// Create the nodes and edges
Node* prevNode = 0;
for (int i=0; i<numPoints; i++) {
Node *node = getNode(i);
// Create the nodes
qreal w = plot->boundingRect().width()/(points.length()-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.length(); i++) {
Node *node = new Node(this);
scene()->addItem(node);
nodeList.append(node);
double val = points.at(i);
if (val>curveMax)
val=curveMax;
if (val<curveMin)
val=curveMin;
val+=curveMin;
val/=(curveMax-curveMin);
node->setPos(w*i,h-val*h);
node->verticalMove(true);
}
scene()->addItem(node);
// ... and link them together:
for (int i=0; i<(points.length()-1); i++) {
scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
}
if (prevNode) {
scene()->addItem(getEdge(i, prevNode, node));
}
prevNode = node;
}
}
/**
Returns the current curve settings
*/
QList<double> MixerCurveWidget::getCurve() {
QList<double> list;
qreal h = plot->boundingRect().height();
foreach(Node *node, nodeList) {
list.append(((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin);
list.append(node->getValue());
}
return list;
@ -150,11 +187,15 @@ QList<double> MixerCurveWidget::getCurve() {
/**
Sets a linear graph
*/
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
{
Q_UNUSED(maxValue);
Q_UNUSED(minValue);
QList<double> points;
for (double i=0; i<numPoints;i++) {
points.append(maxValue*(i/(numPoints-1)));
double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
points.append(val);
}
initCurve(points);
}
@ -163,25 +204,35 @@ void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
*/
void MixerCurveWidget::setCurve(QList<double> points)
{
if (nodeList.length()<1)
{
initCurve(points);
}
else
{
qreal w = plot->boundingRect().width()/(points.length()-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.length(); i++) {
double val = points.at(i);
if (val>curveMax)
val=curveMax;
if (val<curveMin)
val=curveMin;
val-=curveMin;
val/=(curveMax-curveMin);
nodeList.at(i)->setPos(w*i,h-val*h);
}
curveUpdating = true;
if (nodeList.count() != points.count())
initNodes(points.count());
double min = curveMin + 10;
double max = curveMax + 10;
qreal w = plot->boundingRect().width()/(points.count()-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.count(); i++) {
double val = points.at(i);
if (val < curveMin)
val = curveMin;
if (val > curveMax)
val = curveMax;
val += 10;
val -= min;
val /= (max - min);
nodeList.at(i)->setPos(w*i, h - (val*h));
nodeList.at(i)->verticalMove(true);
}
curveUpdating = false;
emit curveUpdated(points, (double)0);
}
@ -205,8 +256,10 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
void MixerCurveWidget::itemMoved(double itemValue)
{
QList<double> list = getCurve();
emit curveUpdated(list, itemValue);
if (!curveUpdating) {
QList<double> list = getCurve();
emit curveUpdated(list, itemValue);
}
}
void MixerCurveWidget::setMin(double value)
@ -217,6 +270,14 @@ void MixerCurveWidget::setMax(double value)
{
curveMax = value;
}
double MixerCurveWidget::getMin()
{
return curveMin;
}
double MixerCurveWidget::getMax()
{
return curveMax;
}
void MixerCurveWidget::setRange(double min, double max)
{
curveMin = min;

17
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -31,6 +31,7 @@
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QtCore/QPointer>
#include "mixercurvepoint.h"
#include "mixercurveline.h"
#include "uavobjectwidgetutils_global.h"
@ -45,12 +46,16 @@ public:
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (QList<double> points);
QList<double> getCurve();
void initLinearCurve(quint32 numPoints, double maxValue);
void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
void setCurve(QList<double>);
void setMin(double value);
double getMin();
void setMax(double value);
double getMax();
void setRange(double min, double max);
static const int NODE_NUMELEM = 5;
signals:
void curveUpdated(QList<double>, double );
@ -58,9 +63,19 @@ private slots:
private:
QGraphicsSvgItem *plot;
QList<Node*> nodePool;
QList<Edge*> edgePool;
QList<Node*> nodeList;
QList<double> points;
double curveMin;
double curveMax;
bool curveUpdating;
void initNodes(int numPoints);
Node* getNode(int index);
Edge* getEdge(int index, Node* sourceNode, Node* destNode);
protected:
void showEvent(QShowEvent *event);

15
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -112,10 +112,12 @@ void UAVTalk::processInputStream()
{
quint8 tmp;
while (io->bytesAvailable() > 0)
{
io->read((char*)&tmp, 1);
processInputByte(tmp);
if (io && io->isReadable()) {
while (io->bytesAvailable() > 0)
{
io->read((char*)&tmp, 1);
processInputByte(tmp);
}
}
}
@ -719,9 +721,8 @@ bool UAVTalk::transmitNack(quint32 objId)
qToLittleEndian<quint16>(dataOffset, &txBuffer[2]);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+CHECKSUM_LENGTH);
}
@ -811,7 +812,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}

3
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
View File

@ -27,6 +27,7 @@
#ifndef UAVTALK_H
#define UAVTALK_H
#include <QtCore>
#include <QIODevice>
#include <QMutex>
#include <QMutexLocker>
@ -93,7 +94,7 @@ private:
typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
// Variables
QIODevice* io;
QPointer<QIODevice> io;
UAVObjectManager* objMngr;
QMutex* mutex;
UAVObject* respObj;