mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-30 15:52:12 +01:00
Rewrote uavobjectutilmanager.cpp, such that upon UAVO changes it returns com
Updated homelocationutil to remove references to ECEF and RNE.
This commit is contained in:
Laura Sebesta
parent
43f85d9617
commit
f532f3cda5
@ -43,10 +43,12 @@ namespace Utils {
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// Initialize();
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}
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// input params: LLA
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//
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// output params: ECEF, RNE and Be
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int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
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/*
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/*Get world magnetic model
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* input params: LLA
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* output params: Be
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*/
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int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
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{
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// *************
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// check input parms
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@ -66,10 +68,8 @@ namespace Utils {
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QDateTime dt = QDateTime::currentDateTime().toUTC();
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CoordinateConversions().LLA2ECEF(LLA, ECEF);
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CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
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if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
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return -6;
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//Fetch world magnetic model
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Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
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return 0; // OK
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}
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@ -40,7 +40,7 @@ namespace Utils {
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public:
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HomeLocationUtil();
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int getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
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int getDetails(double LLA[3], double Be[3]);
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private:
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@ -46,7 +46,6 @@
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#include "uavtalk/telemetrymanager.h"
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#include "uavobject.h"
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#include "uavobjectmanager.h"
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#include "positionactual.h"
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#include "homelocation.h"
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@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
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VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
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Gyros *gyrosObj = Gyros::GetInstance(obm);
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Q_ASSERT(attitudeActualObj);
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Q_ASSERT(positionActualObj);
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Q_ASSERT(velocityActualObj);
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Q_ASSERT(gyrosObj);
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@ -35,7 +35,10 @@
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#include <QEventLoop>
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#include <QTimer>
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#include <objectpersistence.h>
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#include <firmwareiapobj.h>
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#include "firmwareiapobj.h"
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#include "homelocation.h"
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#include "gpsposition.h"
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// ******************************
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// constructor/destructor
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@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
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failureTimer.setSingleShot(true);
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failureTimer.setInterval(1000);
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connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
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pm = NULL;
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obm = NULL;
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obum = NULL;
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pm = ExtensionSystem::PluginManager::instance();
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if (pm)
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{
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obm = pm->getObject<UAVObjectManager>();
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obum = pm->getObject<UAVObjectUtilManager>();
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}
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}
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UAVObjectUtilManager::~UAVObjectUtilManager()
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@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
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UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
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Q_ASSERT(objMngr);
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return objMngr;
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Q_ASSERT(obm);
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return obm;
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}
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@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
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{
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FirmwareIAPObj::DataFields dummy;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Q_ASSERT(pm);
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if (!pm)
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return dummy;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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Q_ASSERT(om);
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if (!om)
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return dummy;
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FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
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FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
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Q_ASSERT(firmwareIap);
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if (!firmwareIap)
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return dummy;
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@ -306,121 +310,48 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
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int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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{
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double ECEF[3];
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double RNE[9];
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double Be[3];
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
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return -1; // error
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Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
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// ******************
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// save the new settings
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -2;
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HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
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Q_ASSERT(homeLocation != NULL);
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -3;
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HomeLocation::DataFields homeLocationData = homeLocation->getData();
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homeLocationData.Latitude = LLA[0] * 1e7;
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homeLocationData.Longitude = LLA[1] * 1e7;
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homeLocationData.Altitude = LLA[2] * 1e7;
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
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if (!obj) return -4;
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homeLocationData.Be[0] = Be[0];
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homeLocationData.Be[1] = Be[1];
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homeLocationData.Be[2] = Be[2];
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UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
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if (!ECEF_field) return -5;
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homeLocationData.Set = HomeLocation::SET_TRUE;
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UAVObjectField *RNE_field = obj->getField(QString("RNE"));
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if (!RNE_field) return -6;
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UAVObjectField *Be_field = obj->getField(QString("Be"));
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if (!Be_field) return -7;
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field = obj->getField("Latitude");
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if (!field) return -8;
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field->setDouble(LLA[0] * 10e6);
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field = obj->getField("Longitude");
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if (!field) return -9;
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field->setDouble(LLA[1] * 10e6);
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field = obj->getField("Altitude");
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if (!field) return -10;
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field->setDouble(LLA[2]);
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for (int i = 0; i < 3; i++)
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ECEF_field->setDouble(ECEF[i] * 100, i);
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for (int i = 0; i < 9; i++)
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RNE_field->setDouble(RNE[i], i);
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for (int i = 0; i < 3; i++)
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Be_field->setDouble(Be[i], i);
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field = obj->getField("Set");
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if (!field) return -11;
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field->setValue("TRUE");
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obj->updated();
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// ******************
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// save the new setting to SD card
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homeLocation->setData(homeLocationData);
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homeLocation->updated();
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if (save_to_sdcard)
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saveObjectToSD(obj);
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saveObjectToSD(homeLocation);
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// ******************
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// debug
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/*
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qDebug() << "setting HomeLocation UAV Object .. " << endl;
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QString s;
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s = " LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
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qDebug() << s << endl;
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s = " ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
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qDebug() << s << endl;
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s = " RNE "; for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
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qDebug() << s << endl;
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s = " Be "; for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
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qDebug() << s << endl;
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*/
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// ******************
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return 0; // OK
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return 0;
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}
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int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
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{
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UAVObjectField *field;
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HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
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Q_ASSERT(homeLocation != NULL);
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QMutexLocker locker(mutex);
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HomeLocation::DataFields homeLocationData = homeLocation->getData();
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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set = homeLocationData.Set;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
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if (!obj) return -3;
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// obj->requestUpdate();
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field = obj->getField("Set");
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if (!field) return -4;
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set = field->getValue().toBool();
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field = obj->getField("Latitude");
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if (!field) return -5;
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LLA[0] = field->getDouble() * 1e-7;
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field = obj->getField("Longitude");
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if (!field) return -6;
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LLA[1] = field->getDouble() * 1e-7;
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field = obj->getField("Altitude");
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if (!field) return -7;
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LLA[2] = field->getDouble();
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LLA[0] = homeLocationData.Latitude;
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LLA[1] = homeLocationData.Longitude;
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LLA[2] = homeLocationData.Altitude;
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if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
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else
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@ -439,88 +370,70 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
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return 0; // OK
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}
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int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
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{
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UAVObjectField *field;
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//int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
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//{
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// UAVObjectField *field;
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QMutexLocker locker(mutex);
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// QMutexLocker locker(mutex);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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//// ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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//// if (!pm) return -1;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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// UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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// if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
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if (!obj) return -3;
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// UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
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// if (!obj) return -3;
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// obj->requestUpdate();
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//// obj->requestUpdate();
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field = obj->getField("Set");
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if (!field) return -4;
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set = field->getValue().toBool();
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// field = obj->getField("Set");
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// if (!field) return -4;
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// set = field->getValue().toBool();
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field = obj->getField("Latitude");
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if (!field) return -5;
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LLA[0] = field->getDouble() * 1e-7;
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// field = obj->getField("Latitude");
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// if (!field) return -5;
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// LLA[0] = field->getDouble() * 1e-7;
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field = obj->getField("Longitude");
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if (!field) return -6;
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LLA[1] = field->getDouble() * 1e-7;
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// field = obj->getField("Longitude");
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// if (!field) return -6;
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// LLA[1] = field->getDouble() * 1e-7;
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field = obj->getField("Altitude");
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if (!field) return -7;
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LLA[2] = field->getDouble();
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// field = obj->getField("Altitude");
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// if (!field) return -7;
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// LLA[2] = field->getDouble();
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field = obj->getField(QString("ECEF"));
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if (!field) return -8;
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for (int i = 0; i < 3; i++)
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ECEF[i] = field->getDouble(i);
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// field = obj->getField(QString("ECEF"));
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// if (!field) return -8;
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// for (int i = 0; i < 3; i++)
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// ECEF[i] = field->getDouble(i);
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field = obj->getField(QString("RNE"));
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if (!field) return -9;
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for (int i = 0; i < 9; i++)
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RNE[i] = field->getDouble(i);
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// field = obj->getField(QString("RNE"));
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// if (!field) return -9;
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// for (int i = 0; i < 9; i++)
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// RNE[i] = field->getDouble(i);
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field = obj->getField(QString("Be"));
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if (!field) return -10;
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for (int i = 0; i < 3; i++)
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Be[i] = field->getDouble(i);
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// field = obj->getField(QString("Be"));
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// if (!field) return -10;
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// for (int i = 0; i < 3; i++)
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// Be[i] = field->getDouble(i);
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return 0; // OK
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}
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// return 0; // OK
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//}
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// ******************************
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// GPS
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int UAVObjectUtilManager::getGPSPosition(double LLA[3])
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{
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UAVObjectField *field;
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GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
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Q_ASSERT(gpsPosition != NULL);
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QMutexLocker locker(mutex);
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GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
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if (!obj) return -3;
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// obj->requestUpdate();
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field = obj->getField(QString("Latitude"));
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if (!field) return -4;
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LLA[0] = field->getDouble() * 1e-7;
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field = obj->getField(QString("Longitude"));
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if (!field) return -5;
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LLA[1] = field->getDouble() * 1e-7;
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field = obj->getField(QString("Altitude"));
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if (!field) return -6;
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LLA[2] = field->getDouble();
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LLA[0] = gpsPositionData.Latitude;
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LLA[1] = gpsPositionData.Longitude;
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LLA[2] = gpsPositionData.Altitude;
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if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
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else
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@ -539,93 +452,93 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
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return 0; // OK
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}
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// ******************************
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// telemetry port
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//// ******************************
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//// telemetry port
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int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
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{
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UAVObjectField *field;
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//int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
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//{
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// UAVObjectField *field;
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QMutexLocker locker(mutex);
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// QMutexLocker locker(mutex);
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// ******************
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// save the new settings
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// // ******************
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// // save the new settings
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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//// ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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//// if (!pm) return -1;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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// UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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// if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
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if (!obj) return -3;
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// UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
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// if (!obj) return -3;
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field = obj->getField(QString("Speed"));
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if (!field) return -4;
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field->setValue(speed);
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// field = obj->getField(QString("Speed"));
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// if (!field) return -4;
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// field->setValue(speed);
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obj->updated();
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// obj->updated();
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// ******************
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// save the new setting to SD card
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// // ******************
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// // save the new setting to SD card
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if (save_to_sdcard)
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saveObjectToSD(obj);
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// if (save_to_sdcard)
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// saveObjectToSD(obj);
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// ******************
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// // ******************
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return 0; // OK
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}
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// return 0; // OK
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//}
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int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
|
||||
{
|
||||
UAVObjectField *field;
|
||||
//int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
|
||||
//{
|
||||
// UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
// QMutexLocker locker(mutex);
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
//// ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
//// if (!pm) return -1;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
// UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
// if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
if (!obj) return -3;
|
||||
// UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
// if (!obj) return -3;
|
||||
|
||||
// obj->requestUpdate();
|
||||
//// obj->requestUpdate();
|
||||
|
||||
field = obj->getField(QString("Speed"));
|
||||
if (!field) return -4;
|
||||
speed = field->getValue().toString();
|
||||
// field = obj->getField(QString("Speed"));
|
||||
// if (!field) return -4;
|
||||
// speed = field->getValue().toString();
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
// return 0; // OK
|
||||
//}
|
||||
|
||||
int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
|
||||
{
|
||||
UAVObjectField *field;
|
||||
//int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
|
||||
//{
|
||||
// UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
// QMutexLocker locker(mutex);
|
||||
|
||||
if (!comboBox) return -1;
|
||||
// if (!comboBox) return -1;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -2;
|
||||
//// ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
//// if (!pm) return -2;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -3;
|
||||
// UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
// if (!om) return -3;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
if (!obj) return -4;
|
||||
// UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
// if (!obj) return -4;
|
||||
|
||||
// obj->requestUpdate();
|
||||
//// obj->requestUpdate();
|
||||
|
||||
field = obj->getField(QString("Speed"));
|
||||
if (!field) return -5;
|
||||
comboBox->addItems(field->getOptions());
|
||||
// field = obj->getField(QString("Speed"));
|
||||
// if (!field) return -5;
|
||||
// comboBox->addItems(field->getOptions());
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
// return 0; // OK
|
||||
//}
|
||||
|
||||
deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
|
||||
{
|
||||
|
||||
@ -55,13 +55,13 @@ public:
|
||||
|
||||
int setHomeLocation(double LLA[3], bool save_to_sdcard);
|
||||
int getHomeLocation(bool &set, double LLA[3]);
|
||||
int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
|
||||
// int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
|
||||
|
||||
int getGPSPosition(double LLA[3]);
|
||||
|
||||
int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
|
||||
int getTelemetrySerialPortSpeed(QString &speed);
|
||||
int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
|
||||
// int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
|
||||
// int getTelemetrySerialPortSpeed(QString &speed);
|
||||
// int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
|
||||
|
||||
int getBoardModel();
|
||||
QByteArray getBoardCPUSerial();
|
||||
@ -84,6 +84,10 @@ private:
|
||||
void saveNextObject();
|
||||
QTimer failureTimer;
|
||||
|
||||
ExtensionSystem::PluginManager *pm;
|
||||
UAVObjectManager *obm;
|
||||
UAVObjectUtilManager *obum;
|
||||
|
||||
private slots:
|
||||
//void transactionCompleted(UAVObject *obj, bool success);
|
||||
void objectPersistenceTransactionCompleted(UAVObject* obj, bool success);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user