PowerComponentController.cc 4.35 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

10 11 12 13 14 15

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "PowerComponentController.h"
#include "QGCMAVLink.h"
16
#include "UAS.h"
17 18 19 20 21 22 23 24 25 26 27 28

#include <QVariant>
#include <QQmlProperty>

PowerComponentController::PowerComponentController(void)
{

}

void PowerComponentController::calibrateEsc(void)
{
    _warningMessages.clear();
29
    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
30 31 32
    _uas->startCalibration(UASInterface::StartCalibrationEsc);
}

33 34 35
void PowerComponentController::busConfigureActuators(void)
{
    _warningMessages.clear();
36
    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
37 38 39
    _uas->startBusConfig(UASInterface::StartBusConfigActuators);
}

40 41
void PowerComponentController::stopBusConfigureActuators(void)
{
42
    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
43 44 45
    _uas->startBusConfig(UASInterface::EndBusConfigActuators);
}

46 47
void PowerComponentController::_stopCalibration(void)
{
48
    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
49 50
}

51 52 53 54 55
void PowerComponentController::_stopBusConfig(void)
{
    _stopCalibration();
}

56 57 58 59 60
void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
    Q_UNUSED(compId);
    Q_UNUSED(severity);
    
61
    if (uasId != _vehicle->id()) {
62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83
        return;
    }
    
    // All calibration messages start with [cal]
    QString calPrefix("[cal] ");
    if (!text.startsWith(calPrefix)) {
        return;
    }
    text = text.right(text.length() - calPrefix.length());

    // Make sure we can understand this firmware rev
    QString calStartPrefix("calibration started: ");
    if (text.startsWith(calStartPrefix)) {
        text = text.right(text.length() - calStartPrefix.length());
        
        // Split version number and cal type
        QStringList parts = text.split(" ");
        if (parts.count() != 2) {
            emit incorrectFirmwareRevReporting();
            return;
        }
        
Don Gagne's avatar
Don Gagne committed
84 85 86
#if 0
        // FIXME: Cal version check is not working. Needs to be able to cancel, calibration
        
87 88 89 90 91 92 93 94 95
        int firmwareRev = parts[0].toInt();
        if (firmwareRev < _neededFirmwareRev) {
            emit oldFirmware();
            return;
        }
        if (firmwareRev > _neededFirmwareRev) {
            emit newerFirmware();
            return;
        }
Don Gagne's avatar
Don Gagne committed
96
#endif
97 98 99 100 101 102 103 104 105 106 107 108
    }

    if (text == "Connect battery now") {
        emit connectBattery();
        return;
    }
    
    if (text == "Battery connected") {
        emit batteryConnected();
        return;
    }

109
    
110 111
    QString failedPrefix("calibration failed: ");
    if (text.startsWith(failedPrefix)) {
112 113 114 115 116 117
        QString failureText = text.right(text.length() - failedPrefix.length());
        if (failureText.startsWith("Disconnect battery")) {
            emit disconnectBattery();
            return;
        }
        
118 119 120 121 122 123 124 125 126 127 128 129
        _stopCalibration();
        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
        return;
    }
    
    QString calCompletePrefix("calibration done:");
    if (text.startsWith(calCompletePrefix)) {
        _stopCalibration();
        emit calibrationSuccess(_warningMessages);
        return;
    }
    
130
    QString warningPrefix("config warning: ");
131 132 133
    if (text.startsWith(warningPrefix)) {
        _warningMessages << text.right(text.length() - warningPrefix.length());
    }
134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152

    QString busFailedPrefix("bus conf fail:");
    if (text.startsWith(busFailedPrefix)) {

        _stopBusConfig();
        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
        return;
    }

    if (text.startsWith(calCompletePrefix)) {
        _stopBusConfig();
        emit calibrationSuccess(_warningMessages);
        return;
    }

    QString busWarningPrefix("bus conf warn: ");
    if (text.startsWith(busWarningPrefix)) {
        _warningMessages << text.right(text.length() - warningPrefix.length());
    }
153
}