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Commit f966a3f6 authored by Don Gagne's avatar Don Gagne
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VehicleSetup assures active as and parameters ready

parent ddde7cce
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Showing with 81 additions and 134 deletions
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ f966a3f6
......@@ -161,13 +161,14 @@ void PX4RCCalibrationTest::init(void)
_mockUAS = new MockUAS();
Q_CHECK_PTR(_mockUAS);
// This will instatiate the widget with no active UAS set
_mockUASManager->setMockActiveUAS(_mockUAS);
// This will instatiate the widget with an active uas with ready parameters
_calWidget = new PX4RCCalibration();
Q_CHECK_PTR(_calWidget);
_calWidget->_setUnitTestMode();
_calWidget->setVisible(true);
_mockUASManager->setMockActiveUAS(_mockUAS);
// Get pointers to the push buttons
_cancelButton = _calWidget->findChild<QPushButton*>("rcCalCancel");
......@@ -215,17 +216,6 @@ void PX4RCCalibrationTest::cleanup(void)
}
/// @brief Tests for correct behavior when active UAS is set into widget.
void PX4RCCalibrationTest::_setUAS_test(void)
{
// Widget is initialized with UAS, so it should be enabled
QCOMPARE(_calWidget->isEnabled(), true);
// Take away the UAS and widget should disable
_mockUASManager->setMockActiveUAS(NULL);
QCOMPARE(_calWidget->isEnabled(), false);
}
/// @brief Test for correct behavior in determining minimum numbers of channels for flight.
void PX4RCCalibrationTest::_minRCChannels_test(void)
{
......
src/qgcunittest/PX4RCCalibrationTest.h
View file @ f966a3f6
......@@ -48,7 +48,6 @@ private slots:
void init(void);
void cleanup(void);
void _setUAS_test(void);
void _minRCChannels_test(void);
void _fullCalibration_test(void);
......
src/ui/px4_configuration/PX4RCCalibration.cc
View file @ f966a3f6
......@@ -86,7 +86,6 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
_rcCalState(rcCalStateChannelWait),
_mav(NULL),
_paramMgr(NULL),
_parameterListUpToDateSignalled(false),
_ui(new Ui::PX4RCCalibration),
_unitTestMode(false)
{
......@@ -120,15 +119,21 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
_rgAttitudeControl[4].function = rcCalFunctionFlaps;
_rgAttitudeControl[4].valueWidget = _ui->flapsValue;
_setActiveUAS(UASManager::instance()->getActiveUAS());
// This code assume we already have an active UAS with ready parameters
_mav = UASManager::instance()->getActiveUAS();
Q_ASSERT(_mav);
// Connect new signals
// Connect signals
bool fSucceeded;
Q_UNUSED(fSucceeded);
fSucceeded = connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
fSucceeded = connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
Q_ASSERT(fSucceeded);
_paramMgr = _mav->getParamManager();
Q_ASSERT(_paramMgr);
Q_ASSERT(_paramMgr->parametersReady());
connect(_ui->spektrumBind, &QPushButton::clicked, this, &PX4RCCalibration::_spektrumBind);
_updateTimer.setInterval(150);
......@@ -159,6 +164,9 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
connect(_ui->mode2, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode2Toggled);
_stopCalibration();
connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
_setInternalCalibrationValuesFromParameters();
}
PX4RCCalibration::~PX4RCCalibration()
......@@ -699,84 +707,82 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
{
Q_ASSERT(_paramMgr);
if (_parameterListUpToDateSignalled) {
// Initialize all function mappings to not set
// Initialize all function mappings to not set
for (size_t i=0; i<_chanMax; i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
}
for (size_t i=0; i<rcCalFunctionMax; i++) {
_rgFunctionChannelMapping[i] = _chanMax;
}
// FIXME: Hardwired component id
// Pull parameters and update
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
QVariant value;
bool paramFound;
bool convertOk;
int componentId = _paramMgr->getDefaultComponentId();
for (int i = 0; i < _chanMax; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
for (size_t i=0; i<_chanMax; i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
paramFound = _paramMgr->getParameterValue(componentId, trimTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcTrim = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
for (size_t i=0; i<rcCalFunctionMax; i++) {
_rgFunctionChannelMapping[i] = _chanMax;
paramFound = _paramMgr->getParameterValue(componentId, minTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMin = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
// FIXME: Hardwired component id
// Pull parameters and update
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
QVariant value;
bool paramFound;
bool convertOk;
int componentId = _paramMgr->getDefaultComponentId();
for (int i = 0; i < _chanMax; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
paramFound = _paramMgr->getParameterValue(componentId, trimTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcTrim = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(componentId, minTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMin = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(componentId, maxTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMax = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(componentId, maxTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMax = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(componentId, revTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
float floatReversed = value.toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
}
paramFound = _paramMgr->getParameterValue(componentId, revTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
float floatReversed = value.toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
}
}
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[i].parameterName, value);
Q_ASSERT(paramFound);
if (paramFound) {
paramChannel = value.toInt(&convertOk);
Q_ASSERT(convertOk);
paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[i].parameterName, value);
Q_ASSERT(paramFound);
if (paramFound) {
paramChannel = value.toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
_rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
}
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
_rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
}
}
_showMinMaxOnRadioWidgets(true);
_showTrimOnRadioWidgets(true);
}
_showMinMaxOnRadioWidgets(true);
_showTrimOnRadioWidgets(true);
}
/// @brief Sets a connected Spektrum receiver into bind mode
......@@ -811,38 +817,6 @@ void PX4RCCalibration::_spektrumBind(void)
}
}
void PX4RCCalibration::_setActiveUAS(UASInterface* active)
{
// Disconnect old signals
if (_mav) {
disconnect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
_paramMgr = NULL;
}
_mav = active;
if (_mav) {
// Connect new signals
bool fSucceeded;
Q_UNUSED(fSucceeded);
fSucceeded = connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
Q_ASSERT(fSucceeded);
_paramMgr = _mav->getParamManager();
Q_ASSERT(_paramMgr);
fSucceeded = connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
Q_ASSERT(fSucceeded);
if (_paramMgr->parametersReady()) {
_parameterListUpToDate();
}
}
setEnabled(_mav ? true : false);
}
/// @brief Validates the current settings against the calibration rules resetting values as necessary.
void PX4RCCalibration::_validateCalibration(void)
{
......@@ -1073,17 +1047,6 @@ void PX4RCCalibration::_showTrimOnRadioWidgets(bool show)
}
}
void PX4RCCalibration::_parameterListUpToDate(void)
{
_parameterListUpToDateSignalled = true;
// Don't start updating the view until we have parameters
connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
if (_currentStep == -1) {
_setInternalCalibrationValuesFromParameters();
}
}
void PX4RCCalibration::_loadSettings(void)
{
......
src/ui/px4_configuration/PX4RCCalibration.h
View file @ f966a3f6
......@@ -71,9 +71,6 @@ private slots:
void _updateView(void);
void _remoteControlChannelRawChanged(int chan, float val);
void _setActiveUAS(UASInterface* uas);
void _parameterListUpToDate(void);
private:
/// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
......@@ -257,8 +254,6 @@ private:
UASInterface* _mav; ///< The current MAV
QGCUASParamManagerInterface* _paramMgr;
bool _parameterListUpToDateSignalled; ///< true: we have received a parameterListUpToDate signal
Ui::PX4RCCalibration* _ui;
QTimer _updateTimer; ///< Timer used to update widgete ui
......
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