C++ UAVDataObject::getMetadata方法代码示例

/**
   Enables and runs feed forward testing
 */
void ConfigVehicleTypeWidget::enableFFTest()
{
    // Role:
    // - Check if all three checkboxes are checked
    // - Every other timer event: toggle engine from 45% to 55%
    // - Every other time event: send FF settings to flight FW
    if (m_aircraft->ffTestBox1->isChecked() && m_aircraft->ffTestBox2->isChecked()
        && m_aircraft->ffTestBox3->isChecked()) {
        if (!ffTuningInProgress) {
            // Initiate tuning:
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            UAVObject::Metadata mdata = obj->getMetadata();
            accInitialData = mdata;
            UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
            obj->setMetadata(mdata);
        }
        // Depending on phase, either move actuator or send FF settings:
        if (ffTuningPhase) {
            // Send FF settings to the board
            UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
            Q_ASSERT(mixer);

            QPointer<VehicleConfig> vconfig = new VehicleConfig();

            // Update feed forward settings
            vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
            vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
            vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
            vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
            mixer->updated();
        } else {
            // Toggle motor state
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            double value  = obj->getField("Throttle")->getDouble();
            double target = (value < 0.5) ? 0.55 : 0.45;
            obj->getField("Throttle")->setValue(target);
            obj->updated();
        }
        ffTuningPhase = !ffTuningPhase;
        ffTuningInProgress = true;
        QTimer::singleShot(1000, this, SLOT(enableFFTest()));
    } else {
        // - If no: disarm timer, restore actuatorcommand metadata
        // Disarm!
        if (ffTuningInProgress) {
            ffTuningInProgress = false;
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            UAVObject::Metadata mdata = obj->getMetadata();
            mdata = accInitialData; // Restore metadata
            obj->setMetadata(mdata);
        }
    }
}

void LevellingUtil::startMeasurement()
{
    QMutexLocker locker(&m_measurementMutex);

    m_isMeasuring = true;

    // Reset variables
    m_receivedAccelUpdates = 0;
    m_accelerometerX = 0;
    m_accelerometerY = 0;
    m_accelerometerZ = 0;

    m_receivedGyroUpdates = 0;
    m_gyroX = 0;
    m_gyroY = 0;
    m_gyroZ = 0;

    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
    Q_ASSERT(uavObjectManager);

    // Disable gyro bias correction to see raw data
    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
    attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
    AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);

    // Set up to receive updates for accels
    UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
    connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelMeasurementsUpdated(UAVObject*)));

    // Set update period for accels
    m_previousAccelMetaData = uavObject->getMetadata();
    UAVObject::Metadata newMetaData = m_previousAccelMetaData;
    UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
    newMetaData.flightTelemetryUpdatePeriod = m_accelMeasurementRate;
    uavObject->setMetadata(newMetaData);

    // Set up to receive updates from gyros
    uavObject = Gyros::GetInstance(uavObjectManager);
    connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(gyroMeasurementsUpdated(UAVObject*)));

    // Set update period for gyros
    m_previousGyroMetaData = uavObject->getMetadata();
    newMetaData = m_previousGyroMetaData;
    UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
    newMetaData.flightTelemetryUpdatePeriod = m_gyroMeasurementRate;
    uavObject->setMetadata(newMetaData);
}

/*!
  \brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command
  */
void GCSControlGadgetWidget::toggleControl(int state)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );

    UAVObject::Metadata mdata = obj->getMetadata();
    if (state)
    {
        mccInitialData = mdata;
        UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
        UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
        UAVObject::SetGcsTelemetryAcked(mdata, false);
        UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
        mdata.gcsTelemetryUpdatePeriod = 100;
        m_gcscontrol->checkBoxUDPControl->setEnabled(true);

    }
    else
    {
        mdata = mccInitialData;
        toggleUDPControl(false);
        m_gcscontrol->checkBoxUDPControl->setEnabled(false);
    }
    obj->setMetadata(mdata);
}

GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
{
    m_gcscontrol = new Ui_GCSControl();
    m_gcscontrol->setupUi(this);


    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
    UAVObject::Metadata mdata = obj->getMetadata();
    m_gcscontrol->checkBoxGcsControl->setChecked(UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READONLY);

    // Set up the drop down box for the flightmode
    UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
    m_gcscontrol->comboBoxFlightMode->addItems(flightStatus->getField("FlightMode")->getOptions());

    // Set up slots and signals for joysticks
    connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double)));
    connect(m_gcscontrol->widgetRightStick,SIGNAL(positionClicked(double,double)),this,SLOT(rightStickClicked(double,double)));

    // Connect misc controls
    connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(toggleControl(int)));
    connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int)));
    connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));

    connect(m_gcscontrol->checkBoxUDPControl, SIGNAL(stateChanged(int)),this,SLOT(toggleUDPControl(int))); //UDP control checkbox

    // Connect object updated event from UAVObject to also update check boxes and dropdown
    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));




    leftX = 0;
    leftY = 0;
    rightX = 0;
    rightY = 0;

    // No point enabling OpenGL for the joysticks, and causes
    // issues on some computers:
//    m_gcscontrol->widgetLeftStick->enableOpenGL(true);
//    m_gcscontrol->widgetRightStick->enableOpenGL(true);
}

/**
  Toggles the channel testing mode by making the GCS take over
  the ActuatorCommand objects
  */
void ConfigOutputWidget::runChannelTests(bool state)
{
    // Confirm this is definitely what they want
    if(state) {
        QMessageBox mbox;
        mbox.setText(QString(tr("This option will requires you to be in the armed state and will start your motors by the amount selected on the sliders.  It is recommended to remove any blades from motors.  Are you sure you want to do this?")));
        mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
        int retval = mbox.exec();
        if(retval != QMessageBox::Yes) {
            state = false;
            qDebug() << "Cancelled";
            m_config->channelOutTest->setChecked(false);
            return;
        }
    }

    qDebug() << "Running with state " << state;
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
    UAVObject::Metadata mdata = obj->getMetadata();
    if (state)
    {
        accInitialData = mdata;
        mdata.flightAccess = UAVObject::ACCESS_READONLY;
        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryAcked = false;
        mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryUpdatePeriod = 100;
    }
    else
    {
        mdata = accInitialData; // Restore metadata
    }
    obj->setMetadata(mdata);

}

/**
  Toggles the channel testing mode by making the GCS take over
  the ActuatorCommand objects
  */
void ConfigServoWidget::runChannelTests(bool state)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
    UAVObject::Metadata mdata = obj->getMetadata();
    if (state)
    {
        accInitialData = mdata;
        mdata.flightAccess = UAVObject::ACCESS_READONLY;
        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryAcked = false;
        mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryUpdatePeriod = 100;
    }
    else
    {
        mdata = accInitialData; // Restore metadata
    }
    obj->setMetadata(mdata);

}

bool VehicleConfigurationHelper::saveChangesToController(bool save)
{
    qDebug() << "Saving modified objects to controller. " << m_modifiedObjects.count() << " objects in found.";
    const int OUTER_TIMEOUT = 3000 * 20; // 10 seconds timeout for saving all objects
    const int INNER_TIMEOUT = 2000; // 1 second timeout on every save attempt

    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    Q_ASSERT(pm);
    UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
    Q_ASSERT(utilMngr);

    QTimer outerTimeoutTimer;
    outerTimeoutTimer.setSingleShot(true);

    QTimer innerTimeoutTimer;
    innerTimeoutTimer.setSingleShot(true);

    connect(utilMngr, SIGNAL(saveCompleted(int, bool)), this, SLOT(uAVOTransactionCompleted(int, bool)));
    connect(&innerTimeoutTimer, SIGNAL(timeout()), &m_eventLoop, SLOT(quit()));
    connect(&outerTimeoutTimer, SIGNAL(timeout()), this, SLOT(saveChangesTimeout()));

    outerTimeoutTimer.start(OUTER_TIMEOUT);
    for (int i = 0; i < m_modifiedObjects.count(); i++) {
        QPair<UAVDataObject *, QString> *objPair = m_modifiedObjects.at(i);
        m_transactionOK = false;
        UAVDataObject *obj     = objPair->first;
        QString objDescription = objPair->second;
        if (UAVObject::GetGcsAccess(obj->getMetadata()) != UAVObject::ACCESS_READONLY && obj->isSettings()) {
            emit saveProgress(m_modifiedObjects.count() + 1, ++m_progress, objDescription);

            m_currentTransactionObjectID = obj->getObjID();

            connect(obj, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(uAVOTransactionCompleted(UAVObject *, bool)));
            while (!m_transactionOK && !m_transactionTimeout) {
                // Allow the transaction to take some time
                innerTimeoutTimer.start(INNER_TIMEOUT);

                // Set object updated
                obj->updated();
                if (!m_transactionOK) {
                    m_eventLoop.exec();
                }
                innerTimeoutTimer.stop();
            }
            disconnect(obj, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(uAVOTransactionCompleted(UAVObject *, bool)));
            if (m_transactionOK) {
                qDebug() << "Object " << obj->getName() << " was successfully updated.";
                if (save) {
                    m_transactionOK = false;
                    m_currentTransactionObjectID = obj->getObjID();
                    // Try to save until success or timeout
                    while (!m_transactionOK && !m_transactionTimeout) {
                        // Allow the transaction to take some time
                        innerTimeoutTimer.start(INNER_TIMEOUT);

                        // Persist object in controller
                        utilMngr->saveObjectToFlash(obj);
                        if (!m_transactionOK) {
                            m_eventLoop.exec();
                        }
                        innerTimeoutTimer.stop();
                    }
                    m_currentTransactionObjectID = -1;
                }
            }

            if (!m_transactionOK) {
                qDebug() << "Transaction timed out when trying to save: " << obj->getName();
            } else {
                qDebug() << "Object " << obj->getName() << " was successfully saved.";
            }
        } else {

/**
  * Updates the slider positions and min/max values
  *
  */
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{

    QString fieldName = QString("Connected");
    UAVObjectField *field = controlCommand->getField(fieldName);
	if (field->getValue().toBool())
        m_config->RCInputConnected->setText("RC Receiver Connected");
	else
        m_config->RCInputConnected->setText("RC Receiver Not Connected");

	if (m_config->doRCInputCalibration->isChecked())
	{
		if (firstUpdate)
		{
            // Increase the data rate from the board so that the sliders
            // move faster
            UAVObject::Metadata mdata = controlCommand->getMetadata();
            mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
            mccDataRate = mdata.flightTelemetryUpdatePeriod;
            mdata.flightTelemetryUpdatePeriod = 150;
            controlCommand->setMetadata(mdata);

            // Also protect the user by setting all values to zero
            // and making the ActuatorCommand object readonly
            UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
            mdata = obj->getMetadata();
            mdata.flightAccess = UAVObject::ACCESS_READONLY;
            obj->setMetadata(mdata);
            UAVObjectField *field = obj->getField("Channel");
            for (int i=0; i< field->getNumElements(); i++) {
                field->setValue(0,i);
            }
            obj->updated();

        }

		field = controlCommand->getField(QString("Channel"));
		for (int i = 0; i < 8; i++)
			updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], reversals[i], field->getValue(i).toInt());

        firstUpdate = false;
	}
	else
	{
		if (!firstUpdate)
		{
            // Restore original data rate from the board:
            UAVObject::Metadata mdata = controlCommand->getMetadata();
            mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
            mdata.flightTelemetryUpdatePeriod = mccDataRate;
            controlCommand->setMetadata(mdata);

            UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
            mdata = obj->getMetadata();
            mdata.flightAccess = UAVObject::ACCESS_READWRITE;
            obj->setMetadata(mdata);

        }
        firstUpdate = true;
    }
    //Update the Flight mode channel slider
    UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
    // Find the channel currently assigned to flightmode
    field = obj->getField("FlightMode");
    int chIndex = field->getOptions().indexOf(field->getValue().toString());
	if (chIndex < field->getOptions().length() - 1)
	{
		float valueScaled;

		int chMin = inSliders[chIndex]->minimum();
		int chMax = inSliders[chIndex]->maximum();
		int chNeutral = inSliders[chIndex]->value();

		int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
		if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
		{
			if (chMax != chNeutral)
				valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
			else
				valueScaled = 0;
		}
		else
		{
			if (chMin != chNeutral)
				valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
			else
				valueScaled = 0;
        }

        // Bound
		if (valueScaled >  1.0) valueScaled =  1.0;
		else
		if (valueScaled < -1.0) valueScaled = -1.0;

		m_config->fmsSlider->setValue(valueScaled * 100);
	}
//.........这里部分代码省略.........