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Code Issues Wiki Activity

Ported from master to next:

Browse source 
#1489: TRACE() output intercepted and shown in Companion (shortcut F6)
#1270: simple Trainer Simulator (shortcut F5)
#1466: telemetry simulator (shorcut F5)
This commit is contained in:
Damjan Adamic 2015-01-04 18:57:45 +01:00
parent a2dc0040b0
commit bb921a0a7f
39 changed files with 865 additions and 96 deletions
Download patch file Download diff file Expand all files Collapse all files

4
companion/src/firmwares/er9x/er9xsimulator.h
View file

@ -54,6 +54,10 @@ class Er9xSimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
protected:
Er9xInterface * er9xInterface;

4
companion/src/firmwares/ersky9x/ersky9xsimulator.h
View file

@ -54,6 +54,10 @@ class Ersky9xSimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
protected:
Ersky9xInterface * ersky9xInterface;

5
companion/src/firmwares/opentx/opentxGruvin9xsimulator.h
View file

@ -56,6 +56,11 @@ class Open9xGruvin9xSimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
virtual void installTraceHook(void (*callback)(const char *)) {};
};
#endif

5
companion/src/firmwares/opentx/opentxM128simulator.h
View file

@ -56,6 +56,11 @@ class OpenTxM128Simulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
virtual void installTraceHook(void (*callback)(const char *)) {};
};
#endif

5
companion/src/firmwares/opentx/opentxM64simulator.h
View file

@ -55,6 +55,11 @@ class OpenTxM64Simulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
virtual void installTraceHook(void (*callback)(const char *)) {};
};
#endif

11
companion/src/firmwares/opentx/opentxSky9xsimulator.cpp
View file

@ -76,6 +76,7 @@ namespace Open9xSky9x {
#include "radio/src/eeprom_raw.cpp"
#include "radio/src/eeprom_conversions.cpp"
#include "radio/src/opentx.cpp"
// #include "radio/src/debug.cpp" // only included once in Taranis simulator because functions are exported as C and don't support namespaces
#include "radio/src/main_arm.cpp"
#include "radio/src/strhelpers.cpp"
#include "radio/src/switches.cpp"
@ -281,3 +282,13 @@ const char * Open9xSky9xSimulator::getError()
#define GETERROR_IMPORT
#include "simulatorimport.h"
}
void Open9xSky9xSimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
{
#define SETTRAINER_IMPORT
#include "simulatorimport.h"
}
void Open9xSky9xSimulator::installTraceHook(void (*callback)(const char *)) {
::traceCallback = callback;
}

5
companion/src/firmwares/opentx/opentxSky9xsimulator.h
View file

@ -56,6 +56,11 @@ class Open9xSky9xSimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
virtual void installTraceHook(void (*callback)(const char *));
};
#endif

16
companion/src/firmwares/opentx/opentxTaranisSimulator.cpp
View file

@ -78,6 +78,7 @@ inline int geteepromsize() {
#include "radio/src/eeprom_conversions.cpp"
#include "radio/src/eeprom_rlc.cpp"
#include "radio/src/opentx.cpp"
#include "radio/src/debug.cpp"
#include "radio/src/main_arm.cpp"
#include "radio/src/strhelpers.cpp"
#include "radio/src/switches.cpp"
@ -321,3 +322,18 @@ const char * OpentxTaranisSimulator::getError()
#define GETERROR_IMPORT
#include "simulatorimport.h"
}
void OpentxTaranisSimulator::sendTelemetry(uint8_t * data, unsigned int len)
{
processSportPacket(data);
}
void OpentxTaranisSimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
{
#define SETTRAINER_IMPORT
#include "simulatorimport.h"
}
void OpentxTaranisSimulator::installTraceHook(void (*callback)(const char *)) {
::traceCallback = callback;
}

5
companion/src/firmwares/opentx/opentxTaranisSimulator.h
View file

@ -56,6 +56,11 @@ class OpentxTaranisSimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len);
virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
virtual void installTraceHook(void (*callback)(const char *));
};
#endif

16
companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp
View file

@ -79,6 +79,7 @@ inline int geteepromsize() {
#include "radio/src/eeprom_conversions.cpp"
#include "radio/src/eeprom_rlc.cpp"
#include "radio/src/opentx.cpp"
// #include "radio/src/debug.cpp" // only included once in Taranis simulator because functions are exported as C and don't support namespaces
#include "radio/src/main_arm.cpp"
#include "radio/src/strhelpers.cpp"
#include "radio/src/switches.cpp"
@ -325,3 +326,18 @@ const char * OpentxTaranisX9ESimulator::getError()
#define GETERROR_IMPORT
#include "simulatorimport.h"
}
void OpentxTaranisX9ESimulator::sendTelemetry(uint8_t * data, unsigned int len)
{
processSportPacket(data);
}
void OpentxTaranisX9ESimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
{
#define SETTRAINER_IMPORT
#include "simulatorimport.h"
}
void OpentxTaranisX9ESimulator::installTraceHook(void (*callback)(const char *)) {
::traceCallback = callback;
}

5
companion/src/firmwares/opentx/opentxTaranisX9ESimulator.h
View file

@ -56,6 +56,11 @@ class OpentxTaranisX9ESimulator : public SimulatorInterface {
virtual const char * getError();
virtual void sendTelemetry(uint8_t * data, unsigned int len);
virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
virtual void installTraceHook(void (*callback)(const char *));
};
#endif

9
companion/src/simulation/CMakeLists.txt
View file

@ -1,10 +1,16 @@
set(simulation_SRCS
simulatordialog.cpp
telemetrysimu.cpp
trainersimu.cpp
debugoutput.cpp
)
set(simulation_UIS
simulatordialog-9x.ui
simulatordialog-taranis.ui
telemetrysimu.ui
trainersimu.ui
debugoutput.ui
)
set(simulation_HDRS
@ -14,6 +20,9 @@ set(simulation_HDRS
xcursorwidget.h
xmenuwidget.h
myslider.h
telemetrysimu.h
trainersimu.h
debugoutput.h
)
if(SDL_FOUND)

45
companion/src/simulation/debugoutput.cpp Normal file
View file

@ -0,0 +1,45 @@
#include <QtGui>
#include <stdint.h>
#include "debugoutput.h"
#include "ui_debugoutput.h"
DebugOutput::DebugOutput(QWidget * parent):
QDialog(parent),
ui(new Ui::DebugOutput)
{
ui->setupUi(this);
#ifdef __APPLE__
QFont newFont("Courier", 13);
ui->Output->setFont(newFont);
ui->Output->setAttribute(Qt::WA_MacNormalSize);
#endif
#if defined WIN32 || !defined __GNUC__
QFont newFont("Courier", 9);
ui->Output->setFont(newFont);
#endif
}
DebugOutput::~DebugOutput()
{
delete ui;
}
void DebugOutput::traceCallback(const QString & text)
{
// ui->Output->appendPlainText(text);
QTextCursor cursor(ui->Output->textCursor());
// is the scrollbar at the end?
bool atEnd = (ui->Output->verticalScrollBar()->value() == ui->Output->verticalScrollBar()->maximum());
cursor.movePosition(QTextCursor::End, QTextCursor::MoveAnchor, 1);
cursor.insertText(text);
if (atEnd) {
ui->Output->verticalScrollBar()->triggerAction(QAbstractSlider::SliderToMaximum);
}
}

32
companion/src/simulation/debugoutput.h Normal file
View file

@ -0,0 +1,32 @@
#ifndef debugoutput_h
#define debugoutput_h
#include <QDialog>
#include "simulatorinterface.h"
namespace Ui {
class DebugOutput;
}
class DebugOutput : public QDialog
{
Q_OBJECT
public:
explicit DebugOutput(QWidget * parent);
virtual ~DebugOutput();
void traceCallback(const QString & text);
protected:
private:
Ui::DebugOutput * ui;
private slots:
};
#endif

50
companion/src/simulation/debugoutput.ui Normal file
View file

@ -0,0 +1,50 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>DebugOutput</class>
<widget class="QDialog" name="DebugOutput">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>711</width>
<height>470</height>
</rect>
</property>
<property name="windowTitle">
<string>Debug Output</string>
</property>
<property name="windowIcon">
<iconset resource="../companion.qrc">
<normaloff>:/icon.png</normaloff>:/icon.png</iconset>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPlainTextEdit" name="Output">
<property name="font">
<font>
<family>Courier New</family>
<pointsize>10</pointsize>
</font>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOn</enum>
</property>
<property name="lineWrapMode">
<enum>QPlainTextEdit::NoWrap</enum>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../companion.qrc"/>
</resources>
<connections/>
</ui>

77
companion/src/simulation/simulatordialog.cpp
View file

@ -9,6 +9,42 @@
#define RESX 1024
int SimulatorDialog::screenshotIdx = 0;
SimulatorDialog * traceCallbackInstance = 0;
void traceCb(const char * text) {
// divert C callback into simulator instance
if (traceCallbackInstance) {
traceCallbackInstance->traceCallback(text);
}
}
void SimulatorDialog::traceCallback(const char * text)
{
// this function is called from other threads
traceMutex.lock();
// limit the size of list
if (traceList.size() < 1000) {
traceList.append(QString(text));
}
traceMutex.unlock();
}
void SimulatorDialog::updateDebugOutput()
{
traceMutex.lock();
while (!traceList.isEmpty()) {
QString text = traceList.takeFirst();
traceBuffer.append(text);
// limit the size of traceBuffer
if (traceBuffer.size() > 10*1024) {
traceBuffer.remove(0, 1*1024);
}
if (DebugOut) {
DebugOut->traceCallback(QString(text));
}
}
traceMutex.unlock();
}
SimulatorDialog::SimulatorDialog(QWidget * parent, unsigned int flags):
QDialog(parent),
@ -19,10 +55,19 @@ SimulatorDialog::SimulatorDialog(QWidget * parent, unsigned int flags):
simulator(NULL),
lastPhase(-1),
beepVal(0),
TelemetrySimu(0),
TrainerSimu(0),
DebugOut(0),
buttonPressed(0),
trimPressed (TRIM_NONE),
middleButtonPressed(false)
{
//shorcut for telemetry simulator
// new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_T), this, SLOT(openTelemetrySimulator()));
new QShortcut(QKeySequence(Qt::Key_F4), this, SLOT(openTelemetrySimulator()));
new QShortcut(QKeySequence(Qt::Key_F5), this, SLOT(openTrainerSimulator()));
new QShortcut(QKeySequence(Qt::Key_F6), this, SLOT(openDebugOutput()));
traceCallbackInstance = this;
}
uint32_t SimulatorDialog9X::switchstatus = 0;
@ -37,6 +82,9 @@ SimulatorDialog9X::SimulatorDialog9X(QWidget * parent, unsigned int flags):
initUi<Ui::SimulatorDialog9X>(ui);
// install simulator TRACE hook
simulator->installTraceHook(traceCb);
backLight = g.backLight();
if (backLight > 4) backLight = 0;
switch (backLight) {
@ -109,6 +157,10 @@ SimulatorDialogTaranis::SimulatorDialogTaranis(QWidget * parent, unsigned int fl
lcdDepth = 4;
initUi<Ui::SimulatorDialogTaranis>(ui);
// install simulator TRACE hook
simulator->installTraceHook(traceCb);
dialP_4 = ui->dialP_4;
ui->lcd->setBackgroundColor(47, 123, 227);
@ -154,6 +206,7 @@ SimulatorDialogTaranis::~SimulatorDialogTaranis()
SimulatorDialog::~SimulatorDialog()
{
traceCallbackInstance = 0;
delete timer;
delete simulator;
}
@ -215,6 +268,28 @@ void SimulatorDialog::onTrimReleased()
trimPressed = TRIM_NONE;
}
void SimulatorDialog::openTelemetrySimulator()
{
TelemetrySimu = new TelemetrySimulator(this, simulator);
TelemetrySimu->setAttribute(Qt::WA_DeleteOnClose, true);
TelemetrySimu->show();
}
void SimulatorDialog::openTrainerSimulator()
{
TrainerSimu = new TrainerSimulator(this, simulator);
TrainerSimu->setAttribute(Qt::WA_DeleteOnClose, true);
TrainerSimu->show();
}
void SimulatorDialog::openDebugOutput()
{
DebugOut = new DebugOutput(this);
DebugOut->setAttribute(Qt::WA_DeleteOnClose, true);
DebugOut->traceCallback(traceBuffer);
DebugOut->show();
}
void SimulatorDialog::keyPressEvent (QKeyEvent *event)
{
switch (event->key()) {
@ -559,6 +634,8 @@ void SimulatorDialog::onTimerEvent()
QApplication::beep();
}
}
updateDebugOutput();
}
void SimulatorDialog::centerSticks()

15
companion/src/simulation/simulatordialog.h
View file

@ -4,6 +4,9 @@
#include <QDialog>
#include "modeledit/node.h"
#include "eeprominterface.h"
#include "telemetrysimu.h"
#include "trainersimu.h"
#include "debugoutput.h"
#ifdef JOYSTICKS
#include "joystick.h"
@ -38,6 +41,7 @@ class SimulatorDialog : public QDialog
void start(const char * filename);
void start(QByteArray & eeprom);
virtual void traceCallback(const char * text);
protected:
template <class T> void initUi(T * ui);
@ -95,6 +99,14 @@ class SimulatorDialog : public QDialog
int lcdWidth;
int lcdDepth;
TelemetrySimulator * TelemetrySimu;
TrainerSimulator * TrainerSimu;
DebugOutput * DebugOut;
QString traceBuffer;
QMutex traceMutex;
QList<QString> traceList;
void updateDebugOutput();
protected:
virtual void closeEvent(QCloseEvent *);
@ -125,6 +137,9 @@ class SimulatorDialog : public QDialog
void onTimerEvent();
void onTrimPressed();
void onTrimReleased();
void openTelemetrySimulator();
void openTrainerSimulator();
void openDebugOutput();
#ifdef JOYSTICKS
void onjoystickAxisValueChanged(int axis, int value);

5
companion/src/simulation/simulatorimport.h
View file

@ -101,4 +101,9 @@ return lcd_buf;
return main_thread_error;
#endif
#ifdef SETTRAINER_IMPORT
#undef SETTRAINER_IMPORT
ppmInValid = 100;
g_ppmIns[inputNumber] = LIMIT<int16_t>(-512, value, 512);
#endif

5
companion/src/simulation/simulatorinterface.h
View file

@ -80,6 +80,11 @@ class SimulatorInterface {
virtual const char * getError() = 0;
virtual void sendTelemetry(uint8_t * data, unsigned int len) = 0;
virtual void setTrainerInput(unsigned int inputNumber, int16_t value) = 0;
virtual void installTraceHook(void (*callback)(const char *)) = 0;
};
#endif

85
companion/src/simulation/telemetrysimu.cpp Normal file
View file

@ -0,0 +1,85 @@
#include <stdint.h>
#include "telemetrysimu.h"
#include "ui_telemetrysimu.h"
#include "radio/src/telemetry/frsky.h"
TelemetrySimulator::TelemetrySimulator(QWidget * parent, SimulatorInterface * simulator):
QDialog(parent),
ui(new Ui::TelemetrySimulator),
simulator(simulator)
{
ui->setupUi(this);
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(onTimerEvent()));
timer->start(100);
}
TelemetrySimulator::~TelemetrySimulator()
{
timer->stop();
delete ui;
}
void TelemetrySimulator::onTimerEvent()
{
if (ui->Simulate->isChecked()) {
generateTelemetryFrame();
}
}
void setSportPacketCrc(uint8_t * packet)
{
short crc = 0;
for (int i=1; i<FRSKY_SPORT_PACKET_SIZE-1; i++) {
crc += packet[i]; //0-1FF
crc += crc >> 8; //0-100
crc &= 0x00ff;
crc += crc >> 8; //0-0FF
crc &= 0x00ff;
}
packet[FRSKY_SPORT_PACKET_SIZE-1] = 0xFF - (crc & 0x00ff);
//TRACE("crc set: %x", packet[FRSKY_SPORT_PACKET_SIZE-1]);
}
void generateSportPacket(uint8_t * packet, uint8_t dataId, uint8_t prim, uint16_t appId, uint32_t data)
{
packet[0] = dataId;
packet[1] = prim;
*((uint16_t *)(packet+2)) = appId;
*((int32_t *)(packet+4)) = data;
setSportPacketCrc(packet);
}
void TelemetrySimulator::generateTelemetryFrame()
{
static int item = 0;
uint8_t buffer[FRSKY_SPORT_PACKET_SIZE];
switch(item++) {
case 0:
generateSportPacket(buffer, 1, DATA_FRAME, RSSI_ID, LIMIT<uint32_t>(0, ui->Rssi->text().toInt(), 0xFF));
break;
case 1:
generateSportPacket(buffer, 1, DATA_FRAME, XJT_VERSION_ID, 11);
break;
case 2:
generateSportPacket(buffer, 1, DATA_FRAME, SWR_ID, LIMIT<uint32_t>(0, ui->Swr->text().toInt(), 0xFF));
break;
case 3:
generateSportPacket(buffer, 1, DATA_FRAME, ADC1_ID, LIMIT<uint32_t>(0, ui->A1->text().toInt(), 0xFF));
break;
case 4:
generateSportPacket(buffer, 1, DATA_FRAME, ADC2_ID, LIMIT<uint32_t>(0, ui->A2->text().toInt(), 0xFF));
break;
default:
item = 0;
return;
}
simulator->sendTelemetry(buffer, 9);
}

38
companion/src/simulation/telemetrysimu.h Normal file
View file

@ -0,0 +1,38 @@
#ifndef telemetrysimu_h
#define telemetrysimu_h
#include <QDialog>
#include <QTimer>
#include "simulatorinterface.h"
namespace Ui {
class TelemetrySimulator;
}
class TelemetrySimulator : public QDialog
{
Q_OBJECT
public:
explicit TelemetrySimulator(QWidget * parent, SimulatorInterface * simulator);
virtual ~TelemetrySimulator();
protected:
private:
Ui::TelemetrySimulator * ui;
QTimer * timer;
SimulatorInterface *simulator;
void generateTelemetryFrame();
private slots:
void onTimerEvent();
};
#endif

72
companion/src/simulation/telemetrysimu.ui Normal file
View file

@ -0,0 +1,72 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TelemetrySimulator</class>
<widget class="QDialog" name="TelemetrySimulator">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>184</width>
<height>165</height>
</rect>
</property>
<property name="windowTitle">
<string>Telemetry Simulator</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_2">
<item row="3" column="3">
<widget class="QLineEdit" name="Swr"/>
</item>
<item row="4" column="3">
<widget class="QLineEdit" name="A1"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>RSSI</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="Rssi"/>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>A1</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>SWR</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QCheckBox" name="Simulate">
<property name="text">
<string>simulate</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>A2</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLineEdit" name="A2"/>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

113
companion/src/simulation/trainersimu.cpp Normal file
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@ -0,0 +1,113 @@
#include <stdint.h>
#include "trainersimu.h"
#include "ui_trainersimu.h"
#include "helpers.h"
#define GBALL_SIZE 20
#define RESX 512
TrainerSimulator::TrainerSimulator(QWidget * parent, SimulatorInterface * simulator):
QDialog(parent),
ui(new Ui::TrainerSimulator),
simulator(simulator)
{
ui->setupUi(this);
leftStick = ui->leftStick;
rightStick = ui->rightStick;
setupSticks();
// resize(0, 0); // to force min height, min width
setFixedSize(width(), height());
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(onTimerEvent()));
timer->start(10);
}
TrainerSimulator::~TrainerSimulator()
{
timer->stop();
delete ui;
}
void TrainerSimulator::centerSticks()
{
if (leftStick->scene())
nodeLeft->stepToCenter();
if (rightStick->scene())
nodeRight->stepToCenter();
}
void TrainerSimulator::setupSticks()
{
QGraphicsScene *leftScene = new QGraphicsScene(leftStick);
leftScene->setItemIndexMethod(QGraphicsScene::NoIndex);
leftStick->setScene(leftScene);
// leftStick->scene()->addLine(0,10,20,30);
QGraphicsScene *rightScene = new QGraphicsScene(rightStick);
rightScene->setItemIndexMethod(QGraphicsScene::NoIndex);
rightStick->setScene(rightScene);
// rightStick->scene()->addLine(0,10,20,30);
nodeLeft = new Node();
nodeLeft->setPos(-GBALL_SIZE/2,-GBALL_SIZE/2);
nodeLeft->setBallSize(GBALL_SIZE);
leftScene->addItem(nodeLeft);
nodeRight = new Node();
nodeRight->setPos(-GBALL_SIZE/2,-GBALL_SIZE/2);
nodeRight->setBallSize(GBALL_SIZE);
rightScene->addItem(nodeRight);
}
void TrainerSimulator::resizeEvent(QResizeEvent *event)
{
if (leftStick->scene()) {
QRect qr = leftStick->contentsRect();
qreal w = (qreal)qr.width() - GBALL_SIZE;
qreal h = (qreal)qr.height() - GBALL_SIZE;
qreal cx = (qreal)qr.width()/2;
qreal cy = (qreal)qr.height()/2;
leftStick->scene()->setSceneRect(-cx,-cy,w,h);
QPointF p = nodeLeft->pos();
p.setX(qMin(cx, qMax(p.x(), -cx)));
p.setY(qMin(cy, qMax(p.y(), -cy)));
nodeLeft->setPos(p);
}
if (rightStick->scene()) {
QRect qr = rightStick->contentsRect();
qreal w = (qreal)qr.width() - GBALL_SIZE;
qreal h = (qreal)qr.height() - GBALL_SIZE;
qreal cx = (qreal)qr.width()/2;
qreal cy = (qreal)qr.height()/2;
rightStick->scene()->setSceneRect(-cx,-cy,w,h);
QPointF p = nodeRight->pos();
p.setX(qMin(cx, qMax(p.x(), -cx)));
p.setY(qMin(cy, qMax(p.y(), -cy)));
nodeRight->setPos(p);
}
QDialog::resizeEvent(event);
}
void TrainerSimulator::onTimerEvent()
{
centerSticks();
setTrainerInputs();
}
void TrainerSimulator::setTrainerInputs()
{
simulator->setTrainerInput(0, int( 512* nodeLeft->getX())); // LEFT HORZ
simulator->setTrainerInput(1, int(-512* nodeLeft->getY())); // LEFT VERT
simulator->setTrainerInput(2, int(-512*nodeRight->getY())); // RGHT VERT
simulator->setTrainerInput(3, int( 512*nodeRight->getX())); // RGHT HORZ
}

46
companion/src/simulation/trainersimu.h Normal file
View file

@ -0,0 +1,46 @@
#ifndef trainersimu_h
#define trainersimu_h
#include <QDialog>
#include <QTimer>
#include "modeledit/node.h"
#include "simulatorinterface.h"
namespace Ui {
class TrainerSimulator;
}
class TrainerSimulator : public QDialog
{
Q_OBJECT
public:
explicit TrainerSimulator(QWidget * parent, SimulatorInterface * simulator);
virtual ~TrainerSimulator();
protected:
private:
Ui::TrainerSimulator * ui;
QTimer * timer;
SimulatorInterface *simulator;
QGraphicsView * leftStick, * rightStick;
Node *nodeLeft;
Node *nodeRight;
void centerSticks();
void setupSticks();
void resizeEvent(QResizeEvent *event = 0);
void setTrainerInputs();
private slots:
void onTimerEvent();
};
#endif

95
companion/src/simulation/trainersimu.ui Normal file
View file

@ -0,0 +1,95 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TrainerSimulator</class>
<widget class="QDialog" name="TrainerSimulator">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>566</width>
<height>268</height>
</rect>
</property>
<property name="windowTitle">
<string>Trainer simulator</string>
</property>
<widget class="QFrame" name="frame">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>563</width>
<height>267</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="lineWidth">
<number>2</number>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>5</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>17</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QGraphicsView" name="rightStick">
<property name="minimumSize">
<size>
<width>245</width>
<height>245</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QGraphicsView" name="leftStick">
<property name="minimumSize">
<size>
<width>245</width>
<height>245</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>

15
radio/src/Makefile
View file

@ -389,6 +389,7 @@ ifeq ($(PCB), $(filter $(PCB), STD 9X 9XR))
EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
LCDSRC = lcd_common.cpp lcd_default.cpp
PULSESSRC = pulses/pulses_avr.cpp
CPPSRC += debug.cpp
ifeq ($(PCB), 9XR)
FLAVOUR = 9xr
@ -456,6 +457,7 @@ ifeq ($(PCB), $(filter $(PCB), STD128 9X128 9XR128))
EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
LCDSRC = lcd_common.cpp lcd_default.cpp
PULSESSRC = pulses/pulses_avr.cpp
CPPSRC += debug.cpp
ifeq ($(PCB), 9XR128)
FLAVOUR = 9xr128
@ -519,6 +521,7 @@ ifeq ($(PCB), $(filter $(PCB), 9X2561))
EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
LCDSRC = lcd_common.cpp lcd_default.cpp
PULSESSRC = pulses/pulses_avr.cpp
CPPSRC += debug.cpp
ifeq ($(PCB), 9XR2561)
FLAVOUR = 9xr2561
@ -584,7 +587,7 @@ ifeq ($(PCB), GRUVIN9X)
EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
LCDSRC = lcd_common.cpp lcd_default.cpp
PULSESSRC = pulses/pulses_avr.cpp
CPPSRC += audio_avr.cpp haptic.cpp
CPPSRC += audio_avr.cpp haptic.cpp debug.cpp
ifeq ($(SDCARD), YES)
CPPDEFS += -DRTCLOCK
@ -626,7 +629,7 @@ ifeq ($(PCB), MEGA2560)
EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
LCDSRC = lcd_common.cpp lcd_default.cpp
PULSESSRC = pulses/pulses_avr.cpp
CPPSRC += audio_avr.cpp
CPPSRC += audio_avr.cpp debug.cpp
ifeq ($(PCBREV), ST7565P)
EXTRABOARDSRC = targets/stock/lcd_driver.cpp targets/common_avr/telemetry_driver.cpp
@ -711,7 +714,7 @@ ifeq ($(PCB), $(filter $(PCB), SKY9X 9XRPRO))
PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp pulses/dsm2_arm.cpp
CPPSRC += tasks_arm.cpp audio_arm.cpp haptic.cpp gui/view_about.cpp gui/view_text.cpp telemetry/telemetry.cpp
CPPSRC += targets/sky9x/telemetry_driver.cpp targets/sky9x/second_serial_driver.cpp targets/sky9x/pwr_driver.cpp targets/sky9x/adc_driver.cpp targets/sky9x/eeprom_driver.cpp targets/sky9x/pulses_driver.cpp targets/sky9x/keys_driver.cpp targets/sky9x/audio_driver.cpp targets/sky9x/buzzer_driver.cpp targets/sky9x/haptic_driver.cpp targets/sky9x/sdcard_driver.cpp targets/sky9x/massstorage.cpp
CPPSRC += loadboot.cpp
CPPSRC += loadboot.cpp debug.cpp
ifeq ($(SDCARD), YES)
CPPDEFS += -DVOICE
INCDIRS += FatFs FatFs/option
@ -731,7 +734,6 @@ ifeq ($(PCB), $(filter $(PCB), SKY9X 9XRPRO))
CPPSRC += targets/sky9x/bluetooth.cpp
endif
ifeq ($(DEBUG), YES)
CPPSRC += debug.cpp
SRC += targets/sky9x/syscalls.c
endif
endif
@ -814,7 +816,7 @@ ifeq ($(PCB), TARANIS)
PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp
CPPSRC += tasks_arm.cpp audio_arm.cpp sbus.cpp telemetry/telemetry.cpp
CPPSRC += targets/taranis/pulses_driver.cpp targets/taranis/keys_driver.cpp targets/taranis/adc_driver.cpp targets/taranis/trainer_driver.cpp targets/taranis/audio_driver.cpp targets/taranis/uart3_driver.cpp targets/taranis/telemetry_driver.cpp
CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp
CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp debug.cpp
SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/CMSIS/Device/ST/STM32F2xx/Source/Templates/system_stm32f2xx.c
SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/STM32F2xx_StdPeriph_Driver/src/misc.c
SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/STM32F2xx_StdPeriph_Driver/src/stm32f2xx_gpio.c
@ -879,9 +881,6 @@ ifeq ($(PCB), TARANIS)
CPPDEFS += -DRTCLOCK
CPPSRC += rtc.cpp targets/taranis/rtc_driver.cpp
endif
ifeq ($(DEBUG), YES)
CPPSRC += debug.cpp
endif
ifeq ($(DSM2), PPM)
CPPSRC += pulses/dsm2_arm.cpp
endif

6
radio/src/audio_arm.cpp
View file

@ -407,7 +407,7 @@ bool isAudioFileReferenced(uint32_t i, char * filename)
uint8_t event = i & 0xFF;
#if 0
printf("isAudioFileReferenced(%08x)\n", i); fflush(stdout);
TRACE("isAudioFileReferenced(%08x)", i);
#endif
if (category == SYSTEM_AUDIO_CATEGORY) {
@ -846,7 +846,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
void AudioQueue::playFile(const char *filename, uint8_t flags, uint8_t id)
{
#if defined(SIMU)
printf("playFile(\"%s\", flags=%x, id=%d)\n", filename, flags, id);
TRACE("playFile(\"%s\", flags=%x, id=%d)", filename, flags, id);
if (strlen(filename) > AUDIO_FILENAME_MAXLEN) {
TRACE("file name too long! maximum length is %d characters", AUDIO_FILENAME_MAXLEN);
}
@ -893,7 +893,7 @@ void AudioQueue::playFile(const char *filename, uint8_t flags, uint8_t id)
void AudioQueue::stopPlay(uint8_t id)
{
#if defined(SIMU)
printf("stopPlay(id=%d)\n", id); fflush(stdout);
TRACE("stopPlay(id=%d)", id);
#endif
// For the moment it's only needed to stop the background music

33
radio/src/debug.cpp
View file

@ -34,28 +34,44 @@
*
*/
#include "../opentx.h"
#include "opentx.h"
#include <stdio.h>
#include <stdarg.h>
#if !defined(SIMU) && defined(DEBUG)
#if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
Fifo<512> debugRxFifo;
#if defined(SIMU)
traceCallbackFunc traceCallback = 0;
#endif
#if defined(SIMU)
#define PRINTF_BUFFER_SIZE 1024
#else
#define PRINTF_BUFFER_SIZE 256
#endif
// Outputs a string to the UART
void debugPuts(const char *format, ...)
{
va_list arglist;
char tmp[256];
char tmp[PRINTF_BUFFER_SIZE];
va_start(arglist, format);
vsnprintf(tmp, 256, format, arglist);
vsnprintf(tmp, PRINTF_BUFFER_SIZE, format, arglist);
va_end(arglist);
#if defined(SIMU)
fputs(tmp, stdout);
fflush(stdout);
if (traceCallback) {
traceCallback(tmp);
}
#else
const char *t = tmp;
while (*t) {
debugPutc(*t++);
}
#endif
}
void dump(unsigned char *data, unsigned int size)
@ -73,9 +89,13 @@ void dump(unsigned char *data, unsigned int size)
debugPuts("\n\r");
}
#if !defined(SIMU)
uint32_t Mem_address ;
uint32_t Next_mem_address ;
uint32_t Memaddmode ;
Fifo<512> debugRxFifo;
void crlf()
{
@ -221,7 +241,8 @@ void debugTask(void* pdata)
}
}
#endif
#endif // #if !defined(SIMU)
#endif // #if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
#if defined(DEBUG_TRACE_BUFFER)

44
radio/src/debug.h
View file

@ -40,44 +40,17 @@
#include <inttypes.h>
#include "rtc.h"
#if defined(SIMU)
#include <stdio.h>
#define TRACE(...) do { printf(__VA_ARGS__); printf("\n"); fflush(stdout); } while(0)
#define TRACE_DEBUG(...) do { printf("-D- " __VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_DEBUG_WP(...) do { printf(__VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_INFO(...) do { printf("-I- " __VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_INFO_WP(...) do { printf(__VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_WARNING(...) do { printf("-W- " __VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_WARNING_WP(...) do { printf(__VA_ARGS__); fflush(stdout); } while(0)
#define TRACE_ERROR(...) do { printf("-E- " __VA_ARGS__); fflush(stdout); } while(0)
#define FLUSH()
inline void dump(void * data, unsigned int size)
{
unsigned char *uchar_data = (unsigned char *)data;
printf("DUMP %d bytes ...\n\r", size);
unsigned int i = 0, j=0;
while (i*32+j < size) {
printf("%.2X ", uchar_data[i*32+j]);
j++;
if (j==32) {
i++; j=0;
printf("\n\r");
}
}
printf("\n\r");
}
#define DUMP(data, size) dump(data, size)
#elif defined(DEBUG) && defined(CPUARM)
#if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
#ifdef __cplusplus
extern "C" {
#endif
#if defined(SIMU)
typedef void (*traceCallbackFunc)(const char * text);
extern traceCallbackFunc traceCallback;
#endif
void debugPuts(const char *string, ...);
void dump(unsigned char *data, unsigned int size);
void debugFlush();
@ -95,8 +68,13 @@ void debugFlush();
#define TRACE_WARNING(...) debugPuts("-W- " __VA_ARGS__)
#define TRACE_WARNING_WP(...) debugPuts(__VA_ARGS__)
#define TRACE_ERROR(...) debugPuts("-E- " __VA_ARGS__)
#if !defined(SIMU)
#define FLUSH() debugFlush();
void debugTask(void* pdata);
#else
#define FLUSH()
#endif
#else

8
radio/src/eeprom_rlc.cpp
View file

@ -293,12 +293,10 @@ inline bool EeFsOpen()
#ifdef SIMU
if (eeFs.version != EEFS_VERS) {
printf("bad eeFs.version (%d instead of %d)\n", eeFs.version, EEFS_VERS);
fflush(stdout);
TRACE("bad eeFs.version (%d instead of %d)", eeFs.version, EEFS_VERS);
}
if (eeFs.mySize != sizeof(eeFs)) {
printf("bad eeFs.mySize (%d instead of %d)\n", (int)eeFs.mySize, (int)sizeof(eeFs));
fflush(stdout);
TRACE("bad eeFs.mySize (%d instead of %d)", (int)eeFs.mySize, (int)sizeof(eeFs));
}
#endif
@ -605,7 +603,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
strcpy_P(&buf[len], STR_MODELS_EXT);
#ifdef SIMU
printf("SD-card backup filename=%s\n", buf); fflush(stdout);
TRACE("SD-card backup filename=%s", buf);
#endif
result = f_open(&g_oLogFile, buf, FA_CREATE_ALWAYS | FA_WRITE);

2
radio/src/main_avr.cpp
View file

@ -116,7 +116,7 @@ void perMain()
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
checkBacklight();
#if (defined(FRSKY) || defined(MAVLINK))
#if defined(FRSKY) || defined(MAVLINK) || defined(SIMU)
telemetryWakeup();
#endif

2
radio/src/maths.cpp
View file

@ -194,7 +194,7 @@ void getGpsPilotPosition()
uint32_t angle2 = (lat*lat) / 10000;
uint32_t angle4 = angle2 * angle2;
frskyData.hub.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
// printf("frskyData.hub.distFromEarthAxis=%d\n", frskyData.hub.distFromEarthAxis); fflush(stdout);
// TRACE("frskyData.hub.distFromEarthAxis=%d", frskyData.hub.distFromEarthAxis);
}
void getGpsDistance()

10
radio/src/targets/simu/simpgmspace.cpp
View file

@ -159,7 +159,7 @@ void simuSetKey(uint8_t key, bool state)
void simuSetTrim(uint8_t trim, bool state)
{
// printf("trim=%d state=%d\n", trim, state); fflush(stdout);
// TRACE("trim=%d state=%d", trim, state);
switch (trim) {
TRIM_CASE(0, GPIO_TRIM_LH_L, PIN_TRIM_LH_L)
@ -176,7 +176,7 @@ void simuSetTrim(uint8_t trim, bool state)
// TODO use a better numbering to allow google tests to work on Taranis
void simuSetSwitch(uint8_t swtch, int8_t state)
{
// printf("swtch=%d state=%d\n", swtch, state); fflush(stdout);
// TRACE("swtch=%d state=%d", swtch, state);
switch (swtch) {
#if defined(PCBTARANIS) && defined(REV9E)
SWITCH_3_CASE(0, GPIO_PIN_SW_A_L, GPIO_PIN_SW_A_H, PIN_SW_A_L, PIN_SW_A_H)
@ -443,7 +443,7 @@ void eeprom_read_block (void *pointer_ram, const void *pointer_eeprom, size_t si
assert(size);
if (fp) {
// printf("EEPROM read (pos=%d, size=%d)\n", pointer_eeprom, size); fflush(stdout);
// TRACE("EEPROM read (pos=%d, size=%d)", pointer_eeprom, size);
if (fseek(fp, (long)pointer_eeprom, SEEK_SET)==-1) perror("error in fseek");
if (fread(pointer_ram, size, 1, fp) <= 0) perror("error in fread");
}
@ -458,7 +458,7 @@ void eeWriteBlockCmp(const void *pointer_ram, uint16_t pointer_eeprom, size_t si
assert(size);
if (fp) {
// printf("EEPROM write (pos=%d, size=%d)\n", pointer_eeprom, size); fflush(stdout);
// TRACE("EEPROM write (pos=%d, size=%d)", pointer_eeprom, size);
if (fseek(fp, (long)pointer_eeprom, SEEK_SET)==-1) perror("error in fseek");
if (fwrite(pointer_ram, size, 1, fp) <= 0) perror("error in fwrite");
}
@ -623,7 +623,7 @@ FRESULT f_readdir (DIR * rep, FILINFO * fil)
FRESULT f_mkfs (const TCHAR *path, BYTE, UINT)
{
printf("Format SD...\n"); fflush(stdout);
TRACE("Format SD...");
return FR_OK;
}

2
radio/src/targets/sky9x/keys_driver.cpp
View file

@ -81,7 +81,7 @@ uint32_t readKeys()
result |= 0x02 << KEY_MENU;
#endif
// printf("readKeys(): %x => %x\n", x, result); fflush(stdout);
// TRACE("readKeys(): %x => %x", x, result);
return result;
}

2
radio/src/targets/sky9x/telemetry_driver.cpp
View file

@ -181,8 +181,10 @@ uint32_t telemetryTransmitPending()
void telemetryPortInit(uint32_t baudrate)
{
#if !defined(SIMU)
UART2_Configure(baudrate, Master_frequency);
startPdcUsartReceive();
#endif
}
void telemetryTransmitBuffer(uint8_t * buffer, uint32_t size)

2
radio/src/targets/stock/voice.cpp
View file

@ -41,7 +41,7 @@ struct t_voice Voice ;
void pushPrompt(uint16_t value)
{
#ifdef SIMU
printf("playFile(\"%04d.ad4\")\n", value); fflush(stdout);
TRACE("playFile(\"%04d.ad4\")", value);
#endif
struct t_voice *vptr;

4
radio/src/targets/taranis/keys_driver.cpp
View file

@ -72,7 +72,7 @@ uint32_t readKeys()
if (d & PIN_BUTTON_EXIT)
result |= 0x02 << KEY_EXIT;
// printf("readKeys(): %x %x => %x\n", d, e, result); fflush(stdout);
// TRACE("readKeys(): %x %x => %x", d, e, result);
return result;
}
@ -112,7 +112,7 @@ uint32_t readTrims()
if (~c & PIN_TRIM_RH_R)
result |= 0x80; // RH_R
// printf("readTrims(): %x %x => %x\n", c, e, result); fflush(stdout);
// TRACE("readTrims(): %x %x => %x", c, e, result);
return result;
}

2
radio/src/tasks_arm.cpp
View file

@ -132,7 +132,7 @@ void mixerTask(void * pdata)
doMixerCalculations();
CoLeaveMutexSection(mixerMutex);
#if defined(FRSKY) || defined(MAVLINK)
#if defined(FRSKY) || defined(MAVLINK) || defined(SIMU)
telemetryWakeup();
#endif

3
radio/src/telemetry/frsky_sport.cpp
View file

@ -88,6 +88,7 @@ bool checkSportPacket(uint8_t *packet)
crc += crc >> 8; // 0-1FF
crc &= 0x00ff; // 0-FF
}
// TRACE("crc: 0x%02x", crc);
return (crc == 0x00ff);
}
@ -103,6 +104,8 @@ void processSportPacket(uint8_t *packet)
uint16_t appId = *((uint16_t *)(packet+2));
if (!checkSportPacket(packet)) {
TRACE("processSportPacket(): checksumm error ");
DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
return;
}