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boardsetupwindow.cpp
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boardsetupwindow.cpp
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#include "boardsetupwindow.h"
#include "ui_boardsetupwindow.h"
#include <QMessageBox>
#include <QDebug>
#include <QThread>
#include <QFileDialog>
#include <QListWidgetItem>
#include <QScrollBar>
#include <cmath>
#include <QEventLoop>
#include <QDirIterator>
#include <QDesktopServices>
#include <QProgressDialog>
#include "parametereditor.h"
#include "startupwizard.h"
#include "widgets/helpdialog.h"
#include "utility.h"
#include "widgets/paramdialog.h"
#include "widgets/detectallfocdialog.h"
BoardSetupWindow::BoardSetupWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::BoardSetupWindow)
{
ui->setupUi(this);
mVersion = QString::number(VT_VERSION, 'f', 2);
mVesc = new VescInterface(this);
mStatusInfoTime = 0;
mStatusLabel = new QLabel(this);
ui->statusBar->addPermanentWidget(mStatusLabel);
mTimer = new QTimer(this);
mKeyLeft = false;
mKeyRight = false;
connect(mTimer, SIGNAL(timeout()),
this, SLOT(timerSlot()));
connect(mVesc, SIGNAL(statusMessage(QString,bool)),
this, SLOT(showStatusInfo(QString,bool)));
connect(mVesc, SIGNAL(messageDialog(QString,QString,bool,bool)),
this, SLOT(showMessageDialog(QString,QString,bool,bool)));
connect(mVesc->commands(), SIGNAL(pingCanRx(QVector<int>,bool)),
this, SLOT(pingCanRx(QVector<int>,bool)));
connect(mVesc, SIGNAL(fwUploadStatus(QString,double,bool)),
this, SLOT(fwUploadStatus(QString,double,bool)));
connect(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES,unsigned int)),
this, SLOT(valuesReceived(MC_VALUES,unsigned int)));
mTimer->start(20);
// Restore size and position
if (mSettings.contains("boardsetupwindow/size")) {
resize(mSettings.value("boardsetupwindow/size").toSize());
}
if (mSettings.contains("boardsetupwindow/position")) {
move(mSettings.value("boardsetupwindow/position").toPoint());
}
if (mSettings.contains("boardsetupwindow/maximized")) {
bool maximized = mSettings.value("boardsetupwindow/maximized").toBool();
if (maximized) {
showMaximized();
}
}
mVesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
Utility::configLoadLatest(mVesc);
mMcConfig_Target = new ConfigParams(this);
mAppConfig_Target = new ConfigParams(this);
QPair<int, int> latestSupported = Utility::configLatestSupported();
QString FW_Ver = QString::number(latestSupported.first) + "." + QStringLiteral("%1").arg(latestSupported.second, 2, 10, QLatin1Char('0'));
mMcConfig_Target->loadParamsXml("://res/config/" + FW_Ver + "/parameters_mcconf.xml");
mAppConfig_Target->loadParamsXml("://res/config/" + FW_Ver + "/parameters_appconf.xml");
QDirIterator dir(QDir::currentPath(),QStringList() << "app_settings*.xml", QDir::NoFilter ,QDirIterator::Subdirectories);
if(dir.hasNext()){
loadAppConfXML(dir.next());
}
QDirIterator dir2(QDir::currentPath(),QStringList() << "motor_settings*.xml", QDir::NoFilter ,QDirIterator::Subdirectories);
if(dir2.hasNext()){
loadMotorConfXML(dir2.next());
}
on_serialRefreshButton_clicked();
}
BoardSetupWindow::~BoardSetupWindow()
{
// Save settings
mSettings.setValue("version", mVersion);
mSettings.setValue("introVersion", VT_INTRO_VERSION);
mSettings.setValue("boardsetupwindow/position", pos());
mSettings.setValue("boardsetupwindow/maximized", isMaximized());
if (!isMaximized()) {
mSettings.setValue("boardsetupwindow/size", size());
}
delete ui;
}
void BoardSetupWindow::timerSlot()
{
// Update status label
if (mStatusInfoTime) {
mStatusInfoTime--;
if (!mStatusInfoTime) {
mStatusLabel->setStyleSheet(qApp->styleSheet());
}
} else {
QString str = mVesc->getConnectedPortName();
if (str != mStatusLabel->text()) {
mStatusLabel->setText(mVesc->getConnectedPortName());
static QString statusLast = "";
if (str != statusLast) {
// mPageDebugPrint->printConsole("Status: " + str + "<br>");
statusLast = str;
}
}
}
// RT data
bool getRtData = false;
bool sendAlive = false;
if ( getRtData) {
mVesc->commands()->getValues();
if (mVesc->isRtLogOpen()) {
mVesc->commands()->getValuesSetup();
}
}
// APP RT data
if (getRtData) {
mVesc->commands()->getDecodedAdc();
mVesc->commands()->getDecodedChuk();
mVesc->commands()->getDecodedPpm();
mVesc->commands()->getDecodedBalance();
}
// IMU Data
if (getRtData) {
mVesc->commands()->getImuData(0xFFFF);
}
// Send alive command once every 10 iterations
if (sendAlive) {
static int alive_cnt = 0;
alive_cnt++;
if (alive_cnt >= 10) {
alive_cnt = 0;
mVesc->commands()->sendAlive();
}
}
// Read configurations if they haven't been read since starting VESC Tool
// Disable all data streaming when uploading firmware
if (mVesc->getFwUploadProgress() > 0.1) {
// ui->actionSendAlive->setChecked(false);
// ui->actionRtData->setChecked(false);
// ui->actionRtDataApp->setChecked(false);
// ui->actionIMU->setChecked(false);
// ui->actionKeyboardControl->setChecked(false);
}
// Run startup checks
static bool has_run_start_checks = false;
if (!has_run_start_checks) {
// put code when opening tool here
has_run_start_checks = true;
Utility::checkVersion(mVesc);
}
}
void BoardSetupWindow::on_startButton_clicked()
{
ui->appConfigButton->setEnabled(false);
ui->motorConfigButton->setEnabled(false);
ui->appConfigEdit->setEnabled(false);
ui->motorConfigEdit->setEnabled(false);
ui->motorTolSlider->setEnabled(false);
ui->startButton->setEnabled(false);
ui->serialRefreshButton->setEnabled(false);
ui->serialPortBox->setEnabled(false);
ui->bleFirmwareButton->setEnabled(false);
ui->bleFirmwareEdit->setEnabled(false);
ui->bootloaderCheckBox->setEnabled(false);
ui->bleCheckBox->setEnabled(false);
ui->appCheckBox->setEnabled(false);
ui->motorDetectionCheckBox->setEnabled(false);
if(ui->motorDetectionCheckBox->isChecked()){
QMessageBox::StandardButton reply;
reply = QMessageBox::information(this,
tr("Board Setup Started"),
tr("You have begun the board setup process with motor calibration enabled.") +
tr(" Please ensure the motors and wheels are able to free-spin without") +
tr(" interference before pressing OK."),
QMessageBox::Ok|QMessageBox::Cancel);
if(reply!=QMessageBox::Ok){
return;
}
}
ui->startButton->setEnabled(false);
bool res;
res = trySerialConnect();
if(!res){
resetRoutine();
return;
}
res = tryCANScan();
if(!res){
return;
}
if(ui->bootloaderCheckBox->isChecked()){
res = tryBootloaderUpload();
if(!res){
resetRoutine();
return;
}
res = tryFirmwareUpload();
if(!res){
resetRoutine();
return;
}
res = tryCANScan();
if(!res){
return;
}
}
if(ui->bleCheckBox->isChecked()){
res = tryBleFirmwareUpload();
if(!res){
resetRoutine();
return;
}
}
if(ui->motorDetectionCheckBox->isChecked()){
res = tryFOCCalibration();
if(!res){
resetRoutine();
return;
}
res = tryMotorDirection();
if(!res){
resetRoutine();
return;
}
res = tryTestMotorParameters();
if(!res){
resetRoutine();
return;
}
}
if(ui->appCheckBox->isChecked()){
if(num_VESCs>1){
res = tryApplySlaveAppSettings();
if(!res){
resetRoutine();
return;
}
}
res = tryApplyMasterAppSettings();
if(!res){
resetRoutine();
return;
}
res = tryRemoteTest();
if(!res){
resetRoutine();
return;
}
}
res = tryFinalDiagnostics();
if(!res){
resetRoutine();
return;
}
testResultMsg = "Setup completed succesfully. Your board should now be ready to ride.";
testResult = true;
resetRoutine();
}
void BoardSetupWindow::resetRoutine(){
//showMessageDialog(tr("Test Results"),
// tr(testResultMsg.toUtf8()),
// testResult, false);
QMessageBox::StandardButton reply;
reply = QMessageBox::information(this,
tr("Test Results:"),
tr(testResultMsg.toUtf8()),
QMessageBox::Ok);
mVesc->disconnectPort();
ui->startButton->setEnabled(true);
ui->usbConnectLabel->setStyleSheet("");
is_Dual = false;
num_VESCs = 0;
HW_Name = "";
ui->appConfigButton->setEnabled(true);
ui->motorConfigButton->setEnabled(true);
ui->motorTolSlider->setEnabled(true);
ui->appConfigEdit->setEnabled(true);
ui->motorConfigEdit->setEnabled(true);
ui->startButton->setEnabled(true);
ui->serialRefreshButton->setEnabled(true);
ui->serialPortBox->setEnabled(true);
ui->bleFirmwareButton->setEnabled(true);
ui->bleFirmwareEdit->setEnabled(true);
ui->bootloaderCheckBox->setEnabled(true);
ui->bleCheckBox->setEnabled(true);
ui->appCheckBox->setEnabled(true);
ui->motorDetectionCheckBox->setEnabled(true);
ui->CANScanLabel->setStyleSheet("");
ui->bootloaderLabel->setStyleSheet("");
ui->firmwareLabel->setStyleSheet("");
ui->bleFirmwareLabel->setStyleSheet("");
ui->motorDetectionLabel->setStyleSheet("");
ui->motorDirectionLabel->setStyleSheet("");
ui->motorTestLabel->setStyleSheet("");
ui->appSetupLabel->setStyleSheet("");
ui->remoteTestLabel->setStyleSheet("");
ui->usbConnectLabel->setText("Connect USB Port");
ui->CANScanLabel->setText("CAN Bus Scan");
ui->bootloaderLabel->setText("Bootloader Upload");
ui->firmwareLabel->setText("Firmware Upload");
ui->bleFirmwareLabel->setText("BLE Firmware Upload");
ui->motorDetectionLabel->setText("Motor FOC Detection");
ui->motorDirectionLabel->setText("Motor Direction Calibration");
ui->motorTestLabel->setText("Motor Test");
ui->appSetupLabel->setText("App Setup");
ui->remoteTestLabel->setText("App Test");
}
bool BoardSetupWindow::trySerialConnect(){
bool res;
mVesc->commands()->setSendCan(false);
res = mVesc->connectSerial(ui->serialPortBox->currentData().toString(), 115200);
if(res){
Utility::waitSignal(mVesc, SIGNAL(fwRxChanged(bool, bool)), 5000);
}
if(mVesc->isPortConnected()){
ui->usbConnectLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
}else{
ui->usbConnectLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Could not connect USB. Make sure the unit is powered on, connected to the computer, and the correct Serial port is selected.";
testResult = false;
}
return mVesc->isPortConnected();
}
bool BoardSetupWindow::tryCANScan(){
bool res = false;
if(mVesc->isPortConnected()){
mVesc->commands()->pingCan();
Utility::waitSignal(mVesc->commands(), SIGNAL(pingCanRx(QVector<int>, bool)), 10000);
}
if(CAN_Timeout){
res = false;
ui->CANScanLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
testResultMsg = "Could not connect USB. Make sure the unit is powered on, connected to the computer, and the correct Serial port is selected.";
testResult = false;
}else{
res = true;
mVesc->commands()->setSendCan(false);
mVesc->commands()->getAppConf();
if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
ui->CANScanLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read app config during CAN Scan.";
return false;
}
int this_ID = mVesc->appConfig()->getParamInt("controller_id");
QString canTxt("CAN IDs: " + QString::number(this_ID));
for(int i = 0; i < CAN_IDs.size(); i++){
canTxt = canTxt + ", " + QString::number(CAN_IDs.at(i));
}
canTxt = canTxt + " (" + QString::number(CAN_IDs.size() + 1) + " motors total)";
ui->CANScanLabel->setText(canTxt);
ui->CANScanLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
}
HW_Name = mVesc->getFirmwareNow().split("Hw: ").last();
HW_Name = HW_Name.split("\n").first();
if(HW_Name.contains("STORMCORE")|| HW_Name.contains("UNITY")){
is_Dual = true;
num_VESCs = (CAN_IDs.size() + 1)/2;
qDebug() << "num vescs" << num_VESCs;
}else{
is_Dual = false;
num_VESCs = CAN_IDs.size() + 1;
}
return res;
}
bool BoardSetupWindow::tryBootloaderUpload(){
QString FW_Path;
QFile file;
file.setFileName("://res/bootloaders/generic.bin");
is_Bootloader = true;
if (!file.open(QIODevice::ReadOnly)) {
QMessageBox::critical(this,
tr("Upload Error"),
tr("Could not open file. Make sure that the path is valid."));
testResultMsg = "Something is wrong with the included bootloader file in this software.";
testResult = false;
return false;
}
if (file.size() > 400000) {
QMessageBox::critical(this,
tr("Upload Error"),
tr("The selected file is too large to be a firmware."));
testResultMsg = "The included bootloader file is too large.";
testResult = false;
return false;
}
QByteArray data = file.readAll();
bool fwRes = mVesc->fwUpload(data, is_Bootloader, num_VESCs > 1);
if(fwRes){
ui->bootloaderLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
}else{
ui->bootloaderLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "The bootloader upload timed out. Please try the routine again, you may need to update the firmware first seperatley from the VESC tool.";
testResult = false;
}
return fwRes;
}
bool BoardSetupWindow::tryFirmwareUpload(){
QString FW_Path;
QDirIterator it("://res/firmwares");
while (it.hasNext()) {
QFileInfo fi(it.next());
QStringList names = fi.fileName().split("_o_");
if (fi.isDir() && (HW_Name.isEmpty() || names.contains(HW_Name, Qt::CaseInsensitive))) {
FW_Path = fi.absoluteFilePath() + "/VESC_default.bin";
}
}
bool fwRes = false;
is_Bootloader = false;
QFile file;
if(!FW_Path.isEmpty()){
file.setFileName(FW_Path);
if (!file.open(QIODevice::ReadOnly)) {
QMessageBox::critical(this,
tr("Upload Error"),
tr("Could not open file. Make sure that the path is valid."));
testResultMsg = "Something is wrong with the included firmware file for your hardware in this software.";
testResult = false;
return false;
}
if (file.size() > 400000) {
QMessageBox::critical(this,
tr("Upload Error"),
tr("The selected file is too large to be a firmware."));
testResultMsg = "The included firmware file is too large.";
testResult = false;
return false;
}
QByteArray data = file.readAll();
fwRes = mVesc->fwUpload(data, is_Bootloader, num_VESCs > 1);
if(!fwRes){
ui->firmwareLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "The firmware upload timed out. Please try the routine again, you may need to update the firmware first seperatley from the VESC tool.";
return false;
}
}else{
// Didn't find any supported default firmwares
ui->bootloaderLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "The firmware file path is non-existent.";
return false;
}
for(int j = 15; j>-1; j--){
ui->firmwareLabel->setText("Waiting for Reboot: " + QString::number(j) + " s");
Utility::sleepWithEventLoop(1000);
}
bool reconnected = trySerialConnect();
if(reconnected){
ui->firmwareLabel->setText("Firmware Uploaded Succesfully and Reconnected");
ui->firmwareLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
}else{
ui->firmwareLabel->setText("Unit did not reconnect after firmware upload.");
ui->firmwareLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResult = false;
}
return reconnected;
}
bool BoardSetupWindow::tryBleFirmwareUpload(){
return true;
}
bool BoardSetupWindow::tryFOCCalibration(){
mVesc->commands()->setSendCan(false);
mVesc->ignoreCanChange(true);
mVesc->commands()->getAppConf();
if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read app config during motor setup routine.";
return false;
}
app_enum_old = mVesc->appConfig()->getParamEnum("app_to_use");
mVesc->appConfig()->updateParamEnum("app_to_use",0); // set to use no app
Utility::sleepWithEventLoop(100);
mVesc->commands()->setAppConf();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write app config during motor routine.";
return false;
}
bool xml_res = mVesc->mcConfig()->loadXml(mcXmlPath, "MCConfiguration");
if(!xml_res){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "motor XML read failed during FOC calibration";
return false;
}
mVesc->ignoreCanChange(true);
ui->motorDetectionLabel->setText("Writing Default Configs");
mVesc->commands()->setSendCan(false);
mVesc->commands()->setMcconf(false);
Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000);
for(int i = 0; i < CAN_IDs.size(); i++){
mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
mVesc->commands()->setMcconf();
Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000);
}
mVesc->ignoreCanChange(false);
mVesc->commands()->setSendCan(false);
Utility::sleepWithEventLoop(1000);
ui->motorDetectionLabel->setText("Running FOC Detection");
double max_loss = pow(mMcConfig_Target->getParamDouble("l_current_max"),2.0) * mMcConfig_Target->getParamDouble("foc_motor_r");
qDebug() << "max loss" << max_loss;
mVesc->mcConfig();
QString res = Utility::detectAllFoc(mVesc, true,
max_loss,
mMcConfig_Target->getParamDouble("l_in_current_min"),
mMcConfig_Target->getParamDouble("l_in_current_max"),
mMcConfig_Target->getParamDouble("foc_openloop_rpm"),
mMcConfig_Target->getParamDouble("foc_sl_erpm"));
if(!res.startsWith("Success!")){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
return false;
}
ui->motorDetectionLabel->setText("Checking Detected Values for Accuracy");
mVesc->ignoreCanChange(true);
float tolerance = (float) ui->motorTolSlider->value();
if(ui->motorTolSlider->value() < 100){
tolerance /= 100.0;
}else{
tolerance *= 100.0;
}
for(int i = -1; i < CAN_IDs.size(); i++){
QString canid;
if(i == -1){
canid = "Master";
mVesc->commands()->setSendCan(false);
} else{
canid = QString::number(CAN_IDs.at(i));
mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
}
mVesc->commands()->getMcconf();
Utility::waitSignal(mVesc->mcConfig(), SIGNAL(updated()), 5000);
if(mcConfigOutsideParamBounds("foc_motor_r",tolerance )){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Motor Resistance of CAN ID " + canid + " is outside the tolerance for the target value." +
" Check your motors and winding connections. The measured resistance was " +
QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_r")*1.0e3)+" mOhm";
return false;
}
if(mcConfigOutsideParamBounds("foc_motor_l",tolerance )){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Motor Inductance of CAN ID " + canid + " is outside the tolerance for the target value." +
" Check your motors and winding connections. The measured inductance was " +
QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_l")*1.0e6)+" uH";
return false;
}
if(mcConfigOutsideParamBounds("foc_motor_flux_linkage",tolerance)){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Motor Flux Linkage of CAN ID " + canid + " is outside the tolerance for the target value." +
" Check your motors and winding connections and ensure the motors are able to spin freely. The measured flux linkage was " +
QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_flux_linkage")*1.0e3)+" mWb";
return false;
}
if(mVesc->mcConfig()->getParamEnum("foc_sensor_mode") != mMcConfig_Target->getParamEnum("foc_sensor_mode")){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Motor Sensors of CAN ID " + canid + " does not match the target setting." +
" Ensure that the sensors are plugged in and wired correctly.";
return false;
}
}
mVesc->ignoreCanChange(false);
mVesc->commands()->setSendCan(false);
ui->motorDetectionLabel->setText("Detection Completed Succesfully");
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
return true;
}
bool BoardSetupWindow::tryMotorDirection(){
int tach_start[16];
int tach_end[16];
QString directionStatus;
directionStatus = tr("Spin each motor in the forward direction to continue.\n");
mVesc->ignoreCanChange(true);
QVector<int> CAN_IDs_VESC;
FW_RX_PARAMS params;
for(int i = -1; i < CAN_IDs.size(); i++){
if(i<0){
mVesc->commands()->setSendCan(false);
}else{
mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
}
bool res = Utility::getFwVersionBlocking(mVesc, ¶ms);
if(i > 0 &&res && params.hwType == HW_TYPE_VESC){
CAN_IDs_VESC.append(CAN_IDs.at(i));
}
}
for(int i = -1; i < CAN_IDs_VESC.size(); i++){
if(i<0){
mVesc->commands()->setSendCan(false);
}else{
mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
}
mVesc->commands()->getValues();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES, unsigned int)), 2000)){
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read tachometer value during motor direction routine.";
return false;
}
tach_start[i+1] = values_now.tachometer;
directionStatus += " 0% ";
}
bool allHaveTurned = false;
QMessageBox* msgBox = new QMessageBox( this );
msgBox->setWindowTitle( tr("Spin Motors") );
msgBox->setText(directionStatus);
msgBox->addButton(QMessageBox::Cancel);
msgBox->setModal( true );
msgBox->open(this, SLOT(msgBoxClosed(QAbstractButton*)));
mVesc->ignoreCanChange(true);
while(!allHaveTurned){
directionStatus = tr("Spin each motor in the forward direction to continue.\n");
bool turned = true;
for(int i = -1; i < CAN_IDs_VESC.size(); i++){
if(i<0){
mVesc->commands()->setSendCan(false);
}else{
mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
}
Utility::sleepWithEventLoop(10);
mVesc->commands()->getValues();
if(Utility::waitSignal(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES, unsigned int)), 100)){
tach_end[i+1] = values_now.tachometer;
}
int tachDiff = tach_start[i+1] - tach_end[i+1];
turned &= (abs(tachDiff) >= 50);
int percent = abs(2*tachDiff);
percent = percent>100?100:percent;
QString number = "motor " + QString::number(i+2) + ": " +
QStringLiteral("%1").arg(percent, 3, 10, QLatin1Char(' '))+ "% ";
// number = QString::number(tach_end[i+1]) +" " + QString::number(tach_start[i+1]) + " ";
directionStatus += number;
}
msgBox->setText(directionStatus);
if(!msgBox->isVisible()){
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Direction routine canceled by the user.";
return false;
}
if(!mVesc->isPortConnected()){
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Disconnected during direction calibration.";
msgBox->close();
msgBox->deleteLater();
return false;
}
allHaveTurned = turned;
}
mVesc->ignoreCanChange(true);
msgBox->close();
msgBox->deleteLater();
double motor_current_min = mMcConfig_Target->getParamDouble("l_current_min");
double motor_current_max = mMcConfig_Target->getParamDouble("l_current_max");
double motor_current_in_min = mMcConfig_Target->getParamDouble("l_in_current_min");
double motor_current_in_max = mMcConfig_Target->getParamDouble("l_in_current_max");
for(int i = -1; i < CAN_IDs_VESC.size(); i++){
if(i<0){
mVesc->commands()->setSendCan(false);
}else{
mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
}
Utility::sleepWithEventLoop(100);
mVesc->commands()->getMcconf();
if(!Utility::waitSignal(mVesc->mcConfig(), SIGNAL(updated()), 5000)){
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read config during motor direction routine.";
return false;
}
bool invert_motor = ((tach_start[i+1] - tach_end[i+1]) > 0);
mVesc->mcConfig()->updateParamBool("m_invert_direction", invert_motor);
mVesc->mcConfig()->updateParamDouble("l_current_min", motor_current_min);
mVesc->mcConfig()->updateParamDouble("l_current_max", motor_current_max);
mVesc->mcConfig()->updateParamDouble("l_in_current_min", motor_current_in_min);
mVesc->mcConfig()->updateParamDouble("l_in_current_max", motor_current_in_max);
mVesc->commands()->setMcconf(false);
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write config during during motor direction routine.";
return false;
}
}
ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
ui->motorDirectionLabel->setText("Motor Directions Set");
return true;
}
bool BoardSetupWindow::tryTestMotorParameters(){
if(!ui->appCheckBox->isChecked()){
mVesc->commands()->setSendCan(false);
mVesc->commands()->getAppConf();
if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read app config after motor setup routine.";
return false;
}
mVesc->appConfig()->updateParamEnum("app_to_use",app_enum_old); // set to use no app
mVesc->commands()->setAppConf();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write app config after motor routine.";
return false;
}
}
return true;
}
bool BoardSetupWindow::tryApplySlaveAppSettings(){
// I wrote this little bit to determine if it was the second or motor or not for dual drivers and then
// realized it didn't really matter since it's ok to double write app config.
//
int master_ID = 0;
mVesc->commands()->setSendCan(false);
mVesc->commands()->getAppConf();
if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read app config during slave setup routine.";
return false;
}
master_ID = mVesc->appConfig()->getParamInt("controller_id");
mVesc->appConfig()->updateParamEnum("app_to_use",0); // set to use uart
mVesc->commands()->setAppConf();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 5000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write master config during slave app routine.";
return false;
}
bool xml_res = mVesc->appConfig()->loadXml(appXmlPath, "APPConfiguration");
if(!xml_res){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "app XML read failed during App Setup";
return false;
}
mVesc->appConfig()->updateParamEnum("app_to_use",3); // set to use uart
mVesc->appConfig()->updateParamEnum("can_mode",0); // set to use vesc CAN
mVesc->appConfig()->updateParamEnum("can_baud_rate",2); // 500K baud
mVesc->appConfig()->updateParamEnum("send_can_status",5); // send all CAN status'
mVesc->appConfig()->updateParamInt("send_can_status_rate_hz",50); // 50 Hz
mVesc->appConfig()->updateParamEnum("shutdown_mode",1); // set slaves to always on so they don't time out seperatley and master controls shutdown
// for(int i = 0; i < CAN_IDs.size(); i = i + 1){
//
// is_second_motor_id |= ((master_ID + 1) == CAN_IDs.at(i));
// if(i>0){
// is_second_motor_id |= ((CAN_IDs.at(i) - CAN_IDs.at(i - 1) + 256) % 256 == 1);
// }
// is_second_motor_id &= is_Dual;
// is_second_motor_id = false;
// if(!is_second_motor_id){
// }
mVesc->ignoreCanChange(true);
for(int i = 0; i < CAN_IDs.size(); i = i + 1){
bool is_second_master_id = is_Dual && ((master_ID + 1) == CAN_IDs.at(i));
if(!is_second_master_id)
{
mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
mVesc->appConfig()->updateParamInt("controller_id", CAN_IDs.at(i));
Utility::sleepWithEventLoop(100);
mVesc->commands()->setAppConf();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write config during slave app routine.";
return false;
}
}
}
mVesc->commands()->setSendCan(false);
mVesc->ignoreCanChange(false);
return true;
}
bool BoardSetupWindow::tryApplyMasterAppSettings(){
int master_ID = 0;
mVesc->commands()->setSendCan(false);
mVesc->commands()->getAppConf();
if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to read app config during slave setup routine.";
return false;
}
master_ID = mVesc->appConfig()->getParamInt("controller_id");
bool xml_res = mVesc->appConfig()->loadXml(appXmlPath, "APPConfiguration");
if(!xml_res){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "app XML read failed during App Setup";
return false;
}
mVesc->appConfig()->updateParamEnum("send_can_status",0); // don't send CAN status on master
mVesc->appConfig()->updateParamInt("controller_id",master_ID); // don't send CAN status on master
QString success_msg = "";
switch(mAppConfig_Target->getParamEnum("app_to_use")){
case 4: //ppm and uart
case 1: //ppm
mVesc->appConfig()->updateParamBool("app_ppm_conf.multi_esc",true);
success_msg = "PPM Remote Config Applied";
break;
case 3: //uart
// if uart only on master assume a uart based chuk remote
mVesc->appConfig()->updateParamBool("app_chuk_conf.multi_esc",true);
success_msg = "UART Remote Config Applied";
break;
case 2: //adc
mVesc->appConfig()->updateParamBool("app_adc_conf.multi_esc",true);
success_msg = "ADC Config Applied";
break;
default:
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Your app type is not compatible with this setup tool currently.";
return false;
}
mVesc->commands()->setSendCan(false);
mVesc->commands()->setAppConf();
if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
testResultMsg = "Failed to write config during master app routine.";
return false;
}
ui->appSetupLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
ui->appSetupLabel->setText(success_msg);
return true;
}
bool BoardSetupWindow::tryRemoteTest(){
return true;
}
bool BoardSetupWindow::tryFinalDiagnostics(){
return true;
}
bool BoardSetupWindow::mcConfigOutsideParamBounds(QString paramName, double tolerance) {
qDebug() << "tolerance" << tolerance;
double detectedParam = mVesc->mcConfig()->getParamDouble(paramName);
double targetParam = mMcConfig_Target->getParamDouble(paramName);
return abs(detectedParam - targetParam) > tolerance*targetParam;
}
void BoardSetupWindow::mcConfigCheckResult(QStringList paramsNotSet)
{
if (!paramsNotSet.isEmpty()) {
ParamDialog::showParams(tr("Parameters truncated"),
tr("The following parameters were truncated because they were set outside "
"of their allowed limits."),
mVesc->mcConfig(),
paramsNotSet,
this);
}
}
void BoardSetupWindow::on_motorConfigButton_clicked()
{
QString path;
path = QFileDialog::getOpenFileName(this,
tr("Choose motor configuration file to load"),
".",
tr("Xml files (*.xml)"));
loadMotorConfXML(path);
}
void BoardSetupWindow::on_appConfigButton_clicked()
{
QString path;
path = QFileDialog::getOpenFileName(this,
tr("Choose app configuration file to load"),
".",
tr("Xml files (*.xml)"));
loadAppConfXML(path);
}
void BoardSetupWindow::on_bleFirmwareButton_clicked()
{
QString filename = QFileDialog::getOpenFileName(this,
tr("Choose Firmware File"), ".",
tr("Binary files (*.bin)"));
if (filename.isNull()) {
return;
}
ui->bleFirmwareEdit->setText(filename);
}
void BoardSetupWindow::on_serialRefreshButton_clicked()
{
if (mVesc) {
ui->serialPortBox->clear();
auto ports = mVesc->listSerialPorts();
foreach(auto &info, ports) {
auto port = info.value<VSerialInfo_t>();
ui->serialPortBox->addItem(port.name, port.systemPath);
}
ui->serialPortBox->setCurrentIndex(0);
}
}
void BoardSetupWindow::on_bootloaderCheckBox_stateChanged(){
ui->bootloaderLabel->setEnabled(ui->bootloaderCheckBox->isChecked());
ui->firmwareLabel->setEnabled(ui->bootloaderCheckBox->isChecked());
}
void BoardSetupWindow::on_bleCheckBox_stateChanged(){
ui->bleFirmwareLabel->setEnabled(ui->bleCheckBox->isChecked());
}
void BoardSetupWindow::on_motorDetectionCheckBox_stateChanged(){
ui->motorTolLabel->setEnabled(ui->motorDetectionCheckBox->isChecked());
ui->motorTolLabel_2->setEnabled(ui->motorDetectionCheckBox->isChecked());
ui->motorTolSlider->setEnabled(ui->motorDetectionCheckBox->isChecked());