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utility.cpp
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utility.cpp
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/*
Copyright 2017 - 2019 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
VESC Tool is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "utility.h"
#ifdef Q_OS_IOS
#include "ios/src/setIosParameters.h"
#endif
#include <cmath>
#include <QProgressDialog>
#include <QEventLoop>
#include <QNetworkAccessManager>
#include <QUrl>
#include <QNetworkRequest>
#include <QDebug>
#include <QNetworkReply>
#include <QMessageBox>
#include <QFile>
#include <QFileDialog>
#include <QFileInfo>
#include <QtGlobal>
#include <QNetworkInterface>
#include <QDirIterator>
#include <QPixmapCache>
#include "maddy/parser.h"
#ifdef Q_OS_ANDROID
#include <QtAndroid>
#include <QAndroidJniObject>
#include <QAndroidJniEnvironment>
#endif
QMap<QString, QColor> Utility::mAppColors = {
{"lightestBackground", QColor(80,80,80)},
{"lightBackground", QColor(66,66,66)},
{"normalBackground", QColor(48,48,48)},
{"darkBackground", QColor(39,39,39)},
{"normalText", QColor(180,180,180)},
{"lightText", QColor(220,220,220)},
{"disabledText", QColor(127,127,127)},
{"lightAccent", QColor(129,212,250)},
{"darkAccent", QColor(71,117,137)},
{"pink", QColor(219,98,139)},
{"red", QColor(200,52,52)},
{"orange", QColor(206,125,44)},
{"yellow", QColor(210,210,127)},
{"green", QColor(127,200,127)},
{"cyan", QColor(79,203,203)},
{"blue", QColor(77,127,196)},
{"magenta", QColor(157,127,210)},
{"white", QColor(255,255,255)},
{"black", QColor(0,0,0)},
{"plot_graph1", QColor(77,127,196)},
{"plot_graph2", QColor(200,52,52)},
{"plot_graph3", QColor(127,200,127)},
{"plot_graph4", QColor(206,125,44)},
{"plot_graph5", QColor(210,210,127)},
{"plot_graph6", QColor(79,203,203)},
{"plot_graph7", QColor(157,127,210)},
{"plot_graph8", QColor(129,212,250)},
{"plot_graph9", QColor(180,180,180)},
{"plot_graph10", QColor(219,98,139)},
{"plot_graph11", QColor(250,250,200)},
};
bool Utility::isDark = false;
Utility::Utility(QObject *parent) : QObject(parent)
{
}
double Utility::map(double x, double in_min, double in_max, double out_min, double out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
float Utility::throttle_curve(float val, float curve_acc, float curve_brake, int mode)
{
float ret = 0.0;
float val_a = fabsf(val);
if (val < -1.0) {
val = -1.0;
}
if (val > 1.0) {
val = 1.0;
}
float curve;
if (val >= 0.0) {
curve = curve_acc;
} else {
curve = curve_brake;
}
// See
// http://math.stackexchange.com/questions/297768/how-would-i-create-a-exponential-ramp-function-from-0-0-to-1-1-with-a-single-val
if (mode == 0) { // Power
if (curve >= 0.0) {
ret = 1.0 - powf(1.0 - val_a, 1.0 + curve);
} else {
ret = powf(val_a, 1.0 - curve);
}
} else if (mode == 1) { // Exponential
if (fabsf(curve) < 1e-10) {
ret = val_a;
} else {
if (curve >= 0.0) {
ret = 1.0 - ((expf(curve * (1.0 - val_a)) - 1.0) / (expf(curve) - 1.0));
} else {
ret = (expf(-curve * val_a) - 1.0) / (expf(-curve) - 1.0);
}
}
} else if (mode == 2) { // Polynomial
if (curve >= 0.0) {
ret = 1.0 - ((1.0 - val_a) / (1.0 + curve * val_a));
} else {
ret = val_a / (1.0 - curve * (1.0 - val_a));
}
} else { // Linear
ret = val_a;
}
if (val < 0.0) {
ret = -ret;
}
return ret;
}
bool Utility::autoconnectBlockingWithProgress(VescInterface *vesc, QWidget *parent)
{
if (!vesc) {
return false;
}
QProgressDialog dialog("Autoconnecting...", QString(), 0, 0, parent);
dialog.setWindowModality(Qt::WindowModal);
dialog.show();
bool res = vesc->autoconnect();
if (!res) {
vesc->emitMessageDialog(QObject::tr("Autoconnect"),
QObject::tr("Could not autoconnect. Make sure that the USB cable is plugged in "
"and that the VESC is powered."),
false);
}
return res;
}
void Utility::checkVersion(VescInterface *vesc)
{
QString version = QString::number(VT_VERSION);
QUrl url("https://vesc-project.com/vesctool-version.html");
QNetworkAccessManager manager;
QNetworkRequest request(url);
QNetworkReply *reply = manager.get(request);
QEventLoop loop;
QObject::connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
loop.exec();
QString res = QString::fromUtf8(reply->readAll());
if (res.startsWith("vesctoolversion")) {
res.remove(0, 15);
res.remove(res.indexOf("vesctoolversion"), res.size());
if (res.toDouble() > version.toDouble()) {
if (vesc) {
vesc->emitStatusMessage("A new version of VESC Tool is available", true);
vesc->emitMessageDialog(QObject::tr("New Software Available"),
QObject::tr("A new version of VESC Tool is available. Go to "
"<a href=\"http://vesc-project.com/\">http://vesc-project.com/</a>"
" to download it and get all the latest features."),
true);
} else {
qDebug() << "A new version of VESC Tool is available. Go to vesc-project.com to download it "
"and get all the latest features.";
}
}
} else {
qWarning() << res;
}
reply->abort();
reply->deleteLater();
}
QString Utility::fwChangeLog()
{
QFile cl("://res/firmwares/CHANGELOG.md");
if (cl.open(QIODevice::ReadOnly | QIODevice::Text)) {
return QString::fromUtf8(cl.readAll());
} else {
return "";
}
}
QString Utility::vescToolChangeLog()
{
QFile cl("://res/CHANGELOG.md");
if (cl.open(QIODevice::ReadOnly | QIODevice::Text)) {
return QString::fromUtf8(cl.readAll());
} else {
return "";
}
}
QString Utility::aboutText()
{
return tr("<b>VESC® Tool %1</b><br>"
#if VT_IS_TEST_VERSION
"Test Version %2<br>"
#endif
"GIT Commit " STR(VT_GIT_COMMIT) "<br>"
#if defined(VER_ORIGINAL)
"Original Version<br>"
#elif defined(VER_PLATINUM)
"Platinum Version<br>"
#elif defined(VER_GOLD)
"Gold Version<br>"
#elif defined(VER_SILVER)
"Silver Version<br>"
#elif defined(VER_BRONZE)
"Bronze Version<br>"
#elif defined(VER_FREE)
"Free of Charge Version<br>"
#endif
"© Benjamin Vedder 2016 - 2024<br>"
"<a href=\"mailto:[email protected]\">[email protected]</a><br>"
"<a href=\"https://vesc-project.com/\">https://vesc-project.com/</a>")
.arg(QString::number(VT_VERSION, 'f', 2))
#if VT_IS_TEST_VERSION
.arg(QString::number(VT_IS_TEST_VERSION))
#endif
;
}
QString Utility::uuid2Str(QByteArray uuid, bool space)
{
QString strUuid;
for (int i = 0;i < uuid.size();i++) {
QString str = QString::number((uint8_t)uuid.at(i), 16).
rightJustified(2, '0').toUpper();
strUuid.append(((i > 0 && space) ? " " : "") + str);
}
return strUuid;
}
bool Utility::requestFilePermission()
{
#ifdef Q_OS_ANDROID
#if QT_VERSION >= QT_VERSION_CHECK(5, 10, 0)
// https://codereview.qt-project.org/#/c/199162/
QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
if(r == QtAndroid::PermissionResult::Denied) {
QtAndroid::requestPermissionsSync( QStringList() << "android.permission.WRITE_EXTERNAL_STORAGE", 10000);
r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
if(r == QtAndroid::PermissionResult::Denied) {
return false;
}
}
return true;
#else
return true;
#endif
#else
return true;
#endif
}
bool Utility::requestBleScanPermission()
{
#ifdef Q_OS_ANDROID
#if QT_VERSION >= QT_VERSION_CHECK(5, 10, 0)
QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.BLUETOOTH_SCAN");
if(r == QtAndroid::PermissionResult::Denied) {
QtAndroid::requestPermissionsSync( QStringList() << "android.permission.BLUETOOTH_SCAN", 10000);
r = QtAndroid::checkPermission("android.permission.BLUETOOTH_SCAN");
if(r == QtAndroid::PermissionResult::Denied) {
return false;
}
}
return true;
#else
return true;
#endif
#else
return true;
#endif
}
bool Utility::requestBleConnectPermission()
{
#ifdef Q_OS_ANDROID
#if QT_VERSION >= QT_VERSION_CHECK(5, 10, 0)
QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.BLUETOOTH_CONNECT");
if(r == QtAndroid::PermissionResult::Denied) {
QtAndroid::requestPermissionsSync( QStringList() << "android.permission.BLUETOOTH_CONNECT", 10000);
r = QtAndroid::checkPermission("android.permission.BLUETOOTH_CONNECT");
if(r == QtAndroid::PermissionResult::Denied) {
return false;
}
}
return true;
#else
return true;
#endif
#else
return true;
#endif
}
bool Utility::hasLocationPermission()
{
#ifdef Q_OS_ANDROID
QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.ACCESS_FINE_LOCATION");
if (r == QtAndroid::PermissionResult::Denied) {
return false;
} else {
return true;
}
#else
return true;
#endif
}
void Utility::keepScreenOn(bool on)
{
#ifdef Q_OS_IOS
#endif
#ifdef Q_OS_ANDROID
QtAndroid::runOnAndroidThread([on]{
QAndroidJniObject activity = QtAndroid::androidActivity();
if (activity.isValid()) {
QAndroidJniObject window =
activity.callObjectMethod("getWindow", "()Landroid/view/Window;");
if (window.isValid()) {
const int FLAG_KEEP_SCREEN_ON = 128;
if (on) {
window.callMethod<void>("addFlags", "(I)V", FLAG_KEEP_SCREEN_ON);
} else {
window.callMethod<void>("clearFlags", "(I)V", FLAG_KEEP_SCREEN_ON);
}
}
}
QAndroidJniEnvironment env;
if (env->ExceptionCheck()) {
env->ExceptionClear();
}
});
#else
(void)on;
#endif
}
void Utility::allowScreenRotation(bool enabled)
{
#ifdef Q_OS_ANDROID
if (enabled) {
QAndroidJniObject activity = QtAndroid::androidActivity();
activity.callMethod<void>("setRequestedOrientation", "(I)V",
QAndroidJniObject::getStaticField<int>("android.content.pm.ActivityInfo",
"SCREEN_ORIENTATION_UNSPECIFIED"));
} else {
QAndroidJniObject activity = QtAndroid::androidActivity();
activity.callMethod<void>("setRequestedOrientation", "(I)V",
QAndroidJniObject::getStaticField<int>("android.content.pm.ActivityInfo",
"SCREEN_ORIENTATION_PORTRAIT"));
}
#else
(void)enabled;
#endif
}
bool Utility::waitSignal(QObject *sender, QString signal, int timeoutMs)
{
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(timeoutMs);
auto conn1 = QObject::connect(sender, signal.toLocal8Bit().data(), &loop, SLOT(quit()));
auto conn2 = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
QObject::disconnect(conn1);
QObject::disconnect(conn2);
return timeoutTimer.isActive();
}
void Utility::sleepWithEventLoop(int timeMs)
{
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(timeMs);
auto conn1 = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
QObject::disconnect(conn1);
}
QString Utility::detectAllFoc(VescInterface *vesc,
bool detect_can, double max_power_loss, double min_current_in,
double max_current_in, double openloop_rpm, double sl_erpm)
{
QString res;
bool detectOk = true;
vesc->commands()->disableAppOutput(180000, true);
Utility::sleepWithEventLoop(100);
vesc->commands()->detectAllFoc(detect_can, max_power_loss, min_current_in,
max_current_in, openloop_rpm, sl_erpm);
QEventLoop loop;
QTimer timeoutTimer;
QTimer pollTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(180000);
pollTimer.start(100);
int resDetect = 0;
auto conn = connect(vesc->commands(), &Commands::detectAllFocReceived,
[&resDetect, &loop](int result) {
resDetect = result;
loop.quit();
});
QString pollRes;
auto conn2 = connect(&pollTimer, &QTimer::timeout,
[&pollRes, &loop, &vesc]() {
if (!vesc->isPortConnected()) {
pollRes = "VESC disconnected during detection.";
loop.quit();
}
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
disconnect(conn2);
if (timeoutTimer.isActive() && pollRes.isEmpty()) {
if (resDetect >= 0) {
ConfigParams *p = vesc->mcConfig();
ConfigParams *ap = vesc->appConfig();
// MCConf should have been sent after the detection
vesc->commands()->getAppConf();
waitSignal(ap, SIGNAL(updated()), 4000);
auto genRes = [&p, &ap]() {
QString sensors;
switch (p->getParamEnum("foc_sensor_mode")) {
case 0: sensors = "Sensorless"; break;
case 1: sensors = "Encoder"; break;
case 2: sensors = "Hall Sensors"; break;
default: break; }
return QString("VESC ID : %1\n"
"Motor current : %2 A\n"
"Motor R : %3 mΩ\n"
"Motor L : %4 µH\n"
"Motor Lq-Ld : %5 µH\n"
"Motor Flux Linkage : %6 mWb\n"
"Temp Comp : %7\n"
"Sensors : %8").
arg(ap->getParamInt("controller_id")).
arg(p->getParamDouble("l_current_max"), 0, 'f', 2).
arg(p->getParamDouble("foc_motor_r") * 1e3, 0, 'f', 2).
arg(p->getParamDouble("foc_motor_l") * 1e6, 0, 'f', 2).
arg(p->getParamDouble("foc_motor_ld_lq_diff") * 1e6, 0, 'f', 2).
arg(p->getParamDouble("foc_motor_flux_linkage") * 1e3, 0, 'f', 2).
arg(p->getParamBool("foc_temp_comp") ? "True" : "False").
arg(sensors);
};
QVector<int> canDevs;
if (detect_can) {
if (!vesc->commands()->getSendCan()) {
res = genRes();
}
canDevs = Utility::scanCanVescOnly(vesc);
} else {
res = genRes();
}
int canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
if (!canDevs.empty()) {
res += "\n\nVESCs on CAN-bus:";
}
for (int id: canDevs) {
vesc->commands()->setSendCan(true, id);
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
break;
}
vesc->commands()->getMcconf();
waitSignal(p, SIGNAL(updated()), 4000);
vesc->commands()->getAppConf();
waitSignal(ap, SIGNAL(updated()), 4000);
res += "\n\n" + genRes();
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->ignoreCanChange(false);
vesc->commands()->getMcconf();
waitSignal(p, SIGNAL(updated()), 4000);
vesc->commands()->getAppConf();
waitSignal(ap, SIGNAL(updated()), 4000);
} else {
QString reason;
switch (resDetect) {
case -1: reason = "Peristent fault, check realtime data page"; break;
case -10: reason = "Flux linkage detection failed"; break;
case -50: reason = "CAN detection timeout"; break;
case -51: reason = "CAN detection failed"; break;
case -100 + FAULT_CODE_NONE: reason = "No fault, detection failed for an unknown reason"; break;
case -100 + FAULT_CODE_OVER_VOLTAGE: reason = "Over voltage fault, check voltage is below set limit"; break;
case -100 + FAULT_CODE_UNDER_VOLTAGE: reason = "Under voltage fault, check voltage is above set limit. If using a power supply make sure the current limit is high enough."; break;
case -100 + FAULT_CODE_DRV: reason = "DRV fault, hardware fault occured. Check there are no shorts"; break;
case -100 + FAULT_CODE_ABS_OVER_CURRENT: reason = "Overcurrent fault, Check there are no shorts and ABS Overcurrent limit is sensible"; break;
case -100 + FAULT_CODE_OVER_TEMP_FET: reason = "Mosfet Overtemperature fault, Mosfets overheated, check for shorts. Cool down device"; break;
case -100 + FAULT_CODE_OVER_TEMP_MOTOR: reason = "Motor Overtemperature fault, Motor overheaded, is the current limit OK?"; break;
case -100 + FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE: reason = "Gate Driver over voltage, check for hardware failure"; break;
case -100 + FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE: reason = "Gate Driver under voltage, check for hardware failure"; break;
case -100 + FAULT_CODE_MCU_UNDER_VOLTAGE: reason = "MCU under voltage, check for hardware failure, shorts on outputs"; break;
case -100 + FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET: reason = "Boot from watchdog reset, software locked up check for firmware corruption"; break;
case -100 + FAULT_CODE_ENCODER_SPI: reason = "Encoder SPI fault, check encoder connections"; break;
case -100 + FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE: reason = "Encoder SINCOS below min amplitude, check encoder connections and magnet alignment / distance"; break;
case -100 + FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE: reason = "Encoder SINCOS above max amplitude, check encoder connections and magnet alignment / distance"; break;
case -100 + FAULT_CODE_FLASH_CORRUPTION: reason = "Flash corruption, reflash firmware immediately!"; break;
case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1: reason = "High offset on current sensor 1, check for hardware failure"; break;
case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2: reason = "High offset on current sensor 2, check for hardware failure"; break;
case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: reason = "High offset on current sensor 3, check for hardware failure"; break;
case -100 + FAULT_CODE_UNBALANCED_CURRENTS: reason = "Unbalanced currents, check for hardware failure"; break;
case -100 + FAULT_CODE_BRK: reason = "BRK, hardware protection triggered, check for shorts or possible hardware failure"; break;
case -100 + FAULT_CODE_RESOLVER_LOT: reason = "Encoder/Resolver: Loss of tracking"; break;
case -100 + FAULT_CODE_RESOLVER_DOS: reason = "Encoder/Resolver: Degradation of signal"; break;
case -100 + FAULT_CODE_RESOLVER_LOS: reason = "Encoder/Resolver: Loss of signal"; break;
case -100 + FAULT_CODE_FLASH_CORRUPTION_APP_CFG: reason = "Flash corruption, App config corrupt, rewrite app config to restore"; break;
case -100 + FAULT_CODE_FLASH_CORRUPTION_MC_CFG: reason = "Flash corruption, Motor config corrupt, rewrite motor config to restore"; break;
case -100 + FAULT_CODE_ENCODER_NO_MAGNET: reason = "Encoder no magnet, magnet is too weak or too far from the encoder"; break;
case -100 + FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: reason = "Magnet too strong, magnet is too strong or too close to the encoder"; break;
case -100 + FAULT_CODE_PHASE_FILTER: reason = "Phase filter fault, invalid phase filter readings"; break;
case -100 + FAULT_CODE_ENCODER_FAULT: reason = "Encoder fault, check encoder connections and alignment"; break;
default: reason = QString::number(resDetect); break;
}
res = QString("Detection failed. Reason:\n%1").arg(reason);
detectOk = false;
}
} else {
if (!pollRes.isEmpty()) {
res = QString("Detection failed. Reason:\n%1").arg(pollRes);
} else {
res = "Detection timed out.";
}
detectOk = false;
}
if (detectOk) {
res.prepend("Success!\n\n");
}
vesc->commands()->disableAppOutput(0, true);
return res;
}
QVector<double> Utility::measureRLBlocking(VescInterface *vesc)
{
QVector<double> res;
vesc->commands()->measureRL();
auto conn = connect(vesc->commands(), &Commands::motorRLReceived, [&res](double r, double l, double ld_lq_diff) {
res.append(r);
res.append(l);
res.append(ld_lq_diff);
});
waitSignal(vesc->commands(), SIGNAL(motorRLReceived(double, double, double)), 8000);
disconnect(conn);
return res;
}
double Utility::measureLinkageOpenloopBlocking(VescInterface *vesc, double current,
double erpm_per_sec, double low_duty, double resistance, double inductance)
{
double res = -1.0;
vesc->commands()->measureLinkageOpenloop(current, erpm_per_sec, low_duty, resistance, inductance);
auto conn = connect(vesc->commands(), &Commands::motorLinkageReceived, [&res](double flux_linkage) {
res = flux_linkage;
});
waitSignal(vesc->commands(), SIGNAL(motorLinkageReceived(double)), 12000);
disconnect(conn);
return res;
}
QVector<int> Utility::measureHallFocBlocking(VescInterface *vesc, double current)
{
QVector<int> resDetect;
vesc->commands()->measureHallFoc(current);
auto conn = connect(vesc->commands(), &Commands::focHallTableReceived,
[&resDetect](QVector<int> hall_table, int res) {
resDetect.append(res);
resDetect.append(hall_table);
});
bool rx = waitSignal(vesc->commands(), SIGNAL(focHallTableReceived(QVector<int>, int)), 25000);
disconnect(conn);
if (!rx) {
resDetect.append(-10);
}
return resDetect;
}
ENCODER_DETECT_RES Utility::measureEncoderBlocking(VescInterface *vesc, double current)
{
ENCODER_DETECT_RES resDetect;
vesc->commands()->measureEncoder(current);
auto conn = connect(vesc->commands(), &Commands::encoderParamReceived,
[&resDetect](ENCODER_DETECT_RES res) {
resDetect = res;
});
waitSignal(vesc->commands(), SIGNAL(encoderParamReceived(ENCODER_DETECT_RES)), 50000);
disconnect(conn);
return resDetect;
}
bool Utility::waitMotorStop(VescInterface *vesc, double erpmTres, int timeoutMs)
{
QTimer t;
t.start(timeoutMs);
t.setSingleShot(true);
auto val = getMcValuesBlocking(vesc);
while (t.isActive() && fabs(val.rpm) > erpmTres) {
val = getMcValuesBlocking(vesc);
sleepWithEventLoop(100);
}
return t.isActive();
}
bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
{
bool res = true;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
auto update = [vesc]() {
bool res = true;
ConfigParams *ap = vesc->appConfig();
if (isConnectedToHwVesc(vesc)) {
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
res = false;
qWarning() << "Incompatible firmware";
return false;
}
vesc->commands()->getAppConf();
res = waitSignal(ap, SIGNAL(updated()), 4000);
if (!res) {
qWarning() << "Appconf not received";
return false;
}
int canId = ap->getParamInt("controller_id");
int canStatus;
int canStatus2;
bool has_bitfield_params = ap->hasParam("can_status_msgs_r1");
if (has_bitfield_params) {
canStatus = ap->getParamInt("can_status_msgs_r1");
canStatus2 = ap->getParamInt("can_status_msgs_r2");
} else {
canStatus = ap->getParamEnum("send_can_status");
}
vesc->commands()->getAppConfDefault();
res = waitSignal(ap, SIGNAL(updated()), 4000);
if (!res) {
qWarning() << "Default appconf not received";
return false;
}
ap->updateParamInt("controller_id", canId);
if (has_bitfield_params) {
ap->updateParamInt("can_status_msgs_r1", canStatus);
ap->updateParamInt("can_status_msgs_r2", canStatus2);
} else {
ap->updateParamEnum("send_can_status", canStatus);
}
vesc->commands()->setAppConf();
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
if (!res) {
qWarning() << "Appconf set no ack received";
return false;
}
}
return res;
};
// Local VESC first
vesc->commands()->setSendCan(false);
res = update();
// All VESCs on CAN-bus
if (res) {
for (int id: canIds) {
vesc->commands()->setSendCan(true, id);
res = update();
if (!res) {
break;
}
}
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
if (isConnectedToHwVesc(vesc)) {
vesc->commands()->getAppConf();
ConfigParams *ap = vesc->appConfig();
if (!waitSignal(ap, SIGNAL(updated()), 4000)) {
qWarning() << "Appconf not received";
res = false;
}
}
vesc->ignoreCanChange(false);
return res;
}
bool Utility::setBatteryCutCan(VescInterface *vesc, QVector<int> canIds, double cutStart, double cutEnd)
{
vesc->mcConfig()->updateParamDouble("l_battery_cut_start", cutStart);
vesc->mcConfig()->updateParamDouble("l_battery_cut_end", cutEnd);
return setMcParamsFromCurrentConfigAllCan(vesc, canIds, {"l_battery_cut_start", "l_battery_cut_end"});
}
bool Utility::setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds, bool cautious)
{
ConfigParams *p = vesc->mcConfig();
int battType = p->getParamEnum("si_battery_type");
int cells = p->getParamInt("si_battery_cells");
double start = -1.0;
double end = -1.0;
if (cautious) {
if (battType == 0) {
start = 3.4;
end = 3.0;
} else if (battType == 1) {
start = 2.9;
end = 2.6;
} else {
return false;
}
} else {
if (battType == 0) {
start = 2.7;
end = 2.5;
} else if (battType == 1) {
start = 2.5;
end = 2.2;
} else {
return false;
}
}
start *= (double)cells;
end *= (double)cells;
vesc->mcConfig()->updateParamDouble("l_battery_cut_start", start);
vesc->mcConfig()->updateParamDouble("l_battery_cut_end", end);
return setMcParamsFromCurrentConfigAllCan(vesc, canIds, {"l_battery_cut_start", "l_battery_cut_end",
"si_battery_type", "si_battery_cells"});
}
/**
* @brief Utility::setMcParamsFromCurrentConfigAllCan
* Take the list of parameters from the current config and apply them on all VESCs on the CAN-bus (including the local one)
*
* @param vesc
* VescInterface pointer
*
* @param canIds
* A list with CAN-IDs to send the parameters to
*
* @param params
* The motor configuration parameters to set
*
* @return
* True for success, false otherwise.
*/
bool Utility::setMcParamsFromCurrentConfigAllCan(VescInterface *vesc, QVector<int> canIds, QStringList params)
{
bool res = true;
ConfigParams *config = vesc->mcConfig();
QVector<QPair<QString, ConfigParam>> paramVec;
for (auto s: params) {
paramVec.append(qMakePair(s, config->getParamCopy(s)));
}
auto updateConf = [&vesc, &config, ¶mVec]() {
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
return false;
}
vesc->commands()->getMcconf();
if (!waitSignal(config, SIGNAL(updated()), 4000)) {
vesc->emitMessageDialog("Read Motor Configuration",
"Could not read motor configuration.",
false, false);
return false;
}
for (auto p: paramVec) {
config->updateParamFromOther(p.first, p.second, nullptr);
}
vesc->commands()->setMcconf(false);
if (!waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000)) {
vesc->emitMessageDialog("Write Motor Configuration",
"Could not write motor configuration.",
false, false);
return false;
}
return true;
};
// Start with local VESC
vesc->canTmpOverride(false, 0);
if (isConnectedToHwVesc(vesc)) {
res = updateConf();
}
// Now every VESC on the CAN-bus
if (res) {
for (int id: canIds) {
vesc->canTmpOverride(true, id);
if (isConnectedToHwVesc(vesc)) {
res = updateConf();
if (!res) {
break;
}
}
}
}
vesc->canTmpOverrideEnd();
vesc->commands()->getMcconf();
if (!waitSignal(config, SIGNAL(updated()), 4000)) {
res = false;
if (!res) {
vesc->emitMessageDialog("Read Motor Configuration",
"Could not read motor configuration.",
false, false);
}
}
return res;
}
bool Utility::setInvertDirection(VescInterface *vesc, int canId, bool inverted)
{
bool res = true;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
vesc->commands()->setSendCan(canId >= 0, canId);
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
res = false;
}
ConfigParams *p = vesc->mcConfig();
if (res) {
vesc->commands()->getMcconf();
res = waitSignal(p, SIGNAL(updated()), 4000);
}
if (res) {
p->updateParamBool("m_invert_direction", inverted);
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->commands()->getMcconf();
if (!waitSignal(p, SIGNAL(updated()), 4000)) {
res = false;
}
vesc->ignoreCanChange(false);
return res;
}
bool Utility::getInvertDirection(VescInterface *vesc, int canId)
{
bool res = false;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
vesc->commands()->setSendCan(canId >= 0, canId);
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->ignoreCanChange(false);