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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"
#include <cmath>
#include <QProgressDialog>
#include <QEventLoop>
#include <QNetworkAccessManager>
#include <QUrl>
#include <QNetworkRequest>
#include <QDebug>
#include <QNetworkReply>
#include <QMessageBox>
#include <QFile>
#include <QFileInfo>
#include <QtGlobal>
#include <QNetworkInterface>
#include <QDirIterator>
#ifdef Q_OS_ANDROID
#include <QtAndroid>
#include <QAndroidJniObject>
#include <QAndroidJniEnvironment>
#endif
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");
if (cl.open(QIODevice::ReadOnly | QIODevice::Text)) {
return QString::fromUtf8(cl.readAll());
} else {
return "";
}
}
QString Utility::vescToolChangeLog()
{
QFile cl("://res/CHANGELOG");
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 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 - 2019<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));
}
QString Utility::uuid2Str(QByteArray uuid, bool space)
{
QString strUuid;
for (int i = 0;i < uuid.size();i++) {
QString str = QString::number(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", 5000);
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
}
void Utility::keepScreenOn(bool on)
{
#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
}
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()->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);
vesc->commands()->disableAppOutput(180000, true);
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()), 1500);
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 Flux Linkage : %5 mWb\n"
"Temp Comp : %6\n"
"Sensors : %7").
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_flux_linkage") * 1e3, 0, 'f', 2).
arg(p->getParamBool("foc_temp_comp") ? "True" : "False").
arg(sensors);
};
QVector<int> canDevs = vesc->scanCan();
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()), 1500);
vesc->commands()->getAppConf();
waitSignal(ap, SIGNAL(updated()), 1500);
res += "\n\n" + genRes();
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->ignoreCanChange(false);
vesc->commands()->getMcconf();
waitSignal(p, SIGNAL(updated()), 1500);
vesc->commands()->getAppConf();
waitSignal(ap, SIGNAL(updated()), 1500);
} else {
QString reason;
switch (resDetect) {
case -1: reason = "Sensor detection failed"; break;
case -10: reason = "Flux linkage detection failed"; break;
case -50: reason = "CAN detection timeout"; break;
case -51: reason = "CAN detection failed"; 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;
}
bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
{
bool res = true;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
// Local VESC first
ConfigParams *ap = vesc->appConfig();
vesc->commands()->setSendCan(false);
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";
}
if (res) {
vesc->commands()->getAppConf();
res = waitSignal(ap, SIGNAL(updated()), 1500);
if (!res) {
qWarning() << "Appconf not received";
}
}
if (res) {
int canId = ap->getParamInt("controller_id");
int canStatus = ap->getParamEnum("send_can_status");
vesc->commands()->getAppConfDefault();
res = waitSignal(ap, SIGNAL(updated()), 1500);
if (!res) {
qWarning() << "Default appconf not received";
}
if (res) {
ap->updateParamInt("controller_id", canId);
ap->updateParamEnum("send_can_status", canStatus);
vesc->commands()->setAppConf();
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 3000);
if (!res) {
qWarning() << "Appconf set no ack received";
}
}
}
// All VESCs on CAN-bus
if (res) {
for (int id: canIds) {
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);
res = false;
}
if (!res) {
qWarning() << "Incompatible firmware";
break;
}
vesc->commands()->getAppConf();
res = waitSignal(ap, SIGNAL(updated()), 1500);
if (!res) {
qWarning() << "Appconf not received";
break;
}
int canId = ap->getParamInt("controller_id");
int canStatus = ap->getParamEnum("send_can_status");
vesc->commands()->getAppConfDefault();
res = waitSignal(ap, SIGNAL(updated()), 1500);
if (!res) {
qWarning() << "Default appconf not received";
break;
}
ap->updateParamInt("controller_id", canId);
ap->updateParamEnum("send_can_status", canStatus);
vesc->commands()->setAppConf();
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 3000);
if (!res) {
qWarning() << "Appconf set no ack received";
break;
}
}
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->commands()->getAppConf();
if (!waitSignal(ap, SIGNAL(updated()), 1500)) {
qWarning() << "Appconf not received";
res = false;
}
vesc->ignoreCanChange(false);
return res;
}
bool Utility::setBatteryCutCan(VescInterface *vesc, QVector<int> canIds,
double cutStart, double cutEnd)
{
bool res = true;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->ignoreCanChange(true);
// Local VESC first
ConfigParams *p = vesc->mcConfig();
vesc->commands()->setSendCan(false);
if (!checkFwCompatibility(vesc)) {
vesc->emitMessageDialog("FW Versions",
"All VESCs must have the latest firmware to perform this operation.",
false, false);
res = false;
}
if (res) {
vesc->commands()->getMcconf();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (!res) {
vesc->emitMessageDialog("Read Motor Configuration",
"Could not read motor configuration.",
false, false);
}
}
if (res) {
p->updateParamDouble("l_battery_cut_start", cutStart);
p->updateParamDouble("l_battery_cut_end", cutEnd);
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
if (!res) {
vesc->emitMessageDialog("Write Motor Configuration",
"Could not write motor configuration.",
false, false);
}
}
// All VESCs on CAN-bus
if (res) {
for (int id: canIds) {
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);
res = false;
break;
}
vesc->commands()->getMcconf();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (!res) {
vesc->emitMessageDialog("Read Motor Configuration",
"Could not read motor configuration.",
false, false);
break;
}
p->updateParamDouble("l_battery_cut_start", cutStart);
p->updateParamDouble("l_battery_cut_end", cutEnd);
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
if (!res) {
vesc->emitMessageDialog("Write Motor Configuration",
"Could not write motor configuration.",
false, false);
break;
}
}
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->commands()->getMcconf();
if (!waitSignal(p, SIGNAL(updated()), 1500)) {
res = false;
if (!res) {
vesc->emitMessageDialog("Read Motor Configuration",
"Could not read motor configuration.",
false, false);
}
}
vesc->ignoreCanChange(false);
return res;
}
bool Utility::setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds)
{
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 (battType == 0) {
start = 3.4;
end = 3.0;
} else if (battType == 1) {
start = 2.9;
end = 2.6;
} else {
return false;
}
start *= (double)cells;
end *= (double)cells;
return setBatteryCutCan(vesc, canIds, start, end);
}
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()), 1500);
}
if (res) {
p->updateParamBool("m_invert_direction", inverted);
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
}
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->commands()->getMcconf();
if (!waitSignal(p, SIGNAL(updated()), 1500)) {
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);
return false;
}
ConfigParams *p = vesc->mcConfig();
vesc->commands()->getMcconf();
waitSignal(p, SIGNAL(updated()), 1500);
res = p->getParamBool("m_invert_direction");
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->commands()->getMcconf();
waitSignal(p, SIGNAL(updated()), 1500);
vesc->ignoreCanChange(false);
return res;
}
QString Utility::testDirection(VescInterface *vesc, int canId, double duty, int ms)
{
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
vesc->commands()->disableAppOutput(ms, true);
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);
return "FW not up to date";
}
QEventLoop loop;
QTimer timeoutTimer;
QTimer pollTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(ms);
pollTimer.start(20);
QString pollRes = "Ok";
auto conn = connect(&pollTimer, &QTimer::timeout,
[&pollRes, &loop, &vesc, &duty, &ms, &timeoutTimer]() {
if (!vesc->isPortConnected()) {
pollRes = "VESC disconnected.";
loop.quit();
} else {
double d = 2.0 * duty * (double)(ms - timeoutTimer.remainingTime()) / (double)ms;
if (fabs(d) > fabs(duty)) {
d = duty;
}
vesc->commands()->setDutyCycle(d);
}
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
vesc->commands()->setCurrent(0.0);
vesc->commands()->setSendCan(canLastFwd, canLastId);
vesc->ignoreCanChange(false);
return pollRes;
}
/**
* @brief Utility::restoreConfAll
* Restore the VESC configuration to the default values.
*
* @param vesc
* Pointer to a connected VescInterface instance.
*
* @param can
* Scan CAN-bus and restore all devices.
*
* @param mc
* Restore mc configuration.
*
* @param app
* Restore app configuration.
*
* @return
* true for success, false otherwise.
*/
bool Utility::restoreConfAll(VescInterface *vesc, bool can, bool mc, bool app)
{
bool res = true;
bool canLastFwd = vesc->commands()->getSendCan();
int canLastId = vesc->commands()->getCanSendId();
if (can) {
vesc->ignoreCanChange(true);
vesc->commands()->setSendCan(false);
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);
return false;
}
}
if (mc) {
ConfigParams *p = vesc->mcConfig();
vesc->commands()->getMcconfDefault();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (res) {
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
}
}
if (app) {
ConfigParams *p = vesc->appConfig();
vesc->commands()->getAppConfDefault();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (res) {
vesc->commands()->setAppConf();
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
}
}
if (res && can) {
QVector<int> canDevs = vesc->scanCan();
for (int d: canDevs) {
vesc->commands()->setSendCan(true, d);
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);
return false;
}
if (mc) {
ConfigParams *p = vesc->mcConfig();
vesc->commands()->getMcconfDefault();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (!res) {
break;
}
vesc->commands()->setMcconf(false);
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
if (!res) {
break;
}
}
if (app) {
ConfigParams *p = vesc->appConfig();
vesc->commands()->getAppConfDefault();
res = waitSignal(p, SIGNAL(updated()), 1500);
if (!res) {
break;
}
vesc->commands()->setAppConf();
res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 2000);
if (!res) {
break;
}
}
}
}
if (can) {
vesc->commands()->setSendCan(canLastFwd, canLastId);
if (mc) {
ConfigParams *p = vesc->mcConfig();
vesc->commands()->getMcconf();
if (!waitSignal(p, SIGNAL(updated()), 1500)) {
res = false;
qWarning() << "Could not restore mc conf";
}
}
if (app) {
ConfigParams *p = vesc->appConfig();
vesc->commands()->getAppConf();
if (!waitSignal(p, SIGNAL(updated()), 1500)) {
res = false;
qWarning() << "Could not restore app conf";
}
}
vesc->ignoreCanChange(false);
}
return res;
}
bool Utility::almostEqual(double A, double B, double eps)
{
return fabs(A - B) <= eps * fmax(1.0f, fmax(fabs(A), fabs(B)));
}
bool Utility::createParamParserC(VescInterface *vesc, QString filename)
{
if (filename.toLower().endsWith(".c") || filename.toLower().endsWith(".h")) {
filename.chop(2);
}
QString sourceFileName = filename + ".c";
QString headerFileName = filename + ".h";
QFile sourceFile(sourceFileName);
if (!sourceFile.open(QIODevice::WriteOnly)) {
qWarning() << tr("Could not open %1 for writing").arg(sourceFileName);
return false;
}
QFile headerFile(headerFileName);
if (!headerFile.open(QIODevice::WriteOnly)) {
qWarning() << tr("Could not open %1 for writing").arg(headerFileName);
return false;
}
QTextStream outSource(&sourceFile);
QTextStream outHeader(&headerFile);
QFileInfo headerInfo(headerFile);
QString headerNameStr = headerInfo.fileName().toUpper().replace(".", "_") + "_";
QString prefix = headerInfo.fileName();
prefix.chop(2);
outHeader << "// This file is autogenerated by VESC Tool\n\n";
outHeader << "#ifndef " + headerNameStr + "\n";
outHeader << "#define " + headerNameStr + "\n\n";
outHeader << "#include \"datatypes.h\"\n";
outHeader << "#include <stdint.h>\n";
outHeader << "#include <stdbool.h>\n\n";
outHeader << "// Constants\n";
outHeader << "#define MCCONF_SIGNATURE\t\t" << vesc->mcConfig()->getSignature() << "\n";
outHeader << "#define APPCONF_SIGNATURE\t\t" << vesc->appConfig()->getSignature() << "\n\n";
outHeader << "// Functions\n";
outHeader << "int32_t " << prefix << "_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);\n";
outHeader << "int32_t " << prefix << "_serialize_appconf(uint8_t *buffer, const app_configuration *conf);\n\n";
outHeader << "bool " << prefix << "_deserialize_mcconf(const uint8_t *buffer, mc_configuration *conf);\n";
outHeader << "bool " << prefix << "_deserialize_appconf(const uint8_t *buffer, app_configuration *conf);\n\n";
outHeader << "void " << prefix << "_set_defaults_mcconf(mc_configuration *conf);\n";
outHeader << "void " << prefix << "_set_defaults_appconf(app_configuration *conf);\n\n";
outHeader << "// " + headerNameStr + "\n";
outHeader << "#endif\n";
auto serialFunc = [](ConfigParams *params, QTextStream &s) {
QStringList serialOrder = params->getSerializeOrder();