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mainwindow.cpp
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/*
Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
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 "mainwindow.h"
#include "ui_mainwindow.h"
#include <QMessageBox>
#include <QDebug>
#include <QInputDialog>
#include <QFileDialog>
#include <QListWidgetItem>
#include <cmath>
#include <QEventLoop>
#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"
namespace {
void stepTowards(double &value, double goal, double step) {
if (value < goal) {
if ((value + step) < goal) {
value += step;
} else {
value = goal;
}
} else if (value > goal) {
if ((value - step) > goal) {
value -= step;
} else {
value = goal;
}
}
}
struct DebugMsg {
public:
DebugMsg() {
type = QtDebugMsg;
line = -1;
isBad = false;
}
QtMsgType type;
QString msg;
QString msgLong;
bool isBad;
QString file;
int line;
QString function;
};
QMutex myDebugMsgMutex;
QVector<DebugMsg> myDebugMsgs;
void myMessageOutput(QtMsgType type, const QMessageLogContext &context, const QString &msg)
{
QByteArray localMsg = msg.toLocal8Bit();
QString str;
QString typeStr;
bool isBad = false;
switch (type) {
case QtDebugMsg: typeStr = "DEBUG"; break;
// case QtInfoMsg: typeStr = "INFO"; break;
case QtWarningMsg: typeStr = "WARNING"; isBad = true; break;
case QtCriticalMsg: typeStr = "CRITICAL"; isBad = true; break;
case QtFatalMsg: typeStr = "FATAL"; isBad = true; break;
default:
break;
}
str = QString("%1 (%2:%3 %4): %5").arg(typeStr).arg(QString::fromLocal8Bit(context.file)).
arg(context.line).arg(QString::fromLocal8Bit(context.function)).arg(QString::fromLocal8Bit(localMsg));
DebugMsg dmsg;
dmsg.msg = msg;
dmsg.msgLong = str;
dmsg.isBad = isBad;
dmsg.type = type;
dmsg.file = context.file;
dmsg.line = context.line;
dmsg.function = context.function;
{
QMutexLocker locker(&myDebugMsgMutex);
myDebugMsgs.append(dmsg);
}
printf("%s\n", str.toLocal8Bit().data());
fflush(stdout);
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
this->setWindowIcon(QIcon(":/res/icon.svg"));
QString theme = Utility::getThemePath();
ui->actionParameterEditorMcconf->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
ui->actionParameterEditorAppconf->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
ui->actionParameterEditorFW->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
ui->actionParameterEditorCustomConf0->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
ui->actionSaveAppconfXml->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionPreferences->setIcon(QPixmap(theme + "icons/Settings-96.png"));
ui->actionLoadAppconfXml->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
ui->actionSaveMotorConfXml->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionLoadMotorConfXml->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
ui->actionSaveAppConfigurationHeader->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionSaveAppConfigurationHeaderWrap->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionSaveMotorConfigurationHeader->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionSaveMotorConfigurationHeaderWrap->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionExportConfigurationParser->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionTerminalPrintFaults->setIcon(QPixmap(theme + "icons/Console-96.png"));
ui->actionTerminalShowHelp->setIcon(QPixmap(theme + "icons/Help-96.png"));
ui->actionTerminalClear->setIcon(QPixmap(theme + "icons/Delete-96.png"));
ui->actionTerminalPrintThreads->setIcon(QPixmap(theme + "icons/Electronics-96.png"));
ui->actionTerminalDRVResetLatchedFaults->setIcon(QPixmap(theme + "icons/Bug-96.png"));
ui->actionLibrariesUsed->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionMotorSetupWizard->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
ui->actionAppSetupWizard->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
ui->actionAutoSetupFOC->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
ui->actionSetupMotorsFOCQuick->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
ui->actionAboutQt->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionParameterEditorInfo->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
ui->actionSafetyInformation->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionVESCToolChangelog->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionFirmwareChangelog->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionWarrantyStatement->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionLicense->setIcon(QPixmap(theme + "icons/About-96.png"));
ui->actionVESCProjectForums->setIcon(QPixmap(theme + "icons/User Group Man Man-96.png"));
ui->actionLoadFirmwareConfigs->setIcon(QPixmap(theme + "icons/Electronics-96.png"));
ui->actionBackupConfiguration->setIcon(QPixmap(theme + "icons/Save-96.png"));
ui->actionBackupConfigurationsCAN->setIcon(QPixmap(theme + "icons/Save-96.png"));
ui->actionRestoreConfiguration->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
ui->actionRestoreConfigurationsCAN->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
ui->actionClearConfigurationBackups->setIcon(QPixmap(theme + "icons/Delete-96.png"));
ui->actionBackupConfiguration->setIcon(QPixmap(theme + "icons/Save as-96.png"));
ui->actionReboot->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
ui->actionExit->setIcon(QPixmap(theme + "icons/Shutdown-96.png"));
ui->pageLabel->setPixmap(QPixmap(theme + "logo.png"));
ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-96.png"));
ui->actionDisconnect->setIcon(QIcon(theme + "icons/Disconnected-96.png"));
ui->actionReadMcconf->setIcon(QIcon(theme + "icons/motor_up.png"));
ui->actionReadMcconfDefault->setIcon(QIcon(theme + "icons/motor_default.png"));
ui->actionWriteMcconf->setIcon(QIcon(theme + "icons/motor_down.png"));
ui->actionReadAppconf->setIcon(QIcon(theme + "icons/app_up.png"));
ui->actionReadAppconfDefault->setIcon(QIcon(theme + "icons/app_default.png"));
ui->actionWriteAppconf->setIcon(QIcon(theme + "icons/app_down.png"));
QIcon mycon = QIcon(theme + "icons/keys_off.png");
mycon.addPixmap(QPixmap(theme + "icons/keys_on.png"), QIcon::Normal, QIcon::On);
ui->actionKeyboardControl->setIcon(mycon);
ui->actionGamepadControl->setIcon(QIcon(theme + "icons/Controller-96.png"));
mycon = QIcon(theme + "icons/rt_off.png");
mycon.addPixmap(QPixmap(theme + "icons/rt_on.png"), QIcon::Normal, QIcon::On);
ui->actionRtData->setIcon(mycon);
mycon = QIcon(theme + "icons/rt_app_off.png");
mycon.addPixmap(QPixmap(theme + "icons/rt_app_on.png"), QIcon::Normal, QIcon::On);
ui->actionRtDataApp->setIcon(mycon);
mycon = QIcon(theme + "icons/imu_off.png");
mycon.addPixmap(QPixmap(theme + "icons/imu_on.png"), QIcon::Normal, QIcon::On);
ui->actionIMU->setIcon(mycon);
mycon = QIcon(theme + "icons/bms_off.png");
mycon.addPixmap(QPixmap(theme + "icons/bms_on.png"), QIcon::Normal, QIcon::On);
ui->actionrtDataBms->setIcon(mycon);
mycon = QIcon(theme + "icons/alive_off.png");
mycon.addPixmap(QPixmap(theme + "icons/alive_on.png"), QIcon::Normal, QIcon::On);
ui->actionSendAlive->setIcon(mycon);
mycon = QIcon(theme + "icons/can_off.png");
mycon.addPixmap(QPixmap(theme + "icons/can_on.png"), QIcon::Normal, QIcon::On);
ui->actionCanFwd->setIcon(mycon);
ui->scanCanButton->setIcon(QIcon(theme + "icons/Refresh-96.png"));
ui->dutyButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
ui->currentButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
ui->speedButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
ui->posButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
ui->brakeCurrentButton->setIcon(QIcon(theme + "icons/Brake Warning-96.png"));
ui->handbrakeButton->setIcon(QIcon(theme + "icons/Brake Warning-96.png"));
ui->fullBrakeButton->setIcon(QIcon(theme + "icons/Anchor-96.png"));
qRegisterMetaType<QtMsgType>("QtMsgType");
mVersion = QString::number(VT_VERSION, 'f', 2);
mVesc = new VescInterface(this);
mPreferences = new Preferences(this);
mPreferences->setVesc(mVesc);
mStatusInfoTime = 0;
mStatusLabel = new QLabel(this);
ui->statusBar->addPermanentWidget(mStatusLabel);
mDebugTimer = new QTimer(this);
mTimer = new QTimer(this);
mKeyLeft = false;
mKeyRight = false;
connect(mDebugTimer, SIGNAL(timeout()),
this, SLOT(timerSlotDebugMsg()));
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, SIGNAL(serialPortNotWritable(QString)),
this, SLOT(serialPortNotWritable(QString)));
connect(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES,unsigned int)),
this, SLOT(valuesReceived(MC_VALUES,unsigned int)));
connect(mVesc->commands(), SIGNAL(mcConfigCheckResult(QStringList)),
this, SLOT(mcConfigCheckResult(QStringList)));
connect(mVesc->mcConfig(), SIGNAL(paramChangedDouble(QObject*,QString,double)),
this, SLOT(paramChangedDouble(QObject*,QString,double)));
connect(ui->actionAboutQt, SIGNAL(triggered(bool)),
qApp, SLOT(aboutQt()));
connect(mVesc->commands(), SIGNAL(pingCanRx(QVector<int>,bool)),
this, SLOT(pingCanRx(QVector<int>,bool)));
ui->dispDuty->setName("Duty");
ui->dispDuty->setRange(100.0);
ui->dispDuty->setUnit(" %");
ui->dispDuty->setDecimals(1);
// Remove the menu with the option to hide the toolbar
ui->mainToolBar->setContextMenuPolicy(Qt::PreventContextMenu);
mVesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
Utility::configLoadLatest(mVesc);
QMenu *fwMenu = new QMenu(this);
fwMenu->setTitle("Load Firmware Configs");
fwMenu->setIcon(QIcon( theme + "icons/Electronics-96.png"));
for (auto fw: Utility::configSupportedFws()) {
QAction *action = new QAction(fwMenu);
action->setText(QString("%1.%2").arg(fw.first).arg(fw.second, 2, 10, QChar('0')));
connect(action, &QAction::triggered, [this,fw]() {
Utility::configLoad(mVesc, fw.first, fw.second);
});
fwMenu->addAction(action);
}
ui->menuTools->addMenu(fwMenu);
QMenu *backupMenu = new QMenu(this);
auto reloadBackupMenu = [this, backupMenu]() {
backupMenu->clear();
backupMenu->setTitle("Load Configuration Backups for UUID");
QString theme = Utility::getThemePath();
backupMenu->setIcon(QIcon( theme + "icons/Open Folder-96.png"));
for (auto uuid: mVesc->confListBackups()) {
QAction *action = new QAction(backupMenu);
action->setIcon(QIcon( theme + "icons/Electronics-96.png"));
QString txt = uuid;
QString name = mVesc->confBackupName(uuid);
if (!name.isEmpty()) {
txt += " (" + name + ")";
}
action->setText(txt);
connect(action, &QAction::triggered, [this,uuid]() {
mVesc->confLoadBackup(uuid);
});
backupMenu->addAction(action);
}
ui->menuTools_2->addMenu(backupMenu);
};
reloadBackupMenu();
connect(mVesc, &VescInterface::configurationBackupsChanged, reloadBackupMenu);
reloadPages();
mMcConfRead = false;
mAppConfRead = false;
connect(mVesc->mcConfig(), &ConfigParams::updated, [this]() {
mMcConfRead = true;
});
connect(mVesc->appConfig(), &ConfigParams::updated, [this]() {
mAppConfRead = true;
});
auto updateMotortype = [this]() {
if (mVesc->getLastFwRxParams().hwType == HW_TYPE_VESC) {
int type = mVesc->mcConfig()->getParamEnum("motor_type");
ui->pageList->item(mPageNameIdList.value("motor_bldc"))->setHidden(type != 0);
ui->pageList->item(mPageNameIdList.value("motor_dc"))->setHidden(type != 1);
ui->pageList->item(mPageNameIdList.value("motor_foc"))->setHidden(type != 2);
ui->pageList->item(mPageNameIdList.value("motor_gpdrive"))->setHidden(type != 3);
}
};
auto updateAppToUse = [this]() {
if (mVesc->getLastFwRxParams().hwType == HW_TYPE_VESC) {
int type = mVesc->appConfig()->getParamEnum("app_to_use");
ui->pageList->item(mPageNameIdList.value("app_ppm"))->setHidden
(!(type == 1 || type == 4 || type == 8));
ui->pageList->item(mPageNameIdList.value("app_adc"))->setHidden
(!(type == 2 || type == 5 || type == 8 || type == 11));
ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden
(!(type == 3 || type == 4 || type == 5 || type == 8));
ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden
(!(type == 0 || type == 3 || type == 6 || type == 7 || type == 8));
ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden
(!(type == 8 || type == 9));
ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden
(!(type == 10 || type == 11));
}
};
connect(mVesc, &VescInterface::fwRxChanged,
[this, updateMotortype, updateAppToUse](bool rx, bool limited) {
(void)limited;
if (!rx) {
return;
}
FW_RX_PARAMS params = mVesc->getLastFwRxParams();
if (params.hwType == HW_TYPE_VESC) {
ui->pageList->item(mPageNameIdList.value("motor"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_general"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_bldc"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_dc"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_foc"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_gpdrive"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_pid"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_additional_info"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_experiments"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("motor_comparison"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_general"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_ppm"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_adc"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_nrf"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("app_imu"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("data_rt"))->setHidden(false);
ui->pageList->item(mPageNameIdList.value("data_sampled"))->setHidden(false);
QTimer::singleShot(100, [updateMotortype,updateAppToUse]() {
updateMotortype();
updateAppToUse();
});
} else {
ui->pageList->item(mPageNameIdList.value("motor"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_general"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_bldc"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_dc"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_foc"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_gpdrive"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_pid"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_additional_info"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_experiments"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("motor_comparison"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_general"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_ppm"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_adc"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_nrf"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_imu"))->setHidden(true);
// ui->pageList->item(mPageNameIdList.value("data_rt"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("data_sampled"))->setHidden(true);
}
});
connect(mVesc, &VescInterface::configurationChanged, [updateMotortype, updateAppToUse, this]() {
qDebug() << "Reloading user interface due to configuration change.";
mMcConfRead = false;
mAppConfRead = false;
mPageMotorSettings->reloadParams();
mPageMotor->reloadParams();
mPageBldc->reloadParams();
mPageDc->reloadParams();
mPageFoc->reloadParams();
mPageGpd->reloadParams();
mPageControllers->reloadParams();
mPageMotorInfo->reloadParams();
mPageAppSettings->reloadParams();
mPageAppGeneral->reloadParams();
mPageAppPpm->reloadParams();
mPageAppAdc->reloadParams();
mPageAppUart->reloadParams();
mPageAppNunchuk->reloadParams();
mPageAppNrf->reloadParams();
mPageAppBalance->reloadParams();
mPageAppPas->reloadParams();
mPageAppImu->reloadParams();
mPageFirmware->reloadParams();
mPageCanAnalyzer->reloadParams();
mPageScripting->reloadParams();
updateMotortype();
updateAppToUse();
});
connect(mVesc->mcConfig(), &ConfigParams::paramChangedEnum,
[updateMotortype](QObject *src, QString name, int newParam) {
(void)src;
(void)newParam;
if (name == "motor_type") {
updateMotortype();
}
});
connect(mVesc->appConfig(), &ConfigParams::paramChangedEnum,
[updateAppToUse](QObject *src, QString name, int newParam) {
(void)src;
(void)newParam;
if (name == "app_to_use") {
updateAppToUse();
}
});
connect(mVesc, &VescInterface::customConfigLoadDone, [this]() {
ui->pageList->item(mPageNameIdList.value("app_custom_config_0"))->setHidden(mVesc->customConfigNum() < 1);
ui->pageList->item(mPageNameIdList.value("app_custom_config_1"))->setHidden(mVesc->customConfigNum() < 2);
ui->pageList->item(mPageNameIdList.value("app_custom_config_2"))->setHidden(mVesc->customConfigNum() < 3);
if (mVesc->customConfig(0)) {
auto item = ui->pageList->item(mPageNameIdList.value("app_custom_config_0"));
PageListItem *widget = dynamic_cast<PageListItem*>(ui->pageList->itemWidget(item));
widget->setName(mVesc->customConfig(0)->getParam("hw_name")->longName);
}
if (mVesc->customConfig(1)) {
auto item = ui->pageList->item(mPageNameIdList.value("app_custom_config_1"));
PageListItem *widget = dynamic_cast<PageListItem*>(ui->pageList->itemWidget(item));
widget->setName(mVesc->customConfig(1)->getParam("hw_name")->longName);
}
if (mVesc->customConfig(2)) {
auto item = ui->pageList->item(mPageNameIdList.value("app_custom_config_2"));
PageListItem *widget = dynamic_cast<PageListItem*>(ui->pageList->itemWidget(item));
widget->setName(mVesc->customConfig(2)->getParam("hw_name")->longName);
}
});
qApp->installEventFilter(this);
qInstallMessageHandler(myMessageOutput);
mDebugTimer->start(10);
mTimer->start(20);
mPollRtTimer.start(int(1000.0 / mSettings.value("poll_rate_rt_data", 50).toDouble()));
mPollAppTimer.start(int(1000.0 / mSettings.value("poll_rate_app_data", 50).toDouble()));
mPollImuTimer.start(int(1000.0 / mSettings.value("poll_rate_imu_data", 50).toDouble()));
mPollBmsTimer.start(int(1000.0 / mSettings.value("poll_rate_bms_data", 10).toDouble()));
connect(&mPollRtTimer, &QTimer::timeout, [this]() {
if (ui->actionRtData->isChecked()) {
mVesc->commands()->getValues();
mVesc->commands()->getValuesSetup();
mVesc->commands()->getStats(0xFFFFFFFF);
mPollRtTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_rt_data", 50).toDouble()));
}
});
connect(&mPollAppTimer, &QTimer::timeout, [this]() {
if (ui->actionRtDataApp->isChecked()) {
mVesc->commands()->getDecodedAdc();
mVesc->commands()->getDecodedChuk();
mVesc->commands()->getDecodedPpm();
mVesc->commands()->getDecodedBalance();
mPollAppTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_app_data", 50).toDouble()));
}
});
connect(&mPollImuTimer, &QTimer::timeout, [this]() {
if (ui->actionIMU->isChecked()) {
mVesc->commands()->getImuData(0xFFFF);
mPollImuTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_imu_data", 50).toDouble()));
}
});
connect(&mPollBmsTimer, &QTimer::timeout, [this]() {
if (ui->actionrtDataBms->isChecked()) {
mVesc->commands()->bmsGetValues();
mPollBmsTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_bms_data", 10).toDouble()));
}
});
// Restore size and position
if (mSettings.contains("mainwindow/size")) {
resize(mSettings.value("mainwindow/size").toSize());
}
if (mSettings.contains("mainwindow/position")) {
move(mSettings.value("mainwindow/position").toPoint());
}
if (mSettings.contains("mainwindow/maximized")) {
bool maximized = mSettings.value("mainwindow/maximized").toBool();
if (maximized) {
showMaximized();
}
}
updateMotortype();
updateAppToUse();
ui->leftSplitter->setSizes(QList<int>({1000, 80}));
mPageDebugPrint->printConsole("VESC® Tool " + mVersion + " started<br>");
}
MainWindow::~MainWindow()
{
// Save settings
mSettings.setValue("version", mVersion);
mSettings.setValue("introVersion", VT_INTRO_VERSION);
mSettings.setValue("mainwindow/position", pos());
mSettings.setValue("mainwindow/maximized", isMaximized());
if (!isMaximized()) {
mSettings.setValue("mainwindow/size", size());
}
delete ui;
}
bool MainWindow::eventFilter(QObject *object, QEvent *e)
{
(void)object;
if (!mVesc->isPortConnected()) {
return false;
}
QKeyEvent *keyEvent = static_cast<QKeyEvent *>(e);
if (e->type() == QEvent::KeyPress) {
if (keyEvent->key() == Qt::Key_Escape) {
ui->stopButton->animateClick();
return false; // Return false to pass the escape-event on
}
}
if (!ui->actionKeyboardControl->isChecked()) {
return false;
}
if (e->type() == QEvent::KeyPress || e->type() == QEvent::KeyRelease) {
bool isPress = e->type() == QEvent::KeyPress;
switch(keyEvent->key()) {
case Qt::Key_Up:
case Qt::Key_Down:
case Qt::Key_Left:
case Qt::Key_Right:
case Qt::Key_PageDown:
break;
default:
return false;
}
if(keyEvent->isAutoRepeat()) {
return true;
}
switch(keyEvent->key()) {
case Qt::Key_Up:
if (isPress) {
mVesc->commands()->setCurrent(ui->currentBox->value());
ui->actionSendAlive->setChecked(true);
} else {
mVesc->commands()->setCurrent(0.0);
ui->actionSendAlive->setChecked(false);
}
break;
case Qt::Key_Down:
if (isPress) {
mVesc->commands()->setCurrent(-ui->currentBox->value());
ui->actionSendAlive->setChecked(true);
} else {
mVesc->commands()->setCurrent(0.0);
ui->actionSendAlive->setChecked(false);
}
break;
case Qt::Key_Left:
if (isPress) {
mKeyLeft = true;
} else {
mKeyLeft = false;
}
break;
case Qt::Key_Right:
if (isPress) {
mKeyRight = true;
} else {
mKeyRight = false;
}
break;
case Qt::Key_PageDown:
if (isPress) {
mVesc->commands()->setCurrentBrake(-ui->currentBox->value());
ui->actionSendAlive->setChecked(true);
} else {
mVesc->commands()->setCurrent(0.0);
ui->actionSendAlive->setChecked(false);
}
break;
default:
break;
}
return true;
}
return false;
}
void MainWindow::timerSlotDebugMsg()
{
QMutexLocker locker(&myDebugMsgMutex);
while (!myDebugMsgs.isEmpty()) {
auto msg = myDebugMsgs.first();
myDebugMsgs.removeFirst();
if (msg.file.contains("qrc:/res/qml/myCode") ||
msg.file.contains("qrc:/res/qml/DynamicLoader") ||
msg.file.contains("qrc:/res/qml/MainLoader") ||
msg.file.toLower().endsWith(".qml")) {
mPageScripting->debugMsgRx(msg.type, msg.msg);
} else {
QString strTmp;
if (msg.isBad) {
strTmp = "<font color=\"#00A1E4\">" + msg.msgLong + "</font><br>";
} else {
strTmp = msg.msgLong + "<br>";
}
mPageDebugPrint->printConsole(strTmp);
}
}
}
void MainWindow::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;
}
}
}
// Scan can bus on connect
if (mVesc->isPortConnected() && ui->canList->count() == 0 && ui->scanCanButton->isEnabled() && mVesc->fwRx()) {
on_scanCanButton_clicked();
}
// If disconnected for a short time clear the can list so it scans on reconnect.
// Also disable CAN fwd for newer users who try to reconnect to non-existent CAN device from different setup.
static int disconected_cnt = 0;
disconected_cnt++;
if (disconected_cnt >= 40 && ui->canList->count() > 0) {
ui->canList->clear();
mVesc->commands()->setSendCan(false);
ui->scanCanButton->setEnabled(true);
ui->pageList->item(mPageNameIdList.value("app_custom_config_0"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_custom_config_1"))->setHidden(true);
ui->pageList->item(mPageNameIdList.value("app_custom_config_2"))->setHidden(true);
}
if (disconected_cnt >= 40 && !mVesc->isPortConnected()) {
ui->scanCanButton->setEnabled(true);
}
if (!mVesc->isIgnoringCanChanges()) {
// CAN fwd
if (ui->actionCanFwd->isChecked() != mVesc->commands()->getSendCan()) {
ui->actionCanFwd->setChecked(mVesc->commands()->getSendCan());
}
if (mVesc->commands()->getSendCan()) {
int id_set = mVesc->commands()->getCanSendId();
for (int i = 1; i < ui->canList->count(); i++) {
int id_ui = ui->canList->item(i)->text().split(" ").last().toInt();
if (id_ui == id_set) {
ui->canList->setCurrentRow(i);
break;
}
}
} else {
ui->canList->setCurrentRow(0);
}
}
// Send alive command once every 10 iterations
if (ui->actionSendAlive->isChecked()) {
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
if (mVesc->isPortConnected() && mVesc->fwRx()) {
static int conf_cnt = 0;
disconected_cnt = 0;
conf_cnt++;
if (conf_cnt >= 20) {
conf_cnt = 0;
if (!mVesc->deserializeFailedSinceConnected() && mVesc->fwRx() &&
mVesc->getLastFwRxParams().hwType == HW_TYPE_VESC) {
if (!mMcConfRead) {
mVesc->commands()->getMcconf();
}
if (!mAppConfRead) {
mVesc->commands()->getAppConf();
}
}
}
}
// 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);
ui->actionrtDataBms->setChecked(false);
}
// Handle key events
static double keyPower = 0.0;
static double lastKeyPower = 0.0;
const double lowPower = 0.18;
const double lowPowerRev = 0.1;
const double highPower = 0.9;
const double highPowerRev = 0.3;
const double lowStep = 0.02;
const double highStep = 0.01;
if (mKeyRight && mKeyLeft) {
if (keyPower >= lowPower) {
stepTowards(keyPower, highPower, highStep);
} else if (keyPower <= -lowPower) {
stepTowards(keyPower, -highPowerRev, highStep);
} else if (keyPower >= 0) {
stepTowards(keyPower, highPower, lowStep);
} else {
stepTowards(keyPower, -highPowerRev, lowStep);
}
} else if (mKeyRight) {
if (fabs(keyPower) > lowPower) {
stepTowards(keyPower, lowPower, highStep);
} else {
stepTowards(keyPower, lowPower, lowStep);
}
} else if (mKeyLeft) {
if (fabs(keyPower) > lowPower) {
stepTowards(keyPower, -lowPowerRev, highStep);
} else {
stepTowards(keyPower, -lowPowerRev, lowStep);
}
} else {
stepTowards(keyPower, 0.0, lowStep * 3);
}
if (keyPower != lastKeyPower) {
lastKeyPower = keyPower;
mVesc->commands()->setDutyCycle(keyPower);
ui->actionSendAlive->setChecked(true);
}
// Run startup checks
static bool has_run_start_checks = false;
if (!has_run_start_checks) {
if (mSettings.contains("introVersion")) {
if (mSettings.value("introVersion").toInt() != VT_INTRO_VERSION) {
mSettings.setValue("intro_done", false);
}
} else {
mSettings.setValue("intro_done", false);
}
if (!mSettings.contains("intro_done")) {
mSettings.setValue("intro_done", false);
}
if (!mSettings.value("intro_done").toBool()) {
StartupWizard w(mVesc, this);
w.exec();
}
if (!mSettings.value("intro_done").toBool()) {
QMessageBox::critical(this,
tr("Warning"),
tr("You have not finished the VESC Tool introduction. You must do that "
"in order to use VESC Tool."));
QCoreApplication::quit();
}
has_run_start_checks = true;
checkUdev();
Utility::checkVersion(mVesc);
}
}
void MainWindow::showStatusInfo(QString info, bool isGood)
{
if (isGood) {
mStatusLabel->setStyleSheet("QLabel { background-color : lightgreen; color : black; }");
mPageDebugPrint->printConsole("Status: " + info + "<br>");
} else {
mStatusLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
mPageDebugPrint->printConsole("<font color=\"#00A1E4\">Status: " + info + "</font><br>");
}
mStatusInfoTime = (80 * 20) / mTimer->interval();
mStatusLabel->setText(info);
}
void MainWindow::showMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText)
{
(void)richText;
if (isGood) {
QMessageBox::information(this, title, msg);
} else {
QMessageBox::warning(this, title, msg);
}
}
void MainWindow::serialPortNotWritable(const QString &port)
{
(void)port;
#ifdef Q_OS_LINUX
QMessageBox::StandardButton reply;
reply = QMessageBox::warning(this,
tr("Connect Serial Port"),
tr("The serial port is not writable. This can usually be fixed by "
"adding your user to the dialout, uucp and/or lock groups. Would "
"you like to do that?"),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if (reply == QMessageBox::Yes) {
QString name = qgetenv("USER");
if (name.isEmpty()) {
name = qgetenv("USERNAME");
}
bool hasDialout = !runCmd("getent", QStringList() << "group" << "dialout").isEmpty();
bool hasUucp = !runCmd("getent", QStringList() << "group" << "uucp").isEmpty();
bool hasLock = !runCmd("getent", QStringList() << "group" << "lock").isEmpty();
QString grps;
if (hasDialout) {
grps += "dialout";
}
if (hasUucp) {
if (!grps.isEmpty()) {
grps += ",";
}
grps += "uucp";
}
if (hasLock) {
if (!grps.isEmpty()) {
grps += ",";
}
grps += "lock";
}
QProcess process;
process.setEnvironment(QProcess::systemEnvironment());
process.start("pkexec", QStringList() << "usermod" << "-aG" << grps << name);
waitProcess(process);
if (process.exitCode() == 0) {
showMessageDialog(tr("Command Result"),
tr("Result from command:\n\n"
"%1\n"
"You have to reboot for this "
"change to take effect.").
arg(QString(process.readAllStandardOutput())),
true, false);
} else {
showMessageDialog(tr("Command Result"),
tr("Running command failed."),
false, false);
}
process.close();
}
#endif
}
void MainWindow::valuesReceived(MC_VALUES values, unsigned int mask)
{
(void)mask;
ui->dispCurrent->setVal(values.current_motor);
ui->dispDuty->setVal(values.duty_now * 100.0);
}
void MainWindow::paramChangedDouble(QObject *src, QString name, double newParam)
{
(void)src;
if (name == "l_current_max") {
ui->dispCurrent->setRange(fabs(newParam));
}
}
void MainWindow::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 MainWindow::on_actionReconnect_triggered()
{
mVesc->reconnectLastPort();
}
void MainWindow::on_actionDisconnect_triggered()
{
mVesc->disconnectPort();
}
void MainWindow::on_actionReboot_triggered()
{
mVesc->commands()->reboot();
}
void MainWindow::on_stopButton_clicked()
{
mVesc->commands()->setCurrent(0);
mPageExperiments->stop();
ui->actionSendAlive->setChecked(false);
}
void MainWindow::on_fullBrakeButton_clicked()
{
mVesc->commands()->setDutyCycle(0);
ui->actionSendAlive->setChecked(true);
}
void MainWindow::on_actionReadMcconf_triggered()
{