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straincalibgui.cpp
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1#include "straincalibgui.h"
2#include "ui_straincalibgui.h"
3#include <QDebug>
4#include <QtConcurrent/QtConcurrent>
5#include <QFileDialog>
6
7
8//#define NSAMPLES 1000
9
10StrainCalibGui::StrainCalibGui(QString device, int bus, int pid, FirmwareUpdaterCore *core, QWidget *parent) :
11 QDialog(parent), mutexacquisitionofdata(QMutex::Recursive), mutexdriver(QMutex::Recursive),
12 ui(new Ui::StrainCalibGui)
13{
14 progressvalue = 0;
15 acquiringdata = false;
16 enableacquisitions = true;
17 ui->setupUi(this);
18 this->core = core;
19 fp = NULL;
20 trial=-1;
21 current_trial = -1;
22 connect(ui->btnAcquireData,SIGNAL(clicked(bool)),this,SLOT(onAcquireData(bool)));
23 buttons.append(ui->btn1);
24 buttons.append(ui->btn2);
25 buttons.append(ui->btn3);
26 buttons.append(ui->btn4);
27 buttons.append(ui->btn5);
28 buttons.append(ui->btn6);
29 buttons.append(ui->btn7);
30 buttons.append(ui->btn8);
31 buttons.append(ui->btn9);
32 buttons.append(ui->btn10);
33 buttons.append(ui->btn11);
34 buttons.append(ui->btn12);
35 buttons.append(ui->btn13);
36
37 readValues.append(ui->cur1);
38 readValues.append(ui->cur2);
39 readValues.append(ui->cur3);
40 readValues.append(ui->cur4);
41 readValues.append(ui->cur5);
42 readValues.append(ui->cur6);
43
44 expValues.append(ui->exp1);
45 expValues.append(ui->exp2);
46 expValues.append(ui->exp3);
47 expValues.append(ui->exp4);
48 expValues.append(ui->exp5);
49 expValues.append(ui->exp6);
50
51 errValues.append(ui->err1);
52 errValues.append(ui->err2);
53 errValues.append(ui->err3);
54 errValues.append(ui->err4);
55 errValues.append(ui->err5);
56 errValues.append(ui->err6);
57
58 ui->freeEdit1->setValidator(&validator);
59 ui->freeEdit2->setValidator(&validator);
60 ui->freeEdit3->setValidator(&validator);
61 ui->freeEdit4->setValidator(&validator);
62 ui->freeEdit5->setValidator(&validator);
63 ui->freeEdit6->setValidator(&validator);
64
65
66 int bi[13]={8020,1001,8010,8030,8040,8050,8060,8070,8080,3001,4001,5001,6001};
67
68 for (int i=0; i<buttons.count();i++) {
69 buttons.at(i)->setProperty("btnIndex",bi[i]);
70 connect(buttons.at(i),SIGNAL(clicked(bool)),this,SLOT(onButtonClick(bool)));
71 }
72
73 connect(ui->freeAcqModeGroup,SIGNAL(toggled(bool)),this,SLOT(onFreeAcqMode(bool)));
74 //connect(ui->buttonBox,SIGNAL(accepted()),this,SLOT(close()));
75 connect(ui->buttonBox, SIGNAL(accepted()), this, SLOT(onClose()));
76
77
78 std::string filenameOfexpectedValues = std::string("firmwareupdater.strain.expectedvalues.txt");
79 bool b = expected_values_handler.init(filenameOfexpectedValues.c_str());
80 if(!b){
81 yError() << "ERROR in opening file" << filenameOfexpectedValues << ".... using default values for expected value handler";
82 expected_values_handler.init();
83 }
84 else
85 {
86 yDebug() << "loaded file of expected values =" << filenameOfexpectedValues;
87 }
88
89 int low = 0;
90 int high = 0;
91 expected_values_handler.get_thresholds(low, high);
92 yDebug() << "expected values for" << expected_values_handler.get_serialnumber() << "with thresholds = " << low << high;
93
94// QString tt = QString("Current Error [%1, %2]").arg(low, high);
95// ui->label_16->setText(tt);
96
97 connect(&watcher, SIGNAL(finished()), this, SLOT(onFutureFinished()));
98
99#ifdef ATI_SENS
100 ATIsens = new devMeasurementFns();
101#endif
102
103
104 if((device == "ETH") || (device == "eth"))
105 {
106 config.network = strainInterface::Network::ETH;
107 yDebug() << "strainInterface::Network::ETH";
108 }
109 else if ((device == "SOCKETCAN") || (device == "socketcan"))
110 {
111 yDebug() << "strainInterface::Network::socketcan";
112 config.network = strainInterface::Network::socketcan;
113 }
114 else if((device == "ECAN") || (device == "ecan"))
115 {
116 yDebug() << "strainInterface::Network::ecan";
117 config.network = strainInterface::Network::ecan;
118 }
119 else
120 {
121 config.network = strainInterface::Network::unknown;
122 yDebug() << "unknown strainInterface::Network =" << device.toStdString();
123 }
124
125 config.canbus = (strainInterface::CanBus)bus;
126 config.canaddress = (strainInterface::CanAddress)pid;
127 config.txrate = 2;
128// config.load_default();
129// if(!sI.open(config)){
130// qDebug() << "Error opening device";
131// }
132
133
134 connect(&timer,SIGNAL(timeout()),this,SLOT(onTimerTimeout()));
135 timer.setInterval(500);
136 timer.setSingleShot(false);
137 timer.start();
138
139 enabledebugprints = false;
140
141
142 if(false == checkDirectory())
143 {
144 yError() << "CANNOT find the data folder. Please create it!";
145 ui->labelInstructions->setText("You can select an acquisition from the menu ... but:"
146 "\nCANNOT find the data folder."
147 "\nIf you want your acquisition data saved, please create it!");
148 }
149// else
150// {
151// ui->labelInstructions->setText("Select an acquisition from the menu");
152// }
153
154}
155
156StrainCalibGui::~StrainCalibGui()
157{
158 //sI.close();
159
160
161 stopacquisitions();
162
163 delete ui;
164}
165
166void StrainCalibGui::stopacquisitions(bool forcestop)
167{
168 // wait all acquisitions to be over:
169 // - stop timer so that tick_acquisition() is not called anymore
170 // - wait pending acquisitions to be over by calling two lockdriver() true / false
171
172 static bool alreadystopped = false;
173 if((false == alreadystopped) || (true == forcestop))
174 {
175 // we must be sure that no tick_acquisition() is executed: we stop the timer so that no future
176 // callback onTimerTimeout() is called. but it may be executing rigth now.
177 // hence we first set enableacquisitions = false for furthe security
178 enableacquisitions = false;
179 timer.stop();
180
181 // we now wait until any acquisition is over and we force stop of strain tx. twice!
182 while(false == mutexdriver.tryLock(250))
183 {
184 ui->progress->setValue(progressvalue);
185 ui->labelInstructions->setText("Received the QUIT command: waiting for the acquisition to terminate");
186 }
187 //lockdriver(true);
188 // marco.accame: on windows, esdcan driver cannot manage streaming mode in reception.... sic
189 cDownloader::strain_acquisition_mode_t acqmode = (strainInterface::Network::ETH == config.network) ? (cDownloader::strain_acquisition_mode_streaming) : (cDownloader::strain_acquisition_mode_polling);
190 core->getDownloader()->strain_acquire_stop(config.get_canbus(), config.get_canaddress(), acqmode);
191 core->getDownloader()->strain_acquire_stop(config.get_canbus(), config.get_canaddress(), acqmode);
192 lockdriver(false);
193
194 alreadystopped = true;
195 }
196}
197
198void StrainCalibGui::onClose()
199{
200 stopacquisitions(true);
201 stopacquisitions(true);
202
203 close();
204}
205
206void StrainCalibGui::onFreeAcqMode(bool b)
207{
208 if(b){
209 ui->spinSamples->setEnabled(true);
210 ui->btnContainer1->setEnabled(false);
211 ui->btnContainer2->setEnabled(false);
212 ui->btnAcquireData->setEnabled(true);
213 ui->labelInstructions->setText("Free Acquisiton Mode");
214 } else {
215 ui->btnContainer1->setEnabled(true);
216 ui->btnContainer2->setEnabled(true);
217 ui->btnAcquireData->setEnabled(false);
218
219 if(false == checkDirectory())
220 {
221 yError() << "CANNOT find the data folder. Please create it!";
222 ui->labelInstructions->setText("You can select an acquisition from the menu ... but:"
223 "\nCANNOT find the data folder."
224 "\nIf you want your acquisition data saved, please create it!");
225 }
226 else
227 {
228 ui->labelInstructions->setText("Select an acquisition from the menu");
229 }
230 }
231}
232
233void StrainCalibGui::onFutureFinished()
234{
235 ui->progress->setMaximum(100);
236
237 if(!watcher.result()){
238 ui->labelInstructions->setText("Not enough data acquired. Repeat acquisition.");
239 close_files();
240 return;
241 }
242
243
244 if(ui->freeAcqModeGroup->isChecked())
245 {
246 close_files();
247 return;
248 }
249 else
250 {
251 int rtrial=remap_trials();
252
253 if (rtrial==-1){
254 trial_bias=last_value;
255 }
256
257 trial++;
258 qDebug("%d\n",trial); //debug only
259 showMenu();
260 }
261
262}
263
264void StrainCalibGui::onAcquireData(bool b)
265{
266
267 if(ui->freeAcqModeGroup->isChecked())
268 {
269 QString fileName = QFileDialog::getSaveFileName(NULL,"Choose a file");
270 if(fileName.isEmpty())
271 {
272 yWarning() << "choose another file";
273 return;
274 }
275 fp = fopen(fileName.toLatin1().data(),"w");
276 if(nullptr == fp)
277 {
278 yWarning() << "cannot open file" << fileName.toLatin1().data() << "hence i will not perform acquisition";
279 ui->labelInstructions->setText("Cannot open file. Try once more.");
280 return;
281 }
282 }
283
284 QFuture<bool> future = QtConcurrent::run(this,&StrainCalibGui::acquire_samples,ui->spinSamples->value());
285 watcher.setFuture(future);
286 ui->progress->setMaximum(100);
287
288}
289
290
291void StrainCalibGui::onButtonClick(bool b)
292{
293 QPushButton *btn = (QPushButton*)sender();
294 int btnIndex = btn->property("btnIndex").toInt();
295 currentBtnIndex = buttons.indexOf(btn);
296 trial = btnIndex;
297 //ui->btn3->setStyleSheet("background-color: rgb(0, 175, 0);");
298 // 4/9/2018 Tolto con Marco Accame perchè non ritenuto comprensibile
299 turnOffButtons();
300 showMenu();
301
302}
303
304#ifdef ATI_SENS
305void acquire_1000_samples()
306{
307 char temp[255];
308 float data[6]={0,0,0,0,0,0};
309 printf("\n press return to acquire ***ATI sensor*** data or 'r' to reset\n");
310 cin >> temp;
311
312 if (strcmp(temp,"r")==0)
313 {
314 ATIsens->BiasForceTorqueSensor();
315 printf("\n bias done. press return to acquire ***ATI sensor*** data\n");
316 cin >> temp;
317 }
318
319 int i=0;
320 int j=0;
321 float data_mean[6] = {0,0,0,0,0,0};
322 for (i=0; i<1000; i++)
323 {
324 Sleep(5);
325 ATIsens->ReadFTsensorData();
326 ATIsens->GetFTData(data);
327 fprintf(fp,"%3d %+f %+f %+f %+f %+f %+f\n",i,data[0],data[1],data[2],data[3],data[4],data[5]);
328 printf("samples:%3d [0]:%+6.2f [1]:%+6.2f [2]:%+6.2f [3]:%+6.2f [4]:%+6.2f [5]:%+6.2f\r\n",i,data[0],data[1],data[2],data[3],data[4],data[5]);
329 for (j=0; j<6; j++)
330 {
331 data_mean[j]=data_mean[j]+data[j];
332 }
333 }
334 for (j=0; j<6; j++)
335 {
336 data_mean[j]/=1000;
337 }
338 //fprintf(fp2,"%3d %+f %+f %+f %+f %+f %+f\n",i,data_mean[0],data_mean[1],data_mean[2],data_mean[3],data_mean[4],data_mean[5]);
339 printf("means:%3d [0]:%+6.2f [1]:%+6.2f [2]:%+6.2f [3]:%+6.2f [4]:%+6.2f [5]:%+6.2f\r\n",i,data_mean[0],data_mean[1],data_mean[2],data_mean[3],data_mean[4],data_mean[5]);
340
341
342 trial++;
343}
344
345#else
346
347void StrainCalibGui::progressbar(void *owner, float percent)
348{
349 if(nullptr == owner)
350 {
351 return;
352 }
353
354 int value = static_cast<int>(percent * 100.0);
355// value /= 10;
356// value *= 10;
357
358 StrainCalibGui *thegui = reinterpret_cast<StrainCalibGui*>(owner);
359
360 if(value != thegui->progressvalue)
361 {
362 thegui->progressvalue = value;
363 }
364}
365
366bool StrainCalibGui::get(const unsigned int number, vector<cDownloader::strain_value_t> &values, bool debugprint, bool updateprogress)
367{
368
369 double t0 = yarp::os::SystemClock::nowSystem();
370
371 if(debugprint)
372 {
373 yDebug() << "strainInterface::get(): is acquiring" << number << "from the 6 channels. Please wait ...";
374 }
375
376 void * param = nullptr;
377 void (*updateProgressBar)(void*, float) = nullptr;
378
379 if(true == updateprogress)
380 {
381 updateProgressBar = progressbar;
382 param = reinterpret_cast<void*>(this);
383 }
384
385 const bool calibmode = false;
386 // marco.accame: on windows, esdcan driver cannot manage streaming mode in reception....sic
387 cDownloader::strain_acquisition_mode_t acqmode = (strainInterface::Network::ETH == config.network) ? (cDownloader::strain_acquisition_mode_streaming) : (cDownloader::strain_acquisition_mode_polling);
388 core->getDownloader()->strain_acquire_start(config.get_canbus(), config.get_canaddress(), config.get_txrate(), calibmode, acqmode);
389 int ret = core->getDownloader()->strain_acquire_get(config.get_canbus(), config.get_canaddress(), values, number, updateProgressBar, param, acqmode);
390 //yarp::os::SystemClock::delaySystem(0.100); i used it to test the flush operation of strain_acquire_stop()....
391 core->getDownloader()->strain_acquire_stop(config.get_canbus(), config.get_canaddress(), acqmode);
392 core->getDownloader()->strain_acquire_stop(config.get_canbus(), config.get_canaddress(), acqmode);
393
394 double t1 = yarp::os::SystemClock::nowSystem();
395
396 if(debugprint)
397 {
398 if (0 == ret)
399 {
400 yDebug() << "strainInterface::get() has succesfully acquired" << values.size() << "values of the 6 channels in" << (t1 - t0) << "seconds";
401 yDebug() << "the values are:";
402 for (int i = 0; i < values.size(); i++)
403 {
404 yDebug() << "#" << i + 1 << "=" << values[i].channel[0] << values[i].channel[1] << values[i].channel[2] << values[i].channel[3] <<
405 values[i].channel[4] << values[i].channel[5] << values[i].valid;
406 }
407 }
408 else
409 {
410 yDebug() << "strainInterface::get() has failed acquisitions";
411 }
412 }
413
414 return (0 == ret) ? true : false;
415}
416
417bool StrainCalibGui::print(const vector<cDownloader::strain_value_t> &values, FILE *fp, QList<float> ft)
418{
419
420 if(nullptr == fp)
421 {
422 yError("the file pointer is invalid: I cannot print my %lu values", values.size());
423 return false;
424 }
425
426 if(!ft.isEmpty() && (ft.count() == 6)){
427 fprintf(fp,"- %f %f %f %f %f %f\n\n",ft.at(0),ft.at(1),ft.at(2),ft.at(3),ft.at(4),ft.at(5));
428 fflush(fp);
429 }
430
431 for(size_t n=0; n<values.size(); n++)
432 {
433 unsigned short unsigned_gaugeData[6] = {0};
434 signed short signed_gaugeData[6] = {0};
435
436 for(size_t c=0; c<6; c++)
437 {
438 unsigned_gaugeData[c] = values[values.size()-1-n].channel[c];
439 signed_gaugeData[c] = unsigned_gaugeData[c]-0x7fff;
440 }
441
442 if(NULL != fp)
443 {
444 fprintf(fp,"%d %d %d %d %d %d %d\n",static_cast<int>(n),signed_gaugeData[0],signed_gaugeData[1],signed_gaugeData[2],
445 signed_gaugeData[3],signed_gaugeData[4],signed_gaugeData[5]);
446 fflush(fp);
447 }
448
449 if(enabledebugprints)
450 {
451 yDebug("samples:%3d [0]:%+6d [1]:%+6d [2]:%+6d [3]:%+6d [4]:%+6d [5]:%+6d\r\n",static_cast<int>(n),signed_gaugeData[0],signed_gaugeData[1],signed_gaugeData[2],signed_gaugeData[3],signed_gaugeData[4],signed_gaugeData[5]);
452 }
453 }
454
455 return true;
456}
457
458bool StrainCalibGui::acquire_samples(int samples)
459{
460 // marco.accame: now we acquire with the strainInterface class in one shot
461
462 const bool enabledebugprints = false;
463
464 if(false == enableacquisitions)
465 {
466 return false;
467 }
468
469
470 lockdriver(true);
471 setAcquisitionOfDataActive(true);
472
473 vector<cDownloader::strain_value_t> values;
474 bool ret = get(samples, values, enabledebugprints, true);
475
476 if (ret)
477 {
478
479 if (samples != values.size())
480 {
481 yError() << "cannot acquire enough strain samples. Only:" << values.size() << "instead of" << samples;
482 }
483 else
484 {
485 if (enabledebugprints)
486 {
487 yDebug("Acquired %lu strain samples. Ready! \n", values.size());
488 }
489 }
490
491 if (ui->freeAcqModeGroup->isChecked()) {
492 QList <float> v;
493 v.append(ui->freeEdit1->text().toFloat());
494 v.append(ui->freeEdit2->text().toFloat());
495 v.append(ui->freeEdit3->text().toFloat());
496 v.append(ui->freeEdit4->text().toFloat());
497 v.append(ui->freeEdit5->text().toFloat());
498 v.append(ui->freeEdit6->text().toFloat());
499 print(values, fp, v);
500 }
501 else {
502 print(values, fp);
503 }
504
505
506 // now i need to retrieve the most recent value from values but in a particular format and fill variable last_value
507
508 cDownloader::strain_value_t lastvalue = values.at(values.size() - 1);
509
510 lastvalue.extract(last_value.dat);
511
512 }
513 else
514 {
515 fprintf(fp, "acquisition error. please check log on terminal.\n");
516 fflush(fp);
517 }
518
519 setAcquisitionOfDataActive(false);
520 lockdriver(false);
521
522 return true;
523}
524
525#endif
526
527void StrainCalibGui::showMenu()
528{
529 switch (trial) {
530
531 case 0:
532 fp = fopen("./data/output0.dat","w");
533 ui->groupBox->setTitle("Beginning calibration ...");
534 ui->labelInstructions->setText("Remove all loads from the sensor\n"
535 "Orient the sensor with the flat surface facing upwards\n"
536 "Turn the sensor on (CAN message 205 2 7 0)");
537 terminate_section();
538 break;
539 case 1001:
540 fp = fopen("./data/output1.dat","w");
541 ui->groupBox->setTitle("(2) z+ pointing DOWNwards 5kg torques - file: output1.dat");
542 ui->labelInstructions->setText("1. assemble the assembly with a M10 nut\n"
543 "2. orient the assembly with the z+ axis pointing downwards\n\n"
544 "3. remove loads");
545 break;
546 case 1002:
547 ui->labelInstructions->setText("4. apply 5.00 kg on the y- axis\n");
548 break;
549 case 1003:
550 ui->labelInstructions->setText("5. apply 5.00 kg on the x+ axis\n");
551 break;
552 case 1004:
553 ui->labelInstructions->setText("6. apply 5.00 kg on the y+ axis\n");
554 break;
555 case 1005:
556 ui->labelInstructions->setText("7. apply 5.00 kg on the x- axis\n");
557 break;
558 case 1006:
559 terminate_section();
560 break;
561 case 3001:
562 fp = fopen("./data/output3.dat","w");
563 ui->groupBox->setTitle("(10) x+ axis pointing UPwards 5kg laterals - file: output3.dat");
564 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
565 "2. orient the structure with the x+ axis pointing upwards\n"
566 "3. remove loads\n");
567 break;
568 case 3002:
569 ui->labelInstructions->setText("4. apply 5.00 kg on the y- axis\n");
570 break;
571 case 3003:
572 ui->labelInstructions->setText("5. apply 5.00 kg on the z+ axis\n");
573 break;
574 case 3004:
575 ui->labelInstructions->setText("6. apply 5.00 kg on the y+ axis\n");
576 break;
577 case 3005:
578 terminate_section();
579 break;
580 case 4001:
581 fp = fopen("./data/output4.dat","w");
582 ui->groupBox->setTitle("(11) y+ axis pointing UPwards 5kg laterals - file: output4.dat");
583 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
584 "2. orient the structure with the y+ axis pointing upwards\n"
585 "3. remove loads\n");
586 break;
587 case 4002:
588 ui->labelInstructions->setText("4. apply 5.00 kg on the x+ axis\n");
589 break;
590 case 4003:
591 ui->labelInstructions->setText("5. apply 5.00 kg on the z+ axis\n");
592 break;
593 case 4004:
594 ui->labelInstructions->setText("6. apply 5.00 kg on the x- axis\n");
595 break;
596 case 4005:
597 terminate_section();
598 break;
599
600 case 5001:
601 fp = fopen("./data/output5.dat","w");
602 ui->groupBox->setTitle("(12) x- axis pointing UPwards 5kg laterals - file: output5.dat");
603 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
604 "2. orient the structure with the x- axis pointing upwards\n"
605 "3. remove loads\n");
606 break;
607 case 5002:
608 ui->labelInstructions->setText("4. apply 5.00 kg on the y+ axis\n");
609 break;
610 case 5003:
611 ui->labelInstructions->setText("5. apply 5.00 kg on the z+ axis\n");
612 break;
613 case 5004:
614 ui->labelInstructions->setText("6. apply 5.00 kg on the y- axis\n");
615 break;
616 case 5005:
617 terminate_section();
618 break;
619
620
621 case 6001:
622 fp = fopen("./data/output6.dat","w");
623 ui->groupBox->setTitle("(13) y- axis pointing UPwards 5kg laterals - file: output6.dat");
624 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
625 "2. orient the structure with the y- axis pointing upwards\n"
626 "3. remove loads\n");
627 break;
628 case 6002:
629 ui->labelInstructions->setText("4. apply 5.00 kg on the x- axis\n");
630 break;
631 case 6003:
632 ui->labelInstructions->setText("5. apply 5.00 kg on the z+ axis\n");
633 break;
634 case 6004:
635 ui->labelInstructions->setText("6. apply 5.00 kg on the x+ axis\n");
636 break;
637 case 6005:
638 terminate_section();
639 break;
640
641
642 case 8010:
643 fp = fopen("./data/output81.dat","w");
644 ui->groupBox->setTitle("(3) z+ pointing UPwards 25kg compression - file: output81.dat");
645 ui->labelInstructions->setText("1. assemble the assembly with a M10 nut\n"
646 "2. orient the assembly with the z+ axis pointing upwards\n\n"
647 "3. remove loads\n");
648 break;
649
650 case 8011:
651 ui->labelInstructions->setText("4. apply 25 kg in the z- direction (compression)\n");
652 break;
653 case 8012:
654 terminate_section();
655 break;
656
657
658 case 8020:
659 fp = fopen("./data/output82.dat","w");
660 ui->groupBox->setTitle("(1) z+ pointing DOWNwards 25kg traction - file: output82.dat");
661 ui->labelInstructions->setText("1. assemble the assembly with a M10 nut\n"
662 "2. screw the M10 ring on the top of the assembly\n"
663 "3. orient the assembly with the z+ axis pointing downwards\n\n"
664 "4. remove loads\n");
665 break;
666 case 8021:
667 ui->labelInstructions->setText("5. apply a 25 kg load in the z+ direction (traction)\n");
668 break;
669 case 8022:
670 terminate_section();
671 break;
672
673
674 case 8030:
675 fp = fopen("./data/output83.dat","w");
676 ui->groupBox->setTitle("(4) x+ pointing UPwards 25kg - file: output83.dat");
677 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
678 "2. orient the plate with the x+ axis pointing upwards\n"
679 "3. remove loads\n");
680 break;
681 case 8031:
682 ui->labelInstructions->setText("4. apply a 25 kg load in the x- direction\n");
683 break;
684 case 8032:
685 terminate_section();
686 break;
687
688
689 case 8040:
690 fp = fopen("./data/output84.dat","w");
691 ui->groupBox->setTitle("(5) x- pointing UPwards 25kg - file: output84.dat");
692 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
693 "2. orient the plate with the x- axis pointing upwards\n\n"
694 "3. remove loads\n");
695 break;
696 case 8041:
697 ui->labelInstructions->setText("4. apply a 25 kg load in the x+ direction\n");
698 break;
699 case 8042:
700 terminate_section();
701 break;
702
703 case 8050:
704 fp = fopen("./data/output85.dat","w");
705 ui->groupBox->setTitle("(6) label 1 pointing DOWNwards 25kg - file: output85.dat");
706 ui->labelInstructions->setText("1. assemble the assembly with label 1 pointing DOWN\n\n"
707 "3. remove loads\n");
708 break;
709 case 8051:
710 ui->labelInstructions->setText("4. apply 25kg\n");
711 break;
712 case 8052:
713 terminate_section();
714 break;
715
716
717 case 8060:
718 fp = fopen("./data/output86.dat","w");
719 ui->groupBox->setTitle("(7) label 2 pointing DOWNwards 25kg - file: output86.dat");
720 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
721 "2. orient the plate with label 2 pointing DOWN\n\n"
722 "3. remove loads\n");
723 break;
724 case 8061:
725 ui->labelInstructions->setText("4. apply 25kg\n");
726 break;
727 case 8062:
728 terminate_section();
729 break;
730 case 8070:
731 fp = fopen("./data/output87.dat","w");
732 ui->groupBox->setTitle("(8) label 3 pointing DOWNwards 25kg - file: output87.dat");
733 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
734 "2. orient the plate with label 3 pointing DOWN\n\n"
735 "3. remove loads\n");
736 break;
737 case 8071:
738 ui->labelInstructions->setText("4. apply 25kg\n");
739 break;
740 case 8072:
741 terminate_section();
742 break;
743
744 case 8080:
745 fp = fopen("./data/output88.dat","w");
746 ui->groupBox->setTitle("(9) label 4 pointing DOWNwards 25kg - file: output88.dat");
747 ui->labelInstructions->setText("1. assemble the assembly with a M10 knob\n"
748 "2. orient the plate with label 4 pointing DOWN\n\n"
749 "3. remove loads\n");
750 break;
751 case 8081:
752 ui->labelInstructions->setText("4. apply 25kg\n");
753 break;
754 case 8082:
755 terminate_section();
756 break;
757 case 9999:
758 bias_sensor();
759 trial=-1;
760 break;
761 default:
762 trial++;
763 break;
764 }
765}
766
767void StrainCalibGui::close_files()
768{
769 if (fp!=0){
770 fclose(fp);
771 fp=NULL;
772 }
773}
774
775void StrainCalibGui::terminate_section()
776{
777 trial=-1;
778
779 close_files();
780 turnOnButtons();
781 if(!ui->freeAcqModeGroup->isChecked()){
782 buttons.at(currentBtnIndex)->setStyleSheet("background-color: rgb(0, 175, 0);");
783 }
784
785}
786
787
788void StrainCalibGui::turnOffButtons()
789{
790 if(!ui->freeAcqModeGroup->isChecked()){
791 foreach (QPushButton *btn, buttons) {
792 btn->setEnabled(false);
793 }
794
795 ui->btnAcquireData->setEnabled(true);
796 ui->btnAcquireData->setText("Start Acquisition");
797 ui->freeAcqModeGroup->setEnabled(false);
798 }
799 ui->spinSamples->setEnabled(true);
800
801}
802
803void StrainCalibGui::turnOnButtons()
804{
805 ui->groupBox->setTitle("Instructions");
806
807 if(!ui->freeAcqModeGroup->isChecked()){
808 foreach (QPushButton *btn, buttons) {
809 btn->setEnabled(true);
810 }
811 ui->btnAcquireData->setEnabled(false);
812 ui->freeAcqModeGroup->setEnabled(true);
813 if(false == checkDirectory())
814 {
815 yError() << "CANNOT find the data folder. Please create it!";
816 ui->labelInstructions->setText("You can select an acquisition from the menu ... but:"
817 "\nCANNOT find the data folder."
818 "\nIf you want your acquisition data saved, please create it!");
819 }
820 else
821 {
822 ui->labelInstructions->setText("Select an acquisition from the menu");
823 }
824 }else{
825 ui->labelInstructions->setText("Free Acquisiton Mode");
826 }
827
828 ui->spinSamples->setEnabled(false);
829
830}
831
832void StrainCalibGui::bias_sensor()
833{
834 #ifdef ATI_SENS
835 ATIsens->BiasForceTorqueSensor();
836 #endif
837}
838
839
840int StrainCalibGui::remap_trials()
841{
842 //{8020,1001,8010,8030,8040,8050,8060,8070,8080,3001,4001,5001,6001};
843
844 switch (trial)
845 {
846 case 1001: return -1;
847 case 1002: return 0;
848 case 1003: return 1;
849 case 1004: return 2;
850 case 1005: return 3;
851
852 case 3001: return -1;
853 case 3002: return 4;
854 case 3003: return 5;
855 case 3004: return 6;
856
857 case 4001: return -1;
858 case 4002: return 7;
859 case 4003: return 8;
860 case 4004: return 9;
861
862 case 5001: return -1;
863 case 5002: return 10;
864 case 5003: return 11;
865 case 5004: return 12;
866
867 case 6001: return -1;
868 case 6002: return 13;
869 case 6003: return 14;
870 case 6004: return 15;
871
872 case 8010: return -1;
873 case 8011: return 16;
874
875 case 8020: return -1;
876 case 8021: return 17;
877
878 case 8030: return -1;
879 case 8031: return 18;
880
881 case 8040: return -1;
882 case 8041: return 19;
883
884 case 8050: return -1;
885 case 8051: return 20;
886
887 case 8060: return -1;
888 case 8061: return 21;
889
890 case 8070: return -1;
891 case 8071: return 22;
892
893 case 8080: return -1;
894 case 8081: return 23;
895
896 case -1:
897 //printf("DEBUG: section completed, back to the menu\n");
898 return -1;
899
900 default:
901 qDebug("DEBUG: **** ERROR, invalid trial (%d) selected! ****\n", trial);
902 return -1;
903 }
904}
905
906
907void StrainCalibGui::onTimerTimeout()
908{
909 int i=0;
910
911 current_trial=remap_trials();
912 signed_elem_class exp_vals;
913 signed_elem_class err_vals;
914 signed_elem_class in_bound;
915
916 if (current_trial==-1){
917 for (i=0; i<6;i++){
918
919 readValues.at(i)->setText(QString("%1").arg(last_value.dat[i]));
920 expValues.at(i)->setText("---");
921 errValues.at(i)->setText("---");
922 expValues.at(i)->setStyleSheet("");
923 errValues.at(i)->setStyleSheet("");
924
925 }
926
927 if(true == isAcquisitionOfDataActive())
928 {
929 ui->btnAcquireData->setEnabled(false);
930 ui->btnAcquireData->setText("Acquiring Data Now");
931 ui->spinSamples->setEnabled(false);
932 ui->progress->setValue(progressvalue);
933 }
934 else
935 {
936 if(ui->freeAcqModeGroup->isChecked())
937 {
938 ui->btnAcquireData->setEnabled(true);
939 ui->btnAcquireData->setText("Start Acquiring Data");
940 ui->spinSamples->setEnabled(true);
941 }
942 else
943 {
944 if(!ui->btnAcquireData->isEnabled())
945 {
946 ui->btnAcquireData->setText("Choose an Acquisition Mode");
947 }
948 }
949
950 ui->progress->setValue(0);
951 }
952
953 } else {
954
955 if(true == isAcquisitionOfDataActive())
956 {
957 ui->btnAcquireData->setEnabled(false);
958 ui->btnAcquireData->setText("Acquiring Data Now");
959 ui->progress->setValue(progressvalue);
960 }
961 else
962 {
963
964 ui->progress->setValue(0);
965
966 tick_acquisition(1);
967
968 expected_values_handler.get_current_expected_values(exp_vals, current_trial);
969 for (i=0; i<6;i++){
970 expValues.at(i)->setText(QString("%1").arg(exp_vals.dat[i]));
971 }
972
973 signed_elem_class last;
974 last = last_value;
975 last.remove_bias(trial_bias);
976 for (i=0; i<6;i++){
977 readValues.at(i)->setText(QString("%1").arg(last.dat[i]));
978 }
979 bool in_boundary = expected_values_handler.check_vals(last,current_trial,err_vals,in_bound);
980 for (i=0; i<6; i++){
981 errValues.at(i)->setText(QString("%1").arg(err_vals.dat[i]));
982
983 if (in_bound.dat[i]==0){
984 errValues.at(i)->setStyleSheet("color: rgb(255, 0, 0);");
985 } else if (in_bound.dat[i]==1) {
986 errValues.at(i)->setStyleSheet("color: rgb(0, 255, 0);");
987 } else if (in_bound.dat[i]==2) {
988 errValues.at(i)->setStyleSheet("color: orange;");
989 }
990 }
991
992
993 ui->btnAcquireData->setEnabled(true);
994 ui->spinSamples->setEnabled(false);
995
996 if (in_boundary==false){
997 ui->btnAcquireData->setText("Strange values detected.\n Acquire anyway? ");
998 } else {
999 ui->btnAcquireData->setText("Regular Values: Acquire Data");
1000 }
1001 }
1002 }
1003}
1004
1005
1006bool StrainCalibGui::tick_acquisition(int samples)
1007{
1008 // marco.accame: now we acquire with the strainInterface class in one shot
1009
1010 if(false == enableacquisitions)
1011 {
1012 return false;
1013 }
1014
1015 lockdriver(true);
1016
1017 vector<cDownloader::strain_value_t> values;
1018 get(samples, values, enabledebugprints, false);
1019 // yDebug() << "simple acquisition of " << values.size() << "strain samples";
1020
1021 // now i need to retrieve the most recent value from values but in a particular format and fill variable last_value
1022
1023 if(values.size() > 0)
1024 {
1025 cDownloader::strain_value_t lastvalue = values.at(values.size()-1);
1026 lastvalue.extract(last_value.dat);
1027 }
1028
1029 lockdriver(false);
1030
1031 return true;
1032
1033}
1034
1035void StrainCalibGui::setAcquisitionOfDataActive(const bool active)
1036{
1037 mutexacquisitionofdata.lock();
1038 acquiringdata = active;
1039 mutexacquisitionofdata.unlock();
1040}
1041
1042bool StrainCalibGui::isAcquisitionOfDataActive()
1043{
1044 bool active = false;
1045 mutexacquisitionofdata.lock();
1046 active = acquiringdata;
1047 mutexacquisitionofdata.unlock();
1048 return active;
1049}
1050
1051void StrainCalibGui::lockdriver(const bool on)
1052{
1053 if(on)
1054 {
1055 mutexdriver.lock();
1056 }
1057 else
1058 {
1059 mutexdriver.unlock();
1060 }
1061}
1062
1063bool StrainCalibGui::checkDirectory()
1064{
1065 QFileInfo dir = QFileInfo("./data");
1066 return dir.isDir();
1067}
1068
data
@ data
Definition ST_M1_dataType.h:64
StrainCalibGui::StrainCalibGui
StrainCalibGui(QString device, int bus, int pid, FirmwareUpdaterCore *core, QWidget *parent=0)
Definition straincalibgui.cpp:10
cDownloader::strain_acquire_start
int strain_acquire_start(int bus, int target_id, uint8_t txratemilli=20, bool calibmode=true, strain_acquisition_mode_t acqmode=strain_acquisition_mode_streaming, string *errorstring=NULL)
Definition downloader.cpp:1351
cDownloader::strain_acquire_stop
int strain_acquire_stop(int bus, int target_id, strain_acquisition_mode_t acqmode=strain_acquisition_mode_streaming, string *errorstring=NULL)
Definition downloader.cpp:1404
cDownloader::strain_acquire_get
int strain_acquire_get(int bus, int target_id, vector< strain_value_t > &values, const unsigned int howmany=10, void(*updateProgressBar)(void *, float)=NULL, void *arg=NULL, strain_acquisition_mode_t acqmode=strain_acquisition_mode_streaming, const unsigned int maxerrors=1, string *errorstring=NULL)
Definition downloader.cpp:1450
cDownloader::strain_acquisition_mode_t
strain_acquisition_mode_t
Definition downloader.h:257
cDownloader::strain_acquisition_mode_polling
@ strain_acquisition_mode_polling
Definition downloader.h:259
cDownloader::strain_acquisition_mode_streaming
@ strain_acquisition_mode_streaming
Definition downloader.h:258
expected_values_handler_class::get_thresholds
bool get_thresholds(int &low, int &high)
Definition expected_values.cpp:53
expected_values_handler_class::init
bool init(const char *filename)
Definition expected_values.cpp:60
expected_values_handler_class::get_current_expected_values
void get_current_expected_values(signed_elem_class &values, int trial)
Definition expected_values.cpp:168
expected_values_handler_class::get_serialnumber
std::string get_serialnumber()
Definition expected_values.cpp:48
expected_values_handler_class::check_vals
bool check_vals(signed_elem_class values, int trial, signed_elem_class &diff, signed_elem_class &in_bound)
Definition expected_values.cpp:139
n
int n
Definition debugFunctions.cpp:58
fp
static struct bpf_program fp
Definition pcap_wrapper_linux.cpp:89
fprintf
fprintf(fid,'\n')
on
grid on
Definition show_eyes_axes.m:5
fclose
fclose(fileID)
cDownloader::strain_value_t
Definition downloader.h:240
cDownloader::strain_value_t::extract
void extract(signed short *ss6) const
Definition downloader.h:250
signed_elem_class
Definition expected_values.h:7
signed_elem_class::dat
signed short dat[6]
Definition expected_values.h:8
signed_elem_class::remove_bias
void remove_bias(signed_elem_class bias)
Definition expected_values.h:12
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