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Configurator.Net: Refactor of simple Update/Refresh Vms 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1654 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mandrolic 2011-02-14 14:48:47 +00:00
parent 991acad1f0
commit b37c09d56e
14 changed files with 257 additions and 213 deletions
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3
Configurator/Configurator.Net/ArducopterConfigurator.csproj
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@ -46,12 +46,13 @@
<Compile Include="PresentationModels\AltitudeHoldConfigVm.cs" />
<Compile Include="PresentationModels\ConfigWithPidsBase.cs" />
<Compile Include="Core\DelegateCommand.cs" />
<Compile Include="PresentationModels\CrudVm.cs" />
<Compile Include="PresentationModels\DoubleVm.cs" />
<Compile Include="PresentationModels\PositionAltitudePidsVm.cs" />
<Compile Include="PresentationModels\FlightControlPidsVm.cs" />
<Compile Include="PresentationModels\ItalksToApm.cs" />
<Compile Include="PresentationModels\MainVm.cs" />
<Compile Include="PresentationModels\FlightDataMonitorVm.cs" />
<Compile Include="PresentationModels\SensorsVm.cs" />
<Compile Include="PresentationModels\VmBase.cs" />
<Compile Include="Views\controls\LinearIndicatorControl.cs">
<SubType>UserControl</SubType>

4
Configurator/Configurator.Net/NotifyProperyChangedBase.cs
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@ -2,7 +2,7 @@ using System.ComponentModel;
namespace ArducopterConfigurator
{
public abstract class NotifyProperyChangedBase : INotifyPropertyChanged
public abstract class NotifyProperyChangedBase : INotifyPropertyChanged, ISupportsExternalInvokedInpc
{
public event PropertyChangedEventHandler PropertyChanged;
@ -21,7 +21,7 @@ namespace ArducopterConfigurator
return false;
}
protected void FirePropertyChanged(string propertyName)
public void FirePropertyChanged(string propertyName)
{
if (PropertyChanged != null)
PropertyChanged(this, new PropertyChangedEventArgs(propertyName));

49
Configurator/Configurator.Net/PresentationModels/AcroModeConfigVm.cs
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@ -2,10 +2,13 @@ using System;
namespace ArducopterConfigurator.PresentationModels
{
public class AcroModeConfigVm : ConfigWithPidsBase, IPresentationModel, ItalksToApm
public class AcroModeConfigVm : ConfigWithPidsBase
{
public AcroModeConfigVm()
{
updateString = "O";
refreshString = "P";
PropsInUpdateOrder = new[]
{
"RollP",
@ -19,55 +22,13 @@ namespace ArducopterConfigurator.PresentationModels
"YawD",
"TransmitterFactor",
};
RefreshCommand = new DelegateCommand(_ => RefreshValues());
UpdateCommand = new DelegateCommand(_ => UpdateValues());
}
public float TransmitterFactor { get; set; }
public ICommand RefreshCommand { get; private set; }
public ICommand UpdateCommand { get; private set; }
public void UpdateValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs(ComposePropsWithCommand("O")));
}
public void RefreshValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs("P"));
}
public string Name
public override string Name
{
get { return "Acro Mode"; }
}
public void Activate()
{
RefreshValues();
}
public void DeActivate()
{
}
public event EventHandler updatedByApm;
public void handleLineOfText(string strRx)
{
PopulatePropsFromUpdate(strRx,true);
if (updatedByApm != null)
updatedByApm(this, EventArgs.Empty);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
}
}

47
Configurator/Configurator.Net/PresentationModels/AltitudeHoldConfigVm.cs
View File

@ -9,59 +9,24 @@ namespace ArducopterConfigurator.PresentationModels
/// Todo: this one is weird because the APM sends and receives the values
/// in a different order
/// There is a unit test to cover it but it will need fixing.
/// TODO: test this
/// </remarks>
public class AltitudeHoldConfigVm : VmBase, IPresentationModel, ItalksToApm
public class AltitudeHoldConfigVm : CrudVm, IPresentationModel, ISupportsPropertyPopulation
{
public AltitudeHoldConfigVm()
{
PropsInUpdateOrder = new[] { "P", "I", "D", };
RefreshCommand = new DelegateCommand(_ => RefreshValues());
UpdateCommand = new DelegateCommand(_ => UpdateValues());
updateString = "E";
refreshString = "F";
PropsInUpdateOrder = new[] {"P", "I", "D",};
}
public ICommand RefreshCommand { get; private set; }
public ICommand UpdateCommand { get; private set; }
public float P { get; set; }
public float I { get; set; }
public float D { get; set; }
private void RefreshValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs("F"));
}
public void UpdateValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs(ComposePropsWithCommand("E")));
}
public string Name
public override string Name
{
get { return "Altitude Hold"; }
}
public void Activate()
{
RefreshValues();
}
public void DeActivate()
{
}
public event EventHandler updatedByApm;
public void handleLineOfText(string strRx)
{
PopulatePropsFromUpdate(strRx, true);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
}
}

2
Configurator/Configurator.Net/PresentationModels/CalibrationOffsetsDataVm.cs
View File

@ -4,7 +4,7 @@ using System.Diagnostics;
namespace ArducopterConfigurator.PresentationModels
{
public class CalibrationOffsetsDataVm : VmBase, IPresentationModel, ItalksToApm
public class CalibrationOffsetsDataVm : VmBase, IPresentationModel
{
public CalibrationOffsetsDataVm()
{

5
Configurator/Configurator.Net/PresentationModels/ConfigWithPidsBase.cs
View File

@ -1,10 +1,9 @@
using System;
using System.Collections.Generic;
using System.Diagnostics;
namespace ArducopterConfigurator.PresentationModels
{
public abstract class ConfigWithPidsBase : VmBase
public abstract class ConfigWithPidsBase : CrudVm
{
public float RollP { get; set; }
@ -18,5 +17,7 @@ namespace ArducopterConfigurator.PresentationModels
public float YawP { get; set; }
public float YawI { get; set; }
public float YawD { get; set; }
}
}

65
Configurator/Configurator.Net/PresentationModels/CrudVm.cs Normal file
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@ -0,0 +1,65 @@
using System;
namespace ArducopterConfigurator.PresentationModels
{
/// <summary>
/// Common base for the simple VMs that deal with an update from APM and Get and Update them
/// </summary>
public abstract class CrudVm : NotifyProperyChangedBase, ISupportsPropertyPopulation, ItalksToApm, IPresentationModel
{
protected string updateString;
protected string refreshString;
protected CrudVm()
{
RefreshCommand = new DelegateCommand(_ => RefreshValues());
UpdateCommand = new DelegateCommand(_ => UpdateValues());
}
public string[] PropsInUpdateOrder { get; protected set; }
public ICommand RefreshCommand { get; private set; }
public ICommand UpdateCommand { get; private set; }
protected void RefreshValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs(refreshString));
}
protected void UpdateValues()
{
if (sendTextToApm != null)
{
var apmString = PropertyHelper.ComposePropValuesWithCommand(this, updateString);
sendTextToApm(this, new sendTextToApmEventArgs(apmString));
}
}
public abstract string Name { get; }
public void Activate()
{
RefreshValues();
}
public void DeActivate()
{
}
public void handleLineOfText(string strRx)
{
PropertyHelper.PopulatePropsFromUpdate(this, strRx, true);
if (updatedByApm != null)
updatedByApm(this, EventArgs.Empty);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
public event EventHandler updatedByApm;
}
}

2
Configurator/Configurator.Net/PresentationModels/MainVm.cs
View File

@ -23,7 +23,7 @@ namespace ArducopterConfigurator.PresentationModels
MonitorVms = new BindingList<IPresentationModel>
{
new FlightDataVm(),
new SensorsVm(),
new TransmitterChannelsVm(),
new FlightControlPidsVm(),
new PositionAltitudePidsVm(),

50
Configurator/Configurator.Net/PresentationModels/PositionHoldConfigVm.cs
View File

@ -2,10 +2,13 @@ using System;
namespace ArducopterConfigurator.PresentationModels
{
public class PositionHoldConfigVm : ConfigWithPidsBase, IPresentationModel, ItalksToApm
public class PositionHoldConfigVm : ConfigWithPidsBase
{
public PositionHoldConfigVm()
{
updateString = "C";
refreshString = "D";
PropsInUpdateOrder = new[]
{
"RollP",
@ -17,58 +20,15 @@ namespace ArducopterConfigurator.PresentationModels
"MaximumAngle",
"GeoCorrectionFactor",
};
RefreshCommand = new DelegateCommand(_ => RefreshValues());
UpdateCommand = new DelegateCommand(_ => UpdateValues());
}
public float MaximumAngle { get; set; }
public float GeoCorrectionFactor { get; set; }
public ICommand RefreshCommand { get; private set; }
public ICommand UpdateCommand { get; private set; }
//Send an 'C' followed by numeric values to transmit user defined roll and pitch PID values for gyro stabilized flight control. Each value is separated by a semi-colon in the form:
//C[P GPS ROLL];[I GPS ROLL];[D GPS ROLL];[P GPS PITCH];[I GPS PITCH];[D GPS PITCH];[GPS MAX ANGLE];[GEOG Correction factor]
public void UpdateValues()
{
if (sendTextToApm != null)
sendTextToApm(this,new sendTextToApmEventArgs(ComposePropsWithCommand("C")));
}
public void RefreshValues()
{
if (sendTextToApm != null)
sendTextToApm(this,new sendTextToApmEventArgs("D"));
}
public string Name
public override string Name
{
get { return "Position Hold"; }
}
public void Activate()
{
RefreshValues();
}
public void DeActivate()
{
}
public void handleLineOfText(string strRx)
{
PopulatePropsFromUpdate(strRx,true);
if (updatedByApm != null)
updatedByApm(this,EventArgs.Empty);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
public event EventHandler updatedByApm;
}
}

68
Configurator/Configurator.Net/PresentationModels/FlightDataMonitorVm.cs → Configurator/Configurator.Net/PresentationModels/SensorsVm.cs
View File

@ -5,11 +5,31 @@ using System.IO.Ports;
namespace ArducopterConfigurator.PresentationModels
{
public class FlightDataVm : VmBase, IPresentationModel, ItalksToApm
/// <summary>
/// View Model for the sensors monitor and calibration
/// </summary>
/// <remarks>
/// This tab is for the monitoring and calibration of the Gyro/Accel sensors
///
/// When it is activated, it retrieves the current sensor calibration values
/// Then, it requests the constant stream of sensor readings in order to provide
/// a live view.
///
/// The user can change the calibration offsets, and upload the new values.
/// When this happens, the model tells the APM to cease sending the realtime updates,
/// then sends the new offset values, then resumes the updates
///
/// There is a command to automatically fill the sensor offset values, from the
/// current values of the sensors. The user would do this when the copter is
/// sitting still and level
///
/// When the VM is deactivated, the model tells the APM to cease sending the realtime updates
/// </remarks>
public class SensorsVm : VmBase, IPresentationModel
{
public string Name
{
get { return "Flight Data"; }
get { return "Sensor Data"; }
}
public void Activate()
@ -28,32 +48,10 @@ namespace ArducopterConfigurator.PresentationModels
public event EventHandler updatedByApm;
public void handleLineOfText(string strRx)
{
OnStringReceived(strRx);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
// 2,-10,3,-2,1011,1012,1002,1000,1001,1003,1002,1004
// Loop Time = 2
// Roll Gyro Rate = -10
// Pitch Gyro Rate = 3
// Yaw Gyro Rate = -2
// Throttle Output = 1011
// Roll PID Output = 1012
// Pitch PID Output = 1002
// Yaw PID Output 1000
// Front Motor Command = 1001 PWM output sent to right motor (ranges from 1000-2000)
// Rear Motor Command 1003
// Right Motor Command = 1002
// Left Motor Command = 1004
// then adc 4,3, and 5
private void OnStringReceived(string data)
{
var strs = data.Split(',');
var strs = strRx.Split(',');
var ints = new List<int>();
foreach (var s in strs)
{
@ -85,6 +83,24 @@ namespace ArducopterConfigurator.PresentationModels
AccelZ = ints[14];
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
// 2,-10,3,-2,1011,1012,1002,1000,1001,1003,1002,1004
// Loop Time = 2
// Roll Gyro Rate = -10
// Pitch Gyro Rate = 3
// Yaw Gyro Rate = -2
// Throttle Output = 1011
// Roll PID Output = 1012
// Pitch PID Output = 1002
// Yaw PID Output 1000
// Front Motor Command = 1001 PWM output sent to right motor (ranges from 1000-2000)
// Rear Motor Command 1003
// Right Motor Command = 1002
// Left Motor Command = 1004
// then adc 4,3, and 5
private int _loopTime;
public int LoopTime

53
Configurator/Configurator.Net/PresentationModels/StableModeConfigVm.cs
View File

@ -2,10 +2,13 @@ using System;
namespace ArducopterConfigurator.PresentationModels
{
public class StableModeConfigVm : ConfigWithPidsBase, IPresentationModel, ItalksToApm
public class StableModeConfigVm : ConfigWithPidsBase
{
public StableModeConfigVm()
{
updateString = "A";
refreshString = "B";
PropsInUpdateOrder = new[]
{
"RollP",
@ -20,59 +23,15 @@ namespace ArducopterConfigurator.PresentationModels
"KPrate",
"MagnetometerEnable",
};
RefreshCommand = new DelegateCommand(_ => RefreshValues());
UpdateCommand = new DelegateCommand(_ => UpdateValues());
}
public ICommand RefreshCommand { get; private set; }
public ICommand UpdateCommand { get; private set; }
public float KPrate { get; set; }
private bool magnetometerEnable;
public bool MagnetometerEnable
{
get { return magnetometerEnable; }
set { magnetometerEnable = value; }
}
public bool MagnetometerEnable { get; set; }
private void RefreshValues()
{
if (sendTextToApm != null)
sendTextToApm(this, new sendTextToApmEventArgs("B"));
}
public void UpdateValues()
{
if (sendTextToApm != null)
sendTextToApm(this,new sendTextToApmEventArgs(ComposePropsWithCommand("A")));
}
public string Name
public override string Name
{
get { return "Stable Mode"; }
}
public void Activate()
{
RefreshValues();
}
public void DeActivate()
{
}
public event EventHandler updatedByApm;
public void handleLineOfText(string strRx)
{
PopulatePropsFromUpdate(strRx,true);
}
public event EventHandler<sendTextToApmEventArgs> sendTextToApm;
}
}

2
Configurator/Configurator.Net/PresentationModels/TransmitterChannelsVm.cs
View File

@ -4,7 +4,7 @@ using System.Diagnostics;
namespace ArducopterConfigurator.PresentationModels
{
public class TransmitterChannelsVm : VmBase, ItalksToApm, IPresentationModel
public class TransmitterChannelsVm : VmBase, IPresentationModel
{
public TransmitterChannelsVm()
{

116
Configurator/Configurator.Net/PresentationModels/VmBase.cs
View File

@ -2,6 +2,122 @@ using System;
namespace ArducopterConfigurator
{
public interface ISupportsExternalInvokedInpc
{
void FirePropertyChanged(string propName);
}
public interface ISupportsPropertyPopulation : ISupportsExternalInvokedInpc
{
string [] PropsInUpdateOrder { get;}
}
/// <summary>
/// Helper class that takes an update from the APM and writes to properties of an object using reflection
/// </summary>
/// <remarks>
/// The APM gives us a stream of values .eg 4.0,5.2,3.4 etc
/// They are in a certain known order, e.g pitch P, pitch I, pitch D... etc
///
/// instead of having specific value assignment logic in every class to pick
/// apart the update and populate properties, this guy will Set the properties
/// in the correct order. All the interested class needs to provide is the
/// list of property names in the same order as the update from the APM
/// </remarks>
public static class PropertyHelper
{
// Common method for creating the update data
// sentence sent to APM is the commandChar followed by the property
// vals in the correct order, seperated by semicolons
public static string ComposePropValuesWithCommand(ISupportsPropertyPopulation obj, string commandChar)
{
var strings = new string[obj.PropsInUpdateOrder.Length];
for (int i = 0; i < obj.PropsInUpdateOrder.Length; i++)
{
var prop = obj.GetType().GetProperty(obj.PropsInUpdateOrder[i]);
if (prop.PropertyType == typeof(bool))
strings[i] = ((bool)prop.GetValue(obj, null)) ? "1" : "0";
else
strings[i] = prop.GetValue(obj, null).ToString();
}
return commandChar + string.Join(";", strings);
}
// Common method for populating properties, using a hardcoded
// property update order, and reflection to get the property type
public static void PopulatePropsFromUpdate(ISupportsPropertyPopulation obj,string strRx, bool fireInpc)
{
var strs = strRx.Split(',');
if (obj.PropsInUpdateOrder.Length != strs.Length)
{
Console.WriteLine("Processing update with " + strs.Length
+ " values, but have " + obj.PropsInUpdateOrder.Length
+ " properties to populate. Ignoring this update");
return;
}
for (int i = 0; i < obj.PropsInUpdateOrder.Length; i++)
{
var prop = obj.GetType().GetProperty(obj.PropsInUpdateOrder[i]);
var s = strs[i];
object value = null;
if (prop == null)
{
Console.WriteLine("Trying to set non existant property: " + obj.PropsInUpdateOrder[i]);
break;
}
if (prop.PropertyType == typeof(float))
{
float val;
if (!float.TryParse(s, out val))
{
Console.WriteLine("Error parsing float: {0}, VM: {1}" + s, "TODO");
break;
}
value = val;
}
if (prop.PropertyType == typeof(bool))
{
float val;
if (!float.TryParse(s, out val))
{
Console.WriteLine("Error parsing float (bool): {0}, VM: {1}" + s, "TODO");
break;
}
value = val != 0.0;
}
if (prop.PropertyType == typeof(int))
{
int val;
if (!int.TryParse(s, out val))
{
Console.WriteLine("Error parsing int:{0}, VM: {1}" + s, "TODO");
break;
}
value = val;
}
prop.SetValue(obj, value, null);
if (fireInpc)
obj.FirePropertyChanged(obj.PropsInUpdateOrder[i]);
}
}
}
public abstract class VmBase : NotifyProperyChangedBase
{
protected string[] PropsInUpdateOrder;

4
Configurator/Configurator.Net/Program.cs
View File

@ -21,8 +21,8 @@ namespace ArducopterConfigurator
var t = Type.GetType("Mono.Runtime");
IsMonoRuntime = (t != null);
var session = new CommsSession();
//var session = new FakeCommsSession();
//var session = new CommsSession();
var session = new FakeCommsSession();
var mainVm = new MainVm(session);