From 7a37a53357e55b1077a0a939964b3b0e1ac2d1fb Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Sat, 8 Sep 2018 15:29:21 +0200
Subject: [PATCH] Added mutex to student GUI in an attempt to prevent battery
voltage and image from semi-freezing
---
.../GUI_Qt/studentGUI/include/MainWindow.h | 3 ++
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 33 ++++++++++++++++---
2 files changed, 32 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index 5ad79b7c..896286d8 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -220,6 +220,9 @@ private:
Setpoint m_mpc_setpoint;
int m_flying_state;
+ QMutex m_flying_state_mutex;
+ QMutex voltage_field_mutex;
+ QMutex battery_status_label_mutex;
int m_battery_state;
// BATTERY EMPTY VOLTAGES (THESE SHOULD BE READ IN AS PARAMTERS)
//const std::vector<float> m_cutoff_voltages {3.1966, 3.2711, 3.3061, 3.3229, 3.3423, 3.3592, 3.3694, 3.385, 3.4006, 3.4044, 3.4228, 3.4228, 3.4301, 3.4445, 3.4531, 3.4677, 3.4705, 3.4712, 3.4756, 3.483, 3.4944, 3.5008, 3.5008, 3.5084, 3.511, 3.5122, 3.5243, 3.5329, 3.5412, 3.5529, 3.5609, 3.5625, 3.5638, 3.5848, 3.6016, 3.6089, 3.6223, 3.628, 3.6299, 3.6436, 3.6649, 3.6878, 3.6983, 3.7171, 3.7231, 3.7464, 3.7664, 3.7938, 3.8008, 3.816, 3.8313, 3.8482, 3.866, 3.8857, 3.8984, 3.9159, 3.9302, 3.9691, 3.997, 4.14 };
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 49e5df67..c1d91b1c 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -368,7 +368,9 @@ void MainWindow::mpcSetpointCallback(const Setpoint& newSetpoint)
void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
// PUT THE CURRENT STATE INTO THE CLASS VARIABLE
+ m_flying_state_mutex.lock();
m_flying_state = msg.data;
+ m_flying_state_mutex.unlock();
// UPDATE THE LABEL TO DISPLAY THE FLYING STATE
//QString qstr = "Flying State: ";
@@ -378,6 +380,7 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
//qstr.append("Motors OFF");
// SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ ui->flying_state_label->clear();
QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
ui->flying_state_label->setPixmap(flying_state_off_pixmap);
ui->flying_state_label->setScaledContents(true);
@@ -389,6 +392,7 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
//qstr.append("Take OFF");
// SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ ui->flying_state_label->clear();
QPixmap flying_state_enabling_pixmap(":/images/flying_state_enabling.png");
ui->flying_state_label->setPixmap(flying_state_enabling_pixmap);
ui->flying_state_label->setScaledContents(true);
@@ -400,6 +404,7 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
//qstr.append("Flying");
// SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ ui->flying_state_label->clear();
QPixmap flying_state_flying_pixmap(":/images/flying_state_flying.png");
ui->flying_state_label->setPixmap(flying_state_flying_pixmap);
ui->flying_state_label->setScaledContents(true);
@@ -411,6 +416,7 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
//qstr.append("Land");
// SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ ui->flying_state_label->clear();
QPixmap flying_state_disabling_pixmap(":/images/flying_state_disabling.png");
ui->flying_state_label->setPixmap(flying_state_disabling_pixmap);
ui->flying_state_label->setScaledContents(true);
@@ -421,6 +427,7 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
default:
{
// SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ ui->flying_state_label->clear();
QPixmap flying_state_unknown_pixmap(":/images/flying_state_unknown.png");
ui->flying_state_label->setPixmap(flying_state_unknown_pixmap);
ui->flying_state_label->setScaledContents(true);
@@ -474,6 +481,7 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
case CONNECTED:
{
// SET THE APPROPRIATE IMAGE FOR THE RADIOSTATUS LABEL
+ ui->rf_status_label->clear();
QPixmap rf_connected_pixmap(":/images/rf_connected.png");
ui->rf_status_label->setPixmap(rf_connected_pixmap);
ui->rf_status_label->setScaledContents(true);
@@ -486,34 +494,38 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
case CONNECTING:
{
// SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
+ ui->rf_status_label->clear();
QPixmap rf_connecting_pixmap(":/images/rf_connecting.png");
ui->rf_status_label->setPixmap(rf_connecting_pixmap);
ui->rf_status_label->setScaledContents(true);
ui->rf_status_label->update();
- // SET THE BATTERY VOLTAGE FIELD TO BE BLANK
- // QString qstr = "-.-- V";
- // ui->voltage_field->setText(qstr);
break;
}
case DISCONNECTED:
{
// SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
+ ui->rf_status_label->clear();
QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
ui->rf_status_label->setScaledContents(true);
ui->rf_status_label->update();
// SET THE BATTERY VOLTAGE FIELD TO BE BLANK
QString qstr = "-.-- V";
+ voltage_field_mutex.lock();
ui->voltage_field->setText(qstr);
+ voltage_field_mutex.unlock();
// SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
{
+ battery_status_label_mutex.lock();
+ ui->battery_status_label->clear();
QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
ui->battery_status_label->setPixmap(battery_unknown_pixmap);
ui->battery_status_label->setScaledContents(true);
m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
ui->battery_status_label->update();
+ battery_status_label_mutex.unlock();
}
// DISABLE THE REMAINDER OF THE GUI
disableGUI();
@@ -540,6 +552,7 @@ float MainWindow::fromVoltageToPercent(float voltage)
// COMPUTE THE PERCENTAGE DIFFERENTLY DEPENDING ON
// THE CURRENT FLYING STATE
+ m_flying_state_mutex.lock();
if (m_flying_state == STATE_MOTORS_OFF)
{
voltage_when_empty = battery_voltage_empty_while_motors_off;
@@ -550,6 +563,7 @@ float MainWindow::fromVoltageToPercent(float voltage)
voltage_when_empty = battery_voltage_empty_while_flying;
voltage_when_full = battery_voltage_full_while_flying;
}
+ m_flying_state_mutex.unlock();
//voltage_when_empty = battery_voltage_empty_while_motors_off;
//voltage_when_full = battery_voltage_full_while_motors_off;
@@ -577,10 +591,12 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
m_battery_voltage = battery_voltage;
// UPDATE THE BATTERY VOLTAGE FIELD
+ voltage_field_mutex.lock();
QString qstr = "";
qstr.append(QString::number(battery_voltage, 'f', 2));
qstr.append(" V");
ui->voltage_field->setText(qstr);
+ voltage_field_mutex.unlock();
// COMPUTE THE BATTERY VOLTAGE AS A PERCENTAGE
float battery_voltage_percentage = fromVoltageToPercent(battery_voltage);
@@ -588,6 +604,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
//ROS_INFO_STREAM("Battery percentage = " << battery_voltage_percentage );
// UPDATE THE IMAGE DISPLAYED IN THE BATTERY VOLTAGE LABEL IMAGE
+ battery_status_label_mutex.lock();
switch(m_battery_state)
{
// WHEN THE BATTERY IS IN A LOW STATE
@@ -596,6 +613,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
{
+ ui->battery_status_label->clear();
QPixmap battery_empty_pixmap(":/images/battery_empty.png");
ui->battery_status_label->setPixmap(battery_empty_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -618,6 +636,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_empty_pixmap(":/images/battery_empty.png");
ui->battery_status_label->setPixmap(battery_empty_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -634,6 +653,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_20_pixmap(":/images/battery_20.png");
ui->battery_status_label->setPixmap(battery_20_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -650,6 +670,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_40_pixmap(":/images/battery_40.png");
ui->battery_status_label->setPixmap(battery_40_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -666,6 +687,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_60_pixmap(":/images/battery_60.png");
ui->battery_status_label->setPixmap(battery_60_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -682,6 +704,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_80_pixmap(":/images/battery_80.png");
ui->battery_status_label->setPixmap(battery_80_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -694,6 +717,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_FULL)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_full_pixmap(":/images/battery_full.png");
ui->battery_status_label->setPixmap(battery_full_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -709,6 +733,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
ui->battery_status_label->setPixmap(battery_unknown_pixmap);
ui->battery_status_label->setScaledContents(true);
@@ -718,7 +743,7 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
break;
}
}
- //ui->battery_status_label->update();
+ battery_status_label_mutex.unlock();
}
void MainWindow::CFBatteryCallback(const std_msgs::Float32& msg)
--
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