OpenCachingComModel::OpenCachingComModel( const MarbleModel *marbleModel, QObject *parent )
: AbstractDataPluginModel( "opencachingcom", marbleModel, parent )
{
updateHome();
connect(marbleModel, SIGNAL(homeChanged(GeoDataCoordinates)), SLOT(updateHome()));
// translate known values for tags and cache types
// What would be a nice place for this??? Put here, since this object is only
// constructed once.
// note to translators: "cache" in this context means "geocache",
// please refer to opencaching.com and wikipedia if in doubt.
tr("Boat required");
tr("Chirp");
tr("Diving");
tr("Exclusive");
tr("Historic site");
tr("Letterbox");
tr("Night");
tr("Tree climbing");
tr("UV light");
tr("Traditional Cache");
tr("Multi-cache");
tr("Virtual Cache");
tr("Puzzle Cache");
tr("Unknown Cache");
}
void UserWidget::slotGoToDir(QString dir){
if(!QFileInfo(dir).isDir()){
LaunchItem(dir);
}else{
ui->label_home_dir->setWhatsThis(dir);
updateHome();
}
}
void UserWidget::UpdateMenu(bool forceall){
this->setCurrentWidget(ui->tab_fav);
ui->tool_fav_apps->setChecked(true);
ui->tool_fav_dirs->setChecked(false);
ui->tool_fav_files->setChecked(false);
cfav = 0; //favorite apps
updateFavItems();
QString cdir = ui->label_home_dir->whatsThis();
if(cdir.isEmpty() || !QFile::exists(cdir)){
//Directory deleted or nothing loaded yet
ui->label_home_dir->setWhatsThis(QDir::homePath());
QTimer::singleShot(0,this, SLOT(updateHome()) );
}else if( lastUpdate < QFileInfo(cdir).lastModified() || forceall){
//Directory contents changed - reload it
QTimer::singleShot(0,this, SLOT(updateHome()) );
}
if(lastUpdate < LSession::handle()->applicationMenu()->lastHashUpdate || lastUpdate.isNull() || forceall){
updateAppCategories();
QTimer::singleShot(0,this, SLOT(updateApps()) );
}
lastUpdate = QDateTime::currentDateTime();
}
//============
// PRIVATE SLOTS
//============
void UserWidget::UpdateMenu(){
if(QDateTime::currentDateTime() > lastUpdate.addSecs(30)){
//Only re-arrange/reload things if not rapidly re-run
ui->tabWidget->setCurrentWidget(ui->tab_fav);
ui->tool_fav_apps->setChecked(true);
ui->tool_fav_dirs->setChecked(false);
ui->tool_fav_files->setChecked(false);
cfav = 0; //favorite apps
updateFavItems();
updateHome();
updateAppCategories();
updateApps();
}
lastUpdate = QDateTime::currentDateTime();
}
//============
// PRIVATE SLOTS
//============
void UserWidget::UpdateMenu(){
this->setCurrentWidget(ui->tab_fav);
ui->tool_fav_apps->setChecked(true);
ui->tool_fav_dirs->setChecked(false);
ui->tool_fav_files->setChecked(false);
cfav = 0; //favorite apps
updateFavItems();
ui->label_home_dir->setWhatsThis(QDir::homePath());
updateHome();
if(lastUpdate < LSession::handle()->applicationMenu()->lastHashUpdate || lastUpdate.isNull()){
updateAppCategories();
updateApps();
}
lastUpdate = QDateTime::currentDateTime();
}
void UserWidget::slotGoToDir(QString dir){
ui->label_home_dir->setWhatsThis(dir);
updateHome();
}
void BlockLocalPositionEstimator::update()
{
// wait for a sensor update, check for exit condition every 100 ms
int ret = px4_poll(_polls, 3, 100);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(_err_perf);
return;
}
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// set dt for all child blocks
setDt(dt);
// auto-detect connected rangefinders while not armed
bool armedState = _sub_armed.get().armed;
if (!armedState && (_sub_lidar == NULL || _sub_sonar == NULL)) {
detectDistanceSensors();
}
// reset pos, vel, and terrain on arming
if (!_lastArmedState && armedState) {
// we just armed, we are at home position on the ground
_x(X_x) = 0;
_x(X_y) = 0;
// the pressure altitude of home may have drifted, so we don't
// reset z to zero
// reset flow integral
_flowX = 0;
_flowY = 0;
// we aren't moving, all velocities are zero
_x(X_vx) = 0;
_x(X_vy) = 0;
_x(X_vz) = 0;
// assume we are on the ground, so terrain alt is local alt
_x(X_tz) = _x(X_z);
// reset lowpass filter as well
_xLowPass.setState(_x);
}
_lastArmedState = armedState;
// see which updates are available
bool flowUpdated = _sub_flow.updated();
bool paramsUpdated = _sub_param_update.updated();
bool baroUpdated = _sub_sensor.updated();
bool gpsUpdated = _gps_on.get() && _sub_gps.updated();
bool homeUpdated = _sub_home.updated();
bool visionUpdated = _vision_on.get() && _sub_vision_pos.updated();
bool mocapUpdated = _sub_mocap.updated();
bool lidarUpdated = (_sub_lidar != NULL) && _sub_lidar->updated();
bool sonarUpdated = (_sub_sonar != NULL) && _sub_sonar->updated();
// get new data
updateSubscriptions();
// update parameters
if (paramsUpdated) {
updateParams();
updateSSParams();
}
// update home position projection
if (homeUpdated) {
updateHome();
}
// is xy valid?
bool xy_stddev_ok = sqrtf(math::max(_P(X_x, X_x), _P(X_y, X_y))) < _xy_pub_thresh.get();
if (_validXY) {
// if valid and gps has timed out, set to not valid
if (!xy_stddev_ok && !_gpsInitialized) {
_validXY = false;
}
} else {
if (xy_stddev_ok) {
_validXY = true;
}
}
// is z valid?
bool z_stddev_ok = sqrtf(_P(X_z, X_z)) < _z_pub_thresh.get();
if (_validZ) {
// if valid and baro has timed out, set to not valid
if (!z_stddev_ok && !_baroInitialized) {
_validZ = false;
}
} else {
if (z_stddev_ok) {
_validZ = true;
}
}
// is terrain valid?
bool tz_stddev_ok = sqrtf(_P(X_tz, X_tz)) < _z_pub_thresh.get();
if (_validTZ) {
if (!tz_stddev_ok) {
_validTZ = false;
}
} else {
if (tz_stddev_ok) {
_validTZ = true;
}
}
// timeouts
if (_validXY) {
_time_last_xy = _timeStamp;
}
if (_validZ) {
_time_last_z = _timeStamp;
}
if (_validTZ) {
_time_last_tz = _timeStamp;
}
// check timeouts
checkTimeouts();
// if we have no lat, lon initialize projection at 0,0
if (_validXY && !_map_ref.init_done) {
map_projection_init(&_map_ref,
_init_home_lat.get(),
_init_home_lon.get());
}
// reinitialize x if necessary
bool reinit_x = false;
for (int i = 0; i < n_x; i++) {
// should we do a reinit
// of sensors here?
// don't want it to take too long
if (!PX4_ISFINITE(_x(i))) {
reinit_x = true;
break;
}
}
if (reinit_x) {
for (int i = 0; i < n_x; i++) {
_x(i) = 0;
}
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit x");
}
// reinitialize P if necessary
bool reinit_P = false;
for (int i = 0; i < n_x; i++) {
for (int j = 0; j < n_x; j++) {
if (!PX4_ISFINITE(_P(i, j))) {
reinit_P = true;
break;
}
}
if (reinit_P) { break; }
}
if (reinit_P) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit P");
initP();
}
// do prediction
predict();
// sensor corrections/ initializations
if (gpsUpdated) {
if (!_gpsInitialized) {
gpsInit();
} else {
gpsCorrect();
}
}
if (baroUpdated) {
if (!_baroInitialized) {
baroInit();
} else {
baroCorrect();
}
}
if (lidarUpdated) {
if (!_lidarInitialized) {
lidarInit();
} else {
lidarCorrect();
}
}
if (sonarUpdated) {
if (!_sonarInitialized) {
sonarInit();
} else {
sonarCorrect();
}
}
if (flowUpdated) {
if (!_flowInitialized) {
flowInit();
} else {
perf_begin(_loop_perf);// TODO
flowCorrect();
//perf_count(_interval_perf);
perf_end(_loop_perf);
}
}
if (visionUpdated) {
if (!_visionInitialized) {
visionInit();
} else {
visionCorrect();
}
}
if (mocapUpdated) {
if (!_mocapInitialized) {
mocapInit();
} else {
mocapCorrect();
}
}
if (_altHomeInitialized) {
// update all publications if possible
publishLocalPos();
publishEstimatorStatus();
if (_validXY) {
publishGlobalPos();
}
}
// propagate delayed state, no matter what
// if state is frozen, delayed state still
// needs to be propagated with frozen state
float dt_hist = 1.0e-6f * (_timeStamp - _time_last_hist);
if (_time_last_hist == 0 ||
(dt_hist > HIST_STEP)) {
_tDelay.update(Scalar<uint64_t>(_timeStamp));
_xDelay.update(_x);
_time_last_hist = _timeStamp;
}
}
