459 lines
16 KiB
JavaScript
459 lines
16 KiB
JavaScript
'use strict';
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TABS.motors = {};
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TABS.motors.initialize = function (callback) {
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var self = this;
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self.armed = false;
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if (GUI.active_tab != 'motors') {
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GUI.active_tab = 'motors';
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googleAnalytics.sendAppView('Motors');
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}
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function get_arm_status() {
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MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_motor_data);
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}
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function update_arm_status() {
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self.armed = bit_check(CONFIG.mode, 0);
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}
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function get_motor_data() {
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update_arm_status();
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MSP.send_message(MSP_codes.MSP_MOTOR, false, false, load_html);
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}
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function load_html() {
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$('#content').load("./tabs/motors.html", process_html);
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}
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MSP.send_message(MSP_codes.MSP_MISC, false, false, get_arm_status);
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function initSensorData() {
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for (var i = 0; i < 3; i++) {
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SENSOR_DATA.accelerometer[i] = 0;
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}
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}
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function initDataArray(length) {
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var data = new Array(length);
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for (var i = 0; i < length; i++) {
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data[i] = new Array();
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data[i].min = -1;
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data[i].max = 1;
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}
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return data;
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}
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function addSampleToData(data, sampleNumber, sensorData) {
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for (var i = 0; i < data.length; i++) {
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var dataPoint = sensorData[i];
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data[i].push([sampleNumber, dataPoint]);
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if (dataPoint < data[i].min) {
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data[i].min = dataPoint;
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}
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if (dataPoint > data[i].max) {
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data[i].max = dataPoint;
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}
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}
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while (data[0].length > 300) {
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for (i = 0; i < data.length; i++) {
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data[i].shift();
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}
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}
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return sampleNumber + 1;
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}
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var margin = {top: 20, right: 30, bottom: 10, left: 20};
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function updateGraphHelperSize(helpers) {
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helpers.width = helpers.targetElement.width() - margin.left - margin.right;
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helpers.height = helpers.targetElement.height() - margin.top - margin.bottom;
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helpers.widthScale.range([0, helpers.width]);
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helpers.heightScale.range([helpers.height, 0]);
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helpers.xGrid.tickSize(-helpers.height, 0, 0);
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helpers.yGrid.tickSize(-helpers.width, 0, 0);
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}
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function initGraphHelpers(selector, sampleNumber, heightDomain) {
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var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain};
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helpers.widthScale = d3.scale.linear()
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.clamp(true)
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.domain([(sampleNumber - 299), sampleNumber]);
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helpers.heightScale = d3.scale.linear()
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.clamp(true)
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.domain(heightDomain || [1, -1]);
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helpers.xGrid = d3.svg.axis();
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helpers.yGrid = d3.svg.axis();
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updateGraphHelperSize(helpers);
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helpers.xGrid
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.scale(helpers.widthScale)
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.orient("bottom")
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.ticks(5)
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.tickFormat("");
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helpers.yGrid
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.scale(helpers.heightScale)
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.orient("left")
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.ticks(5)
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.tickFormat("");
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helpers.xAxis = d3.svg.axis()
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.scale(helpers.widthScale)
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.ticks(5)
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.orient("bottom")
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.tickFormat(function (d) {return d;});
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helpers.yAxis = d3.svg.axis()
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.scale(helpers.heightScale)
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.ticks(5)
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.orient("left")
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.tickFormat(function (d) {return d;});
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helpers.line = d3.svg.line()
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.x(function (d) { return helpers.widthScale(d[0]); })
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.y(function (d) { return helpers.heightScale(d[1]); });
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return helpers;
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}
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function drawGraph(graphHelpers, data, sampleNumber) {
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var svg = d3.select(graphHelpers.selector);
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if (graphHelpers.dynamicHeightDomain) {
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var limits = [];
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$.each(data, function (idx, datum) {
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limits.push(datum.min);
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limits.push(datum.max);
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});
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graphHelpers.heightScale.domain(d3.extent(limits));
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}
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graphHelpers.widthScale.domain([(sampleNumber - 299), sampleNumber]);
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svg.select(".x.grid").call(graphHelpers.xGrid);
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svg.select(".y.grid").call(graphHelpers.yGrid);
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svg.select(".x.axis").call(graphHelpers.xAxis);
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svg.select(".y.axis").call(graphHelpers.yAxis);
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var group = svg.select("g.data");
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var lines = group.selectAll("path").data(data, function (d, i) {return i;});
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var newLines = lines.enter().append("path").attr("class", "line");
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lines.attr('d', graphHelpers.line);
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}
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function update_model(val) {
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$('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[val - 1].image + '.svg');
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}
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function process_html() {
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// translate to user-selected language
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localize();
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$('#motorsEnableTestMode').prop('disabled', 'true');
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update_model(CONFIG.multiType);
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// Always start with default/empty sensor data array, clean slate all
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initSensorData();
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// Setup variables
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var samples_accel_i = 0,
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accel_data = initDataArray(3),
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accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]),
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accel_max_read = [0, 0, 0],
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accel_offset = [0, 0, 0],
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accel_offset_established = false;
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var raw_data_text_ements = {
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x: [],
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y: [],
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z: []
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};
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$('.plot_control .x, .plot_control .y, .plot_control .z').each(function () {
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var el = $(this);
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if (el.hasClass('x')) {
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raw_data_text_ements.x.push(el);
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} else if (el.hasClass('y')) {
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raw_data_text_ements.y.push(el);
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} else {
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raw_data_text_ements.z.push(el);
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}
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});
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// set refresh speeds according to configuration saved in storage
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chrome.storage.local.get('motors_tab_accel_settings', function (result) {
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if (result.motors_tab_accel_settings) {
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$('.tab-motors select[name="accel_refresh_rate"]').val(result.motors_tab_accel_settings.rate);
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$('.tab-motors select[name="accel_scale"]').val(result.motors_tab_accel_settings.scale);
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// start polling data by triggering refresh rate change event
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$('.tab-motors .rate select:first').change();
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} else {
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// start polling immediatly (as there is no configuration saved in the storage)
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$('.tab-motors .rate select:first').change();
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}
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});
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$('.tab-motors .rate select, .tab-motors .scale select').change(function () {
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var rate = parseInt($('.tab-motors select[name="accel_refresh_rate"]').val(), 10);
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var scale = parseFloat($('.tab-motors select[name="accel_scale"]').val());
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// store current/latest refresh rates in the storage
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chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
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accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-scale, scale]);
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// timer initialization
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GUI.interval_kill_all(['motor_and_status_pull']);
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GUI.interval_add('IMU_pull', function imu_data_pull() {
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MSP.send_message(MSP_codes.MSP_RAW_IMU, false, false, update_accel_graph);
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}, rate, true);
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function update_accel_graph() {
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if (!accel_offset_established) {
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for (var i = 0; i < 3; i++) {
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accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
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}
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accel_offset_established = true;
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}
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var accel_with_offset = [
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accel_offset[0] + SENSOR_DATA.accelerometer[0],
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accel_offset[1] + SENSOR_DATA.accelerometer[1],
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accel_offset[2] + SENSOR_DATA.accelerometer[2]
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];
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updateGraphHelperSize(accelHelpers);
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samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
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drawGraph(accelHelpers, accel_data, samples_accel_i);
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raw_data_text_ements.x[0].text(accel_with_offset[0].toFixed(2) + ' (' + accel_max_read[0].toFixed(2) + ')');
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raw_data_text_ements.y[0].text(accel_with_offset[1].toFixed(2) + ' (' + accel_max_read[1].toFixed(2) + ')');
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raw_data_text_ements.z[0].text(accel_with_offset[2].toFixed(2) + ' (' + accel_max_read[2].toFixed(2) + ')');
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for (var i = 0; i < 3; i++) {
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if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
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}
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}
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});
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$('a.reset_accel_max').click(function () {
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accel_max_read = [0, 0, 0];
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accel_offset_established = false;
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});
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var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
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var motors_wrapper = $('.motors .bar-wrapper'),
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servos_wrapper = $('.servos .bar-wrapper');
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for (var i = 0; i < 8; i++) {
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motors_wrapper.append('\
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<div class="m-block motor-' + i + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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<div class="indicator">\
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<div class="label">\
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<div class="label"></div>\
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</div>\
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</div>\
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</div>\
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</div>\
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');
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servos_wrapper.append('\
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<div class="m-block servo-' + (7 - i) + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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<div class="indicator">\
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<div class="label">\
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<div class="label"></div>\
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</div>\
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</div>\
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</div>\
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</div>\
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');
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}
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$('div.sliders input').prop('min', MISC.mincommand);
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$('div.sliders input').prop('max', MISC.maxthrottle);
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$('div.sliders input').val(MISC.mincommand);
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$('div.values li:not(:last)').text(MISC.mincommand);
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// UI hooks
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var buffering_set_motor = [],
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buffer_delay = false;
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$('div.sliders input:not(.master)').on('input', function () {
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var index = $(this).index(),
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buffer = [],
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i;
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$('div.values li').eq(index).text($(this).val());
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for (i = 0; i < 8; i++) {
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var val = parseInt($('div.sliders input').eq(i).val());
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buffer.push(lowByte(val));
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buffer.push(highByte(val));
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}
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buffering_set_motor.push(buffer);
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if (!buffer_delay) {
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buffer_delay = setTimeout(function () {
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buffer = buffering_set_motor.pop();
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MSP.send_message(MSP_codes.MSP_SET_MOTOR, buffer);
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buffering_set_motor = [];
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buffer_delay = false;
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}, 10);
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}
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});
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$('div.sliders input.master').on('input', function () {
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var val = $(this).val();
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$('div.sliders input:not(:disabled, :last)').val(val);
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$('div.values li:not(:last)').slice(0, number_of_valid_outputs).text(val);
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$('div.sliders input:not(:last):first').trigger('input');
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});
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$('#motorsEnableTestMode').change(function () {
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if ($(this).is(':checked')) {
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$('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false);
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// unlock master slider
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$('div.sliders input:last').prop('disabled', false);
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} else {
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// disable sliders / min max
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$('div.sliders input').prop('disabled', true);
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// change all values to default
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$('div.sliders input').val(MISC.mincommand);
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// trigger change event so values are sent to mcu
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$('div.sliders input').trigger('input');
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}
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});
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// check if motors are already spinning
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var motors_running = false;
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for (var i = 0; i < MOTOR_DATA.length; i++) {
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if (MOTOR_DATA[i] > MISC.mincommand) {
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motors_running = true;
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break;
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}
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}
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if (motors_running) {
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if (!self.armed) {
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$('#motorsEnableTestMode').prop('checked', true);
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}
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// motors are running adjust sliders to current values
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var sliders = $('div.sliders input:not(.master)');
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var master_value = MOTOR_DATA[0];
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for (var i = 0; i < MOTOR_DATA.length; i++) {
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if (MOTOR_DATA[i] > 0) {
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sliders.eq(i).val(MOTOR_DATA[i]);
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if (master_value != MOTOR_DATA[i]) {
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master_value = false;
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}
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}
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}
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// only fire events when all values are set
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sliders.trigger('input');
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// slide master slider if condition is valid
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if (master_value) {
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$('div.sliders input.master').val(master_value);
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$('div.sliders input.master').trigger('input');
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}
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}
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$('#motorsEnableTestMode').change();
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// data pulling functions used inside interval timer
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function get_status() {
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// status needed for arming flag
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MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_motor_data);
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}
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function get_motor_data() {
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MSP.send_message(MSP_codes.MSP_MOTOR, false, false, get_servo_data);
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}
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function get_servo_data() {
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MSP.send_message(MSP_codes.MSP_SERVO, false, false, update_ui);
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}
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var full_block_scale = MISC.maxthrottle - MISC.mincommand;
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function update_ui() {
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var previousArmState = self.armed;
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update_arm_status();
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if (self.armed) {
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$('#motorsEnableTestMode').prop('disabled', true);
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$('#motorsEnableTestMode').prop('checked', false);
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} else {
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$('#motorsEnableTestMode').prop('disabled', false);
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}
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if (previousArmState != self.armed) {
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console.log('arm state change detected');
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$('#motorsEnableTestMode').change();
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}
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var block_height = $('div.m-block:first').height();
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for (var i = 0; i < MOTOR_DATA.length; i++) {
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var data = MOTOR_DATA[i] - MISC.mincommand,
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margin_top = block_height - (data * (block_height / full_block_scale)).clamp(0, block_height),
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height = (data * (block_height / full_block_scale)).clamp(0, block_height),
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color = parseInt(data * 0.009);
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$('.motor-' + i + ' .label', motors_wrapper).text(MOTOR_DATA[i]);
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$('.motor-' + i + ' .indicator', motors_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(89,170,41,1.'+ color +')'});
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}
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// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
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for (var i = 0; i < SERVO_DATA.length; i++) {
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var data = SERVO_DATA[i] - 1000,
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margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height),
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height = (data * (block_height / 1000)).clamp(0, block_height),
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color = parseInt(data * 0.009);
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$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]);
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$('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(89,170,41,1'+ color +')'});
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}
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}
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// enable Status and Motor data pulling
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GUI.interval_add('motor_and_status_pull', get_status, 50, true);
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GUI.content_ready(callback);
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}
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};
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TABS.motors.cleanup = function (callback) {
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if (callback) callback();
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}; |