Add AHRS status indicators to web UI.

2017-03-09 21:43:26 -05:00 · 2017-03-09 21:43:26 -05:00 · 8ce402a33f
commit 8ce402a33f
--- a/main/gps.go
+++ b/main/gps.go
@ -94,6 +94,7 @@ type SituationData struct {
 	RateOfTurn       float64
 	GLoad            float64
 	LastAttitudeTime time.Time
+	AHRSStatus       uint8
 }

 /*
--- a/main/sensors.go
+++ b/main/sensors.go
@ -22,6 +22,8 @@ var (
 	myPressureReader sensors.PressureReader
 	myIMUReader      sensors.IMUReader
 	cage             chan(bool)
+	analysisLogger   *ahrs.AHRSLogger
+	ahrsCalibrating  bool
 )

 func initI2CSensors() {
@ -29,6 +31,7 @@ func initI2CSensors() {

 	go pollSensors()
 	go sensorAttitudeSender()
+	go updateAHRSStatus()
 }

 func pollSensors() {
@ -134,11 +137,14 @@ func initIMU() (ok bool) {
 		myIMUReader = imu
 		time.Sleep(200 * time.Millisecond)
 		log.Println("AHRS Info: Successfully connected MPU9250, running calibration")
+		ahrsCalibrating = true
 		if err := myIMUReader.Calibrate(1, 1); err == nil {
 			log.Println("AHRS Info: Successfully calibrated MPU9250")
+			ahrsCalibrating = false
 			return true
 		} else {
 			log.Println("AHRS Info: couldn't calibrate MPU9250")
+			ahrsCalibrating = false
 			return false
 		}
 	}
@ -159,7 +165,6 @@ func sensorAttitudeSender() {
 		ff       					  *[3][3]float64 // Sensor orientation matrix
 		mpuError, magError                                error
 		failnum						  uint8
-		analysisLogger                                    *ahrs.AHRSLogger
 	)
 	log.Println("AHRS Info: initializing new simple AHRS")
 	s = ahrs.InitializeSimple()
@ -206,11 +211,13 @@ func sensorAttitudeSender() {
 			<-timer.C
 			select {
 			case <-cage:
+				ahrsCalibrating = true
 				if err := myIMUReader.Calibrate(1, 1); err == nil {
 					log.Println("AHRS Info: Successfully recalibrated MPU9250")
 				} else {
 					log.Println("AHRS Info: couldn't recalibrate MPU9250")
 				}
+				ahrsCalibrating = false
 				s.Reset()
 			default:
 			}
@ -353,6 +360,45 @@ func getMinAccelDirection() (i int, err error) {
 	return
 }

+// CageAHRS sends a signal to the AHRSProvider that it should be reset.
 func CageAHRS() {
 	cage<- true
 }
+
+func updateAHRSStatus() {
+	var (
+		msg    uint8
+		imu    bool
+		ticker *time.Ticker
+	)
+
+	ticker = time.NewTicker(250 * time.Millisecond)
+
+	for {
+		<-ticker.C
+		msg = 0
+
+		// GPS valid
+		if stratuxClock.Time.Sub(mySituation.LastGroundTrackTime) < 3000*time.Millisecond {
+			msg += 1
+		}
+		// IMU is being used
+		imu = globalSettings.IMU_Sensor_Enabled && globalStatus.IMUConnected
+		if imu {
+			msg += 1 << 1
+		}
+		// BMP is being used
+		if globalSettings.BMP_Sensor_Enabled && globalStatus.BMPConnected {
+			msg += 1 << 2
+		}
+		// IMU is doing a calibration
+		if ahrsCalibrating {
+			msg += 1 << 3
+		}
+		// Logging to csv
+		if imu && analysisLogger != nil {
+			msg += 1 << 4
+		}
+		mySituation.AHRSStatus = msg
+	}
+}
--- a/web/css/main.css
+++ b/web/css/main.css
@ -439,4 +439,58 @@ body {
 		-moz-transition: -moz-transform 0 ease;
 		transition: transform 0 ease;
 	}
-}
+}
+
+/* Thanks to https://codepen.io/fskirschbaum/pen/MYJNaj for the indicator template */
+
+.indicator {
+	margin: 0 1%;
+	width: 18%;
+	height: 100%;
+	background-color: #ABFF00;
+	border-radius: 10%;
+	box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #304701 0 -1px 9px, #89FF00 0 2px 12px;
+}
+
+.indicator.off {
+	background-color: #F00;
+}
+
+.indicator.on {
+	background-color: #ABFF00;
+}
+
+.indicator.blink {
+	background-color: #F00;
+	-webkit-animation: blinkRed 1s infinite;
+	-moz-animation: blinkRed 1s infinite;
+	-ms-animation: blinkRed 1s infinite;
+	-o-animation: blinkRed 1s infinite;
+	animation: blinkRed 1s infinite;
+}
+
+@-webkit-keyframes blinkRed {
+    from { background-color: #F22; }
+    50% { background-color: #A00; box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255, 0, 0, 0.5) 0 2px 0;}
+    to { background-color: #F22; }
+}
+@-moz-keyframes blinkRed {
+    from { background-color: #F22; }
+    50% { background-color: #A00; box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255, 0, 0, 0.5) 0 2px 0;}
+    to { background-color: #F22; }
+}
+@-ms-keyframes blinkRed {
+    from { background-color: #F22; }
+    50% { background-color: #A00; box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255, 0, 0, 0.5) 0 2px 0;}
+    to { background-color: #F22; }
+}
+@-o-keyframes blinkRed {
+    from { background-color: #F22; }
+    50% { background-color: #A00; box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255, 0, 0, 0.5) 0 2px 0;}
+    to { background-color: #F22; }
+}
+@keyframes blinkRed {
+    from { background-color: #F22; }
+    50% { background-color: #A00; box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255, 0, 0, 0.5) 0 2px 0;}
+    to { background-color: #F22; }
+}
--- a/web/plates/gps.html
+++ b/web/plates/gps.html
@ -39,34 +39,45 @@
 						</div>
 					</span>
 				</div>
-				<div class="separator"></div>
-				<div class="col-xs-3">
-					<a ng-click="AHRSCage()" class="btn btn-primary">Cage</a>
+				<div class="col-xs-12">
+					<div class="row" style="margin-bottom: 4px;">
+						<div class="col-xs-3 text-center indicator off" id="status-calibrating">Ready</div>
+						<div class="col-xs-2 text-center indicator off" id="status-gps">GPS</div>
+						<div class="col-xs-2 text-center indicator off" id="status-imu">IMU</div>
+						<div class="col-xs-2 text-center indicator off" id="status-bmp">BMP</div>
+						<div class="col-xs-3 text-center indicator off" id="status-logging">Logging</div>
+					</div>
 				</div>
-				<div class="col-xs-9">
-					<div class="row">
-						<strong class="col-xs-3 text-center">Heading:</strong>
-						<strong class="col-xs-3 text-center">Pitch:</strong>
-						<strong class="col-xs-3 text-center">Roll:</strong>
-						<strong class="col-xs-3 text-center">P-Alt:</strong>
+				<div class="col-xs-12">
+					<div class="separator"></div>
+					<div class="col-xs-3">
+						<a ng-click="AHRSCage()" class="btn btn-primary" ng-disabled="IsCaging()">Cage</a>
 					</div>
-					<div class="row">
-						<span class="col-xs-3 text-center">{{ahrs_heading}}&deg;</span>
-						<span class="col-xs-3 text-center">{{ahrs_pitch}}&deg;</span>
-						<span class="col-xs-3 text-center">{{ahrs_roll}}&deg;</span>
-						<span class="col-xs-3 text-center">{{ahrs_alt}} ft</span>
-					</div>
-					<div class="row">
-						<strong class="col-xs-3 text-center">Mag Hdg:</strong>
-						<strong class="col-xs-3 text-center">Slip/Skid:</strong>
-						<strong class="col-xs-3 text-center">Turn Rate:</strong>
-						<strong class="col-xs-3 text-center">G Load:</strong>
-					</div>
-					<div class="row">
-						<span class="col-xs-3 text-center">{{ahrs_heading_mag}}&deg;</span>
-						<span class="col-xs-3 text-center">{{ahrs_slip_skid}}&deg;</span>
-						<span class="col-xs-3 text-center">{{ahrs_turn_rate}} s</span>
-						<span class="col-xs-3 text-center">{{ahrs_gload}}G</span>
+					<div class="col-xs-9">
+						<div class="row">
+							<strong class="col-xs-3 text-center">Heading</strong>
+							<strong class="col-xs-3 text-center">Pitch</strong>
+							<strong class="col-xs-3 text-center">Roll</strong>
+							<strong class="col-xs-3 text-center">P-Alt</strong>
+						</div>
+						<div class="row">
+							<span class="col-xs-3 text-center">{{ahrs_heading}}&deg;</span>
+							<span class="col-xs-3 text-center">{{ahrs_pitch}}&deg;</span>
+							<span class="col-xs-3 text-center">{{ahrs_roll}}&deg;</span>
+							<span class="col-xs-3 text-center">{{ahrs_alt}} ft</span>
+						</div>
+						<div class="row">
+							<strong class="col-xs-3 text-center">Mag Hdg</strong>
+							<strong class="col-xs-3 text-center" >Slip/<wbr>Skid</strong>
+							<strong class="col-xs-3 text-center">Turn Rate</strong>
+							<strong class="col-xs-3 text-center">G Load</strong>
+						</div>
+						<div class="row">
+							<span class="col-xs-3 text-center">{{ahrs_heading_mag}}&deg;</span>
+							<span class="col-xs-3 text-center">{{ahrs_slip_skid}}&deg;</span>
+							<span class="col-xs-3 text-center">{{ahrs_turn_rate}} min</span>
+							<span class="col-xs-3 text-center">{{ahrs_gload}}G</span>
+						</div>
 					</div>
 				</div>
 			</div>
--- a/web/plates/js/gps.js
+++ b/web/plates/js/gps.js
@ -10,6 +10,12 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 	var status = {};
 	var display_area_size = -1;

+	var statusGPS = document.getElementById("status-gps"),
+        statusIMU = document.getElementById("status-imu"),
+        statusBMP = document.getElementById("status-bmp"),
+        statusLog = document.getElementById("status-logging"),
+		statusCal = document.getElementById("status-calibrating");
+
 	function sizeMap() {
 		var width = 0;
 		var el = document.getElementById("map_display").parentElement;
@ -106,15 +112,53 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 		// pitch and roll are in degrees
 		$scope.ahrs_pitch = Math.round(status.Pitch*10)/10;
 		$scope.ahrs_roll = Math.round(status.Roll*10)/10;
+        $scope.ahrs_slip_skid = Math.round(status.SlipSkid*10)/10;
+        ahrs.animate(0.1, $scope.ahrs_pitch, $scope.ahrs_roll, $scope.ahrs_heading, $scope.ahrs_slip_skid);

        $scope.ahrs_heading_mag = Math.round(status.Mag_heading);
-        $scope.ahrs_slip_skid = Math.round(status.SlipSkid*10)/10;
-        if (status.RateOfTurn > 0.001) {
-			$scope.ahrs_turn_rate = Math.round(360/status.RateOfTurn);
-        } else {
-            $scope.ahrs_turn_rate = '--'
-		}
        $scope.ahrs_gload = Math.round(status.GLoad*100)/100;
+        if (status.RateOfTurn > 0.001) {
+			$scope.ahrs_turn_rate = Math.round(360/status.RateOfTurn/60*10)/10; // minutes/turn
+        } else {
+            $scope.ahrs_turn_rate = '---'
+		}
+        if (status.AHRSStatus & 0x01) {
+            statusGPS.classList.remove("off");
+            statusGPS.classList.add("on");
+        } else {
+            statusGPS.classList.add("off");
+            statusGPS.classList.remove("on");
+        }
+        if (status.AHRSStatus & 0x02) {
+            statusIMU.classList.remove("off");
+            statusIMU.classList.add("on");
+        } else {
+            statusIMU.classList.add("off");
+            statusIMU.classList.remove("on");
+        }
+        if (status.AHRSStatus & 0x04) {
+            statusBMP.classList.remove("off");
+            statusBMP.classList.add("on");
+        } else {
+            statusBMP.classList.add("off");
+            statusBMP.classList.remove("on");
+        }
+		if (status.AHRSStatus & 0x10) {
+            statusLog.classList.remove("off");
+            statusLog.classList.add("on");
+		} else {
+            statusLog.classList.add("off");
+            statusLog.classList.remove("on");
+		}
+        if (status.AHRSStatus & 0x08) {
+            statusCal.classList.add("blink");
+            statusCal.classList.remove("on");
+            statusCal.innerText = "Caging";
+        } else {
+            statusCal.classList.remove("blink");
+            statusCal.classList.add("on");
+            statusCal.innerText = "Ready";
+        }
 		// "LastAttitudeTime":"2015-10-11T16:47:03.534615187Z"

 		setGeoReferenceMap(status.Lat, status.Lng);
@ -123,11 +167,10 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 	}

 	function getStatus() {
-		// Simple GET request example (note: responce is asynchronous)
+		// Simple GET request example (note: response is asynchronous)
 		$http.get(URL_GPS_GET).
 		then(function (response) {
 			loadStatus(response.data);
-			ahrs.animate(0.1, $scope.ahrs_pitch, $scope.ahrs_roll, $scope.ahrs_heading, $scope.ahrs_slip_skid);
 			// $scope.$apply();
 		}, function (response) {
 			$scope.raw_data = "error getting gps / ahrs status";
@ -207,11 +250,16 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 	};

 	$scope.AHRSCage = function() {
-		$http.post(URL_AHRS_CAGE).
-		then(function (response) {
-			// do nothing
-		}, function (response) {
-			// do nothing
-		});
+	    if (!$scope.IsCaging()) {
+            $http.post(URL_AHRS_CAGE).then(function (response) {
+                // do nothing
+            }, function (response) {
+                // do nothing
+            });
+        }
 	};
+
+	$scope.IsCaging = function() {
+        return statusCal.innerText == "Caging";
+	}
 }