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Use potentiometer for angle offset calib #380

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Use potentiometer for angle offset calib #380

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c1643af
Support Qt 5.12.8
nyxrobotics Aug 6, 2024
0de1eb8
Fix bug
nyxrobotics Aug 7, 2024
7cade31
Merge remote-tracking branch 'upstream/master' into feature/use-poten…
saitenntaisei Sep 4, 2024
d00c7b6
add p_pid_offset_pot_calib
saitenntaisei Sep 4, 2024
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24 changes: 24 additions & 0 deletions configparams.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1841,7 +1841,11 @@ bool ConfigParams::moveGroupUp(QString group)
for (int i = 0;i < mParamGrouping.size();i++) {
if (mParamGrouping.at(i).first.toLower() == group.toLower()) {
if (i > 0) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping.swapItemsAt(i, i - 1);
#else
qSwap(mParamGrouping[i], mParamGrouping[i - 1]);
#endif
return true;
} else {
return false;
Expand All @@ -1856,7 +1860,11 @@ bool ConfigParams::moveGroupDown(QString group)
for (int i = 0;i < mParamGrouping.size();i++) {
if (mParamGrouping.at(i).first.toLower() == group.toLower()) {
if (i < (mParamGrouping.size() - 1)) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping.swapItemsAt(i, i + 1);
#else
qSwap(mParamGrouping[i], mParamGrouping[i + 1]);
#endif
return true;
} else {
return false;
Expand All @@ -1873,7 +1881,11 @@ bool ConfigParams::moveSubgroupUp(QString group, QString subgroup)
for (int j = 0;j < mParamGrouping.at(i).second.size();j++) {
if (mParamGrouping.at(i).second.at(j).first.toLower() == subgroup.toLower()) {
if (j > 0) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping[i].second.swapItemsAt(j, j - 1);
#else
qSwap(mParamGrouping[i].second[j], mParamGrouping[i].second[j - 1]);
#endif
return true;
} else {
return false;
Expand All @@ -1892,7 +1904,11 @@ bool ConfigParams::moveSubgroupDown(QString group, QString subgroup)
for (int j = 0;j < mParamGrouping.at(i).second.size();j++) {
if (mParamGrouping.at(i).second.at(j).first.toLower() == subgroup.toLower()) {
if (j < (mParamGrouping.at(i).second.size() - 1)) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping[i].second.swapItemsAt(j, j + 1);
#else
qSwap(mParamGrouping[i].second[j], mParamGrouping[i].second[j + 1]);
#endif
return true;
} else {
return false;
Expand All @@ -1913,7 +1929,11 @@ bool ConfigParams::moveSubgroupParamUp(QString group, QString subgroup, QString
for (int k = 0;k < mParamGrouping.at(i).second.at(j).second.size();k++) {
if (mParamGrouping.at(i).second.at(j).second.at(k).toLower() == param.toLower()) {
if (k > 0) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping[i].second[j].second.swapItemsAt(k, k - 1);
#else
qSwap(mParamGrouping[i].second[j].second[k], mParamGrouping[i].second[j].second[k - 1]);
#endif
return true;
} else {
return false;
Expand All @@ -1936,7 +1956,11 @@ bool ConfigParams::moveSubgroupParamDown(QString group, QString subgroup, QStrin
for (int k = 0;k < mParamGrouping.at(i).second.at(j).second.size();k++) {
if (mParamGrouping.at(i).second.at(j).second.at(k).toLower() == param.toLower()) {
if (k < (mParamGrouping.at(i).second.at(j).second.size() - 1)) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mParamGrouping[i].second[j].second.swapItemsAt(k, k + 1);
#else
qSwap(mParamGrouping[i].second[j].second[k], mParamGrouping[i].second[j].second[k + 1]);
#endif
return true;
} else {
return false;
Expand Down
14 changes: 14 additions & 0 deletions main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,20 @@ static void addFonts() {

int main(int argc, char *argv[])
{
// Set the platform plugin to xcb
qputenv("QT_QPA_PLATFORM", QByteArray("xcb"));
qputenv("QT_XCB_GL_INTEGRATION", QByteArray("glx"));
qputenv("LIBGL_ALWAYS_SOFTWARE", QByteArray("1"));
qputenv("QT_QUICK_BACKEND", QByteArray("software"));

// Set OpenGL format
QSurfaceFormat format;
format.setDepthBufferSize(24);
format.setStencilBufferSize(8);
format.setVersion(2, 0); // Set OpenGL version to 2.0
format.setProfile(QSurfaceFormat::NoProfile);
QSurfaceFormat::setDefaultFormat(format);

// Settings
QCoreApplication::setOrganizationName("VESC");
QCoreApplication::setOrganizationDomain("vesc-project.com");
Expand Down
12 changes: 10 additions & 2 deletions pages/pageloganalysis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,7 +182,11 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
ui->plot->axisRect()->setRangeDrag(Qt::Orientations());

double upper = ui->plot->xAxis->range().upper;
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
double progress = ui->plot->xAxis->pixelToCoord(event->position().x()) / upper;
#else
double progress = ui->plot->xAxis->pixelToCoord(event->x()) / upper;
#endif
double diff = event->angleDelta().y();
double d1 = diff * progress;
double d2 = diff * (1.0 - progress);
Expand Down Expand Up @@ -1713,8 +1717,12 @@ void PageLogAnalysis::on_saveCsvButton_clicked()

for (int i = 0;i < mLog.size();i++) {
for (int j = 0;j < mLog.at(i).size();j++) {
os << Qt::fixed
<< qSetRealNumberPrecision(mLogHeader.at(j).precision)
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
os << Qt::fixed;
#else
os.setRealNumberNotation(QTextStream::FixedNotation);
#endif
os << qSetRealNumberPrecision(mLogHeader.at(j).precision)
<< mLog.at(i).at(j);

if (j < (mLog.at(i).size() - 1)) {
Expand Down
51 changes: 51 additions & 0 deletions pages/pagevescpackage.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,6 +275,51 @@ void PageVescPackage::on_writeButton_clicked()
mLoader.installVescPackageFromPath(ui->loadEdit->text());
}

#if (QT_VERSION < QT_VERSION_CHECK(5, 15, 0))
QString PageVescPackage::convertHtmlToMarkdown(const QString &html) {
QString markdown = html;

// <b> and </b> to **
markdown.replace(QRegularExpression("<b>(.*?)</b>"), "**\\1**");

// <i> and </i> to *
markdown.replace(QRegularExpression("<i>(.*?)</i>"), "*\\1*");

// <br> and <br/> to newline
markdown.replace(QRegularExpression("<br\\s*/?>"), "\n");

// <h1> to <h6> to #
markdown.replace(QRegularExpression("<h1>(.*?)</h1>"), "# \\1\n");
markdown.replace(QRegularExpression("<h2>(.*?)</h2>"), "## \\1\n");
markdown.replace(QRegularExpression("<h3>(.*?)</h3>"), "### \\1\n");
markdown.replace(QRegularExpression("<h4>(.*?)</h4>"), "#### \\1\n");
markdown.replace(QRegularExpression("<h5>(.*?)</h5>"), "##### \\1\n");
markdown.replace(QRegularExpression("<h6>(.*?)</h6>"), "###### \\1\n");

// <ul> and <ol> to list
markdown.replace(QRegularExpression("<ul>"), "");
markdown.replace(QRegularExpression("<ol>"), "");
markdown.replace(QRegularExpression("<li>(.*?)</li>"), "- \\1\n");
markdown.replace(QRegularExpression("</ul>"), "");
markdown.replace(QRegularExpression("</ol>"), "");

// <a href="url">text</a> to [text](url)
markdown.replace(QRegularExpression("<a\\s+href=\"(.*?)\".*?>(.*?)</a>"), "[\\2](\\1)");

// <img src="url" alt="alt" /> to ![alt](url)
markdown.replace(QRegularExpression("<img\\s+src=\"(.*?)\".*?alt=\"(.*?)\".*?/?>"), "!\\[\\2\\](\\1)");

// <p> to newline and </p> to another newline
markdown.replace(QRegularExpression("<p>"), "");
markdown.replace(QRegularExpression("</p>"), "\n\n");

// Remove other HTML tags
markdown.remove(QRegularExpression("<[^>]*>"));

return markdown;
}
#endif

void PageVescPackage::on_outputRefreshButton_clicked()
{
QFile f(ui->outputEdit->text());
Expand All @@ -295,7 +340,13 @@ void PageVescPackage::on_outputRefreshButton_clicked()
QString line1 = QTextStream(&pkg.description).readLine();
if (line1.contains("<!DOCTYPE HTML PUBLIC", Qt::CaseInsensitive)) {
ui->descriptionEdit->document()->setHtml(pkg.description);

#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
QString md = ui->descriptionEdit->document()->toMarkdown();
#else
QString md = convertHtmlToMarkdown(ui->descriptionEdit->document()->toHtml());
#endif

ui->descriptionEdit->document()->setPlainText(md);
} else {
ui->descriptionEdit->document()->setPlainText(pkg.description);
Expand Down
3 changes: 3 additions & 0 deletions pages/pagevescpackage.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,9 @@ private slots:
void on_saveButton_clicked();
void on_loadRefreshButton_clicked();
void on_writeButton_clicked();
#if (QT_VERSION < QT_VERSION_CHECK(5, 15, 0))
QString convertHtmlToMarkdown(const QString &html);
#endif
void on_outputRefreshButton_clicked();
void on_dlArchiveButton_clicked();
void on_uninstallButton_clicked();
Expand Down
14 changes: 14 additions & 0 deletions res/config/6.06/parameters_mcconf.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3187,6 +3187,18 @@ p, li { white-space: pre-wrap; }
<suffix> °</suffix>
<vTx>9</vTx>
</p_pid_offset>
<p_pid_offset_pot_calib>
<longName>Use Potentionmeter for Offset Angle Calibration</longName>
<type>5</type>
<transmittable>1</transmittable>
<description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
<cDefine>MCCONF_P_PID_OFFSET_POT_CALIB</cDefine>
<valInt>0</valInt>
</p_pid_offset_pot_calib>
<p_pid_kd_proc>
<longName>Position PID Kd Process</longName>
<type>1</type>
Expand Down Expand Up @@ -4671,6 +4683,7 @@ p, li { white-space: pre-wrap; }
<ser>p_pid_ang_div</ser>
<ser>p_pid_gain_dec_angle</ser>
<ser>p_pid_offset</ser>
<ser>p_pid_offset_pot_calib</ser>
<ser>cc_startup_boost_duty</ser>
<ser>cc_min_current</ser>
<ser>cc_gain</ser>
Expand Down Expand Up @@ -5069,6 +5082,7 @@ p, li { white-space: pre-wrap; }
<param>p_pid_ang_div</param>
<param>p_pid_gain_dec_angle</param>
<param>p_pid_offset</param>
<param>p_pid_offset_pot_calib</param>
</subgroupParams>
</subgroup>
</group>
Expand Down
17 changes: 17 additions & 0 deletions vescinterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -495,8 +495,17 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
os << mLastImuValues.gyroZ << ";";

os << msPos << ";";
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
os << Qt::fixed << qSetRealNumberPrecision(8) << lat << ";";
os << Qt::fixed << qSetRealNumberPrecision(8) << lon << ";";
#else
os.setRealNumberNotation(QTextStream::FixedNotation);
os.setRealNumberPrecision(8);
os << lat << ";";
os.setRealNumberNotation(QTextStream::FixedNotation);
os.setRealNumberPrecision(8);
os << lon << ";";
#endif
os << alt << ";";
os << gVel << ";";
os << vVel << ";";
Expand Down Expand Up @@ -808,15 +817,23 @@ void VescInterface::deleteProfile(int index)
void VescInterface::moveProfileUp(int index)
{
if (index > 0 && index < mProfiles.size()) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mProfiles.swapItemsAt(index, index - 1);
#else
qSwap(mProfiles[index], mProfiles[index - 1]);
#endif
emit profilesUpdated();
}
}

void VescInterface::moveProfileDown(int index)
{
if (index >= 0 && index < (mProfiles.size() - 1)) {
#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
mProfiles.swapItemsAt(index, index + 1);
#else
qSwap(mProfiles[index], mProfiles[index + 1]);
#endif
emit profilesUpdated();
}
}
Expand Down
4 changes: 4 additions & 0 deletions widgets/aspectimglabel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,11 @@ void AspectImgLabel::resizeEvent(QResizeEvent *event)
{
QLabel::resizeEvent(event);

#if (QT_VERSION >= QT_VERSION_CHECK(5, 15, 0))
const QPixmap &pix = pixmap(Qt::ReturnByValue);
#else
const QPixmap &pix = *pixmap();
#endif

if (!pix.isNull()) {
int wLabel = width();
Expand Down
6 changes: 6 additions & 0 deletions widgets/helpdialog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,17 @@ HelpDialog::HelpDialog(QString title, QString text, QWidget *parent) :
setAttribute(Qt::WA_DeleteOnClose);
setWindowTitle(title);

#if (QT_VERSION >= QT_VERSION_CHECK(5, 14, 0))
// For Qt 5.14.0 and above, set text as Markdown if it starts with '#'
if (text.trimmed().startsWith('#')) {
ui->textEdit->setMarkdown(text);
} else {
ui->textEdit->setText(text);
}
#else
// For Qt versions below 5.14.0, always set text as plain text
ui->textEdit->setText(text);
#endif

ui->textEdit->viewport()->setAutoFillBackground(false);
}
Expand Down
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