upgrade js packages; add flight data monitoring

.gitignore

@@ -6,3 +6,4 @@ node_modules
 dist
 ui_js/.gitignore
 .hgignore
+npm-debug.log

src/battery_monitor.cpp

@@ -20,6 +20,7 @@ void battery_monitor_update() {
   battery_monitor_battery_voltage = battery_monitor_pin_voltage / (BATTERY_R2_VAL / (BATTERY_R1_VAL + BATTERY_R2_VAL));
 
   if (battery_monitor_battery_voltage < 9.0) { // no battery connected
+    battery_monitor_battery_voltage = 0;
     noTone(BATTERY_ALERT_BUZZER_PIN);
     buzzer_on = false;
 

src/flight_controller.h

@@ -3,10 +3,10 @@
 #define RATE 0
 #define STABILIZE 1
 
-#define ARMED 1
 #define UNARMED 0
+#define ARMED 1
 
-#define ANGLE_SAFETY_STOP false
+#define ANGLE_SAFETY_STOP true
 #define SAFE_ANGLE 60.0
 
 void fc_init();

src/serial_commands.cpp

@@ -8,6 +8,7 @@
 #define REQUEST_RC 3
 #define REQUEST_MOTORS 4
 #define REQUEST_RATE_PIDS 5
+#define REQUEST_FLIGHT_DATA 6
 
 #define SET_CONFIG 101
 
@@ -22,6 +23,7 @@
 #include "flight_controller.h"
 #include "motors.h"
 #include "utils.h"
+#include "battery_monitor.h"
 #include <usb_serial.h>
 
 void read_serial_data(uint8_t data);
@@ -262,6 +264,17 @@ void process_serial_data() {
         break;
       }
 
+    case REQUEST_FLIGHT_DATA:
+      packet_head(REQUEST_FLIGHT_DATA, 10);
+
+      output_uint8(fc_armed());
+      output_uint8(fc_mode());
+      output_uint32(imu_value_process_dt);
+      output_float32(battery_monitor_battery_voltage);
+
+      packet_tail();
+      break;
+
     case SET_CONFIG:
       if (data_received_length == sizeof(CONFIG)) {
 

ui/app/components/MotorChart.jsx

@@ -2,13 +2,13 @@ import _ from 'lodash'
 import React from 'react'
 import ReactDOM from 'react-dom'
 import { observer } from 'mobx-react'
-import { toJSON } from 'mobx'
+import { toJS } from 'mobx'
 
 
 @observer
 class MotorChart extends React.Component {
   render() {
-    const data = toJSON(this.props.data)
+    const data = toJS(this.props.data)
     const motorPositions = ['fr', 'bl', 'fl', 'br']
 
     return (

ui/app/components/Toolbar.jsx

@@ -16,7 +16,7 @@ class Toolbar extends React.Component {
   render() {
     return (
       <div className='well toolbar'>
-        <ul className="nav nav-tabs">
+        <ul className={`nav nav-tabs ${serial.connected ? 'connected' : ''}`}>
           {metaStore.tabData.map((tab, i) => {
             return (
               <li className={this.tabClass(tab.key)} key={i}>

ui/app/components/TuningTab.jsx

@@ -8,23 +8,40 @@ import serial from '../serial/serialManager'
 @observer
 class TuningTab extends React.Component {
   componentDidMount() {
-    this.intervalID = setInterval(this.fetchData, 50)
-  }
+    this.intervalIDs = [
+      setInterval(() => {
+        serial.send(tuningTabStore.graph1.requestCode(), null, tuningTabStore.graph1.addSample)
+        serial.send(serial.codes.REQUEST_MOTORS, null, tuningTabStore.addMotorChartSample)
+      }, 50),
 
-  componentWillUnmount() {
-    clearInterval(this.intervalID)
+      setInterval(() => {
+        serial.send(serial.codes.REQUEST_FLIGHT_DATA, null, tuningTabStore.updateFlightControllerData)
+      }, 200),
+    ]
   }
 
-  fetchData = () => {
-    serial.send(tuningTabStore.graph1.requestCode(), null, tuningTabStore.graph1.addSample)
-    serial.send(serial.codes.REQUEST_MOTORS, null, tuningTabStore.addMotorChartSample)
+  componentWillUnmount() {
+    this.intervalIDs.forEach((id) => clearInterval(id))
   }
 
   render() {
     return (
       <div>
         <LineGraph graph={tuningTabStore.graph1} />
         <MotorChart data={tuningTabStore.motorChartValues} />
+        <div>
+          Mode: {tuningTabStore.flightData.mode}
+          <br />
+          {tuningTabStore.flightData.armed}
+          <br />
+          Battery: {tuningTabStore.flightData.batteryVoltage.toFixed(2)}v
+          <br />
+          Loop Time: {tuningTabStore.flightData.loopTime}μs
+        </div>
+        orientation,
+        calibration,
+        reboot,
+        test ping
       </div>
     )
   }

ui/app/index.js

@@ -2,6 +2,7 @@ import 'babel-polyfill'
 import React from 'react'
 import ReactDOM from 'react-dom'
 import App from './components/app'
+// import { useStrict } from 'mobx'
 
 import './styles/app.scss'
 

ui/app/serial/SerialReader.js

@@ -82,14 +82,18 @@ class SerialReader {
             case serialCodes.REQUEST_RATE_PIDS:
               response = parseStruct(this.dataBuffer, structLayouts.ratePidData);
               break;
+            case serialCodes.REQUEST_FLIGHT_DATA:
+              response = parseStruct(this.dataBuffer, structLayouts.flightData);
+              response = this.interpretFlightData(response)
+              break;
             case serialCodes.INFO_SUCCESS:
               console.log("controller responded with success!");
               break;
             case serialCodes.INFO_FAILURE:
               console.log("controller responded with failure");
               break;
             default:
-              console.log(`unknown code ${this.code}`);
+              console.log(`unhandled code ${this.code}`);
           }
 
           this.dataReceived(this.code, response);
@@ -113,6 +117,15 @@ class SerialReader {
     return;
     console.log(text);
   }
+
+  interpretFlightData(response) {
+    const FLIGHT_MODES = [ "rate", "stabilize" ]
+    const FLIGHT_ARMED_STATUS = [ "unarmed", "armed" ]
+
+    response.armed = FLIGHT_ARMED_STATUS[response.armed]
+    response.mode = FLIGHT_MODES[response.mode]
+    return response
+  }
 }
 
 export default SerialReader;

ui/app/serial/serialCodes.js

@@ -6,6 +6,7 @@ export const REQUEST_GYRO_ACC = 2
 export const REQUEST_RC = 3
 export const REQUEST_MOTORS = 4
 export const REQUEST_RATE_PIDS = 5
+export const REQUEST_FLIGHT_DATA = 6
 
 export const SET_CONFIG = 101
 

ui/app/serial/serialManager.js

@@ -20,6 +20,7 @@ class SerialManager {
     serialCodes.REQUEST_RC,
     serialCodes.REQUEST_MOTORS,
     serialCodes.REQUEST_RATE_PIDS,
+    serialCodes.REQUEST_FLIGHT_DATA,
   ]
 
   constructor() {
@@ -106,7 +107,8 @@ class SerialManager {
   }
 
   _isDefaultDevice(device) {
-    return device.match(/usbmodem/)
+    //return device.match(/usbmodem/)
+    return device.match(/SLAB_USB/)
   }
 
   _findDefaultDevice(devices) {

ui/app/serial/struct.js

@@ -7,7 +7,7 @@ const dataTypes = {
   int16: { type: 'Int16', byteSize: 2 },
   uint16: { type: 'Uint16', byteSize: 2 },
   int32: { type: 'Int32', byteSize: 4 },
-  //   I	  uint32
+  uint32: { type: 'Uint32', byteSize: 4 },
   //   q	  int64
   //   Q	  uint64
   f32: { type: 'Float32', byteSize: 4 },

ui/app/serial/structLayouts.js

@@ -16,6 +16,13 @@ export const gyroAcc = [
   [ "accelMaxValue", "f32" ]
 ]
 
+export const flightData = [
+  [ "armed", "uint8" ],
+  [ "mode", "uint8" ],
+  [ "loopTime", "uint32" ],
+  [ "batteryVoltage", "f32" ],
+]
+
 export const motorData = [
   [ "m1", "uint16" ],
   [ "m2", "uint16" ],

ui/app/stores/ConfigStore.js

@@ -1,4 +1,4 @@
-import { observable, toJSON } from 'mobx'
+import { observable, toJS } from 'mobx'
 import serial from '../serial/serialManager'
 import * as structLayouts from "../serial/structLayouts"
 import { buildStruct } from '../serial/struct'
@@ -14,7 +14,7 @@ export default class ConfigStore {
   }
 
   plainData = () => {
-    return toJSON(this.data)
+    return toJS(this.data)
   }
 
   fetchConfig = () => {

ui/app/stores/TuningTabStore.js

@@ -4,9 +4,11 @@ import { LineGraphStore } from './LineGraphStore'
 
 export default class TuningTabStore {
   @observable motorChartValues = { m1: 0, m2: 0, m3: 0, m4: 0 }
+  @observable flightData = {}
 
   constructor() {
     this.graph1 = new LineGraphStore()
+    this.flightData = { batteryVoltage: 0.0 }
   }
 
   addMotorChartSample = (sample) => {
@@ -22,4 +24,8 @@ export default class TuningTabStore {
       this.motorChartValues[key] = value
     })
   }
+
+  updateFlightControllerData = (data) => {
+    this.flightData = data
+  }
 }

ui/app/styles/app.scss

@@ -27,6 +27,12 @@ button:focus {
   .nav {
     padding-left: 20px;
     padding-top: 12px;
+
+    border-top: 2px solid $brand-primary;
+
+    &.connected {
+      border-top-color: $brand-success;
+    }
   }
 }
 

ui/package.js

@@ -14,7 +14,6 @@ const appName = argv.name || argv.n || pkg.productName;
 const shouldUseAsar = argv.asar || argv.a || false;
 const shouldBuildAll = argv.all || false;
 
-
 const DEFAULT_OPTS = {
   dir: './',
   name: appName,

ui/package.json

@@ -32,7 +32,7 @@
     "babel-polyfill": "^6.3.14",
     "babel-preset-es2015": "^6.3.13",
     "babel-preset-react": "^6.3.13",
-    "babel-preset-react-hmre": "^1.0.1",
+    "babel-preset-react-hmre": "^1.1.1",
     "chromedriver": "^2.19.0",
     "cross-env": "^1.0.7",
     "css-loader": "^0.23.1",
@@ -49,7 +49,7 @@
     "minimist": "^1.2.0",
     "node-libs-browser": ">= 0.4.0 <=0.6.0",
     "node-sass": "^3.4.2",
-    "react-addons-test-utils": "^0.14.2",
+    "react-addons-test-utils": "^15.2.0",
     "sass-loader": "^3.1.2",
     "selenium-webdriver": "^2.48.2",
     "sinon": "^1.17.2",
@@ -67,11 +67,11 @@
     "electron-debug": "^0.5.1",
     "font-awesome": "^4.4.0",
     "lodash": "^4.5.0",
-    "mobx": "^2.0.0",
-    "mobx-react": "^3.0.0",
+    "mobx": "^2.3.3",
+    "mobx-react": "^3.4.0",
     "moment": "^2.11.2",
-    "react": "^0.14.2",
-    "react-dom": "^0.14.2",
+    "react": "^15.2.0",
+    "react-dom": "^15.2.0",
     "serialport": "^2.0.6"
   },
   "devEngines": {