Maybe fixes accelerometer hangings, some other minor fixes

Author: yurii-litvinov

trikControl/src/deviceState.cpp

@@ -133,3 +133,8 @@ void DeviceState::resetFailure()
 
 	mLock.unlock();
 }
+
+QString DeviceState::deviceName() const
+{
+	return mDeviceName;
+}

trikControl/src/deviceState.h

@@ -59,6 +59,9 @@ class DeviceState
 	/// Clears "failed" state and returns state to "off"
 	void resetFailure();
 
+	/// Returns name of the device for debug purposes.
+	QString deviceName() const;
+
 private:
 	/// Current state of a device.
 	DeviceInterface::Status mStatus = DeviceInterface::Status::off;

trikControl/src/vectorSensor.cpp

@@ -47,6 +47,7 @@ VectorSensor::VectorSensor(const QString &deviceName, const trikKernel::Configur
 VectorSensor::~VectorSensor()
 {
 	if (mWorkerThread.isRunning()) {
+		QMetaObject::invokeMethod(mVectorSensorWorker.data(), "deinitialize");
 		mWorkerThread.quit();
 		mWorkerThread.wait();
 	}

trikControl/src/vectorSensorWorker.cpp

@@ -16,27 +16,40 @@
 
 #include <QsLog.h>
 
+static const int maxEventDelay = 1000;
+
 using namespace trikControl;
 
 VectorSensorWorker::VectorSensorWorker(const QString &eventFile, DeviceState &state
 		, const trikHal::HardwareAbstractionInterface &hardwareAbstraction)
 	: mEventFile(hardwareAbstraction.createEventFile(eventFile))
 	, mState(state)
 {
+	mState.start();
+
 	mReading << 0 << 0 << 0;
 	mReadingUnsynced = mReading;
 
-	mState.start();
+	mLastEventTimer.setInterval(maxEventDelay);
+	mLastEventTimer.setSingleShot(false);
 
 	connect(mEventFile.data(), SIGNAL(newEvent(trikHal::EventFileInterface::EventType, int, int, trikKernel::TimeVal))
 			, this, SLOT(onNewEvent(trikHal::EventFileInterface::EventType, int, int, trikKernel::TimeVal)));
 
+	connect(&mLastEventTimer, SIGNAL(timeout()), this, SLOT(onSensorHanged()));
+
 	mEventFile->open();
+
+	if (mEventFile->isOpened()) {
+		mLastEventTimer.start();
+	}
 }
 
 void VectorSensorWorker::onNewEvent(trikHal::EventFileInterface::EventType eventType, int code, int value
 		, const trikKernel::TimeVal &eventTime)
 {
+	mLastEventTimer.start();
+
 	switch (eventType) {
 		case trikHal::EventFileInterface::EventType::evAbsX:
 			mReadingUnsynced[0] = value;
@@ -52,7 +65,7 @@ void VectorSensorWorker::onNewEvent(trikHal::EventFileInterface::EventType event
 			emit newData(mReading, eventTime);
 			break;
 		default:
-			QLOG_ERROR() << "Unknown event type in vector sensor event file"<< mEventFile->fileName() << " :"
+			QLOG_ERROR() << "Unknown event type in vector sensor event file" << mEventFile->fileName() << " :"
 					<< static_cast<int>(eventType) << code << value;
 	}
 }
@@ -66,3 +79,24 @@ QVector<int> VectorSensorWorker::read()
 		return {};
 	}
 }
+
+void VectorSensorWorker::deinitialize()
+{
+	mLastEventTimer.stop();
+}
+
+void VectorSensorWorker::onSensorHanged()
+{
+	QLOG_WARN() << "Sensor" << mState.deviceName() << "hanged, reopening device file...";
+	mLastEventTimer.stop();
+
+	mEventFile->close();
+	mEventFile->open();
+
+	if (!mEventFile->isOpened()) {
+		mState.fail();
+	} else {
+		QLOG_INFO() << "Sensor" << mState.deviceName() << ", device file reopened.";
+		mLastEventTimer.start();
+	}
+}

trikControl/src/vectorSensorWorker.h

@@ -17,6 +17,7 @@
 #include <QtCore/QObject>
 #include <QtCore/QScopedPointer>
 #include <QtCore/QVector>
+#include <QtCore/QTimer>
 #include <QtCore/QReadWriteLock>
 
 #include <trikHal/hardwareAbstractionInterface.h>
@@ -49,11 +50,18 @@ public slots:
 	/// Returns current raw reading of a sensor.
 	QVector<int> read();
 
+	/// Shuts down sensor.
+	void deinitialize();
+
 private slots:
 	/// Updates current reading when new value is ready in event file.
 	void onNewEvent(trikHal::EventFileInterface::EventType eventType, int code, int value
 			, const trikKernel::TimeVal &eventTime);
 
+	/// Called when there are no events from event file for too long (1 second hardcoded). Attempts to reopen
+	/// event file.
+	void onSensorHanged();
+
 private:
 	QScopedPointer<trikHal::EventFileInterface> mEventFile;
 
@@ -64,6 +72,9 @@ private slots:
 
 	/// Device state, shared between worker and proxy.
 	DeviceState &mState;
+
+	/// Timer that reopens event file when there are no events for too long (1 second hardcoded).
+	QTimer mLastEventTimer;
 };
 
 }

trikGui/controller.cpp

@@ -79,10 +79,13 @@ Controller::Controller(const QString &configPath)
 	mTelemetry->startServer(telemetryPort);
 
 	mAutoRunner.reset(new AutoRunner(*this));
+
+	mBrick->led()->green();
 }
 
 Controller::~Controller()
 {
+	mBrick->led()->orange();
 }
 
 void Controller::runFile(const QString &filePath)

trikHal/include/trikHal/eventFileInterface.h

@@ -58,6 +58,9 @@ class EventFileInterface : public QObject
 	/// Returns name of a file.
 	virtual QString fileName() const = 0;
 
+	/// Returns true if a file is opened.
+	virtual bool isOpened() const = 0;
+
 signals:
 	/// Emitted when there is new event in an event file.
 	/// @param eventType - type of an event (unknown, if such event is not listed in EventType enum).

trikHal/src/stub/stubEventFile.cpp

@@ -44,3 +44,7 @@ QString StubEventFile::fileName() const
 	return mFileName;
 }
 
+bool StubEventFile::isOpened() const
+{
+	return true;
+}

trikHal/src/stub/stubEventFile.h

@@ -33,6 +33,7 @@ class StubEventFile : public EventFileInterface
 	bool close() override;
 	void cancelWaiting() override;
 	QString fileName() const override;
+	bool isOpened() const override;
 
 private:
 	QString mFileName;

trikHal/src/trik/trikEventFile.cpp

@@ -161,3 +161,8 @@ void TrikEventFile::readFile()
 
 	mSocketNotifier->setEnabled(true);
 }
+
+bool TrikEventFile::isOpened() const
+{
+	return mEventFileDescriptor == -1;
+}