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Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

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This commit is contained in:
Mathieu Rondonneau 2011-06-24 06:48:10 -07:00
commit 3677521168
21 changed files with 5357 additions and 3538 deletions
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1148
ground/openpilotgcs/src/plugins/config/ccpm.ui
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@ -70,7 +70,7 @@
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>400</width> <width>300</width>
<height>300</height> <height>300</height>
</size> </size>
</property> </property>
@ -82,14 +82,23 @@
<string>Basic settings</string> <string>Basic settings</string>
</attribute> </attribute>
<layout class="QGridLayout" name="gridLayout_6"> <layout class="QGridLayout" name="gridLayout_6">
<property name="margin"> <property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number> <number>3</number>
</property> </property>
<property name="spacing"> <property name="spacing">
<number>3</number> <number>3</number>
</property> </property>
<item row="0" column="0"> <item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,1,1,0"> <layout class="QVBoxLayout" name="ccpmSettingsBox" stretch="0,1,1,0,0">
<item> <item>
<widget class="QGroupBox" name="SwashplateBox_2"> <widget class="QGroupBox" name="SwashplateBox_2">
<property name="sizePolicy"> <property name="sizePolicy">
@ -98,6 +107,17 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="title"> <property name="title">
<string>Outputs</string> <string>Outputs</string>
</property> </property>
@ -114,7 +134,7 @@
<item row="2" column="1"> <item row="2" column="1">
<widget class="QComboBox" name="ccpmTailChannel"> <widget class="QComboBox" name="ccpmTailChannel">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
@ -127,16 +147,21 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QComboBox" name="ccpmEngineChannel"> <widget class="QComboBox" name="ccpmEngineChannel">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
@ -149,10 +174,15 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">
@ -211,11 +241,22 @@
<item> <item>
<widget class="QGroupBox" name="SwashplateBox"> <widget class="QGroupBox" name="SwashplateBox">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum"> <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="title"> <property name="title">
<string>Swashplate Outputs</string> <string>Swashplate Outputs</string>
</property> </property>
@ -263,7 +304,7 @@
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
@ -276,7 +317,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -298,7 +339,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -310,7 +351,7 @@
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
@ -323,7 +364,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -357,7 +398,7 @@
<item row="5" column="1"> <item row="5" column="1">
<widget class="QComboBox" name="ccpmSingleServo"> <widget class="QComboBox" name="ccpmSingleServo">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
@ -370,7 +411,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -417,7 +458,7 @@
</size> </size>
</property> </property>
<property name="text"> <property name="text">
<string>Single Servo</string> <string>1st Servo</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -437,7 +478,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -513,6 +554,17 @@
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="title"> <property name="title">
<string>Swashplate Servo Angles</string> <string>Swashplate Servo Angles</string>
</property> </property>
@ -689,6 +741,9 @@
<property name="text"> <property name="text">
<string>Correction Angle</string> <string>Correction Angle</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
@ -822,27 +877,326 @@
</widget> </widget>
</item> </item>
<item> <item>
<spacer name="verticalSpacer_5"> <widget class="QGroupBox" name="SwashplateBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="title">
<string>CCPM Options</string>
</property>
<layout class="QGridLayout" name="gridLayout_21">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QCheckBox" name="ccpmCollectivePassthrough">
<property name="text">
<string>Collective Pass through</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="ccpmCollectiveChannelBox">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<item>
<widget class="QLabel" name="ccpmCollectiveChLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Collective Ch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="ccpmCollectiveChannel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
</property> </property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>20</width> <width>20</width>
<height>0</height> <height>40</height>
</size> </size>
</property> </property>
</spacer> </spacer>
</item> </item>
</layout> </layout>
</item> </item>
<item row="0" column="1"> <item row="0" column="10">
<layout class="QVBoxLayout" name="ccpmSwashImageBox_2">
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>600</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="title">
<string>Swashplate Layout</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="0" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="50">
<red>112</red>
<green>184</green>
<blue>138</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>127</red>
<green>127</green>
<blue>127</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
</property>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="0" column="3">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmRevoMixingBox"> <widget class="QGroupBox" name="ccpmRevoMixingBox">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>true</bool>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding"> <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@ -862,6 +1216,11 @@
<height>600</height> <height>600</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="title"> <property name="title">
<string>REVO</string> <string>REVO</string>
</property> </property>
@ -908,7 +1267,7 @@
<item> <item>
<widget class="QSlider" name="ccpmRevoSlider"> <widget class="QSlider" name="ccpmRevoSlider">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>true</bool>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding"> <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@ -972,7 +1331,7 @@
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="0" column="2"> <item>
<widget class="QGroupBox" name="ccpmPitchMixingBox"> <widget class="QGroupBox" name="ccpmPitchMixingBox">
<property name="enabled"> <property name="enabled">
<bool>true</bool> <bool>true</bool>
@ -1129,143 +1488,476 @@
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="0" column="3">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item> <item>
<widget class="QGroupBox" name="ccpmSwashImageBox"> <widget class="QGroupBox" name="ccpmCollectiveScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding"> <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>1</horstretch> <horstretch>0</horstretch>
<verstretch>1</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>50</width>
<height>200</height> <height>100</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>600</width> <width>50</width>
<height>600</height> <height>600</height>
</size> </size>
</property> </property>
<property name="sizeIncrement"> <property name="font">
<size> <font>
<width>10</width> <pointsize>8</pointsize>
<height>10</height> </font>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property> </property>
<property name="title"> <property name="title">
<string>Swashplate Layout</string> <string>Collective</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="0" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="50">
<red>112</red>
<green>184</green>
<blue>138</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>127</red>
<green>127</green>
<blue>127</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="resizeAnchor"> <layout class="QVBoxLayout" name="verticalLayout_12">
<enum>QGraphicsView::AnchorViewCenter</enum> <property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmCollectiveScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property> </property>
</widget> </widget>
</item>
<item>
<spacer name="horizontalSpacer_16">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectiveScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCyclicScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="title">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmCyclicScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCyclicScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="title">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<spacer name="horizontalSpacer_17">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmPitchScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_18">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmPitchScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmRollScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="title">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmRollScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmRollScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>
@ -1777,14 +2469,14 @@
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>10</width>
<height>200</height> <height>10</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>500</width> <width>1000</width>
<height>500</height> <height>1000</height>
</size> </size>
</property> </property>
<property name="sizeIncrement"> <property name="sizeIncrement">
@ -3047,12 +3739,12 @@
<slot>setValue(int)</slot> <slot>setValue(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>283</x> <x>261</x>
<y>400</y> <y>496</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>294</x> <x>269</x>
<y>550</y> <y>546</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -3063,12 +3755,12 @@
<slot>setValue(int)</slot> <slot>setValue(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>294</x> <x>269</x>
<y>550</y> <y>546</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>283</x> <x>261</x>
<y>482</y> <y>511</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -3079,12 +3771,12 @@
<slot>setValue(int)</slot> <slot>setValue(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>241</x> <x>216</x>
<y>550</y> <y>546</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>230</x> <x>208</x>
<y>484</y> <y>511</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -3095,12 +3787,12 @@
<slot>setValue(int)</slot> <slot>setValue(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>230</x> <x>208</x>
<y>313</y> <y>412</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>241</x> <x>216</x>
<y>550</y> <y>546</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -3127,8 +3819,8 @@
<slot>setValue(int)</slot> <slot>setValue(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>257</x> <x>301</x>
<y>535</y> <y>546</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>277</x> <x>277</x>
@ -3136,5 +3828,133 @@
</hint> </hint>
</hints> </hints>
</connection> </connection>
<connection>
<sender>ccpmCollectiveScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectiveScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>296</x>
<y>534</y>
</hint>
<hint type="destinationlabel">
<x>306</x>
<y>480</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCollectiveScale</sender>
<signal>sliderMoved(int)</signal>
<receiver>ccpmCollectiveScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>308</x>
<y>328</y>
</hint>
<hint type="destinationlabel">
<x>292</x>
<y>534</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCyclicScale</sender>
<signal>sliderMoved(int)</signal>
<receiver>ccpmCyclicScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>358</x>
<y>306</y>
</hint>
<hint type="destinationlabel">
<x>355</x>
<y>538</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCyclicScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCyclicScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>341</x>
<y>538</y>
</hint>
<hint type="destinationlabel">
<x>351</x>
<y>376</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmPitchScale</sender>
<signal>sliderMoved(int)</signal>
<receiver>ccpmPitchScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>417</x>
<y>306</y>
</hint>
<hint type="destinationlabel">
<x>406</x>
<y>531</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmPitchScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmPitchScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>394</x>
<y>531</y>
</hint>
<hint type="destinationlabel">
<x>408</x>
<y>302</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmRollScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmRollScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>455</x>
<y>529</y>
</hint>
<hint type="destinationlabel">
<x>458</x>
<y>466</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmRollScale</sender>
<signal>sliderMoved(int)</signal>
<receiver>ccpmRollScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>461</x>
<y>388</y>
</hint>
<hint type="destinationlabel">
<x>474</x>
<y>533</y>
</hint>
</hints>
</connection>
</connections> </connections>
</ui> </ui>

489
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -25,6 +25,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configccpmwidget.h" #include "configccpmwidget.h"
#include "mixersettings.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -32,6 +33,7 @@
#include <QtGui/QTextEdit> #include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout> #include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton> #include <QtGui/QPushButton>
#include <QBrush>
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
@ -41,11 +43,14 @@
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
int i; int i;
m_ccpm = new Ui_ccpmWidget(); m_ccpm = new Ui_ccpmWidget();
m_ccpm->setupUi(this); m_ccpm->setupUi(this);
SwashLvlConfigurationInProgress=0; SwashLvlConfigurationInProgress=0;
SwashLvlState=0; SwashLvlState=0;
SwashLvlServoInterlock=0; SwashLvlServoInterlock=0;
updatingFromHardware=FALSE;
updatingToHardware=FALSE;
// Now connect the widget to the ManualControlCommand / Channel UAVObject // Now connect the widget to the ManualControlCommand / Channel UAVObject
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -55,12 +60,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene()); m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene());
m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-30,500,500); m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500);
m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85);
//m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500);
m_ccpm->SwashplateImage->scale(.85,.85); //m_ccpm->SwashplateImage->scale(.85,.85);
@ -72,9 +77,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
SwashplateImg->setSharedRenderer(renderer); SwashplateImg->setSharedRenderer(renderer);
SwashplateImg->setElementId("Swashplate"); SwashplateImg->setElementId("Swashplate");
SwashplateImg->setObjectName("Swashplate"); SwashplateImg->setObjectName("Swashplate");
//SwashplateImg->setScale(0.75);
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
QFont serifFont("Times", 16, QFont::Bold); QFont serifFont("Times", 24, QFont::Bold);
QPen pen; // creates a default pen QPen pen; // creates a default pen
pen.setStyle(Qt::DotLine); pen.setStyle(Qt::DotLine);
@ -83,6 +89,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
pen.setCapStyle(Qt::RoundCap); pen.setCapStyle(Qt::RoundCap);
pen.setJoinStyle(Qt::RoundJoin); pen.setJoinStyle(Qt::RoundJoin);
QBrush brush(Qt::darkBlue);
QPen pen2; // creates a default pen
//pen2.setStyle(Qt::DotLine);
pen2.setWidth(1);
pen2.setBrush(Qt::blue);
//pen2.setCapStyle(Qt::RoundCap);
//pen2.setJoinStyle(Qt::RoundJoin);
//brush.setStyle(Qt::RadialGradientPattern);
QList<QString> ServoNames; QList<QString> ServoNames;
ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ;
@ -96,12 +115,18 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->SwashplateImage->scene()->addItem(Servos[i]); m_ccpm->SwashplateImage->scene()->addItem(Servos[i]);
ServosText[i] = new QGraphicsTextItem(); ServosText[i] = new QGraphicsTextItem();
ServosText[i]->setDefaultTextColor(Qt::red); ServosText[i]->setDefaultTextColor(Qt::yellow);
ServosText[i]->setPlainText(QString("-")); ServosText[i]->setPlainText(QString("-"));
ServosText[i]->setFont(serifFont); ServosText[i]->setFont(serifFont);
ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30);
ServosTextCircles[i]->setBrush(brush);
ServosTextCircles[i]->setPen(pen2);
m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]);
SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView
m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]);
//SwashLvlSpinBoxes[i]->move(i*50+50,20); //SwashLvlSpinBoxes[i]->move(i*50+50,20);
@ -172,7 +197,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
QStringList channels; QStringList channels;
channels << "Channel1" << "Channel2" << channels << "Channel1" << "Channel2" <<
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ; "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ;
m_ccpm->ccpmCollectiveChannel->addItems(channels);
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8);
channels << "None" ;
m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
m_ccpm->ccpmTailChannel->addItems(channels); m_ccpm->ccpmTailChannel->addItems(channels);
@ -187,7 +215,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
QStringList Types; QStringList Types;
Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
requestccpmUpdate(); requestccpmUpdate();
@ -197,6 +225,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
//disable changing number of points in curves until UAVObjects have more than 5 //disable changing number of points in curves until UAVObjects have more than 5
m_ccpm->NumCurvePoints->setEnabled(0); m_ccpm->NumCurvePoints->setEnabled(0);
UpdateType(); UpdateType();
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate())); //connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
@ -237,7 +267,13 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
ccpmSwashplateRedraw();
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
} }
@ -249,10 +285,12 @@ ConfigccpmWidget::~ConfigccpmWidget()
void ConfigccpmWidget::UpdateType() void ConfigccpmWidget::UpdateType()
{ {
int TypeInt,SingleServoIndex; int TypeInt,SingleServoIndex,NumServosDefined;
QString TypeText; QString TypeText;
double AdjustmentAngle=0; double AdjustmentAngle=0;
UpdatCCPMOptionsFromUI();
SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
TypeText = m_ccpm->ccpmType->currentText(); TypeText = m_ccpm->ccpmType->currentText();
@ -266,7 +304,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1); m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0);
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
@ -289,6 +327,7 @@ void ConfigccpmWidget::UpdateType()
//m_ccpm->customThrottleCurve2Value->setVisible(1); //m_ccpm->customThrottleCurve2Value->setVisible(1);
//m_ccpm->label_41->setVisible(1); //m_ccpm->label_41->setVisible(1);
NumServosDefined=4;
//set values for pre defined heli types //set values for pre defined heli types
if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
@ -302,7 +341,33 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=2;
}
if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
}
if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360));
//m_ccpm->ccpmCorrectionAngle->setValue(0);
m_ccpm->ccpmSingleServo->setEnabled(0);
m_ccpm->ccpmSingleServo->setCurrentIndex(0);
NumServosDefined=4;
} }
if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
@ -314,7 +379,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
} }
if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
@ -326,7 +392,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
} }
if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
@ -341,7 +408,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
m_ccpm->ccpmCollectivespinBox->setEnabled(0); m_ccpm->ccpmCollectivespinBox->setEnabled(0);
m_ccpm->ccpmCollectiveSlider->setEnabled(0); m_ccpm->ccpmCollectiveSlider->setEnabled(0);
@ -353,8 +420,29 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->PitchCurve->setVisible(0); m_ccpm->PitchCurve->setVisible(0);
//m_ccpm->customThrottleCurve2Value->setVisible(0); //m_ccpm->customThrottleCurve2Value->setVisible(0);
//m_ccpm->label_41->setVisible(0); //m_ccpm->label_41->setVisible(0);
NumServosDefined=2;
} }
//set the visibility of the swashplate servo selection boxes
m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4);
m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4);
//set the visibility of the swashplate angle selection boxes
m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4);
m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1);
m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2);
m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3);
m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4);
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
for (int i=0;i<6;i++) { for (int i=0;i<6;i++) {
@ -362,6 +450,9 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
} }
//update UI //update UI
ccpmSwashplateUpdate(); ccpmSwashplateUpdate();
@ -655,17 +746,43 @@ void ConfigccpmWidget::GenerateCurve()
void ConfigccpmWidget::ccpmSwashplateRedraw() void ConfigccpmWidget::ccpmSwashplateRedraw()
{ {
double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY;
int used[CCPM_MAX_SWASH_SERVOS],i; int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i;
QRectF bounds;
QRect size;
double scale,xscale,yscale;
size = m_ccpm->SwashplateImage->rect();
xscale=size.width();
yscale=size.height();
scale=xscale;
if (yscale<scale)scale=yscale;
scale/=460.00;
m_ccpm->SwashplateImage->resetTransform ();
m_ccpm->SwashplateImage->scale(scale,scale);
size = m_ccpm->SwashLvlSwashplateImage->rect();
xscale=size.width();
yscale=size.height();
scale=xscale;
if (yscale<scale)scale=yscale;
scale/=590.00;
m_ccpm->SwashLvlSwashplateImage->resetTransform ();
m_ccpm->SwashLvlSwashplateImage->scale(scale,scale);
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
CenterX=200; CenterX=200;
CenterY=220; CenterY=200;
SwashplateImg->setPos(CenterX-200,CenterY-200); bounds=SwashplateImg->boundingRect();
SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2);
defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled());
defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled());
defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled());
defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled());
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
@ -684,12 +801,29 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
Servos[i]->setPos(x, y); Servos[i]->setPos(x, y);
Servos[i]->setVisible(used[i]!=0); Servos[i]->setVisible(used[i]!=0);
radius=170; radius=150;
x=CenterX-(radius*sin(angle[i]))-10.00; bounds=ServosText[i]->boundingRect();
y=CenterY+(radius*cos(angle[i]))-10.00; x=CenterX-(radius*sin(angle[i]))-bounds.width()/2;
y=CenterY+(radius*cos(angle[i]))-bounds.height()/2;
ServosText[i]->setPos(x, y); ServosText[i]->setPos(x, y);
ServosText[i]->setVisible(used[i]!=0); ServosText[i]->setVisible(used[i]!=0);
if (bounds.width()>bounds.height())
{
bounds.setHeight(bounds.width());
}
else
{
bounds.setWidth(bounds.height());
}
x=CenterX-(radius*sin(angle[i]))-bounds.width()/2;
y=CenterY+(radius*cos(angle[i]))-bounds.height()/2;
ServosTextCircles[i]->setRect(bounds);
ServosTextCircles[i]->setPos(x, y);
ServosTextCircles[i]->setVisible(used[i]!=0);
w=SwashLvlSpinBoxes[i]->width()/2; w=SwashLvlSpinBoxes[i]->width()/2;
h=SwashLvlSpinBoxes[i]->height()/2; h=SwashLvlSpinBoxes[i]->height()/2;
radius = (215.00+w+h); radius = (215.00+w+h);
@ -702,7 +836,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
x=CenterX-(radius*sin(angle[i])); x=CenterX-(radius*sin(angle[i]));
y=CenterY+(radius*cos(angle[i])); y=CenterY+(radius*cos(angle[i]));
ServoLines[i]->setLine(CenterX,CenterY,x,y); ServoLines[i]->setLine(CenterX,CenterY,x,y);
ServoLines[i]->setVisible(used[i]!=0); ServoLines[i]->setVisible(defined[i]!=0);
} }
//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY); //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
@ -713,22 +847,104 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
void ConfigccpmWidget::ccpmSwashplateUpdate() void ConfigccpmWidget::ccpmSwashplateUpdate()
{ {
ccpmSwashplateRedraw(); ccpmSwashplateRedraw();
SetUIComponentVisibilities();
UpdateMixer(); UpdateMixer();
} }
void ConfigccpmWidget::ccpmChannelCheck()
{
if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
}
else
{
m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");
}
if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
}
else
{
m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
}
else
{
m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
}
else
{
m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");
}
if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
}
void ConfigccpmWidget::UpdateMixer() void ConfigccpmWidget::UpdateMixer()
{ {
int i,j,Type,ThisEnable[6]; bool useCCPM;
float CollectiveConstant,CorrectionAngle,ThisAngle[6]; bool useCyclic;
int i,j,ThisEnable[6];
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
//QTableWidgetItem *newItem;// = new QTableWidgetItem(); //QTableWidgetItem *newItem;// = new QTableWidgetItem();
QString Channel; QString Channel;
Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; ccpmChannelCheck();
CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
//CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
UpdatCCPMOptionsFromUI();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
if (Type>0) CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00;
if (useCCPM)
{//cyclic = 1 - collective
PitchConstant = 1-CollectiveConstant;
RollConstant = PitchConstant;
}
else
{
PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;;
if (useCyclic)
{
RollConstant = PitchConstant;
}
else
{
RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;;
}
}
if (GUIConfigData.heli.SwasplateType>0)
{//not advanced settings {//not advanced settings
//get the channel data from the ui //get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -792,8 +1008,8 @@ void ConfigccpmWidget::UpdateMixer()
{//Swashplate {//Swashplate
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((180+CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
} }
@ -822,6 +1038,140 @@ void ConfigccpmWidget::UpdateMixer()
/************************** /**************************
* ccpm settings * ccpm settings
**************************/ **************************/
/*
Get the state of the UI check boxes and change the visibility of sliders
typedef struct {
uint SwasplateType:3;
uint FirstServoIndex:2;
uint CorrectionAngle:9;
uint ccpmCollectivePassthroughState:1;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
uint CollectiveChannel:3;
uint padding:12;
} __attribute__((packed)) heliGUISettingsStruct;
*/
void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
{
bool useCCPM;
bool useCyclic;
if (updatingFromHardware) return;
//get the user options
//swashplate config
GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
//ccpm mixing options
GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked();
GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked();
GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
//correction angle
GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
//CollectiveChannel
GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex();
//update sliders
if (useCCPM)
{
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value();
}
else
{
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value();
}
if (useCyclic)
{
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value();
}
else
{
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value();
}
GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value();
//GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value();
//servo assignments
GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
}
void ConfigccpmWidget::UpdatCCPMUIFromOptions()
{
//swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1));
m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex);
//ccpm mixing options
m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState);
//correction angle
m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle);
//CollectiveChannel
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel);
//update sliders
m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0);
//m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider);
//servo assignments
m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW);
m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX);
m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY);
m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ);
}
void ConfigccpmWidget::SetUIComponentVisibilities()
{
UpdatCCPMOptionsFromUI();
//set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0);
m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState);
if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState)
{
m_ccpm->ccpmPitchScalingBox->setVisible(0);
m_ccpm->ccpmRollScalingBox->setVisible(0);
m_ccpm->ccpmLinkRoll->setVisible(0);
}
else
{
m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmLinkRoll->setVisible(1);
}
}
/** /**
Request the current value of the SystemSettings which holds the ccpm type Request the current value of the SystemSettings which holds the ccpm type
*/ */
@ -838,12 +1188,22 @@ void ConfigccpmWidget::requestccpmUpdate()
int isCCPM=0; int isCCPM=0;
if (SwashLvlConfigurationInProgress)return; if (SwashLvlConfigurationInProgress)return;
if (updatingToHardware)return;
updatingFromHardware=TRUE;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
int i,j; int i,j;
UAVObjectField *field; UAVObjectField *field;
UAVDataObject* obj; UAVDataObject* obj;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("GUIConfigData"));
GUIConfigData.UAVObject[0]=field->getValue(0).toUInt();
GUIConfigData.UAVObject[1]=field->getValue(1).toUInt();
UpdatCCPMUIFromOptions();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
@ -928,6 +1288,7 @@ void ConfigccpmWidget::requestccpmUpdate()
//just call it user angles for now.... //just call it user angles for now....
/*
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles")); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
if (NumServos>1) if (NumServos>1)
@ -960,6 +1321,8 @@ void ConfigccpmWidget::requestccpmUpdate()
} }
HeadRotation=0; HeadRotation=0;
HeadRotation=m_ccpm->ccpmSingleServo->currentIndex();
//calculate the angles //calculate the angles
for(j=0;j<NumServos;j++) for(j=0;j<NumServos;j++)
{ {
@ -976,7 +1339,7 @@ void ConfigccpmWidget::requestccpmUpdate()
} }
//set the head rotation //set the head rotation
m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation); //m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation);
//calculate the un rotated angles //calculate the un rotated angles
for(j=0;j<NumServos;j++) for(j=0;j<NumServos;j++)
@ -996,15 +1359,19 @@ void ConfigccpmWidget::requestccpmUpdate()
} }
m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]); //m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]);
m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]); //m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]);
m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]); //m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]);
m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]); //m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]);
m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]); //m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]);
m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]); //m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]);
m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]); //m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]);
m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]); //m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]);
m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[0]);
m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[1]);
m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[2]);
m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[3]);
//Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; //Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
@ -1070,7 +1437,7 @@ void ConfigccpmWidget::requestccpmUpdate()
{ {
} }
*/
@ -1091,7 +1458,8 @@ void ConfigccpmWidget::requestccpmUpdate()
updatingFromHardware=FALSE;
UpdatCCPMUIFromOptions();
ccpmSwashplateUpdate(); ccpmSwashplateUpdate();
} }
@ -1107,10 +1475,22 @@ void ConfigccpmWidget::sendccpmUpdate()
UAVDataObject* obj; UAVDataObject* obj;
if (SwashLvlConfigurationInProgress)return; if (SwashLvlConfigurationInProgress)return;
ShowDisclaimer(1); updatingToHardware=TRUE;
//ShowDisclaimer(1);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UpdatCCPMOptionsFromUI();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("GUIConfigData"));
field->setValue(GUIConfigData.UAVObject[0],0);
field->setValue(GUIConfigData.UAVObject[1],1);
obj->updated();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
@ -1178,6 +1558,30 @@ void ConfigccpmWidget::sendccpmUpdate()
obj->updated(); obj->updated();
field = obj->getField(QString("Curve2Source"));
//mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState)
{// input channel
field->setValue("Accessory0");
obj->updated();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("Accessory0"));
field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1));
}
else
{// throttle
field->setValue("Throttle");
}
obj->updated();
updatingToHardware=FALSE;
} }
@ -1215,6 +1619,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event)
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
} }
ccpmSwashplateRedraw();
} }

36
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -34,6 +34,7 @@
#include "uavobject.h" #include "uavobject.h"
#include <QtSvg/QSvgRenderer> #include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem> #include <QtSvg/QGraphicsSvgItem>
#include <QGraphicsEllipseItem>
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
@ -49,6 +50,30 @@ typedef struct {
int Min[CCPM_MAX_SWASH_SERVOS]; int Min[CCPM_MAX_SWASH_SERVOS];
} SwashplateServoSettingsStruct; } SwashplateServoSettingsStruct;
typedef struct {
uint SwasplateType:3;
uint FirstServoIndex:2;
uint CorrectionAngle:9;
uint ccpmCollectivePassthroughState:1;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
uint CollectiveChannel:3;//20bits
uint SliderValue0:7;
uint SliderValue1:7;
uint SliderValue2:7;//41bits
uint ServoIndexW:4;
uint ServoIndexX:4;
uint ServoIndexY:4;
uint ServoIndexZ:4;//57bits
uint padding:7;
} __attribute__((packed)) heliGUISettingsStruct;
typedef union
{
uint UAVObject[2];//32bits * 2
heliGUISettingsStruct heli;//64bits
} GUIConfigDataUnion;
class ConfigccpmWidget: public ConfigTaskWidget class ConfigccpmWidget: public ConfigTaskWidget
{ {
Q_OBJECT Q_OBJECT
@ -72,6 +97,7 @@ private:
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS];
QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS]; QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
bool SwashLvlConfigurationInProgress; bool SwashLvlConfigurationInProgress;
@ -82,11 +108,15 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6]; int MixerChannelData[6];
int ShowDisclaimer(int messageID); int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
bool updatingFromHardware;
bool updatingToHardware;
private slots: private slots:
void ccpmSwashplateUpdate(); void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw(); void ccpmSwashplateRedraw();
@ -104,6 +134,12 @@ private:
void SwashLvlCancelButtonPressed(); void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed(); void SwashLvlFinishButtonPressed();
void UpdatCCPMOptionsFromUI();
void UpdatCCPMUIFromOptions();
void SetUIComponentVisibilities();
void ccpmChannelCheck();
void enableSwashplateLevellingControl(bool state); void enableSwashplateLevellingControl(bool state);
void setSwashplateLevel(int percent); void setSwashplateLevel(int percent);
void SwashLvlSpinBoxChanged(int value); void SwashLvlSpinBoxChanged(int value);

39
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -261,18 +261,45 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial()
loop.exec(); loop.exec();
UAVObjectField* cpuField = obj->getField("CPUSerial"); UAVObjectField* cpuField = obj->getField("CPUSerial");
for (int i = 0; i < cpuField->getNumElements(); ++i) { for (uint i = 0; i < cpuField->getNumElements(); ++i) {
cpuSerial.append(cpuField->getValue(i).toUInt()); cpuSerial.append(cpuField->getValue(i).toUInt());
} }
return cpuSerial; return cpuSerial;
} }
quint32 UAVObjectUtilManager::getFirmwareCRC()
{
quint32 fwCRC;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm)
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
obj->getField("crc")->setValue(0);
obj->updated();
// The code below will ask for the object update and wait for the updated to be received,
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
UAVObjectField* fwCRCField = obj->getField("crc");
fwCRC=(quint32)fwCRCField->getValue().toLongLong();
return fwCRC;
}
/** /**
* Get the UAV Board Description, for anyone interested. * Get the UAV Board Description, for anyone interested.
*/ */
QString UAVObjectUtilManager::getBoardDescription() QByteArray UAVObjectUtilManager::getBoardDescription()
{ {
QString description; QByteArray ret;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) if (!pm)
return 0; return 0;
@ -291,10 +318,10 @@ QString UAVObjectUtilManager::getBoardDescription()
UAVObjectField* descriptionField = obj->getField("Description"); UAVObjectField* descriptionField = obj->getField("Description");
// Description starts with an offset of // Description starts with an offset of
for (int i = 14; i < descriptionField->getNumElements(); ++i) { for (uint i = 0; i < descriptionField->getNumElements(); ++i) {
description.append(descriptionField->getValue(i).toChar()); ret.append(descriptionField->getValue(i).toInt());
} }
return description; return ret;
} }

3
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -63,7 +63,8 @@ public:
int getBoardModel(); int getBoardModel();
QByteArray getBoardCPUSerial(); QByteArray getBoardCPUSerial();
QString getBoardDescription(); quint32 getFirmwareCRC();
QByteArray getBoardDescription();
UAVObjectManager* getObjectManager(); UAVObjectManager* getObjectManager();
void saveObjectToSD(UAVObject *obj); void saveObjectToSD(UAVObject *obj);

5
ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.cpp Normal file
View File

@ -0,0 +1,5 @@
#include "devicedescriptorstruct.h"
deviceDescriptorStruct::deviceDescriptorStruct()
{
}

36
ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h Normal file
View File

@ -0,0 +1,36 @@
#ifndef DEVICEDESCRIPTORSTRUCT_H
#define DEVICEDESCRIPTORSTRUCT_H
#include <QString>
struct deviceDescriptorStruct
{
public:
QString gitTag;
QString buildDate;
QString description;
int boardType;
int boardRevision;
static QString idToBoardName(int id)
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
break;
default:
return QString("");
break;
}
}
deviceDescriptorStruct();
};
#endif // DEVICEDESCRIPTORSTRUCT_H

275
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -34,16 +34,18 @@ deviceWidget::deviceWidget(QWidget *parent) :
devicePic = NULL; // Initialize pointer to null devicePic = NULL; // Initialize pointer to null
// Initialization of the Device icon display // Initialization of the Device icon display
myDevice->devicePicture->setScene(new QGraphicsScene(this)); myDevice->verticalGroupBox_loaded->setVisible(false);
myDevice->groupCustom->setVisible(false);
connect(myDevice->verifyButton, SIGNAL(clicked()), this, SLOT(verifyFirmware())); myDevice->youdont->setVisible(false);
myDevice->gVDevice->setScene(new QGraphicsScene(this));
connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware())); connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware()));
connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware())); connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware()));
connect(myDevice->pbLoad, SIGNAL(clicked()), this, SLOT(loadFirmware()));
connect(myDevice->youdont, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg")); QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix); myDevice->statusIcon->setPixmap(pix);
myDevice->certifiedFW->setText(""); myDevice->lblCertified->setText("");
} }
@ -54,14 +56,16 @@ void deviceWidget::showEvent(QShowEvent *event)
// widget is shown, otherwise it cannot compute its values and // widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small. // the result is usually a ahrsbargraph that is way too small.
if (devicePic) if (devicePic)
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); {
myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
}
} }
void deviceWidget::resizeEvent(QResizeEvent* event) void deviceWidget::resizeEvent(QResizeEvent* event)
{ {
Q_UNUSED(event); Q_UNUSED(event);
if (devicePic) if (devicePic)
myDevice->devicePicture->fitInView(devicePic, Qt::KeepAspectRatio); myDevice->gVDevice->fitInView(devicePic, Qt::KeepAspectRatio);
} }
@ -74,21 +78,43 @@ void deviceWidget::setDfu(DFUObject *dfu)
m_dfu = dfu; m_dfu = dfu;
} }
QString deviceWidget::idToBoardName(int id)
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
break;
default:
return QString("");
break;
}
}
/** /**
Fills the various fields for the device Fills the various fields for the device
*/ */
void deviceWidget::populate() void deviceWidget::populate()
{ {
int id = m_dfu->devices[deviceID].ID; int id = m_dfu->devices[deviceID].ID;
myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16)); myDevice->lbldevID->setText(QString("Device ID: ") + QString::number(id, 16));
// DeviceID tells us what sort of HW we have detected: // DeviceID tells us what sort of HW we have detected:
// display a nice icon: // display a nice icon:
myDevice->devicePicture->scene()->clear(); myDevice->gVDevice->scene()->clear();
if (devicePic) myDevice->lblDevName->setText(deviceDescriptorStruct::idToBoardName(id));
delete devicePic; myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16));
devicePic = new QGraphicsSvgItem(); devicePic = new QGraphicsSvgItem();
devicePic->setSharedRenderer(new QSvgRenderer()); devicePic->setSharedRenderer(new QSvgRenderer());
switch (id) { switch (id) {
case 0x0101: case 0x0101:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg")); devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg"));
@ -106,35 +132,35 @@ void deviceWidget::populate()
break; break;
} }
devicePic->setElementId("device"); devicePic->setElementId("device");
myDevice->devicePicture->scene()->addItem(devicePic); myDevice->gVDevice->scene()->addItem(devicePic);
myDevice->devicePicture->setSceneRect(devicePic->boundingRect()); myDevice->gVDevice->setSceneRect(devicePic->boundingRect());
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
bool r = m_dfu->devices[deviceID].Readable; bool r = m_dfu->devices[deviceID].Readable;
bool w = m_dfu->devices[deviceID].Writable; bool w = m_dfu->devices[deviceID].Writable;
myDevice->deviceACL->setText(QString("Access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->maxCodeSize->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->fwCRC->setText(QString("FW CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->BLVersion->setText(QString("BL Version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc; int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc;
m_dfu->enterDFU(deviceID); m_dfu->enterDFU(deviceID);
QByteArray desc = m_dfu->DownloadDescriptionAsBA(size); QByteArray desc = m_dfu->DownloadDescriptionAsBA(size);
if (! populateStructuredDescription(desc)) {
if (! populateBoardStructuredDescription(desc)) {
//TODO
// desc was not a structured description // desc was not a structured description
QString str = m_dfu->DownloadDescription(size); QString str = m_dfu->DownloadDescription(size);
myDevice->description->setMaxLength(size); myDevice->lblDescription->setText(QString("Firmware custom description: ")+str.left(str.indexOf(QChar(255))));
myDevice->description->setText(str.left(str.indexOf(QChar(255)))); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
QPixmap pix = QPixmap(QString(":uploader/images/gtk-info.svg")); myDevice->lblCertified->setPixmap(pix);
myDevice->certifiedFW->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
myDevice->certifiedFW->setToolTip(tr("Custom Firmware Build")); myDevice->lblBuildDate->setText("Warning: development firmware");
myDevice->buildDate->setText("Warning: development firmware"); myDevice->lblGitTag->setText("");
myDevice->commitTag->setText(""); myDevice->lblBrdName->setText("");
} }
status("Ready...", STATUSICON_INFO); status("Ready...", STATUSICON_INFO);
} }
/** /**
@ -145,59 +171,73 @@ void deviceWidget::freeze()
{ {
myDevice->description->setEnabled(false); myDevice->description->setEnabled(false);
myDevice->updateButton->setEnabled(false); myDevice->updateButton->setEnabled(false);
myDevice->verifyButton->setEnabled(false);
myDevice->retrieveButton->setEnabled(false); myDevice->retrieveButton->setEnabled(false);
} }
/** /**
Populates the widget field with the description in case Populates the widget field with the description in case
it is structured properly it is structured properly
*/ */
bool deviceWidget::populateStructuredDescription(QByteArray desc) bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
{ {
if (desc.startsWith("OpFw")) { if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition))
// This looks like a binary with a description at the end {
/* myDevice->lblGitTag->setText("Git commit tag: "+onBoardDescrition.gitTag);
# 4 bytes: header: "OpFw" myDevice->lblBuildDate->setText(QString("Firmware date: ") + onBoardDescrition.buildDate);
# 4 bytes: GIT commit tag (short version of SHA1) if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive))
# 4 bytes: Unix timestamp of compile time {
# 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files. myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description);
# 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
# ---- 40 bytes limit ---
# 20 bytes: SHA1 sum of the firmware.
# 40 bytes: free for now.
*/
// Note: the ARM binary is big-endian:
quint32 gitCommitTag = desc.at(7)&0xFF;
for (int i=1;i<4;i++) {
gitCommitTag = gitCommitTag<<8;
gitCommitTag += desc.at(7-i) & 0xFF;
}
myDevice->commitTag->setText("GIT tag 0x" + QString::number(gitCommitTag,16));
quint32 buildDate = desc.at(11)&0xFF;
for (int i=1;i<4;i++) {
buildDate = buildDate<<8;
buildDate += desc.at(11-i) & 0xFF;
}
myDevice->buildDate->setText(QString("Build time: ") + QDateTime::fromTime_t(buildDate).toString());
QByteArray targetPlatform = desc.mid(12,2);
// TODO: check platform compatibility
QString dscText = QString(desc.mid(14,26));
myDevice->description->setText(dscText);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->certifiedFW->setPixmap(pix); myDevice->lblCertified->setPixmap(pix);
myDevice->certifiedFW->setToolTip(tr("Official Firmware Build")); myDevice->lblCertified->setToolTip(tr("Official Firmware Build"));
}
else
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description+QString(" (beta or custom build)"));
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
}
myDevice->lblBrdName->setText(idToBoardName(onBoardDescrition.boardType<<8));
return true; return true;
} }
return false; return false;
} }
bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
{
if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition))
{
myDevice->lblGitTagL->setText("Git commit tag: "+LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText(QString("Firmware date: ") + LoadedDescrition.buildDate);
if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description);
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
myDevice->lblCertifiedL->setToolTip(tr("Official Firmware Build"));
}
else
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description+QString(" (beta or custom build)"));
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
myDevice->lblCertifiedL->setToolTip(tr("Custom Firmware Build"));
}
myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescrition.boardType<<8));
return true;
}
return false;
}
/** /**
Updates status message for messages coming from DFU Updates status message for messages coming from DFU
*/ */
@ -206,6 +246,16 @@ void deviceWidget::dfuStatus(QString str)
status(str, STATUSICON_RUNNING); status(str, STATUSICON_RUNNING);
} }
void deviceWidget::confirmCB(int value)
{
if(value==Qt::Checked)
{
myDevice->updateButton->setEnabled(true);
}
else
myDevice->updateButton->setEnabled(false);
}
/** /**
Updates status message Updates status message
*/ */
@ -229,11 +279,74 @@ void deviceWidget::status(QString str, StatusIcon ic)
myDevice->statusIcon->setPixmap(px); myDevice->statusIcon->setPixmap(px);
} }
/**
Verifies the firmware CRC void deviceWidget::loadFirmware()
*/
void deviceWidget::verifyFirmware()
{ {
myDevice->verticalGroupBox_loaded->setVisible(false);
myDevice->groupCustom->setVisible(false);
filename = setOpenFileName();
if (filename.isEmpty()) {
status("Empty filename", STATUSICON_FAIL);
return;
}
QFile file(filename);
if (!file.open(QIODevice::ReadOnly)) {
status("Can't open file", STATUSICON_FAIL);
return;
}
loadedFW = file.readAll();
myDevice->youdont->setVisible(false);
myDevice->youdont->setChecked(false);
QByteArray desc = loadedFW.right(100);
QPixmap px;
myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
if (populateLoadedStructuredDescription(desc))
{
myDevice->youdont->setChecked(true);
myDevice->verticalGroupBox_loaded->setVisible(true);
myDevice->groupCustom->setVisible(false);
if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
{
myDevice->statusLabel->setText(tr("The loaded firmware maches the firmware on the board. You shouldn't upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
{
myDevice->statusLabel->setText(tr("The loaded firmware is not suited for the HW connected. You shouldn't upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(QDateTime::fromString(onBoardDescrition.buildDate)>QDateTime::fromString(LoadedDescrition.buildDate))
{
myDevice->statusLabel->setText(tr("The loaded firmware is older then the firmware on the board. You shouldn't upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(!LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->statusLabel->setText(tr("The loaded firmware is not an oficial OpenPilot release. You should upload it only if you know what you are doing"));
px.load(QString(":/uploader/images/warning.svg"));
}
else
{
myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'upload'"));
px.load(QString(":/uploader/images/gtk-info.svg"));
}
}
else
{
myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with a compatible format. You shouldn't' upload it, if you know what you are doing and still want to upload it confirm it by checking the checkbox bellow"));
px.load(QString(":/uploader/images/warning.svg"));
myDevice->youdont->setChecked(false);
myDevice->youdont->setVisible(true);
myDevice->verticalGroupBox_loaded->setVisible(false);
myDevice->groupCustom->setVisible(true);
}
myDevice->statusIcon->setPixmap(px);
//myDevice->updateButton->setEnabled(true);
} }
@ -253,22 +366,8 @@ void deviceWidget::uploadFirmware()
verify = true; verify = true;
*/ */
QString filename = setOpenFileName(); QByteArray desc = loadedFW.right(100);
if (desc.startsWith("OpFw")) {
if (filename.isEmpty()) {
status("Empty filename", STATUSICON_FAIL);
return;
}
QFile file(filename);
if (!file.open(QIODevice::ReadOnly)) {
status("Can't open file", STATUSICON_FAIL);
return;
}
QByteArray arr = file.readAll();
QByteArray desc = arr.right(100);
if (populateStructuredDescription(desc)) {
descriptionArray = desc; descriptionArray = desc;
// Now do sanity checking: // Now do sanity checking:
// - Check whether board type matches firmware: // - Check whether board type matches firmware:
@ -280,7 +379,7 @@ void deviceWidget::uploadFirmware()
} }
// Check the firmware embedded in the file: // Check the firmware embedded in the file:
QByteArray firmwareHash = desc.mid(40,20); QByteArray firmwareHash = desc.mid(40,20);
QByteArray fileHash = QCryptographicHash::hash(arr.left(arr.length()-100), QCryptographicHash::Sha1); QByteArray fileHash = QCryptographicHash::hash(loadedFW.left(loadedFW.length()-100), QCryptographicHash::Sha1);
if (firmwareHash != fileHash) { if (firmwareHash != fileHash) {
status("Error: firmware file corrupt", STATUSICON_FAIL); status("Error: firmware file corrupt", STATUSICON_FAIL);
return; return;
@ -390,7 +489,7 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
return; return;
} }
} }
populate();
status("Upload successful", STATUSICON_OK); status("Upload successful", STATUSICON_OK);
} }

15
ground/openpilotgcs/src/plugins/uploader/devicewidget.h
View File

@ -38,9 +38,9 @@
#include <QtSvg/QGraphicsSvgItem> #include <QtSvg/QGraphicsSvgItem>
#include <QtSvg/QSvgRenderer> #include <QtSvg/QSvgRenderer>
#include <QCryptographicHash> #include <QCryptographicHash>
#include "uavobjectutilmanager.h"
#include "devicedescriptorstruct.h"
using namespace OP_DFU; using namespace OP_DFU;
class deviceWidget : public QWidget class deviceWidget : public QWidget
{ {
Q_OBJECT Q_OBJECT
@ -54,6 +54,10 @@ public:
QString setOpenFileName(); QString setOpenFileName();
QString setSaveFileName(); QString setSaveFileName();
private: private:
deviceDescriptorStruct onBoardDescrition;
deviceDescriptorStruct LoadedDescrition;
QByteArray loadedFW;
QString idToBoardName(int id);
Ui_deviceWidget *myDevice; Ui_deviceWidget *myDevice;
int deviceID; int deviceID;
DFUObject *m_dfu; DFUObject *m_dfu;
@ -62,19 +66,20 @@ private:
QGraphicsSvgItem *devicePic; QGraphicsSvgItem *devicePic;
QByteArray descriptionArray; QByteArray descriptionArray;
void status(QString str, StatusIcon ic); void status(QString str, StatusIcon ic);
bool populateStructuredDescription(QByteArray arr); bool populateBoardStructuredDescription(QByteArray arr);
bool populateLoadedStructuredDescription(QByteArray arr);
signals: signals:
public slots: public slots:
void verifyFirmware();
void uploadFirmware(); void uploadFirmware();
void loadFirmware();
void downloadFirmware(); void downloadFirmware();
void setProgress(int); void setProgress(int);
void downloadFinished(); void downloadFinished();
void uploadFinished(OP_DFU::Status); void uploadFinished(OP_DFU::Status);
void dfuStatus(QString); void dfuStatus(QString);
void confirmCB(int);
protected: protected:
void showEvent(QShowEvent *event); void showEvent(QShowEvent *event);

300
ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
View File

@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>516</width> <width>516</width>
<height>253</height> <height>582</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -15,37 +15,15 @@
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<item> <item>
<layout class="QGridLayout" name="gridLayout"> <widget class="QGroupBox" name="verticalGroupBox_4">
<item row="2" column="0" colspan="3"> <property name="title">
<widget class="QLineEdit" name="description"> <string>Device Information</string>
<property name="readOnly">
<bool>true</bool>
</property> </property>
</widget> <layout class="QVBoxLayout" name="verticalLayout_7">
</item> <item>
<item row="4" column="0"> <layout class="QHBoxLayout" name="horizontalLayout_6">
<widget class="QLabel" name="deviceID"> <item>
<property name="text"> <widget class="QGraphicsView" name="gVDevice">
<string>DeviceID</string>
</property>
</widget>
</item>
<item row="8" column="0" colspan="2">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="deviceACL">
<property name="text">
<string>ReadWrite</string>
</property>
</widget>
</item>
<item row="3" column="2" rowspan="3">
<widget class="QGraphicsView" name="devicePicture">
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>160</width> <width>160</width>
@ -55,32 +33,80 @@
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background: transparent</string> <string notr="true">background: transparent</string>
</property> </property>
<property name="frameShape"> </widget>
<enum>QFrame::NoFrame</enum> </item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QLabel" name="lblDevName">
<property name="text">
<string>lblDevName</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="2"> <item>
<widget class="QPushButton" name="verifyButton"> <widget class="QLabel" name="lbldevID">
<property name="text">
<string>DeviceID</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblHWRev">
<property name="text">
<string>lblHWRev</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblAccess">
<property name="text">
<string>RW</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBLVer">
<property name="text">
<string>BL Version</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblMaxCode">
<property name="text">
<string>MaxCodeSize</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QPushButton" name="pbLoad">
<property name="toolTip">
<string>Loads the firmware</string>
</property>
<property name="text">
<string>Open</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="updateButton">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="text">
<string>Verify...</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QPushButton" name="updateButton">
<property name="toolTip"> <property name="toolTip">
<string>Update the firmware on this board.</string> <string>Update the firmware on this board.</string>
</property> </property>
<property name="text"> <property name="text">
<string>Update...</string> <string>Flash</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="2"> <item>
<widget class="QPushButton" name="retrieveButton"> <widget class="QPushButton" name="retrieveButton">
<property name="toolTip"> <property name="toolTip">
<string>Download the current board firmware to your computer</string> <string>Download the current board firmware to your computer</string>
@ -90,28 +116,18 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> </layout>
<widget class="QLabel" name="BLVersion"> </item>
<property name="text"> </layout>
<string>BootLoaderVersion</string> </item>
<item>
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>0</number>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item>
<widget class="QLabel" name="fwCRC">
<property name="text">
<string>fwCRC</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="maxCodeSize">
<property name="text">
<string>MaxCodeSize</string>
</property>
</widget>
</item>
<item row="7" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">
<item> <item>
<widget class="QLabel" name="statusIcon"> <widget class="QLabel" name="statusIcon">
@ -137,42 +153,172 @@
<property name="text"> <property name="text">
<string>Status</string> <string>Status</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>
</item> </item>
<item row="6" column="0"> <item>
<widget class="QLabel" name="commitTag"> <widget class="QCheckBox" name="youdont">
<property name="text"> <property name="text">
<string>Commit tag</string> <string>I know what I'm doing</string>
</property>
<property name="checked">
<bool>true</bool>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0" colspan="2"> </layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_3">
<property name="title">
<string>Firmware currently on the device</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QLabel" name="lblBrdName">
<property name="text">
<string>lblBrdName</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblDescription">
<property name="text">
<string>lblDescription</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDate">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTag">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRC">
<property name="text">
<string>lblCRC</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblCertified">
<property name="text">
<string>lblCertified</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_loaded">
<property name="enabled">
<bool>true</bool>
</property>
<property name="title">
<string>Loaded Firmware</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2"> <layout class="QHBoxLayout" name="horizontalLayout_2">
<item> <item>
<widget class="QLabel" name="certifiedFW"> <layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="lblBrdNameL">
<property name="text"> <property name="text">
<string>certified</string> <string>lblBrdName</string>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QLabel" name="buildDate"> <widget class="QLabel" name="lblDescritpionL">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text"> <property name="text">
<string>buildDate</string> <string>lblDescritpionL</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDateL">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTagL">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRCL">
<property name="text">
<string>lblCRC</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblFirmwareSizeL">
<property name="text">
<string>lblFirmwareSizeL</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblCertifiedL">
<property name="text">
<string>lblCertifiedL</string>
</property> </property>
</widget> </widget>
</item> </item>
</layout> </layout>
</item> </item>
</layout> </layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupCustom">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="lblX">
<property name="text">
<string>Custom description:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="description"/>
</item>
</layout>
</widget>
</item> </item>
</layout> </layout>
</widget> </widget>

102
ground/openpilotgcs/src/plugins/uploader/images/warning.svg Normal file
View File

@ -0,0 +1,102 @@
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6
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -718,7 +718,7 @@ OP_DFU::Status DFUObject::UploadFirmwareT(const QString &sfile, const bool &veri
return OP_DFU::abort;; return OP_DFU::abort;;
} }
quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode); quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode);
if (debug) if (debug)
qDebug() << "NEW FIRMWARE CRC=" << crc; qDebug() << "NEW FIRMWARE CRC=" << crc;
@ -817,7 +817,7 @@ OP_DFU::Status DFUObject::CompareFirmware(const QString &sfile, const CompareTyp
} }
if(type==OP_DFU::crccompare) if(type==OP_DFU::crccompare)
{ {
quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode); quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode);
if(crc==devices[device].FW_CRC) if(crc==devices[device].FW_CRC)
{ {
cout<<"Compare Successfull CRC MATCH!\n"; cout<<"Compare Successfull CRC MATCH!\n";
@ -971,7 +971,7 @@ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size)
aux+=(char)array[x*4+0]&0xFF; aux+=(char)array[x*4+0]&0xFF;
t[x]=aux; t[x]=aux;
} }
return CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t); return DFUObject::CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t);
} }

6
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
View File

@ -108,7 +108,7 @@ namespace OP_DFU {
Q_OBJECT; Q_OBJECT;
public: public:
static quint32 CRCFromQBArray(QByteArray array, quint32 Size);
//DFUObject(bool debug); //DFUObject(bool debug);
DFUObject(bool debug,bool use_serial,QString port); DFUObject(bool debug,bool use_serial,QString port);
@ -152,7 +152,7 @@ namespace OP_DFU {
// Helper functions: // Helper functions:
QString StatusToString(OP_DFU::Status const & status); QString StatusToString(OP_DFU::Status const & status);
quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer); static quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
@ -179,7 +179,7 @@ namespace OP_DFU {
// USB Bootloader: // USB Bootloader:
pjrc_rawhid hidHandle; pjrc_rawhid hidHandle;
int setStartBit(int command){ return command|0x20; } int setStartBit(int command){ return command|0x20; }
quint32 CRCFromQBArray(QByteArray array, quint32 Size);
void CopyWords(char * source, char* destination, int count); void CopyWords(char * source, char* destination, int count);
void printProgBar( int const & percent,QString const& label); void printProgBar( int const & percent,QString const& label);
bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc); bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc);

46
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -25,7 +25,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "runningdevicewidget.h" #include "runningdevicewidget.h"
#include "devicedescriptorstruct.h"
#include "uploadergadgetwidget.h"
runningDeviceWidget::runningDeviceWidget(QWidget *parent) : runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
QWidget(parent) QWidget(parent)
{ {
@ -68,8 +69,11 @@ void runningDeviceWidget::populate()
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>(); UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel(); int id = utilMngr->getBoardModel();
myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16)); myDevice->lblDeviceID->setText(QString("Device ID: ") + QString::number(id, 16));
myDevice->lblBoardName->setText(deviceDescriptorStruct::idToBoardName(id));
myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16));
qDebug()<<"CRC"<<utilMngr->getFirmwareCRC();
myDevice->lblCRC->setText(QString(tr("Firmware CRC: "))+QVariant(utilMngr->getFirmwareCRC()).toString());
// DeviceID tells us what sort of HW we have detected: // DeviceID tells us what sort of HW we have detected:
// display a nice icon: // display a nice icon:
myDevice->devicePicture->scene()->clear(); myDevice->devicePicture->scene()->clear();
@ -100,13 +104,41 @@ void runningDeviceWidget::populate()
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
QString serial = utilMngr->getBoardCPUSerial().toHex(); QString serial = utilMngr->getBoardCPUSerial().toHex();
myDevice->cpuSerial->setText(serial); myDevice->lblCPU->setText(QString("CPU serial number: "+serial));
QString description = utilMngr->getBoardDescription(); QByteArray description = utilMngr->getBoardDescription();
myDevice->description->setText(description); deviceDescriptorStruct devDesc;
if(UploaderGadgetWidget::descriptionToStructure(description,&devDesc))
{
if(devDesc.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Official Firmware Build"));
}
else
{
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description+QString(" (beta or custom build)"));
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
}
myDevice->lblGitCommitTag->setText("Git commit tag: "+devDesc.gitTag);
myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.buildDate);
}
else
{
myDevice->lblFWTag->setText(QString("Firmware tag: ")+QString(description).left(QString(description).indexOf(QChar(255))));
myDevice->lblGitCommitTag->setText("Git commit tag: Unknown");
myDevice->lblFWDate->setText(QString("Firmware date: Unknown"));
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
}
status("Ready...", STATUSICON_INFO); status("Ready...", STATUSICON_INFO);
} }

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
View File

@ -29,7 +29,7 @@
#define RUNNINGDEVICEWIDGET_H #define RUNNINGDEVICEWIDGET_H
#include "ui_runningdevicewidget.h" #include "ui_runningdevicewidget.h"
#include "uploadergadgetwidget.h"
#include <QWidget> #include <QWidget>
#include <QErrorMessage> #include <QErrorMessage>
#include <QtSvg/QGraphicsSvgItem> #include <QtSvg/QGraphicsSvgItem>

151
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
View File

@ -14,9 +14,114 @@
<string>Form</string> <string>Form</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGroupBox" name="horizontalGroupBox">
<property name="title">
<string>Device Information</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QGraphicsView" name="devicePicture">
<property name="maximumSize">
<size>
<width>160</width>
<height>160</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background: transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="lblBoardName">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblDeviceID">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblHWRev">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCPU">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="horizontalGroupBox">
<property name="title">
<string>Firmware Information</string>
</property>
<layout class="QHBoxLayout" name="_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="lblFWTag">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblFWDate">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitCommitTag">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRC">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblCertified">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item> <item>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<item row="6" column="0" colspan="2"> <item row="3" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">
<item> <item>
<widget class="QLabel" name="statusIcon"> <widget class="QLabel" name="statusIcon">
@ -46,50 +151,6 @@
</item> </item>
</layout> </layout>
</item> </item>
<item row="5" column="0">
<widget class="QLabel" name="deviceID">
<property name="text">
<string>DeviceID</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="cpuSerialLabel">
<property name="text">
<string>CPU Serial:</string>
</property>
</widget>
</item>
<item row="4" column="2" rowspan="2">
<widget class="QGraphicsView" name="devicePicture">
<property name="maximumSize">
<size>
<width>160</width>
<height>160</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background: transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QLineEdit" name="description">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="cpuSerial">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
</layout> </layout>

6
ground/openpilotgcs/src/plugins/uploader/uploader.pro
View File

@ -22,7 +22,8 @@ HEADERS += uploadergadget.h \
SSP/qssp.h \ SSP/qssp.h \
SSP/qsspt.h \ SSP/qsspt.h \
SSP/common.h \ SSP/common.h \
runningdevicewidget.h runningdevicewidget.h \
devicedescriptorstruct.h
SOURCES += uploadergadget.cpp \ SOURCES += uploadergadget.cpp \
uploadergadgetconfiguration.cpp \ uploadergadgetconfiguration.cpp \
uploadergadgetfactory.cpp \ uploadergadgetfactory.cpp \
@ -35,7 +36,8 @@ SOURCES += uploadergadget.cpp \
SSP/port.cpp \ SSP/port.cpp \
SSP/qssp.cpp \ SSP/qssp.cpp \
SSP/qsspt.cpp \ SSP/qsspt.cpp \
runningdevicewidget.cpp runningdevicewidget.cpp \
devicedescriptorstruct.cpp
OTHER_FILES += Uploader.pluginspec OTHER_FILES += Uploader.pluginspec
FORMS += \ FORMS += \

1
ground/openpilotgcs/src/plugins/uploader/uploader.qrc
View File

@ -10,5 +10,6 @@
<file>images/deviceID-0201.svg</file> <file>images/deviceID-0201.svg</file>
<file>images/deviceID-0101.svg</file> <file>images/deviceID-0101.svg</file>
<file>images/application-certificate.svg</file> <file>images/application-certificate.svg</file>
<file>images/warning.svg</file>
</qresource> </qresource>
</RCC> </RCC>

37
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -27,7 +27,44 @@
#include "uploadergadgetwidget.h" #include "uploadergadgetwidget.h"
#define DFU_DEBUG true #define DFU_DEBUG true
bool UploaderGadgetWidget::descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc)
{
if (desc.startsWith("OpFw")) {
// This looks like a binary with a description at the end
/*
# 4 bytes: header: "OpFw"
# 4 bytes: GIT commit tag (short version of SHA1)
# 4 bytes: Unix timestamp of compile time
# 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
# 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
# ---- 40 bytes limit ---
# 20 bytes: SHA1 sum of the firmware.
# 40 bytes: free for now.
*/
// Note: the ARM binary is big-endian:
quint32 gitCommitTag = desc.at(7)&0xFF;
for (int i=1;i<4;i++) {
gitCommitTag = gitCommitTag<<8;
gitCommitTag += desc.at(7-i) & 0xFF;
}
struc->gitTag=QString::number(gitCommitTag,16);
quint32 buildDate = desc.at(11)&0xFF;
for (int i=1;i<4;i++) {
buildDate = buildDate<<8;
buildDate += desc.at(11-i) & 0xFF;
}
struc->buildDate= QDateTime::fromTime_t(buildDate).toLocalTime().toString("yyyy MMMM dd HH:mm:ss");
QByteArray targetPlatform = desc.mid(12,2);
// TODO: check platform compatibility
QString dscText = QString(desc.mid(14,26));
struc->boardType=(int)targetPlatform.at(0);
struc->boardRevision=(int)targetPlatform.at(1);
struc->description=dscText;
return true;
}
return false;
}
UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent) UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
{ {
m_config = new Ui_UploaderWidget(); m_config = new Ui_UploaderWidget();

5
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -52,20 +52,23 @@
#include <QThread> #include <QThread>
#include <QMessageBox> #include <QMessageBox>
#include <QTimer> #include <QTimer>
#include "devicedescriptorstruct.h"
#include <QProgressDialog> #include <QProgressDialog>
using namespace OP_DFU; using namespace OP_DFU;
class UploaderGadgetWidget : public QWidget class UploaderGadgetWidget : public QWidget
{ {
Q_OBJECT Q_OBJECT
public: public:
UploaderGadgetWidget(QWidget *parent = 0); UploaderGadgetWidget(QWidget *parent = 0);
~UploaderGadgetWidget(); ~UploaderGadgetWidget();
typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET, IAP_STATE_BOOTLOADER} IAPStep; typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET, IAP_STATE_BOOTLOADER} IAPStep;
void log(QString str); void log(QString str);
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
public slots: public slots:
void onAutopilotConnect(); void onAutopilotConnect();

1
shared/uavobjectdefinition/systemsettings.xml
View File

@ -2,6 +2,7 @@
<object name="SystemSettings" singleinstance="true" settings="true"> <object name="SystemSettings" singleinstance="true" settings="true">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description> <description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri" defaultvalue="FixedWing"/> <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri" defaultvalue="FixedWing"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="2" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>