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Code Issues Releases Activity

CameraStabilization: UI Seems to be working now.

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This commit is contained in:
James Cotton 2011-08-10 03:27:41 -05:00
parent 11a98bb9e0
commit 44cc9245e4
4 changed files with 466 additions and 7 deletions
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322
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -13,9 +13,327 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Channel Ranges (number of degrees full range)</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QFormLayout" name="formLayout_2">
<item row="2" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="yawOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>212</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Channel Mapping (select output channel or none to disable)</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QFormLayout" name="formLayout">
<item row="2" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="yawChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="pitchChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>212</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
@ -86,7 +404,7 @@ specific calibration button on top of the screen.</string>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSettingsSaveSD">
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board, and save to the non-volatile memory.</string>
</property>

148
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configahrswidget.h
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configcamerastabilizationwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -38,12 +38,24 @@
#include <QUrl>
#include <QDesktopServices>
#include "camerastabsettings.h"
#include "hwsettings.h"
#include "mixersettings.h"
ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_camerastabilization = new Ui_CameraStabilizationWidget();
m_camerastabilization->setupUi(this);
// Connect the help button
// Now connect the widget to the StabilizationSettings object
connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
// TODO: This will need to support both CC and OP later
connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
// Connect buttons
connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings()));
connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings()));
connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
}
@ -52,9 +64,135 @@ ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
// Do nothing
}
void ConfigCameraStabilizationWidget::enableControls(bool enable)
/**
* @brief Populate the gui settings into the appropriate
* UAV structures
*/
void ConfigCameraStabilizationWidget::applySettings()
{
m_camerastabilization->camerastabilizationSettingsSaveSD->setEnabled(enable);
// Enable or disable the settings
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] =
m_camerastabilization->enableCameraStabilization->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED :
HwSettings::OPTIONALMODULES_DISABLED;
// Update the mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
const int NUM_MIXERS = 8;
QComboBox * selectors[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
};
// TODO: Need to reformat object so types are an
// array themselves. This gets really awkward
quint8 * mixerTypes[NUM_MIXERS] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type,
};
for (int i = 0; i < 3; i++)
{
// Channel 1 is second entry, so becomes zero
int mixerNum = selectors[i]->currentIndex() - 1;
if ( *mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED &&
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
// If the mixer channel already to something that isn't what we are
// about to set it to reset to none
selectors[i]->setCurrentIndex(0);
} else {
// Make sure no other channels have this output set
for (int j = 0; j < NUM_MIXERS; j++)
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
// If this channel is assigned to one of the outputs that is not disabled
// set it
if(mixerNum >= 0 && mixerNum < NUM_MIXERS)
*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
}
}
// Update the ranges
CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value();
cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value();
cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value();
}
/**
* Push settings into UAV objects then save them
*/
void ConfigCameraStabilizationWidget::saveSettings()
{
applySettings();
UAVObject * obj = HwSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
obj = MixerSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
obj = CameraStabSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
}
void ConfigCameraStabilizationWidget::refreshValues()
{
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_camerastabilization->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] ==
HwSettings::OPTIONALMODULES_ENABLED);
CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]);
m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
const int NUM_MIXERS = 8;
QComboBox * selectors[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
};
// TODO: Need to reformat object so types are an
// array themselves. This gets really awkward
quint8 * mixerTypes[NUM_MIXERS] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type,
};
for (int i = 0; i < 3; i++)
{
// Default to none if not found. Then search for any mixer channels set to
// this
selectors[i]->setCurrentIndex(0);
for (int j = 0; j < NUM_MIXERS; j++)
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
selectors[i]->currentIndex() != (j + 1))
selectors[i]->setCurrentIndex(j + 1);
}
}
void ConfigCameraStabilizationWidget::openHelp()

3
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h
View File

@ -56,6 +56,9 @@ private:
private slots:
void openHelp();
void applySettings();
void saveSettings();
void refreshValues();
protected:

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