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Code Issues Releases Activity

ConfigVehicle, all airframes: change return from throwConfigError to bool;

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eliminates channel checking redundancy.  Smart ptr new VehicleConfig()'s.
This commit is contained in:
Mike LaBranche 2012-06-27 21:32:32 -07:00
parent 3a8429d89b
commit 5b64393f7f
9 changed files with 48 additions and 153 deletions
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13
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -851,7 +851,8 @@ void ConfigCcpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel;
throwConfigError(QString("HeliCP"));
if (throwConfigError(QString("HeliCP")))
return;
GUIConfigDataUnion config = GetConfigData();
@ -1714,13 +1715,16 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigCcpmWidget::throwConfigError(QString airframeType)
bool ConfigCcpmWidget::throwConfigError(QString airframeType)
{
Q_UNUSED(airframeType);
bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
error = true;
}
else
{
@ -1729,6 +1733,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
error = true;
}
else
{
@ -1737,6 +1742,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
error = true;
}
else
{
@ -1745,6 +1751,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
error = true;
}
else
{
@ -1763,10 +1770,12 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -95,7 +95,7 @@ private:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -262,15 +262,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
(m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -351,14 +343,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -436,14 +421,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -526,7 +504,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigFixedWingWidget::throwConfigError(QString airframeType)
bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -618,4 +596,6 @@ void ConfigFixedWingWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -289,16 +289,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
if (throwConfigError(airframeType)) {
return false;
}
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
@ -352,16 +345,11 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering1ChannelBox->currentText() == "None")
{
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
@ -411,14 +399,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
m_aircraft->gvSteering2ChannelBox->currentText() == "None"))
{
if (throwConfigError(airframeType)) {
return false;
}
@ -468,7 +449,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -558,5 +539,6 @@ void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

112
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -288,20 +288,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -319,15 +311,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "HexaCoax";
//Show any config errors in GUI
throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
@ -353,18 +337,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Octo";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
@ -388,17 +363,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoV";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -424,17 +389,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -459,17 +414,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
@ -494,12 +439,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Tri";
//Show any config errors in GUI
throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
@ -528,8 +470,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1){
@ -873,14 +813,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
// Check coherence:
//Show any config errors in GUI
throwConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None") {
if (throwConfigError(4)) {
return false;
}
@ -948,19 +881,9 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None") {
if (throwConfigError(6))
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
@ -1074,7 +997,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigMultiRotorWidget::throwConfigError(int numMotors)
bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
@ -1101,6 +1024,7 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -71,7 +71,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
void throwConfigError(int numMotors);
virtual bool throwConfigError(int numMotors);
protected:

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -447,7 +447,7 @@ void ConfigVehicleTypeWidget::enableFFTest()
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
@ -831,7 +831,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);