Merge remote-tracking branch 'origin/MikeL_ConfigVehicle' into next

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp

@@ -554,7 +554,7 @@ void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
 
     for (i=0; i<internalCurveValues.length(); i++)
     {
-        CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
+        CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
         if (CurrentValue!=internalCurveValues[i])
         {
             m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
@@ -1224,11 +1224,10 @@ void ConfigCcpmWidget::setMixer()
     }
 
     //get the user data for the curve into the mixer settings
-    for (i=0;i<5;i++)
+    for (i=0;i<5;i++) {
         mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
-
-    for (i=0;i<5;i++)
         mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
+    }
     
     //mapping of collective input to curve 2...
     //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -46,7 +46,7 @@
 #define STICK_MIN_MOVE -8
 #define STICK_MAX_MOVE 8
 
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -84,7 +84,7 @@ public:
     };
 
     ConfigTaskWidget(QWidget *parent = 0);
-    ~ConfigTaskWidget();
+    virtual ~ConfigTaskWidget();
 
     void disableMouseWheelEvents();
     bool eventFilter( QObject * obj, QEvent * evt );

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp

@@ -43,6 +43,7 @@ Node::Node(MixerCurveWidget *graphWidget)
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
     vertical = false;
+    value = 0;
 }
 
 void Node::addEdge(Edge *edge)
@@ -98,6 +99,15 @@ void Node::verticalMove(bool flag){
     vertical = flag;
 }
 
+double Node::getValue() {
+    return value;
+}
+
+void Node::setValue(double val) {
+    value = val;
+}
+
+
 QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
 {
 
@@ -117,11 +127,19 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
                 newPos.setY(h);
               return newPos;
     }
-    case ItemPositionHasChanged:
+    case ItemPositionHasChanged: {
         foreach (Edge *edge, edgeList)
             edge->adjust();
-        graph->itemMoved((h-newPos.y())/h);
+
+        double min = graph->getMin();
+        double range = graph->getMax() - min;
+        double ratio = (h - newPos.y()) / h;
+        double val = (range * ratio ) + min;
+        setValue(val);
+
+        graph->itemMoved(val);
         break;
+    }
     default:
         break;
     };

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h

@@ -48,12 +48,16 @@ public:
     enum { Type = UserType + 1 };
     int type() const { return Type; }
 
+
     void verticalMove(bool flag);
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 
+    void   setValue(double val);
+    double getValue();
+
 protected:
     QVariant itemChange(GraphicsItemChange change, const QVariant &value);
 
@@ -61,6 +65,8 @@ protected:
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     
 private:
+
+    double value;
     QList<Edge *> edgeList;
     QPointF newPos;
     MixerCurveWidget *graph;

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp

@@ -32,8 +32,6 @@
 #include <QtGui>
 #include <QDebug>
 
-
-
 /*
  * Initialize the widget
  */
@@ -74,11 +72,48 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
+    initNodes(MixerCurveWidget::NODE_NUMELEM);
 }
 
 MixerCurveWidget::~MixerCurveWidget()
 {
+    for (int i=0; i<nodePool.count(); i++)
+        delete nodePool.at(i);
 
+    for (int i=0; i<edgePool.count(); i++)
+        delete edgePool.at(i);
+}
+
+Node* MixerCurveWidget::getNode(int index)
+{
+    Node* node;
+
+    if (index >= 0 && index < nodePool.count())
+    {
+        node = nodePool.at(index);
+    }
+    else {
+        node = new Node(this);
+        nodePool.append(node);
+    }
+    return node;
+}
+
+Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
+{
+    Edge* edge;
+
+    if (index >= 0 && index < edgePool.count())
+    {
+        edge = edgePool.at(index);
+        edge->setSourceNode(sourceNode);
+        edge->setDestNode(destNode);
+    }
+    else {
+        edge = new Edge(sourceNode,destNode);
+        edgePool.append(edge);
+    }
+    return edge;
 }
 
 /**
@@ -89,60 +124,62 @@ MixerCurveWidget::~MixerCurveWidget()
   */
 void MixerCurveWidget::initCurve(QList<double> points)
 {
-
     if (points.length() < 2)
         return; // We need at least 2 points on a curve!
 
-    // First of all, reset the list
-    // TODO: one edge might not get deleted properly, small mem leak maybe...
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    // finally, set node positions
+    setCurve(points);
+}
+
+void MixerCurveWidget::initNodes(int numPoints)
+{
+    // First of all, clear any existing list
+    if (nodeList.count()) {
         foreach (Node *node, nodeList ) {
             QList<Edge*> edges = node->edges();
             foreach(Edge *edge, edges) {
-                if (scene()->items().contains(edge))
-                        scene()->removeItem(edge);
-                else
+                if (edge->destNode() == node) {
                     delete edge;
+                }
+                else {
+                    scene()->removeItem(edge);
+                }
             }
-        scene()->removeItem(node);
-        delete node;
-    }
-    nodeList.clear();
+            scene()->removeItem(node);
+        }
+
+        nodeList.clear();
+    }
+
+    // Create the nodes and edges
+    Node* prevNode = 0;
+    for (int i=0; i<numPoints; i++) {
+
+        Node *node = getNode(i);
 
-    // Create the nodes
-    qreal w = plot->boundingRect().width()/(points.length()-1);
-    qreal h = plot->boundingRect().height();
-    for (int i=0; i<points.length(); i++) {
-        Node *node = new Node(this);
-        scene()->addItem(node);
         nodeList.append(node);
-        double val = points.at(i);
-        if (val>curveMax)
-                val=curveMax;
-        if (val<curveMin)
-                val=curveMin;
-        val+=curveMin;
-        val/=(curveMax-curveMin);
-        node->setPos(w*i,h-val*h);
-        node->verticalMove(true);
-    }
+        scene()->addItem(node);
 
-    // ... and link them together:
-    for (int i=0; i<(points.length()-1); i++) {
-        scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
-    }
+        if (prevNode) {
+            scene()->addItem(getEdge(i, prevNode, node));
+        }
 
+        prevNode = node;
+    }
 }
 
-
 /**
   Returns the current curve settings
   */
 QList<double> MixerCurveWidget::getCurve() {
+
     QList<double> list;
 
-    qreal h = plot->boundingRect().height();
     foreach(Node *node, nodeList) {
-        list.append(((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin);
+        list.append(node->getValue());
     }
 
     return list;
@@ -150,11 +187,15 @@ QList<double> MixerCurveWidget::getCurve() {
 /**
   Sets a linear graph
   */
-void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
 {
+    Q_UNUSED(maxValue);
+    Q_UNUSED(minValue);
+
     QList<double> points;
     for (double i=0; i<numPoints;i++) {
-        points.append(maxValue*(i/(numPoints-1)));
+        double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
+        points.append(val);
     }
     initCurve(points);
 }
@@ -163,25 +204,35 @@ void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
   */
 void MixerCurveWidget::setCurve(QList<double> points)
 {
-    if (nodeList.length()<1)
-    {
-        initCurve(points);
-    }
-    else
-    {
-        qreal w = plot->boundingRect().width()/(points.length()-1);
-        qreal h = plot->boundingRect().height();
-        for (int i=0; i<points.length(); i++) {
-            double val = points.at(i);
-            if (val>curveMax)
-                    val=curveMax;
-            if (val<curveMin)
-                    val=curveMin;
-            val-=curveMin;
-            val/=(curveMax-curveMin);
-            nodeList.at(i)->setPos(w*i,h-val*h);
-        }
+    curveUpdating = true;
+
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    double min = curveMin + 10;
+    double max = curveMax + 10;
+
+    qreal w = plot->boundingRect().width()/(points.count()-1);
+    qreal h = plot->boundingRect().height();
+    for (int i=0; i<points.count(); i++) {
+
+        double val = points.at(i);
+        if (val < curveMin)
+            val = curveMin;
+        if (val > curveMax)
+            val = curveMax;
+
+        val += 10;
+        val -= min;
+        val /= (max - min);
+
+        nodeList.at(i)->setPos(w*i, h - (val*h));
+        nodeList.at(i)->verticalMove(true);
     }
+
+    curveUpdating = false;
+
+    emit curveUpdated(points, (double)0);
 }
 
 
@@ -205,8 +256,10 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
 void MixerCurveWidget::itemMoved(double itemValue)
 {
-    QList<double> list = getCurve();
-    emit curveUpdated(list, itemValue);
+    if (!curveUpdating) {
+        QList<double> list = getCurve();
+        emit curveUpdated(list, itemValue);
+    }
 }
 
 void MixerCurveWidget::setMin(double value)
@@ -217,6 +270,14 @@ void MixerCurveWidget::setMax(double value)
 {
     curveMax = value;
 }
+double MixerCurveWidget::getMin()
+{
+    return curveMin;
+}
+double MixerCurveWidget::getMax()
+{
+    return curveMax;
+}
 void MixerCurveWidget::setRange(double min, double max)
 {
     curveMin = min;

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h

@@ -31,6 +31,7 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include <QtCore/QPointer>
 #include "mixercurvepoint.h"
 #include "mixercurveline.h"
 #include "uavobjectwidgetutils_global.h"
@@ -45,12 +46,16 @@ public:
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (QList<double> points);
    QList<double> getCurve();
-   void initLinearCurve(quint32 numPoints, double maxValue);
+   void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
    void setCurve(QList<double>);
    void setMin(double value);
+   double getMin();
    void setMax(double value);
+   double getMax();
    void setRange(double min, double max);
 
+   static const int NODE_NUMELEM = 5;
+
 signals:
    void curveUpdated(QList<double>, double );
 
@@ -58,9 +63,19 @@ private slots:
 
 private:
    QGraphicsSvgItem *plot;
+
+   QList<Node*> nodePool;
+   QList<Edge*> edgePool;
    QList<Node*> nodeList;
+   QList<double> points;
+
    double curveMin;
    double curveMax;
+   bool   curveUpdating;
+
+   void  initNodes(int numPoints);
+   Node* getNode(int index);
+   Edge* getEdge(int index, Node* sourceNode, Node* destNode);
 
 protected:
     void showEvent(QShowEvent *event);