rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

OP-907 fixed regression in vehicle config : "dirty" state management

Browse Source 
was broken.
+ added comments
This commit is contained in:
Philippe Renon 2013-04-24 23:24:23 +02:00
parent d7596a64ff
commit 99c052651c
14 changed files with 171 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -277,6 +277,41 @@ void ConfigCcpmWidget::setupUI(QString frameType)
Q_UNUSED(frameType);
}
void ConfigCcpmWidget::registerWidgets(ConfigTaskWidget &parent) {
parent.addWidget(m_aircraft->ccpmType);
parent.addWidget(m_aircraft->ccpmTailChannel);
parent.addWidget(m_aircraft->ccpmEngineChannel);
parent.addWidget(m_aircraft->ccpmServoWChannel);
parent.addWidget(m_aircraft->ccpmServoXChannel);
parent.addWidget(m_aircraft->ccpmServoYChannel);
parent.addWidget(m_aircraft->ccpmSingleServo);
parent.addWidget(m_aircraft->ccpmServoZChannel);
parent.addWidget(m_aircraft->ccpmAngleW);
parent.addWidget(m_aircraft->ccpmAngleX);
parent.addWidget(m_aircraft->ccpmCorrectionAngle);
parent.addWidget(m_aircraft->ccpmAngleZ);
parent.addWidget(m_aircraft->ccpmAngleY);
parent.addWidget(m_aircraft->ccpmCollectivePassthrough);
parent.addWidget(m_aircraft->ccpmLinkRoll);
parent.addWidget(m_aircraft->ccpmLinkCyclic);
parent.addWidget(m_aircraft->ccpmRevoSlider);
parent.addWidget(m_aircraft->ccpmREVOspinBox);
parent.addWidget(m_aircraft->ccpmCollectiveSlider);
parent.addWidget(m_aircraft->ccpmCollectivespinBox);
parent.addWidget(m_aircraft->ccpmCollectiveScale);
parent.addWidget(m_aircraft->ccpmCollectiveScaleBox);
parent.addWidget(m_aircraft->ccpmCyclicScale);
parent.addWidget(m_aircraft->ccpmPitchScale);
parent.addWidget(m_aircraft->ccpmPitchScaleBox);
parent.addWidget(m_aircraft->ccpmRollScale);
parent.addWidget(m_aircraft->ccpmRollScaleBox);
parent.addWidget(m_aircraft->SwashLvlPositionSlider);
parent.addWidget(m_aircraft->SwashLvlPositionSpinBox);
parent.addWidget(m_aircraft->ThrottleCurve->getCurveWidget());
parent.addWidget(m_aircraft->PitchCurve->getCurveWidget());
parent.addWidget(m_aircraft->ccpmAdvancedSettingsTable);
}
void ConfigCcpmWidget::resetActuators(GUIConfigDataUnion *configData)
{
configData->heli.Throttle = 0;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -97,6 +97,7 @@ private:
int MixerChannelData[6];
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
int ShowDisclaimer(int messageID);

7
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp
View File

@ -68,6 +68,7 @@ ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
for (int i = 1; i < (int) VehicleConfig::CHANNEL_NUMELEM; i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
}
ConfigCustomWidget::~ConfigCustomWidget()
@ -80,6 +81,12 @@ void ConfigCustomWidget::setupUI(QString frameType)
Q_ASSERT(m_aircraft);
}
void ConfigCustomWidget::registerWidgets(ConfigTaskWidget &parent) {
parent.addWidget(m_aircraft->customMixerTable);
parent.addWidget(m_aircraft->customThrottle1Curve->getCurveWidget());
parent.addWidget(m_aircraft->customThrottle2Curve->getCurveWidget());
}
void ConfigCustomWidget::resetActuators(GUIConfigDataUnion *configData)
{
}

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h
View File

@ -61,6 +61,7 @@ protected:
private:
Ui_CustomConfigWidget *m_aircraft;
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
private slots:

15
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -165,6 +165,21 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
}
}
void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent) {
parent.addWidget(m_aircraft->fixedWingThrottle->getCurveWidget());
parent.addWidget(m_aircraft->fixedWingType);
parent.addWidget(m_aircraft->fwEngineChannelBox);
parent.addWidget(m_aircraft->fwAileron1ChannelBox);
parent.addWidget(m_aircraft->fwAileron2ChannelBox);
parent.addWidget(m_aircraft->fwElevator1ChannelBox);
parent.addWidget(m_aircraft->fwElevator2ChannelBox);
parent.addWidget(m_aircraft->fwRudder1ChannelBox);
parent.addWidget(m_aircraft->fwRudder2ChannelBox);
parent.addWidget(m_aircraft->elevonSlider1);
parent.addWidget(m_aircraft->elevonSlider2);
}
void ConfigFixedWingWidget::resetActuators(GUIConfigDataUnion *configData)
{
configData->fixedwing.FixedWingPitch1 = 0;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -57,6 +57,7 @@ public:
private:
Ui_FixedWingConfigWidget *m_aircraft;
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupFrameFixedWing(QString airframeType);

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -186,6 +186,12 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
}
}
void ConfigGroundVehicleWidget::registerWidgets(ConfigTaskWidget &parent) {
parent.addWidget(m_aircraft->groundVehicleThrottle1->getCurveWidget());
parent.addWidget(m_aircraft->groundVehicleThrottle2->getCurveWidget());
parent.addWidget(m_aircraft->groundVehicleType);
}
void ConfigGroundVehicleWidget::resetActuators(GUIConfigDataUnion *configData)
{
configData->ground.GroundVehicleSteering1 = 0;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -57,6 +57,7 @@ public:
private:
Ui_GroundConfigWidget *m_aircraft;
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupGroundVehicleCar(QString airframeType);

17
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -249,6 +249,23 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
updateAirframe(frameType);
}
void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent) {
parent.addWidget(m_aircraft->multiThrottleCurve->getCurveWidget());
parent.addWidget(m_aircraft->multirotorFrameType);
parent.addWidget(m_aircraft->multiMotorChannelBox1);
parent.addWidget(m_aircraft->multiMotorChannelBox2);
parent.addWidget(m_aircraft->multiMotorChannelBox3);
parent.addWidget(m_aircraft->multiMotorChannelBox4);
parent.addWidget(m_aircraft->multiMotorChannelBox5);
parent.addWidget(m_aircraft->multiMotorChannelBox6);
parent.addWidget(m_aircraft->multiMotorChannelBox7);
parent.addWidget(m_aircraft->multiMotorChannelBox8);
parent.addWidget(m_aircraft->mrPitchMixLevel);
parent.addWidget(m_aircraft->mrRollMixLevel);
parent.addWidget(m_aircraft->mrYawMixLevel);
parent.addWidget(m_aircraft->triYawChannelBox);
}
void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
{
configData->multi.VTOLMotorN = 0;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -64,6 +64,7 @@ private:
QGraphicsSvgItem *quad;
bool invertMotors;
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupQuad(bool pLayout);

16
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -105,21 +105,29 @@ void VehicleConfig::setupUI(QString frameType)
Q_UNUSED(frameType);
}
QString VehicleConfig::updateConfigObjectsFromWidgets()
{
return QString();
}
//void VehicleConfig::refreshWidgetsValues(UAVObject *o = NULL)
//void VehicleConfig::updateObjectsFromWidgets()
void VehicleConfig::refreshWidgetsValues(QString frameType)
{
Q_UNUSED(frameType);
}
QString VehicleConfig::updateConfigObjectsFromWidgets()
{
return QString();
}
void VehicleConfig::resetActuators(GUIConfigDataUnion *configData)
{
Q_UNUSED(configData);
}
void VehicleConfig::registerWidgets(ConfigTaskWidget &parent) {
Q_UNUSED(parent);
}
// NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
// The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
// FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate

14
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -102,6 +102,14 @@ typedef union
groundGUISettingsStruct ground;
} GUIConfigDataUnion;
class ConfigTaskWidget;
/*
* This class handles vehicle specific configuration UI and associated logic.
*
* This class derives from ConfigTaskWidget and overrides its the default "binding" mechanism.
* It does not use the "dirty" state management directlyand registers its relevant widgets with ConfigTaskWidget to do so.
*/
class VehicleConfig: public ConfigTaskWidget
{
Q_OBJECT
@ -152,6 +160,8 @@ public:
VehicleConfig(QWidget *parent = 0);
~VehicleConfig();
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
@ -178,6 +188,10 @@ protected:
double getCurveMin(QList<double> *curve);
double getCurveMax(QList<double> *curve);
//protected slots:
// virtual void refreshWidgetsValues(UAVObject *o = NULL);
// virtual void updateObjectsFromWidgets();
private:
static UAVObjectManager *getUAVObjectManager();

78
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -142,6 +142,15 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
refreshWidgetsValues();
// register widgets for dirty state management
addWidget(m_aircraft->aircraftType);
// register FF widgets for dirty state management
addWidget(m_aircraft->feedForwardSlider);
addWidget(m_aircraft->accelTime);
addWidget(m_aircraft->decelTime);
addWidget(m_aircraft->maxAccelSlider);
disableMouseWheelEvents();
}
@ -162,19 +171,18 @@ void ConfigVehicleTypeWidget::switchAirframeType(int index)
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UAV Objects to UI is done.
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
Q_UNUSED(o);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin";
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty;
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
@ -192,7 +200,9 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText(category));
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
vehicleConfig->refreshWidgetsValues(frameType);
if (vehicleConfig) {
vehicleConfig->refreshWidgetsValues(frameType);
}
updateFeedForwardUI();
@ -207,25 +217,19 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
We do all the tasks common to all airframes, or family of airframes, and
we call additional methods for specific frames, so that we do not have a code
that is too heavy.
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UI to UAV Objects is done.
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
// Sets airframe type default to "Custom"
// Airframe type defaults to Custom
QString airframeType = "Custom";
VehicleConfig *vehicleConfig = (VehicleConfig *) m_aircraft->airframesWidget->currentWidget();
airframeType = vehicleConfig->updateConfigObjectsFromWidgets();
if (vehicleConfig) {
airframeType = vehicleConfig->updateConfigObjectsFromWidgets();
}
// set the airframe type
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
@ -236,19 +240,21 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
field->setValue(airframeType);
}
// Update feed forward settings
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
// TODO call refreshWidgetsValues() to reflect actual saved values ?
updateFeedForwardUI();
}
/**
Reset the contents of a field
*/
//void ConfigVehicleTypeWidget::resetField(UAVObjectField *field)
//{
// for (unsigned int i = 0; i < field->getNumElements(); i++) {
// field->setValue(0, i);
// }
//}
QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
{
QString category;
@ -277,20 +283,24 @@ QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
VehicleConfig *ConfigVehicleTypeWidget::getVehicleConfigWidget(QString frameCategory)
{
VehicleConfig *vehiculeConfig;
if (vehicleIndexMap.contains(frameCategory)) {
int index = vehicleIndexMap.value(frameCategory);
vehiculeConfig = (VehicleConfig *) m_aircraft->airframesWidget->widget(index);
} else {
if (!vehicleIndexMap.contains(frameCategory)) {
// create config widget
vehiculeConfig = createVehicleConfigWidget(frameCategory);
// bind config widget "field" to this ConfigTaskWodget
// this is necessary to get "dirty" state management
vehiculeConfig->registerWidgets(*this);
// add config widget to UI
int index = m_aircraft->airframesWidget->insertWidget(m_aircraft->airframesWidget->count(), vehiculeConfig);
vehicleIndexMap[frameCategory] = index;
}
int index = vehicleIndexMap.value(frameCategory);
vehiculeConfig = (VehicleConfig *) m_aircraft->airframesWidget->widget(index);
return vehiculeConfig;
}
VehicleConfig *ConfigVehicleTypeWidget::createVehicleConfigWidget(QString frameCategory)
{
qDebug() << "creating" << frameCategory;
qDebug() << "ConfigVehicleTypeWidget::createVehicleConfigWidget - creating" << frameCategory;
if (frameCategory == "Fixed Wing") {
return new ConfigFixedWingWidget();
} else if (frameCategory == "Multirotor") {
@ -318,7 +328,7 @@ void ConfigVehicleTypeWidget::enableFFTest()
&& m_aircraft->ffTestBox3->isChecked()) {
if (!ffTuningInProgress) {
// Initiate tuning:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(
QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
@ -356,7 +366,7 @@ void ConfigVehicleTypeWidget::enableFFTest()
// Disarm!
if (ffTuningInProgress) {
ffTuningInProgress = false;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(
QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
mdata = accInitialData; // Restore metadata

17
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -38,6 +38,21 @@
#include <QStringList>
#include <QWidget>
/*
* This class derives from ConfigTaskWidget and overrides its default "binding" mechanism.
* This widget bypasses automatic synchronization of UAVObjects and UI by providing its own implementations of
* virtual void refreshWidgetsValues(UAVObject *obj = NULL);
* virtual void updateObjectsFromWidgets();
*
* It does use the "dirty" state management and registers its relevant widgets with ConfigTaskWidget to do so.
*
* This class also manages child ConfigTaskWidget : see VehicleConfig class and its derived classes.
* Note: for "dirty" state management it is important to register the fields of child widgets with the parent
* ConfigVehicleTypeWidget class.
*
* TODO consider to call "super" to benefit from default logic...
* TODO improve handling of relationship with VehicleConfig derived classes (i.e. ConfigTaskWidget within ConfigTaskWidget)
*/
class ConfigVehicleTypeWidget: public ConfigTaskWidget
{
Q_OBJECT
@ -49,7 +64,7 @@ public:
ConfigVehicleTypeWidget(QWidget *parent = 0);
~ConfigVehicleTypeWidget();
public slots:
protected slots:
virtual void refreshWidgetsValues(UAVObject *o = NULL);
virtual void updateObjectsFromWidgets();