mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
OP-907 step 4: added lazy creation of vehicle config widget
This commit is contained in:
Philippe Renon
parent
6fa3d88c23
commit
b03ebbaf3a
@ -124,35 +124,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
|
||||
m_aircraft->aircraftType->addItems(airframeTypes);
|
||||
|
||||
// *****************************************************************************************************************
|
||||
|
||||
// create and setup a FixedWing config widget
|
||||
qDebug() << "create fixedwing ui";
|
||||
m_fixedwing = new ConfigFixedWingWidget();
|
||||
m_aircraft->airframesWidget->addWidget(m_fixedwing);
|
||||
|
||||
// create and setup a MultiRotor config widget
|
||||
m_multirotor = new ConfigMultiRotorWidget();
|
||||
m_aircraft->airframesWidget->addWidget(m_multirotor);
|
||||
|
||||
// create and setup a Helicopter config widget
|
||||
m_heli = new ConfigCcpmWidget();
|
||||
m_aircraft->airframesWidget->addWidget(m_heli);
|
||||
|
||||
// create and setup a GroundVehicle config widget
|
||||
m_groundvehicle = new ConfigGroundVehicleWidget();
|
||||
m_aircraft->airframesWidget->addWidget(m_groundvehicle);
|
||||
|
||||
// create and setup a custom config widget
|
||||
m_custom = new ConfigCustomWidget();
|
||||
m_aircraft->airframesWidget->addWidget(m_custom);
|
||||
|
||||
// *****************************************************************************************************************
|
||||
|
||||
// Set default vehicle to MultiRotor
|
||||
m_aircraft->aircraftType->setCurrentIndex(1);
|
||||
// Force the tab index to match
|
||||
m_aircraft->airframesWidget->setCurrentIndex(1);
|
||||
//m_aircraft->aircraftType->setCurrentIndex(3);
|
||||
|
||||
// Connect aircraft type selection dropbox to callback function
|
||||
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
|
||||
@ -182,7 +155,9 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
|
||||
|
||||
void ConfigVehicleTypeWidget::switchAirframeType(int index)
|
||||
{
|
||||
m_aircraft->airframesWidget->setCurrentIndex(index);
|
||||
// TODO not safe w/r to translation!!!
|
||||
QString frameCategory = m_aircraft->aircraftType->currentText();
|
||||
m_aircraft->airframesWidget->setCurrentWidget(getVehicleConfigWidget(frameCategory));
|
||||
}
|
||||
|
||||
/**
|
||||
@ -214,26 +189,10 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
|
||||
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
|
||||
|
||||
QString category = frameCategory(frameType);
|
||||
if (category == "FixedWing") {
|
||||
// Retrieve fixed wing settings
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
|
||||
m_fixedwing->refreshWidgetsValues(frameType);
|
||||
} else if (category == "Multirotor") {
|
||||
// Retrieve multirotor settings
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
|
||||
m_multirotor->refreshWidgetsValues(frameType);
|
||||
} else if (category == "Helicopter") {
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
|
||||
m_heli->refreshWidgetsValues(frameType);
|
||||
} else if (category == "Ground") {
|
||||
// Retrieve ground vehicle settings
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
|
||||
m_groundvehicle->refreshWidgetsValues(frameType);
|
||||
} else if (category == "Custom") {
|
||||
// Retrieve custom settings
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
|
||||
m_custom->refreshWidgetsValues(frameType);
|
||||
}
|
||||
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText(category));
|
||||
|
||||
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
|
||||
vehicleConfig->refreshWidgetsValues(frameType);
|
||||
|
||||
updateFeedForwardUI();
|
||||
|
||||
@ -242,51 +201,6 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
|
||||
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
|
||||
}
|
||||
|
||||
//QString ConfigVehicleTypeWidget::frameCategory1(QString frameType)
|
||||
//{
|
||||
// QString category;
|
||||
// if (frameType.startsWith("FixedWing")) {
|
||||
// category = "FixedWing";
|
||||
// } else if (frameType == "Tri" || frameType == "QuadX" || frameType == "QuadP" || frameType == "Hexa"
|
||||
// || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Octo" || frameType == "OctoV"
|
||||
// || frameType == "OctoCoaxP" || frameType == "OctoCoaxX") {
|
||||
// category = "Multirotor";
|
||||
// } else if (frameType == "HeliCP") {
|
||||
// category = "Helicopter";
|
||||
// } else if (frameType.startsWith("GroundVehicle")) {
|
||||
// category = "Ground";
|
||||
// } else {
|
||||
// category = "Custom";
|
||||
// }
|
||||
// return category;
|
||||
//}
|
||||
|
||||
|
||||
QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
|
||||
{
|
||||
QString category;
|
||||
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|
||||
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
|
||||
category = "FixedWing";
|
||||
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|
||||
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|
||||
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|
||||
|| frameType == "Hexacopter Y6" || frameType == "Octo" || frameType == "Octocopter" || frameType == "OctoV"
|
||||
|| frameType == "Octocopter V" || frameType == "OctoCoaxP" || frameType == "Octo Coax +"
|
||||
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
|
||||
category = "Multirotor";
|
||||
} else if (frameType == "HeliCP") {
|
||||
category = "Helicopter";
|
||||
} else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
|
||||
|| frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
|
||||
|| frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
|
||||
category = "Ground";
|
||||
} else {
|
||||
category = "Custom";
|
||||
}
|
||||
return category;
|
||||
}
|
||||
|
||||
/**
|
||||
Sends the config to the board (airframe type)
|
||||
|
||||
@ -309,21 +223,9 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
|
||||
// Sets airframe type default to "Custom"
|
||||
QString airframeType = "Custom";
|
||||
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
|
||||
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
|
||||
}
|
||||
else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
|
||||
airframeType = m_multirotor->updateConfigObjectsFromWidgets();
|
||||
}
|
||||
else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
|
||||
airframeType = m_heli->updateConfigObjectsFromWidgets();
|
||||
}
|
||||
else if (m_aircraft->aircraftType->currentText() == "Ground") {
|
||||
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
|
||||
}
|
||||
else {
|
||||
airframeType = m_custom->updateConfigObjectsFromWidgets();
|
||||
}
|
||||
|
||||
VehicleConfig *vehicleConfig = (VehicleConfig *) m_aircraft->airframesWidget->currentWidget();
|
||||
airframeType = vehicleConfig->updateConfigObjectsFromWidgets();
|
||||
|
||||
// set the airframe type
|
||||
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
|
||||
@ -347,6 +249,62 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
// }
|
||||
//}
|
||||
|
||||
QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
|
||||
{
|
||||
QString category;
|
||||
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|
||||
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
|
||||
category = "Fixed Wing";
|
||||
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|
||||
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|
||||
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|
||||
|| frameType == "Hexacopter Y6" || frameType == "Octo" || frameType == "Octocopter" || frameType == "OctoV"
|
||||
|| frameType == "Octocopter V" || frameType == "OctoCoaxP" || frameType == "Octo Coax +"
|
||||
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
|
||||
category = "Multirotor";
|
||||
} else if (frameType == "HeliCP") {
|
||||
category = "Helicopter";
|
||||
} else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
|
||||
|| frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
|
||||
|| frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
|
||||
category = "Ground";
|
||||
} else {
|
||||
category = "Custom";
|
||||
}
|
||||
return category;
|
||||
}
|
||||
|
||||
VehicleConfig *ConfigVehicleTypeWidget::getVehicleConfigWidget(QString frameCategory)
|
||||
{
|
||||
VehicleConfig *vehiculeConfig;
|
||||
if (vehicleIndexMap.contains(frameCategory)) {
|
||||
int index = vehicleIndexMap.value(frameCategory);
|
||||
vehiculeConfig = (VehicleConfig *) m_aircraft->airframesWidget->widget(index);
|
||||
} else {
|
||||
vehiculeConfig = createVehicleConfigWidget(frameCategory);
|
||||
int index = m_aircraft->airframesWidget->insertWidget(m_aircraft->airframesWidget->count(), vehiculeConfig);
|
||||
vehicleIndexMap[frameCategory] = index;
|
||||
}
|
||||
return vehiculeConfig;
|
||||
}
|
||||
|
||||
VehicleConfig *ConfigVehicleTypeWidget::createVehicleConfigWidget(QString frameCategory)
|
||||
{
|
||||
qDebug() << "creating" << frameCategory;
|
||||
if (frameCategory == "Fixed Wing") {
|
||||
return new ConfigFixedWingWidget();
|
||||
} else if (frameCategory == "Multirotor") {
|
||||
return new ConfigMultiRotorWidget();
|
||||
} else if (frameCategory == "Helicopter") {
|
||||
return new ConfigCcpmWidget();
|
||||
} else if (frameCategory == "Ground") {
|
||||
return new ConfigGroundVehicleWidget();
|
||||
} else if (frameCategory == "Custom") {
|
||||
return new ConfigCustomWidget();
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
Enables and runs feed forward testing
|
||||
*/
|
||||
|
||||
@ -33,6 +33,7 @@
|
||||
#include "../uavobjectwidgetutils/configtaskwidget.h"
|
||||
|
||||
#include <QComboBox>
|
||||
#include <QMap>
|
||||
#include <QString>
|
||||
#include <QStringList>
|
||||
#include <QWidget>
|
||||
@ -55,24 +56,25 @@ public slots:
|
||||
private:
|
||||
Ui_AircraftWidget *m_aircraft;
|
||||
|
||||
VehicleConfig *m_heli;
|
||||
VehicleConfig *m_fixedwing;
|
||||
VehicleConfig *m_multirotor;
|
||||
VehicleConfig *m_groundvehicle;
|
||||
VehicleConfig *m_custom;
|
||||
|
||||
void updateFeedForwardUI();
|
||||
// Maps a frame category to its index in the m_aircraft->airframesWidget QStackedWidget
|
||||
QMap<QString, int> vehicleIndexMap;
|
||||
|
||||
QString frameCategory(QString frameType);
|
||||
|
||||
VehicleConfig *getVehicleConfigWidget(QString frameCategory);
|
||||
VehicleConfig *createVehicleConfigWidget(QString frameCategory);
|
||||
|
||||
// Feed Forward
|
||||
void updateFeedForwardUI();
|
||||
|
||||
bool ffTuningInProgress;
|
||||
bool ffTuningPhase;
|
||||
UAVObject::Metadata accInitialData;
|
||||
|
||||
private slots:
|
||||
void switchAirframeType(int index);
|
||||
void enableFFTest();
|
||||
void openHelp();
|
||||
void enableFFTest();
|
||||
|
||||
};
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user