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Code Issues Releases Activity

Input Configuration: Refacfor the code a lot to clear up handling the state and

Browse Source 
transitions to make back and cancel a bit more reliable.
This commit is contained in:
James Cotton 2011-09-11 11:14:09 -05:00
parent dfe91af686
commit ce1c56260d
3 changed files with 623 additions and 302 deletions
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1
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -169,6 +169,7 @@ void ConfigGadgetWidget::onAutopilotConnect() {
void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
{
Q_UNUSED(i);
*proceed=true;
ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
if(!wid)

904
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -46,9 +46,7 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
QList<inputChannelForm*> inputList;
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false),transmitterType(heli)
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@ -58,9 +56,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
inputList.clear();
int index=0;
unsigned int index=0;
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
@ -72,11 +68,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
inputList.append(inp);
++index;
}
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToNormalWizard()));
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
@ -228,6 +223,25 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
animate=new QTimer(this);
connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
}
void ConfigInputWidget::resetTxControls()
{
@ -258,16 +272,6 @@ void ConfigInputWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
}
void ConfigInputWidget::goToSimpleWizard()
{
isSimple=true;
goToWizard();
}
void ConfigInputWidget::goToNormalWizard()
{
isSimple=false;
goToWizard();
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
@ -276,7 +280,7 @@ void ConfigInputWidget::goToWizard()
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
setupWizardWidget(wizardWelcome);
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
@ -285,250 +289,51 @@ void ConfigInputWidget::wzCancel()
dimOtherControls(false);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
m_config->stackedWidget->setCurrentIndex(0);
foreach (QWidget * wd, extraWidgets)
{
if(wd)
delete wd;
}
extraWidgets.clear();
switch(wizardStep)
{
case wizardWelcome:
break;
case wizardChooseMode:
case wizardChooseType:
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
break;
case wizardIdentifyCenter:
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
break;
case wizardIdentifyInverted:
break;
case wizardFinish:
break;
default:
break;
}
wizardStep=wizardWelcome;
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
}
void ConfigInputWidget::wzNext()
{
setupWizardWidget(wizardStep+1);
}
// In identify sticks mode the next button can indicate
// channel advance
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
void ConfigInputWidget::wzBack()
{
if(wizardStep == wizardIdentifySticks && currentCommand != 0) {
currentCommand --;
usedChannels.removeLast();
getChannelFromStep(currentCommand);
} else
setupWizardWidget(wizardStep-1);
}
void ConfigInputWidget::setupWizardWidget(int step)
{
if(step==wizardWelcome)
{
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
if(wizardStep==wizardChooseMode)
{
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
nextChannel();
if(currentChannelNum==-1) { // Gone through all channels
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardIdentifyCenter);
}
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
wizardStep=wizardWelcome;
}
else if(step==wizardChooseMode)
{
m_config->graphicsView->setVisible(true);
setTxMovement(nothing);
if(wizardStep==wizardIdentifySticks)
{
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
}
m_config->wzText->setText(tr("Please choose your transmiter type.\n"
"Mode 1 means your throttle stick is on the right\n"
"Mode 2 means your throttle stick is on the left\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
wizardStep=wizardChooseMode;
}
else if(step==wizardChooseType)
{
if(wizardStep==wizardChooseMode)
{
QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
}
m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
"Acro means normal transmitter\n"
"Heli means there is a collective pitch and throttle input\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
} else if(step==wizardIdentifySticks && !isSimple) {
usedChannels.clear();
if(wizardStep==wizardChooseType)
{
qDebug() << "Chosing type";
QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
}
wizardStep=wizardIdentifySticks;
currentCommand=0;
getChannelFromStep(currentCommand);
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
}
else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
{
setTxMovement(centerAll);
if(wizardStep==wizardIdentifySticks)
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
else
{
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
}
wizardStep=wizardIdentifyCenter;
m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
}
else if(step==wizardIdentifyLimits)
{
dimOtherControls(false);
setTxMovement(moveAll);
if(wizardStep==wizardIdentifyCenter)
{
wizardStep=wizardIdentifyLimits;
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
}
if(wizardStep==wizardIdentifyInverted)
{
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
wizardStep=wizardIdentifyLimits;
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
UAVObject::Metadata mdata= manualCommandObj->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
}
else if(step==wizardIdentifyInverted)
{
dimOtherControls(true);
setTxMovement(nothing);
if(wizardStep==wizardIdentifyLimits)
{
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
}
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
wizardStep=wizardIdentifyInverted;
m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
}
else if(step==wizardFinish)
{
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
wizardStep=wizardFinish;
extraWidgets.clear();
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
}
else if(step==wizardFinish+1)
{
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyInverted);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
setTxMovement(nothing);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@ -545,46 +350,560 @@ void ConfigInputWidget::setupWizardWidget(int step)
}
manualSettingsObj->setData(manualSettingsData);
m_config->stackedWidget->setCurrentIndex(0);
wizardStep=wizardWelcome;
wizardStep=wizardNone;
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wzBack()
{
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyCenter);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardFinish:
wizardSetUpStep(wizardIdentifyInverted);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
switch(step) {
case wizardWelcome:
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
m_config->graphicsView->setVisible(true);
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmiter type.\n"
"Mode 1 means your throttle stick is on the right\n"
"Mode 2 means your throttle stick is on the left\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
"Acro means normal transmitter\n"
"Heli means there is a collective pitch and throttle input\n"
"If you are using a heli transmitter please engage throttle hold now please.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
}
break;
case wizardIdentifySticks:
usedChannels.clear();
currentChannelNum=-1;
nextChannel();
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
break;
case wizardIdentifyLimits:
{
dimOtherControls(false);
setTxMovement(moveAll);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
}
break;
case wizardIdentifyInverted:
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
fastMdata();
break;
case wizardFinish:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
break;
default:
Q_ASSERT(0);
}
wizardStep = step;
}
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
QRadioButton * mode, * type;
Q_ASSERT(step == wizardStep);
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
break;
case wizardIdentifyInverted:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
case wizardFinish:
setTxMovement(nothing);
m_config->stackedWidget->setCurrentIndex(0);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
Q_ASSERT(0);
}
}
/**
* Unfortunately order of channel should be different in different conditions
* Set manual control command to fast updates
*/
int ConfigInputWidget::getChannelFromStep(int currentStep)
void ConfigInputWidget::fastMdata()
{
int channelToSet;
if(transmitterType == heli) {
// For heli swap order of collective to beginning
qDebug() << "Transmitter type: " << heli << " channelToSet: " << currentStep;
if(currentStep == 0)
channelToSet = ManualControlSettings::CHANNELGROUPS_COLLECTIVE;
else if(currentStep <= ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
channelToSet = currentStep - 1;
else channelToSet = currentStep;
qDebug() << "Channel to set: " << channelToSet;
} else
channelToSet = currentStep;
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
Q_ASSERT(channelToSet >= 0 && channelToSet < ManualControlSettings::CHANNELGROUPS_NUMELEM);
/**
* Restore previous update settings for manual control data
*/
void ConfigInputWidget::restoreMdata()
{
manualCommandObj->setMetadata(manualControlMdata);
}
if(channelToSet == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
//void ConfigInputWidget::setupWizardWidget(int step)
//{
// if(step==wizardWelcome)
// {
// m_config->graphicsView->setVisible(false);
// setTxMovement(nothing);
// if(wizardStep==wizardChooseMode)
// {
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// manualSettingsData=manualSettingsObj->getData();
// manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
// manualSettingsObj->setData(manualSettingsData);
// m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
// "Please follow the instructions on the screen and only move your controls when asked to.\n"
// "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
// "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
// m_config->stackedWidget->setCurrentIndex(1);
// m_config->wzBack->setEnabled(false);
// wizardStep=wizardWelcome;
// }
// else if(step==wizardChooseMode)
// {
// m_config->graphicsView->setVisible(true);
// setTxMovement(nothing);
// if(wizardStep==wizardIdentifySticks)
// {
// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// m_config->wzNext->setEnabled(true);
// }
// m_config->wzText->setText(tr("Please choose your transmiter type.\n"
// "Mode 1 means your throttle stick is on the right\n"
// "Mode 2 means your throttle stick is on the left\n"));
// m_config->wzBack->setEnabled(true);
// QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
// QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
// mode2->setChecked(true);
// extraWidgets.clear();
// extraWidgets.append(mode1);
// extraWidgets.append(mode2);
// m_config->checkBoxesLayout->layout()->addWidget(mode1);
// m_config->checkBoxesLayout->layout()->addWidget(mode2);
// wizardStep=wizardChooseMode;
// }
// else if(step==wizardChooseType)
// {
// if(wizardStep==wizardChooseMode)
// {
// QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(mode->isChecked())
// transmitterMode=mode1;
// else
// transmitterMode=mode2;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
// "Acro means normal transmitter\n"
// "Heli means there is a collective pitch and throttle input\n"));
// m_config->wzBack->setEnabled(true);
// QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
// QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
// typeAcro->setChecked(true);
// typeHeli->setChecked(false);
// extraWidgets.clear();
// extraWidgets.append(typeAcro);
// extraWidgets.append(typeHeli);
// m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
// m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
// wizardStep=wizardChooseType;
// } else if(step==wizardIdentifySticks && !isSimple) {
// usedChannels.clear();
// if(wizardStep==wizardChooseType)
// {
// qDebug() << "Chosing type";
// QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(type->isChecked())
// transmitterType=acro;
// else
// transmitterType=heli;
// qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// wizardStep=wizardIdentifySticks;
// currentCommand=0;
// getChannelFromStep(currentCommand);
// manualSettingsData=manualSettingsObj->getData();
// connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// m_config->wzNext->setEnabled(false);
// }
// else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
// {
// setTxMovement(centerAll);
// if(wizardStep==wizardIdentifySticks)
// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// else
// {
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// manualSettingsObj->setData(manualSettingsData);
// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
// }
// wizardStep=wizardIdentifyCenter;
// m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
// }
// else if(step==wizardIdentifyLimits)
// {
// dimOtherControls(false);
// setTxMovement(moveAll);
// if(wizardStep==wizardIdentifyCenter)
// {
// wizardStep=wizardIdentifyLimits;
// manualCommandData=manualCommandObj->getData();
// manualSettingsData=manualSettingsObj->getData();
// for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
// {
// manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
// }
// manualSettingsObj->setData(manualSettingsData);
// }
// if(wizardStep==wizardIdentifyInverted)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// }
// extraWidgets.clear();
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// wizardStep=wizardIdentifyLimits;
// m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
// UAVObject::Metadata mdata= manualCommandObj->getMetadata();
// mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
// mdata.flightTelemetryUpdatePeriod = 150;
// manualCommandObj->setMetadata(mdata);
// manualSettingsData=manualSettingsObj->getData();
// for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
// {
// manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
// manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
// }
// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// }
// else if(step==wizardIdentifyInverted)
// {
// dimOtherControls(true);
// setTxMovement(nothing);
// if(wizardStep==wizardIdentifyLimits)
// {
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// manualSettingsObj->setData(manualSettingsData);
// }
// extraWidgets.clear();
// foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
// {
// if(!name.contains("Access") && !name.contains("Flight"))
// {
// QCheckBox * cb=new QCheckBox(name,this);
// extraWidgets.append(cb);
// m_config->checkBoxesLayout->layout()->addWidget(cb);
// connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// }
// }
// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// wizardStep=wizardIdentifyInverted;
// m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
// }
// else if(step==wizardFinish)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// wizardStep=wizardFinish;
// extraWidgets.clear();
// m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
// "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
// }
// else if(step==wizardFinish+1)
// {
// setTxMovement(nothing);
// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// manualSettingsData=manualSettingsObj->getData();
// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
// ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
// if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
// (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
// {
// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
// (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
// }
// manualSettingsObj->setData(manualSettingsData);
// m_config->stackedWidget->setCurrentIndex(0);
// wizardStep=wizardWelcome;
// }
//}
/**
* Set the display to indicate which channel the person should move
*/
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please flick the flight mode switch. For switches you may have to repeat this rapidly.")));
else
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(channelToSet)));
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
return channelToSet;
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory"))
m_config->wzNext->setEnabled(true);
setMoveFromCommand(newChan);
currentChannelNum = newChan;
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* next channel based on heli or acro mode
*/
void ConfigInputWidget::nextChannel()
{
QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
if(currentChannelNum == -1) {
setChannel(order[0]);
return;
}
for (int i = 0; i < order.length() - 1; i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i+1]);
return;
}
}
currentChannelNum = -1; // hit end of list
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* previous channel based on heli or acro mode
*/
void ConfigInputWidget::prevChannel()
{
QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
// No previous from unset channel or next state
if(currentChannelNum == -1)
return;
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
currentChannelNum = -1; // hit end of list
}
void ConfigInputWidget::identifyControls()
{
static int debounce=0;
int channelToSet = getChannelFromStep(currentCommand);
receiverActivityData=receiverActivityObj->getData();
if(receiverActivityData.ActiveChannel==255)
return;
@ -602,26 +921,18 @@ void ConfigInputWidget::identifyControls()
debounce=0;
usedChannels.append(lastChannel);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelGroups[channelToSet]=currentChannel.group;
manualSettingsData.ChannelNumber[channelToSet]=currentChannel.number;
manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
manualSettingsObj->setData(manualSettingsData);
}
else
return;
}
++currentCommand;
channelToSet = getChannelFromStep(currentCommand);
setMoveFromCommand(channelToSet);
if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
{
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
}
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Collective"))
{
m_config->wzNext->setEnabled(true);
}
m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(300, this, SLOT(wzNext()));
}
void ConfigInputWidget::identifyLimits()
@ -1080,17 +1391,14 @@ void ConfigInputWidget::simpleCalibration(bool enable)
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
UAVObject::Metadata mdata= manualCommandObj->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
fastMdata();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];

20
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -52,7 +52,7 @@ class ConfigInputWidget: public ConfigTaskWidget
public:
ConfigInputWidget(QWidget *parent = 0);
~ConfigInputWidget();
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
enum txMode{mode1,mode2};
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
enum txMovementType{vertical,horizontal,jump,mix};
@ -67,7 +67,6 @@ private:
void setTxMovement(txMovements movement);
Ui_InputWidget *m_config;
wizardSteps wizardStep;
void setupWizardWidget(int step);
QList<QWidget*> extraWidgets;
txMode transmitterMode;
txType transmitterType;
@ -85,12 +84,16 @@ private:
QEventLoop * loop;
bool skipflag;
uint currentCommand;
int currentChannelNum;
QList<int> heliChannelOrder;
QList<int> acroChannelOrder;
ManualControlCommand * manualCommandObj;
ManualControlCommand::DataFields manualCommandData;
UAVObject::Metadata manualControlMdata;
ManualControlSettings * manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData;
ManualControlSettings::DataFields previousManualSettingsData;
ReceiverActivity * receiverActivityObj;
ReceiverActivity::DataFields receiverActivityData;
@ -121,7 +124,16 @@ private:
void setMoveFromCommand(int command);
bool isSimple;
void goToWizard();
int getChannelFromStep(int);
void fastMdata();
void restoreMdata();
void setChannel(int);
void nextChannel();
void prevChannel();
void wizardSetUpStep(enum wizardSteps);
void wizardTearDownStep(enum wizardSteps);
private slots:
void wzNext();
void wzBack();