mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
Finished coding part of new input calibration wizard. Waiting for some artwork to send it for review.
This commit is contained in:
zedamota
parent
5d0095f00d
commit
e221ecbaf4
@ -2,7 +2,7 @@
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******************************************************************************
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*
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* @file configservowidget.cpp
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* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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@ -39,21 +39,19 @@
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#include <QUrl>
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#include <QMessageBox>
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#include "manualcontrolsettings.h"
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ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),skipflag(false),loop(NULL)
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{
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manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
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manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
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receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
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m_config = new Ui_InputWidget();
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m_config->setupUi(this);
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setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
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UAVObjectField * field = obj->getField(QString("ChannelGroups"));
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int index=0;
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foreach(QString name,field->getElementNames())
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foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
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{
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inputChannelForm * inp=new inputChannelForm(this,index==0);
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m_config->advancedPage->layout()->addWidget(inp);
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@ -65,7 +63,14 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
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++index;
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}
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QPushButton * goWizard=new QPushButton(tr("Start Wizard"),this);
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m_config->advancedPage->layout()->addWidget(goWizard);
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connect(goWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
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connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
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connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
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connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
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m_config->stackedWidget->setCurrentIndex(0);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
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@ -82,17 +87,16 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
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addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000);
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enableControls(false);
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populateWidgets();
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refreshWidgetsValues();
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// Connect the help button
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connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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}
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ConfigInputWidget::~ConfigInputWidget()
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{
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// Do nothing
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}
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void ConfigInputWidget::openHelp()
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@ -101,4 +105,269 @@ void ConfigInputWidget::openHelp()
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
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}
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void ConfigInputWidget::goToWizard()
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{
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setupWizardWidget(wizardWelcome);
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}
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void ConfigInputWidget::wzCancel()
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{
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m_config->stackedWidget->setCurrentIndex(0);
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foreach (QWidget * wd, extraWidgets)
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{
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if(wd)
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delete wd;
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}
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extraWidgets.clear();
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switch(wizardStep)
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{
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case wizardWelcome:
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break;
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case wizardChooseMode:
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break;
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case wizardIdentifySticks:
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disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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break;
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case wizardIdentifyCenter:
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break;
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case wizardIdentifyLimits:
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disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
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manualSettingsObj->setData(manualSettingsData);
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manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
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break;
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case wizardIdentifyInverted:
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break;
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case wizardFinish:
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break;
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default:
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break;
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}
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wizardStep=wizardWelcome;
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}
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void ConfigInputWidget::wzNext()
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{
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setupWizardWidget(wizardStep+1);
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}
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void ConfigInputWidget::wzBack()
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{
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setupWizardWidget(wizardStep-1);
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}
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void ConfigInputWidget::setupWizardWidget(int step)
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{
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if(step==wizardWelcome)
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{
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if(wizardStep==wizardChooseMode)
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{
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delete extraWidgets.at(0);
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delete extraWidgets.at(1);
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extraWidgets.clear();
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}
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manualSettingsData=manualSettingsObj->getData();
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manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
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manualSettingsObj->setData(manualSettingsData);
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m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
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"Please follow the instruction on the screen and only move your controls when asked to.\n"
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"At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard"
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"For your safety your arming setting is now 'Always Disarmed' please reenable it after this wizard."));
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m_config->stackedWidget->setCurrentIndex(1);
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m_config->wzBack->setEnabled(false);
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wizardStep=wizardWelcome;
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}
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else if(step==wizardChooseMode)
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{
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if(wizardStep==wizardIdentifySticks)
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{
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disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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m_config->wzNext->setEnabled(true);
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}
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m_config->wzText->setText(tr("Please choose your transmiter type.\n"
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"Mode 1 means your throttle stick is on the right\n"
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"Mode 2 means your throttle stick is on the left\n"));
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m_config->wzBack->setEnabled(true);
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QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
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QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
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mode2->setChecked(true);
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extraWidgets.clear();
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extraWidgets.append(mode1);
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extraWidgets.append(mode2);
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m_config->checkBoxesLayout->layout()->addWidget(mode1);
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m_config->checkBoxesLayout->layout()->addWidget(mode2);
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wizardStep=wizardChooseMode;
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}
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else if(step==wizardIdentifySticks)
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{
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usedChannels.clear();
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if(wizardStep==wizardChooseMode)
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{
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QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
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if(mode->isChecked())
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transmitterMode=mode1;
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else
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transmitterMode=mode2;
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delete extraWidgets.at(0);
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delete extraWidgets.at(1);
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extraWidgets.clear();
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}
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wizardStep=wizardIdentifySticks;
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currentCommand=0;
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m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
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"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand)));
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manualSettingsData=manualSettingsObj->getData();
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connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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m_config->wzNext->setEnabled(false);
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}
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else if(step==wizardIdentifyCenter)
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{
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if(wizardStep==wizardIdentifySticks)
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disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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else
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{
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disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
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manualSettingsObj->setData(manualSettingsData);
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manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
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}
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wizardStep=wizardIdentifyCenter;
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m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready")));
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}
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else if(step==wizardIdentifyLimits)
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{
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if(wizardStep==wizardIdentifyCenter)
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{
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wizardStep=wizardIdentifyLimits;
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manualCommandData=manualCommandObj->getData();
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manualSettingsData=manualSettingsObj->getData();
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for(int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
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{
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manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
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}
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manualSettingsObj->setData(manualSettingsData);
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}
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wizardStep=wizardIdentifyLimits;
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m_config->wzText->setText(QString(tr("Please move all controls to their maximum extends on both directions and press next when ready")));
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UAVObject::Metadata mdata= manualCommandObj->getMetadata();
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mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
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mdata.flightTelemetryUpdatePeriod = 150;
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manualCommandObj->setMetadata(mdata);
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manualSettingsData=manualSettingsObj->getData();
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for(int i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
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{
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manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
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manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
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}
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connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
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}
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else if(step==wizardIdentifyInverted)
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{
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if(wizardStep==wizardIdentifyLimits)
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{
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disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
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manualSettingsObj->setData(manualSettingsData);
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manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
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}
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extraWidgets.clear();
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foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
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{
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QCheckBox * cb=new QCheckBox(name,this);
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extraWidgets.append(cb);
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m_config->checkBoxesLayout->layout()->addWidget(cb);
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}
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wizardStep=wizardIdentifyInverted;
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m_config->wzText->setText(QString(tr("Please check the picture below and check all controls which show an inverted movement and press next when ready")));
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}
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else if(step==wizardFinish)
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{
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manualSettingsData=manualSettingsObj->getData();
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foreach(QWidget * wd,extraWidgets)
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{
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QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
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if(cb)
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{
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if(cb->isChecked())
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{
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int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text());
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qint16 aux;
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aux=manualSettingsData.ChannelMax[index];
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manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
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manualSettingsData.ChannelMin[index]=aux;
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}
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}
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delete cb;
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}
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wizardStep=wizardFinish;
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manualSettingsObj->setData(manualSettingsData);
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extraWidgets.clear();
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m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your controls movement.\n"
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"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.")));
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}
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else if(step==wizardFinish+1)
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{
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manualSettingsData=manualSettingsObj->getData();
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
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((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
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manualSettingsObj->setData(manualSettingsData);
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m_config->stackedWidget->setCurrentIndex(0);
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wizardStep=wizardWelcome;
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}
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}
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void ConfigInputWidget::identifyControls()
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{
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static int debounce=0;
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receiverActivityData=receiverActivityObj->getData();
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if(receiverActivityData.ActiveChannel==255)
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return;
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else
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{
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receiverActivityData=receiverActivityObj->getData();
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currentChannel.group=receiverActivityData.ActiveGroup;
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currentChannel.number=receiverActivityData.ActiveChannel;
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if(currentChannel==lastChannel)
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++debounce;
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lastChannel.group= currentChannel.group;
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lastChannel.number=currentChannel.number;
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if(!usedChannels.contains(lastChannel) && debounce>5)
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{
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debounce=0;
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usedChannels.append(lastChannel);
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manualSettingsData=manualSettingsObj->getData();
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manualSettingsData.ChannelGroups[currentCommand]=currentChannel.group;
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manualSettingsData.ChannelNumber[currentCommand]=currentChannel.number;
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manualSettingsObj->setData(manualSettingsData);
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}
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else
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return;
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}
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++currentCommand;
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if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
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{
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disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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m_config->wzNext->setEnabled(true);
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}
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m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
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"Move the %1 stick")).arg(manualSettingsObj->getFields().at(0)->getElementNames().at(currentCommand)));
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if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory"))
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{
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m_config->wzNext->setEnabled(true);
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}
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}
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void ConfigInputWidget::identifyLimits()
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{
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manualCommandData=manualCommandObj->getData();
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for(int i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
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{
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if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
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manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
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if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
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manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
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}
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}
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@ -36,24 +36,67 @@
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#include <QList>
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#include "inputchannelform.h"
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#include "ui_inputchannelform.h"
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#include <QRadioButton>
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#include "manualcontrolcommand.h"
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#include "manualcontrolsettings.h"
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#include "receiveractivity.h"
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class Ui_InputWidget;
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class ConfigInputWidget: public ConfigTaskWidget
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{
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Q_OBJECT
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public:
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ConfigInputWidget(QWidget *parent = 0);
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~ConfigInputWidget();
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enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
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enum txMode{mode1,mode2};
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public slots:
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private:
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Ui_InputWidget *m_config;
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wizardSteps wizardStep;
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void setupWizardWidget(int step);
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QList<QWidget*> extraWidgets;
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txMode transmitterMode;
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struct channelsStruct
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{
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bool operator ==(const channelsStruct& rhs) const
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{
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return((group==rhs.group) &&(number==rhs.number));
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}
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int group;
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int number;
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}lastChannel;
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channelsStruct currentChannel;
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QList<channelsStruct> usedChannels;
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QEventLoop * loop;
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bool skipflag;
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int currentCommand;
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ManualControlCommand * manualCommandObj;
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ManualControlCommand::DataFields manualCommandData;
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ManualControlSettings * manualSettingsObj;
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ManualControlSettings::DataFields manualSettingsData;
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ReceiverActivity * receiverActivityObj;
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ReceiverActivity::DataFields receiverActivityData;
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/*
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ManualControlCommand * manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
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ManualControlCommand::DataFields manualCommandData = manualCommandObj->getData();
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ManualControlSettings * manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
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ManualControlSettings::DataFields manualSettingsData;
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ReceiverActivity * receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
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ReceiverActivity::DataFields receiverActivityData =receiverActivityObj->getData();
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*/
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private slots:
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void wzNext();
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void wzBack();
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void wzCancel();
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void goToWizard();
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void openHelp();
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void identifyControls();
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void identifyLimits();
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};
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#endif
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@ -257,7 +257,6 @@ void ConfigTaskWidget::clearDirty()
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}
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void ConfigTaskWidget::setDirty(bool value)
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{
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qDebug()<<"dirty="<<value;
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dirty=value;
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}
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bool ConfigTaskWidget::isDirty()
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@ -26,10 +26,68 @@
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<layout class="QGridLayout" name="gridLayout">
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<item row="0" column="0">
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<widget class="QStackedWidget" name="stackedWidget">
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<property name="currentIndex">
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<number>1</number>
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</property>
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<widget class="QWidget" name="advancedPage">
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<layout class="QVBoxLayout" name="verticalLayout_4"/>
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</widget>
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<widget class="QWidget" name="page"/>
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<widget class="QWidget" name="wizard">
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<widget class="QLabel" name="wzText">
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<property name="font">
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<font>
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<pointsize>10</pointsize>
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||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QGraphicsView" name="graphicsView"/>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="checkBoxesLayout"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QPushButton" name="wzBack">
|
||||
<property name="text">
|
||||
<string>Back</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="wzNext">
|
||||
<property name="text">
|
||||
<string>Next</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="wzCancel">
|
||||
<property name="text">
|
||||
<string>Cancel</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
@ -6,14 +6,26 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>389</width>
|
||||
<height>57</height>
|
||||
<width>404</width>
|
||||
<height>43</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="topMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="horizontalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="legend2">
|
||||
<property name="enabled">
|
||||
@ -56,6 +68,18 @@
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="channelName">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>66</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</property>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user