Finished coding part of new input calibration wizard. Waiting for some artwork to send it for review.

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

@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       configservowidget.cpp
- * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
@@ -39,21 +39,19 @@
 #include <QUrl>
 #include <QMessageBox>
 
-#include "manualcontrolsettings.h"
 
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),skipflag(false),loop(NULL)
 {
+    manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
+    manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
+    receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
     m_config = new Ui_InputWidget();
     m_config->setupUi(this);
 
     setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
-    UAVObjectField * field = obj->getField(QString("ChannelGroups"));
     int index=0;
-    foreach(QString name,field->getElementNames())
+    foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
     {
         inputChannelForm * inp=new inputChannelForm(this,index==0);
         m_config->advancedPage->layout()->addWidget(inp);
@@ -65,7 +63,14 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
         ++index;
     }
+    QPushButton * goWizard=new QPushButton(tr("Start Wizard"),this);
+    m_config->advancedPage->layout()->addWidget(goWizard);
+    connect(goWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
+    connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
+    connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
+    connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
+    m_config->stackedWidget->setCurrentIndex(0);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
@@ -82,17 +87,16 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
     addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000);
-
+    enableControls(false);
     populateWidgets();
     refreshWidgetsValues();
     // Connect the help button
     connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-
 }
 
 ConfigInputWidget::~ConfigInputWidget()
 {
-    // Do nothing
+
 }
 
 void ConfigInputWidget::openHelp()
@@ -101,4 +105,269 @@ void ConfigInputWidget::openHelp()
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
 }
 
+void ConfigInputWidget::goToWizard()
+{
+    setupWizardWidget(wizardWelcome);
+}
+
+void ConfigInputWidget::wzCancel()
+{
+    m_config->stackedWidget->setCurrentIndex(0);
+    foreach (QWidget * wd, extraWidgets)
+    {
+        if(wd)
+            delete wd;
+    }
+    extraWidgets.clear();
+    switch(wizardStep)
+    {
+    case wizardWelcome:
+        break;
+    case wizardChooseMode:
+        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);
+        manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+        break;
+    case wizardIdentifyInverted:
+        break;
+    case wizardFinish:
+        break;
+    default:
+        break;
+    }
+    wizardStep=wizardWelcome;
+}
+
+void ConfigInputWidget::wzNext()
+{
+    setupWizardWidget(wizardStep+1);
+}
+
+void ConfigInputWidget::wzBack()
+{
+    setupWizardWidget(wizardStep-1);
+}
+
+void ConfigInputWidget::setupWizardWidget(int step)
+{
+    if(step==wizardWelcome)
+    {
+        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 instruction on the screen and only move your controls when asked to.\n"
+                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard"
+                                     "For your safety your arming setting is now 'Always Disarmed' please reenable it after this wizard."));
+        m_config->stackedWidget->setCurrentIndex(1);
+        m_config->wzBack->setEnabled(false);
+        wizardStep=wizardWelcome;
+    }
+    else if(step==wizardChooseMode)
+    {
+        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==wizardIdentifySticks)
+    {
+        usedChannels.clear();
+        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();
+        }
+        wizardStep=wizardIdentifySticks;
+        currentCommand=0;
+        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(currentCommand)));
+        manualSettingsData=manualSettingsObj->getData();
+        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(false);
+    }
+    else if(step==wizardIdentifyCenter)
+    {
+        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")));
+    }
+    else if(step==wizardIdentifyLimits)
+    {
+        if(wizardStep==wizardIdentifyCenter)
+        {
+            wizardStep=wizardIdentifyLimits;
+            manualCommandData=manualCommandObj->getData();
+            manualSettingsData=manualSettingsObj->getData();
+            for(int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
+            {
+                manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
+            }
+            manualSettingsObj->setData(manualSettingsData);
+        }
+        wizardStep=wizardIdentifyLimits;
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extends 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(int 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)
+    {
+        if(wizardStep==wizardIdentifyLimits)
+        {
+            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+            manualSettingsObj->setData(manualSettingsData);
+            manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+        }
+        extraWidgets.clear();
+        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
+        {
+            QCheckBox * cb=new QCheckBox(name,this);
+            extraWidgets.append(cb);
+            m_config->checkBoxesLayout->layout()->addWidget(cb);
+        }
+        wizardStep=wizardIdentifyInverted;
+        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")));
+    }
+    else if(step==wizardFinish)
+    {
+        manualSettingsData=manualSettingsObj->getData();
+        foreach(QWidget * wd,extraWidgets)
+        {
+            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+            if(cb)
+            {
+                if(cb->isChecked())
+                {
+                    int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text());
+                    qint16 aux;
+                    aux=manualSettingsData.ChannelMax[index];
+                    manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
+                    manualSettingsData.ChannelMin[index]=aux;
+                }
+            }
+            delete cb;
+        }
+        wizardStep=wizardFinish;
+        manualSettingsObj->setData(manualSettingsData);
+        extraWidgets.clear();
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your controls 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)
+    {
+        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);
+        manualSettingsObj->setData(manualSettingsData);
+        m_config->stackedWidget->setCurrentIndex(0);
+        wizardStep=wizardWelcome;
+    }
+
+}
+
+void ConfigInputWidget::identifyControls()
+{
+    static int debounce=0;
+    receiverActivityData=receiverActivityObj->getData();
+    if(receiverActivityData.ActiveChannel==255)
+        return;
+    else
+    {
+        receiverActivityData=receiverActivityObj->getData();
+        currentChannel.group=receiverActivityData.ActiveGroup;
+        currentChannel.number=receiverActivityData.ActiveChannel;
+        if(currentChannel==lastChannel)
+            ++debounce;
+        lastChannel.group= currentChannel.group;
+        lastChannel.number=currentChannel.number;
+        if(!usedChannels.contains(lastChannel) && debounce>5)
+        {
+            debounce=0;
+            usedChannels.append(lastChannel);
+            manualSettingsData=manualSettingsObj->getData();
+            manualSettingsData.ChannelGroups[currentCommand]=currentChannel.group;
+            manualSettingsData.ChannelNumber[currentCommand]=currentChannel.number;
+            manualSettingsObj->setData(manualSettingsData);
+        }
+        else
+            return;
+    }
+    ++currentCommand;
+    if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
+    {
+        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(true);
+    }
+    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->getFields().at(0)->getElementNames().at(currentCommand)));
+    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory"))
+    {
+        m_config->wzNext->setEnabled(true);
+    }
+}
+
+void ConfigInputWidget::identifyLimits()
+{
+    manualCommandData=manualCommandObj->getData();
+    for(int i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+    {
+        if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
+            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
+            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+    }
+}
 

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

@@ -36,24 +36,67 @@
 #include <QList>
 #include "inputchannelform.h"
 #include "ui_inputchannelform.h"
+#include <QRadioButton>
+#include "manualcontrolcommand.h"
+#include "manualcontrolsettings.h"
+#include "receiveractivity.h"
 class Ui_InputWidget;
 
 class ConfigInputWidget: public ConfigTaskWidget
 {
 	Q_OBJECT
-
 public:
         ConfigInputWidget(QWidget *parent = 0);
         ~ConfigInputWidget();
-
+        enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
+        enum txMode{mode1,mode2};
 public slots:
 
 private:
         Ui_InputWidget *m_config;
+        wizardSteps wizardStep;
+        void setupWizardWidget(int step);
+        QList<QWidget*> extraWidgets;
+        txMode transmitterMode;
+        struct channelsStruct
+        {
+            bool operator ==(const channelsStruct& rhs) const
+            {
+                return((group==rhs.group) &&(number==rhs.number));
+            }
+            int group;
+            int number;
+        }lastChannel;
+        channelsStruct currentChannel;
+        QList<channelsStruct> usedChannels;
+        QEventLoop * loop;
+        bool skipflag;
 
+        int currentCommand;
+
+        ManualControlCommand * manualCommandObj;
+        ManualControlCommand::DataFields manualCommandData;
+        ManualControlSettings * manualSettingsObj;
+        ManualControlSettings::DataFields manualSettingsData;
+        ReceiverActivity * receiverActivityObj;
+        ReceiverActivity::DataFields receiverActivityData;
+
+        /*
+        ManualControlCommand * manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
+        ManualControlCommand::DataFields manualCommandData = manualCommandObj->getData();
+        ManualControlSettings * manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
+        ManualControlSettings::DataFields manualSettingsData;
+        ReceiverActivity * receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
+        ReceiverActivity::DataFields receiverActivityData =receiverActivityObj->getData();
+*/
 private slots:
-
+        void wzNext();
+        void wzBack();
+        void wzCancel();
+        void goToWizard();
         void openHelp();
+        void identifyControls();
+        void identifyLimits();
 };
 
 #endif

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

@@ -257,7 +257,6 @@ void ConfigTaskWidget::clearDirty()
 }
 void ConfigTaskWidget::setDirty(bool value)
 {
-    qDebug()<<"dirty="<<value;
     dirty=value;
 }
 bool ConfigTaskWidget::isDirty()

ground/openpilotgcs/src/plugins/config/input.ui

@@ -26,10 +26,68 @@
       <layout class="QGridLayout" name="gridLayout">
        <item row="0" column="0">
         <widget class="QStackedWidget" name="stackedWidget">
+         <property name="currentIndex">
+          <number>1</number>
+         </property>
          <widget class="QWidget" name="advancedPage">
           <layout class="QVBoxLayout" name="verticalLayout_4"/>
          </widget>
-         <widget class="QWidget" name="page"/>
+         <widget class="QWidget" name="wizard">
+          <layout class="QVBoxLayout" name="verticalLayout_5">
+           <item>
+            <widget class="QLabel" name="wzText">
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <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>

ground/openpilotgcs/src/plugins/config/inputchannelform.ui

@@ -6,14 +6,26 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>389</width>
+    <width>404</width>
-    <height>57</height>
+    <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>