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Code Issues Releases Activity

LP-551 Add signal/slot logic between Input and Output tab - Prevent actuator manipulation with Output warning and freeze Output tab while calibrating

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This commit is contained in:
Laurent Lalanne 2018-01-14 17:31:48 +01:00
parent 2a7e89b701
commit e281a032a1
5 changed files with 75 additions and 14 deletions
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9
ground/gcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -77,6 +77,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
QWidget *widget;
QWidget *inputWidget;
QWidget *outputWidget;
QIcon *icon;
icon = new QIcon();
@ -98,6 +100,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
widget = new ConfigInputWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Input, widget, *icon, QString("Input"));
inputWidget = widget;
icon = new QIcon();
icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
@ -105,6 +108,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
widget = new ConfigOutputWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Output, widget, *icon, QString("Output"));
outputWidget = widget;
icon = new QIcon();
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
@ -165,6 +169,11 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
onOPLinkConnect();
}
// Connect output tab and input tab for safe
// output config and input calibration
connect(outputWidget, SIGNAL(outputConfigSafe(bool)), inputWidget, SLOT(outputConfigSafe(bool)));
connect(inputWidget, SIGNAL(inputCalibrationStatus(bool)), outputWidget, SLOT(inputCalibrationStatus(bool)));
help = 0;
connect(stackWidget, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
}

49
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -509,6 +509,12 @@ void ConfigInputWidget::resizeEvent(QResizeEvent *event)
void ConfigInputWidget::goToWizard()
{
if (!safeOutputConfig) {
QMessageBox::warning(this, tr("Warning"), tr("There is something wrong in <b>Output tab</b>."
"<p>Please fix the issue before starting the Transmitter wizard</p>"), QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
@ -519,6 +525,9 @@ void ConfigInputWidget::goToWizard()
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
// Tell Output tab we freeze actuators soon
emit inputCalibrationStatus(true);
// Set correct tab visible before starting wizard.
if (ui->tabWidget->currentIndex() != 0) {
ui->tabWidget->setCurrentIndex(0);
@ -587,6 +596,9 @@ void ConfigInputWidget::wzCancel()
flightModeSettingsObj->setData(memento.flightModeSettingsData);
actuatorSettingsObj->setData(memento.actuatorSettingsData);
systemSettingsObj->setData(memento.systemSettingsData);
// Tell Output tab the calibration is ended
emit inputCalibrationStatus(false);
}
void ConfigInputWidget::registerControlActivity()
@ -682,6 +694,9 @@ void ConfigInputWidget::wzNext()
// move to Arming Settings tab
ui->stackedWidget->setCurrentIndex(0);
ui->tabWidget->setCurrentIndex(3);
// Tell Output tab the calibration is ended
emit inputCalibrationStatus(false);
break;
default:
Q_ASSERT(0);
@ -1916,6 +1931,15 @@ void ConfigInputWidget::updateCalibration()
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (!safeOutputConfig) {
if (enable) {
QMessageBox::warning(this, tr("Warning"), tr("There is something wrong in <b>Output tab</b>."
"<p>Please fix the issue before starting the Manual Calibration</p>"), QMessageBox::Ok);
ui->runCalibration->setChecked(false);
}
return;
}
if (enable) {
ui->configurationWizard->setEnabled(false);
ui->applyButton->setEnabled(false);
@ -1932,6 +1956,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
// Tell Output tab we freeze actuators soon
emit inputCalibrationStatus(true);
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
@ -1999,6 +2026,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
ui->saveButton->setEnabled(true);
ui->runCalibration->setText(tr("Start Manual Calibration"));
// Tell Output tab the calibration is ended
emit inputCalibrationStatus(false);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
}
}
@ -2082,7 +2112,7 @@ void ConfigInputWidget::resetActuatorSettings()
QString mixerType;
// Clear all output data : Min, max, neutral at same value
// 1000 for motors and 1500 for all others (Reversable motor included)
// min value for motors and neutral for all others (Reversable motor, servo)
for (unsigned int output = 0; output < ActuatorSettings::CHANNELMAX_NUMELEM; output++) {
QString mixerNumType = QString("Mixer%1Type").arg(output + 1);
UAVObjectField *field = mixer->getField(mixerNumType);
@ -2092,13 +2122,13 @@ void ConfigInputWidget::resetActuatorSettings()
mixerType = field->getValue().toString();
}
if ((mixerType == "Motor") || (mixerType == "Disabled")) {
actuatorSettingsData.ChannelMax[output] = 1000;
actuatorSettingsData.ChannelMin[output] = 1000;
actuatorSettingsData.ChannelNeutral[output] = 1000;
// Apply current min setting to neutral/max values
actuatorSettingsData.ChannelMax[output] = actuatorSettingsData.ChannelMin[output];
actuatorSettingsData.ChannelNeutral[output] = actuatorSettingsData.ChannelMin[output];
} else {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1500;
actuatorSettingsData.ChannelNeutral[output] = 1500;
// Apply current neutral setting to min/max values
actuatorSettingsData.ChannelMax[output] = actuatorSettingsData.ChannelNeutral[output];
actuatorSettingsData.ChannelMin[output] = actuatorSettingsData.ChannelNeutral[output];
}
UAVObjectUpdaterHelper updateHelper;
actuatorSettingsObj->setData(actuatorSettingsData, false);
@ -2189,3 +2219,8 @@ void ConfigInputWidget::enableControlsChanged(bool enabled)
ui->failsafeBatteryWarningFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
ui->failsafeBatteryCriticalFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
}
void ConfigInputWidget::outputConfigSafe(bool status)
{
safeOutputConfig = status;
}

7
ground/gcs/src/plugins/config/configinputwidget.h
View File

@ -72,10 +72,17 @@ public:
void enableControls(bool enable);
bool shouldObjectBeSaved(UAVObject *object);
public slots:
void outputConfigSafe(bool status);
signals:
void inputCalibrationStatus(bool started);
private:
bool throttleError;
bool growing;
bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
bool safeOutputConfig;
txMovements currentMovement;
int movePos;
void setTxMovement(txMovements movement);

15
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -667,7 +667,7 @@ void ConfigOutputWidget::onBankTypeChange()
updateChannelConfigWarning(warning_found);
}
bool ConfigOutputWidget::checkOutputConfig()
void ConfigOutputWidget::checkOutputConfig()
{
ChannelConfigWarning current_warning = None;
ChannelConfigWarning warning_found = None;
@ -691,11 +691,8 @@ bool ConfigOutputWidget::checkOutputConfig()
updateChannelConfigWarning(warning_found);
if (warning_found > None) {
return false;
}
return true;
// Emit signal to be received by Input tab
emit outputConfigSafe(warning_found == None);
}
void ConfigOutputWidget::stopTests()
@ -779,6 +776,12 @@ QString ConfigOutputWidget::bankModeName(int index)
return bankModeOptions.at(index);
}
void ConfigOutputWidget::inputCalibrationStatus(bool started)
{
// Disable controls if a input calibration is started
enableControls(!started);
}
OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
{}

9
ground/gcs/src/plugins/config/configoutputwidget.h
View File

@ -85,7 +85,11 @@ public:
ConfigOutputWidget(QWidget *parent = 0);
~ConfigOutputWidget();
bool checkOutputConfig();
public slots:
void inputCalibrationStatus(bool started);
signals:
void outputConfigSafe(bool status);
protected:
void enableControls(bool enable);
@ -102,6 +106,8 @@ private:
UAVObject::Metadata m_accInitialData;
QList<OutputBankControls> m_banks;
bool inputCalibrationStarted;
OutputChannelForm *getOutputChannelForm(const int index) const;
void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
void assignOutputChannel(UAVDataObject *obj, QString &str);
@ -110,6 +116,7 @@ private:
enum ChannelConfigWarning { None, CannotDriveServo, IsNormalMotorCheckNeutral, IsReversibleMotorCheckNeutral, BiDirectionalDShotNotSupported };
void setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls);
ChannelConfigWarning checkChannelConfig(OutputChannelForm *channelForm, OutputBankControls *bankControls);
void checkOutputConfig();
void updateChannelConfigWarning(ChannelConfigWarning warning);
QString bankModeName(int index);