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

ground/gcs/src/plugins/config/configgadgetwidget.cpp

@@ -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 *)));
 }

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

@@ -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;
+            // Apply current min setting to neutral/max values
-            actuatorSettingsData.ChannelMin[output]     = 1000;
+            actuatorSettingsData.ChannelMax[output]     = actuatorSettingsData.ChannelMin[output];
-            actuatorSettingsData.ChannelNeutral[output] = 1000;
+            actuatorSettingsData.ChannelNeutral[output] = actuatorSettingsData.ChannelMin[output];
         } else {
-            actuatorSettingsData.ChannelMax[output]     = 1500;
+            // Apply current neutral setting to min/max values
-            actuatorSettingsData.ChannelMin[output]     = 1500;
+            actuatorSettingsData.ChannelMax[output] = actuatorSettingsData.ChannelNeutral[output];
-            actuatorSettingsData.ChannelNeutral[output] = 1500;
+            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;
+}

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

@@ -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);

ground/gcs/src/plugins/config/configoutputwidget.cpp

@@ -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) {
+    // Emit signal to be received by Input tab
-        return false;
+    emit outputConfigSafe(warning_found == None);
-    }
-
-    return true;
 }
 
 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)
 {}

ground/gcs/src/plugins/config/configoutputwidget.h

@@ -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);