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Code Issues Releases Activity

Merge remote-tracking branch 'origin/MikeL_ConfigVehicle' into next

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This commit is contained in:
James Cotton 2012-07-03 14:19:33 +02:00
commit e309ff7f2d
15 changed files with 292 additions and 396 deletions
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85
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -132,16 +132,11 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
}
m_ccpm->PitchCurve->setMin(-1);
resetMixer(m_ccpm->PitchCurve, 5);
resetMixer(m_ccpm->ThrottleCurve, 5);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
//initialize our two mixer curves
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
//initialize channel names
m_ccpm->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channelNames);
@ -474,14 +469,6 @@ void ConfigCcpmWidget::UpdateType()
}
/**
Resets a mixer curve
*/
void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
mixer->initLinearCurve(numElements,(double)1);
}
void ConfigCcpmWidget::UpdateCurveWidgets()
{
int NumCurvePoints,i,Changed;
@ -501,7 +488,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->ThrottleCurve->setCurve(&curveValues);
curveValues.clear();
Changed=0;
@ -513,7 +501,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->PitchCurve->setCurve(&curveValues);
}
void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
@ -606,50 +595,40 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
//set default visible
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
if ( CurveType.compare("Flat")==0)
{
m_ccpm->CurveLabel1->setText("Value");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Linear")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Step")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Step at");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Exp")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -660,14 +639,10 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Log")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -677,22 +652,17 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMinimum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
}
if ( CurveType.compare("Custom")==0)
{
m_ccpm->CurveLabel1->setVisible(false);
m_ccpm->CurveValue1->setVisible(false);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(false);
m_ccpm->CurveToGenerate->setVisible(false);
}
UpdateCurveWidgets();
UpdateCurveWidgets();
}
void ConfigCcpmWidget::GenerateCurve()
@ -881,7 +851,8 @@ void ConfigCcpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel;
throwConfigError(QString("HeliCP"));
if (throwConfigError(QString("HeliCP")))
return;
GUIConfigDataUnion config = GetConfigData();
@ -1744,13 +1715,16 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigCcpmWidget::throwConfigError(QString airframeType)
bool ConfigCcpmWidget::throwConfigError(QString airframeType)
{
Q_UNUSED(airframeType);
bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
error = true;
}
else
{
@ -1759,6 +1733,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
error = true;
}
else
{
@ -1767,6 +1742,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
error = true;
}
else
{
@ -1775,6 +1751,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
error = true;
}
else
{
@ -1793,10 +1770,12 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
return error;
}

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -95,7 +95,7 @@ private:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();
@ -103,7 +103,6 @@ private:
void GenerateCurve();
void UpdateMixer();
void UpdateType();
void resetMixer(MixerCurveWidget *mixer, int numElements);
void UpdateCurveWidgets();
void updatePitchCurveValue(QList<double>,double);
void updateThrottleCurveValue(QList<double>,double);

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -262,15 +262,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
(m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -351,14 +343,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -436,14 +421,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -526,7 +504,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigFixedWingWidget::throwConfigError(QString airframeType)
bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -618,4 +596,6 @@ void ConfigFixedWingWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -289,16 +289,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
if (throwConfigError(airframeType)) {
return false;
}
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
@ -352,16 +345,11 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering1ChannelBox->currentText() == "None")
{
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
@ -411,14 +399,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
m_aircraft->gvSteering2ChannelBox->currentText() == "None"))
{
if (throwConfigError(airframeType)) {
return false;
}
@ -468,7 +449,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -558,5 +539,6 @@ void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

117
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -93,6 +93,10 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
m_aircraft->triYawChannelBox->setEnabled(true);
}
else if (frameType == "QuadX" || frameType == "Quad X") {
@ -104,6 +108,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -283,20 +288,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -314,15 +311,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "HexaCoax";
//Show any config errors in GUI
throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
@ -348,18 +337,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Octo";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
@ -383,17 +363,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoV";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -419,17 +389,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -454,17 +414,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
@ -489,12 +439,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Tri";
//Show any config errors in GUI
throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
@ -523,8 +470,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1){
@ -868,14 +813,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
// Check coherence:
//Show any config errors in GUI
throwConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None") {
if (throwConfigError(4)) {
return false;
}
@ -943,19 +881,9 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None") {
if (throwConfigError(6))
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
@ -1069,7 +997,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigMultiRotorWidget::throwConfigError(int numMotors)
bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
@ -1096,6 +1024,7 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -71,7 +71,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
void throwConfigError(int numMotors);
virtual bool throwConfigError(int numMotors);
protected:

54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,30 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
double VehicleConfig::getMixerValue(UAVDataObject* mixer, QString elementName)
{
Q_ASSERT(mixer);
double value = 0.0;
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
value = field->getDouble();
}
return value;
}
void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, double value)
{
Q_ASSERT(mixer);
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
field->setDouble(value);
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;
@ -287,6 +311,36 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle
}
}
bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
{
Q_ASSERT(curve);
if (curve) {
for (int i=0; i < curve->count(); i++) {
if (curve->at(i) != 0)
return true;
}
}
return false;
}
double VehicleConfig::getCurveMin(QList<double>* curve)
{
double min = 0;
for (int i=0; i<curve->count(); i++)
min = std::min(min, curve->at(i));
return min;
}
double VehicleConfig::getCurveMax(QList<double>* curve)
{
double max = 0;
for (int i=0; i<curve->count(); i++)
max = std::max(max, curve->at(i));
return max;
}
/**
Reset the contents of a field
*/

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -130,9 +130,13 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);
double getCurveMin(QList<double>* curve);
double getCurveMax(QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();

182
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -274,7 +274,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
ConfigFixedWingWidget* fixedwing = new ConfigFixedWingWidget();
QPointer<ConfigFixedWingWidget> fixedwing = new ConfigFixedWingWidget();
channelDesc = fixedwing->getChannelDescriptions();
}
break;
@ -282,7 +282,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
ConfigCcpmWidget* heli = new ConfigCcpmWidget();
QPointer<ConfigCcpmWidget> heli = new ConfigCcpmWidget();
channelDesc = heli->getChannelDescriptions();
}
break;
@ -300,7 +300,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
ConfigMultiRotorWidget* multi = new ConfigMultiRotorWidget();
QPointer<ConfigMultiRotorWidget> multi = new ConfigMultiRotorWidget();
channelDesc = multi->getChannelDescriptions();
}
break;
@ -310,7 +310,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
ConfigGroundVehicleWidget* ground = new ConfigGroundVehicleWidget();
QPointer<ConfigGroundVehicleWidget> ground = new ConfigGroundVehicleWidget();
channelDesc = ground->getChannelDescriptions();
}
break;
@ -444,16 +444,17 @@ void ConfigVehicleTypeWidget::enableFFTest()
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
mixer->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
@ -614,84 +615,55 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
{
Q_UNUSED(o);
if(!allObjectsUpdated())
return;
//if(!allObjectsUpdated())
// return;
//WHAT DOES THIS DO?
bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(QString("AirframeType"));
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
m_aircraft->fixedWingThrottle->initCurve(&curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(curveValues);
}
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve2"));
Q_ASSERT(field);
curveValues.clear();
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->groundVehicleThrottle2->initCurve(curveValues);
}
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
@ -716,8 +688,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
} else if (frameType == "Custom") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
}
}
updateCustomAirframeUI();
setDirty(dirty);
@ -786,39 +757,35 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// setup throttlecurve 1
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
int total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->customThrottle1Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle1Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle1Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle1Curve->initCurve(curveValues);
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
}
// setup throttlecurve 2
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle2Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle2Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle2Curve->initCurve(curveValues);
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(),(double)1);
}
// Update the mixer table:
for (int channel=0; channel<8; channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
@ -843,6 +810,12 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
// Update feed forward settings
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer,"AccelTime"));
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer,"DecelTime"));
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
}
@ -855,6 +828,17 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -869,12 +853,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());

72
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
View File

@ -43,7 +43,6 @@ Node::Node(MixerCurveWidget *graphWidget)
setCacheMode(DeviceCoordinateCache);
setZValue(-1);
vertical = false;
value = 0;
}
void Node::addEdge(Edge *edge)
@ -61,14 +60,14 @@ QList<Edge *> Node::edges() const
QRectF Node::boundingRect() const
{
qreal adjust = 2;
return QRectF(-10 - adjust, -10 - adjust,
23 + adjust, 23 + adjust);
return QRectF(-12 - adjust, -12 - adjust,
28 + adjust, 28 + adjust);
}
QPainterPath Node::shape() const
{
QPainterPath path;
path.addEllipse(-10, -10, 20, 20);
path.addEllipse(-12, -12, 25, 25);
return path;
}
@ -92,59 +91,60 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
}
painter->setBrush(gradient);
painter->setPen(QPen(Qt::black, 0));
painter->drawEllipse(-10, -10, 20, 20);
painter->drawEllipse(-12, -12, 25, 25);
painter->setPen(QPen(Qt::white, 0));
painter->drawText(-10, 3, QString().sprintf("%.2f", value()));
}
void Node::verticalMove(bool flag){
vertical = flag;
}
double Node::getValue() {
return value;
}
void Node::setValue(double val) {
value = val;
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
{
QPointF newPos = value.toPointF();
double Node::value() {
double h = graph->sceneRect().height();
double ratio = (h - pos().y()) / h;
return ((graph->getMax() - graph->getMin()) * ratio ) + graph->getMin();
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
{
QPointF newPos = val.toPointF();
double h = graph->sceneRect().height();
switch (change) {
case ItemPositionChange: {
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
}
case ItemPositionHasChanged: {
foreach (Edge *edge, edgeList)
edge->adjust();
double min = graph->getMin();
double range = graph->getMax() - min;
double ratio = (h - newPos.y()) / h;
double val = (range * ratio ) + min;
setValue(val);
update();
graph->itemMoved(val);
graph->itemMoved(value());
break;
}
default:
break;
};
return QGraphicsItem::itemChange(change, value);
return QGraphicsItem::itemChange(change, val);
}
void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)

7
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
View File

@ -55,22 +55,21 @@ public:
QPainterPath shape() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
void setValue(double val);
double getValue();
double value();
protected:
QVariant itemChange(GraphicsItemChange change, const QVariant &value);
QVariant itemChange(GraphicsItemChange change, const QVariant &val);
void mousePressEvent(QGraphicsSceneMouseEvent *event);
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
private:
double value;
QList<Edge *> edgeList;
QPointF newPos;
MixerCurveWidget *graph;
bool vertical;
};
#endif // MIXERCURVEPOINT_H

82
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
View File

@ -69,6 +69,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
//plot->setElementId("map");
scene->addItem(plot);
plot->setZValue(-1);
scene->setSceneRect(plot->boundingRect());
setScene(scene);
@ -77,11 +78,11 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
MixerCurveWidget::~MixerCurveWidget()
{
for (int i=0; i<nodePool.count(); i++)
delete nodePool.at(i);
while (!nodePool.isEmpty())
delete nodePool.takeFirst();
for (int i=0; i<edgePool.count(); i++)
delete edgePool.at(i);
while (!edgePool.isEmpty())
delete edgePool.takeFirst();
}
Node* MixerCurveWidget::getNode(int index)
@ -122,14 +123,11 @@ Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
If a curve exists already, resets it.
Points should be between 0 and 1.
*/
void MixerCurveWidget::initCurve(QList<double> points)
void MixerCurveWidget::initCurve(const QList<double>* points)
{
if (points.length() < 2)
if (points->length() < 2)
return; // We need at least 2 points on a curve!
if (nodeList.count() != points.count())
initNodes(points.count());
// finally, set node positions
setCurve(points);
}
@ -139,12 +137,8 @@ void MixerCurveWidget::initNodes(int numPoints)
// First of all, clear any existing list
if (nodeList.count()) {
foreach (Node *node, nodeList ) {
QList<Edge*> edges = node->edges();
foreach(Edge *edge, edges) {
if (edge->destNode() == node) {
delete edge;
}
else {
foreach(Edge *edge, node->edges()) {
if (edge->sourceNode() == node) {
scene()->removeItem(edge);
}
}
@ -163,6 +157,8 @@ void MixerCurveWidget::initNodes(int numPoints)
nodeList.append(node);
scene()->addItem(node);
node->setPos(0,0);
if (prevNode) {
scene()->addItem(getEdge(i, prevNode, node));
}
@ -179,7 +175,7 @@ QList<double> MixerCurveWidget::getCurve() {
QList<double> list;
foreach(Node *node, nodeList) {
list.append(node->getValue());
list.append(node->value());
}
return list;
@ -187,51 +183,48 @@ QList<double> MixerCurveWidget::getCurve() {
/**
Sets a linear graph
*/
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
{
Q_UNUSED(maxValue);
Q_UNUSED(minValue);
double range = setRange(minValue, maxValue);
QList<double> points;
for (double i=0; i<numPoints;i++) {
double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
for (double i=0; i < (double)numPoints; i++) {
double val = (range * ( i / (double)(numPoints-1) ) ) + minValue;
points.append(val);
}
initCurve(points);
initCurve(&points);
}
/**
Setd the current curve settings
*/
void MixerCurveWidget::setCurve(QList<double> points)
void MixerCurveWidget::setCurve(const QList<double>* points)
{
curveUpdating = true;
if (nodeList.count() != points.count())
initNodes(points.count());
int ptCnt = points->count();
if (nodeList.count() != ptCnt)
initNodes(ptCnt);
double min = curveMin + 10;
double max = curveMax + 10;
double range = curveMax - curveMin;
qreal w = plot->boundingRect().width()/(points.count()-1);
qreal w = plot->boundingRect().width()/(ptCnt-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.count(); i++) {
for (int i=0; i<ptCnt; i++) {
double val = points.at(i);
if (val < curveMin)
val = curveMin;
if (val > curveMax)
val = curveMax;
double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
val += 10;
val -= min;
val /= (max - min);
val += range;
val -= (curveMin + range);
val /= range;
nodeList.at(i)->setPos(w*i, h - (val*h));
nodeList.at(i)->verticalMove(true);
Node* node = nodeList.at(i);
node->setPos(w*i, h - (val*h));
node->verticalMove(true);
}
curveUpdating = false;
update();
emit curveUpdated(points, (double)0);
}
@ -252,13 +245,11 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
fitInView(plot, Qt::KeepAspectRatio);
}
void MixerCurveWidget::itemMoved(double itemValue)
{
if (!curveUpdating) {
QList<double> list = getCurve();
emit curveUpdated(list, itemValue);
QList<double> curve = getCurve();
emit curveUpdated(&curve, itemValue);
}
}
@ -278,8 +269,9 @@ double MixerCurveWidget::getMax()
{
return curveMax;
}
void MixerCurveWidget::setRange(double min, double max)
double MixerCurveWidget::setRange(double min, double max)
{
curveMin = min;
curveMax = max;
return curveMax - curveMin;
}

10
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -44,20 +44,20 @@ public:
MixerCurveWidget(QWidget *parent = 0);
~MixerCurveWidget();
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (QList<double> points);
void initCurve (const QList<double>* points);
QList<double> getCurve();
void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
void setCurve(QList<double>);
void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
void setCurve(const QList<double>* points);
void setMin(double value);
double getMin();
void setMax(double value);
double getMax();
void setRange(double min, double max);
double setRange(double min, double max);
static const int NODE_NUMELEM = 5;
signals:
void curveUpdated(QList<double>, double );
void curveUpdated(const QList<double>* points, const double value);
private slots: