From eda53adf9ecac684c23968d6800736c57a090a88 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 28 Aug 2014 13:40:02 +0200 Subject: [PATCH] OP-1134 Populate_new_custom_tab Sub task OP-790 : Added custom labels in output, up to 8 Motors, revMotors or Servos --- .../cfg_vehicletypes/configcustomwidget.cpp | 162 +++++++++++++++++- .../config/cfg_vehicletypes/vehicleconfig.h | 32 +++- 2 files changed, 191 insertions(+), 3 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp index a34891388..f0d97c2f0 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp @@ -45,6 +45,84 @@ QStringList ConfigCustomWidget::getChannelDescriptions() for (int i = 0; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) { channelDesc.append(QString("-")); } + // get the gui config data + GUIConfigDataUnion configData = getConfigData(); + customGUISettingsStruct custom = configData.custom; + + if (custom.Motor1 > 0 && custom.Motor1 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor1 - 1] = QString("Motor1"); + } + if (custom.Motor2 > 0 && custom.Motor2 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor2 - 1] = QString("Motor2"); + } + if (custom.Motor3 > 0 && custom.Motor3 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor3 - 1] = QString("Motor3"); + } + if (custom.Motor4 > 0 && custom.Motor4 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor4 - 1] = QString("Motor4"); + } + if (custom.Motor5 > 0 && custom.Motor5 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor5 - 1] = QString("Motor5"); + } + if (custom.Motor6 > 0 && custom.Motor6 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor6 - 1] = QString("Motor6"); + } + if (custom.Motor7 > 0 && custom.Motor7 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor7 - 1] = QString("Motor7"); + } + if (custom.Motor8 > 0 && custom.Motor8 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Motor8 - 1] = QString("Motor8"); + } + + if (custom.RevMotor1 > 0 && custom.RevMotor1 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor1 - 1] = QString("RevMotor1"); + } + if (custom.RevMotor2 > 0 && custom.RevMotor2 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor2 - 1] = QString("RevMotor2"); + } + if (custom.RevMotor3 > 0 && custom.RevMotor3 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor3 - 1] = QString("RevMotor3"); + } + if (custom.RevMotor4 > 0 && custom.RevMotor4 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor4 - 1] = QString("RevMotor4"); + } + if (custom.RevMotor5 > 0 && custom.RevMotor5 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor5 - 1] = QString("RevMotor5"); + } + if (custom.RevMotor6 > 0 && custom.RevMotor6 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor6 - 1] = QString("RevMotor6"); + } + if (custom.RevMotor7 > 0 && custom.RevMotor7 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor7 - 1] = QString("RevMotor7"); + } + if (custom.RevMotor8 > 0 && custom.RevMotor8 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.RevMotor8 - 1] = QString("RevMotor8"); + } + + if (custom.Servo1 > 0 && custom.Servo1 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo1 - 1] = QString("Servo1"); + } + if (custom.Servo2 > 0 && custom.Servo2 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo2 - 1] = QString("Servo2"); + } + if (custom.Servo3 > 0 && custom.Servo3 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo3 - 1] = QString("Servo3"); + } + if (custom.Servo4 > 0 && custom.Servo4 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo4 - 1] = QString("Servo4"); + } + if (custom.Servo5 > 0 && custom.Servo5 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo5 - 1] = QString("Servo5"); + } + if (custom.Servo6 > 0 && custom.Servo6 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo6 - 1] = QString("Servo6"); + } + if (custom.Servo7 > 0 && custom.Servo7 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo7 - 1] = QString("Servo7"); + } + if (custom.Servo8 > 0 && custom.Servo8 <= VehicleConfig::CHANNEL_NUMELEM) { + channelDesc[custom.Servo8 - 1] = QString("Servo8"); + } return channelDesc; } @@ -93,7 +171,30 @@ void ConfigCustomWidget::registerWidgets(ConfigTaskWidget &parent) void ConfigCustomWidget::resetActuators(GUIConfigDataUnion *configData) { - Q_UNUSED(configData); + configData->custom.Motor1 = 0; + configData->custom.Motor2 = 0; + configData->custom.Motor3 = 0; + configData->custom.Motor4 = 0; + configData->custom.Motor5 = 0; + configData->custom.Motor6 = 0; + configData->custom.Motor7 = 0; + configData->custom.Motor8 = 0; + configData->custom.RevMotor1 = 0; + configData->custom.RevMotor2 = 0; + configData->custom.RevMotor3 = 0; + configData->custom.RevMotor4 = 0; + configData->custom.RevMotor5 = 0; + configData->custom.RevMotor6 = 0; + configData->custom.RevMotor7 = 0; + configData->custom.RevMotor8 = 0; + configData->custom.Servo1 = 0; + configData->custom.Servo2 = 0; + configData->custom.Servo3 = 0; + configData->custom.Servo4 = 0; + configData->custom.Servo5 = 0; + configData->custom.Servo6 = 0; + configData->custom.Servo7 = 0; + configData->custom.Servo8 = 0; } /** @@ -108,6 +209,8 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType) UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); Q_ASSERT(mixer); + getChannelDescriptions(); + QList curveValues; getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); @@ -162,6 +265,7 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType) } } + /** Helper function to */ @@ -174,6 +278,9 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets() setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve()); setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve()); + GUIConfigDataUnion configData = getConfigData(); + resetActuators(&configData); + // Update the table: for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) { QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel); @@ -181,10 +288,61 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets() setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED); } else if (q->currentText() == "Motor") { setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR); + if (configData.custom.Motor1 == 0) { + configData.custom.Motor1 = channel + 1; + } else if (configData.custom.Motor2 == 0) { + configData.custom.Motor2 = channel + 1; + } else if (configData.custom.Motor3 == 0) { + configData.custom.Motor3 = channel + 1; + } else if (configData.custom.Motor4 == 0) { + configData.custom.Motor4 = channel + 1; + } else if (configData.custom.Motor5 == 0) { + configData.custom.Motor5 = channel + 1; + } else if (configData.custom.Motor6 == 0) { + configData.custom.Motor6 = channel + 1; + } else if (configData.custom.Motor7 == 0) { + configData.custom.Motor7 = channel + 1; + } else if (configData.custom.Motor8 == 0) { + configData.custom.Motor8 = channel + 1; + } } else if (q->currentText() == "ReversableMotor") { setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR); + if (configData.custom.RevMotor1 == 0) { + configData.custom.RevMotor1 = channel + 1; + } else if (configData.custom.RevMotor2 == 0) { + configData.custom.RevMotor2 = channel + 1; + } else if (configData.custom.RevMotor3 == 0) { + configData.custom.RevMotor3 = channel + 1; + } else if (configData.custom.RevMotor4 == 0) { + configData.custom.RevMotor4 = channel + 1; + } else if (configData.custom.RevMotor5 == 0) { + configData.custom.RevMotor5 = channel + 1; + } else if (configData.custom.RevMotor6 == 0) { + configData.custom.RevMotor6 = channel; + } else if (configData.custom.RevMotor7 == 0) { + configData.custom.RevMotor7 = channel; + } else if (configData.custom.RevMotor8 == 0) { + configData.custom.RevMotor8 = channel; + } } else if (q->currentText() == "Servo") { setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO); + if (configData.custom.Servo1 == 0) { + configData.custom.Servo1 = channel + 1; + } else if (configData.custom.Servo2 == 0) { + configData.custom.Servo2 = channel + 1; + } else if (configData.custom.Servo3 == 0) { + configData.custom.Servo3 = channel + 1; + } else if (configData.custom.Servo4 == 0) { + configData.custom.Servo4 = channel + 1; + } else if (configData.custom.Servo5 == 0) { + configData.custom.Servo5 = channel + 1; + } else if (configData.custom.Servo6 == 0) { + configData.custom.Servo6 = channel + 1; + } else if (configData.custom.Servo7 == 0) { + configData.custom.Servo7 = channel + 1; + } else if (configData.custom.Servo8 == 0) { + configData.custom.Servo8 = channel + 1; + } } else if (q->currentText() == "CameraRoll") { setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL); } else if (q->currentText() == "CameraPitch") { @@ -215,7 +373,7 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets() setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, m_aircraft->customMixerTable->item(5, channel)->text().toDouble()); } - + setConfigData(configData); return "Custom"; } diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h index 4a23325bb..bc53a0501 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h @@ -101,12 +101,42 @@ typedef struct { quint32 padding3; // 128 bits } __attribute__((packed)) groundGUISettingsStruct; +typedef struct { + uint Motor1 : 4; + uint Motor2 : 4; + uint Motor3 : 4; + uint Motor4 : 4; + uint Motor5 : 4; + uint Motor6 : 4; + uint Motor7 : 4; + uint Motor8 : 4; // 32 bits + uint Servo1 : 4; + uint Servo2 : 4; + uint Servo3 : 4; + uint Servo4 : 4; + uint Servo5 : 4; + uint Servo6 : 4; + uint Servo7 : 4; + uint Servo8 : 4; // 64 bits + uint RevMotor1 : 4; + uint RevMotor2 : 4; + uint RevMotor3 : 4; + uint RevMotor4 : 4; + uint RevMotor5 : 4; + uint RevMotor6 : 4; + uint RevMotor7 : 4; + uint RevMotor8 : 4; // 96 bits + quint32 padding; // 128 bits +} __attribute__((packed)) customGUISettingsStruct; + + typedef union { - uint UAVObject[4]; // 32 bits * 4 + uint UAVObject[5]; // 32 bits * 4 heliGUISettingsStruct heli; // 128 bits fixedGUISettingsStruct fixedwing; multiGUISettingsStruct multi; groundGUISettingsStruct ground; + customGUISettingsStruct custom; } GUIConfigDataUnion; class ConfigTaskWidget;