/** ****************************************************************************** * * @file configservowidget.cpp * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin * @{ * @brief Servo input/output configuration panel for the config gadget *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "configinputwidget.h" #include "uavtalk/telemetrymanager.h" #include #include #include #include #include #include #include #include ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) { m_config = new Ui_InputWidget(); m_config->setupUi(this); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); // First of all, put all the channel widgets into lists, so that we can // manipulate those: inMaxLabels << m_config->ch0Max << m_config->ch1Max << m_config->ch2Max << m_config->ch3Max << m_config->ch4Max << m_config->ch5Max << m_config->ch6Max << m_config->ch7Max; inMinLabels << m_config->ch0Min << m_config->ch1Min << m_config->ch2Min << m_config->ch3Min << m_config->ch4Min << m_config->ch5Min << m_config->ch6Min << m_config->ch7Min; inNeuLabels << m_config->ch0Cur << m_config->ch1Cur << m_config->ch2Cur << m_config->ch3Cur << m_config->ch4Cur << m_config->ch5Cur << m_config->ch6Cur << m_config->ch7Cur; inSliders << m_config->inSlider0 << m_config->inSlider1 << m_config->inSlider2 << m_config->inSlider3 << m_config->inSlider4 << m_config->inSlider5 << m_config->inSlider6 << m_config->inSlider7; inRevCheckboxes << m_config->ch0Rev << m_config->ch1Rev << m_config->ch2Rev << m_config->ch3Rev << m_config->ch4Rev << m_config->ch5Rev << m_config->ch6Rev << m_config->ch7Rev; // Now connect the widget to the ManualControlCommand / Channel UAVObject UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlCommand"))); connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*))); // Register for ManualControlSettings changes: obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); // Get the receiver types supported by OpenPilot and fill the corresponding // dropdown menu: obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); QString fieldName = QString("InputMode"); UAVObjectField *field = obj->getField(fieldName); m_config->receiverType->addItems(field->getOptions()); m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option. // Fill in the dropdown menus for the channel RC Input assignement. QStringList channelsList; channelsList << "None"; QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { channelsList.append(field->getName()); } } m_config->ch0Assign->addItems(channelsList); m_config->ch1Assign->addItems(channelsList); m_config->ch2Assign->addItems(channelsList); m_config->ch3Assign->addItems(channelsList); m_config->ch4Assign->addItems(channelsList); m_config->ch5Assign->addItems(channelsList); m_config->ch6Assign->addItems(channelsList); m_config->ch7Assign->addItems(channelsList); // And the flight mode settings: field = obj->getField(QString("FlightModePosition")); m_config->fmsModePos1->addItems(field->getOptions()); m_config->fmsModePos2->addItems(field->getOptions()); m_config->fmsModePos3->addItems(field->getOptions()); field = obj->getField(QString("Stabilization1Settings")); channelsList.clear(); channelsList.append(field->getOptions()); m_config->fmsSsPos1Roll->addItems(channelsList); m_config->fmsSsPos1Pitch->addItems(channelsList); m_config->fmsSsPos1Yaw->addItems(channelsList); m_config->fmsSsPos2Roll->addItems(channelsList); m_config->fmsSsPos2Pitch->addItems(channelsList); m_config->fmsSsPos2Yaw->addItems(channelsList); m_config->fmsSsPos3Roll->addItems(channelsList); m_config->fmsSsPos3Pitch->addItems(channelsList); m_config->fmsSsPos3Yaw->addItems(channelsList); // And the Armin configurations: field = obj->getField(QString("Arming")); m_config->armControl->clear(); m_config->armControl->addItems(field->getOptions()); connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject())); connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate())); enableControls(false); refreshValues(); connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); connect(m_config->inSlider0, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged0(int))); connect(m_config->inSlider1, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged1(int))); connect(m_config->inSlider2, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged2(int))); connect(m_config->inSlider3, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged3(int))); connect(m_config->inSlider4, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged4(int))); connect(m_config->inSlider5, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged5(int))); connect(m_config->inSlider6, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged6(int))); connect(m_config->inSlider7, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged7(int))); connect(m_config->ch0Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch1Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch2Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch3Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch4Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); firstUpdate = true; // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); } ConfigInputWidget::~ConfigInputWidget() { // Do nothing } /** Slot called whenever we revert a signal */ void ConfigInputWidget::reverseCheckboxClicked(bool state) { QObject* obj = sender(); int i = inRevCheckboxes.indexOf((QCheckBox*)obj); inSliders[i]->setInvertedAppearance(state); int max = inMaxLabels[i]->text().toInt(); int min = inMinLabels[i]->text().toInt(); if ((state && (max>min)) || (!state && (max < min))) { inMaxLabels[i]->setText(QString::number(min)); inMinLabels[i]->setText(QString::number(max)); } } // ************************************ // slider value changed signals void ConfigInputWidget::onInSliderValueChanged0(int value) { inNeuLabels[0]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged1(int value) { inNeuLabels[1]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged2(int value) { inNeuLabels[2]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged3(int value) { inNeuLabels[3]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged4(int value) { inNeuLabels[4]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged5(int value) { inNeuLabels[5]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged6(int value) { inNeuLabels[6]->setText(QString::number(value)); } void ConfigInputWidget::onInSliderValueChanged7(int value) { inNeuLabels[7]->setText(QString::number(value)); } // ************************************ /* Enable or disable some controls depending on whether we are connected or not to the board. Actually, this i mostly useless IMHO, I don't know who added this into the code (Ed's note) */ void ConfigInputWidget::enableControls(bool enable) { //m_config->saveRCInputToRAM->setEnabled(enable); m_config->saveRCInputToSD->setEnabled(enable); m_config->doRCInputCalibration->setEnabled(enable); m_config->doRCInputCalibration->setChecked(false); } /******************************** * Input settings *******************************/ /** Request the current config from the board */ void ConfigInputWidget::refreshValues() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); //obj->requestUpdate(); UAVObjectField *field; // Now update all the slider values: UAVObjectField *field_max = obj->getField(QString("ChannelMax")); UAVObjectField *field_min = obj->getField(QString("ChannelMin")); UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral")); Q_ASSERT(field_max); Q_ASSERT(field_min); Q_ASSERT(field_neu); for (int i = 0; i < 8; i++) { QVariant max = field_max->getValue(i); QVariant min = field_min->getValue(i); QVariant neutral = field_neu->getValue(i); inMaxLabels[i]->setText(max.toString()); inMinLabels[i]->setText(min.toString()); if (max.toInt()> min.toInt()) { inRevCheckboxes[i]->setChecked(false); inSliders[i]->setMaximum(max.toInt()); inSliders[i]->setMinimum(min.toInt()); } else { inRevCheckboxes[i]->setChecked(true); inSliders[i]->setMaximum(min.toInt()); inSliders[i]->setMinimum(max.toInt()); } inSliders[i]->setValue(neutral.toInt()); } // Update receiver type field = obj->getField(QString("InputMode")); m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString())); // Reset all channel assignement dropdowns: m_config->ch0Assign->setCurrentIndex(0); m_config->ch1Assign->setCurrentIndex(0); m_config->ch2Assign->setCurrentIndex(0); m_config->ch3Assign->setCurrentIndex(0); m_config->ch4Assign->setCurrentIndex(0); m_config->ch5Assign->setCurrentIndex(0); m_config->ch6Assign->setCurrentIndex(0); m_config->ch7Assign->setCurrentIndex(0); // Update all channels assignements QList fieldList = obj->getFields(); foreach (UAVObjectField *field, fieldList) { if (field->getUnits().contains("channel")) assignChannel(obj, field->getName()); } // Update all the flight mode settingsin the relevant tab field = obj->getField(QString("FlightModePosition")); m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString()))); m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString()))); m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString()))); field = obj->getField(QString("Stabilization1Settings")); m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); field = obj->getField(QString("Stabilization2Settings")); m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); field = obj->getField(QString("Stabilization3Settings")); m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); // Load the arming settings field = obj->getField(QString("Arming")); m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString())); field = obj->getField(QString("ArmedTimeout")); m_config->armTimeout->setValue(field->getValue().toInt()/1000); } /** * Sends the config to the board, without saving to the SD card */ void ConfigInputWidget::sendRCInputUpdate() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); // Now update all fields from the sliders: QString fieldName = QString("ChannelMax"); UAVObjectField * field = obj->getField(fieldName); for (int i = 0; i < 8; i++) { field->setValue(inMaxLabels[i]->text().toInt(), i); } fieldName = QString("ChannelMin"); field = obj->getField(fieldName); for (int i = 0; i < 8; i++) { field->setValue(inMinLabels[i]->text().toInt(), i); } fieldName = QString("ChannelNeutral"); field = obj->getField(fieldName); for (int i = 0; i < 8; i++) field->setValue(inSliders[i]->value(), i); // Set RC Receiver type: fieldName = QString("InputMode"); field = obj->getField(fieldName); field->setValue(m_config->receiverType->currentText()); // Set Roll/Pitch/Yaw/Etc assignement: // Rule: if two channels have the same setting (which is wrong!) the higher channel // will get the setting. // First, reset all channel assignements: QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { field->setValue(field->getOptions().last()); } } // Then assign according to current GUI state: if (m_config->ch0Assign->currentIndex() != 0) { field = obj->getField(m_config->ch0Assign->currentText()); field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention } if (m_config->ch1Assign->currentIndex() != 0) { field = obj->getField(m_config->ch1Assign->currentText()); field->setValue(field->getOptions().at(1)); } if (m_config->ch2Assign->currentIndex() != 0) { field = obj->getField(m_config->ch2Assign->currentText()); field->setValue(field->getOptions().at(2)); } if (m_config->ch3Assign->currentIndex() != 0) { field = obj->getField(m_config->ch3Assign->currentText()); field->setValue(field->getOptions().at(3)); } if (m_config->ch4Assign->currentIndex() != 0) { field = obj->getField(m_config->ch4Assign->currentText()); field->setValue(field->getOptions().at(4)); } if (m_config->ch5Assign->currentIndex() != 0) { field = obj->getField(m_config->ch5Assign->currentText()); field->setValue(field->getOptions().at(5)); } if (m_config->ch6Assign->currentIndex() != 0) { field = obj->getField(m_config->ch6Assign->currentText()); field->setValue(field->getOptions().at(6)); } if (m_config->ch7Assign->currentIndex() != 0) { field = obj->getField(m_config->ch7Assign->currentText()); field->setValue(field->getOptions().at(7)); } // Send all the flight mode settings field = obj->getField(QString("FlightModePosition")); field->setValue(m_config->fmsModePos1->currentText(),0); field->setValue(m_config->fmsModePos2->currentText(),1); field->setValue(m_config->fmsModePos3->currentText(),2); field = obj->getField(QString("Stabilization1Settings")); field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw")); field = obj->getField(QString("Stabilization2Settings")); field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw")); field = obj->getField(QString("Stabilization3Settings")); field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw")); // Save the arming settings field = obj->getField(QString("Arming")); field->setValue(m_config->armControl->currentText()); field = obj->getField(QString("ArmedTimeout")); field->setValue(m_config->armTimeout->value()*1000); // ... and send to the OP Board obj->updated(); } /** Sends the config to the board and request saving into the SD card */ void ConfigInputWidget::saveRCInputObject() { // Send update so that the latest value is saved sendRCInputUpdate(); UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); saveObjectToSD(obj); } /** * Set the dropdown option for a channel Input assignement */ void ConfigInputWidget::assignChannel(UAVDataObject *obj, QString str) { UAVObjectField* field = obj->getField(str); QStringList options = field->getOptions(); switch (options.indexOf(field->getValue().toString())) { case 0: m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 1: m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 2: m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 3: m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 4: m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 5: m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 6: m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 7: m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; } } /** * Updates the slider positions and min/max values * */ void ConfigInputWidget::updateChannels(UAVObject* controlCommand) { QString fieldName = QString("Connected"); UAVObjectField *field = controlCommand->getField(fieldName); if (field->getValue().toBool()) m_config->RCInputConnected->setText("RC Receiver connected"); else m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)"); if (m_config->doRCInputCalibration->isChecked()) { if (firstUpdate) { // Increase the data rate from the board so that the sliders // move faster UAVObject::Metadata mdata = controlCommand->getMetadata(); mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; mccDataRate = mdata.flightTelemetryUpdatePeriod; mdata.flightTelemetryUpdatePeriod = 150; controlCommand->setMetadata(mdata); // Also protect the user by setting all values to zero // and making the ActuatorCommand object readonly UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); mdata = obj->getMetadata(); mdata.flightAccess = UAVObject::ACCESS_READONLY; obj->setMetadata(mdata); UAVObjectField *field = obj->getField("Channel"); for (int i=0; i< field->getNumElements(); i++) { field->setValue(0,i); } obj->updated(); } field = controlCommand->getField(QString("Channel")); for (int i = 0; i < 8; i++) updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], field->getValue(i).toInt(),inRevCheckboxes[i]->isChecked()); firstUpdate = false; } else { if (!firstUpdate) { // Restore original data rate from the board: UAVObject::Metadata mdata = controlCommand->getMetadata(); mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; mdata.flightTelemetryUpdatePeriod = mccDataRate; controlCommand->setMetadata(mdata); UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); mdata = obj->getMetadata(); mdata.flightAccess = UAVObject::ACCESS_READWRITE; obj->setMetadata(mdata); } firstUpdate = true; } //Update the Flight mode channel slider UAVObject* obj = getObjectManager()->getObject("ManualControlSettings"); // Find the channel currently assigned to flightmode field = obj->getField("FlightMode"); int chIndex = field->getOptions().indexOf(field->getValue().toString()); if (chIndex < field->getOptions().length() - 1) { float valueScaled; int chMin = inSliders[chIndex]->minimum(); int chMax = inSliders[chIndex]->maximum(); int chNeutral = inSliders[chIndex]->value(); int value = controlCommand->getField("Channel")->getValue(chIndex).toInt(); if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) { if (chMax != chNeutral) valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); else valueScaled = 0; } else { if (chMin != chNeutral) valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); else valueScaled = 0; } if(valueScaled < -(1.0 / 3.0)) m_config->fmsSlider->setValue(-100); else if (valueScaled > (1.0/3.0)) m_config->fmsSlider->setValue(100); else m_config->fmsSlider->setValue(0); } } void ConfigInputWidget::updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed) { if (!slider || !min || !max) return; if (firstUpdate) { // Reset all the min/max values of the progress bar since we are starting the calibration. slider->setMaximum(value); slider->setMinimum(value); slider->setValue(value); max->setText(QString::number(value)); min->setText(QString::number(value)); return; } if (value > 0) { // avoids glitches... if (value > slider->maximum()) { slider->setMaximum(value); if (reversed) min->setText(QString::number(value)); else max->setText(QString::number(value)); } if (value < slider->minimum()) { slider->setMinimum(value); if (reversed) max->setText(QString::number(value)); else min->setText(QString::number(value)); } slider->setValue(value); } } void ConfigInputWidget::openHelp() { QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); }