mirror of
https://bitbucket.org/librepilot/librepilot.git
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523 lines
16 KiB
C++
523 lines
16 KiB
C++
/**
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******************************************************************************
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*
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* @file setupwizard.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup Setup Wizard Plugin
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* @{
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* @brief A Wizard to make the initial setup easy for everyone.
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "setupwizard.h"
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#include "pages/opstartpage.h"
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#include "pages/opendpage.h"
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#include "pages/controllerpage.h"
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#include "pages/vehiclepage.h"
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#include "pages/multipage.h"
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#include "pages/fixedwingpage.h"
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#include "pages/airspeedpage.h"
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#include "pages/gpspage.h"
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#include "pages/helipage.h"
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#include "pages/surfacepage.h"
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#include "pages/inputpage.h"
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#include "pages/escpage.h"
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#include "pages/servopage.h"
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#include "pages/biascalibrationpage.h"
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#include "pages/esccalibrationpage.h"
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#include "pages/summarypage.h"
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#include "pages/savepage.h"
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#include "pages/notyetimplementedpage.h"
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#include "pages/outputcalibrationpage.h"
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#include "pages/revocalibrationpage.h"
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#include "pages/airframeinitialtuningpage.h"
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#include "extensionsystem/pluginmanager.h"
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#include "vehicleconfigurationhelper.h"
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#include "actuatorsettings.h"
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#include "pages/autoupdatepage.h"
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#include "uploader/uploadergadgetfactory.h"
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SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent), VehicleConfigurationSource(),
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m_controllerType(CONTROLLER_UNKNOWN),
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m_vehicleType(VEHICLE_UNKNOWN), m_inputType(INPUT_UNKNOWN),
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m_escType(ESC_UNKNOWN), m_servoType(SERVO_UNKNOWN),
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m_airspeedType(AIRSPEED_DISABLED), m_gpsType(GPS_DISABLED),
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m_vehicleTemplate(NULL), m_calibrationPerformed(false),
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m_restartNeeded(false), m_connectionManager(NULL)
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{
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setWindowTitle(tr("OpenPilot Setup Wizard"));
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setOption(QWizard::IndependentPages, false);
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for (quint16 i = 0; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
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m_actuatorSettings << actuatorChannelSettings();
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}
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setWizardStyle(QWizard::ModernStyle);
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setMinimumSize(780, 600);
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resize(780, 600);
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createPages();
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}
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SetupWizard::~SetupWizard()
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{
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if (m_vehicleTemplate != NULL) {
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delete m_vehicleTemplate;
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m_vehicleTemplate = NULL;
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}
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}
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int SetupWizard::nextId() const
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{
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switch (currentId()) {
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case PAGE_START:
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if (canAutoUpdate()) {
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return PAGE_UPDATE;
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} else {
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return PAGE_CONTROLLER;
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}
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case PAGE_UPDATE:
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return PAGE_CONTROLLER;
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case PAGE_CONTROLLER:
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{
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switch (getControllerType()) {
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case CONTROLLER_CC:
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case CONTROLLER_CC3D:
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case CONTROLLER_REVO:
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case CONTROLLER_NANO:
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case CONTROLLER_DISCOVERYF4:
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return PAGE_INPUT;
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case CONTROLLER_OPLINK:
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default:
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return PAGE_NOTYETIMPLEMENTED;
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}
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}
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case PAGE_VEHICLES:
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{
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switch (getVehicleType()) {
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case VEHICLE_MULTI:
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return PAGE_MULTI;
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case VEHICLE_FIXEDWING:
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return PAGE_FIXEDWING;
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case VEHICLE_HELI:
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return PAGE_HELI;
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case VEHICLE_SURFACE:
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return PAGE_SURFACE;
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default:
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return PAGE_NOTYETIMPLEMENTED;
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}
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}
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case PAGE_MULTI:
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return PAGE_ESC;
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case PAGE_FIXEDWING:
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case PAGE_SURFACE:
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if (getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) {
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return PAGE_ESC;
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} else {
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return PAGE_SERVO;
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}
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case PAGE_INPUT:
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if (isRestartNeeded()) {
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saveHardwareSettings();
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reboot();
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}
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return PAGE_VEHICLES;
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case PAGE_ESC:
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if (getVehicleSubType() == MULTI_ROTOR_TRI_Y) {
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return PAGE_SERVO;
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} else {
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switch (getControllerType()) {
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case CONTROLLER_REVO:
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case CONTROLLER_NANO:
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return PAGE_GPS;
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default:
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return PAGE_SUMMARY;
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}
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}
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case PAGE_SERVO:
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{
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switch (getControllerType()) {
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case CONTROLLER_REVO:
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case CONTROLLER_NANO:
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return PAGE_GPS;
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default:
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return PAGE_SUMMARY;
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}
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}
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case PAGE_BIAS_CALIBRATION:
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if (getVehicleType() == VEHICLE_MULTI) {
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return PAGE_ESC_CALIBRATION;
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} else {
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return PAGE_OUTPUT_CALIBRATION;
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}
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case PAGE_ESC_CALIBRATION:
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return PAGE_OUTPUT_CALIBRATION;
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case PAGE_OUTPUT_CALIBRATION:
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return PAGE_AIRFRAME_INITIAL_TUNING;
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case PAGE_AIRFRAME_INITIAL_TUNING:
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return PAGE_SAVE;
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case PAGE_GPS:
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switch (getVehicleType()) {
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case VEHICLE_FIXEDWING:
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if (getGpsType() != GPS_DISABLED) {
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return PAGE_AIRSPEED;
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} else {
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return PAGE_SUMMARY;
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}
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default:
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return PAGE_SUMMARY;
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}
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case PAGE_AIRSPEED:
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return PAGE_SUMMARY;
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case PAGE_SUMMARY:
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{
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switch (getControllerType()) {
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case CONTROLLER_CC:
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case CONTROLLER_CC3D:
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case CONTROLLER_REVO:
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case CONTROLLER_NANO:
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case CONTROLLER_DISCOVERYF4:
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switch (getVehicleType()) {
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case VEHICLE_FIXEDWING:
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return PAGE_OUTPUT_CALIBRATION;
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default:
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return PAGE_BIAS_CALIBRATION;
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}
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default:
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return PAGE_NOTYETIMPLEMENTED;
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}
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}
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case PAGE_SAVE:
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return PAGE_END;
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case PAGE_NOTYETIMPLEMENTED:
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return PAGE_END;
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default:
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return -1;
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}
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}
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QString SetupWizard::getSummaryText()
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{
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QString summary = "";
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summary.append("<b>").append(tr("Controller type: ")).append("</b>");
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switch (getControllerType()) {
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case CONTROLLER_CC:
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summary.append(tr("OpenPilot CopterControl"));
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break;
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case CONTROLLER_CC3D:
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summary.append(tr("OpenPilot CopterControl 3D"));
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break;
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case CONTROLLER_REVO:
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summary.append(tr("OpenPilot Revolution"));
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break;
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case CONTROLLER_NANO:
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summary.append(tr("OpenPilot Nano"));
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break;
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case CONTROLLER_OPLINK:
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summary.append(tr("OpenPilot OPLink Radio Modem"));
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break;
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case CONTROLLER_DISCOVERYF4:
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summary.append(tr("OpenPilot DiscoveryF4 Development Board"));
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break;
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default:
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summary.append(tr("Unknown"));
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break;
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}
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summary.append("<br>");
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summary.append("<b>").append(tr("Vehicle type: ")).append("</b>");
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switch (getVehicleType()) {
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case VEHICLE_MULTI:
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summary.append(tr("Multirotor"));
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summary.append("<br>");
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summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
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switch (getVehicleSubType()) {
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case SetupWizard::MULTI_ROTOR_TRI_Y:
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summary.append(tr("Tricopter"));
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break;
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case SetupWizard::MULTI_ROTOR_QUAD_X:
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summary.append(tr("Quadcopter X"));
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break;
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case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
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summary.append(tr("Quadcopter +"));
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break;
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case SetupWizard::MULTI_ROTOR_HEXA:
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summary.append(tr("Hexacopter"));
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break;
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case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
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summary.append(tr("Hexacopter Coax (Y6)"));
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break;
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case SetupWizard::MULTI_ROTOR_HEXA_H:
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summary.append(tr("Hexacopter H"));
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break;
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case SetupWizard::MULTI_ROTOR_HEXA_X:
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summary.append(tr("Hexacopter X"));
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break;
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case SetupWizard::MULTI_ROTOR_OCTO:
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summary.append(tr("Octocopter"));
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break;
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case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
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summary.append(tr("Octocopter Coax X"));
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break;
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case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
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summary.append(tr("Octocopter Coax +"));
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break;
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case SetupWizard::MULTI_ROTOR_OCTO_V:
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summary.append(tr("Octocopter V"));
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break;
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default:
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summary.append(tr("Unknown"));
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break;
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}
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break;
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case VEHICLE_FIXEDWING:
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summary.append(tr("Fixed wing"));
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summary.append("<br>");
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summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
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switch (getVehicleSubType()) {
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case SetupWizard::FIXED_WING_DUAL_AILERON:
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summary.append(tr("Dual Aileron"));
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break;
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case SetupWizard::FIXED_WING_AILERON:
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summary.append(tr("Aileron"));
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break;
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case SetupWizard::FIXED_WING_ELEVON:
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summary.append(tr("Elevon"));
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break;
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default:
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summary.append(tr("Unknown"));
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break;
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}
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break;
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case VEHICLE_HELI:
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summary.append(tr("Helicopter"));
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break;
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case VEHICLE_SURFACE:
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summary.append(tr("Surface vehicle"));
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summary.append("<br>");
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summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
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switch (getVehicleSubType()) {
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case SetupWizard::GROUNDVEHICLE_CAR:
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summary.append(tr("Car"));
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break;
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case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
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summary.append(tr("Tank"));
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break;
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case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
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summary.append(tr("Motorcycle"));
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break;
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default:
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summary.append(tr("Unknown"));
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break;
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}
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break;
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default:
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summary.append(tr("Unknown"));
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}
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summary.append("<br>");
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summary.append("<b>").append(tr("Input type: ")).append("</b>");
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switch (getInputType()) {
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case INPUT_PWM:
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summary.append(tr("PWM (One cable per channel)"));
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break;
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case INPUT_PPM:
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summary.append(tr("PPM (One cable for all channels)"));
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break;
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case INPUT_SBUS:
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summary.append(tr("Futaba S.Bus"));
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break;
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case INPUT_DSM:
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summary.append(tr("Spektrum Satellite"));
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break;
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default:
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summary.append(tr("Unknown"));
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}
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summary.append("<br>");
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summary.append("<b>").append(tr("Speed Controller (ESC) type: ")).append("</b>");
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switch (getEscType()) {
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case ESC_STANDARD:
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summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_ESC_FREQUENCY));
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break;
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case ESC_RAPID:
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summary.append(tr("Rapid ESC (%1 Hz)").arg(VehicleConfigurationHelper::RAPID_ESC_FREQUENCY));
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break;
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default:
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summary.append(tr("Unknown"));
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}
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// If Tricopter show tail servo speed
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if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING
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|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR) {
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summary.append("<br>");
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summary.append("<b>").append(tr("Servo type: ")).append("</b>");
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switch (getServoType()) {
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case SERVO_ANALOG:
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summary.append(tr("Analog Servos (50 Hz)"));
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break;
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case SERVO_DIGITAL:
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summary.append(tr("Digital Servos (333 Hz)"));
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break;
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default:
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summary.append(tr("Unknown"));
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}
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}
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// Show GPS Type
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if (getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) {
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summary.append("<br>");
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summary.append("<b>").append(tr("GPS type: ")).append("</b>");
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switch (getGpsType()) {
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case GPS_PLATINUM:
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summary.append(tr("OpenPilot Platinum"));
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break;
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case GPS_UBX:
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summary.append(tr("OpenPilot v8 or Generic UBLOX GPS"));
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break;
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case GPS_NMEA:
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summary.append(tr("Generic NMEA GPS"));
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break;
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default:
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summary.append(tr("None"));
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}
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}
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// Show Airspeed sensor type
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if ((getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) && getVehicleType() == VEHICLE_FIXEDWING) {
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summary.append("<br>");
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summary.append("<b>").append(tr("Airspeed Sensor: ")).append("</b>");
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switch (getAirspeedType()) {
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case AIRSPEED_ESTIMATE:
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summary.append(tr("Software Estimated"));
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break;
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case AIRSPEED_EAGLETREE:
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summary.append(tr("EagleTree on Flexi-Port"));
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break;
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case AIRSPEED_MS4525:
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summary.append(tr("MS4525 based on Flexi-Port"));
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break;
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default:
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summary.append(tr("Unknown"));
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}
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}
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return summary;
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}
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void SetupWizard::createPages()
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{
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setPage(PAGE_START, new OPStartPage(this));
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setPage(PAGE_UPDATE, new AutoUpdatePage(this));
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setPage(PAGE_CONTROLLER, new ControllerPage(this));
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setPage(PAGE_VEHICLES, new VehiclePage(this));
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setPage(PAGE_MULTI, new MultiPage(this));
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setPage(PAGE_FIXEDWING, new FixedWingPage(this));
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setPage(PAGE_AIRSPEED, new AirSpeedPage(this));
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setPage(PAGE_GPS, new GpsPage(this));
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setPage(PAGE_HELI, new HeliPage(this));
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setPage(PAGE_SURFACE, new SurfacePage(this));
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setPage(PAGE_INPUT, new InputPage(this));
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setPage(PAGE_ESC, new EscPage(this));
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setPage(PAGE_SERVO, new ServoPage(this));
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setPage(PAGE_BIAS_CALIBRATION, new BiasCalibrationPage(this));
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setPage(PAGE_ESC_CALIBRATION, new EscCalibrationPage(this));
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setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
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setPage(PAGE_SUMMARY, new SummaryPage(this));
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setPage(PAGE_SAVE, new SavePage(this));
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setPage(PAGE_NOTYETIMPLEMENTED, new NotYetImplementedPage(this));
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setPage(PAGE_AIRFRAME_INITIAL_TUNING, new AirframeInitialTuningPage(this));
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setPage(PAGE_END, new OPEndPage(this));
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setStartId(PAGE_START);
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connect(button(QWizard::CustomButton1), SIGNAL(clicked()), this, SLOT(customBackClicked()));
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setButtonText(QWizard::CustomButton1, buttonText(QWizard::BackButton));
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QList<QWizard::WizardButton> button_layout;
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button_layout << QWizard::Stretch << QWizard::CustomButton1 << QWizard::NextButton << QWizard::CancelButton << QWizard::FinishButton;
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setButtonLayout(button_layout);
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connect(this, SIGNAL(currentIdChanged(int)), this, SLOT(pageChanged(int)));
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}
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void SetupWizard::customBackClicked()
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{
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if (currentId() == PAGE_OUTPUT_CALIBRATION) {
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static_cast<OutputCalibrationPage *>(currentPage())->customBackClicked();
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} else {
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back();
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}
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}
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void SetupWizard::pageChanged(int currId)
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{
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button(QWizard::CustomButton1)->setVisible(currId != PAGE_START);
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button(QWizard::CancelButton)->setVisible(currId != PAGE_END);
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}
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void SetupWizard::reboot() const
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Q_ASSERT(pm);
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UploaderGadgetFactory *uploader = pm->getObject<UploaderGadgetFactory>();
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Q_ASSERT(uploader);
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uploader->reboot();
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}
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bool SetupWizard::saveHardwareSettings() const
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{
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VehicleConfigurationHelper helper(const_cast<SetupWizard *>(this));
|
|
|
|
return helper.setupHardwareSettings();
|
|
}
|
|
|
|
bool SetupWizard::canAutoUpdate() const
|
|
{
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
|
|
Q_ASSERT(pm);
|
|
UploaderGadgetFactory *uploader = pm->getObject<UploaderGadgetFactory>();
|
|
Q_ASSERT(uploader);
|
|
return uploader->isAutoUpdateCapable();
|
|
}
|