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258 lines
10 KiB
C++
258 lines
10 KiB
C++
/**
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******************************************************************************
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*
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* @file configcamerastabilizationwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief The Configuration Gadget used to update settings in the firmware
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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 "configcamerastabilizationwidget.h"
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#include <QDebug>
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#include <QTimer>
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#include <QStringList>
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#include <QtGui/QWidget>
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#include <QtGui/QTextEdit>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QPushButton>
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#include <QThread>
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#include <iostream>
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#include <QUrl>
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#include <QDesktopServices>
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#include "camerastabsettings.h"
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#include "hwsettings.h"
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#include "mixersettings.h"
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#include "actuatorcommand.h"
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ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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m_camerastabilization = new Ui_CameraStabilizationWidget();
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m_camerastabilization->setupUi(this);
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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for (int i = 0; i < 3; i++) {
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selectors[i]->clear();
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selectors[i]->addItem("None");
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for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
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selectors[i]->addItem(QString("Channel %1").arg(j+1));
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}
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connectUpdates();
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// Connect buttons
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connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings()));
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connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings()));
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connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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}
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ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
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{
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// Do nothing
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}
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void ConfigCameraStabilizationWidget::connectUpdates()
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{
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// Now connect the widget to the StabilizationSettings object
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connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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// TODO: This will need to support both CC and OP later
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connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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}
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void ConfigCameraStabilizationWidget::disconnectUpdates()
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{
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// Now connect the widget to the StabilizationSettings object
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disconnect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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disconnect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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// TODO: This will need to support both CC and OP later
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disconnect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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}
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/**
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* @brief Populate the gui settings into the appropriate
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* UAV structures
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*/
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void ConfigCameraStabilizationWidget::applySettings()
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{
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// Enable or disable the settings
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HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
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HwSettings::DataFields hwSettingsData = hwSettings->getData();
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hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] =
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m_camerastabilization->enableCameraStabilization->isChecked() ?
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HwSettings::OPTIONALMODULES_ENABLED :
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HwSettings::OPTIONALMODULES_DISABLED;
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// Update the mixer settings
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MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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const int NUM_MIXERS = 10;
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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// TODO: Need to reformat object so types are an
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// array themselves. This gets really awkward
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quint8 * mixerTypes[NUM_MIXERS] = {
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&mixerSettingsData.Mixer1Type,
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&mixerSettingsData.Mixer2Type,
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&mixerSettingsData.Mixer3Type,
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&mixerSettingsData.Mixer4Type,
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&mixerSettingsData.Mixer5Type,
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&mixerSettingsData.Mixer6Type,
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&mixerSettingsData.Mixer7Type,
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&mixerSettingsData.Mixer8Type,
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&mixerSettingsData.Mixer9Type,
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&mixerSettingsData.Mixer10Type,
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};
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m_camerastabilization->message->setText("");
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for (int i = 0; i < 3; i++)
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{
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// Channel 1 is second entry, so becomes zero
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int mixerNum = selectors[i]->currentIndex() - 1;
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if ( mixerNum >= 0 && // Short circuit in case of none
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*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED &&
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(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
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// If the mixer channel already to something that isn't what we are
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// about to set it to reset to none
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selectors[i]->setCurrentIndex(0);
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m_camerastabilization->message->setText("One of the channels is already assigned, reverted to none");
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} else {
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// Make sure no other channels have this output set
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for (int j = 0; j < NUM_MIXERS; j++)
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if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
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*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
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// If this channel is assigned to one of the outputs that is not disabled
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// set it
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if(mixerNum >= 0 && mixerNum < NUM_MIXERS)
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*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
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}
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}
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// Update the ranges
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CameraStabSettings * cameraStab = CameraStabSettings::GetInstance(getObjectManager());
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CameraStabSettings::DataFields cameraStabData = cameraStab->getData();
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cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value();
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cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value();
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cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value();
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// Because multiple objects are updated, and all of them trigger the callback
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// they must be done together (if update one then load settings from second
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// the first update would wipe the UI controls). However to be extra cautious
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// I'm also disabling updates during the setting to the UAVObjects
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disconnectUpdates();
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hwSettings->setData(hwSettingsData);
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mixerSettings->setData(mixerSettingsData);
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cameraStab->setData(cameraStabData);
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connectUpdates();
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}
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/**
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* Push settings into UAV objects then save them
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*/
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void ConfigCameraStabilizationWidget::saveSettings()
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{
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applySettings();
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UAVObject * obj = HwSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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obj = MixerSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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obj = CameraStabSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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}
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void ConfigCameraStabilizationWidget::refreshValues()
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{
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HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
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HwSettings::DataFields hwSettingsData = hwSettings->getData();
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m_camerastabilization->enableCameraStabilization->setChecked(
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hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
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HwSettings::OPTIONALMODULES_ENABLED);
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CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
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CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
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m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]);
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m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
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m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
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MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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const int NUM_MIXERS = 10;
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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// TODO: Need to reformat object so types are an
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// array themselves. This gets really awkward
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quint8 * mixerTypes[NUM_MIXERS] = {
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&mixerSettingsData.Mixer1Type,
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&mixerSettingsData.Mixer2Type,
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&mixerSettingsData.Mixer3Type,
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&mixerSettingsData.Mixer4Type,
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&mixerSettingsData.Mixer5Type,
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&mixerSettingsData.Mixer6Type,
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&mixerSettingsData.Mixer7Type,
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&mixerSettingsData.Mixer8Type,
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&mixerSettingsData.Mixer9Type,
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&mixerSettingsData.Mixer10Type,
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};
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for (int i = 0; i < 3; i++)
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{
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// Default to none if not found. Then search for any mixer channels set to
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// this
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selectors[i]->setCurrentIndex(0);
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for (int j = 0; j < NUM_MIXERS; j++)
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if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
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selectors[i]->currentIndex() != (j + 1))
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selectors[i]->setCurrentIndex(j + 1);
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}
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}
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void ConfigCameraStabilizationWidget::openHelp()
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{
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization", QUrl::StrictMode) );
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}
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void ConfigCameraStabilizationWidget::enableControls(bool enable)
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{
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m_camerastabilization->camerastabilizationSaveSD->setEnabled(enable);
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m_camerastabilization->camerastabilizationSaveRAM->setEnabled(enable);
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}
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/**
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@}
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@}
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*/
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