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https://bitbucket.org/librepilot/librepilot.git
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375 lines
14 KiB
C++
375 lines
14 KiB
C++
/**
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******************************************************************************
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*
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* @file configoutputwidget.cpp
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* @author E. Lafargue & 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 Servo output configuration panel for the config gadget
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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 "configoutputwidget.h"
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#include "outputchannelform.h"
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#include "uavtalk/telemetrymanager.h"
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#include <QDebug>
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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 <QMessageBox>
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#include <QDesktopServices>
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#include <QUrl>
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#include "actuatorcommand.h"
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#include "actuatorsettings.h"
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#include "systemalarms.h"
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#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
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ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
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{
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m_config = new Ui_OutputWidget();
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m_config->setupUi(this);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
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addUAVObject("ActuatorSettings");
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UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
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connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
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setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
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addUAVObject("ActuatorSettings");
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// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
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// Register for ActuatorSettings changes:
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for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
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{
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OutputChannelForm *form = new OutputChannelForm(i, this, i==0);
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connect(m_config->channelOutTest, SIGNAL(toggled(bool)),
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form, SLOT(enableChannelTest(bool)));
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connect(form, SIGNAL(channelChanged(int,int)),
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this, SLOT(sendChannelTest(int,int)));
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m_config->channelLayout->addWidget(form);
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}
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connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
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refreshWidgetsValues();
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firstUpdate = true;
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connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
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// Connect the help button
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connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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addWidget(m_config->outputRate3);
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addWidget(m_config->outputRate2);
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addWidget(m_config->outputRate1);
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addWidget(m_config->spinningArmed);
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
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if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
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this->setEnabled(false);
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connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
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}
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void ConfigOutputWidget::enableControls(bool enable)
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{
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ConfigTaskWidget::enableControls(enable);
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if(!enable)
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m_config->channelOutTest->setChecked(false);
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m_config->channelOutTest->setEnabled(enable);
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}
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ConfigOutputWidget::~ConfigOutputWidget()
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{
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// Do nothing
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}
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// ************************************
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/**
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Toggles the channel testing mode by making the GCS take over
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the ActuatorCommand objects
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*/
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void ConfigOutputWidget::runChannelTests(bool state)
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{
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qDebug()<<"configoutputwidget runChannelTests"<<state;
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SystemAlarms * systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
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SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
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if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
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QMessageBox mbox;
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mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.")));
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mbox.setStandardButtons(QMessageBox::Ok);
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mbox.exec();
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// Unfortunately must cache this since callback will reoccur
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accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
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m_config->channelOutTest->setChecked(false);
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return;
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}
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// Confirm this is definitely what they want
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if(state) {
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QMessageBox mbox;
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mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?")));
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mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
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int retval = mbox.exec();
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if(retval != QMessageBox::Yes) {
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state = false;
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qDebug() << "Cancelled";
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m_config->channelOutTest->setChecked(false);
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return;
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}
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}
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ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager());
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UAVObject::Metadata mdata = obj->getMetadata();
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if (state)
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{
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wasItMe=true;
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accInitialData = mdata;
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mdata.flightAccess = UAVObject::ACCESS_READONLY;
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mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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mdata.gcsTelemetryAcked = false;
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mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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mdata.gcsTelemetryUpdatePeriod = 100;
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}
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else
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{
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wasItMe=false;
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mdata = accInitialData; // Restore metadata
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}
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obj->setMetadata(mdata);
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obj->updated();
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}
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OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const
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{
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QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
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foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
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{
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if( outputChannelForm->index() == index)
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return outputChannelForm;
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}
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// no OutputChannelForm found with given index
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return NULL;
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}
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/**
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* Set the label for a channel output assignement
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*/
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void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
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{
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//FIXME: use signal/ slot approach
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UAVObjectField* field = obj->getField(str);
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QStringList options = field->getOptions();
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int index = options.indexOf(field->getValue().toString());
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OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
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if(outputChannelForm)
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outputChannelForm->setAssignment(str);
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}
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/**
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* Set the "Spin motors at neutral when armed" flag in ActuatorSettings
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*/
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void ConfigOutputWidget::setSpinningArmed(bool val)
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{
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ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
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Q_ASSERT(actuatorSettings);
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ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
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if(val)
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actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
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else
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actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
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// Apply settings
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actuatorSettings->setData(actuatorSettingsData);
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}
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/**
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Sends the channel value to the UAV to move the servo.
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Returns immediately if we are not in testing mode
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*/
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void ConfigOutputWidget::sendChannelTest(int index, int value)
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{
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if (!m_config->channelOutTest->isChecked())
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return;
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if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM)
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return;
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
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Q_ASSERT(actuatorCommand);
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ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
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actuatorCommandFields.Channel[index] = value;
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actuatorCommand->setData(actuatorCommandFields);
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}
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/********************************
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* Output settings
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*******************************/
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/**
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Request the current config from the board (RC Output)
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*/
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void ConfigOutputWidget::refreshWidgetsValues()
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{
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bool dirty=isDirty();
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// Reset all channel assignements:
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QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
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foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
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{
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outputChannelForm->setAssignment("-");
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}
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// FIXME: Use static accessor method for retrieving channel assignments
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Q_ASSERT(pm);
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(objManager);
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// Get the channel assignements:
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
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Q_ASSERT(obj);
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QList<UAVObjectField*> fieldList = obj->getFields();
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foreach (UAVObjectField* field, fieldList) {
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if (field->getUnits().contains("channel")) {
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assignOutputChannel(obj,field->getName());
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}
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}
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ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
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Q_ASSERT(actuatorSettings);
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ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
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// Get the SpinWhileArmed setting
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m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
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// Get Output rates for both banks
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m_config->outputRate1->setValue(actuatorSettingsData.ChannelUpdateFreq[0]);
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m_config->outputRate2->setValue(actuatorSettingsData.ChannelUpdateFreq[1]);
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UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
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if (utilMngr) {
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int board = utilMngr->getBoardModel();
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if ((board & 0xff00) == 1024) {
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// CopterControl family
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m_config->chBank1->setText("1-3");
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m_config->chBank2->setText("4");
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m_config->chBank3->setText("5,7-8");
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m_config->chBank4->setText("6,9-10");
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m_config->outputRate1->setEnabled(true);
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m_config->outputRate2->setEnabled(true);
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m_config->outputRate3->setEnabled(true);
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m_config->outputRate4->setEnabled(true);
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m_config->outputRate3->setValue(actuatorSettingsData.ChannelUpdateFreq[2]);
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m_config->outputRate4->setValue(actuatorSettingsData.ChannelUpdateFreq[3]);
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} else if ((board & 0xff00) == 256 ) {
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// Mainboard family
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m_config->outputRate1->setEnabled(true);
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m_config->outputRate2->setEnabled(true);
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m_config->outputRate3->setEnabled(false);
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m_config->outputRate4->setEnabled(false);
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m_config->chBank1->setText("1-4");
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m_config->chBank2->setText("5-8");
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m_config->chBank3->setText("-");
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m_config->chBank4->setText("-");
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m_config->outputRate3->setValue(0);
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m_config->outputRate4->setValue(0);
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}
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}
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// Get Channel ranges:
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foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
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{
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int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
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int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
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outputChannelForm->minmax(minValue, maxValue);
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int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
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outputChannelForm->neutral(neutral);
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}
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setDirty(dirty);
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}
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/**
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* Sends the config to the board, without saving to the SD card (RC Output)
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*/
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void ConfigOutputWidget::updateObjectsFromWidgets()
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{
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ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
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Q_ASSERT(actuatorSettings);
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ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
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// Set channel ranges
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QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
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foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
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{
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actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
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actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
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actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
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}
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// Set update rates
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actuatorSettingsData.ChannelUpdateFreq[0] = m_config->outputRate1->value();
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actuatorSettingsData.ChannelUpdateFreq[1] = m_config->outputRate2->value();
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actuatorSettingsData.ChannelUpdateFreq[2] = m_config->outputRate3->value();
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actuatorSettingsData.ChannelUpdateFreq[3] = m_config->outputRate4->value();
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// Apply settings
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actuatorSettings->setData(actuatorSettingsData);
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}
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void ConfigOutputWidget::openHelp()
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{
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Output+Configuration", QUrl::StrictMode) );
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}
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void ConfigOutputWidget::stopTests()
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{
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m_config->channelOutTest->setChecked(false);
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}
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void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
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{
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if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
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{
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if(!wasItMe)
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this->setEnabled(false);
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}
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else
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this->setEnabled(true);
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}
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