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213 lines
8.5 KiB
C++
213 lines
8.5 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) 2011.
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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 "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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// These widgets don't have direct relation to UAVObjects
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// and need special processing
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QComboBox *outputs[] = {
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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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const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
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// Populate widgets with channel numbers
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for (int i = 0; i < NUM_OUTPUTS; i++) {
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outputs[i]->clear();
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outputs[i]->addItem("None");
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for (quint32 j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
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outputs[i]->addItem(QString("Channel %1").arg(j+1));
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}
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// Load UAVObjects to widget relations from UI file
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// using objrelation dynamic property
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autoLoadWidgets();
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// Add some widgets and UAVObjects to track widget dirty state
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// and monitor UAVObject changes in addition to autoloaded ones
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addWidget(m_camerastabilization->enableCameraStabilization);
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addWidget(m_camerastabilization->rollChannel);
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addWidget(m_camerastabilization->pitchChannel);
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addWidget(m_camerastabilization->yawChannel);
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addUAVObject("HwSettings");
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addUAVObject("MixerSettings");
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disableMouseWheelEvents();
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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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/*
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* This overridden function refreshes widgets which have no direct relation
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* to any of UAVObjects. It saves their dirty state first because update comes
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* from UAVObjects, and then restores it. Aftewards it calls base class
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* function to take care of other widgets which were dynamically added.
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*/
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void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
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{
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bool dirty = isDirty();
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// Set module enable checkbox from OptionalModules UAVObject item.
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// It needs special processing because ConfigTaskWidget uses TRUE/FALSE
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// for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
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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] == HwSettings::OPTIONALMODULES_ENABLED);
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// Load mixer outputs which are mapped to camera controls
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MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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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[] = {
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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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const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
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QComboBox *outputs[] = {
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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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const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
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for (int i = 0; i < NUM_OUTPUTS; i++) {
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// Default to none if not found.
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// Then search for any mixer channels set to this
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outputs[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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outputs[i]->currentIndex() != (j + 1))
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outputs[i]->setCurrentIndex(j + 1);
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}
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setDirty(dirty);
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ConfigTaskWidget::refreshWidgetsValues(obj);
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}
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/*
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* This overridden function updates UAVObjects which have no direct relation
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* to any of widgets. Aftewards it calls base class function to take care of
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* other object to widget relations which were dynamically added.
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*/
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void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
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{
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// Save state of the module enable checkbox first
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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 : HwSettings::OPTIONALMODULES_DISABLED;
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hwSettings->setData(hwSettingsData);
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// Update mixer channels which were mapped to camera outputs in case they are
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// not used for other function yet
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MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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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[] = {
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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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const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
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QComboBox *outputs[] = {
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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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const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
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m_camerastabilization->message->setText("");
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for (int i = 0; i < NUM_OUTPUTS; i++) {
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// Channel 1 is second entry, so becomes zero
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int mixerNum = outputs[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 mapped to something, it should not be
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// used for camera output, we reset it to none
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outputs[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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mixerSettings->setData(mixerSettingsData);
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ConfigTaskWidget::updateObjectsFromWidgets();
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}
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/**
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@}
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@}
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*/
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