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LibrePilot/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
Philippe Renon e0115a25b0 OP-1122 OP-1125 cleaned up GCS side uavtalk includes
2013-12-11 22:22:28 +01:00

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/**
******************************************************************************
*
* @file configoutputwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configoutputwidget.h"
#include "outputchannelform.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
#include "actuatorcommand.h"
#include "actuatorsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QMessageBox>
#include <QDesktopServices>
#include <QUrl>
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent), wasItMe(false)
{
ui = new Ui_OutputWidget();
ui->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
ui->saveRCOutputToRAM->setVisible(false);
}
UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
connect(ui->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
// Configure the task widget
// Connect the help button
connect(ui->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(ui->saveRCOutputToRAM, ui->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
OutputChannelForm *form = new OutputChannelForm(i, this, i == 0);
connect(ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
ui->channelLayout->addWidget(form);
addWidget(form->ui.actuatorMin);
addWidget(form->ui.actuatorNeutral);
addWidget(form->ui.actuatorMax);
addWidget(form->ui.actuatorRev);
addWidget(form->ui.actuatorLink);
}
// Associate the buttons with their UAVO fields
addWidget(ui->cb_outputRate6);
addWidget(ui->cb_outputRate5);
addWidget(ui->cb_outputRate4);
addWidget(ui->cb_outputRate3);
addWidget(ui->cb_outputRate2);
addWidget(ui->cb_outputRate1);
addWidget(ui->spinningArmed);
disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = objManager->getObject(QString("ActuatorCommand"));
if (UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
this->setEnabled(false);
}
connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(disableIfNotMe(UAVObject *)));
refreshWidgetsValues();
updateEnableControls();
}
ConfigOutputWidget::~ConfigOutputWidget()
{
// Do nothing
}
void ConfigOutputWidget::enableControls(bool enable)
{
ConfigTaskWidget::enableControls(enable);
if (!enable) {
ui->channelOutTest->setChecked(false);
}
ui->channelOutTest->setEnabled(enable);
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigOutputWidget::runChannelTests(bool state)
{
SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox;
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.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.exec();
// Unfortunately must cache this since callback will reoccur
accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
ui->channelOutTest->setChecked(false);
return;
}
// Confirm this is definitely what they want
if (state) {
QMessageBox mbox;
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?")));
mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
int retval = mbox.exec();
if (retval != QMessageBox::Yes) {
state = false;
qDebug() << "Cancelled";
ui->channelOutTest->setChecked(false);
return;
}
}
ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
UAVObject::Metadata mdata = obj->getMetadata();
if (state) {
wasItMe = true;
accInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
} else {
wasItMe = false;
mdata = accInitialData; // Restore metadata
}
obj->setMetadata(mdata);
obj->updated();
}
OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
{
QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
if (outputChannelForm->index() == index) {
return outputChannelForm;
}
}
// no OutputChannelForm found with given index
return NULL;
}
/**
* Set the label for a channel output assignement
*/
void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
// FIXME: use signal/ slot approach
UAVObjectField *field = obj->getField(str);
QStringList options = field->getOptions();
int index = options.indexOf(field->getValue().toString());
OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
if (outputChannelForm) {
outputChannelForm->setAssignment(str);
}
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigOutputWidget::sendChannelTest(int index, int value)
{
if (!ui->channelOutTest->isChecked()) {
return;
}
if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
return;
}
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
actuatorCommandFields.Channel[index] = value;
actuatorCommand->setData(actuatorCommandFields);
}
/********************************
* Output settings
*******************************/
/**
Request the current config from the board (RC Output)
*/
void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
{
Q_UNUSED(obj);
bool dirty = isDirty();
// Get Actuator Settings
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms
QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
// init min,max,neutral
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
// Get the SpinWhileArmed setting
ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Setup output rates for all banks
if (ui->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])) == -1) {
ui->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
}
if (ui->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])) == -1) {
ui->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
}
if (ui->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])) == -1) {
ui->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if (ui->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])) == -1) {
ui->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
if (ui->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])) == -1) {
ui->cb_outputRate5->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[4]));
}
if (ui->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])) == -1) {
ui->cb_outputRate6->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[5]));
}
ui->cb_outputRate1->setCurrentIndex(ui->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
ui->cb_outputRate2->setCurrentIndex(ui->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
ui->cb_outputRate3->setCurrentIndex(ui->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
ui->cb_outputRate4->setCurrentIndex(ui->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
ui->cb_outputRate5->setCurrentIndex(ui->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])));
ui->cb_outputRate6->setCurrentIndex(ui->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])));
// Reset to all disabled
ui->chBank1->setText("-");
ui->chBank2->setText("-");
ui->chBank3->setText("-");
ui->chBank4->setText("-");
ui->chBank5->setText("-");
ui->chBank6->setText("-");
ui->cb_outputRate1->setEnabled(false);
ui->cb_outputRate2->setEnabled(false);
ui->cb_outputRate3->setEnabled(false);
ui->cb_outputRate4->setEnabled(false);
ui->cb_outputRate5->setEnabled(false);
ui->cb_outputRate6->setEnabled(false);
// Get connected board model
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
Q_ASSERT(utilMngr);
if (utilMngr) {
int board = utilMngr->getBoardModel();
// Setup labels and combos for banks according to board type
if ((board & 0xff00) == 0x0400) {
// Coptercontrol family of boards 4 timer banks
ui->chBank1->setText("1-3");
ui->chBank2->setText("4");
ui->chBank3->setText("5,7-8");
ui->chBank4->setText("6,9-10");
ui->cb_outputRate1->setEnabled(true);
ui->cb_outputRate2->setEnabled(true);
ui->cb_outputRate3->setEnabled(true);
ui->cb_outputRate4->setEnabled(true);
} else if ((board & 0xff00) == 0x0900) {
// Revolution family of boards 6 timer banks
ui->chBank1->setText("1-2");
ui->chBank2->setText("3");
ui->chBank3->setText("4");
ui->chBank4->setText("5-6");
ui->chBank5->setText("7-8");
ui->chBank6->setText("9-10");
ui->cb_outputRate1->setEnabled(true);
ui->cb_outputRate2->setEnabled(true);
ui->cb_outputRate3->setEnabled(true);
ui->cb_outputRate4->setEnabled(true);
ui->cb_outputRate5->setEnabled(true);
ui->cb_outputRate6->setEnabled(true);
}
}
// Get Channel ranges:
foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
setDirty(dirty);
}
/**
* Sends the config to the board, without saving to the SD card (RC Output)
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
emit updateObjectsFromWidgetsRequested();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
if (actuatorSettings) {
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Set channel ranges
QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = ui->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = ui->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = ui->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = ui->cb_outputRate4->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[4] = ui->cb_outputRate5->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[5] = ui->cb_outputRate6->currentText().toUInt();
actuatorSettingsData.MotorsSpinWhileArmed = ui->spinningArmed->isChecked() ?
ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
}
void ConfigOutputWidget::openHelp()
{
QDesktopServices::openUrl(QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode));
}
void ConfigOutputWidget::stopTests()
{
ui->channelOutTest->setChecked(false);
}
void ConfigOutputWidget::disableIfNotMe(UAVObject *obj)
{
if (UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
if (!wasItMe) {
this->setEnabled(false);
}
} else {
this->setEnabled(true);
}
}
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