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290 lines
11 KiB
C++
290 lines
11 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) 2011-2012.
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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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/*
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* IMPORTANT: This module is meant to be a reference implementation which
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* demostrates the use of ConfigTaskWidget API for widgets which are not directly
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* related to UAVObjects. It contains a lot of comments including some commented
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* out code samples. Please DO NOT COPY/PASTE them into any other module based
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* on this.
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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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#include <extensionsystem/pluginmanager.h>
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#include <coreplugin/generalsettings.h>
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ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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ui = new Ui_CameraStabilizationWidget();
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ui->setupUi(this);
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addApplySaveButtons(ui->camerastabilizationSaveRAM, ui->camerastabilizationSaveSD);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
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if (!settings->useExpertMode()) {
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ui->camerastabilizationSaveRAM->setVisible(false);
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}
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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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ui->rollChannel,
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ui->pitchChannel,
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ui->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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}
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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 to track their UI dirty state and handle smartsave
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addWidget(ui->enableCameraStabilization);
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addWidget(ui->rollChannel);
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addWidget(ui->pitchChannel);
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addWidget(ui->yawChannel);
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// Add some UAVObjects to monitor their changes in addition to autoloaded ones.
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// Note also that we want to reload some UAVObjects by "Reload" button and have
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// to pass corresponding reload group numbers (defined also in objrelation property)
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// to the montitor. We don't reload HwSettings (module enable state) but reload
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// output channels.
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QList<int> reloadGroups;
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reloadGroups << 1;
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addUAVObject("HwSettings");
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addUAVObject("MixerSettings", &reloadGroups);
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// To set special widgets to defaults when requested
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connect(this, SIGNAL(defaultRequested(int)), this, SLOT(defaultRequestedSlot(int)));
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disableMouseWheelEvents();
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updateEnableControls();
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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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ui->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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ui->rollChannel,
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ui->pitchChannel,
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ui->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_CAMERAROLLORSERVO1 + 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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}
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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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// Do not use setData() member on whole object, if possible, since it triggers
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// unnessesary UAVObect update.
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quint8 enableModule = ui->enableCameraStabilization->isChecked() ?
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HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
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HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
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hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_CAMERASTAB, enableModule);
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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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ui->rollChannel,
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ui->pitchChannel,
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ui->yawChannel
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};
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const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
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ui->message->setText("");
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bool widgetUpdated;
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do {
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widgetUpdated = false;
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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_CAMERAROLLORSERVO1 + 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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ui->message->setText("One of the channels is already assigned, reverted to none");
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// Loop again or we may have inconsistent widget and UAVObject
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widgetUpdated = true;
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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_CAMERAROLLORSERVO1 + i)) {
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*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
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}
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}
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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_CAMERAROLLORSERVO1 + i;
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}
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}
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}
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} while (widgetUpdated);
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// FIXME: Should not use setData() to prevent double updates.
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// It should be refactored after the reformatting of MixerSettings UAVObject.
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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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* This slot function is called when "Default" button is clicked.
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* All special widgets which belong to the group passed should be set here.
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*/
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void ConfigCameraStabilizationWidget::defaultRequestedSlot(int group)
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{
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Q_UNUSED(group);
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// Here is the example of how to reset the state of QCheckBox. It is
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// commented out because we normally don't want to reset the module
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// enable state to default "disabled" (or we don't care about values at all).
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// But if you want, you could use the dirtyClone() function to get default
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// values of an object and then use them to set a widget state.
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//
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// HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
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// HwSettings *hwSettingsDefault=(HwSettings*)hwSettings->dirtyClone();
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// HwSettings::DataFields hwSettingsData = hwSettingsDefault->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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// For outputs we set them all to none, so don't use any UAVObject to get defaults
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QComboBox *outputs[] = {
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ui->rollChannel,
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ui->pitchChannel,
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ui->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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outputs[i]->setCurrentIndex(0);
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}
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}
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