mirror of
https://bitbucket.org/librepilot/librepilot.git
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288 lines
12 KiB
C++
288 lines
12 KiB
C++
/**
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******************************************************************************
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*
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* @file configgadgetwidget.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 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 "configgadgetwidget.h"
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#include "configvehicletypewidget.h"
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#include "configccattitudewidget.h"
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#include "configinputwidget.h"
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#include "configoutputwidget.h"
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#include "configstabilizationwidget.h"
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#include "configcamerastabilizationwidget.h"
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#include "configtxpidwidget.h"
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#include "configrevohwwidget.h"
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#include "config_cc_hw_widget.h"
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#include "configpipxtremewidget.h"
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#include "configrevowidget.h"
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#include "defaultattitudewidget.h"
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#include "defaulthwsettingswidget.h"
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#include "uavobjectutilmanager.h"
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#include <QDebug>
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#include <QStringList>
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#include <QWidget>
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#include <QTextEdit>
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#include <QVBoxLayout>
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#include <QPushButton>
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ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
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{
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setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
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ftw = new MyTabbedStackWidget(this, true, true);
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ftw->setIconSize(64);
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QVBoxLayout *layout = new QVBoxLayout;
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layout->setContentsMargins(0, 0, 0, 0);
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layout->addWidget(ftw);
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setLayout(layout);
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// *********************
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QWidget *qwd;
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QIcon *icon = new QIcon();
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icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new DefaultHwSettingsWidget(this);
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ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/vehicle_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/vehicle_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigVehicleTypeWidget(this);
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ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/input_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/input_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigInputWidget(this);
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ftw->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigOutputWidget(this);
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ftw->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new DefaultAttitudeWidget(this);
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ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/stabilization_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/stabilization_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigStabilizationWidget(this);
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ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigCameraStabilizationWidget(this);
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ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/txpid_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigTxPIDWidget(this);
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ftw->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
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ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
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// *********************
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// Listen to autopilot connection events
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
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connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
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connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
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// And check whether by any chance we are not already connected
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if (telMngr->isConnected()) {
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onAutopilotConnect();
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}
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help = 0;
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connect(ftw, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
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// Connect to the PipXStatus object updates
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
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if (oplinkStatusObj != NULL) {
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connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateOPLinkStatus(UAVObject *)));
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} else {
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qDebug() << "Error: Object is unknown (OPLinkStatus).";
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}
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// Create the timer that is used to timeout the connection to the OPLink.
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oplinkTimeout = new QTimer(this);
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connect(oplinkTimeout, SIGNAL(timeout()), this, SLOT(onOPLinkDisconnect()));
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oplinkConnected = false;
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}
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ConfigGadgetWidget::~ConfigGadgetWidget()
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{
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// TODO: properly delete all the tabs in ftw before exiting
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}
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void ConfigGadgetWidget::startInputWizard()
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{
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ftw->setCurrentIndex(ConfigGadgetWidget::input);
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ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(ftw->getWidget(ConfigGadgetWidget::input));
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Q_ASSERT(inputWidget);
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inputWidget->startInputWizard();
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}
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void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
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{
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QWidget::resizeEvent(event);
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}
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void ConfigGadgetWidget::onAutopilotDisconnect()
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{
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int selectedIndex = ftw->currentIndex();
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QIcon *icon = new QIcon();
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icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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QWidget *qwd = new DefaultAttitudeWidget(this);
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ftw->removeTab(ConfigGadgetWidget::sensors);
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ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new DefaultHwSettingsWidget(this);
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ftw->removeTab(ConfigGadgetWidget::hardware);
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ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
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ftw->setCurrentIndex(selectedIndex);
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emit autopilotDisconnected();
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}
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void ConfigGadgetWidget::onAutopilotConnect()
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{
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qDebug() << "ConfigGadgetWidget onAutopilotConnect";
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// First of all, check what Board type we are talking to, and
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// if necessary, remove/add tabs in the config gadget:
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
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if (utilMngr) {
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int selectedIndex = ftw->currentIndex();
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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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QIcon *icon = new QIcon();
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icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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QWidget *qwd = new ConfigCCAttitudeWidget(this);
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ftw->removeTab(ConfigGadgetWidget::sensors);
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ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigCCHWWidget(this);
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ftw->removeTab(ConfigGadgetWidget::hardware);
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ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
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} else if ((board & 0xff00) == 0x0900) {
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// Revolution family
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QIcon *icon = new QIcon();
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icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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QWidget *qwd = new ConfigRevoWidget(this);
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ftw->removeTab(ConfigGadgetWidget::sensors);
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ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigRevoHWWidget(this);
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ftw->removeTab(ConfigGadgetWidget::hardware);
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ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
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} else {
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// Unknown board
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qDebug() << "Unknown board " << board;
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}
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ftw->setCurrentIndex(selectedIndex);
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}
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emit autopilotConnected();
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}
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void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
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{
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Q_UNUSED(i);
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*proceed = true;
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ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
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if (!wid) {
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return;
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}
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if (wid->isDirty()) {
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int ans = QMessageBox::warning(this, tr("Unsaved changes"), tr("The tab you are leaving has unsaved changes,"
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"if you proceed they will be lost."
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"Do you still want to proceed?"), QMessageBox::Yes, QMessageBox::No);
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if (ans == QMessageBox::No) {
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*proceed = false;
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} else {
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wid->setDirty(false);
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}
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}
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}
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/*!
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\brief Called by updates to @OPLinkStatus
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*/
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void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
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{
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// Restart the disconnection timer.
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oplinkTimeout->start(5000);
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if (!oplinkConnected) {
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qDebug() << "ConfigGadgetWidget onOPLinkConnect";
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QIcon *icon = new QIcon();
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icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
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QWidget *qwd = new ConfigPipXtremeWidget(this);
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ftw->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
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oplinkConnected = true;
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}
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}
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void ConfigGadgetWidget::onOPLinkDisconnect()
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{
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qDebug() << "ConfigGadgetWidget onOPLinkDisconnect";
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oplinkTimeout->stop();
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ftw->removeTab(ConfigGadgetWidget::oplink);
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oplinkConnected = false;
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}
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