mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-07 18:46:06 +01:00
e7e95412e8
Changed the output calibration part of the wizard so that it is a part of the wizard flow instead of a separate flow inside one page.
389 lines
15 KiB
C++
389 lines
15 KiB
C++
/**
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******************************************************************************
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*
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* @file outputcalibrationpage.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup OutputCalibrationPage
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* @{
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* @brief
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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 "outputcalibrationpage.h"
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#include "ui_outputcalibrationpage.h"
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#include "systemalarms.h"
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#include "uavobjectmanager.h"
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OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *parent) :
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AbstractWizardPage(wizard, parent), ui(new Ui::OutputCalibrationPage), m_vehicleBoundsItem(0),
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m_currentWizardIndex(-1), m_calibrationUtil(0)
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{
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ui->setupUi(this);
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m_vehicleRenderer = new QSvgRenderer();
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if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
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m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
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m_vehicleRenderer->isValid())
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{
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m_vehicleScene = new QGraphicsScene(this);
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ui->vehicleView->setScene(m_vehicleScene);
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}
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}
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OutputCalibrationPage::~OutputCalibrationPage()
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{
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if(m_calibrationUtil) {
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delete m_calibrationUtil;
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m_calibrationUtil = 0;
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}
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delete ui;
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}
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void OutputCalibrationPage::setupVehicle()
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{
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m_actuatorSettings = getWizard()->getActuatorSettings();
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m_wizardIndexes.clear();
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m_vehicleElementIds.clear();
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m_vehicleHighlightElementIndexes.clear();
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m_channelIndex.clear();
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m_currentWizardIndex = 0;
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m_vehicleScene->clear();
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switch(getWizard()->getVehicleSubType())
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{
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case SetupWizard::MULTI_ROTOR_TRI_Y:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 2 << 3 << 4;
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m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 4 << 4;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 3 << 3;
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m_actuatorSettings[3].channelMin = 1500;
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m_actuatorSettings[3].channelNeutral = 1500;
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m_actuatorSettings[3].channelMax = 1500;
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getWizard()->setActuatorSettings(m_actuatorSettings);
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break;
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case SetupWizard::MULTI_ROTOR_QUAD_X:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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m_channelIndex << 0 << 0 << 1 << 2 << 3;
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break;
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case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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m_channelIndex << 0 << 0 << 1 << 2 << 3;
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break;
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case SetupWizard::MULTI_ROTOR_HEXA:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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break;
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case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
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m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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break;
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case SetupWizard::MULTI_ROTOR_HEXA_H:
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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break;
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default:
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break;
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}
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VehicleConfigurationHelper helper(getWizard());
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helper.setupVehicle(false);
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if(m_calibrationUtil) {
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delete m_calibrationUtil;
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m_calibrationUtil = 0;
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}
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m_calibrationUtil = new OutputCalibrationUtil();
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setupVehicleItems();
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}
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void OutputCalibrationPage::setupVehicleItems()
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{
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m_vehicleItems.clear();
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m_vehicleBoundsItem = new QGraphicsSvgItem();
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m_vehicleBoundsItem->setSharedRenderer(m_vehicleRenderer);
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m_vehicleBoundsItem->setElementId(m_vehicleElementIds[0]);
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m_vehicleBoundsItem->setZValue(-1);
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m_vehicleBoundsItem->setOpacity(0);
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m_vehicleScene->addItem(m_vehicleBoundsItem);
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QRectF parentBounds = m_vehicleRenderer->boundsOnElement(m_vehicleElementIds[0]);
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for(int i = 1; i < m_vehicleElementIds.size(); i++)
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{
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QGraphicsSvgItem *item = new QGraphicsSvgItem();
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item->setSharedRenderer(m_vehicleRenderer);
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item->setElementId(m_vehicleElementIds[i]);
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item->setZValue(i);
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item->setOpacity(1.0);
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QRectF itemBounds = m_vehicleRenderer->boundsOnElement(m_vehicleElementIds[i]);
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item->setPos(itemBounds.x() - parentBounds.x(), itemBounds.y() - parentBounds.y());
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m_vehicleScene->addItem(item);
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m_vehicleItems << item;
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}
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}
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void OutputCalibrationPage::startWizard()
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{
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ui->calibrationStack->setCurrentIndex(m_wizardIndexes[0]);
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setupVehicleHighlightedPart();
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}
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void OutputCalibrationPage::setupVehicleHighlightedPart()
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{
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qreal dimOpaque = m_currentWizardIndex == 0 ? 1.0 : 0.3;
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qreal highlightOpaque = 1.0;
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int highlightedIndex = m_vehicleHighlightElementIndexes[m_currentWizardIndex];
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for(int i = 0; i < m_vehicleItems.size(); i++) {
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QGraphicsSvgItem* item = m_vehicleItems[i];
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item->setOpacity((highlightedIndex == i) ? highlightOpaque : dimOpaque);
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}
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}
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void OutputCalibrationPage::setWizardPage()
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{
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qDebug() << "Wizard index: " << m_currentWizardIndex;
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m_calibrationUtil->stopChannelOutput();
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QApplication::processEvents();
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int currentPageIndex = m_wizardIndexes[m_currentWizardIndex];
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qDebug() << "Current page: " << currentPageIndex;
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ui->calibrationStack->setCurrentIndex(currentPageIndex);
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int currentChannel = getCurrentChannel();
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qDebug() << "Current channel: " << currentChannel;
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if(currentChannel >= 0) {
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if(currentPageIndex == 1) {
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ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
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}
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else if(currentPageIndex == 2) {
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ui->servoCenterSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
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}
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else if(currentPageIndex == 3) {
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ui->servoMinAngleSlider->setMaximum(m_actuatorSettings[currentChannel].channelNeutral);
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ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
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}
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else if(currentPageIndex == 4) {
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ui->servoMaxAngleSlider->setMinimum(m_actuatorSettings[currentChannel].channelNeutral);
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ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
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}
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}
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setupVehicleHighlightedPart();
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}
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void OutputCalibrationPage::initializePage()
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{
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if(m_vehicleScene) {
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setupVehicle();
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startWizard();
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}
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}
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bool OutputCalibrationPage::validatePage()
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{
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if(isFinished()) {
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getWizard()->setActuatorSettings(m_actuatorSettings);
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return true;
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} else {
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m_currentWizardIndex++;
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setWizardPage();
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return false;
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}
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}
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void OutputCalibrationPage::showEvent(QShowEvent *event)
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{
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Q_UNUSED(event);
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if(m_vehicleBoundsItem) {
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ui->vehicleView->setSceneRect(m_vehicleBoundsItem->boundingRect());
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ui->vehicleView->fitInView(m_vehicleBoundsItem, Qt::KeepAspectRatio);
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}
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}
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void OutputCalibrationPage::customBackClicked()
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{
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if(m_currentWizardIndex > 0)
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{
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m_currentWizardIndex--;
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setWizardPage();
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}
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else
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{
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getWizard()->back();
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}
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}
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quint16 OutputCalibrationPage::getCurrentChannel()
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{
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return m_channelIndex[m_currentWizardIndex];
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}
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void OutputCalibrationPage::enableButtons(bool enable)
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{
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getWizard()->button(QWizard::NextButton)->setEnabled(enable);
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getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
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getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
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getWizard()->button(QWizard::BackButton)->setEnabled(enable);
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QApplication::processEvents();
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}
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void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
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{
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ui->motorNeutralButton->setText(checked ? tr("Stop") : tr("Start"));
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quint16 channel = getCurrentChannel();
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onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, 1000, ui->motorNeutralSlider);
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}
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void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider) {
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if(button->isChecked()) {
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if(checkAlarms()) {
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enableButtons(false);
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m_calibrationUtil->startChannelOutput(channel, safeValue);
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slider->setValue(value);
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m_calibrationUtil->setChannelOutputValue(value);
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}
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else {
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button->setChecked(false);
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}
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}
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else {
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m_calibrationUtil->stopChannelOutput();
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enableButtons(true);
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}
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debugLogChannelValues();
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}
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bool OutputCalibrationPage::checkAlarms()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(uavObjectManager);
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SystemAlarms * systemAlarms = SystemAlarms::GetInstance(uavObjectManager);
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Q_ASSERT(systemAlarms);
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SystemAlarms::DataFields data = systemAlarms->getData();
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if(data.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.\n\n"
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"This error can be caused by not having the board correctly connected or\n"
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"if the board is not sufficiently powered by an external power source like\n"
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"a battery. To use only USB as power source is not enough when the USB can't\n"
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"power external components like ESCs and servos.\n\n"
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"Please fix the error before continuing calibration.")));
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mbox.setStandardButtons(QMessageBox::Ok);
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mbox.setIcon(QMessageBox::Critical);
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mbox.exec();
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return false;
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}
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return true;
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}
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void OutputCalibrationPage::debugLogChannelValues()
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{
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quint16 channel = getCurrentChannel();
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qDebug() << "ChannelMin : " << m_actuatorSettings[channel].channelMin;
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qDebug() << "ChannelNeutral: " << m_actuatorSettings[channel].channelNeutral;
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qDebug() << "ChannelMax : " << m_actuatorSettings[channel].channelMax;
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}
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void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
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{
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if(ui->motorNeutralButton->isChecked()) {
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quint16 value = ui->motorNeutralSlider->value();
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m_calibrationUtil->setChannelOutputValue(value);
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m_actuatorSettings[getCurrentChannel()].channelNeutral = value;
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debugLogChannelValues();
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}
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}
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void OutputCalibrationPage::on_servoCenterButton_toggled(bool checked)
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{
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ui->servoCenterButton->setText(checked ? tr("Stop") : tr("Start"));
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quint16 channel = getCurrentChannel();
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quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
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onStartButtonToggle(ui->servoCenterButton, channel, safeValue, safeValue, ui->servoCenterSlider);
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}
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void OutputCalibrationPage::on_servoCenterSlider_valueChanged(int position)
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{
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if(ui->servoCenterButton->isChecked()) {
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quint16 value = ui->servoCenterSlider->value();
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m_calibrationUtil->setChannelOutputValue(value);
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quint16 channel = getCurrentChannel();
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m_actuatorSettings[channel].channelNeutral = value;
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//Adjust min and max
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if(value < m_actuatorSettings[channel].channelMin) {
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m_actuatorSettings[channel].channelMin = value;
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}
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if(value > m_actuatorSettings[channel].channelMax) {
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m_actuatorSettings[channel].channelMax = value;
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}
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debugLogChannelValues();
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}
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}
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void OutputCalibrationPage::on_servoMinAngleButton_toggled(bool checked)
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{
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ui->servoMinAngleButton->setText(checked ? tr("Stop") : tr("Start"));
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quint16 channel = getCurrentChannel();
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quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
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onStartButtonToggle(ui->servoMinAngleButton, channel, m_actuatorSettings[channel].channelMin, safeValue, ui->servoMinAngleSlider);
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}
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void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
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{
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if(ui->servoMinAngleButton->isChecked()) {
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quint16 value = ui->servoMinAngleSlider->value();
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m_calibrationUtil->setChannelOutputValue(value);
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m_actuatorSettings[getCurrentChannel()].channelMin = value;
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debugLogChannelValues();
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}
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}
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void OutputCalibrationPage::on_servoMaxAngleButton_toggled(bool checked)
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{
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ui->servoMaxAngleButton->setText(checked ? tr("Stop") : tr("Start"));
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quint16 channel = getCurrentChannel();
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quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
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onStartButtonToggle(ui->servoMaxAngleButton, channel, m_actuatorSettings[channel].channelMax, safeValue, ui->servoMaxAngleSlider);
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}
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void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
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{
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if(ui->servoMaxAngleButton->isChecked()) {
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quint16 value = ui->servoMaxAngleSlider->value();
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m_calibrationUtil->setChannelOutputValue(value);
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m_actuatorSettings[getCurrentChannel()].channelMax = value;
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debugLogChannelValues();
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}
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}
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