ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configgadgetwidget.cpp
   5  * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup ConfigPlugin Config Plugin
   9  * @{
  10  * @brief The Configuration Gadget used to update settings in the firmware
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include "configgadgetwidget.h"
  29
  30 #include "configvehicletypewidget.h"
  31 #include "configccattitudewidget.h"
  32 #include "configinputwidget.h"
  33 #include "configoutputwidget.h"
  34 #include "configstabilizationwidget.h"
  35 #include "configcamerastabilizationwidget.h"
  36 #include "configtxpidwidget.h"
  37 #include "configrevohwwidget.h"
  38 #include "config_cc_hw_widget.h"
  39 #include "configoplinkwidget.h"
  40 #include "configrevowidget.h"
  41 #include "configrevonanohwwidget.h"
  42 #include "defaultattitudewidget.h"
  43 #include "defaulthwsettingswidget.h"
  44 #include "uavobjectutilmanager.h"
  45
  46 #include <uavtalk/telemetrymanager.h>
  47
  48 #include <QDebug>
  49 #include <QStringList>
  50 #include <QWidget>
  51 #include <QTextEdit>
  52 #include <QVBoxLayout>
  53 #include <QPushButton>
  54
  55 ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
  56 {
  57     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
  58
  59     stackWidget = new MyTabbedStackWidget(this, true, true);
  60     stackWidget->setIconSize(64);
  61
  62     QVBoxLayout *layout = new QVBoxLayout;
  63     layout->setContentsMargins(0, 0, 0, 0);
  64     layout->addWidget(stackWidget);
  65     setLayout(layout);
  66
  67     QWidget *qwd;
  68
  69     QIcon *icon = new QIcon();
  70     icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
  71     icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
  72     qwd  = new DefaultHwSettingsWidget(this);
  73     stackWidget->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
  74
  75     icon = new QIcon();
  76     icon->addFile(":/configgadget/images/vehicle_normal.png", QSize(), QIcon::Normal, QIcon::Off);
  77     icon->addFile(":/configgadget/images/vehicle_selected.png", QSize(), QIcon::Selected, QIcon::Off);
  78     qwd  = new ConfigVehicleTypeWidget(this);
  79     stackWidget->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
  80
  81     icon = new QIcon();
  82     icon->addFile(":/configgadget/images/input_normal.png", QSize(), QIcon::Normal, QIcon::Off);
  83     icon->addFile(":/configgadget/images/input_selected.png", QSize(), QIcon::Selected, QIcon::Off);
  84     qwd  = new ConfigInputWidget(this);
  85     stackWidget->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
  86
  87     icon = new QIcon();
  88     icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
  89     icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
  90     qwd  = new ConfigOutputWidget(this);
  91     stackWidget->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
  92
  93     icon = new QIcon();
  94     icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
  95     icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
  96     qwd  = new DefaultAttitudeWidget(this);
  97     stackWidget->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
  98
  99     icon = new QIcon();
 100     icon->addFile(":/configgadget/images/stabilization_normal.png", QSize(), QIcon::Normal, QIcon::Off);
 101     icon->addFile(":/configgadget/images/stabilization_selected.png", QSize(), QIcon::Selected, QIcon::Off);
 102     qwd  = new ConfigStabilizationWidget(this);
 103     stackWidget->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
 104
 105     icon = new QIcon();
 106     icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
 107     icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
 108     qwd  = new ConfigCameraStabilizationWidget(this);
 109     stackWidget->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
 110
 111     icon = new QIcon();
 112     icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);
 113     icon->addFile(":/configgadget/images/txpid_selected.png", QSize(), QIcon::Selected, QIcon::Off);
 114     qwd  = new ConfigTxPIDWidget(this);
 115     stackWidget->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
 116
 117     stackWidget->setCurrentIndex(ConfigGadgetWidget::hardware);
 118
 119     // Listen to autopilot connection events
 120     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 121     TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
 122     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
 123     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 124
 125     // And check whether by any chance we are not already connected
 126     if (telMngr->isConnected()) {
 127         onAutopilotConnect();
 128     }
 129
 130     help = 0;
 131     connect(stackWidget, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
 132
 133     // Connect to the OPLinkStatus object updates
 134     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 135     oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
 136     if (oplinkStatusObj != NULL) {
 137         connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateOPLinkStatus(UAVObject *)));
 138     } else {
 139         qDebug() << "Error: Object is unknown (OPLinkStatus).";
 140     }
 141
 142     // Create the timer that is used to timeout the connection to the OPLink.
 143     oplinkTimeout   = new QTimer(this);
 144     connect(oplinkTimeout, SIGNAL(timeout()), this, SLOT(onOPLinkDisconnect()));
 145     oplinkConnected = false;
 146 }
 147
 148 ConfigGadgetWidget::~ConfigGadgetWidget()
 149 {
 150     delete stackWidget;
 151 }
 152
 153 void ConfigGadgetWidget::startInputWizard()
 154 {
 155     stackWidget->setCurrentIndex(ConfigGadgetWidget::input);
 156     ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(stackWidget->getWidget(ConfigGadgetWidget::input));
 157     Q_ASSERT(inputWidget);
 158     inputWidget->startInputWizard();
 159 }
 160
 161 void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
 162 {
 163     QWidget::resizeEvent(event);
 164 }
 165
 166 void ConfigGadgetWidget::onAutopilotDisconnect()
 167 {
 168     QWidget *qwd = new DefaultAttitudeWidget(this);
 169
 170     stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
 171
 172     qwd = new DefaultHwSettingsWidget(this);
 173     stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
 174
 175     emit autopilotDisconnected();
 176 }
 177
 178 void ConfigGadgetWidget::onAutopilotConnect()
 179 {
 180     qDebug() << "ConfigGadgetWidget onAutopilotConnect";
 181     // First of all, check what Board type we are talking to, and
 182     // if necessary, remove/add tabs in the config gadget:
 183     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 184     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 185     if (utilMngr) {
 186         int board = utilMngr->getBoardModel();
 187         if ((board & 0xff00) == 0x0400) {
 188             // CopterControl family
 189             QWidget *qwd = new ConfigCCAttitudeWidget(this);
 190             stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
 191             qwd = new ConfigCCHWWidget(this);
 192             stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
 193         } else if ((board & 0xff00) == 0x0900) {
 194             // Revolution family
 195             QWidget *qwd = new ConfigRevoWidget(this);
 196             stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
 197             if (board == 0x0903) {
 198                 qwd = new ConfigRevoHWWidget(this);
 199             } else if (board == 0x0905) {
 200                 qwd = new ConfigRevoNanoHWWidget(this);
 201             }
 202             stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
 203         } else {
 204             // Unknown board
 205             qDebug() << "Unknown board " << board;
 206         }
 207     }
 208
 209     emit autopilotConnected();
 210 }
 211
 212 void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
 213 {
 214     Q_UNUSED(i);
 215     *proceed = true;
 216     ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(stackWidget->currentWidget());
 217     if (!wid) {
 218         return;
 219     }
 220     if (wid->isDirty()) {
 221         int ans = QMessageBox::warning(this, tr("Unsaved changes"), tr("The tab you are leaving has unsaved changes,"
 222                                                                        "if you proceed they will be lost.\n"
 223                                                                        "Do you still want to proceed?"), QMessageBox::Yes, QMessageBox::No);
 224         if (ans == QMessageBox::No) {
 225             *proceed = false;
 226         } else {
 227             wid->setDirty(false);
 228         }
 229     }
 230 }
 231
 232 /*!
 233    \brief Called by updates to @OPLinkStatus
 234  */
 235 void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
 236 {
 237     // Restart the disconnection timer.
 238     oplinkTimeout->start(5000);
 239     if (!oplinkConnected) {
 240         qDebug() << "ConfigGadgetWidget onOPLinkConnect";
 241
 242         QIcon *icon = new QIcon();
 243         icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
 244         icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
 245
 246         QWidget *qwd = new ConfigOPLinkWidget(this);
 247         stackWidget->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
 248         oplinkConnected = true;
 249     }
 250 }
 251
 252 void ConfigGadgetWidget::onOPLinkDisconnect()
 253 {
 254     qDebug() << "ConfigGadgetWidget onOPLinkDisconnect";
 255     oplinkTimeout->stop();
 256     oplinkConnected = false;
 257
 258     if (stackWidget->currentIndex() == ConfigGadgetWidget::oplink) {
 259         stackWidget->setCurrentIndex(0);
 260     }
 261     stackWidget->removeTab(ConfigGadgetWidget::oplink);
 262 }