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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configoutputwidget.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 Servo output configuration panel for the config gadget
  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 "configoutputwidget.h"
  29 #include "outputchannelform.h"
  30 #include "configvehicletypewidget.h"
  31
  32 #include "mixersettings.h"
  33 #include "actuatorcommand.h"
  34 #include "actuatorsettings.h"
  35 #include "systemsettings.h"
  36 #include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
  37 #include <extensionsystem/pluginmanager.h>
  38 #include <coreplugin/generalsettings.h>
  39
  40 #include <QDebug>
  41 #include <QStringList>
  42 #include <QWidget>
  43 #include <QTextEdit>
  44 #include <QVBoxLayout>
  45 #include <QPushButton>
  46 #include <QMessageBox>
  47 #include <QDesktopServices>
  48 #include <QUrl>
  49
  50 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
  51 {
  52     m_ui = new Ui_OutputWidget();
  53     m_ui->setupUi(this);
  54
  55     m_ui->gvFrame->setVisible(false);
  56
  57     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  58     Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
  59     if (!settings->useExpertMode()) {
  60         m_ui->saveRCOutputToRAM->setVisible(false);
  61     }
  62
  63     UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
  64     connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
  65
  66     connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
  67
  68     // Configure the task widget
  69     // Connect the help button
  70     connect(m_ui->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
  71
  72     addApplySaveButtons(m_ui->saveRCOutputToRAM, m_ui->saveRCOutputToSD);
  73
  74     // Track the ActuatorSettings object
  75     addUAVObject("ActuatorSettings");
  76
  77     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
  78     // Register for ActuatorSettings changes:
  79     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
  80         OutputChannelForm *form = new OutputChannelForm(i, this);
  81         form->moveTo(*(m_ui->channelLayout));
  82
  83         connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
  84         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
  85
  86         addWidget(form->ui.actuatorMin);
  87         addWidget(form->ui.actuatorNeutral);
  88         addWidget(form->ui.actuatorMax);
  89         addWidget(form->ui.actuatorRev);
  90         addWidget(form->ui.actuatorLink);
  91     }
  92
  93
  94     // Associate the buttons with their UAVO fields
  95     addWidget(m_ui->spinningArmed);
  96     MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
  97     Q_ASSERT(mixer);
  98     m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
  99     m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
 100     m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
 101     m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
 102     m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
 103     m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
 104
 105     QList<int> rates;
 106     rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
 107     int i = 0;
 108     foreach(OutputBankControls controls, m_banks) {
 109         addWidget(controls.rateCombo());
 110
 111         controls.rateCombo()->addItem(tr("-"), QVariant(0));
 112         controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
 113         foreach(int rate, rates) {
 114             controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
 115         }
 116
 117         addWidgetBinding("ActuatorSettings", "BankMode", controls.modeCombo(), i++, 0, true);
 118         connect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 119     }
 120
 121     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 122     connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 123
 124     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 125
 126     populateWidgets();
 127     refreshWidgetsValues();
 128
 129     updateEnableControls();
 130 }
 131
 132 ConfigOutputWidget::~ConfigOutputWidget()
 133 {
 134     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 135
 136     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 137     foreach(OutputBankControls controls, m_banks) {
 138         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 139     }
 140 }
 141
 142 void ConfigOutputWidget::enableControls(bool enable)
 143 {
 144     ConfigTaskWidget::enableControls(enable);
 145
 146     if (!enable) {
 147         m_ui->channelOutTest->setChecked(false);
 148     }
 149     m_ui->channelOutTest->setEnabled(enable);
 150 }
 151
 152 /**
 153    Force update all channels with the values in the OutputChannelForms.
 154  */
 155 void ConfigOutputWidget::sendAllChannelTests()
 156 {
 157     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 158         OutputChannelForm *form = getOutputChannelForm(i);
 159         sendChannelTest(i, form->neutral());
 160     }
 161 }
 162
 163 /**
 164    Toggles the channel testing mode by making the GCS take over
 165    the ActuatorCommand objects
 166  */
 167 void ConfigOutputWidget::runChannelTests(bool state)
 168 {
 169     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 170     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 171
 172     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 173         QMessageBox mbox;
 174         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 175                                 "Please fix these before testing outputs.")));
 176         mbox.setStandardButtons(QMessageBox::Ok);
 177         mbox.exec();
 178
 179         // Unfortunately must cache this since callback will reoccur
 180         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 181
 182         m_ui->channelOutTest->setChecked(false);
 183         return;
 184     }
 185
 186     // Confirm this is definitely what they want
 187     if (state) {
 188         QMessageBox mbox;
 189         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 190                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 191         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 192         int retval = mbox.exec();
 193         if (retval != QMessageBox::Yes) {
 194             state = false;
 195             qDebug() << "Cancelled";
 196             m_ui->channelOutTest->setChecked(false);
 197             return;
 198         }
 199     }
 200
 201     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 202     UAVObject::Metadata mdata = obj->getMetadata();
 203     if (state) {
 204         m_accInitialData = mdata;
 205         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 206         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 207         UAVObject::SetGcsTelemetryAcked(mdata, false);
 208         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 209         mdata.gcsTelemetryUpdatePeriod = 100;
 210     } else {
 211         mdata = m_accInitialData; // Restore metadata
 212     }
 213     obj->setMetadata(mdata);
 214     obj->updated();
 215
 216     // Setup the correct initial channel values when the channel testing mode is turned on.
 217     if (state) {
 218         sendAllChannelTests();
 219     }
 220
 221     // Add info at end
 222     if (!state && isDirty()) {
 223         QMessageBox mbox;
 224         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 225         mbox.setStandardButtons(QMessageBox::Ok);
 226         mbox.setIcon(QMessageBox::Information);
 227         mbox.exec();
 228     }
 229 }
 230
 231 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 232 {
 233     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 234     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 235         if (outputChannelForm->index() == index) {
 236             return outputChannelForm;
 237         }
 238     }
 239
 240     // no OutputChannelForm found with given index
 241     return NULL;
 242 }
 243
 244 /**
 245  * Set the label for a channel output assignement
 246  */
 247 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 248 {
 249     // FIXME: use signal/ slot approach
 250     UAVObjectField *field = obj->getField(str);
 251     QStringList options   = field->getOptions();
 252     int index = options.indexOf(field->getValue().toString());
 253
 254     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 255
 256     if (outputChannelForm) {
 257         outputChannelForm->setName(str);
 258     }
 259 }
 260
 261 /**
 262    Sends the channel value to the UAV to move the servo.
 263    Returns immediately if we are not in testing mode
 264  */
 265 void ConfigOutputWidget::sendChannelTest(int index, int value)
 266 {
 267     if (!m_ui->channelOutTest->isChecked()) {
 268         return;
 269     }
 270
 271     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 272         return;
 273     }
 274
 275     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 276     Q_ASSERT(actuatorCommand);
 277     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 278     actuatorCommandFields.Channel[index] = value;
 279     actuatorCommand->setData(actuatorCommandFields);
 280 }
 281
 282 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 283 {
 284     QPalette p(palette());
 285
 286     p.setColor(QPalette::Background, color);
 287     p.setColor(QPalette::Base, color);
 288     p.setColor(QPalette::Active, QPalette::Button, color);
 289     p.setColor(QPalette::Inactive, QPalette::Button, color);
 290     widget->setAutoFillBackground(true);
 291     widget->setPalette(p);
 292 }
 293
 294 /********************************
 295  *  Output settings
 296  *******************************/
 297
 298 /**
 299    Request the current config from the board (RC Output)
 300  */
 301 void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
 302 {
 303     bool dirty = isDirty();
 304
 305     ConfigTaskWidget::refreshWidgetsValues(obj);
 306
 307     // Get Actuator Settings
 308     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 309
 310     Q_ASSERT(actuatorSettings);
 311     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 312
 313     // Get channel descriptions
 314     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 315
 316     // Initialize output forms
 317     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 318     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 319         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 320
 321         // init min,max,neutral
 322         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 323         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 324         outputChannelForm->setRange(minValue, maxValue);
 325
 326         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 327         outputChannelForm->setNeutral(neutral);
 328     }
 329
 330     // Get the SpinWhileArmed setting
 331     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 332
 333     for (int i = 0; i < m_banks.count(); i++) {
 334         OutputBankControls controls = m_banks.at(i);
 335         // Reset to all disabled
 336         controls.label()->setText("-");
 337
 338         controls.rateCombo()->setEnabled(false);
 339         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 340         controls.rateCombo()->setCurrentIndex(0);
 341
 342         controls.modeCombo()->setEnabled(false);
 343         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 344     }
 345
 346     // Get connected board model
 347     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 348     Q_ASSERT(pm);
 349     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 350     Q_ASSERT(utilMngr);
 351     QStringList bankLabels;
 352     QList<int> channelBanks;
 353
 354     if (utilMngr) {
 355         int board = utilMngr->getBoardModel();
 356         // Setup labels and combos for banks according to board type
 357         if ((board & 0xff00) == 0x0400) {
 358             // Coptercontrol family of boards 4 timer banks
 359             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 360             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 361         } else if (board == 0x0903) {
 362             // Revolution family of boards 6 timer banks
 363             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 364             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 365         } else if (board == 0x0905) {
 366             // Revolution Nano
 367             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 368             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 369         }
 370     }
 371
 372     int i = 0;
 373     foreach(QString banklabel, bankLabels) {
 374         OutputBankControls controls = m_banks.at(i);
 375
 376         controls.label()->setText(banklabel);
 377         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 378         if (index == -1) {
 379             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 380         }
 381         controls.rateCombo()->setCurrentIndex(index);
 382         controls.rateCombo()->setEnabled(controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 383         setColor(controls.rateCombo(), controls.color());
 384         controls.modeCombo()->setEnabled(true);
 385         setColor(controls.modeCombo(), controls.color());
 386         i++;
 387     }
 388
 389     // Get Channel ranges:
 390     i = 0;
 391     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 392         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 393         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 394
 395         outputChannelForm->setRange(minValue, maxValue);
 396         if (channelBanks.count() > i) {
 397             outputChannelForm->setBank(QString("%1").arg(channelBanks.at(i)));
 398             outputChannelForm->setColor(m_banks.at(channelBanks.at(i++) - 1).color());
 399         }
 400         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 401         outputChannelForm->setNeutral(neutral);
 402     }
 403
 404     setDirty(dirty);
 405 }
 406
 407 /**
 408  * Sends the config to the board, without saving to the SD card (RC Output)
 409  */
 410 void ConfigOutputWidget::updateObjectsFromWidgets()
 411 {
 412     ConfigTaskWidget::updateObjectsFromWidgets();
 413
 414     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 415
 416     Q_ASSERT(actuatorSettings);
 417     if (actuatorSettings) {
 418         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 419
 420         // Set channel ranges
 421         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 422         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 423             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 424             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 425             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 426         }
 427
 428         // Set update rates
 429         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 430         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 431         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 432         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 433         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 434         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 435
 436         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 437                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 438                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 439
 440         // Apply settings
 441         actuatorSettings->setData(actuatorSettingsData);
 442     }
 443 }
 444
 445 void ConfigOutputWidget::openHelp()
 446 {
 447     QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/WIGf"), QUrl::StrictMode));
 448 }
 449
 450 void ConfigOutputWidget::onBankTypeChange()
 451 {
 452     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 453
 454     if (bankModeCombo != NULL) {
 455         foreach(OutputBankControls controls, m_banks) {
 456             if (controls.modeCombo() == bankModeCombo) {
 457                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 458                 controls.rateCombo()->setEnabled(enabled);
 459                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 460                 break;
 461             }
 462         }
 463     }
 464 }
 465
 466 void ConfigOutputWidget::stopTests()
 467 {
 468     m_ui->channelOutTest->setChecked(false);
 469 }
 470
 471 void ConfigOutputWidget::updateWarnings(UAVObject *)
 472 {
 473     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 474     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 475
 476     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 477         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 478         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 479             setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 480                           "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 481                           "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 482                        .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 483             return;
 484         }
 485     }
 486     setWarning(NULL);
 487 }
 488
 489 void ConfigOutputWidget::setWarning(QString message)
 490 {
 491     m_ui->gvFrame->setVisible(!message.isNull());
 492     m_ui->picWarning->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 493     m_ui->txtWarning->setText(message);
 494 }
 495
 496
 497 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 498     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 499 {}
 500
 501 OutputBankControls::~OutputBankControls()
 502 {}