ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configstabilizationwidget.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup ConfigPlugin Config Plugin
   9  * @{
  10  * @brief Stabilization configuration panel
  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 #ifndef CONFIGSTABILIZATIONWIDGET_H
  28 #define CONFIGSTABILIZATIONWIDGET_H
  29
  30 #include "ui_stabilization.h"
  31 #include "../uavobjectwidgetutils/configtaskwidget.h"
  32 #include "extensionsystem/pluginmanager.h"
  33 #include "uavobjectmanager.h"
  34 #include "uavobject.h"
  35 #include "stabilizationsettings.h"
  36 #include <QWidget>
  37 #include <QTimer>
  38 #include <QSignalMapper>
  39 #include "qwt/src/qwt_plot_curve.h"
  40 #include "qwt/src/qwt_plot_grid.h"
  41
  42 class ConfigStabilizationWidget : public ConfigTaskWidget {
  43     Q_OBJECT
  44
  45 public:
  46     ConfigStabilizationWidget(QWidget *parent = 0);
  47     ~ConfigStabilizationWidget();
  48     bool shouldObjectBeSaved(UAVObject *object);
  49
  50 private:
  51     Ui_StabilizationWidget *ui;
  52     QTimer *realtimeUpdates;
  53     QList<QTabBar *> m_stabTabBars;
  54     QString m_stabilizationObjectsString;
  55
  56     // Milliseconds between automatic 'Instant Updates'
  57     static const int AUTOMATIC_UPDATE_RATE   = 500;
  58
  59     static const int EXPO_CURVE_POINTS_COUNT = 100;
  60     static const double EXPO_CURVE_CONSTANT  = 1.00695;
  61
  62     int boardModel;
  63     int m_stabSettingsBankCount;
  64     int m_currentStabSettingsBank;
  65
  66     QwtPlotCurve m_expoPlotCurveRoll;
  67     QwtPlotCurve m_expoPlotCurvePitch;
  68     QwtPlotCurve m_expoPlotCurveYaw;
  69     QwtPlotGrid m_plotGrid;
  70     QSignalMapper m_stabSettingsCopyFromSignalMapper;
  71     QSignalMapper m_stabSettingsCopyToSignalMapper;
  72     QSignalMapper m_stabSettingsSwapSignalMapper;
  73
  74     UAVObject *getStabBankObject(int bank);
  75
  76     void updateThrottleCurveFromObject();
  77     void updateObjectFromThrottleCurve();
  78     void setupExpoPlot();
  79     void setupStabBanksGUI();
  80     void resetStabBank(int bank);
  81     void restoreStabBank(int bank);
  82
  83 protected:
  84     QString mapObjectName(const QString objectName);
  85
  86 protected slots:
  87     void refreshWidgetsValues(UAVObject *o = NULL);
  88     void updateObjectsFromWidgets();
  89
  90 private slots:
  91     void realtimeUpdatesSlot(bool value);
  92     void linkCheckBoxes(bool value);
  93     void processLinkedWidgets(QWidget *);
  94     void onBoardConnected();
  95     void stabBankChanged(int index);
  96     void resetThrottleCurveToDefault();
  97     void throttleCurveUpdated();
  98     void replotExpo(int value, QwtPlotCurve &curve);
  99     void replotExpoRoll(int value);
 100     void replotExpoPitch(int value);
 101     void replotExpoYaw(int value);
 102
 103     void restoreAllStabBanks();
 104     void resetAllStabBanks();
 105     void restoreCurrentAction();
 106     void resetCurrentStabBank();
 107     void copyCurrentStabBank();
 108
 109     void copyFromBankToBank(int fromBank, int toBank);
 110     void copyFromBankToCurrent(int bank);
 111     void copyToBankFromCurrent(int bank);
 112     void swapBankAndCurrent(int bank);
 113 };
 114 #endif // ConfigStabilizationWidget_H