ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       outputcalibrationpage.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   7  * @addtogroup
   8  * @{
   9  * @addtogroup OutputCalibrationPage
  10  * @{
  11  * @brief
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #ifndef OUTPUTCALIBRATIONPAGE_H
  30 #define OUTPUTCALIBRATIONPAGE_H
  31
  32 #include <QtSvg>
  33 #include "abstractwizardpage.h"
  34 #include "setupwizard.h"
  35 #include "outputcalibrationutil.h"
  36 #include "vehicleconfigurationhelper.h"
  37
  38 namespace Ui {
  39 class OutputCalibrationPage;
  40 }
  41
  42 class OutputCalibrationPage : public AbstractWizardPage {
  43     Q_OBJECT
  44
  45 public:
  46     explicit OutputCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
  47     ~OutputCalibrationPage();
  48     void initializePage();
  49     bool validatePage();
  50
  51     bool isFinished()
  52     {
  53         return m_currentWizardIndex >= m_wizardIndexes.size();
  54     }
  55
  56     void loadSVGFile(QString file);
  57     void setupActuatorMinMaxAndNeutral(int motorChannelStart, int motorChannelEnd, int totalUsedChannels);
  58 protected:
  59     void showEvent(QShowEvent *event);
  60     void resizeEvent(QResizeEvent *event);
  61
  62 public slots:
  63     void customBackClicked();
  64
  65 private slots:
  66     void on_motorNeutralButton_toggled(bool checked);
  67     void on_motorNeutralSlider_valueChanged(int value);
  68
  69     void on_servoButton_toggled(bool checked);
  70     void on_servoCenterAngleSlider_valueChanged(int position);
  71     void on_servoMinAngleSlider_valueChanged(int position);
  72     void on_servoMaxAngleSlider_valueChanged(int position);
  73     void on_reverseCheckbox_toggled(bool checked);
  74
  75     void on_dualservoButton_toggled(bool checked);
  76     void on_servoCenterAngleSlider1_valueChanged(int position);
  77     void on_servoMinAngleSlider1_valueChanged(int position);
  78     void on_servoMaxAngleSlider1_valueChanged(int position);
  79     void on_reverseCheckbox1_toggled(bool checked);
  80
  81     void on_servoCenterAngleSlider2_valueChanged(int position);
  82     void on_servoMinAngleSlider2_valueChanged(int position);
  83     void on_servoMaxAngleSlider2_valueChanged(int position);
  84     void on_reverseCheckbox2_toggled(bool checked);
  85
  86     void on_calibrateAllMotors_toggled(bool checked);
  87
  88 private:
  89     enum ElementType { FULL, FRAME, MOTOR, SERVO };
  90     static const int LOW_OUTPUT_RATE_DSHOT  = 0;
  91     static const int HIGH_OUTPUT_RATE_DSHOT = 2000;
  92     static const int LOW_OUTPUT_RATE_MILLISECONDS      = 1000;
  93     static const int LOW_OUTPUT_RATE_MILLISECONDS_PWM  = 1000;
  94     static const int HIGH_OUTPUT_RATE_MILLISECONDS_PWM = 1900;
  95     static const int NEUTRAL_OUTPUT_RATE_RANGE = 500;
  96     static const int NEUTRAL_OUTPUT_RATE_MILLISECONDS  = 1500;
  97     static const int HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT_MULTISHOT = 2000;
  98
  99     void setupVehicle();
 100     void startWizard();
 101     void setupVehicleItems();
 102     void setupVehicleHighlightedPart();
 103     void showElementMovement(bool isUp, bool FirstServo, qreal value);
 104     void setWizardPage();
 105     void enableButtons(bool enable);
 106     void enableServoSliders(bool enabled);
 107     void onStartButtonToggle(QAbstractButton *button, QList<quint16> &channels,
 108                              quint16 value, quint16 safeValue, QSlider *slider);
 109     void onStartButtonToggleDual(QAbstractButton *button, QList<quint16> &channels,
 110                                  quint16 value1, quint16 value2, quint16 safeValue, QSlider *slider1, QSlider *slider2);
 111     void setSliderLimitsAndArrows(quint16 currentChannel, bool showFirst, quint16 value, QCheckBox *revCheckbox, QSlider *minSlider, QSlider *maxSlider);
 112     void reverseCheckBoxIsToggled(quint16 currentChannel, QCheckBox *checkBox, QSlider *centerSlider, QSlider *minSlider, QSlider *maxSlider);
 113
 114     bool checkAlarms();
 115     void debugLogChannelValues(bool showFirst);
 116
 117     void getCurrentChannels(QList<quint16> &channels);
 118     void enableAllMotorsCheckBox(bool enable);
 119     int getLowOutputRate();
 120     int getHighOutputRate();
 121     quint16 getCurrentChannel();
 122
 123     Ui::OutputCalibrationPage *ui;
 124     QSvgRenderer *m_vehicleRenderer;
 125     QGraphicsScene *m_vehicleScene;
 126     QGraphicsSvgItem *m_vehicleBoundsItem;
 127
 128     qint16 m_currentWizardIndex;
 129
 130     QList<QString> m_vehicleElementIds;
 131     QList<ElementType> m_vehicleElementTypes;
 132     QList<QGraphicsSvgItem *> m_vehicleItems;
 133     QList<QGraphicsSvgItem *> m_arrowsItems;
 134     QList<quint16> m_vehicleHighlightElementIndexes;
 135     QList<quint16> m_channelIndex;
 136     QList<qint16> m_wizardIndexes;
 137
 138     QList<actuatorChannelSettings> m_actuatorSettings;
 139
 140     OutputCalibrationUtil *m_calibrationUtil;
 141     void resetOutputCalibrationUtil();
 142
 143     static const QString MULTI_SVG_FILE;
 144     static const QString FIXEDWING_SVG_FILE;
 145     static const QString GROUND_SVG_FILE;
 146 };
 147
 148 #endif // OUTPUTCALIBRATIONPAGE_H