ground/gcs/src/plugins/config/configinputwidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configservowidget.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief Servo input configuration panel for the config gadget
  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 #ifndef CONFIGINPUTWIDGET_H
  29 #define CONFIGINPUTWIDGET_H
  30
  31 #include "uavobjectwidgetutils/configtaskwidget.h"
  32
  33 #include "uavobject.h"
  34
  35 #include "manualcontrolcommand.h"
  36 #include "manualcontrolsettings.h"
  37 #include "actuatorsettings.h"
  38 #include "mixersettings.h"
  39 #include "flightmodesettings.h"
  40 #include "receiveractivity.h"
  41 #include "flightstatus.h"
  42 #include "accessorydesired.h"
  43 #include "systemsettings.h"
  44 #include "hwsettings.h"
  45 #include <QPointer>
  46 #include <QWidget>
  47 #include <QList>
  48 #include <QTimer>
  49
  50 class Ui_InputWidget;
  51 class Ui_InputWizardWidget;
  52
  53 class QEventLoop;
  54 class QSvgRenderer;
  55 class QGraphicsSvgItem;
  56 class QGraphicsSimpleTextItem;
  57
  58 class ConfigInputWidget : public ConfigTaskWidget {
  59     Q_OBJECT
  60 public:
  61     ConfigInputWidget(QWidget *parent = 0);
  62     ~ConfigInputWidget();
  63     enum wizardSteps { wizardWelcome, wizardChooseMode, wizardChooseType, wizardIdentifySticks, wizardIdentifyCenter, wizardIdentifyLimits, wizardIdentifyInverted, wizardFinish, wizardNone };
  64     enum txMode { mode1, mode2, mode3, mode4 };
  65     enum txMovements { moveLeftVerticalStick, moveRightVerticalStick, moveLeftHorizontalStick, moveRightHorizontalStick, moveAccess0, moveAccess1, moveAccess2, moveAccess3, moveFlightMode, centerAll, moveAll, nothing };
  66     enum txMovementType { vertical, horizontal, jump, mix };
  67     enum txType { acro, heli, ground };
  68     void startInputWizard()
  69     {
  70         goToWizard();
  71     }
  72     void enableControls(bool enable);
  73     bool shouldObjectBeSaved(UAVObject *object);
  74
  75 private:
  76     bool throttleError;
  77     bool growing;
  78     bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
  79     txMovements currentMovement;
  80     int movePos;
  81     void setTxMovement(txMovements movement);
  82     Ui_InputWidget *ui;
  83     Ui_InputWizardWidget *wizardUi;
  84
  85     wizardSteps wizardStep;
  86     QList<QPointer<QWidget> > extraWidgets;
  87     txMode transmitterMode;
  88     txType transmitterType;
  89     struct channelsStruct {
  90         bool operator ==(const channelsStruct & rhs) const
  91         {
  92             return (group == rhs.group) && (number == rhs.number);
  93         }
  94         bool operator !=(const channelsStruct & rhs)  const
  95         {
  96             return !operator==(rhs);
  97         }
  98         int group;
  99         int number;
 100         int channelIndex;
 101     } lastChannel;
 102     channelsStruct currentChannel;
 103     QList<channelsStruct> usedChannels;
 104     bool channelDetected;
 105     QEventLoop *loop;
 106     bool skipflag;
 107
 108     // Variables to support delayed transitions when detecting input controls.
 109     QTimer nextDelayedTimer;
 110     int nextDelayedTick;
 111     int nextDelayedLatestActivityTick;
 112
 113     int currentChannelNum;
 114     QList<int> heliChannelOrder;
 115     QList<int> acroChannelOrder;
 116     QList<int> groundChannelOrder;
 117
 118     uint16_t flightModeSignalValue[FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM];
 119
 120     UAVObject::Metadata manualControlMdata;
 121     ManualControlCommand *manualCommandObj;
 122     ManualControlCommand::DataFields manualCommandData;
 123
 124     FlightStatus *flightStatusObj;
 125     FlightStatus::DataFields flightStatusData;
 126
 127     UAVObject::Metadata accessoryDesiredMdata0;
 128     AccessoryDesired *accessoryDesiredObj0;
 129     AccessoryDesired *accessoryDesiredObj1;
 130     AccessoryDesired *accessoryDesiredObj2;
 131     AccessoryDesired *accessoryDesiredObj3;
 132     AccessoryDesired *rssiDesiredObj4;
 133
 134     ManualControlSettings *manualSettingsObj;
 135     ManualControlSettings::DataFields manualSettingsData;
 136
 137     ActuatorSettings *actuatorSettingsObj;
 138     ActuatorSettings::DataFields actuatorSettingsData;
 139
 140     FlightModeSettings *flightModeSettingsObj;
 141     FlightModeSettings::DataFields flightModeSettingsData;
 142     ReceiverActivity *receiverActivityObj;
 143     ReceiverActivity::DataFields receiverActivityData;
 144
 145     SystemSettings *systemSettingsObj;
 146     SystemSettings::DataFields systemSettingsData;
 147
 148     HwSettings *hwSettingsObj;
 149
 150     typedef struct {
 151         ManualControlSettings::DataFields manualSettingsData;
 152         ActuatorSettings::DataFields actuatorSettingsData;
 153         FlightModeSettings::DataFields    flightModeSettingsData;
 154         SystemSettings::DataFields systemSettingsData;
 155     } Memento;
 156     Memento memento;
 157
 158     QSvgRenderer *m_renderer;
 159
 160     // Background: background
 161     QGraphicsSvgItem *m_txMainBody;
 162     QGraphicsSvgItem *m_txLeftStick;
 163     QGraphicsSvgItem *m_txRightStick;
 164     QGraphicsSvgItem *m_txAccess0;
 165     QGraphicsSvgItem *m_txAccess1;
 166     QGraphicsSvgItem *m_txAccess2;
 167     QGraphicsSvgItem *m_txAccess3;
 168     QGraphicsSvgItem *m_txFlightMode;
 169     QGraphicsSvgItem *m_txFlightModeCountBG;
 170     QGraphicsSimpleTextItem *m_txFlightModeCountText;
 171     QGraphicsSvgItem *m_txBackground;
 172     QGraphicsSvgItem *m_txArrows;
 173     QTransform m_txLeftStickOrig;
 174     QTransform m_txRightStickOrig;
 175     QTransform m_txAccess0Orig;
 176     QTransform m_txAccess1Orig;
 177     QTransform m_txAccess2Orig;
 178     QTransform m_txAccess3Orig;
 179     QTransform m_txFlightModeCOrig;
 180     QTransform m_txFlightModeLOrig;
 181     QTransform m_txFlightModeROrig;
 182     QTransform m_txFlightModeCountBGOrig;
 183     QTransform m_txFlightModeCountTextOrig;
 184     QTransform m_txMainBodyOrig;
 185     QTransform m_txArrowsOrig;
 186     QTimer *animate;
 187     void resetTxControls();
 188     void setMoveFromCommand(int command);
 189
 190     void fastMdata();
 191     void restoreMdata();
 192
 193     void setChannel(int);
 194     void nextChannel();
 195     void prevChannel();
 196
 197     void wizardSetUpStep(enum wizardSteps);
 198     void wizardTearDownStep(enum wizardSteps);
 199
 200     void registerControlActivity();
 201
 202     void wzNextDelayedStart();
 203     void wzNextDelayedCancel();
 204
 205     AccessoryDesired *getAccessoryDesiredInstance(int instance);
 206     float getAccessoryDesiredValue(int instance);
 207
 208     void highlightStabilizationMode(int pos);
 209
 210 private slots:
 211     void wzNext();
 212     void wzNextDelayed();
 213     void wzBack();
 214     void wzCancel();
 215     void goToWizard();
 216     void disableWizardButton(int);
 217     void identifyControls();
 218     void identifyLimits();
 219     void moveTxControls();
 220     void moveSticks();
 221     void dimOtherControls(bool value);
 222     void moveFMSlider();
 223     void updatePositionSlider();
 224     void updateConfigAlarmStatus();
 225     void invertControls();
 226     void simpleCalibration(bool state);
 227     void adjustSpecialNeutrals();
 228     void checkThrottleRange();
 229     void updateCalibration();
 230     void resetChannelSettings();
 231     void resetFlightModeSettings();
 232     void resetActuatorSettings();
 233     void updateReceiverActivityStatus();
 234
 235     void failsafeFlightModeChanged(int index);
 236     void failsafeFlightModeCbToggled(bool checked);
 237     void failsafeBatteryWarningFlightModeChanged(int index);
 238     void failsafeBatteryWarningFlightModeCbToggled(bool checked);
 239     void failsafeBatteryCriticalFlightModeChanged(int index);
 240     void failsafeBatteryCriticalFlightModeCbToggled(bool checked);
 241     void enableControlsChanged(bool enabled);
 242
 243 protected:
 244     void resizeEvent(QResizeEvent *event);
 245     void buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits);
 246 };
 247
 248 #endif // ifndef CONFIGINPUTWIDGET_H