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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configoutputwidget.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 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 #ifndef CONFIGOUTPUTWIDGET_H
  28 #define CONFIGOUTPUTWIDGET_H
  29
  30 #include "cfg_vehicletypes/vehicleconfig.h"
  31
  32 #include "../uavobjectwidgetutils/configtaskwidget.h"
  33 #include "extensionsystem/pluginmanager.h"
  34 #include "uavobjectmanager.h"
  35 #include "uavobject.h"
  36 #include "uavobjectutilmanager.h"
  37
  38 #include "systemalarms.h"
  39
  40 #include <QList>
  41 #include <QSlider>
  42
  43 class Ui_OutputWidget;
  44 class OutputChannelForm;
  45 class MixerSettings;
  46
  47 class QLabel;
  48 class QCheckBox;
  49 class QWidget;
  50
  51 class OutputBankControls {
  52 public:
  53     OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo);
  54     virtual ~OutputBankControls();
  55
  56     QLabel *label() const
  57     {
  58         return m_label;
  59     }
  60     QColor color() const
  61     {
  62         return m_color;
  63     }
  64     QComboBox *rateCombo() const
  65     {
  66         return m_rateCombo;
  67     }
  68     QComboBox *modeCombo() const
  69     {
  70         return m_modeCombo;
  71     }
  72
  73 private:
  74     MixerSettings *m_mixer;
  75     QLabel *m_label;
  76     QColor m_color;
  77     QComboBox *m_rateCombo;
  78     QComboBox *m_modeCombo;
  79 };
  80
  81 class ConfigOutputWidget : public ConfigTaskWidget {
  82     Q_OBJECT
  83
  84 public:
  85     ConfigOutputWidget(QWidget *parent = 0);
  86     ~ConfigOutputWidget();
  87
  88 public slots:
  89     void setInputCalibrationState(bool state);
  90
  91 signals:
  92     void outputConfigSafeChanged(bool newStatus);
  93
  94 protected:
  95     void enableControls(bool enable);
  96     void setBoardWarning(QString message);
  97     void setConfigWarning(QString message);
  98
  99     virtual void refreshWidgetsValuesImpl(UAVObject *obj);
 100     virtual void updateObjectsFromWidgetsImpl();
 101
 102 private:
 103     Ui_OutputWidget *m_ui;
 104     QList<QSlider> m_sliders;
 105     int m_mccDataRate;
 106     UAVObject::Metadata m_accInitialData;
 107     QList<OutputBankControls> m_banks;
 108     int activeBanksCount;
 109     void setBanksEnabled(bool state);
 110
 111     bool inputCalibrationStarted;
 112     bool channelTestsStarted;
 113
 114     OutputChannelForm *getOutputChannelForm(const int index) const;
 115     void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
 116     void assignOutputChannel(UAVDataObject *obj, QString &str);
 117     void setColor(QWidget *widget, const QColor color);
 118     void sendAllChannelTests();
 119     enum ChannelConfigWarning { None, CannotDriveServo, IsNormalMotorCheckNeutral, IsReversibleMotorCheckNeutral, BiDirectionalDShotNotSupported };
 120     void setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls);
 121     ChannelConfigWarning checkChannelConfig(OutputChannelForm *channelForm, OutputBankControls *bankControls);
 122     bool checkOutputConfig();
 123     void updateChannelConfigWarning(ChannelConfigWarning warning);
 124
 125 private slots:
 126     void updateBoardWarnings(UAVObject *);
 127     void updateSpinStabilizeCheckComboBoxes();
 128     void updateAlwaysStabilizeStatus();
 129     void stopTests();
 130     void runChannelTests(bool state);
 131     void sendChannelTest(int index, int value);
 132     void onBankTypeChange();
 133 };
 134
 135 #endif // CONFIGOUTPUTWIDGET_H