ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       vehicleconfigurationhelper.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   7  * @addtogroup
   8  * @{
   9  * @addtogroup VehicleConfigurationHelper
  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 VEHICLECONFIGURATIONHELPER_H
  30 #define VEHICLECONFIGURATIONHELPER_H
  31
  32 #include "vehicleconfigurationsource.h"
  33 #include "uavobjectmanager.h"
  34 #include "cfg_vehicletypes/vehicleconfig.h"
  35
  36 #include "systemsettings.h"
  37 #include "actuatorsettings.h"
  38
  39 #include <QList>
  40 #include <QPair>
  41 #include <QEventLoop>
  42
  43 struct mixerChannelSettings {
  44     int type;
  45     int throttle1;
  46     int throttle2;
  47     int roll;
  48     int pitch;
  49     int yaw;
  50
  51     mixerChannelSettings() : type(), throttle1(), throttle2(), roll(), pitch(), yaw() {}
  52
  53     mixerChannelSettings(int t, int th1, int th2, int r, int p, int y)
  54         : type(t), throttle1(th1), throttle2(th2), roll(r), pitch(p), yaw(y) {}
  55 };
  56
  57 class VehicleConfigurationHelper : public QObject {
  58     Q_OBJECT
  59
  60 public:
  61     VehicleConfigurationHelper(VehicleConfigurationSource *configSource);
  62     bool setupVehicle(bool save = true);
  63     bool setupHardwareSettings(bool save = true);
  64     static const qint16 LEGACY_ESC_FREQUENCY       = 50;
  65     static const qint16 LEGACY_MULTI_ESC_FREQUENCY = 300;
  66     static const qint16 RAPID_ESC_FREQUENCY        = 490;
  67     static const qint16 PWMSYNC_ESC_FREQUENCY      = 0;
  68     static const qint16 ESC_FREQUENCY_ZERO         = 0;
  69     static const qint16 DSHOT_MODE_150 = 150;
  70     static const qint16 LEGACY_DSHOT_MODE          = 600;
  71     static const qint16 DSHOT_MODE_1200 = 1200;
  72     static const qint16 ANALOG_SERVO_FREQUENCY     = 50;
  73     static const qint16 DIGITAL_SERVO_FREQUENCY    = 333;
  74     static const int MIXER_TYPE_NONE = 0;
  75     static const int MIXER_TYPE_MOTOR = 1;
  76     static const int MIXER_TYPE_REVERSABLEMOTOR    = 2;
  77     static const int MIXER_TYPE_SERVO = 3;
  78
  79
  80 signals:
  81     void saveProgress(int total, int current, QString description);
  82
  83 private:
  84     VehicleConfigurationSource *m_configSource;
  85     UAVObjectManager *m_uavoManager;
  86
  87     QList<QPair<UAVDataObject *, QString> * > m_modifiedObjects;
  88     void addModifiedObject(UAVDataObject *object, QString description);
  89     void clearModifiedObjects();
  90
  91     void applyHardwareConfiguration();
  92     void applyVehicleConfiguration();
  93     void applyActuatorConfiguration();
  94     void applyFlightModeConfiguration();
  95     void applySensorBiasConfiguration();
  96     void applyStabilizationConfiguration();
  97     void applyManualControlDefaults();
  98     void applyTemplateSettings();
  99
 100     bool isApplicable(UAVObject *dataObj);
 101
 102     void applyMixerConfiguration(mixerChannelSettings channels[]);
 103
 104     GUIConfigDataUnion getGUIConfigData();
 105     void applyMultiGUISettings(SystemSettings::AirframeTypeOptions airframe, GUIConfigDataUnion guiConfig);
 106
 107     bool saveChangesToController(bool save);
 108     QEventLoop m_eventLoop;
 109     bool m_transactionOK;
 110     bool m_transactionTimeout;
 111     int m_currentTransactionObjectID;
 112     int m_progress;
 113
 114     void resetVehicleConfig();
 115     void resetGUIData();
 116
 117     void setupTriCopter();
 118     void setupQuadCopter();
 119     void setupHexaCopter();
 120     void setupOctoCopter();
 121     void setupElevon();
 122     void setupDualAileron();
 123     void setupAileron();
 124     void setupVtail();
 125
 126     void setupCar();
 127     void setupTank();
 128     void setupMotorcycle();
 129     void setupBoat();
 130     void setupBoatDiff();
 131
 132 private slots:
 133     void uAVOTransactionCompleted(UAVObject *object, bool success);
 134     void uAVOTransactionCompleted(int oid, bool success);
 135     void saveChangesTimeout();
 136 };
 137
 138 #endif // VEHICLECONFIGURATIONHELPER_H