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 public slots:
  76     void setOutputConfigSafe(bool status);
  77
  78 signals:
  79     void inputCalibrationStateChanged(bool newState);
  80
  81 private:
  82     bool throttleError;
  83     bool growing;
  84     bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
  85     bool outputConfigIsSafe;
  86     txMovements currentMovement;
  87     int movePos;
  88     void setTxMovement(txMovements movement);
  89     Ui_InputWidget *ui;
  90     Ui_InputWizardWidget *wizardUi;
  91
  92     wizardSteps wizardStep;
  93     QList<QPointer<QWidget> > extraWidgets;
  94     txMode transmitterMode;
  95     txType transmitterType;
  96     struct channelsStruct {
  97         bool operator ==(const channelsStruct & rhs) const
  98         {
  99             return (group == rhs.group) && (number == rhs.number);
 100         }
 101         bool operator !=(const channelsStruct & rhs)  const
 102         {
 103             return !operator==(rhs);
 104         }
 105         int group;
 106         int number;
 107         int channelIndex;
 108     } lastChannel;
 109     channelsStruct currentChannel;
 110     QList<channelsStruct> usedChannels;
 111     bool channelDetected;
 112     QEventLoop *loop;
 113     bool skipflag;
 114
 115     // Variables to support delayed transitions when detecting input controls.
 116     QTimer nextDelayedTimer;
 117     int nextDelayedTick;
 118     int nextDelayedLatestActivityTick;
 119
 120     int currentChannelNum;
 121     QList<int> heliChannelOrder;
 122     QList<int> acroChannelOrder;
 123     QList<int> groundChannelOrder;
 124
 125     uint16_t flightModeSignalValue[FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM];
 126
 127     UAVObject::Metadata manualControlMdata;
 128     ManualControlCommand *manualCommandObj;
 129     ManualControlCommand::DataFields manualCommandData;
 130
 131     FlightStatus *flightStatusObj;
 132     FlightStatus::DataFields flightStatusData;
 133
 134     UAVObject::Metadata accessoryDesiredMdata0;
 135     AccessoryDesired *accessoryDesiredObj0;
 136     AccessoryDesired *accessoryDesiredObj1;
 137     AccessoryDesired *accessoryDesiredObj2;
 138     AccessoryDesired *accessoryDesiredObj3;
 139     AccessoryDesired *rssiDesiredObj4;
 140
 141     ManualControlSettings *manualSettingsObj;
 142     ManualControlSettings::DataFields manualSettingsData;
 143
 144     ActuatorSettings *actuatorSettingsObj;
 145     ActuatorSettings::DataFields actuatorSettingsData;
 146
 147     FlightModeSettings *flightModeSettingsObj;
 148     FlightModeSettings::DataFields flightModeSettingsData;
 149     ReceiverActivity *receiverActivityObj;
 150     ReceiverActivity::DataFields receiverActivityData;
 151
 152     SystemSettings *systemSettingsObj;
 153     SystemSettings::DataFields systemSettingsData;
 154
 155     HwSettings *hwSettingsObj;
 156
 157     typedef struct {
 158         ManualControlSettings::DataFields manualSettingsData;
 159         ActuatorSettings::DataFields actuatorSettingsData;
 160         FlightModeSettings::DataFields    flightModeSettingsData;
 161         SystemSettings::DataFields systemSettingsData;
 162     } Memento;
 163     Memento memento;
 164
 165     QSvgRenderer *m_renderer;
 166
 167     // Background: background
 168     QGraphicsSvgItem *m_txMainBody;
 169     QGraphicsSvgItem *m_txLeftStick;
 170     QGraphicsSvgItem *m_txRightStick;
 171     QGraphicsSvgItem *m_txAccess0;
 172     QGraphicsSvgItem *m_txAccess1;
 173     QGraphicsSvgItem *m_txAccess2;
 174     QGraphicsSvgItem *m_txAccess3;
 175     QGraphicsSvgItem *m_txFlightMode;
 176     QGraphicsSvgItem *m_txFlightModeCountBG;
 177     QGraphicsSimpleTextItem *m_txFlightModeCountText;
 178     QGraphicsSvgItem *m_txBackground;
 179     QGraphicsSvgItem *m_txArrows;
 180     QTransform m_txLeftStickOrig;
 181     QTransform m_txRightStickOrig;
 182     QTransform m_txAccess0Orig;
 183     QTransform m_txAccess1Orig;
 184     QTransform m_txAccess2Orig;
 185     QTransform m_txAccess3Orig;
 186     QTransform m_txFlightModeCOrig;
 187     QTransform m_txFlightModeLOrig;
 188     QTransform m_txFlightModeROrig;
 189     QTransform m_txFlightModeCountBGOrig;
 190     QTransform m_txFlightModeCountTextOrig;
 191     QTransform m_txMainBodyOrig;
 192     QTransform m_txArrowsOrig;
 193     QTimer *animate;
 194     void resetTxControls();
 195     void setMoveFromCommand(int command);
 196
 197     void fastMdata();
 198     void restoreMdata();
 199
 200     void setChannel(int);
 201     void nextChannel();
 202     void prevChannel();
 203
 204     void wizardSetUpStep(enum wizardSteps);
 205     void wizardTearDownStep(enum wizardSteps);
 206
 207     void registerControlActivity();
 208
 209     void wzNextDelayedStart();
 210     void wzNextDelayedCancel();
 211
 212     AccessoryDesired *getAccessoryDesiredInstance(int instance);
 213     float getAccessoryDesiredValue(int instance);
 214
 215     void highlightStabilizationMode(int pos);
 216
 217 private slots:
 218     void wzNext();
 219     void wzNextDelayed();
 220     void wzBack();
 221     void wzCancel();
 222     void goToWizard();
 223     void disableWizardButton(int);
 224     void identifyControls();
 225     void identifyLimits();
 226     void moveTxControls();
 227     void moveSticks();
 228     void dimOtherControls(bool value);
 229     void moveFMSlider();
 230     void updatePositionSlider();
 231     void updateConfigAlarmStatus();
 232     void invertControls();
 233     void simpleCalibration(bool state);
 234     void adjustSpecialNeutrals();
 235     void checkThrottleRange();
 236     void updateCalibration();
 237     void resetChannelSettings();
 238     void resetFlightModeSettings();
 239     void resetActuatorSettings();
 240     void updateReceiverActivityStatus();
 241
 242     void failsafeFlightModeChanged(int index);
 243     void failsafeFlightModeCbToggled(bool checked);
 244     void failsafeBatteryWarningFlightModeChanged(int index);
 245     void failsafeBatteryWarningFlightModeCbToggled(bool checked);
 246     void failsafeBatteryCriticalFlightModeChanged(int index);
 247     void failsafeBatteryCriticalFlightModeCbToggled(bool checked);
 248     void enableControlsChanged(bool enabled);
 249
 250 protected:
 251     void resizeEvent(QResizeEvent *event);
 252     void buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits);
 253 };
 254
 255 #endif // ifndef CONFIGINPUTWIDGET_H