ground/gcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       EscCalibrationPage.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @addtogroup
   7  * @{
   8  * @addtogroup EscCalibrationPage
   9  * @{
  10  * @brief
  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
  28
  29 #include "esccalibrationpage.h"
  30 #include "ui_esccalibrationpage.h"
  31 #include "setupwizard.h"
  32 #include "mixersettings.h"
  33 #include "extensionsystem/pluginmanager.h"
  34 #include "uavobjectmanager.h"
  35 #include "vehicleconfigurationhelper.h"
  36 #include "actuatorsettings.h"
  37
  38 #include <QThread>
  39
  40 EscCalibrationPage::EscCalibrationPage(SetupWizard *wizard, QWidget *parent) :
  41     AbstractWizardPage(wizard, parent),
  42     ui(new Ui::EscCalibrationPage), m_isCalibrating(false)
  43 {
  44     ui->setupUi(this);
  45
  46     ui->outputHigh->setEnabled(false);
  47     ui->outputLow->setEnabled(true);
  48     ui->outputLevel->setEnabled(true);
  49     ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
  50
  51     connect(ui->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
  52     connect(ui->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
  53
  54     connect(ui->securityCheckBox1, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
  55     connect(ui->securityCheckBox2, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
  56     connect(ui->securityCheckBox3, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
  57 }
  58
  59 EscCalibrationPage::~EscCalibrationPage()
  60 {
  61     delete ui;
  62 }
  63
  64 bool EscCalibrationPage::validatePage()
  65 {
  66     return true;
  67 }
  68
  69 void EscCalibrationPage::enableButtons(bool enable)
  70 {
  71     getWizard()->button(QWizard::NextButton)->setEnabled(enable);
  72     getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
  73     getWizard()->button(QWizard::BackButton)->setEnabled(enable);
  74     getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
  75     ui->securityCheckBox1->setEnabled(enable);
  76     ui->securityCheckBox2->setEnabled(enable);
  77     ui->securityCheckBox3->setEnabled(enable);
  78     QApplication::processEvents();
  79 }
  80
  81 void EscCalibrationPage::resetAllSecurityCheckboxes()
  82 {
  83     ui->securityCheckBox1->setChecked(false);
  84     ui->securityCheckBox2->setChecked(false);
  85     ui->securityCheckBox3->setChecked(false);
  86 }
  87
  88 int EscCalibrationPage::getHighOutputRate()
  89 {
  90     if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
  91         return HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS;
  92     } else {
  93         return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS;
  94     }
  95 }
  96
  97 void EscCalibrationPage::startButtonClicked()
  98 {
  99     if (!m_isCalibrating) {
 100         m_isCalibrating = true;
 101         ui->startButton->setEnabled(false);
 102         enableButtons(false);
 103         ui->outputHigh->setEnabled(true);
 104         ui->outputLow->setEnabled(false);
 105         ui->nonconnectedLabel->setEnabled(false);
 106         ui->connectedLabel->setEnabled(true);
 107         ui->outputLevel->setText(QString(tr("%1 µs")).arg(getHighOutputRate()));
 108         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 109         UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
 110         Q_ASSERT(uavoManager);
 111         MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
 112         Q_ASSERT(mSettings);
 113         QString mixerTypePattern = "Mixer%1Type";
 114
 115         OutputCalibrationUtil::startOutputCalibration();
 116         // First check if any servo and set his value to 1500 (like Tricopter)
 117         for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
 118             UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
 119             Q_ASSERT(field);
 120             if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_SERVO)) {
 121                 m_outputUtil.startChannelOutput(i, 1500);
 122                 m_outputUtil.stopChannelOutput();
 123             }
 124         }
 125         // Find motors and start Esc procedure
 126         for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
 127             UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
 128             Q_ASSERT(field);
 129             if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
 130                 m_outputChannels << i;
 131             }
 132         }
 133         m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
 134         QThread::msleep(100);
 135         m_outputUtil.setChannelOutputValue(getHighOutputRate());
 136
 137         ui->stopButton->setEnabled(true);
 138     }
 139 }
 140
 141 void EscCalibrationPage::stopButtonClicked()
 142 {
 143     if (m_isCalibrating) {
 144         ui->stopButton->setEnabled(false);
 145         ui->outputHigh->setEnabled(false);
 146
 147         // Set to low pwm out
 148         m_outputUtil.setChannelOutputValue(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
 149         ui->outputLevel->setText(QString(tr("%1 µs")).arg(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
 150         QApplication::processEvents();
 151         QThread::msleep(2000);
 152
 153         // Ramp down to off pwm out
 154         for (int i = LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i >= OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i -= 10) {
 155             m_outputUtil.setChannelOutputValue(i);
 156             ui->outputLevel->setText(QString(tr("%1 µs")).arg(i));
 157             QApplication::processEvents();
 158             QThread::msleep(200);
 159         }
 160
 161         // Stop output
 162         m_outputUtil.stopChannelOutput();
 163         OutputCalibrationUtil::stopOutputCalibration();
 164
 165         ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
 166         ui->outputHigh->setEnabled(false);
 167         ui->outputLow->setEnabled(true);
 168         ui->nonconnectedLabel->setEnabled(true);
 169         ui->connectedLabel->setEnabled(false);
 170         m_outputChannels.clear();
 171         m_isCalibrating = false;
 172         resetAllSecurityCheckboxes();
 173         enableButtons(true);
 174     }
 175 }
 176
 177 void EscCalibrationPage::securityCheckBoxesToggled()
 178 {
 179     ui->startButton->setEnabled(ui->securityCheckBox1->isChecked() &&
 180                                 ui->securityCheckBox2->isChecked() &&
 181                                 ui->securityCheckBox3->isChecked());
 182 }
 183
 184
 185 void EscCalibrationPage::initializePage()
 186 {
 187     resetAllSecurityCheckboxes();
 188 }