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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       vehicleconfigurationhelper.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup
   7  * @{
   8  * @addtogroup VehicleConfigurationHelper
   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 #ifndef VEHICLECONFIGURATIONHELPER_H
  29 #define VEHICLECONFIGURATIONHELPER_H
  30
  31 #include <QList>
  32 #include <QPair>
  33 #include "vehicleconfigurationsource.h"
  34 #include "uavobjectmanager.h"
  35 #include "systemsettings.h"
  36 #include "cfg_vehicletypes/vehicleconfig.h"
  37 #include "actuatorsettings.h"
  38
  39 struct mixerChannelSettings {
  40     int type;
  41     int throttle1;
  42     int throttle2;
  43     int roll;
  44     int pitch;
  45     int yaw;
  46
  47     mixerChannelSettings() : type(), throttle1(), throttle2(), roll(), pitch(), yaw() {}
  48
  49     mixerChannelSettings(int t, int th1, int th2, int r, int p, int y)
  50         : type(t), throttle1(th1), throttle2(th2), roll(r), pitch(p), yaw(y) {}
  51 };
  52
  53 class VehicleConfigurationHelper : public QObject {
  54     Q_OBJECT
  55
  56 public:
  57     VehicleConfigurationHelper(VehicleConfigurationSource *configSource);
  58     bool setupVehicle(bool save = true);
  59     bool setupHardwareSettings(bool save = true);
  60     static const qint16 LEGACY_ESC_FREQUENCY    = 50;
  61     static const qint16 RAPID_ESC_FREQUENCY     = 490;
  62     static const qint16 PWMSYNC_ESC_FREQUENCY   = 0;
  63     static const qint16 ONESHOT_ESC_FREQUENCY   = 0;
  64     static const qint16 ANALOG_SERVO_FREQUENCY  = 50;
  65     static const qint16 DIGITAL_SERVO_FREQUENCY = 333;
  66     static const int MIXER_TYPE_NONE = 0;
  67     static const int MIXER_TYPE_MOTOR = 1;
  68     static const int MIXER_TYPE_REVERSABLEMOTOR = 2;
  69     static const int MIXER_TYPE_SERVO = 3;
  70
  71
  72 signals:
  73     void saveProgress(int total, int current, QString description);
  74
  75 private:
  76     static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
  77
  78     VehicleConfigurationSource *m_configSource;
  79     UAVObjectManager *m_uavoManager;
  80
  81     QList<QPair<UAVDataObject *, QString> * > m_modifiedObjects;
  82     void addModifiedObject(UAVDataObject *object, QString description);
  83     void clearModifiedObjects();
  84
  85     void applyHardwareConfiguration();
  86     void applyVehicleConfiguration();
  87     void applyActuatorConfiguration();
  88     void applyFlightModeConfiguration();
  89     void applySensorBiasConfiguration();
  90     void applyStabilizationConfiguration();
  91     void applyManualControlDefaults();
  92     void applyTemplateSettings();
  93
  94     bool isApplicable(UAVObject *dataObj);
  95
  96     void applyMixerConfiguration(mixerChannelSettings channels[]);
  97
  98     GUIConfigDataUnion getGUIConfigData();
  99     void applyMultiGUISettings(SystemSettings::AirframeTypeOptions airframe, GUIConfigDataUnion guiConfig);
 100
 101     bool saveChangesToController(bool save);
 102     QEventLoop m_eventLoop;
 103     bool m_transactionOK;
 104     bool m_transactionTimeout;
 105     int m_currentTransactionObjectID;
 106     int m_progress;
 107
 108     void resetVehicleConfig();
 109     void resetGUIData();
 110
 111     void setupTriCopter();
 112     void setupQuadCopter();
 113     void setupHexaCopter();
 114     void setupOctoCopter();
 115     void setupElevon();
 116     void setupDualAileron();
 117     void setupAileron();
 118     void setupVtail();
 119
 120     void setupCar();
 121     void setupTank();
 122     void setupMotorcycle();
 123
 124 private slots:
 125     void uAVOTransactionCompleted(UAVObject *object, bool success);
 126     void uAVOTransactionCompleted(int oid, bool success);
 127     void saveChangesTimeout();
 128 };
 129
 130 #endif // VEHICLECONFIGURATIONHELPER_H