ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       opmap_edit_waypoint_dialog.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup OPMapPlugin OpenPilot Map Plugin
  10  * @{
  11  * @brief The OpenPilot Map plugin
  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 #include "opmap_edit_waypoint_dialog.h"
  30 #include "ui_opmap_edit_waypoint_dialog.h"
  31 #include "opmapcontrol/opmapcontrol.h"
  32 #include "widgetdelegates.h"
  33 // *********************************************************************
  34
  35 // constructor
  36 opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstractItemModel *model, QItemSelectionModel *selection) :
  37     QWidget(parent, Qt::Window), model(model), itemSelection(selection),
  38     ui(new Ui::opmap_edit_waypoint_dialog)
  39 {
  40     ui->setupUi(this);
  41     ui->pushButtonPrevious->setEnabled(false);
  42     ui->pushButtonNext->setEnabled(false);
  43     connect(ui->checkBoxLocked, SIGNAL(toggled(bool)), this, SLOT(enableEditWidgets(bool)));
  44     connect(ui->cbMode, SIGNAL(currentIndexChanged(int)), this, SLOT(setupModeWidgets()));
  45     connect(ui->cbCondition, SIGNAL(currentIndexChanged(int)), this, SLOT(setupConditionWidgets()));
  46     connect(ui->pushButtonCancel, SIGNAL(clicked()), this, SLOT(pushButtonCancel_clicked()));
  47     MapDataDelegate::loadComboBox(ui->cbMode, flightDataModel::MODE);
  48     MapDataDelegate::loadComboBox(ui->cbCondition, flightDataModel::CONDITION);
  49     MapDataDelegate::loadComboBox(ui->cbCommand, flightDataModel::COMMAND);
  50     mapper = new QDataWidgetMapper(this);
  51
  52     mapper->setItemDelegate(new MapDataDelegate(this));
  53     connect(mapper, SIGNAL(currentIndexChanged(int)), this, SLOT(currentIndexChanged(int)));
  54     mapper->setModel(model);
  55     mapper->setSubmitPolicy(QDataWidgetMapper::AutoSubmit);
  56     mapper->addMapping(ui->checkBoxLocked, flightDataModel::LOCKED);
  57     mapper->addMapping(ui->doubleSpinBoxLatitude, flightDataModel::LATPOSITION);
  58     mapper->addMapping(ui->doubleSpinBoxLongitude, flightDataModel::LNGPOSITION);
  59     mapper->addMapping(ui->doubleSpinBoxAltitude, flightDataModel::ALTITUDE);
  60     mapper->addMapping(ui->lineEditDescription, flightDataModel::WPDESCRITPTION);
  61     mapper->addMapping(ui->checkBoxRelative, flightDataModel::ISRELATIVE);
  62     mapper->addMapping(ui->doubleSpinBoxBearing, flightDataModel::BEARELATIVE);
  63     mapper->addMapping(ui->doubleSpinBoxVelocity, flightDataModel::VELOCITY);
  64     mapper->addMapping(ui->doubleSpinBoxDistance, flightDataModel::DISRELATIVE);
  65     mapper->addMapping(ui->doubleSpinBoxRelativeAltitude, flightDataModel::ALTITUDERELATIVE);
  66     mapper->addMapping(ui->cbMode, flightDataModel::MODE);
  67     mapper->addMapping(ui->dsb_modeParam1, flightDataModel::MODE_PARAMS0);
  68     mapper->addMapping(ui->dsb_modeParam2, flightDataModel::MODE_PARAMS1);
  69     mapper->addMapping(ui->dsb_modeParam3, flightDataModel::MODE_PARAMS2);
  70     mapper->addMapping(ui->dsb_modeParam4, flightDataModel::MODE_PARAMS3);
  71
  72     mapper->addMapping(ui->cbCondition, flightDataModel::CONDITION);
  73     mapper->addMapping(ui->dsb_condParam1, flightDataModel::CONDITION_PARAMS0);
  74     mapper->addMapping(ui->dsb_condParam2, flightDataModel::CONDITION_PARAMS1);
  75     mapper->addMapping(ui->dsb_condParam3, flightDataModel::CONDITION_PARAMS2);
  76     mapper->addMapping(ui->dsb_condParam4, flightDataModel::CONDITION_PARAMS0);
  77
  78     mapper->addMapping(ui->cbCommand, flightDataModel::COMMAND);
  79     mapper->addMapping(ui->sbJump, flightDataModel::JUMPDESTINATION);
  80     mapper->addMapping(ui->sbError, flightDataModel::ERRORDESTINATION);
  81     connect(itemSelection, SIGNAL(currentRowChanged(QModelIndex, QModelIndex)), this, SLOT(currentRowChanged(QModelIndex, QModelIndex)));
  82
  83     ui->descriptionCommandLabel->setText(tr("<p>The Command specifies the transition to the next state (aka waypoint), as well as when it "
  84                                             "is to be executed. This command will always switch to another waypoint instantly, but which waypoint depends on the Condition.</p>"
  85                                             "<p>The JumpDestination is the waypoint to jump to in unconditional or conditional jumps.</p>"));
  86
  87     ui->descriptionErrorDestinationLabel->setText(tr("<p>The ErrorDestination is special; it allows exception handling based on the PathFollower. "
  88                                                      "If the PathFollower indicates that it is unable to execute Mode, it indicates this error in the PathStatus UAVObject. "
  89                                                      "If that happens, then the sequence of waypoints is interrupted and the waypoint in ErrorDestination becomes the Active Waypoint. "
  90                                                      "A thinkable use case for this functionality would be to steer towards a safe emergency landing site if the engine fails.</p>"));
  91 }
  92
  93 void opmap_edit_waypoint_dialog::currentIndexChanged(int index)
  94 {
  95     ui->lbNumber->setText(QString::number(index + 1));
  96     ui->wpNumberSpinBox->setValue(index + 1);
  97
  98     bool isMin = (index == 0);
  99     bool isMax = ((index + 1) == mapper->model()->rowCount());
 100     ui->pushButtonPrevious->setEnabled(!isMin);
 101     ui->pushButtonNext->setEnabled(!isMax);
 102
 103     QModelIndex idx = mapper->model()->index(index, 0);
 104     if (index == itemSelection->currentIndex().row()) {
 105         return;
 106     }
 107     itemSelection->clear();
 108     itemSelection->setCurrentIndex(idx, QItemSelectionModel::Select | QItemSelectionModel::Rows);
 109 }
 110
 111 opmap_edit_waypoint_dialog::~opmap_edit_waypoint_dialog()
 112 {
 113     delete ui;
 114 }
 115
 116 void opmap_edit_waypoint_dialog::setupModeWidgets()
 117 {
 118     MapDataDelegate::ModeOptions mode = (MapDataDelegate::ModeOptions)ui->cbMode->itemData(ui->cbMode->currentIndex()).toInt();
 119
 120     ui->modeParam1->setText("");
 121     ui->modeParam2->setText("");
 122     ui->modeParam3->setText("");
 123     ui->modeParam4->setText("");
 124     ui->modeParam1->setEnabled(false);
 125     ui->modeParam2->setEnabled(false);
 126     ui->modeParam3->setEnabled(false);
 127     ui->modeParam4->setEnabled(false);
 128     ui->dsb_modeParam1->setEnabled(false);
 129     ui->dsb_modeParam2->setEnabled(false);
 130     ui->dsb_modeParam3->setEnabled(false);
 131     ui->dsb_modeParam4->setEnabled(false);
 132
 133     switch (mode) {
 134     case MapDataDelegate::MODE_GOTOENDPOINT:
 135         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will try to hold position at a fixed end-coordinate. "
 136                                              "If elsewhere, the craft will steer towards the coordinate but not "
 137                                              "necessarily in a straight line as drift will not be compensated.</p>"));
 138         break;
 139     case MapDataDelegate::MODE_FOLLOWVECTOR:
 140         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to stay on a defined trajectory from the previous waypoint "
 141                                              "to the current one. Any deviation from this path, for example by wind, will be corrected. "
 142                                              "This is the best and obvious choice for direct straight-line (rhumb line) navigation in any vehicle.</p>"));
 143         break;
 144     case MapDataDelegate::MODE_CIRCLERIGHT:
 145         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
 146                                              "The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
 147                                              "of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
 148                                              "will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
 149                                              "loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
 150                                              "to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
 151                                              "turns in flight paths.</p>"));
 152         break;
 153     case MapDataDelegate::MODE_CIRCLELEFT:
 154         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
 155                                              "The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
 156                                              "of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
 157                                              "will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
 158                                              "loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
 159                                              "to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
 160                                              "turns in flight paths.</p>"));
 161         break;
 162     case MapDataDelegate::MODE_DISARMALARM:
 163         ui->descriptionModeLabel->setText(tr("<p>The Autopilot is instructed to force a CRITICAL PathFollower alarm. A PathFollower alarm of type CRITICAL "
 164                                              "is supposed to automatically set the vehicle to DISARMED and thus disable the engines, cut fuel supply, ...</p><p>"
 165                                              "The PathFollower can do this during any mode in case of emergency, but through this mode the PathPlanner "
 166                                              "can force this behavior, for example after a landing.</p>"));
 167         break;
 168     case MapDataDelegate::MODE_AUTOTAKEOFF:
 169         // FixedWing do not use parameters, vertical velocity can be set for multirotors as param0
 170         ui->modeParam1->setText("Speed (m/s):");
 171         ui->modeParam1->setEnabled(true);
 172         ui->dsb_modeParam1->setEnabled(true);
 173         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated takeoff sequence. "
 174                                              "Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
 175                                              "a vertical climb for a multirotor.</p>"
 176                                              "<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
 177         break;
 178     case MapDataDelegate::MODE_LAND:
 179         // FixedWing do not use parameters, vertical velocity can be set for multirotors as param0 (0.1/0.6m/s range)
 180         ui->modeParam1->setText("Speed (m/s):");
 181         ui->modeParam1->setEnabled(true);
 182         ui->dsb_modeParam1->setEnabled(true);
 183         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated landing sequence. "
 184                                              "Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
 185                                              "a vertical descent for a multirotor.</p>"
 186                                              "<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
 187         break;
 188     case MapDataDelegate::MODE_BRAKE:
 189         ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to slow down the velocity.</p>"));
 190         break;
 191     case MapDataDelegate::MODE_VELOCITY:
 192         ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to maintain a velocity in 3D space.</p>"));
 193         break;
 194     case MapDataDelegate::MODE_FIXEDATTITUDE:
 195         ui->modeParam1->setText("Roll:");
 196         ui->modeParam2->setText("Pitch:");
 197         ui->modeParam3->setText("Yaw:");
 198         ui->modeParam4->setText("Thrust:");
 199         ui->modeParam1->setEnabled(true);
 200         ui->modeParam2->setEnabled(true);
 201         ui->modeParam3->setEnabled(true);
 202         ui->modeParam4->setEnabled(true);
 203         ui->dsb_modeParam1->setEnabled(true);
 204         ui->dsb_modeParam2->setEnabled(true);
 205         ui->dsb_modeParam3->setEnabled(true);
 206         ui->dsb_modeParam4->setEnabled(true);
 207         ui->descriptionModeLabel->setText(tr("<p>The Autopilot will play dumb and simply instruct the Stabilization Module to assume a certain Roll, Pitch angle "
 208                                              "and optionally a Yaw rotation rate and Thrust setting. This allows for very simple auto-takeoff and "
 209                                              "auto-landing maneuvers.</p>"
 210                                              "<p>Roll(+-180°) and Pitch (+-90°) angles in degrees</p>"
 211                                              "<p>Yaw rate in deg/s</p>"
 212                                              "<p>Thrust from 0 to 1</p>"));
 213         break;
 214     case MapDataDelegate::MODE_SETACCESSORY:
 215         ui->modeParam1->setText("Acc.channel:");
 216         ui->modeParam2->setText("Value:");
 217         ui->modeParam1->setEnabled(true);
 218         ui->modeParam2->setEnabled(true);
 219         ui->dsb_modeParam1->setEnabled(true);
 220         ui->dsb_modeParam2->setEnabled(true);
 221         ui->descriptionModeLabel->setText(tr("<p>Not yet implemented.</p>"));
 222         // ui->descriptionModeLabel->setText(tr("<p>In this mode, the PathFollower is supposed to inject a specific value (-1|0|+1 range) into an AccessoryDesired channel. "
 223         // "This would allow one to control arbitrary auxilliary components from the PathPlanner like flaps and landing gear.</p>"));
 224         break;
 225     default:
 226         ui->descriptionModeLabel->setText(tr(""));
 227         break;
 228     }
 229 }
 230
 231 void opmap_edit_waypoint_dialog::setupConditionWidgets()
 232 {
 233     MapDataDelegate::EndConditionOptions mode = (MapDataDelegate::EndConditionOptions)ui->cbCondition->itemData(ui->cbCondition->currentIndex()).toInt();
 234
 235     ui->condParam1->setText("");
 236     ui->condParam2->setText("");
 237     ui->condParam3->setText("");
 238     ui->condParam4->setText("");
 239     ui->condParam1->setEnabled(false);
 240     ui->condParam2->setEnabled(false);
 241     ui->condParam3->setEnabled(false);
 242     ui->condParam4->setEnabled(false);
 243     ui->dsb_condParam1->setEnabled(false);
 244     ui->dsb_condParam2->setEnabled(false);
 245     ui->dsb_condParam3->setEnabled(false);
 246     ui->dsb_condParam4->setEnabled(false);
 247
 248     switch (mode) {
 249     case MapDataDelegate::ENDCONDITION_NONE:
 250         ui->descriptionConditionLabel->setText(tr("<p>This condition is always false. A WaypointAction with EndCondition to None will stay in "
 251                                                   "its mode until forever, or until an Error in the PathFollower triggers the ErrorJump. (For example out of fuel!)</p>"));
 252         break;
 253     case MapDataDelegate::ENDCONDITION_IMMEDIATE:
 254         ui->descriptionConditionLabel->setText(tr("<p>Opposite to the None condition, the immediate condition is always true.</p>"));
 255         break;
 256     case MapDataDelegate::ENDCONDITION_PYTHONSCRIPT:
 257         ui->descriptionConditionLabel->setText(tr("<p>Not yet implemented.</p>"));
 258         break;
 259     case MapDataDelegate::ENDCONDITION_TIMEOUT:
 260         ui->condParam1->setEnabled(true);
 261         ui->dsb_condParam1->setEnabled(true);
 262         ui->condParam1->setText("Timeout (s)");
 263         ui->descriptionConditionLabel->setText(tr("<p>The Timeout condition measures time this waypoint is active (in seconds).</p>"));
 264         break;
 265     case MapDataDelegate::ENDCONDITION_DISTANCETOTARGET:
 266         ui->condParam1->setEnabled(true);
 267         ui->condParam2->setEnabled(true);
 268         ui->dsb_condParam1->setEnabled(true);
 269         ui->dsb_condParam2->setEnabled(true);
 270         ui->condParam1->setText("Distance (m):");
 271         ui->condParam2->setText("Flag:");
 272         ui->descriptionConditionLabel->setText(tr("<p>The DistanceToTarget condition measures the distance to a waypoint, returns true if closer.</p>"
 273                                                   "<p>Flag: <b>0</b>= 2D distance, <b>1</b>= 3D distance</p>"));
 274         break;
 275     case MapDataDelegate::ENDCONDITION_LEGREMAINING:
 276         ui->condParam1->setEnabled(true);
 277         ui->dsb_condParam1->setEnabled(true);
 278         ui->condParam1->setText("Relative Distance:");
 279         ui->descriptionConditionLabel->setText(tr("<p>The LegRemaining condition measures how far the pathfollower got on a linear path segment, returns true "
 280                                                   "if closer to destination(path more complete).</p>"
 281                                                   "<p><b>0</b>=complete, <b>1</b>=just starting</p>"));
 282         break;
 283     case MapDataDelegate::ENDCONDITION_BELOWERROR:
 284         ui->condParam1->setEnabled(true);
 285         ui->dsb_condParam1->setEnabled(true);
 286         ui->condParam1->setText("Error margin (m):");
 287         ui->descriptionConditionLabel->setText(tr("<p>The BelowError condition measures the error on a path segment, returns true if error is below margin in meters.</p>"));
 288         break;
 289     case MapDataDelegate::ENDCONDITION_ABOVEALTITUDE:
 290         ui->condParam1->setEnabled(true);
 291         ui->dsb_condParam1->setEnabled(true);
 292         ui->condParam1->setText("Altitude (m):");
 293         ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if "
 294                                                   "above critical altitude.</p><p><b>WARNING!</b> altitudes set here are always <b>negative</b> if above Home. (down coordinate)</p>"));
 295         break;
 296     case MapDataDelegate::ENDCONDITION_ABOVESPEED:
 297         ui->condParam1->setEnabled(true);
 298         ui->condParam2->setEnabled(true);
 299         ui->dsb_condParam1->setEnabled(true);
 300         ui->dsb_condParam2->setEnabled(true);
 301         ui->condParam1->setText("Speed (m/s):");
 302         ui->condParam2->setText("Flag:");
 303         ui->descriptionConditionLabel->setText(tr("<p>The AboveSpeed measures the movement speed(3D), returns true if above critical speed</p>"
 304                                                   "<p>Speed in meters / second</p>"
 305                                                   "<p>Flag: <b>0</b>= groundspeed <b>1</b>= airspeed</p>"));
 306         break;
 307     case MapDataDelegate::ENDCONDITION_POINTINGTOWARDSNEXT:
 308         ui->condParam1->setEnabled(true);
 309         ui->dsb_condParam1->setEnabled(true);
 310         ui->condParam1->setText("Degrees:");
 311         ui->descriptionConditionLabel->setText(tr("<p>The PointingTowardsNext condition measures the horizontal movement vector direction relative "
 312                                                   "to the next waypoint regardless whether this waypoint will ever be active "
 313                                                   "(Command could jump to a different waypoint on true).</p><p>This is useful for curve segments where "
 314                                                   "the craft should stop circling when facing a certain way(usually the next waypoint), "
 315                                                   "returns true if within a certain angular margin in degrees.</p>"));
 316         break;
 317     default:
 318         ui->descriptionConditionLabel->setText(tr(""));
 319         break;
 320     }
 321 }
 322
 323 void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint_item)
 324 {
 325     if (!waypoint_item) {
 326         return;
 327     }
 328     if (!isVisible()) {
 329         show();
 330     }
 331     if (isMinimized()) {
 332         showNormal();
 333     }
 334     if (!isActiveWindow()) {
 335         activateWindow();
 336     }
 337     raise();
 338     setFocus(Qt::OtherFocusReason);
 339     mapper->setCurrentIndex(waypoint_item->Number());
 340 }
 341
 342 void opmap_edit_waypoint_dialog::on_pushButtonOK_clicked()
 343 {
 344     mapper->submit();
 345     close();
 346 }
 347
 348 void opmap_edit_waypoint_dialog::pushButtonCancel_clicked()
 349 {
 350     mapper->revert();
 351     close();
 352 }
 353
 354 void opmap_edit_waypoint_dialog::on_pushButtonPrevious_clicked()
 355 {
 356     mapper->toPrevious();
 357 }
 358
 359 void opmap_edit_waypoint_dialog::on_pushButtonNext_clicked()
 360 {
 361     mapper->toNext();
 362 }
 363
 364 void opmap_edit_waypoint_dialog::on_pushButtonApply_clicked()
 365 {
 366     mapper->submit();
 367 }
 368
 369 void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
 370 {
 371     QWidget *w;
 372
 373     foreach(QWidget * obj, this->findChildren<QWidget *>()) {
 374         w = qobject_cast<QComboBox *>(obj);
 375         if (w) {
 376             w->setEnabled(!value);
 377         }
 378         w = qobject_cast<QLineEdit *>(obj);
 379         if (w) {
 380             w->setEnabled(!value);
 381         }
 382         w = qobject_cast<QDoubleSpinBox *>(obj);
 383         if (w) {
 384             w->setEnabled(!value);
 385         }
 386         w = qobject_cast<QCheckBox *>(obj);
 387         if (w && w != ui->checkBoxLocked) {
 388             w->setEnabled(!value);
 389         }
 390         w = qobject_cast<QSpinBox *>(obj);
 391         if (w) {
 392             w->setEnabled(!value);
 393         }
 394     }
 395 }
 396
 397 void opmap_edit_waypoint_dialog::currentRowChanged(QModelIndex current, QModelIndex previous)
 398 {
 399     Q_UNUSED(previous);
 400
 401     mapper->setCurrentIndex(current.row());
 402 }