ground/openpilotgcs/src/plugins/hitl/hitloptionspage.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       hitloptionspage.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup HITLPlugin HITL Plugin
   9  * @{
  10  * @brief The Hardware In The Loop plugin
  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 #include "hitloptionspage.h"
  29 #include "hitlconfiguration.h"
  30 #include "ui_hitloptionspage.h"
  31 #include <hitlplugin.h>
  32
  33 #include <QFileDialog>
  34 #include <QtAlgorithms>
  35 #include <QStringList>
  36 #include <simulator.h>
  37
  38
  39 HITLOptionsPage::HITLOptionsPage(HITLConfiguration *conf, QObject *parent) :
  40     IOptionsPage(parent),
  41     config(conf)
  42 {}
  43
  44 QWidget *HITLOptionsPage::createPage(QWidget *parent)
  45 {
  46     Q_UNUSED(parent);
  47
  48     // Create page
  49     m_optionsPage = new Ui::HITLOptionsPage();
  50     QWidget *optionsPageWidget = new QWidget;
  51     m_optionsPage->setupUi(optionsPageWidget);
  52     int index = 0;
  53     foreach(SimulatorCreator * creator, HITLPlugin::typeSimulators) {
  54         m_optionsPage->chooseFlightSimulator->insertItem(index++, creator->Description(), creator->ClassId());
  55     }
  56
  57     // QString classId = widget->listSimulators->itemData(0).toString();
  58     // SimulatorCreator* creator = HITLPlugin::getSimulatorCreator(classId);
  59
  60     // QWidget* embedPage = creator->createOptionsPage();
  61     // m_optionsPage->verticalLayout->addWidget(embedPage);
  62
  63     m_optionsPage->executablePath->setExpectedKind(Utils::PathChooser::File);
  64     m_optionsPage->executablePath->setPromptDialogTitle(tr("Choose flight simulator executable"));
  65     m_optionsPage->dataPath->setExpectedKind(Utils::PathChooser::Directory);
  66     m_optionsPage->dataPath->setPromptDialogTitle(tr("Choose flight simulator data directory"));
  67
  68     // Restore the contents from the settings:
  69     foreach(SimulatorCreator * creator, HITLPlugin::typeSimulators) {
  70         QString id = config->Settings().simulatorId;
  71
  72         if (creator->ClassId() == id) {
  73             m_optionsPage->chooseFlightSimulator->setCurrentIndex(HITLPlugin::typeSimulators.indexOf(creator));
  74         }
  75     }
  76
  77     m_optionsPage->executablePath->setPath(config->Settings().binPath);
  78     m_optionsPage->dataPath->setPath(config->Settings().dataPath);
  79
  80     m_optionsPage->manualControlRadioButton->setChecked(config->Settings().manualControlEnabled);
  81     m_optionsPage->gcsReceiverRadioButton->setChecked(config->Settings().gcsReceiverEnabled);
  82
  83     m_optionsPage->startSim->setChecked(config->Settings().startSim);
  84     m_optionsPage->noiseCheckBox->setChecked(config->Settings().addNoise);
  85
  86     m_optionsPage->hostAddress->setText(config->Settings().hostAddress);
  87     m_optionsPage->remoteAddress->setText(config->Settings().remoteAddress);
  88     m_optionsPage->outputPort->setText(QString::number(config->Settings().outPort));
  89     m_optionsPage->inputPort->setText(QString::number(config->Settings().inPort));
  90     m_optionsPage->latitude->setText(config->Settings().latitude);
  91     m_optionsPage->longitude->setText(config->Settings().longitude);
  92
  93     m_optionsPage->groundTruthCheckbox->setChecked(config->Settings().groundTruthEnabled);
  94     m_optionsPage->gpsPositionCheckbox->setChecked(config->Settings().gpsPositionEnabled);
  95     m_optionsPage->attStateCheckbox->setChecked(config->Settings().attStateEnabled);
  96     m_optionsPage->attRawCheckbox->setChecked(config->Settings().attRawEnabled);
  97
  98
  99     m_optionsPage->attRawRateSpinbox->setValue(config->Settings().attRawRate);
 100     m_optionsPage->gpsPosRateSpinbox->setValue(config->Settings().gpsPosRate);
 101     m_optionsPage->groundTruthRateSpinbox->setValue(config->Settings().groundTruthRate);
 102 // m_optionsPage->attStateRate->setValue(config->Settings().attStateRate);
 103
 104     m_optionsPage->baroAltitudeCheckbox->setChecked(config->Settings().baroSensorEnabled);
 105     m_optionsPage->baroAltRateSpinbox->setValue(config->Settings().baroAltRate);
 106
 107     m_optionsPage->minOutputPeriodSpinbox->setValue(config->Settings().minOutputPeriod);
 108
 109     m_optionsPage->attActHW->setChecked(config->Settings().attActHW);
 110     m_optionsPage->attActCalc->setChecked(config->Settings().attActCalc);
 111     m_optionsPage->attActSim->setChecked(config->Settings().attActSim);
 112
 113     m_optionsPage->airspeedStateCheckbox->setChecked(config->Settings().airspeedStateEnabled);
 114     m_optionsPage->airspeedRateSpinbox->setValue(config->Settings().airspeedStateRate);
 115
 116     return optionsPageWidget;
 117 }
 118
 119 void HITLOptionsPage::apply()
 120 {
 121     SimulatorSettings settings;
 122     int i = m_optionsPage->chooseFlightSimulator->currentIndex();
 123
 124     settings.simulatorId          = m_optionsPage->chooseFlightSimulator->itemData(i).toString();
 125     settings.binPath              = m_optionsPage->executablePath->path();
 126     settings.dataPath             = m_optionsPage->dataPath->path();
 127     settings.startSim             = m_optionsPage->startSim->isChecked();
 128     settings.addNoise             = m_optionsPage->noiseCheckBox->isChecked();
 129     settings.hostAddress          = m_optionsPage->hostAddress->text();
 130     settings.remoteAddress        = m_optionsPage->remoteAddress->text();
 131
 132     settings.inPort = m_optionsPage->inputPort->text().toInt();
 133     settings.outPort              = m_optionsPage->outputPort->text().toInt();
 134     settings.longitude            = m_optionsPage->longitude->text();
 135     settings.latitude             = m_optionsPage->latitude->text();
 136
 137     settings.addNoise             = m_optionsPage->noiseCheckBox->isChecked();
 138
 139     settings.attRawEnabled        = m_optionsPage->attRawCheckbox->isChecked();
 140     settings.attRawRate           = m_optionsPage->attRawRateSpinbox->value();
 141
 142     settings.attStateEnabled      = m_optionsPage->attStateCheckbox->isChecked();
 143
 144     settings.gpsPositionEnabled   = m_optionsPage->gpsPositionCheckbox->isChecked();
 145     settings.gpsPosRate           = m_optionsPage->gpsPosRateSpinbox->value();
 146
 147     settings.groundTruthEnabled   = m_optionsPage->groundTruthCheckbox->isChecked();
 148     settings.groundTruthRate      = m_optionsPage->groundTruthRateSpinbox->value();
 149
 150     settings.baroSensorEnabled    = m_optionsPage->baroAltitudeCheckbox->isChecked();
 151     settings.baroAltRate          = m_optionsPage->baroAltRateSpinbox->value();
 152
 153     settings.minOutputPeriod      = m_optionsPage->minOutputPeriodSpinbox->value();
 154
 155     settings.manualControlEnabled = m_optionsPage->manualControlRadioButton->isChecked();
 156     settings.gcsReceiverEnabled   = m_optionsPage->gcsReceiverRadioButton->isChecked();
 157
 158     settings.attActHW             = m_optionsPage->attActHW->isChecked();
 159     settings.attActSim            = m_optionsPage->attActSim->isChecked();
 160     settings.attActCalc           = m_optionsPage->attActCalc->isChecked();
 161
 162     settings.airspeedStateEnabled = m_optionsPage->airspeedStateCheckbox->isChecked();
 163     settings.airspeedStateRate    = m_optionsPage->airspeedRateSpinbox->value();
 164
 165     // Write settings to file
 166     config->setSimulatorSettings(settings);
 167 }
 168
 169 void HITLOptionsPage::finish()
 170 {
 171     delete m_optionsPage;
 172 }