ground/gcs/src/plugins/config/configcamerastabilizationwidget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configcamerastabilizationwidget.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011-2012.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief The Configuration Gadget used to update settings in the firmware
  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 /*
  30  * IMPORTANT: This module is meant to be a reference implementation which
  31  * demostrates the use of ConfigTaskWidget API for widgets which are not directly
  32  * related to UAVObjects. It contains a lot of comments including some commented
  33  * out code samples. Please DO NOT COPY/PASTE them into any other module based
  34  * on this.
  35  */
  36
  37 #include "configcamerastabilizationwidget.h"
  38
  39 #include "ui_camerastabilization.h"
  40
  41 #include <extensionsystem/pluginmanager.h>
  42 #include <coreplugin/generalsettings.h>
  43
  44 #include "camerastabsettings.h"
  45 #include "hwsettings.h"
  46 #include "mixersettings.h"
  47 #include "actuatorcommand.h"
  48
  49 ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
  50 {
  51     ui = new Ui_CameraStabilizationWidget();
  52     ui->setupUi(this);
  53
  54     addApplySaveButtons(ui->camerastabilizationSaveRAM, ui->camerastabilizationSaveSD);
  55
  56     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  57     Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
  58     if (!settings->useExpertMode()) {
  59         ui->camerastabilizationSaveRAM->setVisible(false);
  60     }
  61
  62
  63     // These widgets don't have direct relation to UAVObjects
  64     // and need special processing
  65     QComboBox *outputs[] = {
  66         ui->rollChannel,
  67         ui->pitchChannel,
  68         ui->yawChannel,
  69     };
  70     const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
  71
  72     // Populate widgets with channel numbers
  73     for (int i = 0; i < NUM_OUTPUTS; i++) {
  74         outputs[i]->clear();
  75         outputs[i]->addItem("None");
  76         for (quint32 j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++) {
  77             outputs[i]->addItem(QString("Channel %1").arg(j + 1));
  78         }
  79     }
  80
  81     setWikiURL("Camera+Stabilisation+Configuration");
  82     // Load UAVObjects to widget relations from UI file
  83     // using objrelation dynamic property
  84     autoLoadWidgets();
  85
  86     // Add some widgets to track their UI dirty state and handle smartsave
  87     addWidget(ui->enableCameraStabilization);
  88     addWidget(ui->rollChannel);
  89     addWidget(ui->pitchChannel);
  90     addWidget(ui->yawChannel);
  91
  92     // Add some UAVObjects to monitor their changes in addition to autoloaded ones.
  93     // Note also that we want to reload some UAVObjects by "Reload" button and have
  94     // to pass corresponding reload group numbers (defined also in objrelation property)
  95     // to the montitor. We don't reload HwSettings (module enable state) but reload
  96     // output channels.
  97     QList<int> reloadGroups;
  98     reloadGroups << 1;
  99     addUAVObject("HwSettings");
 100     addUAVObject("MixerSettings", &reloadGroups);
 101
 102     // To set special widgets to defaults when requested
 103     connect(this, SIGNAL(defaultRequested(int)), this, SLOT(defaultRequestedSlot(int)));
 104
 105     disableMouseWheelEvents();
 106     updateEnableControls();
 107 }
 108
 109 ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
 110 {
 111     // Do nothing
 112 }
 113
 114 /*
 115  * This overridden function refreshes widgets which have no direct relation
 116  * to any of UAVObjects. It saves their dirty state first because update comes
 117  * from UAVObjects, and then restores it. Aftewards it calls base class
 118  * function to take care of other widgets which were dynamically added.
 119  */
 120 void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
 121 {
 122     bool dirty = isDirty();
 123
 124     // Set module enable checkbox from OptionalModules UAVObject item.
 125     // It needs special processing because ConfigTaskWidget uses TRUE/FALSE
 126     // for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
 127     HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
 128     HwSettings::DataFields hwSettingsData = hwSettings->getData();
 129
 130     ui->enableCameraStabilization->setChecked(
 131         hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED);
 132
 133     // Load mixer outputs which are mapped to camera controls
 134     MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
 135     MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
 136
 137     // TODO: Need to reformat object so types are an
 138     // array themselves.  This gets really awkward
 139     quint8 *mixerTypes[] = {
 140         &mixerSettingsData.Mixer1Type,
 141         &mixerSettingsData.Mixer2Type,
 142         &mixerSettingsData.Mixer3Type,
 143         &mixerSettingsData.Mixer4Type,
 144         &mixerSettingsData.Mixer5Type,
 145         &mixerSettingsData.Mixer6Type,
 146         &mixerSettingsData.Mixer7Type,
 147         &mixerSettingsData.Mixer8Type,
 148         &mixerSettingsData.Mixer9Type,
 149         &mixerSettingsData.Mixer10Type,
 150     };
 151     const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
 152
 153     QComboBox *outputs[] = {
 154         ui->rollChannel,
 155         ui->pitchChannel,
 156         ui->yawChannel
 157     };
 158     const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
 159
 160     for (int i = 0; i < NUM_OUTPUTS; i++) {
 161         // Default to none if not found.
 162         // Then search for any mixer channels set to this
 163         outputs[i]->setCurrentIndex(0);
 164         for (int j = 0; j < NUM_MIXERS; j++) {
 165             if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) &&
 166                 outputs[i]->currentIndex() != (j + 1)) {
 167                 outputs[i]->setCurrentIndex(j + 1);
 168             }
 169         }
 170     }
 171
 172     setDirty(dirty);
 173
 174     ConfigTaskWidget::refreshWidgetsValues(obj);
 175 }
 176
 177 /*
 178  * This overridden function updates UAVObjects which have no direct relation
 179  * to any of widgets. Aftewards it calls base class function to take care of
 180  * other object to widget relations which were dynamically added.
 181  */
 182 void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
 183 {
 184     // Save state of the module enable checkbox first.
 185     // Do not use setData() member on whole object, if possible, since it triggers
 186     // unnessesary UAVObect update.
 187     quint8 enableModule    = ui->enableCameraStabilization->isChecked() ?
 188                              HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
 189     HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
 190
 191     hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_CAMERASTAB, enableModule);
 192
 193     // Update mixer channels which were mapped to camera outputs in case they are
 194     // not used for other function yet
 195     MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
 196     MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
 197
 198     // TODO: Need to reformat object so types are an
 199     // array themselves.  This gets really awkward
 200     quint8 *mixerTypes[] = {
 201         &mixerSettingsData.Mixer1Type,
 202         &mixerSettingsData.Mixer2Type,
 203         &mixerSettingsData.Mixer3Type,
 204         &mixerSettingsData.Mixer4Type,
 205         &mixerSettingsData.Mixer5Type,
 206         &mixerSettingsData.Mixer6Type,
 207         &mixerSettingsData.Mixer7Type,
 208         &mixerSettingsData.Mixer8Type,
 209         &mixerSettingsData.Mixer9Type,
 210         &mixerSettingsData.Mixer10Type,
 211     };
 212     const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
 213
 214     QComboBox *outputs[] = {
 215         ui->rollChannel,
 216         ui->pitchChannel,
 217         ui->yawChannel
 218     };
 219     const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
 220
 221     ui->message->setText("");
 222     bool widgetUpdated;
 223     do {
 224         widgetUpdated = false;
 225
 226         for (int i = 0; i < NUM_OUTPUTS; i++) {
 227             // Channel 1 is second entry, so becomes zero
 228             int mixerNum = outputs[i]->currentIndex() - 1;
 229
 230             if ((mixerNum >= 0) && // Short circuit in case of none
 231                 (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED) &&
 232                 (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i)) {
 233                 // If the mixer channel already mapped to something, it should not be
 234                 // used for camera output, we reset it to none
 235                 outputs[i]->setCurrentIndex(0);
 236                 ui->message->setText("One of the channels is already assigned, reverted to none");
 237
 238                 // Loop again or we may have inconsistent widget and UAVObject
 239                 widgetUpdated = true;
 240             } else {
 241                 // Make sure no other channels have this output set
 242                 for (int j = 0; j < NUM_MIXERS; j++) {
 243                     if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i)) {
 244                         *mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
 245                     }
 246                 }
 247
 248                 // If this channel is assigned to one of the outputs that is not disabled
 249                 // set it
 250                 if ((mixerNum >= 0) && (mixerNum < NUM_MIXERS)) {
 251                     *mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i;
 252                 }
 253             }
 254         }
 255     } while (widgetUpdated);
 256
 257     // FIXME: Should not use setData() to prevent double updates.
 258     // It should be refactored after the reformatting of MixerSettings UAVObject.
 259     mixerSettings->setData(mixerSettingsData);
 260
 261     ConfigTaskWidget::updateObjectsFromWidgets();
 262 }
 263
 264 /*
 265  * This slot function is called when "Default" button is clicked.
 266  * All special widgets which belong to the group passed should be set here.
 267  */
 268 void ConfigCameraStabilizationWidget::defaultRequestedSlot(int group)
 269 {
 270     Q_UNUSED(group);
 271
 272     // Here is the example of how to reset the state of QCheckBox. It is
 273     // commented out because we normally don't want to reset the module
 274     // enable state to default "disabled" (or we don't care about values at all).
 275     // But if you want, you could use the dirtyClone() function to get default
 276     // values of an object and then use them to set a widget state.
 277     //
 278     // HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
 279     // HwSettings *hwSettingsDefault=(HwSettings*)hwSettings->dirtyClone();
 280     // HwSettings::DataFields hwSettingsData = hwSettingsDefault->getData();
 281     // m_camerastabilization->enableCameraStabilization->setChecked(
 282     // hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED);
 283
 284     // For outputs we set them all to none, so don't use any UAVObject to get defaults
 285     QComboBox *outputs[] = {
 286         ui->rollChannel,
 287         ui->pitchChannel,
 288         ui->yawChannel,
 289     };
 290     const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
 291
 292     for (int i = 0; i < NUM_OUTPUTS; i++) {
 293         outputs[i]->setCurrentIndex(0);
 294     }
 295 }