ground/gcs/src/plugins/config/configinputwidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configservowidget.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief Servo input/output configuration panel for the config gadget
  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 #ifndef CONFIGINPUTWIDGET_H
  29 #define CONFIGINPUTWIDGET_H
  30
  31 #include "uavobjectwidgetutils/configtaskwidget.h"
  32 #include "extensionsystem/pluginmanager.h"
  33 #include "uavobjectmanager.h"
  34 #include "uavobject.h"
  35
  36 #include "manualcontrolcommand.h"
  37 #include "manualcontrolsettings.h"
  38 #include "actuatorsettings.h"
  39 #include "mixersettings.h"
  40 #include "flightmodesettings.h"
  41 #include "receiveractivity.h"
  42 #include "flightstatus.h"
  43 #include "accessorydesired.h"
  44 #include "systemsettings.h"
  45
  46 #include <QPointer>
  47 #include <QWidget>
  48 #include <QList>
  49 #include <QTimer>
  50
  51 class Ui_InputWidget;
  52 class Ui_InputWizardWidget;
  53
  54 class QEventLoop;
  55 class QSvgRenderer;
  56 class QGraphicsSvgItem;
  57 class QGraphicsSimpleTextItem;
  58
  59 class ConfigInputWidget : public ConfigTaskWidget {
  60     Q_OBJECT
  61 public:
  62     ConfigInputWidget(QWidget *parent = 0);
  63     ~ConfigInputWidget();
  64     enum wizardSteps { wizardWelcome, wizardChooseMode, wizardChooseType, wizardIdentifySticks, wizardIdentifyCenter, wizardIdentifyLimits, wizardIdentifyInverted, wizardFinish, wizardNone };
  65     enum txMode { mode1, mode2, mode3, mode4 };
  66     enum txMovements { moveLeftVerticalStick, moveRightVerticalStick, moveLeftHorizontalStick, moveRightHorizontalStick, moveAccess0, moveAccess1, moveAccess2, moveAccess3, moveFlightMode, centerAll, moveAll, nothing };
  67     enum txMovementType { vertical, horizontal, jump, mix };
  68     enum txType { acro, heli, ground };
  69     void startInputWizard()
  70     {
  71         goToWizard();
  72     }
  73     void enableControls(bool enable);
  74     bool shouldObjectBeSaved(UAVObject *object);
  75
  76 private:
  77     bool throttleError;
  78     bool growing;
  79     bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
  80     txMovements currentMovement;
  81     int movePos;
  82     void setTxMovement(txMovements movement);
  83     Ui_InputWidget *ui;
  84     Ui_InputWizardWidget *wizardUi;
  85
  86     wizardSteps wizardStep;
  87     QList<QPointer<QWidget> > extraWidgets;
  88     txMode transmitterMode;
  89     txType transmitterType;
  90     struct channelsStruct {
  91         bool operator ==(const channelsStruct & rhs) const
  92         {
  93             return (group == rhs.group) && (number == rhs.number);
  94         }
  95         bool operator !=(const channelsStruct & rhs)  const
  96         {
  97             return !operator==(rhs);
  98         }
  99         int group;
 100         int number;
 101         int channelIndex;
 102     } lastChannel;
 103     channelsStruct currentChannel;
 104     QList<channelsStruct> usedChannels;
 105     bool channelDetected;
 106     QEventLoop *loop;
 107     bool skipflag;
 108
 109     // Variables to support delayed transitions when detecting input controls.
 110     QTimer nextDelayedTimer;
 111     int nextDelayedTick;
 112     int nextDelayedLatestActivityTick;
 113
 114     int currentChannelNum;
 115     QList<int> heliChannelOrder;
 116     QList<int> acroChannelOrder;
 117     QList<int> groundChannelOrder;
 118
 119     uint16_t flightModeSignalValue[FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM];
 120
 121     UAVObject::Metadata manualControlMdata;
 122     ManualControlCommand *manualCommandObj;
 123     ManualControlCommand::DataFields manualCommandData;
 124
 125     FlightStatus *flightStatusObj;
 126     FlightStatus::DataFields flightStatusData;
 127
 128     UAVObject::Metadata accessoryDesiredMdata0;
 129     AccessoryDesired *accessoryDesiredObj0;
 130     AccessoryDesired *accessoryDesiredObj1;
 131     AccessoryDesired *accessoryDesiredObj2;
 132     AccessoryDesired *accessoryDesiredObj3;
 133
 134     ManualControlSettings *manualSettingsObj;
 135     ManualControlSettings::DataFields manualSettingsData;
 136
 137     ActuatorSettings *actuatorSettingsObj;
 138     ActuatorSettings::DataFields actuatorSettingsData;
 139
 140     FlightModeSettings *flightModeSettingsObj;
 141     FlightModeSettings::DataFields flightModeSettingsData;
 142     ReceiverActivity *receiverActivityObj;
 143     ReceiverActivity::DataFields receiverActivityData;
 144
 145     SystemSettings *systemSettingsObj;
 146     SystemSettings::DataFields systemSettingsData;
 147
 148     typedef struct {
 149         ManualControlSettings::DataFields manualSettingsData;
 150         ActuatorSettings::DataFields actuatorSettingsData;
 151         FlightModeSettings::DataFields    flightModeSettingsData;
 152         SystemSettings::DataFields systemSettingsData;
 153     } Memento;
 154     Memento memento;
 155
 156     QSvgRenderer *m_renderer;
 157
 158     // Background: background
 159     QGraphicsSvgItem *m_txMainBody;
 160     QGraphicsSvgItem *m_txLeftStick;
 161     QGraphicsSvgItem *m_txRightStick;
 162     QGraphicsSvgItem *m_txAccess0;
 163     QGraphicsSvgItem *m_txAccess1;
 164     QGraphicsSvgItem *m_txAccess2;
 165     QGraphicsSvgItem *m_txAccess3;
 166     QGraphicsSvgItem *m_txFlightMode;
 167     QGraphicsSvgItem *m_txFlightModeCountBG;
 168     QGraphicsSimpleTextItem *m_txFlightModeCountText;
 169     QGraphicsSvgItem *m_txBackground;
 170     QGraphicsSvgItem *m_txArrows;
 171     QTransform m_txLeftStickOrig;
 172     QTransform m_txRightStickOrig;
 173     QTransform m_txAccess0Orig;
 174     QTransform m_txAccess1Orig;
 175     QTransform m_txAccess2Orig;
 176     QTransform m_txAccess3Orig;
 177     QTransform m_txFlightModeCOrig;
 178     QTransform m_txFlightModeLOrig;
 179     QTransform m_txFlightModeROrig;
 180     QTransform m_txFlightModeCountBGOrig;
 181     QTransform m_txFlightModeCountTextOrig;
 182     QTransform m_txMainBodyOrig;
 183     QTransform m_txArrowsOrig;
 184     QTimer *animate;
 185     void resetTxControls();
 186     void setMoveFromCommand(int command);
 187
 188     void fastMdata();
 189     void restoreMdata();
 190
 191     void setChannel(int);
 192     void nextChannel();
 193     void prevChannel();
 194
 195     void wizardSetUpStep(enum wizardSteps);
 196     void wizardTearDownStep(enum wizardSteps);
 197
 198     void registerControlActivity();
 199
 200     void wzNextDelayedStart();
 201     void wzNextDelayedCancel();
 202
 203     AccessoryDesired *getAccessoryDesiredInstance(int instance);
 204     float getAccessoryDesiredValue(int instance);
 205
 206     void highlightStabilizationMode(int pos);
 207
 208 private slots:
 209     void wzNext();
 210     void wzNextDelayed();
 211     void wzBack();
 212     void wzCancel();
 213     void goToWizard();
 214     void disableWizardButton(int);
 215     void openHelp();
 216     void identifyControls();
 217     void identifyLimits();
 218     void moveTxControls();
 219     void moveSticks();
 220     void dimOtherControls(bool value);
 221     void moveFMSlider();
 222     void updatePositionSlider();
 223     void updateConfigAlarmStatus();
 224     void invertControls();
 225     void simpleCalibration(bool state);
 226     void adjustSpecialNeutrals();
 227     void checkThrottleRange();
 228     void updateCalibration();
 229     void resetChannelSettings();
 230     void resetFlightModeSettings();
 231     void resetActuatorSettings();
 232     void forceOneFlightMode();
 233
 234     void failsafeFlightModeChanged(int index);
 235     void failsafeFlightModeCbToggled(bool checked);
 236     void enableControlsChanged(bool enabled);
 237
 238 protected:
 239     void resizeEvent(QResizeEvent *event);
 240     void buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits);
 241 };
 242
 243 #endif // ifndef CONFIGINPUTWIDGET_H