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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configstabilizationwidget.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup ConfigPlugin Config Plugin
   9  * @{
  10  * @brief Stabilization configuration panel
  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 #ifndef CONFIGSTABILIZATIONWIDGET_H
  28 #define CONFIGSTABILIZATIONWIDGET_H
  29
  30 #include "../uavobjectwidgetutils/configtaskwidget.h"
  31 #include "extensionsystem/pluginmanager.h"
  32 #include "uavobjectmanager.h"
  33 #include "uavobject.h"
  34
  35 #include "stabilizationsettings.h"
  36
  37 #include "qwt/src/qwt_plot_curve.h"
  38 #include "qwt/src/qwt_plot_grid.h"
  39
  40 #include <QTimer>
  41 #include <QSignalMapper>
  42
  43 class Ui_StabilizationWidget;
  44
  45 class QWidget;
  46 class QTabBar;
  47
  48 class ConfigStabilizationWidget : public ConfigTaskWidget {
  49     Q_OBJECT
  50
  51 public:
  52     ConfigStabilizationWidget(QWidget *parent = 0);
  53     ~ConfigStabilizationWidget();
  54     bool shouldObjectBeSaved(UAVObject *object);
  55
  56 private:
  57     Ui_StabilizationWidget *ui;
  58     QTimer *realtimeUpdates;
  59     QList<QTabBar *> m_stabTabBars;
  60     QString m_stabilizationObjectsString;
  61
  62     // Milliseconds between automatic 'Instant Updates'
  63     static const int AUTOMATIC_UPDATE_RATE   = 500;
  64
  65     static const int EXPO_CURVE_POINTS_COUNT = 100;
  66     constexpr static const double EXPO_CURVE_CONSTANT = 1.00695;
  67
  68     int boardModel;
  69     int m_stabSettingsBankCount;
  70     int m_currentStabSettingsBank;
  71
  72     QwtPlotCurve m_expoPlotCurveRoll;
  73     QwtPlotCurve m_expoPlotCurvePitch;
  74     QwtPlotCurve m_expoPlotCurveYaw;
  75     QwtPlotGrid m_plotGrid;
  76     QSignalMapper m_stabSettingsCopyFromSignalMapper;
  77     QSignalMapper m_stabSettingsCopyToSignalMapper;
  78     QSignalMapper m_stabSettingsSwapSignalMapper;
  79
  80     UAVObject *getStabBankObject(int bank);
  81
  82     void updateThrottleCurveFromObject();
  83     void updateObjectFromThrottleCurve();
  84     void setupExpoPlot();
  85     void setupStabBanksGUI();
  86     void resetStabBank(int bank);
  87     void restoreStabBank(int bank);
  88
  89 protected:
  90     QString mapObjectName(const QString objectName);
  91
  92 protected slots:
  93     void refreshWidgetsValues(UAVObject *o = NULL);
  94     void updateObjectsFromWidgets();
  95
  96 private slots:
  97     void realtimeUpdatesSlot(bool value);
  98     void linkCheckBoxes(bool value);
  99     void processLinkedWidgets(QWidget *);
 100     void onBoardConnected();
 101     void stabBankChanged(int index);
 102     void resetThrottleCurveToDefault();
 103     void throttleCurveUpdated();
 104     void replotExpo(int value, QwtPlotCurve &curve);
 105     void replotExpoRoll(int value);
 106     void replotExpoPitch(int value);
 107     void replotExpoYaw(int value);
 108
 109     void restoreAllStabBanks();
 110     void resetAllStabBanks();
 111     void restoreCurrentAction();
 112     void resetCurrentStabBank();
 113     void copyCurrentStabBank();
 114
 115     void copyFromBankToBank(int fromBank, int toBank);
 116     void copyFromBankToCurrent(int bank);
 117     void copyToBankFromCurrent(int bank);
 118     void swapBankAndCurrent(int bank);
 119 };
 120 #endif // ConfigStabilizationWidget_H