void load_tab(unsigned char tab)
{
struct widget_config *w_cfg;
DTABS("Loading tab %d\n", tab);
/* stop rendering */
video_pause();
/* reset widgets module */
widgets_reset();
/* default video profile */
video_apply_config(0);
if (tab == 0) {
w_cfg = (struct widget_config*) tab0_widgets;
} else {
w_cfg = config.widgets;
}
/* load widgets config */
while (w_cfg->tab != TABS_END) {
if (w_cfg->tab == tab)
load_widget_config(w_cfg);
w_cfg++;
}
load_widgets();
/* resume video rendering */
video_resume();
active_tab = tab;
DTABS("Loaded\n");
}
static void build_tab_list(void)
{
struct widget_config *wcfg = &config.widgets[0];
unsigned char *p = &tab_list[1];
/* build tab list */
tab_list[0] = 0;
while (wcfg->tab != TABS_END) {
if (!search_on_list(tab_list, wcfg->tab)) {
*p++ = wcfg->tab;
tab_list[0]++;
}
wcfg++;
if (tab_list[0] > (MAX_TABS-2))
break;
}
/* add an empty tab (tab 255) at the end */
*p++ = 255;
tab_list[0]++;
#if 0
DTABS("found %d tabs\n", tab_list[0]);
int i;
for (i = 0; i < tab_list[0]; i++)
DTABS(" tab%d = %d\n", i, tab_list[i+1]);
#endif
/* load first tab */
load_tab(tab_list[1]);
}
void load_tab(unsigned char tab)
{
struct widget_config *w_cfg = &config.widgets[0];
struct widget *w;
struct widget_config tmp_wcfg;
struct widget **aw = active_widgets;
DTABS("Loading tab %d\n", tab);
/* stop rendering */
video_pause();
while ((*aw) != NULL) {
if ((*aw)->ops->close != NULL) {
DTABS("closing widget %p: %s\n", *aw, (*aw)->ops->name);
(*aw)->ops->close(*aw);
}
aw++;
}
aw = active_widgets;
/* reset widgets module */
widgets_reset();
if (tab == 0) {
/* zero tab */
/* console */
tmp_wcfg.widget_id = WIDGET_CONSOLE_ID;
tmp_wcfg.x = 0;
tmp_wcfg.y = 0;
tmp_wcfg.props.vjust = VJUST_TOP;
tmp_wcfg.props.hjust = HJUST_LEFT;
w = load_widget(&tmp_wcfg);
tmp_wcfg.widget_id = WIDGET_VIDEOLVL_ID;
tmp_wcfg.props.hjust = HJUST_RIGHT;
w = load_widget(&tmp_wcfg);
} else {
/* load tab widgets */
while (w_cfg->tab != TABS_END) {
if (w_cfg->tab == tab) {
w = load_widget(w_cfg);
if (w == NULL)
break;
*(aw++) = w;
}
w_cfg++;
}
}
*aw = NULL;
/* resume video rendering */
video_resume();
active_tab = tab;
DTABS("Loaded\n");
}
static struct widget* load_widget(struct widget_config *w_cfg)
{
const struct widget_ops *w_ops;
struct widget *w;
w_ops = get_widget_ops(w_cfg->widget_id);
if (w_ops == NULL)
return NULL;
w = (struct widget*) widget_malloc(sizeof(struct widget));
if (w == NULL) {
DTABS("load_tab: no mem for widget %d exiting load tabs\n", w_cfg->widget_id);
return NULL;
}
w->ops = w_ops;
w->cfg = w_cfg;
w->status = 0;
if (w_ops->open(w))
return NULL;
alloc_canvas(&w->ca, w->cfg);
schedule_widget(w);
return w;
}
static void tab_switch_flightmode_cbk(mavlink_message_t *msg, void *d)
{
unsigned char mav_type;
val = mavlink_msg_heartbeat_get_custom_mode(msg);
mav_type = mavlink_msg_heartbeat_get_type(msg);
if (mav_type != MAV_TYPE_FIXED_WING)
val += 100;
/* don't switch tab in case failsafe triggers */
switch (val) {
case PLANE_MODE_CIRCLE:
case PLANE_MODE_AUTO:
case PLANE_MODE_RTL:
case PLANE_MODE_LOITER:
case COPTER_MODE_AUTO:
case COPTER_MODE_LOITER:
case COPTER_MODE_RTL:
case COPTER_MODE_CIRCLE:
return;
default:
break;
}
if (val != prev_val) {
/* mode changed */
DTABS("flightmode_cbk: mode has changed: tmr=%d source_mode=%d mode=%d\n",
tmr, source_mode, val);
if (tmr != TAB_TIMER_IDLE) {
if (source_mode == val) {
/* change to next tab */
DTABS("flightmode_cbk: back to the same mode in less than 2 sec\n");
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
}
tmr = TAB_TIMER_IDLE;
} else {
DTABS("flightmode_cbk: starting timer\n");
tmr = 0;
source_mode = prev_val;
}
prev_val = val;
}
}
static void tab_switch_channel_cbk(mavlink_message_t *msg, void *d)
{
struct tab_change_config *cfg = (struct tab_change_config*) d;
unsigned int ch_raw;
long percent;
ch_raw = mavlink_msg_rc_channels_raw_get_chan(msg, cfg->ch);
DTABS("cbk: ch_raw = %u\n", ch_raw);
percent = (( ((long) ch_raw - cfg->tab_change_ch_min) * 100) /
(cfg->tab_change_ch_max - cfg->tab_change_ch_min));
DTABS("cbk: percent = %ld\n", percent);
switch (cfg->mode) {
case TAB_CHANGE_CHANNEL:
default:
if (percent < 0)
percent = 0;
else if (percent > 100)
percent = 100;
val = (unsigned char) percent;
break;
case TAB_CHANGE_TOGGLE:
if (percent < 50)
percent = 1;
else
percent = 2;
if (val == 0)
prev_val = percent;
val = percent;
/* start timer */
if ((val != prev_val) && (tmr == TAB_TIMER_IDLE))
tmr = 0;
break;
}
DTABS("cbk: val=%u prev_val=%d\n", val, prev_val);
}
static void tab_switch_task(struct timer *t, void *d)
{
struct tab_change_config *cfg = (struct tab_change_config*) d;
unsigned int idx;
unsigned char new_tab;
if (get_millis() < 5000) {
if (active_tab != 0)
load_tab(0);
return;
} else if (active_tab == 0) {
load_tab(1);
}
switch (cfg->mode) {
case TAB_CHANGE_CHANNEL:
default:
idx = ((val * tab_list[0]) / 101) + 1;
new_tab = tab_list[idx];
if (new_tab != active_tab) {
DTABS("tab_change_channel: change to tab %d\n", new_tab);
load_tab((unsigned char) new_tab);
}
break;
case TAB_CHANGE_FLIGHTMODE:
/* idle */
if (tmr == TAB_TIMER_IDLE) {
break;
} else if (tmr < cfg->time_window) {
tmr++;
} else {
tmr = TAB_TIMER_IDLE;
}
break;
case TAB_CHANGE_TOGGLE:
/* idle val not acquired */
if (val == 0)
break;
/* idle */
if (tmr == TAB_TIMER_IDLE) {
break;
} else if (tmr < cfg->time_window) {
tmr++;
/* switch returned to idle position */
if (prev_val == val) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = TAB_TIMER_IDLE;
}
} else if (tmr == cfg->time_window) {
tmr++;
/* previous tab */
if (active_tab_idx == 0)
active_tab_idx = tab_list[0]-1;
else
active_tab_idx--;
load_tab(tab_list[active_tab_idx+1]);
} else {
/* wait until switch returns to idle state */
if (val == prev_val)
tmr = TAB_TIMER_IDLE;
}
break;
case TAB_CHANGE_DEMO:
tmr++;
if (tmr > cfg->time_window) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = 0;
}
break;
}
}
static void tab_switch_task(struct timer *t, void *d)
{
static unsigned char tmr = TAB_TIMER_IDLE;
static unsigned char prev_val = 255, active_tab_idx = 0, source_mode = 0xff;
struct ch_switch *cfg = d;
unsigned int val;
u32 ch_age;
switch (cfg->mode) {
case SW_MODE_CHANNEL:
default:
val = get_sw_state(cfg, &ch_age);
val = ((val * tab_list[0]) / 101) + 1;
if ((unsigned char) val != prev_val) {
DTABS("tab_change_channel: change to tab %d\n", tab_list[val]);
load_tab((unsigned char) tab_list[val]);
prev_val = (unsigned char) val;
}
break;
case SW_MODE_TOGGLE:
val = get_sw_state(cfg, &ch_age);
if (ch_age > 2000)
break;
if (val < 50)
val = 1;
else
val = 2;
/* store idle position */
if (prev_val == 255)
prev_val = (unsigned char) val;
/* idle */
if (tmr == TAB_TIMER_IDLE) {
if ((unsigned char) val != prev_val)
tmr = 0;
} else if (tmr < cfg->time) {
tmr++;
/* switch returned to idle position */
if (prev_val == (unsigned char) val) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = TAB_TIMER_IDLE;
}
} else if (tmr == cfg->time) {
tmr++;
/* previous tab */
if (active_tab_idx == 0)
active_tab_idx = tab_list[0]-1;
else
active_tab_idx--;
load_tab(tab_list[active_tab_idx+1]);
} else {
/* wait until switch returns to idle state */
if ((unsigned char) val == prev_val)
tmr = TAB_TIMER_IDLE;
}
break;
case SW_MODE_FLIGHTMODE:
{
mavlink_heartbeat_t *hb = mavdata_get(MAVLINK_MSG_ID_HEARTBEAT);
unsigned char i;
const unsigned char mode_ignore_list[] = {
PLANE_MODE_CIRCLE, PLANE_MODE_AUTO,
PLANE_MODE_RTL, PLANE_MODE_LOITER,
COPTER_MODE_AUTO, COPTER_MODE_LOITER,
COPTER_MODE_RTL, COPTER_MODE_CIRCLE,
};
if (tmr < cfg->time)
tmr++;
else
tmr = TAB_TIMER_IDLE;
val = (unsigned char) hb->custom_mode;
if (hb->type != MAV_TYPE_FIXED_WING)
val += 100;
/* don't switch tab in case failsafe triggers */
for (i = 0; i < sizeof(mode_ignore_list); i++)
if (mode_ignore_list[i] == (unsigned char) val)
return;
if ((unsigned char) val != prev_val) {
/* mode changed */
DTABS("flightmode_cbk: mode has changed: tmr=%d source_mode=%d mode=%d\n",
tmr, source_mode, val);
if (tmr != TAB_TIMER_IDLE) {
if (source_mode == (unsigned char) val) {
/* change to next tab */
DTABS("flightmode_cbk: back to the same mode in less than 2 sec\n");
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
}
tmr = TAB_TIMER_IDLE;
} else {
DTABS("flightmode_cbk: starting timer\n");
tmr = 0;
source_mode = prev_val;
}
prev_val = (unsigned char) val;
}
break;
}
case SW_MODE_DEMO:
tmr++;
if (tmr > cfg->time) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = 0;
}
break;
}
}
