QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
QStringList channelDesc;
for (int i = 0; i < (int)ConfigGroundVehicleWidget::CHANNEL_NUMELEM; i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = getConfigData();
if (configData.ground.GroundVehicleSteering1 > 0) {
channelDesc[configData.ground.GroundVehicleSteering1 - 1] = QString("GroundSteering1");
}
if (configData.ground.GroundVehicleSteering2 > 0) {
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundMotor1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundMotor2");
}
return channelDesc;
}
QStringList ConfigFixedWingWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
QStringList channelDesc;
for (int i = 0; i < (int)ConfigFixedWingWidget::CHANNEL_NUMELEM; i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = getConfigData();
if (configData.fixedwing.FixedWingPitch1 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
}
if (configData.fixedwing.FixedWingPitch2 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch2 - 1] = QString("FixedWingPitch2");
}
if (configData.fixedwing.FixedWingRoll1 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll1 - 1] = QString("FixedWingRoll1");
}
if (configData.fixedwing.FixedWingRoll2 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll2 - 1] = QString("FixedWingRoll2");
}
if (configData.fixedwing.FixedWingYaw1 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw1 - 1] = QString("FixedWingYaw1");
}
if (configData.fixedwing.FixedWingYaw2 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw2 - 1] = QString("FixedWingYaw2");
}
if (configData.fixedwing.FixedWingThrottle > 0) {
channelDesc[configData.fixedwing.FixedWingThrottle - 1] = QString("FixedWingThrottle");
}
return channelDesc;
}
/**
Virtual function to refresh the UI widget values
*/
void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{
setupUI(frameType);
initMixerCurves(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
GUIConfigDataUnion config = getConfigData();
// THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") {
// Find the channel number for Motor1
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->differentialSteeringSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) / 1.27);
}
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
if (channel > -1) {
m_aircraft->differentialSteeringSlider2->setValue(
-getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) / 1.27);
}
}
}
QColor GeneralConfig::getWhiteSpaceColor() {
/* -returns color of white space when visible in editor */
//get data from config file
QString colorString = getConfigData( getConfigFilePath("config/theme.conf"), "Editor", "whitespace-color");
//process and return value
QColor c = getColorFromString(colorString);
if ( c.isValid() ) return c;
else return QColor(255,255,255);
}
QColor GeneralConfig::getMarginsBackground() {
/* -returns backgroung color for margins (line numbering etc.) */
//get data from config file
QString colorString = getConfigData( getConfigFilePath("config/theme.conf"), "Editor", "margins-background");
//process and return value
QColor c = getColorFromString(colorString);
if ( c.isValid() ) return c;
else return QColor(200,200,200);
}
QColor GeneralConfig::getMarginsForeground() {
/* -returns foreground color for margins (line numbering etc.) */
//get data from config file
QString colorString = getConfigData( getConfigFilePath("config/theme.conf"), "Editor", "margins-foreground");
//process and return value
QColor c = getColorFromString(colorString);
//QColor c = getValueAsColor("editor_theme", "paper_color");
if ( c.isValid() ) return c;
else return QColor(0,0,0);
}
/**
Setup steerable ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->gvSteering2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Virtual function to refresh the UI widget values
*/
void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->fixedWingThrottle->initCurve(&curveValues);
} else {
// no, init a straight curve
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
}
GUIConfigDataUnion config = getConfigData();
fixedGUISettingsStruct fixed = config.fixedwing;
// Then retrieve how channels are setup
setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle);
setComboCurrentIndex(m_aircraft->fwAileron1ChannelBox, fixed.FixedWingRoll1);
setComboCurrentIndex(m_aircraft->fwAileron2ChannelBox, fixed.FixedWingRoll2);
setComboCurrentIndex(m_aircraft->fwElevator1ChannelBox, fixed.FixedWingPitch1);
setComboCurrentIndex(m_aircraft->fwElevator2ChannelBox, fixed.FixedWingPitch2);
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
// Get mixing values for GUI sliders (values stored onboard)
m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueRoll"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueYaw"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
}
}
svn_client_ctx_t *
ClientContext::getContext(CommitMessage *message, SVN::Pool &in_pool)
{
apr_pool_t *pool = in_pool.getPool();
svn_client_ctx_t *ctx = m_context;
/* Make a temporary copy of ctx to restore at pool cleanup to avoid
leaving references to dangling pointers.
Note that this allows creating a stack of context changes if
the function is invoked multiple times with different pools.
*/
clearctx_baton_t *bt =
reinterpret_cast<clearctx_baton_t *>(apr_pcalloc(pool, sizeof(*bt)));
bt->ctx = ctx;
bt->backup =
reinterpret_cast<svn_client_ctx_t*>(apr_pmemdup(pool, ctx, sizeof(*ctx)));
apr_pool_cleanup_register(in_pool.getPool(), bt, clear_ctx_ptrs,
clear_ctx_ptrs);
if (!ctx->config)
{
apr_hash_t * configData = getConfigData();
ctx->config = configData;
bt->backup->config = ctx->config;
}
ctx->auth_baton = getAuthBaton(in_pool);
ctx->log_msg_baton3 = message;
resetCancelRequest();
SVN_JNI_ERR(svn_wc_context_create(&ctx->wc_ctx, NULL,
in_pool.getPool(), in_pool.getPool()),
NULL);
return ctx;
}
TMHConfig* createTMHConfig( const char* const configDataFilePath, bool dumpConfig ) {
return getConfigData(configDataFilePath,dumpConfig);
}
/**
Virtual function to refresh the UI widget values
*/
void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
} else {
// no, init a straight curve
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
// Setup all Throttle2 curves for all types of airframes
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
GUIConfigDataUnion config = getConfigData();
// THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") {
// CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
// If the vehicle type is "differential", restore the slider setting
// Find the channel number for Motor1
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->differentialSteeringSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100);
m_aircraft->differentialSteeringSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
} else if (frameType == "GroundVehicleMotorcycle") {
// CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// if (chMixerNumber >=0) {
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Yaw");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
//
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
// }
}
}
void NetworkConnectionClass::run()
{
client = server.available();
while (client.connected()) {
switch (state) {
case IDLE:
state = SEND_DATA;
return;
case RECV_DATA:
getConfigData();
for (LinkedList<SensorData*>::Iterator it = sensorData->begin(); it != sensorData->end(); it++) {
if ((*it)->code == 12) {
LightClass *temp = new LightClass();
temp->init((*it)->pin);
(*it)->dev = (SensorClass*)temp;
}
else if ((*it)->code == 0) {
LedClass *d1 = new LedClass();
d1->init((*it)->pin);
(*it)->dev = (SensorClass*)d1;
}
else if ((*it)->code == 1) {
MotorClass *d2 = new MotorClass();
d2->init((*it)->pin);
(*it)->dev = (SensorClass*)d2;
}
else if ((*it)->code == 2) {
Serial.println("Street created");
StreetLightClass *d3 = new StreetLightClass();
d3->init((*it)->pin);
(*it)->dev = (SensorClass*)d3;
}
}
state = SEND_DATA;
break;
case SEND_DATA:
unsigned long currentMillis = millis();
if (currentMillis - previousMillis > interval) {
previousMillis = currentMillis;
for (LinkedList<SensorData*>::Iterator it = sensorData->begin(); it != sensorData->end(); it++) {
// Check just sensors, not devices. Devices have code 0.
if ((*it)->code != 0 && (*it)->code != 1 && (*it)->code != 2) {
float dataValue;
if ((*it)->code == 12) {
dataValue = (*it)->dev->getValue("");
}
float newValueMax = (*it)->oldValue + (*it)->treshold;
float newValueMin = (*it)->oldValue - (*it)->treshold;
// Check if the sensor has exceeded threshold, send data and update oldValue of sensor
//if (dataValue <= newValueMin || dataValue >= newValueMax) {
sendData((*it)->name, String((int)dataValue));
(*it)->oldValue = dataValue;
//Serial.println((*it)->name);
//Serial.println(dataValue);
//}
}
}
}
checkForUpdate();
state = SEND_DATA;
break;
}
}
}
/**
Setup VTail
*/
bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
double pitch;
double roll;
double yaw;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// ailerons
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Roll mixer value, currently no slider (should be added for Ailerons response ?)
roll = 127;
// Store Roll fixed and RollDifferential values onboard
setMixerValue(mixer, "MixerValueRoll", 100);
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
// First Aileron (left)
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
// Second Aileron (right)
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
}
// vtail (pitch / yaw mixing)
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Compute mixer absolute values
pitch = (double)(m_aircraft->elevonSlider2->value() * 1.27);
yaw = (double)(m_aircraft->elevonSlider1->value() * 1.27);
// Store sliders values onboard
setMixerValue(mixer, "MixerValuePitch", m_aircraft->elevonSlider2->value());
setMixerValue(mixer, "MixerValueYaw", m_aircraft->elevonSlider1->value());
// First Vtail servo
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
// Second Vtail servo
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudder
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Store differential value onboard
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
}
// elevators
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Helper function to
*/
QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
{
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
// Do not allow changes until AirframeType == Custom
// If user want to save custom mixer : first set AirframeType to 'Custom' without changes and next modify.
if (field->getValue().toString() == "Custom") {
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
GUIConfigDataUnion configData = getConfigData();
resetActuators(&configData);
// Update the table:
for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
if (configData.custom.Motor1 == 0) {
configData.custom.Motor1 = channel + 1;
} else if (configData.custom.Motor2 == 0) {
configData.custom.Motor2 = channel + 1;
} else if (configData.custom.Motor3 == 0) {
configData.custom.Motor3 = channel + 1;
} else if (configData.custom.Motor4 == 0) {
configData.custom.Motor4 = channel + 1;
} else if (configData.custom.Motor5 == 0) {
configData.custom.Motor5 = channel + 1;
} else if (configData.custom.Motor6 == 0) {
configData.custom.Motor6 = channel + 1;
} else if (configData.custom.Motor7 == 0) {
configData.custom.Motor7 = channel + 1;
} else if (configData.custom.Motor8 == 0) {
configData.custom.Motor8 = channel + 1;
}
} else if (q->currentText() == "ReversableMotor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
if (configData.custom.RevMotor1 == 0) {
configData.custom.RevMotor1 = channel + 1;
} else if (configData.custom.RevMotor2 == 0) {
configData.custom.RevMotor2 = channel + 1;
} else if (configData.custom.RevMotor3 == 0) {
configData.custom.RevMotor3 = channel + 1;
} else if (configData.custom.RevMotor4 == 0) {
configData.custom.RevMotor4 = channel + 1;
} else if (configData.custom.RevMotor5 == 0) {
configData.custom.RevMotor5 = channel + 1;
} else if (configData.custom.RevMotor6 == 0) {
configData.custom.RevMotor6 = channel;
} else if (configData.custom.RevMotor7 == 0) {
configData.custom.RevMotor7 = channel;
} else if (configData.custom.RevMotor8 == 0) {
configData.custom.RevMotor8 = channel;
}
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
if (configData.custom.Servo1 == 0) {
configData.custom.Servo1 = channel + 1;
} else if (configData.custom.Servo2 == 0) {
configData.custom.Servo2 = channel + 1;
} else if (configData.custom.Servo3 == 0) {
configData.custom.Servo3 = channel + 1;
} else if (configData.custom.Servo4 == 0) {
configData.custom.Servo4 = channel + 1;
} else if (configData.custom.Servo5 == 0) {
configData.custom.Servo5 = channel + 1;
} else if (configData.custom.Servo6 == 0) {
configData.custom.Servo6 = channel + 1;
} else if (configData.custom.Servo7 == 0) {
configData.custom.Servo7 = channel + 1;
} else if (configData.custom.Servo8 == 0) {
configData.custom.Servo8 = channel + 1;
}
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
setConfigData(configData);
}
return "Custom";
}
QStringList ConfigCustomWidget::getChannelDescriptions()
{
QStringList channelDesc;
for (int i = 0; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = getConfigData();
customGUISettingsStruct custom = configData.custom;
if (custom.Motor1 > 0 && custom.Motor1 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor1 - 1] = QString("Motor1");
}
if (custom.Motor2 > 0 && custom.Motor2 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor2 - 1] = QString("Motor2");
}
if (custom.Motor3 > 0 && custom.Motor3 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor3 - 1] = QString("Motor3");
}
if (custom.Motor4 > 0 && custom.Motor4 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor4 - 1] = QString("Motor4");
}
if (custom.Motor5 > 0 && custom.Motor5 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor5 - 1] = QString("Motor5");
}
if (custom.Motor6 > 0 && custom.Motor6 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor6 - 1] = QString("Motor6");
}
if (custom.Motor7 > 0 && custom.Motor7 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor7 - 1] = QString("Motor7");
}
if (custom.Motor8 > 0 && custom.Motor8 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Motor8 - 1] = QString("Motor8");
}
if (custom.RevMotor1 > 0 && custom.RevMotor1 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor1 - 1] = QString("RevMotor1");
}
if (custom.RevMotor2 > 0 && custom.RevMotor2 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor2 - 1] = QString("RevMotor2");
}
if (custom.RevMotor3 > 0 && custom.RevMotor3 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor3 - 1] = QString("RevMotor3");
}
if (custom.RevMotor4 > 0 && custom.RevMotor4 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor4 - 1] = QString("RevMotor4");
}
if (custom.RevMotor5 > 0 && custom.RevMotor5 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor5 - 1] = QString("RevMotor5");
}
if (custom.RevMotor6 > 0 && custom.RevMotor6 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor6 - 1] = QString("RevMotor6");
}
if (custom.RevMotor7 > 0 && custom.RevMotor7 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor7 - 1] = QString("RevMotor7");
}
if (custom.RevMotor8 > 0 && custom.RevMotor8 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.RevMotor8 - 1] = QString("RevMotor8");
}
if (custom.Servo1 > 0 && custom.Servo1 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo1 - 1] = QString("Servo1");
}
if (custom.Servo2 > 0 && custom.Servo2 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo2 - 1] = QString("Servo2");
}
if (custom.Servo3 > 0 && custom.Servo3 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo3 - 1] = QString("Servo3");
}
if (custom.Servo4 > 0 && custom.Servo4 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo4 - 1] = QString("Servo4");
}
if (custom.Servo5 > 0 && custom.Servo5 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo5 - 1] = QString("Servo5");
}
if (custom.Servo6 > 0 && custom.Servo6 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo6 - 1] = QString("Servo6");
}
if (custom.Servo7 > 0 && custom.Servo7 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo7 - 1] = QString("Servo7");
}
if (custom.Servo8 > 0 && custom.Servo8 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo8 - 1] = QString("Servo8");
}
return channelDesc;
}
svn_auth_baton_t *
OperationContext::getAuthBaton(SVN::Pool &in_pool)
{
svn_auth_baton_t *ab;
apr_pool_t *pool = in_pool.getPool();
apr_hash_t * configData = getConfigData();
if (configData == NULL)
{
return NULL;
}
svn_config_t *config = static_cast<svn_config_t *>(apr_hash_get(configData,
SVN_CONFIG_CATEGORY_CONFIG, APR_HASH_KEY_STRING));
const bool use_native_store = GlobalConfig::useNativeCredentialsStore();
/* The whole list of registered providers */
apr_array_header_t *providers;
svn_auth_provider_object_t *provider;
if (use_native_store)
{
/* Populate the registered providers with the platform-specific providers */
SVN_JNI_ERR(
svn_auth_get_platform_specific_client_providers(
&providers, config, pool),
NULL);
/* Use the prompter (if available) to prompt for password and cert
* caching. */
svn_auth_plaintext_prompt_func_t plaintext_prompt_func;
void *plaintext_prompt_baton;
svn_auth_plaintext_passphrase_prompt_func_t plaintext_passphrase_prompt_func;
void *plaintext_passphrase_prompt_baton;
if (m_prompter.get())
{
plaintext_prompt_func = Prompter::plaintext_prompt;
plaintext_prompt_baton = m_prompter.get();
plaintext_passphrase_prompt_func = Prompter::plaintext_passphrase_prompt;
plaintext_passphrase_prompt_baton = m_prompter.get();
}
else
{
plaintext_prompt_func = NULL;
plaintext_prompt_baton = NULL;
plaintext_passphrase_prompt_func = NULL;
plaintext_passphrase_prompt_baton = NULL;
}
/* The main disk-caching auth providers, for both
* 'username/password' creds and 'username' creds. */
svn_auth_get_simple_provider2(&provider, plaintext_prompt_func,
plaintext_prompt_baton, pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
svn_auth_get_username_provider(&provider, pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
svn_auth_get_ssl_server_trust_file_provider(&provider, pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
svn_auth_get_ssl_client_cert_file_provider(&provider, pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
svn_auth_get_ssl_client_cert_pw_file_provider2(
&provider,
plaintext_passphrase_prompt_func, plaintext_passphrase_prompt_baton,
pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
}
else
{
// Not using hte native credentials store, start with an empty
// providers array.
providers = apr_array_make(pool, 0, sizeof(svn_auth_provider_object_t *));
}
if (m_prompter.get())
{
/* Two basic prompt providers: username/password, and just username.*/
provider = m_prompter->get_provider_simple(in_pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
provider = m_prompter->get_provider_username(in_pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
/* Three ssl prompt providers, for server-certs, client-certs,
* and client-cert-passphrases. */
provider = m_prompter->get_provider_server_ssl_trust(in_pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
provider = m_prompter->get_provider_client_ssl(in_pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
provider = m_prompter->get_provider_client_ssl_password(in_pool);
APR_ARRAY_PUSH(providers, svn_auth_provider_object_t *) = provider;
}
/* Build an authentication baton to give to libsvn_client. */
svn_auth_open(&ab, providers, pool);
/* Place any default --username or --password credentials into the
* auth_baton's run-time parameter hash. ### Same with --no-auth-cache? */
if (!m_userName.empty())
svn_auth_set_parameter(ab, SVN_AUTH_PARAM_DEFAULT_USERNAME,
apr_pstrdup(in_pool.getPool(), m_userName.c_str()));
if (!m_passWord.empty())
svn_auth_set_parameter(ab, SVN_AUTH_PARAM_DEFAULT_PASSWORD,
apr_pstrdup(in_pool.getPool(), m_passWord.c_str()));
/* Store where to retrieve authentication data? */
if (!m_configDir.empty())
svn_auth_set_parameter(ab, SVN_AUTH_PARAM_CONFIG_DIR,
apr_pstrdup(in_pool.getPool(), m_configDir.c_str()));
return ab;
}
