/**
* Initiate object retrieval, initialize queue with objects to be retrieved.
*/
void TelemetryMonitor::startRetrievingObjects()
{
// Clear object queue
queue.clear();
// Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
QList< QList<UAVObject *> > objs = objMngr->getObjects();
for (int n = 0; n < objs.length(); ++n) {
UAVObject *obj = objs[n][0];
UAVMetaObject *mobj = dynamic_cast<UAVMetaObject *>(obj);
UAVDataObject *dobj = dynamic_cast<UAVDataObject *>(obj);
UAVObject::Metadata mdata = obj->getMetadata();
if (mobj != NULL) {
queue.enqueue(obj);
} else if (dobj != NULL) {
if (dobj->isSettings()) {
queue.enqueue(obj);
} else {
if (UAVObject::GetFlightTelemetryUpdateMode(mdata) == UAVObject::UPDATEMODE_ONCHANGE) {
queue.enqueue(obj);
}
}
}
}
// Start retrieving
qDebug() << tr("Starting to retrieve meta and settings objects from the autopilot (%1 objects)")
.arg(queue.length());
retrieveNextObject();
}
void UAVObjectBrowserWidget::onTreeItemExpanded(QModelIndex currentProxyIndex)
{
QModelIndex currentIndex = proxyModel->mapToSource(currentProxyIndex);
TreeItem *item = static_cast<TreeItem*>(currentIndex.internalPointer());
TopTreeItem *top = dynamic_cast<TopTreeItem*>(item->parent());
//Check if current tree index is the child of the top tree item
if (top)
{
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
//If the cast succeeds, then this is a UAVO
if (objItem)
{
UAVObject *obj = objItem->object();
// Check for multiple instance UAVO
if(!obj){
objItem = dynamic_cast<ObjectTreeItem*>(item->getChild(0));
obj = objItem->object();
}
Q_ASSERT(obj);
UAVObject::Metadata mdata = obj->getMetadata();
// Determine fastest update
quint16 tmpUpdatePeriod = MAXIMUM_UPDATE_PERIOD;
int accessType = UAVObject::GetGcsTelemetryUpdateMode(mdata);
if (accessType != UAVObject::UPDATEMODE_MANUAL){
switch(accessType){
case UAVObject::UPDATEMODE_ONCHANGE:
tmpUpdatePeriod = 0;
break;
case UAVObject::UPDATEMODE_PERIODIC:
case UAVObject::UPDATEMODE_THROTTLED:
tmpUpdatePeriod = std::min(mdata.gcsTelemetryUpdatePeriod, tmpUpdatePeriod);
break;
}
}
accessType = UAVObject::GetFlightTelemetryUpdateMode(mdata);
if (accessType != UAVObject::UPDATEMODE_MANUAL){
switch(accessType){
case UAVObject::UPDATEMODE_ONCHANGE:
tmpUpdatePeriod = 0;
break;
case UAVObject::UPDATEMODE_PERIODIC:
case UAVObject::UPDATEMODE_THROTTLED:
tmpUpdatePeriod = std::min(mdata.flightTelemetryUpdatePeriod, tmpUpdatePeriod);
break;
}
}
expandedUavoItems.insert(obj->getName(), tmpUpdatePeriod);
if (tmpUpdatePeriod < updatePeriod){
updatePeriod = tmpUpdatePeriod;
treeView->updateTimerPeriod(updatePeriod);
}
}
}
}
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
{
m_config = new Ui_OutputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_config->saveRCOutputToRAM->setVisible(false);
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *outputForm = new OutputChannelForm(i, this, i==0);
m_config->channelLayout->addWidget(outputForm);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), outputForm, SLOT(enableChannelTest(bool)));
connect(outputForm, SIGNAL(channelChanged(int,int)), this, SLOT(sendChannelTest(int,int)));
connect(outputForm, SIGNAL(formChanged()), this, SLOT(do_SetDirty()));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
connect(SystemSettings::GetInstance(objManager), SIGNAL(objectUpdated(UAVObject*)),this,SLOT(assignOutputChannels(UAVObject*)));
refreshWidgetsValues();
}
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_OutputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_config->saveRCOutputToRAM->setVisible(false);
/* There's lots of situations where it's unsafe to run tests.
* Import/export:
*/
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
/* Board connection/disconnection: */
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(stopTests()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(stopTests()));
/* When we go into wizards, etc.. time to stop this too. */
Core::ModeManager *modeMngr = Core::ModeManager::instance();
connect(modeMngr, SIGNAL(currentModeAboutToChange(Core::IMode *)), this,
SLOT(stopTests()));
connect(modeMngr, SIGNAL(currentModeChanged(Core::IMode *)), this,
SLOT(stopTests()));
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *outputForm = new OutputChannelForm(i, this, i==0);
m_config->channelLayout->addWidget(outputForm);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), outputForm, SLOT(enableChannelTest(bool)));
connect(outputForm, SIGNAL(channelChanged(int,int)), this, SLOT(sendChannelTest(int,int)));
connect(outputForm, SIGNAL(formChanged()), this, SLOT(do_SetDirty()));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
connect(m_config->calibrateESC, SIGNAL(clicked()), this, SLOT(startESCCalibration()));
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate6);
addWidget(m_config->cb_outputRate5);
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
// Cache all the combo boxes and labels
lblList.clear();
lblList << m_config->chBank1 << m_config->chBank2 << m_config->chBank3 << m_config->chBank4
<< m_config->chBank5 << m_config->chBank6;
rateList.clear();
rateList << m_config->cb_outputRate1 << m_config->cb_outputRate2 << m_config->cb_outputRate3
<< m_config->cb_outputRate4 << m_config->cb_outputRate5 << m_config->cb_outputRate6;
resList.clear();
resList << m_config->cb_outputResolution1 << m_config->cb_outputResolution2 << m_config->cb_outputResolution3
<< m_config->cb_outputResolution4 << m_config->cb_outputResolution5 << m_config->cb_outputResolution6;
// Get the list of output resolutions and assign to the resolution dropdowns
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
UAVObjectField *resolutions = actuatorSettings->getField("TimerPwmResolution");
Q_ASSERT(resolutions);
QList<QComboBox*>::iterator resIter;
for (resIter = resList.begin(); resIter != resList.end(); resIter++) {
QComboBox *res = *resIter;
res->clear();
res->addItems(resolutions->getOptions());
addWidget(res);
connect(res, SIGNAL(currentIndexChanged(int)), this, SLOT(refreshWidgetRanges()));
}
QList<QComboBox*>::iterator rateIter;
for (rateIter = rateList.begin(); rateIter != rateList.end(); rateIter++) {
QComboBox *rate = *rateIter;
connect(rate, SIGNAL(currentIndexChanged(int)), this, SLOT(refreshWidgetRanges()));
}
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(SystemSettings::GetInstance(objManager), SIGNAL(objectUpdated(UAVObject*)),this,SLOT(assignOutputChannels(UAVObject*)));
refreshWidgetsValues();
}