Boundary
GUIPerson::getCenteringBoundary() const {
Boundary b;
// ensure that the vehicle is drawn, otherwise myPositionInVehicle will not be updated
b.add(getPosition());
b.grow(MAX2(getVehicleType().getWidth(), getVehicleType().getLength()));
return b;
}
SUMOReal
MSBaseVehicle::getImpatience() const {
return MAX2((SUMOReal)0, MIN2((SUMOReal)1, getVehicleType().getImpatience() +
(MSGlobals::gTimeToGridlock > 0 ? (SUMOReal)getWaitingTime() / MSGlobals::gTimeToGridlock : 0)));
// Alternavite to avoid time to teleport effect on the simulation. No effect if time to teleport is -1
// return MAX2((SUMOReal)0, MIN2((SUMOReal)1, getVehicleType().getImpatience()));
}
void
GUIPerson::drawAction_drawAsImage(const GUIVisualizationSettings& s) const {
const std::string& file = getVehicleType().getImgFile();
if (file != "") {
if (getVehicleType().getGuiShape() == SVS_PEDESTRIAN) {
glRotated(RAD2DEG(getAngle() + PI / 2.), 0, 0, 1);
}
int textureID = GUITexturesHelper::getTextureID(file);
if (textureID > 0) {
const SUMOReal exaggeration = s.personSize.getExaggeration(s);
const SUMOReal halfLength = getVehicleType().getLength() / 2.0 * exaggeration;
const SUMOReal halfWidth = getVehicleType().getWidth() / 2.0 * exaggeration;
GUITexturesHelper::drawTexturedBox(textureID, -halfWidth, -halfLength, halfWidth, halfLength);
}
} else {
// fallback if no image is defined
drawAction_drawAsPoly(s);
}
}
bool
GUIPerson::setFunctionalColor(int activeScheme) const {
switch (activeScheme) {
case 0: {
if (getParameter().wasSet(VEHPARS_COLOR_SET)) {
GLHelper::setColor(getParameter().color);
return true;
}
if (getVehicleType().wasSet(VTYPEPARS_COLOR_SET)) {
GLHelper::setColor(getVehicleType().getColor());
return true;
}
return false;
}
case 2: {
if (getParameter().wasSet(VEHPARS_COLOR_SET)) {
GLHelper::setColor(getParameter().color);
return true;
}
return false;
}
case 3: {
if (getVehicleType().wasSet(VTYPEPARS_COLOR_SET)) {
GLHelper::setColor(getVehicleType().getColor());
return true;
}
return false;
}
case 8: { // color by angle
SUMOReal hue = GeomHelper::naviDegree(getAngle());
GLHelper::setColor(RGBColor::fromHSV(hue, 1., 1.));
return true;
}
case 9: { // color randomly (by pointer)
const SUMOReal hue = (long)this % 360; // [0-360]
const SUMOReal sat = (((long)this / 360) % 67) / 100.0 + 0.33; // [0.33-1]
GLHelper::setColor(RGBColor::fromHSV(hue, sat, 1.));
return true;
}
default:
return false;
}
}
inline void
GUIVehicle::drawAction_drawVehicleBrakeLight(double length, bool onlyOne) const {
if (!signalSet(MSVehicle::VEH_SIGNAL_BRAKELIGHT)) {
return;
}
glColor3f(1.f, .2f, 0);
glPushMatrix();
if (onlyOne) {
glTranslated(0, length, -0.1);
GLHelper::drawFilledCircle(.5, 6);
} else {
glTranslated(-getVehicleType().getWidth() * 0.5, length, -0.1);
GLHelper::drawFilledCircle(.5, 6);
glPopMatrix();
glPushMatrix();
glTranslated(getVehicleType().getWidth() * 0.5, length, -0.1);
GLHelper::drawFilledCircle(.5, 6);
}
glPopMatrix();
}
void
GUIPerson::drawAction_drawAsTriangle(const GUIVisualizationSettings& /* s */) const {
// draw triangle pointing forward
glRotated(RAD2DEG(getAngle() + PI / 2.), 0, 0, 1);
glScaled(getVehicleType().getLength(), getVehicleType().getWidth(), 1);
glBegin(GL_TRIANGLES);
glVertex2d(0., 0.);
glVertex2d(1, -0.5);
glVertex2d(1, 0.5);
glEnd();
// draw a smaller triangle to indicate facing
GLHelper::setColor(GLHelper::getColor().changedBrightness(-64));
glTranslated(0, 0, .045);
glBegin(GL_TRIANGLES);
glVertex2d(0., 0.);
glVertex2d(0.5, -0.25);
glVertex2d(0.5, 0.25);
glEnd();
glTranslated(0, 0, -.045);
}
void
GUIPerson::drawAction_drawAsPoly(const GUIVisualizationSettings& /* s */) const {
// draw pedestrian shape
glRotated(GeomHelper::naviDegree(getAngle()) - 180, 0, 0, -1);
glScaled(getVehicleType().getLength(), getVehicleType().getWidth(), 1);
RGBColor lighter = GLHelper::getColor().changedBrightness(51);
glTranslated(0, 0, .045);
// head
glScaled(1, 0.5, 1.);
GLHelper::drawFilledCircle(0.5);
// nose
glBegin(GL_TRIANGLES);
glVertex2d(0.0, -0.2);
glVertex2d(0.0, 0.2);
glVertex2d(-0.6, 0.0);
glEnd();
glTranslated(0, 0, -.045);
// body
glScaled(0.9, 2.0, 1);
glTranslated(0, 0, .04);
GLHelper::setColor(lighter);
GLHelper::drawFilledCircle(0.5);
glTranslated(0, 0, -.04);
}
void
GUIVehicle::drawAction_drawVehicleBlinker(double length) const {
if (!signalSet(MSVehicle::VEH_SIGNAL_BLINKER_RIGHT | MSVehicle::VEH_SIGNAL_BLINKER_LEFT | MSVehicle::VEH_SIGNAL_BLINKER_EMERGENCY)) {
return;
}
const double offset = MAX2(.5 * getVehicleType().getWidth(), .4);
if (signalSet(MSVehicle::VEH_SIGNAL_BLINKER_RIGHT)) {
drawAction_drawBlinker(-offset, length);
}
if (signalSet(MSVehicle::VEH_SIGNAL_BLINKER_LEFT)) {
drawAction_drawBlinker(offset, length);;
}
if (signalSet(MSVehicle::VEH_SIGNAL_BLINKER_EMERGENCY)) {
drawAction_drawBlinker(-offset, length);
drawAction_drawBlinker(offset, length);
}
}
int SetupWizard::nextId() const
{
switch (currentId()) {
case PAGE_START:
if(canAutoUpdate()) {
return PAGE_UPDATE;
} else {
return PAGE_CONTROLLER;
}
case PAGE_UPDATE:
return PAGE_CONTROLLER;
case PAGE_CONTROLLER: {
switch(getControllerType())
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_INPUT;
case CONTROLLER_REVO:
case CONTROLLER_PIPX:
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_VEHICLES: {
switch(getVehicleType())
{
case VEHICLE_MULTI:
return PAGE_MULTI;
case VEHICLE_FIXEDWING:
return PAGE_FIXEDWING;
case VEHICLE_HELI:
return PAGE_HELI;
case VEHICLE_SURFACE:
return PAGE_SURFACE;
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_MULTI:
return PAGE_OUTPUT;
case PAGE_INPUT:
if(isRestartNeeded()) {
saveHardwareSettings();
return PAGE_REBOOT;
}
else {
return PAGE_VEHICLES;
}
case PAGE_REBOOT:
return PAGE_VEHICLES;
case PAGE_OUTPUT:
return PAGE_SUMMARY;
case PAGE_LEVELLING:
return PAGE_CALIBRATION;
case PAGE_CALIBRATION:
return PAGE_SAVE;
case PAGE_SUMMARY:
return PAGE_LEVELLING;
case PAGE_SAVE:
return PAGE_END;
case PAGE_NOTYETIMPLEMENTED:
return PAGE_END;
default:
return -1;
}
}
QString SetupWizard::getSummaryText()
{
QString summary = "";
summary.append("<b>").append(tr("Controller type: ")).append("</b>");
switch(getControllerType())
{
case CONTROLLER_CC:
summary.append(tr("OpenPilot CopterControl"));
break;
case CONTROLLER_CC3D:
summary.append(tr("OpenPilot CopterControl 3D"));
break;
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;
case CONTROLLER_PIPX:
summary.append(tr("OpenPilot PipX Radio Modem"));
break;
default:
summary.append(tr("Unknown"));
break;
}
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle type: ")).append("</b>");
switch (getVehicleType())
{
case VEHICLE_MULTI:
summary.append(tr("Multirotor"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType())
{
case SetupWizard::MULTI_ROTOR_TRI_Y:
summary.append(tr("Tricopter"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
summary.append(tr("Quadcopter X"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
summary.append(tr("Quadcopter +"));
break;
case SetupWizard::MULTI_ROTOR_HEXA:
summary.append(tr("Hexacopter"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
summary.append(tr("Hexacopter Coax (Y6)"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
summary.append(tr("Hexacopter X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO:
summary.append(tr("Octocopter"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
summary.append(tr("Octocopter Coax X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
summary.append(tr("Octocopter Coax +"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_V:
summary.append(tr("Octocopter V"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_FIXEDWING:
summary.append(tr("Fixed wing"));
break;
case VEHICLE_HELI:
summary.append(tr("Helicopter"));
break;
case VEHICLE_SURFACE:
summary.append(tr("Surface vehicle"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Input type: ")).append("</b>");
switch (getInputType())
{
case INPUT_PWM:
summary.append(tr("PWM (One cable per channel)"));
break;
case INPUT_PPM:
summary.append(tr("PPM (One cable for all channels)"));
break;
case INPUT_SBUS:
summary.append(tr("Futaba S.Bus"));
break;
case INPUT_DSM2:
summary.append(tr("Spektrum satellite (DSM2)"));
break;
case INPUT_DSMX10:
summary.append(tr("Spektrum satellite (DSMX10BIT)"));
break;
case INPUT_DSMX11:
summary.append(tr("Spektrum satellite (DSMX11BIT)"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("ESC type: ")).append("</b>");
switch (getESCType())
{
case ESC_LEGACY:
summary.append(tr("Legacy ESC (50 Hz)"));
break;
case ESC_RAPID:
summary.append(tr("Rapid ESC (400 Hz)"));
break;
default:
summary.append(tr("Unknown"));
}
/*
summary.append("<br>");
summary.append("<b>").append(tr("Reboot required: ")).append("</b>");
summary.append(isRestartNeeded() ? tr("<font color='red'>Yes</font>") : tr("<font color='green'>No</font>"));
*/
return summary;
}
void
GUIVehicle::selectBlockingFoes() const {
double dist = myLane->getLength() - getPositionOnLane();
#ifdef DEBUG_FOES
std::cout << SIMTIME << " selectBlockingFoes veh=" << getID() << " dist=" << dist << " numLinks=" << myLFLinkLanes.size() << "\n";
#endif
for (DriveItemVector::const_iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
const DriveProcessItem& dpi = *i;
if (dpi.myLink == nullptr) {
/// XXX if the vehicle intends to stop on an intersection, there could be a relevant exitLink (see #4299)
continue;
}
std::vector<const SUMOVehicle*> blockingFoes;
std::vector<const MSPerson*> blockingPersons;
#ifdef DEBUG_FOES
std::cout << " foeLink=" << dpi.myLink->getViaLaneOrLane()->getID() << "\n";
const bool isOpen =
#endif
dpi.myLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(), getVehicleType().getLength(),
getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), &blockingFoes);
#ifdef DEBUG_FOES
if (!isOpen) {
std::cout << " closed due to:\n";
for (std::vector<const SUMOVehicle*>::const_iterator it = blockingFoes.begin(); it != blockingFoes.end(); ++it) {
std::cout << " " << (*it)->getID() << "\n";
}
}
#endif
if (getLaneChangeModel().getShadowLane() != nullptr) {
MSLink* parallelLink = dpi.myLink->getParallelLink(getLaneChangeModel().getShadowDirection());
if (parallelLink != nullptr) {
const double shadowLatPos = getLateralPositionOnLane() - getLaneChangeModel().getShadowDirection() * 0.5 * (
myLane->getWidth() + getLaneChangeModel().getShadowLane()->getWidth());
#ifdef DEBUG_FOES
const bool isShadowOpen =
#endif
parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
getVehicleType().getLength(), getImpatience(),
getCarFollowModel().getMaxDecel(),
getWaitingTime(), shadowLatPos, &blockingFoes);
#ifdef DEBUG_FOES
if (!isShadowOpen) {
std::cout << " foes at shadow link=" << parallelLink->getViaLaneOrLane()->getID() << ":\n";
for (std::vector<const SUMOVehicle*>::const_iterator it = blockingFoes.begin(); it != blockingFoes.end(); ++it) {
std::cout << " " << (*it)->getID() << "\n";
}
}
#endif
}
}
for (std::vector<const SUMOVehicle*>::const_iterator it = blockingFoes.begin(); it != blockingFoes.end(); ++it) {
gSelected.select(static_cast<const GUIVehicle*>(*it)->getGlID());
}
#ifdef DEBUG_FOES
gDebugFlag1 = true;
#endif
const MSLink::LinkLeaders linkLeaders = (dpi.myLink)->getLeaderInfo(this, dist, &blockingPersons);
#ifdef DEBUG_FOES
gDebugFlag1 = false;
#endif
for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
// the vehicle to enter the junction first has priority
const GUIVehicle* leader = dynamic_cast<const GUIVehicle*>(it->vehAndGap.first);
if (leader != nullptr) {
if (isLeader(dpi.myLink, leader)) {
gSelected.select(leader->getGlID());
#ifdef DEBUG_FOES
std::cout << " linkLeader=" << leader->getID() << "\n";
#endif
}
} else {
for (std::vector<const MSPerson*>::iterator it_p = blockingPersons.begin(); it_p != blockingPersons.end(); ++it_p) {
const GUIPerson* foe = dynamic_cast<const GUIPerson*>(*it_p);
if (foe != nullptr) {
gSelected.select(foe->getGlID());
//std::cout << SIMTIME << " veh=" << getID() << " is blocked on link " << dpi.myLink->getRespondIndex() << " to " << dpi.myLink->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->second << "\n";
}
}
}
}
dist += dpi.myLink->getViaLaneOrLane()->getLength();
}
}
void
GUIVehicle::drawAction_drawCarriageClass(const GUIVisualizationSettings& s, bool asImage) const {
RGBColor current = GLHelper::getColor();
RGBColor darker = current.changedBrightness(-51);
const double exaggeration = s.vehicleSize.getExaggeration(s, this);
const double totalLength = getVType().getLength();
double upscaleLength = exaggeration;
if (exaggeration > 1 && totalLength > 5) {
// reduce the length/width ratio because this is not usefull at high zoom
upscaleLength = MAX2(1.0, upscaleLength * (5 + sqrt(totalLength - 5)) / totalLength);
}
const double locomotiveLength = getVehicleType().getParameter().locomotiveLength * upscaleLength;
if (exaggeration == 0) {
return;
}
const double defaultLength = getVehicleType().getParameter().carriageLength * upscaleLength;
const double carriageGap = getVehicleType().getParameter().carriageGap * upscaleLength;
const double length = totalLength * upscaleLength;
const double halfWidth = getVehicleType().getWidth() / 2.0 * exaggeration;
glPopMatrix(); // undo initial translation and rotation
const double xCornerCut = 0.3 * exaggeration;
const double yCornerCut = 0.4 * exaggeration;
// round to closest integer
const int numCarriages = MAX2(1, 1 + (int)((length - locomotiveLength) / (defaultLength + carriageGap) + 0.5));
assert(numCarriages > 0);
double carriageLengthWithGap = length / numCarriages;
double carriageLength = carriageLengthWithGap - carriageGap;
double firstCarriageLength = carriageLength;
if (defaultLength != locomotiveLength && numCarriages > 1) {
firstCarriageLength = locomotiveLength;
carriageLengthWithGap = (length - locomotiveLength) / (numCarriages - 1);
carriageLength = carriageLengthWithGap - carriageGap;
}
const int firstPassengerCarriage = defaultLength == locomotiveLength || numCarriages == 1 ? 0 : 1;
const int totalSeats = getVType().getPersonCapacity() + getVType().getContainerCapacity();
const int seatsPerCarriage = (int)ceil(totalSeats / (numCarriages - firstPassengerCarriage));
// lane on which the carriage front is situated
MSLane* lane = myLane;
int routeIndex = getRoutePosition();
// lane on which the carriage back is situated
MSLane* backLane = myLane;
int backRouteIndex = routeIndex;
// offsets of front and back
double carriageOffset = myState.pos();
double carriageBackOffset = myState.pos() - firstCarriageLength;
// handle seats
int requiredSeats = getNumPassengers() + getNumContainers();
if (requiredSeats > 0) {
mySeatPositions.clear();
}
Position front, back;
double angle = 0.;
// draw individual carriages
double curCLength = firstCarriageLength;
//std::cout << SIMTIME << " veh=" << getID() << " curCLength=" << curCLength << " loc=" << locomotiveLength << " car=" << carriageLength << " tlen=" << totalLength << " len=" << length << "\n";
for (int i = 0; i < numCarriages; ++i) {
if (i > 0) {
curCLength = carriageLength;
}
while (carriageOffset < 0) {
MSLane* prev = getPreviousLane(lane, routeIndex);
if (prev != lane) {
carriageOffset += prev->getLength();
} else {
// no lane available for drawing.
carriageOffset = 0;
}
lane = prev;
}
while (carriageBackOffset < 0) {
MSLane* prev = getPreviousLane(backLane, backRouteIndex);
if (prev != backLane) {
carriageBackOffset += prev->getLength();
} else {
// no lane available for drawing.
carriageBackOffset = 0;
}
backLane = prev;
}
front = lane->geometryPositionAtOffset(carriageOffset);
back = backLane->geometryPositionAtOffset(carriageBackOffset);
if (front == back) {
// no place for drawing available
continue;
}
const double drawnCarriageLength = front.distanceTo2D(back);
angle = atan2((front.x() - back.x()), (back.y() - front.y())) * (double) 180.0 / (double) M_PI;
if (i >= firstPassengerCarriage) {
computeSeats(front, back, seatsPerCarriage, exaggeration, requiredSeats);
}
glPushMatrix();
glTranslated(front.x(), front.y(), getType());
glRotated(angle, 0, 0, 1);
if (!asImage || !GUIBaseVehicleHelper::drawAction_drawVehicleAsImage(s, getVType().getImgFile(), this, getVType().getWidth(), curCLength)) {
switch (getVType().getGuiShape()) {
case SVS_TRUCK_SEMITRAILER:
case SVS_TRUCK_1TRAILER:
if (i == 0) {
GUIBaseVehicleHelper::drawAction_drawVehicleAsPoly(s, getVType().getGuiShape(), getVType().getWidth() * exaggeration, curCLength, i);
} else {
GLHelper::setColor(current);
GLHelper::drawBoxLine(Position(0, 0), 180, curCLength, halfWidth);
}
break;
default: {
if (i == 0) {
GLHelper::setColor(darker);
} else {
GLHelper::setColor(current);
}
// generic rail carriage
glBegin(GL_TRIANGLE_FAN);
glVertex2d(-halfWidth + xCornerCut, 0);
glVertex2d(-halfWidth, yCornerCut);
glVertex2d(-halfWidth, drawnCarriageLength - yCornerCut);
glVertex2d(-halfWidth + xCornerCut, drawnCarriageLength);
glVertex2d(halfWidth - xCornerCut, drawnCarriageLength);
glVertex2d(halfWidth, drawnCarriageLength - yCornerCut);
glVertex2d(halfWidth, yCornerCut);
glVertex2d(halfWidth - xCornerCut, 0);
glEnd();
}
}
}
glPopMatrix();
carriageOffset -= (curCLength + carriageGap);
carriageBackOffset -= carriageLengthWithGap;
}
if (getVType().getGuiShape() == SVS_RAIL_CAR) {
glPushMatrix();
glTranslated(front.x(), front.y(), getType());
glRotated(angle, 0, 0, 1);
drawAction_drawVehicleBlinker(curCLength);
drawAction_drawVehicleBrakeLight(curCLength);
glPopMatrix();
}
// restore matrix
glPushMatrix();
front = getPosition();
glTranslated(front.x(), front.y(), getType());
const double degAngle = RAD2DEG(getAngle() + M_PI / 2.);
glRotated(degAngle, 0, 0, 1);
glScaled(exaggeration, upscaleLength, 1);
if (mySeatPositions.size() == 0) {
mySeatPositions.push_back(back);
}
}
void
GUIVehicle::drawAction_drawLinkItems(const GUIVisualizationSettings& s) const {
glTranslated(0, 0, getType() + .2); // draw on top of cars
for (DriveItemVector::const_iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
if ((*i).myLink == nullptr) {
continue;
}
MSLink* link = (*i).myLink;
MSLane* via = link->getViaLaneOrLane();
if (via != nullptr) {
Position p = via->getShape()[0];
if ((*i).mySetRequest) {
glColor3d(0, .8, 0);
} else {
glColor3d(.8, 0, 0);
}
const SUMOTime leaveTime = (*i).myLink->getLeaveTime(
(*i).myArrivalTime, (*i).myArrivalSpeed, (*i).getLeaveSpeed(), getVehicleType().getLength());
drawLinkItem(p, (*i).myArrivalTime, leaveTime, s.vehicleName.size / s.scale);
// the time slot that ego vehicle uses when checking opened may
// differ from the one it requests in setApproaching
MSLink::ApproachingVehicleInformation avi = (*i).myLink->getApproaching(this);
assert(avi.arrivalTime == (*i).myArrivalTime && avi.leavingTime == leaveTime);
UNUSED_PARAMETER(avi); // only used for assertion
}
}
glTranslated(0, 0, getType() - .2); // draw on top of cars
}
int SetupWizard::nextId() const
{
switch (currentId()) {
case PAGE_START:
if (canAutoUpdate()) {
return PAGE_UPDATE;
} else {
return PAGE_CONTROLLER;
}
case PAGE_UPDATE:
return PAGE_CONTROLLER;
case PAGE_CONTROLLER:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_DISCOVERYF4:
return PAGE_INPUT;
case CONTROLLER_NANO:
if (isRestartNeeded()) {
reboot();
}
return PAGE_INPUT;
case CONTROLLER_OPLINK:
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_VEHICLES:
{
switch (getVehicleType()) {
case VEHICLE_MULTI:
return PAGE_MULTI;
case VEHICLE_FIXEDWING:
return PAGE_FIXEDWING;
case VEHICLE_HELI:
return PAGE_HELI;
case VEHICLE_SURFACE:
return PAGE_SURFACE;
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_MULTI:
return PAGE_ESC;
case PAGE_FIXEDWING:
case PAGE_SURFACE:
if (getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) {
return PAGE_ESC;
} else {
return PAGE_SERVO;
}
case PAGE_INPUT:
if (isRestartNeeded()) {
saveHardwareSettings();
reboot();
}
return PAGE_VEHICLES;
case PAGE_ESC:
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y) {
return PAGE_SERVO;
} else {
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
return PAGE_GPS;
default:
return PAGE_SUMMARY;
}
}
case PAGE_SERVO:
{
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
return PAGE_GPS;
default:
return PAGE_SUMMARY;
}
}
case PAGE_BIAS_CALIBRATION:
if (getVehicleType() == VEHICLE_MULTI) {
return PAGE_ESC_CALIBRATION;
} else {
return PAGE_OUTPUT_CALIBRATION;
}
case PAGE_ESC_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
case PAGE_OUTPUT_CALIBRATION:
return PAGE_AIRFRAME_INITIAL_TUNING;
case PAGE_AIRFRAME_INITIAL_TUNING:
return PAGE_SAVE;
case PAGE_GPS:
switch (getVehicleType()) {
case VEHICLE_FIXEDWING:
if (getGpsType() != GPS_DISABLED) {
return PAGE_AIRSPEED;
} else {
return PAGE_SUMMARY;
}
default:
return PAGE_SUMMARY;
}
case PAGE_AIRSPEED:
return PAGE_SUMMARY;
case PAGE_SUMMARY:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_DISCOVERYF4:
switch (getVehicleType()) {
case VEHICLE_FIXEDWING:
return PAGE_OUTPUT_CALIBRATION;
default:
return PAGE_BIAS_CALIBRATION;
}
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_SAVE:
return PAGE_END;
case PAGE_NOTYETIMPLEMENTED:
return PAGE_END;
default:
return -1;
}
}
QString SetupWizard::getSummaryText()
{
QString summary = "";
summary.append("<b>").append(tr("Controller type: ")).append("</b>");
switch (getControllerType()) {
case CONTROLLER_CC:
summary.append(tr("OpenPilot CopterControl"));
break;
case CONTROLLER_CC3D:
summary.append(tr("OpenPilot CopterControl 3D"));
break;
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;
case CONTROLLER_NANO:
summary.append(tr("OpenPilot Nano"));
break;
case CONTROLLER_OPLINK:
summary.append(tr("OpenPilot OPLink Radio Modem"));
break;
case CONTROLLER_DISCOVERYF4:
summary.append(tr("OpenPilot DiscoveryF4 Development Board"));
break;
default:
summary.append(tr("Unknown"));
break;
}
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle type: ")).append("</b>");
switch (getVehicleType()) {
case VEHICLE_MULTI:
summary.append(tr("Multirotor"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
summary.append(tr("Tricopter"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
summary.append(tr("Quadcopter X"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
summary.append(tr("Quadcopter +"));
break;
case SetupWizard::MULTI_ROTOR_HEXA:
summary.append(tr("Hexacopter"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
summary.append(tr("Hexacopter Coax (Y6)"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
summary.append(tr("Hexacopter H"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
summary.append(tr("Hexacopter X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO:
summary.append(tr("Octocopter"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
summary.append(tr("Octocopter Coax X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
summary.append(tr("Octocopter Coax +"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_V:
summary.append(tr("Octocopter V"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_FIXEDWING:
summary.append(tr("Fixed wing"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::FIXED_WING_DUAL_AILERON:
summary.append(tr("Dual Aileron"));
break;
case SetupWizard::FIXED_WING_AILERON:
summary.append(tr("Aileron"));
break;
case SetupWizard::FIXED_WING_ELEVON:
summary.append(tr("Elevon"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_HELI:
summary.append(tr("Helicopter"));
break;
case VEHICLE_SURFACE:
summary.append(tr("Surface vehicle"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::GROUNDVEHICLE_CAR:
summary.append(tr("Car"));
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
summary.append(tr("Tank"));
break;
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
summary.append(tr("Motorcycle"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Input type: ")).append("</b>");
switch (getInputType()) {
case INPUT_PWM:
summary.append(tr("PWM (One cable per channel)"));
break;
case INPUT_PPM:
summary.append(tr("PPM (One cable for all channels)"));
break;
case INPUT_SBUS:
summary.append(tr("Futaba S.Bus"));
break;
case INPUT_DSM:
summary.append(tr("Spektrum Satellite"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Speed Controller (ESC) type: ")).append("</b>");
switch (getEscType()) {
case ESC_STANDARD:
summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_ESC_FREQUENCY));
break;
case ESC_RAPID:
summary.append(tr("Rapid ESC (%1 Hz)").arg(VehicleConfigurationHelper::RAPID_ESC_FREQUENCY));
break;
case ESC_SYNCHED:
summary.append(tr("Synched ESC"));
break;
case ESC_ONESHOT:
summary.append(tr("Oneshot ESC"));
break;
default:
summary.append(tr("Unknown"));
}
// If Tricopter show tail servo speed
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING
|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR) {
summary.append("<br>");
summary.append("<b>").append(tr("Servo type: ")).append("</b>");
switch (getServoType()) {
case SERVO_ANALOG:
summary.append(tr("Analog Servos (50 Hz)"));
break;
case SERVO_DIGITAL:
summary.append(tr("Digital Servos (333 Hz)"));
break;
default:
summary.append(tr("Unknown"));
}
}
// Show GPS Type
if (getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) {
summary.append("<br>");
summary.append("<b>").append(tr("GPS type: ")).append("</b>");
switch (getGpsType()) {
case GPS_PLATINUM:
summary.append(tr("OpenPilot Platinum"));
break;
case GPS_UBX:
summary.append(tr("OpenPilot v8 or Generic UBLOX GPS"));
break;
case GPS_NMEA:
summary.append(tr("Generic NMEA GPS"));
break;
default:
summary.append(tr("None"));
}
}
// Show Airspeed sensor type
if ((getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) && getVehicleType() == VEHICLE_FIXEDWING) {
summary.append("<br>");
summary.append("<b>").append(tr("Airspeed Sensor: ")).append("</b>");
switch (getAirspeedType()) {
case AIRSPEED_ESTIMATE:
summary.append(tr("Software Estimated"));
break;
case AIRSPEED_EAGLETREE:
summary.append(tr("EagleTree on Flexi-Port"));
break;
case AIRSPEED_MS4525:
summary.append(tr("MS4525 based on Flexi-Port"));
break;
default:
summary.append(tr("Unknown"));
}
}
return summary;
}
