/**
Request the current config from the board
*/
void ConfigInputWidget::refreshValues()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
//obj->requestUpdate();
UAVObjectField *field;
// Now update all the slider values:
UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
Q_ASSERT(field_max);
Q_ASSERT(field_min);
Q_ASSERT(field_neu);
for (int i = 0; i < 8; i++) {
QVariant max = field_max->getValue(i);
QVariant min = field_min->getValue(i);
QVariant neutral = field_neu->getValue(i);
inMaxLabels[i]->setText(max.toString());
inMinLabels[i]->setText(min.toString());
if (max.toInt()> min.toInt()) {
inRevCheckboxes[i]->setChecked(false);
inSliders[i]->setMaximum(max.toInt());
inSliders[i]->setMinimum(min.toInt());
} else {
inRevCheckboxes[i]->setChecked(true);
inSliders[i]->setMaximum(min.toInt());
inSliders[i]->setMinimum(max.toInt());
}
inSliders[i]->setValue(neutral.toInt());
}
// Update receiver type
field = obj->getField(QString("InputMode"));
m_config->receiverType->setText(field->getValue().toString());
// Reset all channel assignement dropdowns:
foreach (QComboBox *combo, inChannelAssign) {
combo->setCurrentIndex(0);
}
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UAV Objects to UI is done.
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
Q_UNUSED(o);
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but there you go.
QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
QString category = frameCategory(frameType);
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText(category));
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
if (vehicleConfig) {
vehicleConfig->refreshWidgetsValues(frameType);
}
updateFeedForwardUI();
setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
}
/**
Helper function to refresh the UI widget values
*/
void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
setupUI(frameType);
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
// Do not allow table edit until AirframeType == Custom
// First save set AirframeType to 'Custom' and next modify.
if (field->getValue().toString() != "Custom") {
m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::NoEditTriggers);
} else {
m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::AllEditTriggers);
}
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
getChannelDescriptions();
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->customThrottle1Curve->initCurve(&curveValues);
} else {
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
}
double Throttle2CurveMin = m_aircraft->customThrottle2Curve->getMin();
if (MixerSettings * mxr = qobject_cast<MixerSettings *>(mixer)) {
MixerSettings::DataFields mixerSettingsData = mxr->getData();
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE && Throttle2CurveMin >= 0) {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
} else {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
}
}
// Setup all Throttle2 curves for all types of airframes
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->initCurve(&curveValues);
} else {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
}
// Update the mixer table:
for (int channel = 0; channel < m_aircraft->customMixerTable->columnCount(); channel++) {
UAVObjectField *field = mixer->getField(mixerTypes.at(channel));
if (field) {
QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
if (q) {
QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s));
}
m_aircraft->customMixerTable->item(1, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_aircraft->customMixerTable->item(2, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_aircraft->customMixerTable->item(3, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL)));
m_aircraft->customMixerTable->item(4, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH)));
m_aircraft->customMixerTable->item(5, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW)));
}
}
}
/*!
\brief Called by updates to @OPLinkStatus
*/
void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
{
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated) {
oplinkSettingsObj->requestUpdate();
}
// Update the link state
UAVObjectField *linkField = object->getField("LinkState");
m_oplink->LinkState->setText(linkField->getValue().toString());
bool linkConnected = (linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_CONNECTED));
bool modemEnabled = linkConnected || (linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_DISCONNECTED)) ||
(linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_ENABLED));
UAVObjectField *pairRssiField = object->getField("PairSignalStrengths");
bool bound;
bool ok;
quint32 boundPairId = m_oplink->CoordID->text().toUInt(&ok, 16);
// Update the detected devices.
UAVObjectField *pairIdField = object->getField("PairIDs");
quint32 pairid = pairIdField->getValue(0).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID1->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID1->setEnabled(false);
m_oplink->Bind1->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind1->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar1->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(0).toInt());
m_oplink->PairSignalStrengthLabel1->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar1->value()));
pairid = pairIdField->getValue(1).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID2->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID2->setEnabled(false);
m_oplink->Bind2->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind2->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar2->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(1).toInt());
m_oplink->PairSignalStrengthLabel2->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar2->value()));
pairid = pairIdField->getValue(2).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID3->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID3->setEnabled(false);
m_oplink->Bind3->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind3->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar3->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(2).toInt());
m_oplink->PairSignalStrengthLabel3->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar3->value()));
pairid = pairIdField->getValue(3).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID4->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID4->setEnabled(false);
m_oplink->Bind4->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind4->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar4->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(3).toInt());
m_oplink->PairSignalStrengthLabel4->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar4->value()));
// Update the Description field
// TODO use UAVObjectUtilManager::descriptionToStructure()
UAVObjectField *descField = object->getField("Description");
if (descField->getValue(0) != QChar(255)) {
/*
* This looks like a binary with a description at the end:
* 4 bytes: header: "OpFw".
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* 20 bytes: SHA1 sum of the firmware.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*/
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i) {
buf[i] = descField->getValue(i + 14).toChar().toLatin1();
}
buf[26] = '\0';
QString descstr(buf);
quint32 gitDate = descField->getValue(11).toChar().toLatin1() & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += descField->getValue(11 - i).toChar().toLatin1() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_oplink->FirmwareVersion->setText(descstr + " " + date);
} else {
m_oplink->FirmwareVersion->setText(tr("Unknown"));
}
// Update the serial number field
UAVObjectField *serialField = object->getField("CPUSerial");
char buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2 + 1];
for (unsigned int i = 0; i < OPLinkStatus::CPUSERIAL_NUMELEM; ++i) {
unsigned char val = serialField->getValue(i).toUInt() >> 4;
buf[i * 2] = ((val < 10) ? '0' : '7') + val;
val = serialField->getValue(i).toUInt() & 0xf;
buf[i * 2 + 1] = ((val < 10) ? '0' : '7') + val;
}
buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_oplink->SerialNumber->setText(buf);
updateEnableControls();
}
/**
* Updates the slider positions and min/max values
*
*/
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool())
m_config->RCInputConnected->setText("RC Receiver Connected");
else
m_config->RCInputConnected->setText("RC Receiver Not Connected");
if (m_config->doRCInputCalibration->isChecked())
{
if (firstUpdate)
{
// Increase the data rate from the board so that the sliders
// move faster
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mccDataRate = mdata.flightTelemetryUpdatePeriod;
mdata.flightTelemetryUpdatePeriod = 150;
controlCommand->setMetadata(mdata);
// Also protect the user by setting all values to zero
// and making the ActuatorCommand object readonly
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
obj->setMetadata(mdata);
UAVObjectField *field = obj->getField("Channel");
for (int i=0; i< field->getNumElements(); i++) {
field->setValue(0,i);
}
obj->updated();
}
field = controlCommand->getField(QString("Channel"));
for (int i = 0; i < 8; i++)
updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], reversals[i], field->getValue(i).toInt());
firstUpdate = false;
}
else
{
if (!firstUpdate)
{
// Restore original data rate from the board:
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = mccDataRate;
controlCommand->setMetadata(mdata);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
obj->setMetadata(mdata);
}
firstUpdate = true;
}
//Update the Flight mode channel slider
UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
// Find the channel currently assigned to flightmode
field = obj->getField("FlightMode");
int chIndex = field->getOptions().indexOf(field->getValue().toString());
if (chIndex < field->getOptions().length() - 1)
{
float valueScaled;
int chMin = inSliders[chIndex]->minimum();
int chMax = inSliders[chIndex]->maximum();
int chNeutral = inSliders[chIndex]->value();
int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
{
if (chMax != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
else
valueScaled = 0;
}
else
{
if (chMin != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
else
valueScaled = 0;
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
m_config->fmsSlider->setValue(valueScaled * 100);
}
}
/**
Request the current config from the board
*/
void ConfigServoWidget::requestRCInputUpdate()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field;
// Now update all the slider values:
UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
Q_ASSERT(field_max);
Q_ASSERT(field_min);
Q_ASSERT(field_neu);
for (int i = 0; i < 8; i++)
{
QVariant max = field_max->getValue(i);
QVariant min = field_min->getValue(i);
QVariant neutral = field_neu->getValue(i);
inMaxLabels[i]->setText(max.toString());
inMinLabels[i]->setText(min.toString());
inSliders[i]->setMaximum(max.toInt());
inSliders[i]->setMinimum(min.toInt());
inSliders[i]->setValue(neutral.toInt());
}
// Update receiver type
field = obj->getField(QString("InputMode"));
m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));
// Reset all channel assignement dropdowns:
m_config->ch0Assign->setCurrentIndex(0);
m_config->ch1Assign->setCurrentIndex(0);
m_config->ch2Assign->setCurrentIndex(0);
m_config->ch3Assign->setCurrentIndex(0);
m_config->ch4Assign->setCurrentIndex(0);
m_config->ch5Assign->setCurrentIndex(0);
m_config->ch6Assign->setCurrentIndex(0);
m_config->ch7Assign->setCurrentIndex(0);
// Update all channels assignements
QList<UAVObjectField *> fieldList = obj->getFields();
foreach (UAVObjectField *field, fieldList)
{
if (field->getUnits().contains("channel"))
assignChannel(obj, field->getName());
}
// Update all the flight mode settingsin the relevant tab
field = obj->getField(QString("FlightModePosition"));
m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString())));
m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString())));
m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString())));
field = obj->getField(QString("Stabilization1Settings"));
m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Stabilization2Settings"));
m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Stabilization3Settings"));
m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
// Load the arming settings
field = obj->getField(QString("Arming"));
m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString()));
field = obj->getField(QString("ArmedTimeout"));
m_config->armTimeout->setValue(field->getValue().toInt()/1000);
}
/**
Request the current config from the board (RC Output)
*/
void ConfigServoWidget::requestRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString());
// Reset all channel assignements:
m_config->ch0Output->setCurrentIndex(0);
m_config->ch1Output->setCurrentIndex(0);
m_config->ch2Output->setCurrentIndex(0);
m_config->ch3Output->setCurrentIndex(0);
m_config->ch4Output->setCurrentIndex(0);
m_config->ch5Output->setCurrentIndex(0);
m_config->ch6Output->setCurrentIndex(0);
m_config->ch7Output->setCurrentIndex(0);
// Get the channel assignements:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignOutputChannel(obj,field->getName());
}
}
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
// Get Channel ranges:
for (int i=0;i<8;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<8; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
}
