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();
}
/**
* Constructor
*/
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);")
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()));
connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()));
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
}
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ui = new Ui_OutputWidget();
m_ui->setupUi(this);
m_ui->gvFrame->setVisible(false);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveRCOutputToRAM->setVisible(false);
}
UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
// Configure the task widget
// Connect the help button
connect(m_ui->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(m_ui->saveRCOutputToRAM, m_ui->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// 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 *form = new OutputChannelForm(i, this);
form->moveTo(*(m_ui->channelLayout));
connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
addWidget(form->ui.actuatorMin);
addWidget(form->ui.actuatorNeutral);
addWidget(form->ui.actuatorMax);
addWidget(form->ui.actuatorRev);
addWidget(form->ui.actuatorLink);
}
// Associate the buttons with their UAVO fields
addWidget(m_ui->spinningArmed);
MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixer);
m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
QList<int> rates;
rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
int i = 0;
foreach(OutputBankControls controls, m_banks) {
addWidget(controls.rateCombo());
controls.rateCombo()->addItem(tr("-"), QVariant(0));
controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
foreach(int rate, rates) {
controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
}
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();
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVObjects XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVObjects");
file.open(QFile::ReadOnly | QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
// find the root of settings subtree
emit importAboutToBegin();
qDebug() << "Import about to begin";
QDomElement root = doc.documentElement();
if (root.tagName() == "uavobjects") {
root = root.firstChildElement("settings");
}
if (root.isNull() || (root.tagName() != "settings")) {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents"));
msgBox.setInformativeText(tr("This file does not contain correct UAVSettings"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui((QWidget *)Core::ICore::instance()->mainWindow());
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL, 16);
// Sanity Check:
UAVObject *obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error = false;
bool setError = false;
QDomNode field = node.firstChild();
while (!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
if (false == uavfield->checkValue(f.attribute("values"))) {
qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
setError = true;
} else {
uavfield->setValue(f.attribute("values"));
}
} else {
// This is an enum:
int i = 0;
QStringList list = f.attribute("values").split(",");
foreach(QString element, list) {
if (false == uavfield->checkValue(element, i)) {
qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
setError = true;
} else {
uavfield->setValue(element, i);
}
i++;
}
}
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else if (setError) {
swui.addLine(uavObjectName, "Warning (Objects field value(s) invalid)", false);
} else {
swui.addLine(uavObjectName, "OK", true);
}
}
