Newer
Older
// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif
#include <QTimer>
#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>
#include "QGCPX4VehicleConfig.h"
#include "QGC.h"
#include "QGCToolWidget.h"
#include "UASManager.h"
#include "UASParameterCommsMgr.h"
#include "ui_QGCPX4VehicleConfig.h"
#include "px4_configuration/QGCPX4AirframeConfig.h"
#include "px4_configuration/QGCPX4SensorCalibration.h"
#include <dialog_bare.h>
#define WIDGET_INDEX_FIRMWARE 0
#define WIDGET_INDEX_RC 1
#define WIDGET_INDEX_SENSOR_CAL 2
#define WIDGET_INDEX_AIRFRAME_CONFIG 3
#define WIDGET_INDEX_GENERAL_CONFIG 4
#define WIDGET_INDEX_ADV_CONFIG 5
#define MIN_PWM_VAL 800
#define MAX_PWM_VAL 2200
QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
chanCount(0),
channelReverseStateWanted(-1),
rcRoll(0.0f),
rcPitch(0.0f),
rcYaw(0.0f),
rcThrottle(0.0f),
rcMode(0.0f),
rcAssist(0.0f),
rcMission(0.0f),
rcReturn(0.0f),
rcFlaps(0.0f),
configEnabled(false),
px4AirframeConfig(NULL),
#ifdef QUPGRADE_SUPPORT
firmwareDialog(NULL),
#endif
ui(new Ui::QGCPX4VehicleConfig)
{
doneLoadingConfig = false;
channelNames << "Roll / Aileron";
channelNames << "Pitch / Elevator";
channelNames << "Yaw / Rudder";
channelNames << "Throttle";
channelNames << "Main Mode Switch";
channelNames << "Assist Switch";
channelNames << "Mission Switch";
channelNames << "Return Switch";
channelNames << "Flaps";
channelNames << "Aux1";
channelNames << "Aux2";
channelNames << "Aux3";
channelNames << "Aux4";
channelNames << "Aux5";
channelNames << "Aux6";
channelNames << "Aux7";
channelNames << "Aux8";
setObjectName("QGC_VEHICLECONFIG");
ui->setupUi(this);
Lorenz Meier
committed
ui->advancedMenuButton->setEnabled(false);
ui->airframeMenuButton->setEnabled(false);
ui->sensorMenuButton->setEnabled(false);
ui->rcMenuButton->setEnabled(false);
px4AirframeConfig = new QGCPX4AirframeConfig(this);
ui->airframeLayout->addWidget(px4AirframeConfig);
px4SensorCalibration = new QGCPX4SensorCalibration(this);
ui->sensorLayout->addWidget(px4SensorCalibration);
#ifdef QUPGRADE_SUPPORT
firmwareDialog = new DialogBare(this);
ui->firmwareLayout->addWidget(firmwareDialog);
#else
#error Please check out QUpgrade from http://github.com/LorenzMeier/qupgrade/ into the QGroundControl folder.
QLabel* label = new QLabel(this);
label->setText("THIS VERSION OF QGROUNDCONTROL WAS BUILT WITHOUT QUPGRADE. To enable firmware upload support, checkout QUpgrade WITHIN the QGroundControl folder");
ui->firmwareLayout->addWidget(label);
#endif
ui->rollWidget->setOrientation(Qt::Horizontal);
ui->rollWidget->setName("Roll");
ui->yawWidget->setOrientation(Qt::Horizontal);
ui->yawWidget->setName("Yaw");
ui->pitchWidget->setName("Pitch");
ui->throttleWidget->setName("Throttle");
ui->radio5Widget->setOrientation(Qt::Horizontal);
ui->radio5Widget->setName("Radio 5");
ui->radio6Widget->setOrientation(Qt::Horizontal);
ui->radio6Widget->setName("Radio 6");
ui->radio7Widget->setOrientation(Qt::Horizontal);
ui->radio7Widget->setName("Radio 7");
ui->radio8Widget->setOrientation(Qt::Horizontal);
ui->radio8Widget->setName("Radio 8");
connect(ui->rcMenuButton,SIGNAL(clicked()),
this,SLOT(rcMenuButtonClicked()));
connect(ui->sensorMenuButton,SIGNAL(clicked()),
this,SLOT(sensorMenuButtonClicked()));
connect(ui->generalMenuButton,SIGNAL(clicked()),
this,SLOT(generalMenuButtonClicked()));
connect(ui->advancedMenuButton,SIGNAL(clicked()),
this,SLOT(advancedMenuButtonClicked()));
connect(ui->airframeMenuButton, SIGNAL(clicked()),
this, SLOT(airframeMenuButtonClicked()));
connect(ui->firmwareMenuButton, SIGNAL(clicked()),
this, SLOT(firmwareMenuButtonClicked()));
connect(ui->advancedCheckBox, SIGNAL(clicked(bool)), ui->advancedGroupBox, SLOT(setVisible(bool)));
ui->advancedGroupBox->setVisible(false);
ui->rcCalibrationButton->setCheckable(true);
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
//TODO connect buttons here to save/clear actions?
UASInterface* tmpMav = UASManager::instance()->getActiveUAS();
if (tmpMav) {
ui->pendingCommitsWidget->initWithUAS(tmpMav);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
this, SLOT(setActiveUAS(UASInterface*)));
// Connect RC mapping assignments
connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
connect(ui->assistSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAssistChan(int)));
connect(ui->missionSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setMissionChan(int)));
connect(ui->returnSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setReturnChan(int)));
connect(ui->flapsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setFlapsChan(int)));
connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
// Connect RC reverse assignments
connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
connect(ui->assistSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAssistInverted(bool)));
connect(ui->missionSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setMissionInverted(bool)));
connect(ui->returnSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setReturnInverted(bool)));
connect(ui->flapsInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setFlapsInverted(bool)));
connect(ui->aux1InvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
connect(ui->aux2InvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
connect(ui->rollButton, SIGNAL(clicked()), this, SLOT(identifyRollChannel()));
connect(ui->pitchButton, SIGNAL(clicked()), this, SLOT(identifyPitchChannel()));
connect(ui->yawButton, SIGNAL(clicked()), this, SLOT(identifyYawChannel()));
connect(ui->throttleButton, SIGNAL(clicked()), this, SLOT(identifyThrottleChannel()));
connect(ui->modeButton, SIGNAL(clicked()), this, SLOT(identifyModeChannel()));
connect(ui->assistSwButton, SIGNAL(clicked()), this, SLOT(identifyAssistChannel()));
connect(ui->missionSwButton, SIGNAL(clicked()), this, SLOT(identifyMissionChannel()));
connect(ui->returnSwButton, SIGNAL(clicked()), this, SLOT(identifyReturnChannel()));
connect(ui->flapsButton, SIGNAL(clicked()), this, SLOT(identifyFlapsChannel()));
connect(ui->aux1Button, SIGNAL(clicked()), this, SLOT(identifyAux1Channel()));
connect(ui->aux2Button, SIGNAL(clicked()), this, SLOT(identifyAux2Channel()));
connect(ui->persistRcValuesButt,SIGNAL(clicked()), this, SLOT(writeCalibrationRC()));
for (unsigned int i = 0; i < chanMax; i++) {
rcValueReversed[i] = UINT16_MAX;
rcToFunctionMapping[i] = i;
channelWantedList[i] = (float)UINT16_MAX;//TODO need to clean these up!
rcMin[i] = 1000.0f;
rcMax[i] = 2000.0f;
// Mapping not established here, so can't pick values via mapping yet!
rcMappedMin[i] = 1000;
rcMappedMax[i] = 2000;
rcMappedValue[i] = UINT16_MAX;
rcMappedNormalizedValue[i] = 0.0f;
}
for (unsigned int i = chanMax -1; i < chanMappedMax; i++) {
rcMapping[i] = -1;
rcMappedMin[i] = 1000;
rcMappedMax[i] = 2000;
rcMappedValue[i] = UINT16_MAX;
rcMappedNormalizedValue[i] = 0.0f;
}
updateTimer.setInterval(150);
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
updateTimer.start();
}
QGCPX4VehicleConfig::~QGCPX4VehicleConfig()
{
delete ui;
}
void QGCPX4VehicleConfig::rcMenuButtonClicked()
{
//TODO eg ui->stackedWidget->findChild("rcConfig");
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_RC);
}
void QGCPX4VehicleConfig::sensorMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_SENSOR_CAL);
}
void QGCPX4VehicleConfig::generalMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_GENERAL_CONFIG);
}
void QGCPX4VehicleConfig::advancedMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_ADV_CONFIG);
void QGCPX4VehicleConfig::airframeMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_AIRFRAME_CONFIG);
}
void QGCPX4VehicleConfig::firmwareMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_FIRMWARE);
}
void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
{
if (chanCount == 0 || aert_index < 0)
return;
int oldmapping = rcMapping[aert_index];
channelWanted = aert_index;
for (unsigned i = 0; i < chanMax; i++) {
if (i >= chanCount) {
channelWantedList[i] = 0;
channelWantedList[i] = rcValue[i];
}
}
msgBox.setText(tr("Identifying %1 channel").arg(channelNames[channelWanted]));
msgBox.setInformativeText(tr("Please move stick, switch or potentiometer for the %1 channel\n all the way up/down or left/right.").arg(channelNames[channelWanted]));
msgBox.setStandardButtons(QMessageBox::Ok);
skipActionButton = msgBox.addButton(tr("Skip"),QMessageBox::RejectRole);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
skipActionButton->hide();
msgBox.removeButton(skipActionButton);
if (msgBox.clickedButton() == skipActionButton ){
channelWanted = -1;
rcMapping[aert_index] = oldmapping;
}
skipActionButton = NULL;
}
void QGCPX4VehicleConfig::toggleCalibrationRC(bool enabled)
{
if (enabled)
{
startCalibrationRC();
}
else
{
stopCalibrationRC();
}
}
void QGCPX4VehicleConfig::setTrimPositions()
{
int rollMap = rcMapping[0];
int pitchMap = rcMapping[1];
int yawMap = rcMapping[2];
int throttleMap = rcMapping[3];
// Reset all trims, as some might not be touched
for (unsigned i = 0; i < chanCount; i++) {
rcTrim[i] = 1500;
}
// Set trim to min if stick is close to min
if (abs(rcValue[throttleMap] - rcMin[throttleMap]) < 100) {
rcTrim[throttleMap] = rcMin[throttleMap]; // throttle
}
// Set trim to max if stick is close to max
else if (abs(rcValue[throttleMap] - rcMax[throttleMap]) < 100) {
rcTrim[throttleMap] = rcMax[throttleMap]; // throttle
QMessageBox warnMsgBox;
warnMsgBox.setText(tr("Throttle Stick Trim Position Invalid"));
warnMsgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
warnMsgBox.setStandardButtons(QMessageBox::Ok);
warnMsgBox.setDefaultButton(QMessageBox::Ok);
(void)warnMsgBox.exec();
}
// Set trim for roll, pitch, yaw, throttle
rcTrim[rollMap] = rcValue[rollMap]; // roll
rcTrim[pitchMap] = rcValue[pitchMap]; // pitch
rcTrim[yawMap] = rcValue[yawMap]; // yaw
// Mode switch and optional modes, might not be mapped (== -1)
for (unsigned i = 4; i < chanMappedMax; i++) {
if (rcMapping[i] >= 0 && rcMapping[i] < (int)chanCount) {
rcTrim[rcMapping[i]] = ((rcMax[rcMapping[i]] - rcMin[rcMapping[i]]) / 2.0f) + rcMin[rcMapping[i]];
} else if (rcMapping[i] != -1){
qDebug() << "RC MAPPING FAILED #" << i << "VAL:" << rcMapping[i];
}
}
void QGCPX4VehicleConfig::detectChannelInversion(int aert_index)
if (chanCount == 0 || aert_index < 0 || aert_index >= (int)chanMappedMax)
return;
bool oldstatus = rcRev[rcMapping[aert_index]];
channelReverseStateWanted = aert_index;
// Reset search list
for (unsigned i = 0; i < chanMax; i++) {
if (i >= chanCount) {
channelReverseStateWantedList[i] = 0;
}
else {
channelReverseStateWantedList[i] = rcValue[i];
}
}
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
QStringList instructions;
instructions << "ROLL: Move stick left";
instructions << "PITCH: Move stick up";
instructions << "YAW: Move stick left";
instructions << "THROTTLE: Move stick down";
instructions << "MODE SWITCH: Push down / towards you";
instructions << "ASSISTED SWITCH: Push down / towards you";
instructions << "MISSION SWITCH: Push down / towards you";
instructions << "RETURN SWITCH: Push down / towards you";
instructions << "FLAPS: Push down / towards you or turn dial to the leftmost position";
instructions << "AUX1: Push down / towards you or turn dial to the leftmost position";
instructions << "AUX2: Push down / towards you or turn dial to the leftmost position";
msgBox.setText(tr("Identifying DIRECTION of %1 channel").arg(channelNames[channelReverseStateWanted]));
msgBox.setInformativeText(tr("%2").arg((aert_index < instructions.length()) ? instructions[aert_index] : ""));
msgBox.setStandardButtons(QMessageBox::Ok);
skipActionButton = msgBox.addButton(tr("Skip"),QMessageBox::RejectRole);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
skipActionButton->hide();
msgBox.removeButton(skipActionButton);
if (msgBox.clickedButton() == skipActionButton ){
channelReverseStateWanted = -1;
rcRev[rcMapping[aert_index]] = oldstatus;
}
skipActionButton = NULL;
}
void QGCPX4VehicleConfig::startCalibrationRC()
{
configEnabled = true;
QMessageBox::warning(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and receiver are powered and connected.\nRESET ALL TRIMS TO CENTER!\n\nDo not move the RC sticks, then click OK to confirm");
//go ahead and try to map first 8 channels, now that user can skip channels
for (int i = 0; i < 8; i++) {
identifyChannelMapping(i);
}
// Try to identify inverted channels, but only for R/P/Y/T
for (int i = 0; i < 4; i++) {
detectChannelInversion(i);
}
//QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");
configEnabled = false;
QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
ui->rcCalibrationButton->setText(tr("Save RC Calibration"));
resetCalibrationRC();
calibrationEnabled = true;
ui->rollWidget->showMinMax();
ui->pitchWidget->showMinMax();
ui->yawWidget->showMinMax();
ui->throttleWidget->showMinMax();
ui->radio5Widget->showMinMax();
ui->radio6Widget->showMinMax();
ui->radio7Widget->showMinMax();
ui->radio8Widget->showMinMax();
}
void QGCPX4VehicleConfig::stopCalibrationRC()
{
QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
configEnabled = false;
ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
ui->rollWidget->hideMinMax();
ui->pitchWidget->hideMinMax();
ui->yawWidget->hideMinMax();
ui->throttleWidget->hideMinMax();
ui->radio5Widget->hideMinMax();
ui->radio6Widget->hideMinMax();
ui->radio7Widget->hideMinMax();
ui->radio8Widget->hideMinMax();
for (unsigned int i = 0; i < chanCount; i++) {
if (rcMin[i] > 1350) {
qDebug() << "SETTING TRIM";
setTrimPositions();
QString statusstr;
statusstr = "Below you will find the detected radio calibration information that will be sent to the autopilot\n";
statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading 1000, 1500, 2000\n\n";
statusstr += "Channel\tMin\tCenter\tMax\n";
statusstr += "--------------------\n";
for (unsigned int i=0; i < chanCount; i++) {
statusstr += QString::number(i) +"\t"+ QString::number(rcMin[i]) +"\t"+ QString::number(rcValue[i]) +"\t"+ QString::number(rcMax[i]) +"\n";
msgBox.setText(tr("Confirm Calibration"));
msgBox.setInformativeText(statusstr);
msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);//allow user to cancel upload after reviewing values
int msgBoxResult = msgBox.exec();
if (QMessageBox::Cancel == msgBoxResult) {
return;//don't commit these values
}
QMessageBox::information(0,"Uploading the RC Calibration","The configuration will now be uploaded and permanently stored.");
writeCalibrationRC();
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
}
void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
{
Q_UNUSED(primary);
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
if (!autopilotdir.exists("general"))
{
//TODO: Throw some kind of error here. There is no general configuration directory
qWarning() << "Invalid general dir. no general configuration will be loaded.";
}
if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
{
//TODO: Throw an error here too, no autopilot specific configuration
qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
}
// Generate widgets for the General tab.
QGCToolWidget *tool;
bool left = true;
foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
tool = new QGCToolWidget("", parent);
if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (left)
{
left = false;
ui->generalLeftLayout->addWidget(box);
}
else
{
left = true;
ui->generalRightLayout->addWidget(box);
}
} else {
delete tool;
}
}
}
//TODO fix and reintegrate the Advanced parameter editor
// // Generate widgets for the Advanced tab.
// foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
// {
// if (file.toLower().endsWith(".qgw")) {
// QWidget* parent = ui->advanceColumnContents;
// tool = new QGCToolWidget("", parent);
// if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
// {
// toolWidgets.append(tool);
// QGroupBox *box = new QGroupBox(parent);
// box->setTitle(tool->objectName());
// box->setLayout(new QVBoxLayout(box));
// box->layout()->addWidget(tool);
// ui->advancedColumnLayout->addWidget(box);
// } else {
// delete tool;
// }
// }
// }
// Load tabs for general configuration
foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(generaldir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", tab);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(tab));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
// Load additional tabs for vehicle specific configuration
foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", tab);
tool->addUAS(mav);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
box->show();
//gbox->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
}
void QGCPX4VehicleConfig::menuButtonClicked()
{
QPushButton *button = qobject_cast<QPushButton*>(sender());
if (!button)
{
return;
}
if (buttonToWidgetMap.contains(button))
{
ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
}
}
void QGCPX4VehicleConfig::loadConfig()
{
QGCToolWidget* tool;
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
if (!autopilotdir.exists("general"))
{
//TODO: Throw some kind of error here. There is no general configuration directory
qWarning() << "Invalid general dir. no general configuration will be loaded.";
}
if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
{
//TODO: Throw an error here too, no autopilot specific configuration
qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
}
qDebug() << autopilotdir.absolutePath();
qDebug() << generaldir.absolutePath();
qDebug() << vehicledir.absolutePath();
QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
{
loadQgcConfig(false);
doneLoadingConfig = true;
return;
}
loadQgcConfig(true);
QXmlStreamReader xml(xmlfile.readAll());
xmlfile.close();
//TODO: Testing to ensure that incorrectly formatted XML won't break this.
while (!xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "paramfile")
{
xml.readNext();
while ((xml.name() != "paramfile") && !xml.atEnd())
{
QString valuetype = "";
if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
{
valuetype = xml.name().toString();
xml.readNext();
while ((xml.name() != valuetype) && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
{
QString parametersname = "";
if (xml.attributes().hasAttribute("name"))
{
parametersname = xml.attributes().value("name").toString();
}
QVariantMap genset;
QVariantMap advset;
QString setname = parametersname;
xml.readNext();
int genarraycount = 0;
int advarraycount = 0;
while ((xml.name() != "parameters") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "param")
{
QString humanname = xml.attributes().value("humanName").toString();
QString name = xml.attributes().value("name").toString();
QString tab= xml.attributes().value("user").toString();
if (tab == "Advanced")
{
advset["title"] = parametersname;
}
else
{
genset["title"] = parametersname;
}
if (name.contains(":"))
{
name = name.split(":")[1];
}
QString docs = xml.attributes().value("documentation").toString();
paramTooltips[name] = name + " - " + docs;
int type = -1; //Type of item
QMap<QString,QString> fieldmap;
xml.readNext();
while ((xml.name() != "param") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "values")
{
type = 1; //1 is a combobox
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
int paramcount = 0;
xml.readNext();
while ((xml.name() != "values") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "value")
{
QString code = xml.attributes().value("code").toString();
QString arg = xml.readElementText();
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
paramcount++;
}
xml.readNext();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
}
if (xml.isStartElement() && xml.name() == "field")
{
type = 2; //2 is a slider
QString fieldtype = xml.attributes().value("name").toString();
QString text = xml.readElementText();
fieldmap[fieldtype] = text;
}
xml.readNext();
}
if (type == -1)
{
//Nothing inside! Assume it's a value, give it a default range.
type = 2;
QString fieldtype = "Range";
QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
fieldmap[fieldtype] = text;
}
if (type == 2)
{
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
if (fieldmap.contains("Range"))
{
float min = 0;
float max = 0;
//Some range fields list "0-10" and some list "0 10". Handle both.
if (fieldmap["Range"].split(" ").size() > 1)
{
min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
}
else if (fieldmap["Range"].split("-").size() > 1)
{
min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
}
}
if (tab == "Advanced")
{
advarraycount++;
advset["count"] = advarraycount;
}
else
{
genarraycount++;
genset["count"] = genarraycount;
}
}
xml.readNext();
}
if (genarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget("", parent);
tool->addUAS(mav);
tool->setTitle(parametersname);
tool->setObjectName(parametersname);
tool->setSettings(genset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
if (advarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget("", parent);
tool->addUAS(mav);
tool->setTitle(parametersname);
tool->setObjectName(parametersname);
tool->setSettings(advset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
}
xml.readNext();
}
}
xml.readNext();
}
}
xml.readNext();
}
paramMgr->setParamDescriptions(paramTooltips);
//Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
paramMgr->requestParameterListIfEmpty();