QGCVehicleConfig.cc

// 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 "QGCVehicleConfig.h"

#include "QGC.h"
#include "QGCToolWidget.h"
#include "UASManager.h"
#include "UASParameterCommsMgr.h"
#include "ui_QGCVehicleConfig.h"

QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
    QWidget(parent),
    mav(NULL),
    chanCount(0),
    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    rcAux3(0.0f),
    changed(true),
    rc_mode(RC_MODE_NONE),
    calibrationEnabled(false),
    ui(new Ui::QGCVehicleConfig)
{
    doneLoadingConfig = false;

    setObjectName("QGC_VEHICLECONFIG");
    ui->setupUi(this);

    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()));

    ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);

    ui->rcCalibrationButton->setCheckable(true);
    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
    connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
    connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
    //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));

    /* 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->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(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->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
    connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
    connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));

    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    setActiveUAS(UASManager::instance()->getActiveUAS());

    for (unsigned int i = 0; i < chanMax; i++)
    {
        rcValue[i] = UINT16_MAX;
        rcMapping[i] = i;
    }

    updateTimer.setInterval(150);
    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateTimer.start();

    ui->advancedGroupBox->hide();
    connect(ui->advancedCheckBox,SIGNAL(toggled(bool)),ui->advancedGroupBox,SLOT(setShown(bool)));
}
void QGCVehicleConfig::rcMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(0);
}

void QGCVehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(1);
}

void QGCVehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
}

void QGCVehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
}

QGCVehicleConfig::~QGCVehicleConfig()
{
    delete ui;
}

void QGCVehicleConfig::setRCModeIndex(int newRcMode)
{
    if (newRcMode > 0 && newRcMode < 6)
    {
        //rc_mode = (enum RC_MODE) (newRcMode+1);
        changed = true;
    }
}

void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
    if (enabled)
    {
        startCalibrationRC();
    }
    else
    {
        stopCalibrationRC();
    }
}

void QGCVehicleConfig::setTrimPositions()
{
    // Set trim to min if stick is close to min
    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
    }
    // Set trim to max if stick is close to max
    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
    }
    else
    {

        // Reject
        QMessageBox msgBox;
        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        (void)msgBox.exec();
    }

    // Set trim for roll, pitch, yaw, throttle
    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw

    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
}

void QGCVehicleConfig::detectChannelInversion()
{

}

void QGCVehicleConfig::startCalibrationRC()
{
    QMessageBox::information(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 reciever are powered and connected\n\nClick OK to confirm");
    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->rcTypeComboBox->setEnabled(false);
    ui->rcCalibrationButton->setText(tr("Stop 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 QGCVehicleConfig::stopCalibrationRC()
{
    QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
    calibrationEnabled = false;
    ui->rcTypeComboBox->setEnabled(true);
    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();
    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 very close to 1500\n\n";
    statusstr += "Channel\tMin\tCenter\tMax\n";
    statusstr += "--------------------\n";
    for (int i=0;i<8;i++)
    {
        statusstr += QString::number(i) + "\t" + QString::number(rcMin[i]) + "\t" + QString::number(rcValue[i]) + "\t" + QString::number(rcMax[i]) + "\n";
    }
    QMessageBox::information(0,"Status",statusstr);
}

void QGCVehicleConfig::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;
            }
        }
    }

    // Generate widgets for the Advanced tab.
    left = true;
    foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            QWidget* parent = left?ui->advancedLeftContents:ui->advancedRightContents;
            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);
                if (left)
                {
                    left = false;
                    ui->advancedLeftLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->advancedRightLayout->addWidget(box);
                }
            } else {
                delete tool;
            }
        }
    }

    // Load tabs for general configuration
    foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
        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