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#include <QProgressDialog>
#include <QDebug>
#include <QTimer>
#include "QGCPX4AirframeConfig.h"
#include "ui_QGCPX4AirframeConfig.h"
#include "UASManager.h"
#include "LinkManager.h"
#include "UAS.h"
#include "QGC.h"
#include "QGCMessageBox.h"
QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
progress(NULL),
pendingParams(0),
configState(CONFIG_STATE_ABORT),
selectedId(-1),
ui(new Ui::QGCPX4AirframeConfig)
{
ui->setupUi(this);
// Fill the lists here manually in accordance with the list from:
// https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/rcS
ui->simComboBox->addItem(tr("Plane (HilStar, X-Plane)"), 1000);
ui->simComboBox->addItem(tr("Plane (Rascal, FlightGear)"), 1004);
ui->simComboBox->addItem(tr("Quad X HIL"), 1001);
ui->simComboBox->addItem(tr("Quad + HIL"), 1003);
connect(ui->simPushButton, SIGNAL(clicked()), this, SLOT(simSelected()));
connect(ui->simComboBox, SIGNAL(activated(int)), this, SLOT(simSelected(int)));
ui->simPushButton->setEnabled(ui->simComboBox->count() > 0);
ui->planeComboBox->addItem(tr("Multiplex Easystar 1/2"), 2100);
ui->planeComboBox->addItem(tr("Hobbyking Bixler 1/2"), 2101);
ui->planeComboBox->addItem(tr("3DR Skywalker"), 2102);
ui->planeComboBox->addItem(tr("Skyhunter (1800 mm)"), 2103);
connect(ui->planePushButton, SIGNAL(clicked()), this, SLOT(planeSelected()));
connect(ui->planeComboBox, SIGNAL(activated(int)), this, SLOT(planeSelected(int)));
ui->planePushButton->setEnabled(ui->planeComboBox->count() > 0);
ui->flyingWingComboBox->addItem(tr("Z-84 Wing Wing (845 mm)"), 3033);
ui->flyingWingComboBox->addItem(tr("TBS Caipirinha (850 mm)"), 3100);
ui->flyingWingComboBox->addItem(tr("Bormatec Camflyer Q (800 mm)"), 3030);
ui->flyingWingComboBox->addItem(tr("FX-61 Phantom FPV (1550 mm)"), 3031);
ui->flyingWingComboBox->addItem(tr("FX-79 Buffalo (2000 mm)"), 3034);
ui->flyingWingComboBox->addItem(tr("Skywalker X5 (1180 mm)"), 3032);
ui->flyingWingComboBox->addItem(tr("Viper v2 (3000 mm)"), 3035);
connect(ui->flyingWingPushButton, SIGNAL(clicked()), this, SLOT(flyingWingSelected()));
connect(ui->flyingWingComboBox, SIGNAL(activated(int)), this, SLOT(flyingWingSelected(int)));
ui->quadXComboBox->addItem(tr("DJI F330 8\" Quad"), 4010);
ui->quadXComboBox->addItem(tr("DJI F450 10\" Quad"), 4011);
ui->quadXComboBox->addItem(tr("X frame Quad UAVCAN"), 4012);
ui->quadXComboBox->addItem(tr("AR.Drone Frame Quad"), 4008);
// ui->quadXComboBox->addItem(tr("DJI F330 with MK BLCTRL"), 4017);
// ui->quadXComboBox->addItem(tr("Mikrokopter X frame"), 4019);
connect(ui->quadXPushButton, SIGNAL(clicked()), this, SLOT(quadXSelected()));
connect(ui->quadXComboBox, SIGNAL(activated(int)), this, SLOT(quadXSelected(int)));
ui->quadXPushButton->setEnabled(ui->quadXComboBox->count() > 0);
ui->quadPlusComboBox->addItem(tr("Generic 10\" Quad +"), 5001);
// ui->quadXComboBox->addItem(tr("Mikrokopter + frame"), 5020);
connect(ui->quadPlusPushButton, SIGNAL(clicked()), this, SLOT(quadPlusSelected()));
connect(ui->quadPlusComboBox, SIGNAL(activated(int)), this, SLOT(quadPlusSelected(int)));
ui->quadPlusPushButton->setEnabled(ui->quadPlusComboBox->count() > 0);
ui->hexaXComboBox->addItem(tr("Standard 10\" Hexa X"), 6001);
ui->hexaXComboBox->addItem(tr("Coaxial 10\" Hexa X"), 11001);
connect(ui->hexaXPushButton, SIGNAL(clicked()), this, SLOT(hexaXSelected()));
connect(ui->hexaXComboBox, SIGNAL(activated(int)), this, SLOT(hexaXSelected(int)));
ui->hexaXPushButton->setEnabled(ui->hexaXComboBox->count() > 0);
ui->hexaPlusComboBox->addItem(tr("Standard 10\" Hexa"), 7001);
connect(ui->hexaPlusPushButton, SIGNAL(clicked()), this, SLOT(hexaPlusSelected()));
connect(ui->hexaPlusComboBox, SIGNAL(activated(int)), this, SLOT(hexaPlusSelected(int)));
ui->hexaPlusPushButton->setEnabled(ui->hexaPlusComboBox->count() > 0);
ui->octoXComboBox->addItem(tr("Standard 10\" Octo"), 8001);
ui->octoXComboBox->addItem(tr("Coaxial 10\" Octo"), 12001);
connect(ui->octoXPushButton, SIGNAL(clicked()), this, SLOT(octoXSelected()));
connect(ui->octoXComboBox, SIGNAL(activated(int)), this, SLOT(octoXSelected(int)));
ui->octoXPushButton->setEnabled(ui->octoXComboBox->count() > 0);
ui->octoPlusComboBox->addItem(tr("Standard 10\" Octo"), 9001);
connect(ui->octoPlusPushButton, SIGNAL(clicked()), this, SLOT(octoPlusSelected()));
connect(ui->octoPlusComboBox, SIGNAL(activated(int)), this, SLOT(octoPlusSelected(int)));
ui->octoPlusPushButton->setEnabled(ui->octoPlusComboBox->count() > 0);
ui->hComboBox->addItem(tr("3DR Iris"), 10016);
ui->hComboBox->addItem(tr("TBS Discovery"), 10015);
ui->hComboBox->addItem(tr("SteadiDrone QU4D"), 10017);
connect(ui->hPushButton, SIGNAL(clicked()), this, SLOT(hSelected()));
connect(ui->hComboBox, SIGNAL(activated(int)), this, SLOT(hSelected(int)));
ui->hPushButton->setEnabled(ui->hComboBox->count() > 0);
connect(ui->applyButton, SIGNAL(clicked()), this, SLOT(applyAndReboot()));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
uncheckAll();
setActiveUAS(UASManager::instance()->getActiveUAS());
}
void QGCPX4AirframeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
Q_UNUSED(uas);
Q_UNUSED(component);
if (parameterName.contains("SYS_AUTOSTART"))
{
int index = value.toInt();
if (index > 0) {
setAirframeID(index);
ui->statusLabel->setText(tr("Onboard start script ID: #%1").arg(index));
} else {
uncheckAll();
ui->statusLabel->setText(tr("System not configured for autostart."));
}
}
}
void QGCPX4AirframeConfig::setActiveUAS(UASInterface* uas)
{
if (mav)
{
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
mav = NULL;
}
if (!uas)
return;
mav = uas;
paramMgr = mav->getParamManager();
connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
// If the parameters are ready, we aren't going to get paramterChanged signals. So fake them in order to make the UI work.
if (uas->getParamManager()->parametersReady()) {
QVariant value;
static const char* param = "SYS_AUTOSTART";
QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
QList<int> compIds = paramMgr->getComponentForParam(param);
Q_ASSERT(compIds.count() == 1);
paramMgr->getParameterValue(compIds[0], param, value);
parameterChanged(uas->getUASID(), compIds[0], param, value);
}
}
void QGCPX4AirframeConfig::uncheckAll()
{
ui->planePushButton->setChecked(false);
ui->flyingWingPushButton->setChecked(false);
ui->quadXPushButton->setChecked(false);
ui->quadPlusPushButton->setChecked(false);
ui->hexaXPushButton->setChecked(false);
ui->hexaPlusPushButton->setChecked(false);
ui->octoXPushButton->setChecked(false);
ui->octoPlusPushButton->setChecked(false);
ui->hPushButton->setChecked(false);
}
void QGCPX4AirframeConfig::setAirframeID(int id)
{
qDebug() << "setAirframeID" << id;
ui->statusLabel->setText(tr("Start script ID: #%1").arg(id));
selectedId = id;
// XXX too much boilerplate code here - this widget is really just
// a quick hack to get started
uncheckAll();
if (id >= 1000 && id < 2000)
{
ui->simPushButton->setChecked(true);
ui->simComboBox->setCurrentIndex(ui->simComboBox->findData(id));
ui->statusLabel->setText(tr("Selected simulation (ID: #%1)").arg(selectedId));
}
else if (id >= 2000 && id < 3000)
{
ui->planePushButton->setChecked(true);
ui->planeComboBox->setCurrentIndex(ui->planeComboBox->findData(id));
ui->statusLabel->setText(tr("Selected plane (ID: #%1)").arg(selectedId));
}
else if (id >= 3000 && id < 4000)
{
ui->flyingWingPushButton->setChecked(true);
ui->flyingWingComboBox->setCurrentIndex(ui->flyingWingComboBox->findData(id));
ui->statusLabel->setText(tr("Selected flying wing (ID: #%1)").arg(selectedId));
}
else if (id >= 4000 && id < 5000) {
ui->quadXPushButton->setChecked(true);
ui->quadXComboBox->setCurrentIndex(ui->quadXComboBox->findData(id));
ui->statusLabel->setText(tr("Selected quadrotor in X config (ID: #%1)").arg(selectedId));
}
else if (id >= 5000 && id < 6000) {
ui->quadPlusPushButton->setChecked(true);
ui->quadPlusComboBox->setCurrentIndex(ui->quadPlusComboBox->findData(id));
ui->statusLabel->setText(tr("Selected quadrotor in + config (ID: #%1)").arg(selectedId));
}
else if (id >= 6000 && id < 7000) {
ui->hexaXPushButton->setChecked(true);
ui->hexaXComboBox->setCurrentIndex(ui->hexaXComboBox->findData(id));
ui->statusLabel->setText(tr("Selected hexarotor in X config (ID: #%1)").arg(selectedId));
}
else if (id >= 7000 && id < 8000) {
ui->hexaPlusPushButton->setChecked(true);
ui->hexaPlusComboBox->setCurrentIndex(ui->hexaPlusComboBox->findData(id));
ui->statusLabel->setText(tr("Selected hexarotor in + config (ID: #%1)").arg(selectedId));
}
else if (id >= 8000 && id < 9000) {
ui->octoXPushButton->setChecked(true);
ui->octoXComboBox->setCurrentIndex(ui->octoXComboBox->findData(id));
ui->statusLabel->setText(tr("Selected octorotor in X config (ID: #%1)").arg(selectedId));
}
else if (id >= 9000 && id < 10000) {
ui->octoPlusPushButton->setChecked(true);
ui->octoPlusComboBox->setCurrentIndex(ui->octoPlusComboBox->findData(id));
ui->statusLabel->setText(tr("Selected octorotor in + config (ID: #%1)").arg(selectedId));
}
else if (id >= 10000 && id < 11000)
{
ui->hPushButton->setChecked(true);
ui->hComboBox->setCurrentIndex(ui->hComboBox->findData(id));
ui->statusLabel->setText(tr("Selected H frame multirotor (ID: #%1)").arg(selectedId));
}
}
void QGCPX4AirframeConfig::applyAndReboot()
{
// Guard against the case of an edit where we didn't receive all params yet
if (selectedId <= 0)
{
QGCMessageBox::warning(tr("No airframe selected"),
tr("Please select an airframe first."));
return;
}
if (!mav)
return;
if (paramMgr->countOnboardParams() == 0 &&
paramMgr->countPendingParams() == 0)
{
paramMgr->requestParameterList();
QGC::SLEEP::msleep(300);
}
QList<int> components = paramMgr->getComponentForParam("SYS_AUTOSTART");
// Guard against the case of an edit where we didn't receive all params yet
if (paramMgr->countPendingParams() > 0 || components.count() == 0)
{
QGCMessageBox::information(tr("Parameter sync with UAS not yet complete"),
tr("Please wait a few moments and retry"));
return;
}
// Guard against multiple components responding - this will never show in practice
if (components.count() != 1) {
QGCMessageBox::warning(tr("Invalid system setup detected"),
tr("None or more than one component advertised to provide the main system configuration option. This is an invalid system setup - please check your autopilot."));
return;
}
// This is really evil: 'fake' a thread by
// periodic work queue calls and clock
// through a small state machine
// ugh.. if we just had time to do this properly.
// To the reader who can't program and wants to whine:
// this is not beautiful, but technically completely
// sound. If you want to fix it, you'd be welcome
// to rebase the link, param manager and UI classes
// on a proper threading framework - which I'd love to do
// if I just had more time..
configState = CONFIG_STATE_SEND;
QTimer::singleShot(200, this, SLOT(checkConfigState()));
setEnabled(false);
}
void QGCPX4AirframeConfig::checkConfigState()
{
if (configState == CONFIG_STATE_SEND)
{
QList<int> components = paramMgr->getComponentForParam("SYS_AUTOSTART");
qDebug() << "Setting comp" << components.first() << "SYS_AUTOSTART" << (qint32)selectedId;
paramMgr->setPendingParam(components.first(),"SYS_AUTOSTART", (qint32)selectedId);
//need to set autoconfig in order for PX4 to pick up the selected airframe params
if (ui->defaultGainsCheckBox->checkState() == Qt::Checked)
setAutoConfig(true);
// Send pending params and then write them to persistent storage when done
paramMgr->sendPendingParameters(true);
configState = CONFIG_STATE_WAIT_PENDING;
pendingParams = 0;
QTimer::singleShot(2000, this, SLOT(checkConfigState()));
return;
}
if (configState == CONFIG_STATE_WAIT_PENDING) {
// Guard against the case of an edit where we didn't receive all params yet
if (paramMgr->countPendingParams() > 0)
{
if (pendingParams == 0) {
pendingParams = paramMgr->countPendingParams();
if (progress)
delete progress;
progress = new QProgressDialog("Writing parameters", "Abort Send", 0, pendingParams, this);
progress->setWindowModality(Qt::WindowModal);
progress->setMinimumDuration(2000);
}
qDebug() << "PENDING" << paramMgr->countPendingParams() << "PROGRESS" << pendingParams - paramMgr->countPendingParams();
progress->setValue(pendingParams - paramMgr->countPendingParams());
if (progress->wasCanceled()) {
configState = CONFIG_STATE_ABORT;
setEnabled(true);
pendingParams = 0;
return;
}
} else {
pendingParams = 0;
configState = CONFIG_STATE_REBOOT;
}
qDebug() << "PENDING PARAMS WAIT PENDING: " << paramMgr->countPendingParams();
QTimer::singleShot(1000, this, SLOT(checkConfigState()));
return;
}
if (configState == CONFIG_STATE_REBOOT) {
// Reboot
//TODO right now this relies upon the above send & persist finishing before the reboot command is received...
unsigned pendingMax = 17;
qDebug() << "PENDING PARAMS REBOOT BEFORE" << pendingParams;
if (pendingParams == 0) {
pendingParams = 1;
if (progress)
delete progress;
progress = new QProgressDialog("Waiting for autopilot reboot", "Abort", 0, pendingMax, this);
progress->setWindowModality(Qt::WindowModal);
qDebug() << "Waiting for reboot, pending" << pendingParams;
} else {
if (progress->wasCanceled()) {
configState = CONFIG_STATE_ABORT;
setEnabled(true);
pendingParams = 0;
return;
}
}
if (pendingParams == 3) {
qDebug() << "REQUESTING REBOOT";
mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
}
if (pendingParams == 4) {
qDebug() << "DISCONNECT AIRFRAME";
LinkManager::instance()->disconnectAll();
}
if (pendingParams == 14) {
qDebug() << "CONNECT AIRFRAME";
LinkManager::instance()->connectAll();
}
if (pendingParams < pendingMax) {
progress->setValue(pendingParams);
QTimer::singleShot(1000, this, SLOT(checkConfigState()));
} else {
paramMgr->requestParameterList();
progress->setValue(pendingMax);
configState = CONFIG_STATE_ABORT;
pendingParams = 0;
setEnabled(true);
return;
}
qDebug() << "PENDING PARAMS REBOOT AFTER:" << pendingParams;
pendingParams++;
return;
}
}
void QGCPX4AirframeConfig::setAutoConfig(bool enabled)
{
if (!mav)
return;
paramMgr->setPendingParam(0, "SYS_AUTOCONFIG", (qint32) ((enabled) ? 1 : 0));
}
void QGCPX4AirframeConfig::simSelected()
{
simSelected(ui->simComboBox->currentIndex());
}
void QGCPX4AirframeConfig::simSelected(int index)
{
int system_index = ui->simComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::flyingWingSelected()
{
flyingWingSelected(ui->flyingWingComboBox->currentIndex());
}
void QGCPX4AirframeConfig::flyingWingSelected(int index)
{
int system_index = ui->flyingWingComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::planeSelected()
{
planeSelected(ui->planeComboBox->currentIndex());
}
void QGCPX4AirframeConfig::planeSelected(int index)
{
int system_index = ui->planeComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::quadXSelected()
{
quadXSelected(ui->quadXComboBox->currentIndex());
}
void QGCPX4AirframeConfig::quadXSelected(int index)
{
int system_index = ui->quadXComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::quadPlusSelected()
{
quadPlusSelected(ui->quadPlusComboBox->currentIndex());
}
void QGCPX4AirframeConfig::quadPlusSelected(int index)
{
int system_index = ui->quadPlusComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::hexaXSelected()
{
hexaXSelected(ui->hexaXComboBox->currentIndex());
}
void QGCPX4AirframeConfig::hexaXSelected(int index)
{
int system_index = ui->hexaXComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::hexaPlusSelected()
{
hexaPlusSelected(ui->hexaPlusComboBox->currentIndex());
}
void QGCPX4AirframeConfig::hexaPlusSelected(int index)
{
int system_index = ui->hexaPlusComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::octoXSelected()
{
octoXSelected(ui->octoXComboBox->currentIndex());
}
void QGCPX4AirframeConfig::octoXSelected(int index)
{
int system_index = ui->octoXComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::octoPlusSelected()
{
octoPlusSelected(ui->octoPlusComboBox->currentIndex());
}
void QGCPX4AirframeConfig::octoPlusSelected(int index)
{
int system_index = ui->octoPlusComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
void QGCPX4AirframeConfig::hSelected()
{
hSelected(ui->hComboBox->currentIndex());
}
void QGCPX4AirframeConfig::hSelected(int index)
{
int system_index = ui->hComboBox->itemData(index).toInt();
setAirframeID(system_index);
}
QGCPX4AirframeConfig::~QGCPX4AirframeConfig()
{
delete ui;
}