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Commit 42040794 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1370 from DonLakeFlyer/RemoveFM 

Remove old Flight Mode config code
parents b7d9b1c5 7abb965b
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src/AutoPilotPlugins/PX4/FlightModeConfig.cc deleted 100644 → 0
View file @ b7d9b1c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @brief Flight Mode Configuration
/// @author Don Gagne <don@thegagnes.com
#include "FlightModeConfig.h"
#include "UASManager.h"
#include "QGCMessageBox.h"
const char* FlightModeConfig::_modeSwitchParam = "RC_MAP_MODE_SW";
const char* FlightModeConfig::_manualSwitchParam = "RC_MAP_ACRO_SW";
const char* FlightModeConfig::_assistSwitchParam = "RC_MAP_POSCTL_SW";
const char* FlightModeConfig::_returnSwitchParam = "RC_MAP_RETURN_SW";
const char* FlightModeConfig::_loiterSwitchParam = "RC_MAP_LOITER_SW";
FlightModeConfig::FlightModeConfig(QWidget *parent) :
QWidget(parent),
_mav(NULL),
_paramMgr(NULL),
_ui(new Ui::FlightModeConfig)
{
Q_CHECK_PTR(_ui);
_ui->setupUi(this);
// Expectation is that we have an active uas, it is connected and the parameters are ready
_mav = UASManager::instance()->getActiveUAS();
Q_ASSERT(_mav);
_paramMgr = _mav->getParamManager();
Q_ASSERT(_paramMgr);
Q_ASSERT(_paramMgr->parametersReady());
_componentId = _paramMgr->getDefaultComponentId();
connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant)));
_initUi();
}
/// @brief Intialize the UI elements
void FlightModeConfig::_initUi(void) {
struct Combo2Param {
QGCComboBox* combo;
QButtonGroup* buttonGroup;
const char* param;
const char* description;
};
struct Combo2Param rgCombo2ParamMap[] = {
{ _ui->modeSwitchChannel, _ui->modeSwitchGroup, _modeSwitchParam, "Mode Switch" },
{ _ui->manualSwitchChannel, _ui->manualSwitchGroup, _manualSwitchParam, "Manual Switch" },
{ _ui->assistSwitchChannel, _ui->assistSwitchGroup, _assistSwitchParam, "Assist Switch" },
{ _ui->returnSwitchChannel, _ui->returnSwitchGroup, _returnSwitchParam, "Return Switch" },
{ _ui->loiterSwitchChannel, _ui->loiterSwitchGroup, _loiterSwitchParam, "Loiter Switch" },
{ NULL, NULL, "RC_MAP_THROTTLE", "Throttle" },
{ NULL, NULL, "RC_MAP_YAW", "Rudder" },
{ NULL, NULL, "RC_MAP_ROLL", "Aileron" },
{ NULL, NULL, "RC_MAP_PITCH", "Elevator" },
{ NULL, NULL, "RC_MAP_AUX1", "Aux1" },
{ NULL, NULL, "RC_MAP_AUX2", "Aux2" },
{ NULL, NULL, "RC_MAP_AUX3", "Aux3" }
};
// Setup up maps
for (size_t i=0; i<sizeof(rgCombo2ParamMap)/sizeof(rgCombo2ParamMap[0]); i++) {
struct Combo2Param* map = &rgCombo2ParamMap[i];
if (map->combo) {
Q_ASSERT(!_mapChannelCombo2Param.contains(map->combo));
_mapChannelCombo2Param[map->combo] = map->param;
Q_ASSERT(!_mapChannelCombo2ButtonGroup.contains(map->combo));
_mapChannelCombo2ButtonGroup[map->combo] = map->buttonGroup;
// We connect to activated because we only want signals from user initiated changes
connect(map->combo, SIGNAL(activated(int)), this, SLOT(_channelSelected(int)));
}
Q_ASSERT(!_mapParam2FunctionInfo.contains(map->param));
_mapParam2FunctionInfo[map->param] = map->description;
}
_updateAllSwitches();
}
void FlightModeConfig::_updateAllSwitches(void)
{
foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) {
_updateSwitchUiGroup(combo);
}
}
/// @brief Selects the channel in the combo for the given parameter
void FlightModeConfig::_selectChannelForParam(QGCComboBox* combo, const QString& parameter)
{
int channel = _getChannelMapForParam(parameter);
int index = combo->findData(channel);
Q_ASSERT(index != -1);
combo->setCurrentIndex(index);
}
/// @brief Fills a channel selection combo box with channel values
void FlightModeConfig::_updateSwitchUiGroup(QGCComboBox* combo)
{
QMap<int, QString> mapChannelUsed2Description;
// Make a map of all channels currently mapped
foreach(QString paramId, _mapParam2FunctionInfo.keys()) {
int channel = _getChannelMapForParam(paramId);
if (channel != 0) {
mapChannelUsed2Description[channel] = _mapParam2FunctionInfo[paramId];
}
}
combo->clear();
combo->addItem("Disabled", 0);
for (int i=1; i<=_maxChannels; i++) {
QString comboText = QString("Channel %1").arg(i);
if (mapChannelUsed2Description.contains(i)) {
comboText += QString(" (%1)").arg(mapChannelUsed2Description[i]);
}
combo->addItem(comboText, i);
}
_selectChannelForParam(combo, _mapChannelCombo2Param[combo]);
// Enable/Disable radio buttons appropriately
int channelMap = _getChannelMapForParam(_mapChannelCombo2Param[combo]);
Q_ASSERT(_mapChannelCombo2ButtonGroup.contains(combo));
Q_ASSERT(_mapChannelCombo2ButtonGroup[combo]->buttons().count() > 0);
foreach(QAbstractButton* button, _mapChannelCombo2ButtonGroup[combo]->buttons()) {
QRadioButton* radio = qobject_cast<QRadioButton*>(button);
Q_ASSERT(radio);
radio->setEnabled(channelMap != 0);
}
}
/// @brief Returns channel mapping for the specified parameters
int FlightModeConfig::_getChannelMapForParam(const QString& paramId)
{
QVariant value;
bool found = _paramMgr->getParameterValue(_componentId, paramId, value);
Q_UNUSED(found);
Q_ASSERT(found);
bool conversionOk;
int channel = value.toInt(&conversionOk);
Q_UNUSED(conversionOk);
Q_ASSERT(conversionOk);
return channel;
}
/// @brief Called when a selection occurs in one of the channel combo boxes
void FlightModeConfig::_channelSelected(int requestedMapping)
{
QGCComboBox* combo = qobject_cast<QGCComboBox*>(sender());
Q_ASSERT(combo);
Q_ASSERT(_mapChannelCombo2Param.contains(combo));
// Check for no-op
int currentMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]);
if (currentMapping == requestedMapping) {
return;
}
// Make sure that channel is not already mapped
if (requestedMapping == 0) {
// Channel was disabled
if (combo == _ui->modeSwitchChannel) {
// Mode switch is not allowed to be disabled.
QGCMessageBox::warning(tr("Flight Mode"), "Mode Switch is a required switch and cannot be disabled.");
_selectChannelForParam(combo, _mapChannelCombo2Param[combo]);
return;
}
} else {
// Channel was remapped to a non-disabled channel
foreach(QString paramId, _mapParam2FunctionInfo.keys()) {
int usedChannelMap = _getChannelMapForParam(paramId);
if (requestedMapping == usedChannelMap) {
QGCMessageBox::warning(tr("Flight Mode"), "You cannot use a channel which is already mapped.");
_selectChannelForParam(combo, _mapChannelCombo2Param[combo]);
return;
}
}
}
// Save the new setting to the parameter
_paramMgr->setParameter(_componentId, _mapChannelCombo2Param[combo], requestedMapping);
_paramMgr->sendPendingParameters(true, false);
}
void FlightModeConfig::_parameterUpdated(int componentId, QString parameter, QVariant value)
{
Q_UNUSED(componentId);
Q_UNUSED(value);
// If this is a function mapping parameter update the combos
if (_mapParam2FunctionInfo.contains(parameter)) {
_updateAllSwitches();
}
// Finally if RC Calibration suddenly needs to be re-done disable the entire widget and inform user
if (parameter == _modeSwitchParam) {
// FIXME: Do something more than disable
if (isEnabled() == false && value.toInt() != 0) {
setEnabled(true);
} else if (isEnabled() == true && value.toInt() == 0) {
setEnabled(false);
}
}
}
\ No newline at end of file
src/AutoPilotPlugins/PX4/FlightModeConfig.h deleted 100644 → 0
View file @ b7d9b1c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @brief Flight Mode Configuration
/// @author Don Gagne <don@thegagnes.com
#ifndef FlightModeConfig_H
#define FlightModeConfig_H
#include <QWidget>
#include "UASInterface.h"
#include "ui_FlightModeConfig.h"
namespace Ui {
class FlightModeConfig;
}
class FlightModeConfig : public QWidget
{
Q_OBJECT
friend class FlightModeConfigTest; ///< This allows our unit test to access internal information needed.
public:
explicit FlightModeConfig(QWidget *parent = 0);
private slots:
void _channelSelected(int index);
void _parameterUpdated(int componentId, QString parameter, QVariant value);
private:
void _initUi(void);
void _updateSwitchUiGroup(QGCComboBox* combo);
void _selectChannelForParam(QGCComboBox* combo, const QString& parameter);
void _updateAllSwitches(void);
int _getChannelMapForParam(const QString& parameter);
UASInterface* _mav; ///< The current MAV
int _componentId; ///< Default component id
QGCUASParamManagerInterface* _paramMgr;
static const int _maxChannels = 18;
QMap<QGCComboBox*, QString> _mapChannelCombo2Param;
QMap<QGCComboBox*, QButtonGroup*> _mapChannelCombo2ButtonGroup;
QMap<QString, QString> _mapParam2FunctionInfo;
static const char* _modeSwitchParam;
static const char* _manualSwitchParam;
static const char* _assistSwitchParam;
static const char* _returnSwitchParam;
static const char* _loiterSwitchParam;
Ui::FlightModeConfig* _ui;
};
#endif
src/AutoPilotPlugins/PX4/FlightModeConfig.ui deleted 100644 → 0
View file @ b7d9b1c5
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src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc deleted 100644 → 0
View file @ b7d9b1c5
This diff is collapsed.
src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h deleted 100644 → 0
View file @ b7d9b1c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef FlightModeConfigTest_H
#define FlightModeConfigTest_H
#include "UnitTest.h"
#include "MockUASManager.h"
#include "MockUAS.h"
#include "AutoPilotPlugins/PX4/FlightModeConfig.h"
/// @file
/// @brief FlightModeConfig Widget unit test
///
/// @author Don Gagne <don@thegagnes.com>
class FlightModeConfigTest : public UnitTest
{
Q_OBJECT
public:
FlightModeConfigTest(void);
private slots:
void initTestCase(void);
void init(void);
void cleanup(void);
void _create_test(void);
void _validateInitialState_test(void);
void _validateRCCalCheck_test(void);
void _attempChannelReuse_test(void);
void _validateRadioButtonEnableDisable_test(void);
void _validateModeSwitchMustBeEnabled_test(void);
private:
int _getChannelMapForParam(const QString& parameter);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
QGCUASParamManagerInterface* _paramMgr;
FlightModeConfig* _configWidget;
int _defaultComponentId;
QMap<QGCComboBox*, QString> _mapChannelCombo2Param;
QMap<QGCComboBox*, QButtonGroup*> _mapChannelCombo2ButtonGroup;
static const int _availableChannels = 18; ///< Simulate 18 channel RC Transmitter
};
#endif
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