FlightModeConfig plus unit test

qgroundcontrol.pro

@@ -282,7 +282,7 @@ FORMS += \
     src/ui/designer/QGCParamSlider.ui \
     src/ui/designer/QGCActionButton.ui \
     src/ui/designer/QGCCommandButton.ui \
-    src/ui/designer/QGCComboBox.ui \
+    src/ui/designer/QGCToolWidgetComboBox.ui \
     src/ui/designer/QGCTextLabel.ui \
     src/ui/designer/QGCXYPlot.ui \
     src/ui/QGCMAVLinkLogPlayer.ui \
@@ -391,7 +391,7 @@ HEADERS += \
     src/ui/designer/QGCParamSlider.h \
     src/ui/designer/QGCCommandButton.h \
     src/ui/designer/QGCToolWidgetItem.h \
-    src/ui/designer/QGCComboBox.h \
+    src/ui/designer/QGCToolWidgetComboBox.h \
     src/ui/designer/QGCTextLabel.h \
     src/ui/designer/QGCRadioChannelDisplay.h \
     src/ui/designer/QGCXYPlot.h \
@@ -477,7 +477,8 @@ HEADERS += \
     src/CmdLineOptParser.h \
     src/uas/QGXPX4UAS.h \
     src/QGCFileDialog.h \
-    src/QGCMessageBox.h
+    src/QGCMessageBox.h \
+    src/QGCComboBox.h
 
 SOURCES += \
     src/main.cc \
@@ -533,7 +534,7 @@ SOURCES += \
     src/ui/designer/QGCParamSlider.cc \
     src/ui/designer/QGCCommandButton.cc \
     src/ui/designer/QGCToolWidgetItem.cc \
-    src/ui/designer/QGCComboBox.cc \
+    src/ui/designer/QGCToolWidgetComboBox.cc \
     src/ui/designer/QGCTextLabel.cc \
     src/ui/designer/QGCRadioChannelDisplay.cpp \
     src/ui/designer/QGCXYPlot.cc \
@@ -614,8 +615,8 @@ SOURCES += \
     src/uas/QGCUASWorker.cc \
     src/CmdLineOptParser.cc \
     src/uas/QGXPX4UAS.cc \
-    src/QGCFileDialog.cc
-
+    src/QGCFileDialog.cc \
+    src/QGCComboBox.cc
 
 #
 # Unit Test specific configuration goes here
@@ -652,7 +653,8 @@ HEADERS += \
 	src/qgcunittest/QGCUASFileManagerTest.h \
     src/qgcunittest/PX4RCCalibrationTest.h \
     src/qgcunittest/LinkManagerTest.h \
-    src/qgcunittest/MainWindowTest.h
+    src/qgcunittest/MainWindowTest.h \
+    src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h
 
 SOURCES += \
     src/qgcunittest/UnitTest.cc \
@@ -672,7 +674,8 @@ SOURCES += \
 	src/qgcunittest/QGCUASFileManagerTest.cc \
     src/qgcunittest/PX4RCCalibrationTest.cc \
     src/qgcunittest/LinkManagerTest.cc \
-    src/qgcunittest/MainWindowTest.cc
+    src/qgcunittest/MainWindowTest.cc \
+    src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc
 }
 
 #
@@ -682,7 +685,8 @@ FORMS += \
     src/VehicleSetup/SetupView.ui \
     src/VehicleSetup/SummaryPage.ui \
     src/VehicleSetup/ParameterEditor.ui \
-    src/ui/QGCPX4VehicleConfig.ui
+    src/ui/QGCPX4VehicleConfig.ui \
+    src/AutoPilotPlugins/PX4/FlightModeConfig.ui
 
 HEADERS+= \
     src/VehicleSetup/SetupView.h \
@@ -698,6 +702,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/PX4Component.h \
     src/AutoPilotPlugins/PX4/RadioComponent.h \
     src/AutoPilotPlugins/PX4/FlightModesComponent.h \
+    src/AutoPilotPlugins/PX4/FlightModeConfig.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h
 
@@ -712,5 +717,6 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/PX4Component.cc \
     src/AutoPilotPlugins/PX4/RadioComponent.cc \
     src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
+    src/AutoPilotPlugins/PX4/FlightModeConfig.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc

src/AutoPilotPlugins/PX4/FlightModeConfig.cc

+/*=====================================================================
+ 
+ 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();
+    
+    // Finally if RC Calibration has not been performed disable the entire widget and inform user
+    if (_getChannelMapForParam(_modeSwitchParam) == 0) {
+        // FIXME: Do something more than disable
+        setEnabled(false);
+    }
+}
+
+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

+/*=====================================================================
+ 
+ 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

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FlightModeConfig</class>
+ <widget class="QWidget" name="FlightModeConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>831</width>
+    <height>1286</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QLabel" name="label_8">
+     <property name="font">
+      <font>
+       <pointsize>22</pointsize>
+      </font>
+     </property>
+     <property name="text">
+      <string>This implementation is a work in progress. Visuals are meant to be functional only. Active display of switch positions is not yet implemented. If this entire screen is disabled, you must do a Radio Calibration before settings Flight Modes.</string>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="modeSelectLayout">
+     <item>
+      <widget class="QRadioButton" name="multiChannelMode">
+       <property name="text">
+        <string>Flight Modes on multiple channels</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+       <attribute name="buttonGroup">
+        <string notr="true">modeSwitchGroup</string>
+       </attribute>
+      </widget>
+     </item>
+     <item>
+      <widget class="QRadioButton" name="singleChannelMode">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string>Flight Modes on single channel (coming soon)</string>
+       </property>
+       <attribute name="buttonGroup">
+        <string notr="true">modeSwitchGroup</string>
+       </attribute>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QStackedWidget" name="stackedWidget">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="currentIndex">
+      <number>1</number>
+     </property>
+     <widget class="QWidget" name="singleChannelWidget"/>
+     <widget class="QWidget" name="multiChannelWidget">
+      <layout class="QGridLayout" name="gridLayout">
+       <item row="1" column="0">
+        <layout class="QVBoxLayout" name="verticalLayout_2">
+         <item>
+          <widget class="QLabel" name="label_10">
+           <property name="text">
+            <string>Main Mode Switch</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGCComboBox" name="modeSwitchChannel"/>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_11">
+           <property name="text">
+            <string>Current switch position:</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="manualMode">
+           <property name="text">
+            <string>Manual Mode</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">mainSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="assistMode">
+           <property name="text">
+            <string>Assist Mode</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">mainSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="missionMode">
+           <property name="text">
+            <string>Mission Mode</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">mainSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="0" column="1">
+        <layout class="QVBoxLayout" name="verticalLayout_3">
+         <item>
+          <widget class="QLabel" name="label_5">
+           <property name="text">
+            <string>Manual Mode Switch</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGCComboBox" name="manualSwitchChannel"/>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_6">
+           <property name="text">
+            <string>Current switch position:</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="manualAcro">
+           <property name="text">
+            <string>Acro</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">manualSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="manualManual">
+           <property name="text">
+            <string>Manual</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">manualSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="manualStabilize">
+           <property name="text">
+            <string>Stabilize</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">manualSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_3">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="1">
+        <layout class="QVBoxLayout" name="verticalLayout_4">
+         <item>
+          <widget class="QLabel" name="label_7">
+           <property name="text">
+            <string>Assist Mode Switch</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGCComboBox" name="assistSwitchChannel"/>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="altitudeAssist">
+           <property name="text">
+            <string>Altitude Control</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">assistSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <widget class="QRadioButton" name="positionAssist">
+           <property name="text">
+            <string>Position Control</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">assistSwitchGroup</string>
+           </attribute>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="loiterReturnLayout">
+     <item>
+      <layout class="QVBoxLayout" name="loiterLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>Loiter Switch</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGCComboBox" name="loiterSwitchChannel"/>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Current switch position</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="loiterOn">
+         <property name="text">
+          <string>Loiter</string>
+         </property>
+         <attribute name="buttonGroup">
+          <string notr="true">loiterSwitchGroup</string>
+         </attribute>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="loiterOff">
+         <property name="text">
+          <string>Off</string>
+         </property>
+         <attribute name="buttonGroup">
+          <string notr="true">loiterSwitchGroup</string>
+         </attribute>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="returnLayout">
+       <item>
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Return to Home Switch</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGCComboBox" name="returnSwitchChannel"/>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_4">
+         <property name="text">
+          <string>Current switch position</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="returnOn">
+         <property name="text">
+          <string>Return to Home</string>
+         </property>
+         <attribute name="buttonGroup">
+          <string notr="true">returnSwitchGroup</string>
+         </attribute>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="returnOff">
+         <property name="text">
+          <string>Off</string>
+         </property>
+         <attribute name="buttonGroup">
+          <string notr="true">returnSwitchGroup</string>
+         </attribute>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QGCComboBox</class>
+   <extends>QComboBox</extends>
+   <header>QGCComboBox.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+ <buttongroups>
+  <buttongroup name="returnSwitchGroup"/>
+  <buttongroup name="modeSwitchGroup"/>
+  <buttongroup name="mainSwitchGroup"/>
+  <buttongroup name="loiterSwitchGroup"/>
+  <buttongroup name="manualSwitchGroup"/>
+  <buttongroup name="assistSwitchGroup"/>
+ </buttongroups>
+</ui>

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -25,9 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FlightModesComponent.h"
-
-#include <QVBoxLayout>
-#include <QLabel>
+#include "FlightModeConfig.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
@@ -115,13 +113,7 @@ QStringList FlightModesComponent::paramFilterList(void) const
 
 QWidget* FlightModesComponent::setupWidget(void) const
 {
-    QWidget* widget = new QWidget;
-    QVBoxLayout* layout = new QVBoxLayout(widget);
-    QLabel* label = new QLabel("Coming Soon\nUse Radio setup for Main Mode Switch setup\n(Use Flight Modes Parameters for everything else)", widget);
-    label->setAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-    layout->addWidget(label);
-    
-    return widget;
+    return new FlightModeConfig();
 }
 
 QList<QStringList> FlightModesComponent::summaryItems(void) const

src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc

+/*=====================================================================
+ 
+ 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/>.
+ 
+ ======================================================================*/
+
+#include "FlightModeConfigTest.h"
+#include "UASManager.h"
+#include "MockQGCUASParamManager.h"
+#include "QGCMessageBox.h"
+
+/// @file
+///     @brief FlightModeConfig Widget unit test
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+UT_REGISTER_TEST(FlightModeConfigTest)
+
+FlightModeConfigTest::FlightModeConfigTest(void) :
+    _mockUASManager(NULL),
+    _paramMgr(NULL),
+    _configWidget(NULL),
+    _defaultComponentId(0)
+{
+
+}
+
+void FlightModeConfigTest::initTestCase(void)
+{
+
+}
+
+void FlightModeConfigTest::init(void)
+{
+    UnitTest::init();
+    
+    _mockUASManager = new MockUASManager();
+    Q_ASSERT(_mockUASManager);
+    
+    UASManager::setMockUASManager(_mockUASManager);
+    
+    _mockUAS = new MockUAS();
+    Q_CHECK_PTR(_mockUAS);
+    _paramMgr = _mockUAS->getParamManager();
+    _defaultComponentId = _paramMgr->getDefaultComponentId();
+    
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    
+    struct SetupParamInfo {
+        const char* param;
+        int         mappedChannel;
+    };
+    
+    struct SetupParamInfo rgSetupParamInfo[] = {
+        { "RC_MAP_MODE_SW",   5 },
+        { "RC_MAP_ACRO_SW",   0 },
+        { "RC_MAP_POSCTL_SW", 0 },
+        { "RC_MAP_RETURN_SW", 0 },
+        { "RC_MAP_LOITER_SW", 0 },
+        { "RC_MAP_THROTTLE",  1 },
+        { "RC_MAP_YAW",       2 },
+        { "RC_MAP_ROLL",      3 },
+        { "RC_MAP_PITCH",     4 },
+        { "RC_MAP_AUX1",      0 },
+        { "RC_MAP_AUX2",      0 },
+        { "RC_MAP_AUX3",      0 }
+    };
+    size_t crgSetupParamInfo = sizeof(rgSetupParamInfo) / sizeof(rgSetupParamInfo[0]);
+
+    // Set initial parameter values
+    for (size_t i=0; i<crgSetupParamInfo; i++) {
+        struct SetupParamInfo* info = &rgSetupParamInfo[i];
+        
+        _paramMgr->setParameter(_defaultComponentId, info->param, info->mappedChannel);
+    }
+
+    _configWidget = new FlightModeConfig;
+    Q_CHECK_PTR(_configWidget);
+    _configWidget->setVisible(true);
+    
+    // Setup combo maps
+    
+    struct SetupComboInfo {
+        QGCComboBox*    combo;
+        QButtonGroup*   buttonGroup;
+        const char*     param;
+    };
+    
+    struct SetupComboInfo rgSetupComboInfo[] = {
+        { _configWidget->_ui->modeSwitchChannel,    _configWidget->_ui->modeSwitchGroup,    "RC_MAP_MODE_SW" },
+        { _configWidget->_ui->manualSwitchChannel,  _configWidget->_ui->manualSwitchGroup,  "RC_MAP_ACRO_SW" },
+        { _configWidget->_ui->assistSwitchChannel,  _configWidget->_ui->assistSwitchGroup,  "RC_MAP_POSCTL_SW" },
+        { _configWidget->_ui->returnSwitchChannel,  _configWidget->_ui->returnSwitchGroup,  "RC_MAP_RETURN_SW" },
+        { _configWidget->_ui->loiterSwitchChannel,  _configWidget->_ui->loiterSwitchGroup,  "RC_MAP_LOITER_SW" }
+    };
+    size_t crgSetupComboInfo = sizeof(rgSetupComboInfo) / sizeof(rgSetupComboInfo[0]);
+
+    Q_ASSERT(_mapChannelCombo2Param.count() == 0);
+    for (size_t i=0; i<crgSetupComboInfo; i++) {
+        struct SetupComboInfo* info = &rgSetupComboInfo[i];
+        
+        Q_ASSERT(!_mapChannelCombo2Param.contains(info->combo));
+        _mapChannelCombo2Param[info->combo] = info->param;
+        
+        Q_ASSERT(!_mapChannelCombo2ButtonGroup.contains(info->combo));
+        _mapChannelCombo2ButtonGroup[info->combo] = info->buttonGroup;
+    }
+}
+
+void FlightModeConfigTest::cleanup(void)
+{
+    UnitTest::cleanup();
+    
+    Q_ASSERT(_configWidget);
+    delete _configWidget;
+    
+    Q_ASSERT(_mockUAS);
+    delete _mockUAS;
+    
+    UASManager::setMockUASManager(NULL);
+    
+    Q_ASSERT(_mockUASManager);
+    delete _mockUASManager;
+    
+    _mapChannelCombo2Param.clear();
+}
+
+/// @brief Returns channel mapping for the specified parameters
+int FlightModeConfigTest::_getChannelMapForParam(const QString& paramId)
+{
+    QVariant value;
+    bool found = _paramMgr->getParameterValue(_defaultComponentId, paramId, value);
+    Q_UNUSED(found);
+    Q_ASSERT(found);
+    
+    bool conversionOk;
+    int channel = value.toInt(&conversionOk);
+    Q_UNUSED(conversionOk);
+    Q_ASSERT(conversionOk);
+    
+    return channel;
+}
+
+void FlightModeConfigTest::_create_test(void)
+{
+    // This just test widget creation which is handled in init
+}
+
+void FlightModeConfigTest::_validateInitialState_test(void)
+{
+    // Make sure that the combo boxes are set to the correct selections
+    foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) {
+        QVariant value;
+        
+        Q_ASSERT(_mapChannelCombo2Param.contains(combo));
+        int expectedMappedChannel = _getChannelMapForParam(_mapChannelCombo2Param[combo]);
+        
+        int currentIndex = combo->currentIndex();
+        QVERIFY(currentIndex != -1);
+        
+        int comboMappedChannel = combo->itemData(currentIndex).toInt();
+        
+        QCOMPARE(comboMappedChannel, expectedMappedChannel);
+    }
+    
+    QGCComboBox* combo = _configWidget->_ui->modeSwitchChannel;
+
+    // combo should have entry for each channel plus disabled
+    QCOMPARE(combo->count(), _availableChannels + 1);
+             
+    for (int i=0; i<combo->count(); i++) {
+        // Combo data equates to channel mapping value. These are one-base channel values with
+        // 0 meaning disabled. The channel should match the index.
+        QCOMPARE(i, combo->itemData(i).toInt());
+        
+        // Channels which are mapped are displayed after the channel number in the form "(name)".
+        // Check for the ending parentheses to indicate mapped channels
+        QString text = combo->itemText(i);
+        if (text.endsWith(")")) {
+            // Channels 1-5 are mapped
+            QVERIFY(i >= 1 && i <= 5);
+        } else {
+            QVERIFY(!(i >= 1 && i <= 5));
+        }
+    }
+}
+
+void FlightModeConfigTest::_validateRCCalCheck_test(void)
+{
+    // Mode switch mapped is used to signal RC Calibration not complete. You must complete RC Cal before
+    // doing Flight Mode Config.
+    
+    // Set mode switch mapping to not set
+    Q_ASSERT(_mapChannelCombo2Param.contains(_configWidget->_ui->modeSwitchChannel));
+    _paramMgr->setParameter(_defaultComponentId, _mapChannelCombo2Param[_configWidget->_ui->modeSwitchChannel], 0);
+    
+    // Widget should disable
+    QCOMPARE(_configWidget->isEnabled(), false);
+    
+    // Set mode switch mapping to mapped
+    Q_ASSERT(_mapChannelCombo2Param.contains(_configWidget->_ui->modeSwitchChannel));
+    _paramMgr->setParameter(_defaultComponentId, _mapChannelCombo2Param[_configWidget->_ui->modeSwitchChannel], 5);
+    
+    // Widget should re-enable
+    QCOMPARE(_configWidget->isEnabled(), true);
+}
+
+void FlightModeConfigTest::_attempChannelReuse_test(void)
+{
+    // Attempt to select a channel that is already in use for a switch mapping
+    foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) {
+        
+        Q_ASSERT(_mapChannelCombo2Param.contains(combo));
+        int beforeMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]);
+        
+        setExpectedMessageBox(QMessageBox::Ok);
+        
+        // Channel 1 mapped to throttle. This should pop a message box and the parameter value should
+        // not change.
+        combo->simulateUserSetCurrentIndex(1);
+        
+        checkExpectedMessageBox();
+        
+        int afterMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]);
+        
+        QCOMPARE(beforeMapping, afterMapping);
+    }
+}
+
+void FlightModeConfigTest::_validateRadioButtonEnableDisable_test(void)
+{
+    // Radio button should enable/disable according to selection
+    foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) {
+        // Mode switch can't be disabled
+        if (combo == _configWidget->_ui->modeSwitchChannel) {
+            continue;
+        }
+        
+        // Index 0 is disabled
+        combo->simulateUserSetCurrentIndex(0);
+        
+        Q_ASSERT(_mapChannelCombo2ButtonGroup.contains(combo));
+        QButtonGroup* buttonGroup = _mapChannelCombo2ButtonGroup[combo];
+        
+        foreach(QAbstractButton* button, buttonGroup->buttons()) {
+            QRadioButton* radio = qobject_cast<QRadioButton*>(button);
+            Q_ASSERT(radio);
+            
+            QCOMPARE(radio->isEnabled(), false);
+        }
+        
+        // Index 6 should be a valid mapping
+        combo->simulateUserSetCurrentIndex(6);
+        
+        foreach(QAbstractButton* button, buttonGroup->buttons()) {
+            QRadioButton* radio = qobject_cast<QRadioButton*>(button);
+            Q_ASSERT(radio);
+            
+            QCOMPARE(radio->isEnabled(), true);
+        }
+
+        // Set back to disabled for next iteration through loop. Otherwise we'll error out
+        // with the channel already in use
+        combo->simulateUserSetCurrentIndex(0);
+    }
+}
+
+void FlightModeConfigTest::_validateModeSwitchMustBeEnabled_test(void)
+{
+    QGCComboBox* modeCombo = _configWidget->_ui->modeSwitchChannel;
+    
+    Q_ASSERT(_mapChannelCombo2Param.contains(modeCombo));
+    int beforeMapping = _getChannelMapForParam(_mapChannelCombo2Param[modeCombo]);
+    
+    setExpectedMessageBox(QMessageBox::Ok);
+    
+    // Index 0 is disabled. This should pop a message box and the parameter value should
+    // not change.
+    modeCombo->simulateUserSetCurrentIndex(0);
+    
+    checkExpectedMessageBox();
+    
+    int afterMapping = _getChannelMapForParam(_mapChannelCombo2Param[modeCombo]);
+    
+    QCOMPARE(beforeMapping, afterMapping);
+}

src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h

+/*=====================================================================
+ 
+ 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