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/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.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