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Begin migration to integrated param widget
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don't process updates to unmapped rc channels when we're not in
calibration mode
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@tstellanova
tstellanova committed Aug 24, 2013
1 parent c373ec7 commit c45feb2
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Showing 4 changed files with 111 additions and 208 deletions.
2 changes: 2 additions & 0 deletions src/uas/QGCUASParamManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@ void QGCUASParamManager::connectToModelAndComms()
void QGCUASParamManager::clearAllPendingParams()
{
paramDataModel.clearAllPendingParams();
emit parameterStatusMsgUpdated(tr("Cleared all pending params"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);

}


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141 changes: 59 additions & 82 deletions src/ui/QGCPX4VehicleConfig.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
#include "QGCPX4VehicleConfig.h"

#include "QGC.h"
//#include "QGCPendingParamWidget.h"
#include "QGCToolWidget.h"
#include "UASManager.h"
#include "UASParameterCommsMgr.h"
Expand Down Expand Up @@ -130,8 +129,6 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :

ui->rcCalibrationButton->setCheckable(true);
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
connect(ui->writeButton, SIGNAL(clicked()),
this, SLOT(writeParameters()));

//TODO connect buttons here to save/clear actions?
UASInterface* tmpMav = UASManager::instance()->getActiveUAS();
Expand Down Expand Up @@ -516,26 +513,29 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
}
}

// Generate widgets for the Advanced tab.
foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
QWidget* parent = ui->advanceColumnContents;
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);
ui->advancedColumnLayout->addWidget(box);

} else {
delete tool;
}
}
}
//TODO fix and reintegrate the Advanced parameter editor
// // Generate widgets for the Advanced tab.
// foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
// {
// if (file.toLower().endsWith(".qgw")) {
// QWidget* parent = ui->advanceColumnContents;
// 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);
// ui->advancedColumnLayout->addWidget(box);

// } else {
// delete tool;
// }
// }
// }


// Load tabs for general configuration
foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
Expand Down Expand Up @@ -1023,17 +1023,6 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
{
// Hide items if NULL and abort
if (!active) {
ui->refreshButton->setEnabled(false);
ui->refreshButton->show();
ui->readButton->setEnabled(false);
ui->readButton->show();
ui->writeButton->setEnabled(false);
ui->writeButton->show();
ui->loadFileButton->setEnabled(false);
ui->loadFileButton->show();
ui->saveFileButton->setEnabled(false);
ui->saveFileButton->show();

return;
}

Expand All @@ -1051,8 +1040,6 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
//TODO use paramCommsMgr instead
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
disconnect(ui->refreshButton,SIGNAL(clicked()),
paramMgr,SLOT(requestParameterList()));

// Delete all children from all fixed tabs.
foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>()) {
Expand Down Expand Up @@ -1093,6 +1080,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
paramMgr = mav->getParamManager();

ui->pendingCommitsWidget->setUAS(mav);
ui->paramTreeWidget->setUAS(mav);

// Reset current state
resetCalibrationRC();
Expand All @@ -1106,8 +1094,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
SLOT(remoteControlChannelRawChanged(int,float)));
connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
connect(ui->refreshButton, SIGNAL(clicked()),
paramMgr,SLOT(requestParameterList()));


if (systemTypeToParamMap.contains(mav->getSystemTypeName())) {
paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
Expand All @@ -1131,22 +1118,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
updateStatus(QString("Reading from system %1").arg(mav->getUASName()));

// Since a system is now connected, enable the VehicleConfig UI.
ui->refreshButton->setEnabled(true);
ui->refreshButton->show();
ui->readButton->setEnabled(true);
ui->readButton->show();
ui->writeButton->setEnabled(true);
ui->writeButton->show();
ui->loadFileButton->setEnabled(true);
ui->loadFileButton->show();
ui->saveFileButton->setEnabled(true);
ui->saveFileButton->show();

//TODO never true?
if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA") {
ui->readButton->hide();
ui->writeButton->hide();
}
//TODO anything?
}

void QGCPX4VehicleConfig::resetCalibrationRC()
Expand Down Expand Up @@ -1222,8 +1194,13 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
}

// Raw value
int delta = abs(fval - rcMappedValue[rcToFunctionMapping[chan]]);
if (!configEnabled && !calibrationEnabled && delta < 12 && delta >= 0 && rcValue[chan] > 800 && rcValue[chan] < 2200) {
float mappedVal = rcMappedValue[rcToFunctionMapping[chan]];
bool isMapped = (((float)UINT16_MAX) != mappedVal);
float delta = fabsf(fval - mappedVal);
if (!configEnabled && !calibrationEnabled &&
(!isMapped ||
(delta < 12.0f && rcValue[chan] > 800 && rcValue[chan] < 2200) )
) {
//ignore tiny jitter values
return;
}
Expand Down Expand Up @@ -1690,33 +1667,33 @@ void QGCPX4VehicleConfig::parameterChanged(int uas, int component, QString param
break;
}
}
if (!found) {
//New param type, create a QGroupBox for it.
QWidget* parent = ui->advanceColumnContents;

// Create the tool, attaching it to the QGroupBox
QGCToolWidget *tool = new QGCToolWidget("", parent);
QString tooltitle = parameterName;
if (parameterName.split("_").size() > 1) {
tooltitle = parameterName.split("_")[0] + "_";
}
tool->setTitle(tooltitle);
tool->setObjectName(tooltitle);
//tool->setSettings(set);
libParamToWidgetMap.insert(parameterName,tool);
toolWidgets.append(tool);
tool->addParam(uas, component, parameterName, value);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);

libParamToWidgetMap.insert(parameterName,tool);
toolWidgets.append(tool);
ui->advancedColumnLayout->addWidget(box);

toolToBoxMap[tool] = box;
}
// if (!found) {
// //New param type, create a QGroupBox for it.
// QWidget* parent = ui->advanceColumnContents;

// // Create the tool, attaching it to the QGroupBox
// QGCToolWidget *tool = new QGCToolWidget("", parent);
// QString tooltitle = parameterName;
// if (parameterName.split("_").size() > 1) {
// tooltitle = parameterName.split("_")[0] + "_";
// }
// tool->setTitle(tooltitle);
// tool->setObjectName(tooltitle);
// //tool->setSettings(set);
// libParamToWidgetMap.insert(parameterName,tool);
// toolWidgets.append(tool);
// tool->addParam(uas, component, parameterName, value);
// QGroupBox *box = new QGroupBox(parent);
// box->setTitle(tool->objectName());
// box->setLayout(new QVBoxLayout(box));
// box->layout()->addWidget(tool);

// libParamToWidgetMap.insert(parameterName,tool);
// toolWidgets.append(tool);
// ui->advancedColumnLayout->addWidget(box);

// toolToBoxMap[tool] = box;
// }
}

}
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