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mainwindow.cpp
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mainwindow.cpp
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#include "mainwindow.h"
#include "ui_mainwindow.h"
namespace {
// these are rotation matrices
// simplified to 90 degree rotations
matrix rot_x_plus = {
{ 1, 0, 0 },
{ 0, 0, -1 },
{ 0, 1, 0 }
};
matrix rot_x_minus = {
{ 1, 0, 0 },
{ 0, 0, 1 },
{ 0, -1, 0 }
};
matrix rot_y_plus = {
{ 0, 0, 1 },
{ 0, 1, 0 },
{ -1, 0, 0 }
};
matrix rot_y_minus = {
{ 0, 0, -1 },
{ 0, 1, 0 },
{ 1, 0, 0 }
};
matrix rot_z_plus = {
{ 0, -1, 0 },
{ 1, 0, 0 },
{ 0, 0, 1 }
};
matrix rot_z_minus = {
{ 0, 1, 0 },
{ -1, 0, 0 },
{ 0, 0, 1 }
};
// normal orientation
// +X front side
// +Y left side (in flight direction)
// +Z top side
matrix sensor_orientation = { // Front Left Top
{ 1, 0, 0 }, // x
{ 0, 1, 0 }, // y
{ 0, 0, 1 } // z
};
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
//globally used objects
serial = new QSerialPort(this);
config_scene = new QGraphicsScene(this);
channels_scene = new QGraphicsScene(this);
text = new QGraphicsTextItem;
timer = new QTimer(this);
timer->start(100);
one_shot_timer = new QTimer(this);
one_shot_timer->setSingleShot(true);
StatusLabel = new QLabel(this);
// connect any slot which can't be connected by on_NAME_SIGNAL()
connect(timer, SIGNAL(timeout()), this, SLOT(timer_elapsed()));
connect(one_shot_timer, SIGNAL(timeout()), this, SLOT(update_settings_read_delay()));
connect(serial, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(serialPortError(QSerialPort::SerialPortError)));
connect( ui->fw_select_pushButton, SIGNAL( released() ), this, SLOT( browseFiles() ) );
connect( ui->fw_save_select_pushButton, SIGNAL( released() ), this, SLOT( browse_saveFile() ) );
connect( ui->flash_pushButton, SIGNAL( released() ), this, SLOT( dfuFlashBinary() ) );
connect( ui->fw_save_pushButton, SIGNAL( released() ), this, SLOT( dfuSaveBinary() ) );
connect( ui->show_dfu_pushButton, SIGNAL( released() ), this, SLOT( dfuListDevices() ) );
connect( &dfuUtilProcess, SIGNAL( readyReadStandardOutput() ), this, SLOT( dfuCommandStatus() ) );
connect( &dfuUtilProcess, SIGNAL( finished( int, QProcess::ExitStatus ) ), this, SLOT( dfuCommandComplete( int ) ) );
connect( serial, SIGNAL(readyRead() ), this, SLOT(serialReadyRead() ) );
connect( ui->sensor_set_buttonGroup, SIGNAL(buttonClicked(int)), this, SLOT( set_sensor_orientation(int) ) );
connect( ui->rot_dir_buttonGroup, SIGNAL(buttonClicked(int)), this, SLOT(set_rotational_direction(int) ) );
connect( ui->rev_buttonGroup, SIGNAL(buttonClicked(int)), this, SLOT(set_rev(int) ) );
connect(ui->motors_min_max_buttonGroup, SIGNAL(buttonClicked(int)), this, SLOT( motors_set_master_slider(int) ) );
connect(ui->live_check_buttonGroup, SIGNAL(buttonClicked(int)), this, SLOT( live_graph_enable(int) ) );
connect( ui->save_settings_pushButton, SIGNAL( released() ), this, SLOT( save_settings() ) );
connect( ui->restore_settings_pushButton, SIGNAL( released() ), this, SLOT( restore_settings() ) );
// Only use the included dfu-util
binaryPath = QFileInfo( QCoreApplication::applicationFilePath() ).dir().absolutePath();
dfuUtilProcess.setWorkingDirectory( binaryPath );
// Merge the output channels? //No just stdout
//dfuUtilProcess.setProcessChannelMode( QProcess::MergedChannels );
dfuUtilProcess.setReadChannel(QProcess::StandardOutput);
// set ui defaults
ui->statusBar->addPermanentWidget(StatusLabel,1);
ui->result_textEdit->setReadOnly( true );
ui->start_bootloader_pushButton->setDisabled( true );
ui->connect_pushButton->setDisabled( true );
ui->reboot_pushButton->setDisabled( true );
ui->pull_settings_pushButton->setDisabled( true );
ui->default_settings_pushButton->setDisabled( true );
ui->push_settings_pushButton->setDisabled( true );
ui->save_settings_pushButton->setDisabled( true );
ui->restore_settings_pushButton->setDisabled( true );
ui->motors_enable_checkBox->setDisabled( true );
ui->rx_select_comboBox->addItems(QStringList() << "SBUS" << "SRXL");
ui->esc_select_comboBox->addItems(QStringList() << "Standard" << "One Shot");
ui->rev_buttonGroup->setExclusive(false);
ui->live_check_buttonGroup->setExclusive(false);
// acc graphs
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(0)->setPen(QPen(QColor(158, 158, 0)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(1)->setPen(QPen(QColor(0, 144, 144)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(2)->setPen(QPen(QColor(255, 0, 255)));
// gy graphs
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(3)->setPen(QPen(QColor(0, 0, 255)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(4)->setPen(QPen(QColor(255, 0, 0)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(5)->setPen(QPen(QColor(0, 255, 0)));
// ang graphs
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(6)->setPen(QPen(QColor(255, 170, 0)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(7)->setPen(QPen(QColor(170, 85, 255)));
ui->qcustomplot_widget->addGraph();
ui->qcustomplot_widget->graph(8)->setPen(QPen(QColor(0, 85, 0)));
//QSharedPointer<QCPAxisTickerTime> timeTicker(new QCPAxisTickerTime);
//timeTicker->setTimeFormat("%h:%m:%s");
//ui->qcustomplot_widget->xAxis->setTicker(timeTicker);
ui->qcustomplot_widget->xAxis->setRangeReversed(true);
ui->qcustomplot_widget->axisRect()->setupFullAxesBox();
ui->qcustomplot_widget->yAxis->setRange(-1.2, 1.2);
// make left and bottom axes transfer their ranges to right and top axes:
connect(ui->qcustomplot_widget->xAxis, SIGNAL(rangeChanged(QCPRange)), ui->qcustomplot_widget->xAxis2, SLOT(setRange(QCPRange)));
connect(ui->qcustomplot_widget->yAxis, SIGNAL(rangeChanged(QCPRange)), ui->qcustomplot_widget->yAxis2, SLOT(setRange(QCPRange)));
plot_timer = new QTimer(this);
connect(plot_timer, SIGNAL(timeout()), this, SLOT(realtimeDataSlot()));
// set IDs
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_x_plus_pushButton, 101);
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_x_minus_pushButton, 102);
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_y_plus_pushButton, 103);
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_y_minus_pushButton, 104);
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_z_plus_pushButton, 105);
ui->sensor_set_buttonGroup->setId(ui->sensor_rot_z_minus_pushButton, 106);
ui->rot_dir_buttonGroup->setId(ui->cw_radioButton, 201);
ui->rot_dir_buttonGroup->setId(ui->ccw_radioButton, 202);
ui->rev_buttonGroup->setId(ui->rc_thrust_rev_checkBox, 301);
ui->rev_buttonGroup->setId(ui->rc_roll_rev_checkBox, 302);
ui->rev_buttonGroup->setId(ui->rc_nick_rev_checkBox, 303);
ui->rev_buttonGroup->setId(ui->rc_gier_rev_checkBox, 304);
ui->rev_buttonGroup->setId(ui->rc_arm_rev_checkBox, 305);
ui->rev_buttonGroup->setId(ui->rc_mode_rev_checkBox, 306);
ui->rev_buttonGroup->setId(ui->rc_beep_rev_checkBox, 307);
ui->rev_buttonGroup->setId(ui->rc_prog_rev_checkBox, 308);
ui->rev_buttonGroup->setId(ui->rc_var_rev_checkBox, 309);
ui->rev_buttonGroup->setId(ui->rc_aux1_rev_checkBox, 310);
ui->rev_buttonGroup->setId(ui->rc_aux2_rev_checkBox, 311);
ui->rev_buttonGroup->setId(ui->rc_aux3_rev_checkBox, 312);
ui->motors_min_max_buttonGroup->setId(ui->motors_min_pushButton, 401);
ui->motors_min_max_buttonGroup->setId(ui->motors_max_pushButton, 402);
ui->live_check_buttonGroup->setId(ui->acc_roll_checkBox, 501);
ui->live_check_buttonGroup->setId(ui->acc_nick_checkBox, 502);
ui->live_check_buttonGroup->setId(ui->acc_gier_checkBox, 503);
ui->live_check_buttonGroup->setId(ui->gy_roll_checkBox, 504);
ui->live_check_buttonGroup->setId(ui->gy_nick_checkBox, 505);
ui->live_check_buttonGroup->setId(ui->gy_gier_checkBox, 506);
ui->live_check_buttonGroup->setId(ui->ang_roll_checkBox, 507);
ui->live_check_buttonGroup->setId(ui->ang_nick_checkBox, 508);
ui->live_check_buttonGroup->setId(ui->ang_gier_checkBox, 509);
for (int i=0; i<9; i++ )
{
ui->qcustomplot_widget->graph(i)->setVisible(false);
}
// set some globally used variables
settings_to_be_read = false;
channels_to_be_read = false;
live_to_be_read = false;
settings_to_be_write = false;
settings_written = false;
settings_saved = false;
serial_to_be_closed = false;
switch_state = 42;
found_our_port = false;
pulled = false;
motors_to_be_write = false;
motors_receipt = false;
ok_push = false;
bytes_written = 0;
delay200 = false;
motors_write_state_counter = 0;
push_pending = false;
rotational_direction = CW;
rc_channels << 0 << 0 << 0 << 0 << 0 << 0 << 0 << 0 << 0 << 0 << 0 << 0;
live_values << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0;
motor_data = "4000,4000,4000,4000";
// will be refreshed only if changed
display_config_scene(CW);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::live_graph_enable(int id)
{
if (ui->live_check_buttonGroup->button(id)->isChecked())
{
ui->qcustomplot_widget->graph(id - 501)->setVisible(true);
}
else
{
ui->qcustomplot_widget->graph(id - 501)->setVisible(false);
}
}
void MainWindow::realtimeDataSlot()
{
// reset of lastPointKey
// restart of QTime plot_time (see below) and QTimer plot_timer
// which drives this slot will be done in state_switcher function
//static QTime time(QTime::currentTime());
// calculate two new data points:
double key = plot_time.elapsed()/1000.0; // time elapsed since start, in seconds
if ( key - lastPointKey > 0.005 ) // at most add point every 5 ms
{
// add data to lines:
for ( int i=0; i<9; i++ )
{
ui->qcustomplot_widget->graph(i)->addData(key, live_values.at(i) );
}
// scale only by values from visible graphs
ui->qcustomplot_widget->yAxis->rescale(true);
// rescale value (vertical) axis to fit the current data:
// ui->qcustomplot_widget->graph(0)->rescaleValueAxis();
// ui->qcustomplot_widget->graph(1)->rescaleValueAxis();
// ui->qcustomplot_widget->graph(2)->rescaleValueAxis();
lastPointKey = key;
}
// make key axis range scroll with the data (at a constant range size of 8 meaning seconds here)
ui->qcustomplot_widget->xAxis->setRange(key, 8, Qt::AlignRight);
ui->qcustomplot_widget->replot();
}
void MainWindow::update_settings_read_delay()
{
// After "pull_settings" sent, the device stops sending live data
// within 20 ms then waits > 300 ms before sending the requested
// settings.
// We are reading data continously if available but append arrived
// data to the cleaned settings read buffer not before a time between
// 200 ms has elapsed.
// | | | | 1. send "pull_request"
// | | | | 20 ms max device side reaction
// | | | |----------------------------------------------------------
// | | | 2. device has stopped sending live date
// | | | 3. Our Reader swallows not settings data on wire
// | | | 4. After 100-200 ready to begin append to settings buffer
// | | |------------------------------------------------------------
// | | 5. After > 300 ms device senda settings data
// | ---------------------------------------------------------------
// | 6. Append to settings buffer begins immediately
// -----------------------------------------------------------------
delay200 = true;
}
void MainWindow::timer_elapsed() // 100 ms period
{
qint64 res;
refreshSerialDevices();
display_channels_scene();
if ( serial_to_be_closed == true)
{
serial->close();
live_values.clear();
live_values << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0;
plot_timer->stop();
StatusLabel->setText("Not Connected");
serial_to_be_closed = false;
}
else
{
if (serial->isOpen())
{
StatusLabel->setText("Connected");
ui->connect_pushButton->setDisabled( true );
if ( settings_to_be_write == true)
{
if ( bytes_written < 1024 )
{
res = serial->write( settings_data.constData() + bytes_written, 1024 - bytes_written);
if (res > -1)
{
bytes_written += res;
}
else
{
// need error handler
settings_to_be_write = false;
bytes_written = 0;
}
}
else
{
settings_to_be_write = false;
bytes_written = 0;
settings_written = true;
}
}
else if ( motors_to_be_write == true)
{
if ( motors_receipt == true )
{
serial->write(motor_data.constData(), 20);
motors_receipt = false;
}
}
else if (settings_to_be_read == false && push_pending == false)
{
ui->start_bootloader_pushButton->setDisabled( false );
ui->reboot_pushButton->setDisabled( false );
////########////
//ui->motors_enable_checkBox->setDisabled( false );
ui->disconnect_pushButton->setDisabled( false );
if ( live_to_be_read == false )
{
ui->default_settings_pushButton->setDisabled( false );
ui->pull_settings_pushButton->setDisabled( false );
if (pulled )
{
ui->push_settings_pushButton->setDisabled( false );
ui->save_settings_pushButton->setDisabled( false );
}
if ( settings_saved )
{
ui->restore_settings_pushButton->setDisabled( false );
}
}
}
}
else
{
StatusLabel->setText("Not Connected");
ui->start_bootloader_pushButton->setDisabled( true );
ui->pull_settings_pushButton->setDisabled( true );
ui->default_settings_pushButton->setDisabled( true );
ui->save_settings_pushButton->setDisabled( true );
ui->restore_settings_pushButton->setDisabled( true );
ui->push_settings_pushButton->setDisabled( true );
ui->disconnect_pushButton->setDisabled( true );
ui->reboot_pushButton->setDisabled( true );
if ( ui->motors_enable_checkBox->isChecked() )
{
ui->motors_enable_checkBox->click();
}
ui->motors_enable_checkBox->setDisabled( true );
if (found_our_port)
{
ui->connect_pushButton->setDisabled( false );
}
}
}
}
void MainWindow::refreshSerialDevices()
{
ui->availports_comboBox->clear();
found_our_port = false;
QList<QSerialPortInfo> ports = QSerialPortInfo::availablePorts();
foreach(const QSerialPortInfo &port, ports) {
QString name = port.portName();
int index = ui->availports_comboBox->count();
// put STMicroelectronics device first in list
if(port.manufacturer() == "STMicroelectronics" && port.productIdentifier() == 0x5740 ) {
name.insert(0, "");
index = 0;
found_our_port = true;
}
ui->availports_comboBox->insertItem(index, name, port.systemLocation());
}
ui->availports_comboBox->setCurrentIndex(0);
if ( found_our_port )
{
ui->flash_pushButton->setDisabled( true );
ui->fw_save_pushButton->setDisabled( true );
ui->show_dfu_pushButton->setDisabled( true );
}
else
{
ui->connect_pushButton->setDisabled( true );
ui->flash_pushButton->setDisabled( false );
ui->fw_save_pushButton->setDisabled( false );
ui->show_dfu_pushButton->setDisabled( false);
}
}
void MainWindow::state_switch(int state)
{
live_values.clear();
live_values << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0;
serial->clear();
switch (state)
{
case Firmware:
serial->write("fw_tab", 7);
channels_to_be_read = false;
motors_to_be_write = false;
live_to_be_read = false;
plot_timer->stop();
break;
case Configuration:
serial->write("config_tab", 11);
channels_to_be_read = true;
motors_to_be_write = false;
live_to_be_read = false;
plot_timer->stop();
break;
case Motor_test:
serial->write("motors_tab", 11);
channels_to_be_read = false;
live_to_be_read = false;
plot_timer->stop();
if ( ui->motors_enable_checkBox->isChecked() )
{
ui->motors_enable_checkBox->click();
}
break;
case Flight_setup:
serial->write("flight_tab", 11);
channels_to_be_read = false;
motors_to_be_write = false;
live_to_be_read = false;
plot_timer->stop();
break;
case Live_plots:
serial->write("live_tab", 9);
ui->pull_settings_pushButton->setDisabled( true );
ui->default_settings_pushButton->setDisabled( true );
ui->save_settings_pushButton->setDisabled( true );
ui->restore_settings_pushButton->setDisabled( true );
ui->push_settings_pushButton->setDisabled( true );
channels_to_be_read = false;
motors_to_be_write = false;
live_to_be_read = true;
for ( int i=0; i<9; i++ )
{
ui->qcustomplot_widget->graph(i)->data().data()->clear();
}
lastPointKey = 0;
plot_timer->start(0);
plot_time.start();
break;
// not used jet
case suspend:
serial->write("suspend", 8);
channels_to_be_read = false;
motors_to_be_write = false;
live_to_be_read = false;
plot_timer->stop();
break;
}
switch_state = state;
}
void MainWindow::on_connect_pushButton_clicked()
{
if(serial->isOpen())
{
return;
}
serial->setPortName(ui->availports_comboBox->currentData().toString());
// for testing with socat as proxy
//QString qstr;
//qstr.append("/dev/ttyACM5");
//serial->setPortName(qstr);
// usage (as root):
// socat -x -v PTY,link=/dev/ttyACM5 /dev/ttyACM0,raw
// prepare in other terminal: chmod 666 /dev/ttyACM5
// and stty "1:0:18b2:0:3:1c:7f:15:4:5:1:0:11:13:1a:0:12:f:17:16:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0" -F /dev/ttyACM5
// after connection traffic in both directions in hex will be shown in the terminal where socat have been started
serial->open(QIODevice::ReadWrite);
if(!serial->isOpen()) {
return;
}
serial->setBaudRate(QSerialPort::Baud115200);
serial->setDataBits(QSerialPort::Data8);
serial->setParity(QSerialPort::NoParity);
serial->setStopBits(QSerialPort::OneStop);
serial->setFlowControl(QSerialPort::NoFlowControl);
ui->motors_enable_checkBox->setDisabled( false );
state_switch(ui->tab->currentIndex());
}
void MainWindow::on_disconnect_pushButton_clicked()
{
live_values.clear();
live_values << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0 << 0.0;
plot_timer->stop();
if (serial->isOpen()) {
if ( ui->motors_enable_checkBox->isChecked() )
{
ui->motors_enable_checkBox->click();
}
serial->close();
}
}
void MainWindow::on_tab_currentChanged(int index)
{
if (serial->isOpen())
{
serial->clear();
state_switch(index);
}
}
void MainWindow::set_rev(int index)
{
int status, i;
int func = index - 300;
// find status of current clicked channel reverse checkbox
status = ui->rev_buttonGroup->button(index)->isChecked();
// set this status in the position of rc_ch array wich
// is assigned to the current position of the rc_func array
rc_ch[rc_func[func].number].rev = status;
// set this status in any position of rc_func
// with the same channel number as the current one
for ( i = 1; i < 13; i++)
{
if ( rc_func[i].number == rc_func[func].number )
{
rc_func[i].rev = status;
ui->rev_buttonGroup->button(300 + i)->setChecked( status );
}
}
}
// in each of this functions assign the changed channel number value
// to the corresponding position in the rc_func array
// this sets also the reverse field in rc_func from rc_ch
// then check or uncheck the corresponding reverse checkbox
// memorized at the corresponding rc_ch position by the rev field
void MainWindow::on_rc_thrust_spinBox_valueChanged(int value)
{
rc_func[r_thrust] = rc_ch[value];
ui->rc_thrust_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_roll_spinBox_valueChanged(int value)
{
rc_func[r_roll] = rc_ch[value];
ui->rc_roll_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_nick_spinBox_valueChanged(int value)
{
rc_func[r_nick] = rc_ch[value];
ui->rc_nick_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_gier_spinBox_valueChanged(int value)
{
rc_func[r_gier] = rc_ch[value];
ui->rc_gier_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_arm_spinBox_valueChanged(int value)
{
rc_func[r_arm] = rc_ch[value];
ui->rc_arm_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_mode_spinBox_valueChanged(int value)
{
rc_func[r_mode] = rc_ch[value];
ui->rc_mode_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_beep_spinBox_valueChanged(int value)
{
rc_func[r_beep] = rc_ch[value];
ui->rc_beep_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_prog_spinBox_valueChanged(int value)
{
rc_func[r_prog] = rc_ch[value];
ui->rc_prog_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_var_spinBox_valueChanged(int value)
{
rc_func[r_var] = rc_ch[value];
ui->rc_var_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_aux1_spinBox_valueChanged(int value)
{
rc_func[r_aux1] = rc_ch[value];
ui->rc_aux1_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_aux2_spinBox_valueChanged(int value)
{
rc_func[r_aux2] = rc_ch[value];
ui->rc_aux2_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::on_rc_aux3_spinBox_valueChanged(int value)
{
rc_func[r_aux3] = rc_ch[value];
ui->rc_aux3_rev_checkBox->setChecked( rc_ch[value].rev );
}
void MainWindow::motors_set_master_slider(int id)
{
switch (id)
{
case min:
ui->motor_value_master_verticalSlider->setValue(4000);
on_motor_value_master_verticalSlider_valueChanged(4000);
break;
case max:
ui->motor_value_master_verticalSlider->setValue(8000);
on_motor_value_master_verticalSlider_valueChanged(8000);
break;
}
}
void MainWindow::on_motors_enable_checkBox_clicked(bool checked)
{
ui->motor_value_master_verticalSlider->setValue(4000);
ui->motor1_value_verticalSlider->setValue(4000);
ui->motor2_value_verticalSlider->setValue(4000);
ui->motor3_value_verticalSlider->setValue(4000);
ui->motor4_value_verticalSlider->setValue(4000);
if ( checked == false )
{
ui->motors_max_pushButton->setDisabled( true );
ui->motors_min_pushButton->setDisabled( true );
ui->motor_value_master_verticalSlider->setDisabled( true );
ui->motor1_value_verticalSlider->setDisabled( true );
ui->motor2_value_verticalSlider->setDisabled( true );
ui->motor3_value_verticalSlider->setDisabled( true );
ui->motor4_value_verticalSlider->setDisabled( true );
if (serial->isOpen())
{
ui->disconnect_pushButton->setDisabled( false );
}
}
else
{
ui->motors_max_pushButton->setDisabled( false );
ui->motors_min_pushButton->setDisabled( false );
ui->motor_value_master_verticalSlider->setDisabled( false );
ui->motor1_value_verticalSlider->setDisabled( false );
ui->motor2_value_verticalSlider->setDisabled( false );
ui->motor3_value_verticalSlider->setDisabled( false );
ui->motor4_value_verticalSlider->setDisabled( false );
ui->start_bootloader_pushButton->setDisabled( true );
ui->reboot_pushButton->setDisabled( true );
ui->default_settings_pushButton->setDisabled( true );
ui->save_settings_pushButton->setDisabled( true );
ui->restore_settings_pushButton->setDisabled( true );
ui->pull_settings_pushButton->setDisabled( true );
ui->push_settings_pushButton->setDisabled( true );
ui->disconnect_pushButton->setDisabled( true );
motors_to_be_write = true;
motors_receipt = true;
}
}
void MainWindow::on_motor_value_master_verticalSlider_valueChanged(int value)
{
motor1_value = motor2_value = motor3_value = motor4_value = value;
ui->motor1_value_verticalSlider->setValue(value);
ui->motor2_value_verticalSlider->setValue(value);
ui->motor3_value_verticalSlider->setValue(value);
ui->motor4_value_verticalSlider->setValue(value);
QString motor1_data_string;
QString motor2_data_string;
QString motor3_data_string;
QString motor4_data_string;
QTextStream(&motor1_data_string) << motor1_value / 4;
QTextStream(&motor2_data_string) << motor2_value / 4;
QTextStream(&motor3_data_string) << motor3_value / 4;
QTextStream(&motor4_data_string) << motor4_value / 4;
ui->motor1_value_label->setText(motor1_data_string);
ui->motor2_value_label->setText(motor2_data_string);
ui->motor3_value_label->setText(motor3_data_string);
ui->motor4_value_label->setText(motor4_data_string);
QString motor_data_string;
QTextStream(&motor_data_string) << motor1_value << "," << motor2_value << "," << motor3_value << "," << motor4_value;
motor_data.clear();
motor_data.append(motor_data_string.toLocal8Bit());
}
void MainWindow::on_motor1_value_verticalSlider_valueChanged(int value)
{
motor1_value = value;
QString motor1_data_string;
QTextStream(&motor1_data_string) << motor1_value / 4;
ui->motor1_value_label->setText(motor1_data_string);
QString motor_data_string;
QTextStream(&motor_data_string) << motor1_value << "," << motor2_value << "," << motor3_value << "," << motor4_value;
motor_data.clear();
motor_data.append(motor_data_string.toLocal8Bit());
}
void MainWindow::on_motor2_value_verticalSlider_valueChanged(int value)
{
motor2_value = value;
QString motor2_data_string;
QTextStream(&motor2_data_string) << motor2_value / 4;
ui->motor2_value_label->setText(motor2_data_string);
QString motor_data_string;
QTextStream(&motor_data_string) << motor1_value << "," << motor2_value << "," << motor3_value << "," << motor4_value;
motor_data.clear();
motor_data.append(motor_data_string.toLocal8Bit());
}
void MainWindow::on_motor3_value_verticalSlider_valueChanged(int value)
{
motor3_value = value;
QString motor3_data_string;
QTextStream(&motor3_data_string) << motor3_value / 4;
ui->motor3_value_label->setText(motor3_data_string);
QString motor_data_string;
QTextStream(&motor_data_string) << motor1_value << "," << motor2_value << "," << motor3_value << "," << motor4_value;
motor_data.clear();
motor_data.append(motor_data_string.toLocal8Bit());
}
void MainWindow::on_motor4_value_verticalSlider_valueChanged(int value)
{
motor4_value = value;
QString motor4_data_string;
QTextStream(&motor4_data_string) << motor4_value / 4;
ui->motor4_value_label->setText(motor4_data_string);
QString motor_data_string;
QTextStream(&motor_data_string) << motor1_value << "," << motor2_value << "," << motor3_value << "," << motor4_value;
motor_data.clear();
motor_data.append(motor_data_string.toLocal8Bit());
}
void MainWindow::ui_to_settings_data()
{
settings *ps;
int i,j;
ps = (settings*) settings_data.data();
ps->pidvars[RKp] = ui->roll_kp->value();
ps->pidvars[RKi] = ui->roll_ki->value();
ps->pidvars[RKd] = ui->roll_kd->value();
ps->pidvars[NKp] = ui->nick_kp->value();
ps->pidvars[NKi] = ui->nick_ki->value();
ps->pidvars[NKd] = ui->nick_kd->value();
ps->pidvars[GKp] = ui->gier_kp->value();
ps->pidvars[GKi] = ui->gier_ki->value();
ps->pidvars[GKd] = ui->gier_kd->value();
ps->l_pidvars[RKp] = ui->l_roll_kp->value();
ps->l_pidvars[RKi] = ui->l_roll_ki->value();
ps->l_pidvars[RKd] = ui->l_roll_kd->value();
ps->l_pidvars[NKp] = ui->l_nick_kp->value();
ps->l_pidvars[NKi] = ui->l_nick_ki->value();
ps->l_pidvars[NKd] = ui->l_nick_kd->value();
ps->l_pidvars[GKp] = ui->l_gier_kp->value();
ps->l_pidvars[GKi] = ui->l_gier_ki->value();
ps->l_pidvars[GKd] = ui->l_gier_kd->value();
ps->rate[roll] = ui->roll_rate->value();
ps->rate[nick] = ui->nick_rate->value();
ps->rate[gier] = ui->gier_rate->value();
ps->motor_1.tim_ch = ui->motor1_ch_spinBox->value();
ps->motor_2.tim_ch = ui->motor2_ch_spinBox->value();
ps->motor_3.tim_ch = ui->motor3_ch_spinBox->value();
ps->motor_4.tim_ch = ui->motor4_ch_spinBox->value();
if (rotational_direction == CW)
{
ps->motor_1.rotational_direction = CCW;
ps->motor_2.rotational_direction = CW;
ps->motor_3.rotational_direction = CW;
ps->motor_4.rotational_direction = CCW;
}
else
{
ps->motor_1.rotational_direction = CW;
ps->motor_2.rotational_direction = CCW;
ps->motor_3.rotational_direction = CCW;
ps->motor_4.rotational_direction = CW;
}
for ( i = 0; i < 13; i++ )
{
ps->rc_func[i] = rc_func[i];
ps->rc_ch[i] = rc_ch[i];
}
for(i=0; i<3; ++i)
for(j=0; j<3; ++j)
{
ps->sensor_orient[i][j] = sensor_orientation[i][j];
}
ps->aspect_ratio = ui->aspect_ratio_doubleSpinBox->value();
ps->receiver = ui->rx_select_comboBox->currentIndex();
ps->esc_mode = ui->esc_select_comboBox->currentIndex();
ps->low_voltage = ui->low_bat_volt_doubleSpinBox->value();
}
bool MainWindow::settings_data_to_ui()
{
settings *ps;
int i,j;
ps = (settings*) settings_data.data();
if ( ps->magic == 0xdb )
{
ui->roll_kp->setValue(ps->pidvars[RKp]);
ui->roll_ki->setValue(ps->pidvars[RKi]);
ui->roll_kd->setValue(ps->pidvars[RKd]);
ui->nick_kp->setValue(ps->pidvars[NKp]);
ui->nick_ki->setValue(ps->pidvars[NKi]);
ui->nick_kd->setValue(ps->pidvars[NKd]);
ui->gier_kp->setValue(ps->pidvars[GKp]);
ui->gier_ki->setValue(ps->pidvars[GKi]);
ui->gier_kd->setValue(ps->pidvars[GKd]);
ui->l_roll_kp->setValue(ps->l_pidvars[RKp]);
ui->l_roll_ki->setValue(ps->l_pidvars[RKi]);
ui->l_roll_kd->setValue(ps->l_pidvars[RKd]);
ui->l_nick_kp->setValue(ps->l_pidvars[NKp]);
ui->l_nick_ki->setValue(ps->l_pidvars[NKi]);
ui->l_nick_kd->setValue(ps->l_pidvars[NKd]);
ui->l_gier_kp->setValue(ps->l_pidvars[GKp]);
ui->l_gier_ki->setValue(ps->l_pidvars[GKi]);
ui->l_gier_kd->setValue(ps->l_pidvars[GKd]);
ui->roll_rate->setValue(ps->rate[roll]);
ui->nick_rate->setValue(ps->rate[nick]);
ui->gier_rate->setValue(ps->rate[gier]);
ui->motor1_ch_spinBox->setValue( ps->motor_1.tim_ch);
ui->motor2_ch_spinBox->setValue( ps->motor_2.tim_ch);
ui->motor3_ch_spinBox->setValue( ps->motor_3.tim_ch);
ui->motor4_ch_spinBox->setValue( ps->motor_4.tim_ch);
if (ps->motor_2.rotational_direction == CW)
{
ui->cw_radioButton->setChecked(true);
ui->ccw_radioButton->setChecked(false);
}
else
{
ui->ccw_radioButton->setChecked(true);
ui->cw_radioButton->setChecked(false);
}
ui->aspect_ratio_doubleSpinBox->setValue(ps->aspect_ratio);
ui->rx_select_comboBox->setCurrentIndex(ps->receiver);
ui->esc_select_comboBox->setCurrentIndex(ps->esc_mode);
for(i=0; i<3; ++i)
for(j=0; j<3; ++j)
{
sensor_orientation[i][j] = ps->sensor_orient[i][j];
}
ui->rc_thrust_spinBox->setValue(ps->rc_func[r_thrust].number);
ui->rc_roll_spinBox->setValue(ps->rc_func[r_roll].number);
ui->rc_nick_spinBox->setValue(ps->rc_func[r_nick].number);
ui->rc_gier_spinBox->setValue(ps->rc_func[r_gier].number);
ui->rc_arm_spinBox->setValue(ps->rc_func[r_arm].number);
ui->rc_mode_spinBox->setValue(ps->rc_func[r_mode].number);
ui->rc_beep_spinBox->setValue(ps->rc_func[r_beep].number);
ui->rc_prog_spinBox->setValue(ps->rc_func[r_prog].number);
ui->rc_var_spinBox->setValue(ps->rc_func[r_var].number);
ui->rc_aux1_spinBox->setValue(ps->rc_func[r_aux1].number);
ui->rc_aux2_spinBox->setValue(ps->rc_func[r_aux2].number);
ui->rc_aux3_spinBox->setValue(ps->rc_func[r_aux3].number);
ui->rc_thrust_rev_checkBox->setChecked( ps->rc_func[r_thrust].rev );
ui->rc_roll_rev_checkBox->setChecked( ps->rc_func[r_roll].rev );
ui->rc_nick_rev_checkBox->setChecked( ps->rc_func[r_nick].rev );
ui->rc_gier_rev_checkBox->setChecked( ps->rc_func[r_gier].rev );
ui->rc_arm_rev_checkBox->setChecked( ps->rc_func[r_arm].rev );
ui->rc_mode_rev_checkBox->setChecked( ps->rc_func[r_mode].rev );
ui->rc_beep_rev_checkBox->setChecked( ps->rc_func[r_beep].rev );
ui->rc_prog_rev_checkBox->setChecked( ps->rc_func[r_prog].rev );
ui->rc_var_rev_checkBox->setChecked( ps->rc_func[r_var].rev );
ui->rc_aux1_rev_checkBox->setChecked( ps->rc_func[r_aux1].rev );
ui->rc_aux2_rev_checkBox->setChecked( ps->rc_func[r_aux2].rev );
ui->rc_aux3_rev_checkBox->setChecked( ps->rc_func[r_aux3].rev );