C++ UAVDataObject::getField方法代码示例

/**
   Refreshes the current value of the SystemSettings which holds the aircraft type
   Note: The default behavior of ConfigTaskWidget is bypassed.
   Therefore no automatic synchronization of UAV Objects to UI is done.
 */
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
    Q_UNUSED(o);

    if (!allObjectsUpdated()) {
        return;
    }

    bool dirty = isDirty();

    // Get the Airframe type from the system settings:
    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
    Q_ASSERT(system);

    UAVObjectField *field = system->getField(QString("AirframeType"));
    Q_ASSERT(field);

    // At this stage, we will need to have some hardcoded settings in this code
    QString frameType = field->getValue().toString();

    // Always update custom tab from others airframe settings : debug/learn hardcoded mixers
    int category = frameCategory("Custom");
    m_aircraft->aircraftType->setCurrentIndex(category);

    VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);

    if (vehicleConfig) {
        vehicleConfig->refreshWidgetsValues("Custom");
    }

    // Switch to Airframe currently used
    category = frameCategory(frameType);

    if (frameType != "Custom") {
        m_aircraft->aircraftType->setCurrentIndex(category);

        VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);

        if (vehicleConfig) {
            vehicleConfig->refreshWidgetsValues(frameType);
        }
    }

    field = system->getField(QString("VehicleName"));
    Q_ASSERT(field);
    QString name;
    for (uint i = 0; i < field->getNumElements(); ++i) {
        QChar chr = field->getValue(i).toChar();
        if (chr != 0) {
            name.append(chr);
        } else {
            break;
        }
    }
    m_aircraft->nameEdit->setText(name);

    updateFeedForwardUI();

    setDirty(dirty);
}

void ConfigStabilizationWidget::resetThrottleCurveToDefault()
{
    UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));

    Q_ASSERT(defaultStabBank);
    defaultStabBank = defaultStabBank->dirtyClone();

    UAVObjectField *field = defaultStabBank->getField("ThrustPIDScaleCurve");
    Q_ASSERT(field);

    QList<double> curve;
    for (quint32 i = 0; i < field->getNumElements(); i++) {
        curve.append(field->getValue(i).toDouble());
    }

    ui->thrustPIDScalingCurve->setCurve(&curve);

    field = defaultStabBank->getField("EnableThrustPIDScaling");
    Q_ASSERT(field);

    bool enabled = field->getValue() == "TRUE";
    ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
    ui->thrustPIDScalingCurve->setEnabled(enabled);

    delete defaultStabBank;
}

/**
   Enables and runs feed forward testing
 */
void ConfigVehicleTypeWidget::enableFFTest()
{
    // Role:
    // - Check if all three checkboxes are checked
    // - Every other timer event: toggle engine from 45% to 55%
    // - Every other time event: send FF settings to flight FW
    if (m_aircraft->ffTestBox1->isChecked() && m_aircraft->ffTestBox2->isChecked()
        && m_aircraft->ffTestBox3->isChecked()) {
        if (!ffTuningInProgress) {
            // Initiate tuning:
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            UAVObject::Metadata mdata = obj->getMetadata();
            accInitialData = mdata;
            UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
            obj->setMetadata(mdata);
        }
        // Depending on phase, either move actuator or send FF settings:
        if (ffTuningPhase) {
            // Send FF settings to the board
            UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
            Q_ASSERT(mixer);

            QPointer<VehicleConfig> vconfig = new VehicleConfig();

            // Update feed forward settings
            vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
            vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
            vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
            vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
            mixer->updated();
        } else {
            // Toggle motor state
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            double value  = obj->getField("Throttle")->getDouble();
            double target = (value < 0.5) ? 0.55 : 0.45;
            obj->getField("Throttle")->setValue(target);
            obj->updated();
        }
        ffTuningPhase = !ffTuningPhase;
        ffTuningInProgress = true;
        QTimer::singleShot(1000, this, SLOT(enableFFTest()));
    } else {
        // - If no: disarm timer, restore actuatorcommand metadata
        // Disarm!
        if (ffTuningInProgress) {
            ffTuningInProgress = false;
            UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
                                                                   QString("ManualControlCommand")));
            UAVObject::Metadata mdata = obj->getMetadata();
            mdata = accInitialData; // Restore metadata
            obj->setMetadata(mdata);
        }
    }
}

void GCSControlGadgetWidget::toggleArmed(int state)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
    if(state)
        obj->getField("Armed")->setValue("Armed");
    else
        obj->getField("Armed")->setValue("Disarmed");
    obj->updated();
}

/**
   Sends the config to the board (airframe type)

   We do all the tasks common to all airframes, or family of airframes, and
   we call additional methods for specific frames, so that we do not have a code
   that is too heavy.

   Note: The default behavior of ConfigTaskWidget is bypassed.
   Therefore no automatic synchronization of UI to UAV Objects is done.
 */
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
    // Airframe type defaults to Custom
    QString airframeType = "Custom";

    VehicleConfig *vehicleConfig = (VehicleConfig *)m_aircraft->airframesWidget->currentWidget();

    if (vehicleConfig) {
        airframeType = vehicleConfig->updateConfigObjectsFromWidgets();
    }

    // set the airframe type
    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
    Q_ASSERT(system);

    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
    if (field) {
        field->setValue(airframeType);
    }

    // Update feed forward settings
    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
    Q_ASSERT(mixer);

    QPointer<VehicleConfig> vconfig = new VehicleConfig();

    vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
    vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
    vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
    vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());

    // TODO call refreshWidgetsValues() to reflect actual saved values ?
    updateFeedForwardUI();
}

/**
   Sends the config to the board (airframe type)

   We do all the tasks common to all airframes, or family of airframes, and
   we call additional methods for specific frames, so that we do not have a code
   that is too heavy.

   Note: The default behavior of ConfigTaskWidget is bypassed.
   Therefore no automatic synchronization of UI to UAV Objects is done.
 */
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
    // Airframe type defaults to Custom
    QString airframeType = "Custom";

    VehicleConfig *vehicleConfig = (VehicleConfig *)m_aircraft->airframesWidget->currentWidget();

    if (vehicleConfig) {
        airframeType = vehicleConfig->updateConfigObjectsFromWidgets();
    }

    // set the airframe type
    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
    Q_ASSERT(system);

    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
    if (field) {
        field->setValue(airframeType);
    }

    // Update feed forward settings
    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
    Q_ASSERT(mixer);

    QPointer<VehicleConfig> vconfig = new VehicleConfig();

    vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
    vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
    vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
    vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());

    field = system->getField(QString("VehicleName"));
    Q_ASSERT(field);
    QString name = m_aircraft->nameEdit->text();
    for (uint i = 0; i < field->getNumElements(); ++i) {
        if (i < (uint)name.length()) {
            field->setValue(name.at(i).toLatin1(), i);
        } else {
            field->setValue(0, i);
        }
    }

    // call refreshWidgetsValues() to reflect actual saved values
    refreshWidgetsValues();
    updateFeedForwardUI();
}

void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
    m_gcscontrol->comboBoxFlightMode->setCurrentIndex(m_gcscontrol->comboBoxFlightMode->findText(flightStatus->getField("FlightMode")->getValue().toString()));
    m_gcscontrol->checkBoxArmed->setChecked(flightStatus->getField("Armed")->getValue() == "Armed");
}

/*!
  \brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
  */
void GCSControlGadgetWidget::selectFlightMode(int state)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
    UAVObjectField * field = obj->getField("FlightMode");
    field->setValue(field->getOptions()[state]);
    obj->updated();
}

/**
  Request the current config from the board
  */
void ConfigInputWidget::refreshValues()
{
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
    Q_ASSERT(obj);
    //obj->requestUpdate();
    UAVObjectField *field;

    // Now update all the slider values:

    UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
    UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
    UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
    Q_ASSERT(field_max);
    Q_ASSERT(field_min);
    Q_ASSERT(field_neu);
    for (int i = 0; i < 8; i++) {
        QVariant max = field_max->getValue(i);
        QVariant min = field_min->getValue(i);
        QVariant neutral = field_neu->getValue(i);
        inMaxLabels[i]->setText(max.toString());
        inMinLabels[i]->setText(min.toString());
        if (max.toInt()> min.toInt()) {
            inRevCheckboxes[i]->setChecked(false);
            inSliders[i]->setMaximum(max.toInt());
            inSliders[i]->setMinimum(min.toInt());
        } else {
            inRevCheckboxes[i]->setChecked(true);
            inSliders[i]->setMaximum(min.toInt());
            inSliders[i]->setMinimum(max.toInt());
        }
        inSliders[i]->setValue(neutral.toInt());
    }

    // Update receiver type
    field = obj->getField(QString("InputMode"));
    m_config->receiverType->setText(field->getValue().toString());

    // Reset all channel assignement dropdowns:
    foreach (QComboBox *combo, inChannelAssign) {
        combo->setCurrentIndex(0);
    }

/**
  Sends the channel value to the UAV to move the servo.
  Returns immediately if we are not in testing mode
  */
void ConfigOutputWidget::sendChannelTest(int value)
{
	int in_value = value;

	QSlider *ob = (QSlider *)QObject::sender();
	if (!ob) return;
    int index = outSliders.indexOf(ob);
	if (index < 0) return;

	if (reversals[index]->isChecked())
		value = outMin[index]->value() - value + outMax[index]->value();	// the chsnnel is reversed

	// update the label
	outLabels[index]->setText(QString::number(value));

	if (links[index]->checkState())
	{	// the channel is linked to other channels
		// set the linked channels to the same value
		for (int i = 0; i < outSliders.count(); i++)
		{
			if (i == index) continue;
			if (!links[i]->checkState()) continue;

			int val = in_value;
			if (val < outSliders[i]->minimum()) val = outSliders[i]->minimum();
			if (val > outSliders[i]->maximum()) val = outSliders[i]->maximum();

			if (outSliders[i]->value() == val) continue;

			outSliders[i]->setValue(val);
			outLabels[i]->setText(QString::number(val));
		}
	}

	if (!m_config->channelOutTest->isChecked())
		return;

	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
	if (!obj) return;
	UAVObjectField *channel = obj->getField("Channel");
	if (!channel) return;
	channel->setValue(value, index);
    obj->updated();
}

GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
{
    m_gcscontrol = new Ui_GCSControl();
    m_gcscontrol->setupUi(this);


    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
    UAVObject::Metadata mdata = obj->getMetadata();
    m_gcscontrol->checkBoxGcsControl->setChecked(UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READONLY);

    // Set up the drop down box for the flightmode
    UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
    m_gcscontrol->comboBoxFlightMode->addItems(flightStatus->getField("FlightMode")->getOptions());

    // Set up slots and signals for joysticks
    connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double)));
    connect(m_gcscontrol->widgetRightStick,SIGNAL(positionClicked(double,double)),this,SLOT(rightStickClicked(double,double)));

    // Connect misc controls
    connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(toggleControl(int)));
    connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int)));
    connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));

    connect(m_gcscontrol->checkBoxUDPControl, SIGNAL(stateChanged(int)),this,SLOT(toggleUDPControl(int))); //UDP control checkbox

    // Connect object updated event from UAVObject to also update check boxes and dropdown
    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));




    leftX = 0;
    leftY = 0;
    rightX = 0;
    rightY = 0;

    // No point enabling OpenGL for the joysticks, and causes
    // issues on some computers:
//    m_gcscontrol->widgetLeftStick->enableOpenGL(true);
//    m_gcscontrol->widgetRightStick->enableOpenGL(true);
}

/**
  Sends the channel value to the UAV to move the servo.
  Returns immediately if we are not in testing mode
  */
void ConfigServoWidget::sendChannelTest(int value)
{
    // First of all, update the label:
    QSlider *ob = (QSlider*)QObject::sender();
    int index = outSliders.indexOf(ob);
    if (reversals[index]->isChecked())
        value = outMin[index]->value()-value+outMax[index]->value();
    else
        outLabels[index]->setText(QString::number(value));

    outLabels[index]->setText(QString::number(value));
    if (!m_config->channelOutTest->isChecked())
        return;

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));

    UAVObjectField * channel = obj->getField("Channel");
    channel->setValue(value,index);
    obj->updated();

}

ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
    VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget())
{
    m_aircraft->setupUi(this);

    // Put combo boxes in line one of the custom mixer table:
    UAVDataObject *mixer  = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
    Q_ASSERT(mixer);

    UAVObjectField *field = mixer->getField(QString("Mixer1Type"));
    QStringList list = field->getOptions();
    for (int i = 0; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
        QComboBox *qb = new QComboBox(m_aircraft->customMixerTable);
        qb->addItems(list);
        m_aircraft->customMixerTable->setCellWidget(0, i, qb);
    }

    SpinBoxDelegate *sbd = new SpinBoxDelegate();
    for (int i = 1; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
        m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
    }
}

/**
   Refreshes the current value of the SystemSettings which holds the aircraft type
   Note: The default behavior of ConfigTaskWidget is bypassed.
   Therefore no automatic synchronization of UAV Objects to UI is done.
 */
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
    Q_UNUSED(o);

    if (!allObjectsUpdated()) {
        return;
    }

    bool dirty = isDirty();

    // Get the Airframe type from the system settings:
    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
    Q_ASSERT(system);

    UAVObjectField *field = system->getField(QString("AirframeType"));
    Q_ASSERT(field);

    // At this stage, we will need to have some hardcoded settings in this code, this
    // is not ideal, but there you go.
    QString frameType = field->getValue().toString();
    qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;

    QString category  = frameCategory(frameType);
    setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText(category));

    VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
    if (vehicleConfig) {
        vehicleConfig->refreshWidgetsValues(frameType);
    }

    updateFeedForwardUI();

    setDirty(dirty);

    qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
}

void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
    if ((buttonSettings[number].ActionID > 0) && (buttonSettings[number].FunctionID > 0) && (pressed)) { // this button is configured
        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
        UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
        UAVDataObject *obj     = dynamic_cast<UAVDataObject *>(objManager->getObject(QString("ManualControlCommand")));
        bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
        bool currentUDPControl = ((GCSControlGadgetWidget *)m_widget)->getUDPControl();

        switch (buttonSettings[number].ActionID) {
        case 1: // increase
            if (currentCGSControl) {
                switch (buttonSettings[number].FunctionID) {
                case 1: // Roll
                    obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble() + buttonSettings[number].Amount));
                    break;
                case 2: // Pitch
                    obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble() + buttonSettings[number].Amount));
                    break;
                case 3: // Yaw
                    obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble() + buttonSettings[number].Amount));
                    break;
                case 4: // Throttle
                    obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble() + buttonSettings[number].Amount));
                    break;
                }
            }
            break;
        case 2: // decrease
            if (currentCGSControl) {
                switch (buttonSettings[number].FunctionID) {
                case 1: // Roll
                    obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble() - buttonSettings[number].Amount));
                    break;
                case 2: // Pitch
                    obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble() - buttonSettings[number].Amount));
                    break;
                case 3: // Yaw
                    obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble() - buttonSettings[number].Amount));
                    break;
                case 4: // Throttle
                    obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble() - buttonSettings[number].Amount));
                    break;
                }
            }
            break;
        case 3: // toggle
            switch (buttonSettings[number].FunctionID) {
            case 1: // Armed
                if (currentCGSControl) {
                    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
                    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
                    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(objManager->getObject(QString("FlightStatus")));

                    if (obj->getField("Armed")->getValue().toString().compare("Armed") == 0) {
                        obj->getField("Armed")->setValue("Disarmed");
                    } else {
                        obj->getField("Armed")->setValue("Armed");
                    }
                }
                break;
            case 2: // GCS Control
                    // Toggle the GCS Control checkbox, its built in signalling will handle the update to OP
                ((GCSControlGadgetWidget *)m_widget)->setGCSControl(!currentCGSControl);

                break;
            case 3: // UDP Control
                if (currentCGSControl) {
                    ((GCSControlGadgetWidget *)m_widget)->setUDPControl(!currentUDPControl);
                }

                break;
            }

            break;
        }

        obj->updated();
    }
    // buttonSettings[number].ActionID NIDT
    // buttonSettings[number].FunctionID -RPYTAC
    // buttonSettings[number].Amount
}