zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Better handling of unsupported class/frame combinations

QGC4.4
DonLakeFlyer 6 years ago
parent
21f9447a76
commit
b71715ea5f
3 changed files with 139 additions and 59 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 49
      src/AutoPilotPlugins/APM/APMAirframeComponent.qml
  2. 115
      src/AutoPilotPlugins/APM/APMAirframeComponentController.cc
  3. 34
      src/AutoPilotPlugins/APM/APMAirframeComponentController.h

49
src/AutoPilotPlugins/APM/APMAirframeComponent.qml
Unescape View File

@ -106,8 +106,15 @@ SetupPage { @@ -106,8 +106,15 @@ SetupPage {
readonly property real innerMargin: ScreenTools.defaultFontPixelWidth
MouseArea {
anchors.fill: parent
onClicked: airframeCheckBox.checked = true
anchors.fill: parent
onClicked: {
if (!airframeCheckBox.checked || !combo.valid) {
if (_frameTypeAvailable && object.defaultFrameType != -1) {
_frameType.rawValue = object.defaultFrameType
}
airframeCheckBox.checked = true
}
}
}
QGCLabel {
@ -116,12 +123,14 @@ SetupPage { @@ -116,12 +123,14 @@ SetupPage {
}
Rectangle {
id: imageComboRect
anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2
anchors.top: title.bottom
anchors.bottom: parent.bottom
anchors.left: parent.left
anchors.right: parent.right
color: airframeCheckBox.checked ? qgcPal.buttonHighlight : qgcPal.windowShade
opacity: combo.valid ? 1.0 : 0.5
ColumnLayout {
anchors.margins: innerMargin
@ -136,7 +145,7 @@ SetupPage { @@ -136,7 +145,7 @@ SetupPage {
smooth: true
antialiasing: true
sourceSize.width: width
source: object.imageResource
source: airframeCheckBox.checked ? object.imageResource : object.imageResourceDefault
}
QGCCheckBox {
@ -160,15 +169,43 @@ SetupPage { @@ -160,15 +169,43 @@ SetupPage {
visible: airframeCheckBox.checked && object.frameTypeSupported
}
FactComboBox {
QGCComboBox {
id: combo
Layout.fillWidth: true
fact: _frameType
indexModel: false
model: object.frameTypeEnumStrings
visible: airframeCheckBox.checked && object.frameTypeSupported
onActivated: _frameType.rawValue = object.frameTypeEnumValues[index]
property bool valid: true
function selectFrameType(frameType) {
var index = object.frameTypeEnumValues.findIndex(v => v==frameType)
if (index == -1 && combo.visible) {
// Frame Class/Type is set to an invalid combination
combo.valid = false
} else {
combo.currentIndex = index
combo.valid = true
}
}
Component.onCompleted: selectFrameType(_frameType.rawValue)
Connections {
target: _frameTypeAvailable ? _frameType : null
ignoreUnknownSignals: true
onRawValueChanged: combo.selectFrameType(value)
}
}
}
}
QGCLabel {
anchors.fill: imageComboRect
text: qsTr("Invalid setting for FRAME_TYPE. Click to Reset.")
wrapMode: Text.WordWrap
visible: !combo.valid
}
}
} // Repeater - summary boxes
} // Flow - summary boxes

115
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc
Unescape View File

@ -70,23 +70,35 @@ typedef struct { @@ -70,23 +70,35 @@ typedef struct {
} FrameToImageInfo_t;
static const FrameToImageInfo_t s_rgFrameToImageCopter[] = {
{ FRAME_CLASS_QUAD, FRAME_TYPE_PLUS, "QuadRotorPlus" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_X, "QuadRotorX" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_V, "QuadRotorWide" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_H, "QuadRotorH" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_V_TAIL, "QuadRotorVTail" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_A_TAIL, "QuadRotorATail" },
{ FRAME_CLASS_HEX, FRAME_TYPE_PLUS, "HexaRotorPlus" },
{ FRAME_CLASS_HEX, FRAME_TYPE_X, "HexaRotorX" },
{ FRAME_CLASS_OCTA, FRAME_TYPE_PLUS, "OctoRotorPlus" },
{ FRAME_CLASS_OCTA, FRAME_TYPE_X, "OctoRotorX" },
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_PLUS, "OctoRotorPlusCoaxial" },
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_X, "OctoRotorXCoaxial" },
{ FRAME_CLASS_Y6, FRAME_TYPE_Y6B, "Y6B" },
{ FRAME_CLASS_Y6, FRAME_TYPE_Y6F, "AirframeUnknown" },
{ FRAME_CLASS_Y6, -1, "Y6A" },
{ FRAME_CLASS_HELI, -1, "Helicopter" },
{ FRAME_CLASS_TRI, -1, "YPlus" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_X, "QuadRotorX" }, // Default
{ FRAME_CLASS_QUAD, FRAME_TYPE_PLUS, "QuadRotorPlus" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_V, "QuadRotorWide" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_H, "QuadRotorH" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_V_TAIL, "QuadRotorVTail" },
{ FRAME_CLASS_QUAD, FRAME_TYPE_A_TAIL, "QuadRotorATail" },
{ FRAME_CLASS_HEX, FRAME_TYPE_X, "HexaRotorX" }, // Default
{ FRAME_CLASS_HEX, FRAME_TYPE_PLUS, "HexaRotorPlus" },
{ FRAME_CLASS_OCTA, FRAME_TYPE_X, "OctoRotorX" }, // Default
{ FRAME_CLASS_OCTA, FRAME_TYPE_PLUS, "OctoRotorPlus" },
{ FRAME_CLASS_OCTA, FRAME_TYPE_V, "AirframeUnknown" },
{ FRAME_CLASS_OCTA, FRAME_TYPE_H, "AirframeUnknown" },
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_X, "OctoRotorXCoaxial" }, // Default
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_PLUS, "OctoRotorPlusCoaxial" },
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_V, "AirframeUnknown" },
{ FRAME_CLASS_OCTAQUAD, FRAME_TYPE_H, "AirframeUnknown" },
{ FRAME_CLASS_Y6, FRAME_TYPE_Y6B, "Y6B" }, // Default
{ FRAME_CLASS_Y6, FRAME_TYPE_Y6F, "AirframeUnknown" },
{ FRAME_CLASS_Y6, -1, "Y6A" },
{ FRAME_CLASS_DODECAHEXA, FRAME_TYPE_X, "AirframeUnknown" }, // Default
{ FRAME_CLASS_DODECAHEXA, FRAME_TYPE_PLUS, "AirframeUnknown" },
{ FRAME_CLASS_HELI, -1, "Helicopter" },
{ FRAME_CLASS_TRI, -1, "YPlus" },
};
static const FrameToImageInfo_t s_rgFrameToImageRover[] = {
@ -94,14 +106,16 @@ static const FrameToImageInfo_t s_rgFrameToImageRover[] = { @@ -94,14 +106,16 @@ static const FrameToImageInfo_t s_rgFrameToImageRover[] = {
{ FRAME_CLASS_BOAT, -1, "Boat" },
};
static QString s_findImageResourceCopter(int frameClass, int frameType)
/// Returns the image resource for the frameClass, frameType pair
/// @param[in,out] frameType Specified frame type, or -1 to match first item in list (frameType found will be returned)
static QString s_findImageResourceCopter(int frameClass, int& frameType)
{
for (size_t i=0; i<sizeof(s_rgFrameToImageCopter)/sizeof(s_rgFrameToImageCopter[0]); i++) {
const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImageCopter[i];
if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == frameType) {
return pFrameToImageInfo->imageResource;
} else if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == -1) {
if ((pFrameToImageInfo->frameClass == frameClass && frameType == -1) ||
(pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == frameType)) {
frameType = pFrameToImageInfo->frameType;
return pFrameToImageInfo->imageResource;
}
}
@ -154,32 +168,19 @@ void APMAirframeComponentController::_fillFrameClasses() @@ -154,32 +168,19 @@ void APMAirframeComponentController::_fillFrameClasses()
for (int i=1; i<_frameClassFact->enumStrings().count(); i++) {
QString frameClassName = _frameClassFact->enumStrings()[i];
int frameClass = _frameClassFact->enumValues()[i].toInt();
int defaultFrameType;
if (frameClass == FRAME_CLASS_HELI) {
// Heli requires it's own firmware variant. You can't switch to Heli from a Copter variant firmware.
continue;
}
if (frameTypeNotSupported.contains(frameClass)) {
defaultFrameType = -1;
} else {
defaultFrameType = FRAME_TYPE_X;
}
_frameClassModel->append(new APMFrameClass(frameClassName, true /* copter */, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel));
_frameClassModel->append(new APMFrameClass(frameClassName, true /* copter */, frameClass, _frameTypeFact, _frameClassModel));
}
} else if (qobject_cast<ArduRoverFirmwarePlugin*>(fwPlugin)) {
for (int i=1; i<_frameClassFact->enumStrings().count(); i++) {
QString frameClassName = _frameClassFact->enumStrings()[i];
int frameClass = _frameClassFact->enumValues()[i].toInt();
int defaultFrameType;
if (_frameTypeFact) {
defaultFrameType = FRAME_TYPE_UNDEFINED;
} else {
defaultFrameType = -1;
}
_frameClassModel->append(new APMFrameClass(frameClassName, false /* copter */, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel));
_frameClassModel->append(new APMFrameClass(frameClassName, false /* copter */, frameClass, _frameTypeFact, _frameClassModel));
}
}
}
@ -270,19 +271,55 @@ void APMAirframeComponentController::_paramFileDownloadError(QString errorMsg) @@ -270,19 +271,55 @@ void APMAirframeComponentController::_paramFileDownloadError(QString errorMsg)
qgcApp()->restoreOverrideCursor();
}
APMFrameClass::APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent)
APMFrameClass::APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, QObject* parent)
: QObject (parent)
, _name (name)
, _copter (copter)
, _frameClass (frameClass)
, _defaultFrameType (defaultFrameType)
, _frameTypeSupported (defaultFrameType != -1)
, _defaultFrameType (-1)
, _frameTypeSupported (false)
, _frameTypeFact (frameTypeFact)
{
if (frameTypeFact) {
connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::imageResourceChanged);
connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::frameTypeChanged);
}
if (copter) {
QList<int> rgSupportedFrameTypes;
for (size_t i=0; i<sizeof(s_rgFrameToImageCopter)/sizeof(s_rgFrameToImageCopter[0]); i++) {
const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImageCopter[i];
if (pFrameToImageInfo->frameClass == frameClass) {
if (_defaultFrameType == -1) {
// Default frame type/icon is the first item found to match frameClass
_defaultFrameType = pFrameToImageInfo->frameType;
_imageResourceDefault = QStringLiteral("/qmlimages/Airframe/%1").arg(pFrameToImageInfo->imageResource);
}
if (pFrameToImageInfo->frameType != -1) {
// The list includes the supported frame types for the class
rgSupportedFrameTypes.append(pFrameToImageInfo->frameType);
}
}
}
if (_imageResourceDefault.isEmpty()) {
_imageResourceDefault = QStringLiteral("/qmlimages/Airframe/AirframeUnknown");
}
// Filter the enums
for (const int frameType: rgSupportedFrameTypes) {
int index = frameTypeFact->enumValues().indexOf(frameType);
if (index != -1) {
_frameTypeEnumValues.append(frameType);
_frameTypeEnumStrings.append(frameTypeFact->enumStrings()[index]);
}
}
}
// If the frameClass is not in the list then frame type is not supported
_frameTypeSupported = _defaultFrameType != -1;
}
APMFrameClass::~APMFrameClass()

34
src/AutoPilotPlugins/APM/APMAirframeComponentController.h
Unescape View File

@ -54,25 +54,31 @@ class APMFrameClass : public QObject @@ -54,25 +54,31 @@ class APMFrameClass : public QObject
Q_OBJECT
public:
APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent = nullptr);
APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, QObject* parent = nullptr);
~APMFrameClass();
Q_PROPERTY(QString name MEMBER _name CONSTANT)
Q_PROPERTY(int frameClass MEMBER _frameClass CONSTANT)
Q_PROPERTY(int frameType READ frameType NOTIFY frameTypeChanged)
Q_PROPERTY(int defaultFrameType MEMBER _defaultFrameType CONSTANT)
Q_PROPERTY(QString imageResource READ imageResource NOTIFY imageResourceChanged)
Q_PROPERTY(bool frameTypeSupported MEMBER _frameTypeSupported CONSTANT)
Q_PROPERTY(QString name MEMBER _name CONSTANT)
Q_PROPERTY(int frameClass MEMBER _frameClass CONSTANT)
Q_PROPERTY(int frameType READ frameType NOTIFY frameTypeChanged)
Q_PROPERTY(QStringList frameTypeEnumStrings MEMBER _frameTypeEnumStrings CONSTANT)
Q_PROPERTY(QVariantList frameTypeEnumValues MEMBER _frameTypeEnumValues CONSTANT)
Q_PROPERTY(int defaultFrameType MEMBER _defaultFrameType CONSTANT)
Q_PROPERTY(QString imageResource READ imageResource NOTIFY imageResourceChanged)
Q_PROPERTY(QString imageResourceDefault MEMBER _imageResourceDefault CONSTANT)
Q_PROPERTY(bool frameTypeSupported MEMBER _frameTypeSupported CONSTANT)
int frameType (void) { return _frameTypeFact->rawValue().toInt(); };
int frameType (void) { return _frameTypeFact->rawValue().toInt(); }
QString imageResource (void);
QString _name;
bool _copter;
QString _imageResource;
int _frameClass;
int _defaultFrameType;
bool _frameTypeSupported;
QString _name;
bool _copter;
QString _imageResource;
QString _imageResourceDefault;
int _frameClass;
QStringList _frameTypeEnumStrings;
QVariantList _frameTypeEnumValues;
int _defaultFrameType;
bool _frameTypeSupported;
signals:
void imageResourceChanged(void);

Write Preview
Loading…
Cancel
Save