outputcalibrationutil.cpp

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/*
 * This program 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.
 *
 * This program 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 this program; if not, see <http://www.gnu.org/licenses/>
 */

#include "outputcalibrationutil.h"
#include "actuatorcommand.h"
#include "extensionsystem/pluginmanager.h"
#include "vehicleconfigurationhelper.h"
#include "manualcontrolsettings.h"

#include <QDebug>

OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent)
    : QObject(parent)
    , m_outputChannel(-1)
    , m_safeValue(1000)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

    m_uavObjectManager = pm->getObject<UAVObjectManager>();
    Q_ASSERT(m_uavObjectManager);
}

OutputCalibrationUtil::~OutputCalibrationUtil()
{
    stopChannelOutput();
}

void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
{
    if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
        // Start output...
        m_outputChannel = channel;
        m_safeValue = safeValue;

        qDebug() << "Starting output for channel " << m_outputChannel << "...";

        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
        Q_ASSERT(actuatorCommand);
        UAVObject::Metadata metaData = actuatorCommand->getMetadata();
        m_savedActuatorCommandMetadata = metaData;

        // Store current data for later restore
        m_savedActuatorCommandData = actuatorCommand->getData();

        // Enable actuator control from GCS...
        // Store current metadata for later restore
        UAVObject::SetFlightAccess(metaData, UAVObject::ACCESS_READONLY);
        UAVObject::SetFlightTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
        UAVObject::SetGcsTelemetryAcked(metaData, false);
        UAVObject::SetGcsTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
        metaData.gcsTelemetryUpdatePeriod = 100;

        // Apply changes
        actuatorCommand->setMetadata(metaData);
        actuatorCommand->updated();

        qDebug() << "Output for channel " << m_outputChannel << " started.";
    }
}

void OutputCalibrationUtil::stopChannelOutput()
{
    if (m_outputChannel >= 0) {
        qDebug() << "Stopping output for channel " << m_outputChannel << "...";
        // Stop output...
        setChannelOutputValue(m_safeValue);
        qDebug() << "Settings output for channel " << m_outputChannel << " to " << m_safeValue;

        // Restore metadata to what it was before
        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
        Q_ASSERT(actuatorCommand);
        // actuatorCommand->setData(m_savedActuatorCommandData);
        actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
        actuatorCommand->updated();

        qDebug() << "Output for channel " << m_outputChannel << " stopped.";

        m_outputChannel = -1;
    }
}

void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
{
    if (m_outputChannel >= 0) {
        // Set output value
        qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value
                 << ".";
        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
        Q_ASSERT(actuatorCommand);
        ActuatorCommand::DataFields data = actuatorCommand->getData();
        data.Channel[m_outputChannel] = value;
        actuatorCommand->setData(data);
    }
}