vehicleconfig.h

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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/>
 */
#ifndef GUIVEHICLECONFIG_H
#define GUIVEHICLECONFIG_H

#ifdef _MSC_VER
#define PACK(__Declaration__) __pragma(pack(push, 1)) __Declaration__ __pragma(pack(pop))
#else
#define PACK(__Declaration__) __Declaration__ __attribute__((__packed__))
#endif

#include "uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavobject.h"
#include "mixersettings.h"
#include "systemsettings.h"

#include <QComboBox>

PACK(typedef struct {
    uint VTOLMotorN : 4;
    uint VTOLMotorS : 4;
    uint VTOLMotorE : 4;
    uint VTOLMotorW : 4;
    uint VTOLMotorNW : 4;
    uint VTOLMotorNE : 4;
    uint VTOLMotorSW : 4;
    uint VTOLMotorSE : 4; // 32bits
    uint TRIYaw : 4;
    quint32 padding : 28; // 64bits
    quint32 padding1;
    quint32 padding2; // 128bits
})
multiGUISettingsStruct;

PACK(typedef struct {
    uint SwashplateType : 3;
    uint FirstServoIndex : 2;
    uint CorrectionAngle : 9;
    uint ccpmCollectivePassthroughState : 1;
    uint ccpmLinkCyclicState : 1;
    uint ccpmLinkRollState : 1;
    uint SliderValue0 : 7;
    uint SliderValue1 : 7;
    uint SliderValue2 : 7; // 41bits
    uint ServoIndexW : 4;
    uint ServoIndexX : 4;
    uint ServoIndexY : 4;
    uint ServoIndexZ : 4; // 57bits
    uint Throttle : 4;
    uint Tail : 4; // 65bits
    quint32 padding : 31; // 96bits
    quint32 padding1; // 128bits
})
heliGUISettingsStruct;

PACK(typedef struct {
    uint FixedWingThrottle : 4;
    uint FixedWingRoll1 : 4;
    uint FixedWingRoll2 : 4;
    uint FixedWingPitch1 : 4;
    uint FixedWingPitch2 : 4;
    uint FixedWingYaw1 : 4;
    uint FixedWingYaw2 : 4;
    uint padding : 4; // 32bits
    quint32 padding1;
    quint32 padding2;
    quint32 padding3; // 128bits
})
fixedGUISettingsStruct;

PACK(typedef struct {
    uint GroundVehicleThrottle1 : 4;
    uint GroundVehicleThrottle2 : 4;
    uint GroundVehicleSteering1 : 4;
    uint GroundVehicleSteering2 : 4;
    uint padding : 16; // 32bits
    quint32 padding1;
    quint32 padding2;
    quint32 padding3; // 128bits
})
groundGUISettingsStruct;

typedef union {
    uint UAVObject[4]; // 32bits * 4
    heliGUISettingsStruct heli; // 128bits
    fixedGUISettingsStruct fixedwing;
    multiGUISettingsStruct multi;
    groundGUISettingsStruct ground;
} GUIConfigDataUnion;

class VehicleConfig : public ConfigTaskWidget
{
    Q_OBJECT

public:
    VehicleConfig(QWidget *parent = nullptr);
    ~VehicleConfig();

    static GUIConfigDataUnion GetConfigData();
    static void SetConfigData(GUIConfigDataUnion configData,
                              SystemSettings::AirframeTypeOptions vehicle);
    static void resetField(UAVObjectField *field);
    static void setComboCurrentIndex(QComboBox *box, int index);
    static void enableComboBoxes(QWidget *owner, QString boxName, int boxCount, bool enable);
    double getMixerVectorValue(UAVDataObject *mixer, int channel,
                               MixerSettings::Mixer1VectorElem elementName);
    void setMixerVectorValue(UAVDataObject *mixer, int channel,
                             MixerSettings::Mixer1VectorElem elementName, double value);
    void resetMixerVector(UAVDataObject *mixer, int channel);
    void resetMixers(UAVDataObject *mixer);
    QString getMixerType(UAVDataObject *mixer, int channel);
    void setMixerType(UAVDataObject *mixer, int channel,
                      MixerSettings::Mixer1TypeOptions mixerType);
    double getMixerValue(UAVDataObject *mixer, QString elementName);
    void setMixerValue(UAVDataObject *mixer, QString elementName, double value);
    void setThrottleCurve(UAVDataObject *mixer, MixerSettings::Mixer1VectorElem curveType,
                          QList<double> curve);
    void getThrottleCurve(UAVDataObject *mixer, MixerSettings::Mixer1VectorElem curveType,
                          QList<double> *curve);
    bool isValidThrottleCurve(QList<double> *curve);
    double getCurveMin(QList<double> *curve);
    double getCurveMax(QList<double> *curve);
    virtual void ResetActuators(GUIConfigDataUnion *configData);

    QStringList channelNames;
    QStringList mixerTypes;
    QStringList mixerVectors;
    QStringList mixerTypeDescriptions;

    const static double mixerScale;
    const static double mixerRange;

protected:
    void setLabelText(QWidget *owner, const QString &boxName, const QStringList &labels);

private:
    static UAVObjectManager *getUAVObjectManager();

private slots:

public slots:

signals:
    // void ConfigurationChanged();

protected:
};
#endif // GUIVEHICLECONFIG_H