void
PropertyManager::updateGrid(wxPropertyGridManager *pg, nau::AttribSet &attribs, AttributeValues *attribVal) {
std::map<std::string, std::unique_ptr<Attribute>> & attributes = attribs.getAttributes();
pg->ClearSelection();
for (auto &attrib : attributes) {
std::unique_ptr<Attribute> &a = attrib.second;
switch (a->getType()) {
case Enums::ENUM: updateEnum(pg, a->getName(), attribVal->getPrope((AttributeValues::EnumProperty)a->getId())); break;
case Enums::BOOL: updateBool(pg, a->getName(), attribVal->getPropb((AttributeValues::BoolProperty)a->getId())); break;
case Enums::BVEC4: updateBVec4(pg, a->getName(), attribVal->getPropb4((AttributeValues::Bool4Property)a->getId())); break;
case Enums::INT: updateInt(pg, a->getName(), attribVal->getPropi((AttributeValues::IntProperty)a->getId())); break;
case Enums::IVEC3: updateIVec3(pg, a->getName(), attribVal->getPropi3((AttributeValues::Int3Property)a->getId())); break;
case Enums::UINT: updateInt(pg, a->getName(), attribVal->getPropui((AttributeValues::UIntProperty)a->getId())); break;
case Enums::UIVEC2: updateUIVec2(pg, a->getName(), attribVal->getPropui2((AttributeValues::UInt2Property)a->getId())); break;
case Enums::UIVEC3: updateUIVec3(pg, a->getName(), attribVal->getPropui3((AttributeValues::UInt3Property)a->getId())); break;
case Enums::FLOAT: updateFloat(pg, a->getName(), attribVal->getPropf((AttributeValues::FloatProperty)a->getId())); break;
case Enums::VEC2: updateVec2(pg, a->getName(), attribVal->getPropf2((AttributeValues::Float2Property)a->getId())); break;
case Enums::VEC3: updateVec3(pg, a->getName(), attribVal->getPropf3((AttributeValues::Float3Property)a->getId())); break;
case Enums::VEC4:
if (a->getSemantics() == Attribute::Semantics::COLOR)
updateVec4Color(pg, a->getName(), attribVal->getPropf4((AttributeValues::Float4Property)a->getId()));
else
updateVec4(pg, a->getName(), attribVal->getPropf4((AttributeValues::Float4Property)a->getId()));
break;
case Enums::MAT3: updateMat3(pg, a->getName(), attribVal->getPropm3((AttributeValues::Mat3Property)a->getId())); break;
case Enums::MAT4: updateMat4(pg, a->getName(), attribVal->getPropm4((AttributeValues::Mat4Property)a->getId())); break;
case Enums::STRING: updateString(pg, a->getName(), attribVal->getProps((AttributeValues::StringProperty)a->getId())); break;
default: assert(false && "Missing datatype in property manager");
}
}
}
void Com::loop(int time) {
while(Serial.available()>0) {
char cmd = Serial.read();
switch(cmd) {
case 't':
temp = readLong();
sendOk();
Serial.print("temp = ");
Serial.println(temp);
break;
case 's': // read settings
sendSettings();
break;
case 'P': // write PID
updatePid();
break;
case 'G': // write Gain
updateFloat(&g_userControlGain);
break;
case 'W': // write Windup Guard
updateFloat(&g_pidWindupGuard);
break;
default:
sendError();
break;
}
}
{
Telem telem;
sendPacketStart(PACKET_TELEMETRY);
telem.Yaw = g_telemetryCom.Yaw;
telem.Pitch = g_telemetryCom.Pitch;
telem.Roll = g_telemetryCom.Roll;
telem.MotorL = g_motorLeft.get();
telem.MotorR = g_motorRight.get();
telem.MotorF = g_motorFront.get();
telem.MotorB = g_motorBack.get();
telem.BatteryLevel = g_batteryManager.getLastReading();
telem.UserElev = g_receiverCom.pos[RECEIVER_Throttle];
telem.UserPitch = g_receiverCom.pos[RECEIVER_Elevator];
telem.UserRoll = g_receiverCom.pos[RECEIVER_Aileron];
telem.UserYaw = g_receiverCom.pos[RECEIVER_Rudder];
telem.loopCount = g_loopCount;
Serial.write((byte*)&telem, sizeof(Telem));
}
if(time - _lastSlowTime > 1000) {
_lastSlowTime = time;
Serial.print("RECV: ");
Serial.print(g_receiverCom.hasSignal ? "HAS SIGNAL " : "NO SIGNAL ");
for(int i=0; i<SERVO_INPUT_CHANNELS; i++) {
if(i != 0) {
Serial.print(", ");
}
Serial.print(g_receiverCom.pos[i]);
}
Serial.print(" TELEM: ");
Serial.print(g_telemetryCom.Yaw);
Serial.print(", ");
Serial.print(g_telemetryCom.Pitch);
Serial.print(", ");
Serial.print(g_telemetryCom.Roll);
Serial.print(" MOTOR: ");
Serial.print(g_motorFront.get());
Serial.print(", ");
Serial.print(g_motorBack.get());
Serial.print(", ");
Serial.print(g_motorLeft.get());
Serial.print(", ");
Serial.print(g_motorRight.get());
Serial.print(" PID: ");
Serial.print(g_rollPid.getLastPosition());
Serial.print(", ");
Serial.print(g_pitchPid.getLastPosition());
Serial.print(", ");
Serial.print(g_yawPid.getLastPosition());
Serial.print(" BAT: ");
Serial.print(g_batteryManager.getLastReading());
Serial.println(g_batteryManager.getIsWarning() ? " warning" : " ");
}
}