ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),smartsave(NULL),dirty(false)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
}
void Simulator::onAutopilotDisconnect()
{
autopilotConnectionStatus = false;
emit autopilotDisconnected();
}
void Exporter::onAutopilotDisconnect()
{
autopilotConnectionStatus = false;
emit autopilotDisconnected();
}
void HITLWidget::startButtonClicked()
{
QThread *mainThread = QThread::currentThread();
qDebug() << "Main Thread: " << mainThread;
// Allow only one instance per simulator
if (Simulator::Instances().indexOf(settings.simulatorId) != -1) {
widget->textBrowser->append(settings.simulatorId + " alreary started!");
return;
}
if (!HITLPlugin::typeSimulators.size()) {
qxtLog->info("There is no registered simulators, add through HITLPlugin::addSimulator");
return;
}
// Stop running process if one is active
if (simulator) {
QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection);
simulator = NULL;
}
if (settings.hostAddress == "" || settings.inPort == 0) {
widget->textBrowser->append("Before start, set UDP parameters in options page!");
return;
}
SimulatorCreator *creator = HITLPlugin::getSimulatorCreator(settings.simulatorId);
simulator = creator->createSimulator(settings);
// move to thread <--[BCH]
simulator->setName(creator->Description());
simulator->setSimulatorId(creator->ClassId());
connect(simulator, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString)));
// Setup process
widget->textBrowser->append(QString("[%1] Starting %2... ").arg(QTime::currentTime().toString("hh:mm:ss")).arg(creator->Description()));
qxtLog->info("HITL: Starting " + creator->Description());
// Start bridge
bool ret = QMetaObject::invokeMethod(simulator, "setupProcess", Qt::QueuedConnection);
if (ret) {
Simulator::setInstance(settings.simulatorId);
connect(this, SIGNAL(deleteSimulator()), simulator, SLOT(onDeleteSimulator()), Qt::QueuedConnection);
widget->startButton->setEnabled(false);
widget->stopButton->setEnabled(true);
qxtLog->info("HITL: Starting bridge, initializing flight simulator and Autopilot connections");
connect(simulator, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(simulatorConnected()), this, SLOT(onSimulatorConnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(simulatorDisconnected()), this, SLOT(onSimulatorDisconnect()), Qt::QueuedConnection);
// Initialize connection status
if (simulator->isAutopilotConnected()) {
onAutopilotConnect();
} else {
onAutopilotDisconnect();
}
if (simulator->isSimulatorConnected()) {
onSimulatorConnect();
} else {
onSimulatorDisconnect();
}
}
}
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_InputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// First of all, put all the channel widgets into lists, so that we can
// manipulate those:
inMaxLabels << m_config->ch0Max
<< m_config->ch1Max
<< m_config->ch2Max
<< m_config->ch3Max
<< m_config->ch4Max
<< m_config->ch5Max
<< m_config->ch6Max
<< m_config->ch7Max;
inMinLabels << m_config->ch0Min
<< m_config->ch1Min
<< m_config->ch2Min
<< m_config->ch3Min
<< m_config->ch4Min
<< m_config->ch5Min
<< m_config->ch6Min
<< m_config->ch7Min;
inSliders << m_config->inSlider0
<< m_config->inSlider1
<< m_config->inSlider2
<< m_config->inSlider3
<< m_config->inSlider4
<< m_config->inSlider5
<< m_config->inSlider6
<< m_config->inSlider7;
inRevCheckboxes << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev;
inChannelAssign << m_config->ch0Assign
<< m_config->ch1Assign
<< m_config->ch2Assign
<< m_config->ch3Assign
<< m_config->ch4Assign
<< m_config->ch5Assign
<< m_config->ch6Assign
<< m_config->ch7Assign;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Register for ManualControlSettings changes:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
// Get the receiver types supported by OpenPilot and fill the corresponding
// dropdown menu:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
UAVObjectField * field;
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
}
m_config->ch0Assign->addItems(channelsList);
m_config->ch1Assign->addItems(channelsList);
m_config->ch2Assign->addItems(channelsList);
m_config->ch3Assign->addItems(channelsList);
m_config->ch4Assign->addItems(channelsList);
m_config->ch5Assign->addItems(channelsList);
m_config->ch6Assign->addItems(channelsList);
m_config->ch7Assign->addItems(channelsList);
// And the flight mode settings:
field = obj->getField(QString("FlightModePosition"));
m_config->fmsModePos1->addItems(field->getOptions());
m_config->fmsModePos2->addItems(field->getOptions());
m_config->fmsModePos3->addItems(field->getOptions());
field = obj->getField(QString("Stabilization1Settings"));
channelsList.clear();
channelsList.append(field->getOptions());
m_config->fmsSsPos1Roll->addItems(channelsList);
m_config->fmsSsPos1Pitch->addItems(channelsList);
m_config->fmsSsPos1Yaw->addItems(channelsList);
m_config->fmsSsPos2Roll->addItems(channelsList);
m_config->fmsSsPos2Pitch->addItems(channelsList);
m_config->fmsSsPos2Yaw->addItems(channelsList);
m_config->fmsSsPos3Roll->addItems(channelsList);
m_config->fmsSsPos3Pitch->addItems(channelsList);
m_config->fmsSsPos3Yaw->addItems(channelsList);
// And the Armin configurations:
field = obj->getField(QString("Arming"));
m_config->armControl->clear();
m_config->armControl->addItems(field->getOptions());
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
enableControls(false);
refreshValues();
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
connect(m_config->ch0Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch1Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch2Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch3Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch4Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int)));
firstUpdate = true;
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
updateTips(Qt::Unchecked);
}
void MoCapWidget::startButtonClicked()
{
QThread* mainThread = QThread::currentThread();
qDebug() << "Main Thread: "<< mainThread;
//Allow only one instance per exporter
if(Exporter::Instances().indexOf(settings.exporterId) != -1)
{
widget->textBrowser->append(settings.exporterId + " alreary started!");
return;
}
if(!MoCapPlugin::typeMocaps.size())
{
qxtLog->info("There is no registered exporters, add through MoCapPlugin::addExporter");
return;
}
// Stop running process if one is active
if(exporter)
{
QMetaObject::invokeMethod(exporter, "onDeleteExporter",Qt::QueuedConnection);
exporter = NULL;
}
if(settings.hostAddress == "" || settings.inPort == 0)
{
widget->textBrowser->append("Before start, set UDP parameters in options page!");
return;
}
MocapCreator* creator = MoCapPlugin::getMocapCreator(settings.exporterId);
exporter = creator->createExporter(settings, widget);
// move to thread <--[BCH]
exporter->setName(creator->Description());
exporter->setExporterId(creator->ClassId());
connect(exporter, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString)));
// Setup process
widget->textBrowser->append(QString("[%1] Starting %2... ").arg(QTime::currentTime().toString("hh:mm:ss")).arg(creator->Description()));
qxtLog->info("MoCap: Starting " + creator->Description());
// Start bridge
bool ret = QMetaObject::invokeMethod(exporter, "setupProcess",Qt::QueuedConnection);
if(ret)
{
Exporter::setInstance(settings.exporterId);
connect(this,SIGNAL(deleteExporter()),exporter, SLOT(onDeleteExporter()),Qt::QueuedConnection);
widget->startButton->setEnabled(false);
widget->stopButton->setEnabled(true);
qxtLog->info("MoCap: Starting bridge, initializing flight exporter and Autopilot connections");
connect(exporter, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()),Qt::QueuedConnection);
connect(exporter, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()),Qt::QueuedConnection);
connect(exporter, SIGNAL(exporterConnected()), this, SLOT(onExporterConnect()),Qt::QueuedConnection);
connect(exporter, SIGNAL(exporterDisconnected()), this, SLOT(onExporterDisconnect()),Qt::QueuedConnection);
connect(widget->trackablesComboBox, SIGNAL( currentIndexChanged(int)), this, SLOT(ontrackablesComboBox_changed()));
// Initialize connection status
if ( exporter->isAutopilotConnected() )
{
onAutopilotConnect();
}
else
{
onAutopilotDisconnect();
}
if ( exporter->isExporterConnected() )
{
onExporterConnect();
}
else
{
onExporterDisconnect();
}
}
}