void MissionElevationDisplay::activeUASSet(UASInterface *uas)
{
if (m_uasInterface){
disconnect(m_uasWaypointMgr, SIGNAL(waypointEditableChanged(int,Waypoint*)),
this, SLOT(updateWaypoint(int,Waypoint*)));
disconnect(m_uasWaypointMgr, SIGNAL(currentWaypointChanged(quint16)),
this, SLOT(currentWaypointChanged(quint16)));
disconnect(m_uasWaypointMgr, SIGNAL(readGlobalWPFromUAS(bool)),
this, SLOT(updateDisplay()));
disconnect(m_uasWaypointMgr, SIGNAL(waypointEditableListChanged()),
this, SLOT(updateDisplay()));
disconnect(ui->refreshButton, SIGNAL(clicked()), this, SLOT(updateElevationData()));
disconnect(ui->setHomeAltButton, SIGNAL(clicked()), this, SLOT(setHomeAltOffset()));
disconnect(ui->homeAltCheckBox, SIGNAL(clicked(bool)), this, SLOT(useHomeAltOffset(bool)));
disconnect(ui->sampleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(sampleValueChanged()));
}
m_uasWaypointMgr = NULL;
m_uasInterface = uas;
if(m_uasInterface){
m_uasWaypointMgr = uas->getWaypointManager();
connect(m_uasWaypointMgr, SIGNAL(waypointEditableChanged(int,Waypoint*)),
this, SLOT(updateWaypoint(int,Waypoint*)));
connect(m_uasWaypointMgr, SIGNAL(currentWaypointChanged(quint16)),
this, SLOT(currentWaypointChanged(quint16)));
connect(m_uasWaypointMgr, SIGNAL(readGlobalWPFromUAS(bool)),
this, SLOT(updateDisplay()));
connect(m_uasWaypointMgr, SIGNAL(waypointEditableListChanged()),
this, SLOT(updateDisplay()));
connect(ui->refreshButton, SIGNAL(clicked()), this, SLOT(updateElevationData()));
connect(ui->setHomeAltButton, SIGNAL(clicked()), this, SLOT(setHomeAltOffset()));
connect(ui->homeAltCheckBox, SIGNAL(clicked(bool)), this, SLOT(useHomeAltOffset(bool)));
connect(ui->sampleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(sampleValueChanged()));
updateDisplay();
}
}
void UASActionsWidget::activeUASSet(UASInterface *uas)
{
QLOG_INFO() << "UASActionWidget::activeUASSet";
if (uas == NULL) {
QLOG_ERROR() << "uas object NULL";
return;
}
if (m_uas) {
// disconnect previous connections
disconnect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),
this,SLOT(updateWaypointList()));
disconnect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),
this,SLOT(currentWaypointChanged(quint16)));
disconnect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
disconnect(m_uas, SIGNAL(connected()), this, SLOT(uasConnected()));
disconnect(m_uas, SIGNAL(disconnected()), this, SLOT(uasDisconnected()));
disconnect(m_uas,SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)),
this,SLOT(parameterChanged(int,int,int,int,QString,QVariant)));
disconnect(m_uas, SIGNAL(heartbeat(UASInterface*)),
this, SLOT(heartbeatReceived(UASInterface*)));
}
// enable the controls
ui.actionsGroupBox->setDisabled(false);
ui.missionGroupBox->setDisabled(false);
ui.altitudeTypeComboBox->addItem(tr("Relative (AGL)"), MAV_FRAME_GLOBAL_RELATIVE_ALT);
ui.altitudeTypeComboBox->addItem(tr("Absolute (ASL)"), MAV_FRAME_GLOBAL);
ui.shortcutGroupBox->setDisabled(false);
ui.altitudeDoubleSpinBox->setValue(50.0f); // set a default altitude
m_uas = static_cast<UAS*>(uas);
connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),
this,SLOT(updateWaypointList()));
connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),
this,SLOT(currentWaypointChanged(quint16)));
connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
connect(m_uas, SIGNAL(connected()), this, SLOT(uasConnected()));
connect(m_uas, SIGNAL(disconnected()), this, SLOT(uasDisconnected()));
connect(m_uas,SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)),
this,SLOT(parameterChanged(int,int,int,int,QString,QVariant)));
connect(m_uas, SIGNAL(heartbeat(UASInterface*)),
this, SLOT(heartbeatReceived(UASInterface*)));
armingChanged(m_uas->isArmed());
updateWaypointList();
switch (uas->getAutopilotType()){
case MAV_AUTOPILOT_ARDUPILOTMEGA: {
if (uas->isFixedWing()){
setupApmPlaneModes();
} else if (uas->isMultirotor()){
setupApmCopterModes();
} else if (uas->isGroundRover()){
setupApmRoverModes();
} else {
QLOG_WARN() << "UASActionWidget: Unsupported System Type" << uas->getSystemType();
}
// Setup Final Connections
connect(ui.setModeButton, SIGNAL(clicked()),this, SLOT(setMode()));
} break;
case MAV_AUTOPILOT_PX4:
{
// [TODO] PX4 flight controller go here
}
case MAV_AUTOPILOT_GENERIC:
default:
{
// [TODO] Generic, and other flight controllers
}
loadApmSettings();
configureModeButtonEnableDisable();
}
}
