GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
{
m_gcscontrol = new Ui_GCSControl();
m_gcscontrol->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Set up the drop down box for the flightmode
FlightStatus* flightStatus = FlightStatus::GetInstance(objManager);;
m_gcscontrol->comboBoxFlightMode->addItems(flightStatus->getField("FlightMode")->getOptions());
// Set up slots and signals for joysticks
connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double)));
connect(m_gcscontrol->widgetRightStick,SIGNAL(positionClicked(double,double)),this,SLOT(rightStickClicked(double,double)));
// Connect misc controls
connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(clicked(bool)), this, SLOT(toggleControl(bool)));
connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));
connect(m_gcscontrol->checkBoxUDPControl, SIGNAL(stateChanged(int)),this,SLOT(toggleUDPControl(int))); //UDP control checkbox
// Connect object updated event from UAVObject to also update check boxes and dropdown
connect(flightStatus,SIGNAL(FlightModeChanged(quint8)), this, SLOT(flightModeChanged(quint8)));
connect(flightStatus,SIGNAL(ArmedChanged(quint8)), this, SLOT(armedChanged(quint8)));
leftX = 0;
leftY = 0;
rightX = 0;
rightY = 0;
}
void FlightStatus::setArmed(quint8 value)
{
mutex->lock();
bool changed = data.Armed != value;
data.Armed = value;
mutex->unlock();
if (changed) emit ArmedChanged(value);
}
void FlightStatus::emitNotifications()
{
//if (data.Armed != oldData.Armed)
emit ArmedChanged(data.Armed);
//if (data.FlightMode != oldData.FlightMode)
emit FlightModeChanged(data.FlightMode);
//if (data.ControlChain[0] != oldData.ControlChain[0])
emit ControlChain_StabilizationChanged(data.ControlChain[0]);
//if (data.ControlChain[1] != oldData.ControlChain[1])
emit ControlChain_PathFollowerChanged(data.ControlChain[1]);
//if (data.ControlChain[2] != oldData.ControlChain[2])
emit ControlChain_PathPlannerChanged(data.ControlChain[2]);
}
