void UASActionsWidget::setupApmRoverModes()
{
QLOG_INFO() << "UASActionWidget: Set for Rover";
ApmUiHelpers::addRoverModes(ui.modeComboBox);
ui.armDisarmButton->setVisible(false);
ui.armedStatuslabel->setVisible(false);
// Setup configurable shortcut action
ui.opt1ModeButton->setText("Learn");
ui.opt2ModeButton->setText("Steer");
ui.opt3ModeButton->setText("Hold");
ui.opt4ModeButton->setText("none");
configureModeButtonEnableDisable();
// Setup Action Combo Box
ui.actionComboBox->clear();
ui.actionComboBox->addItem("Loiter Unlimited", MAV_CMD_NAV_LOITER_UNLIM);
ui.actionComboBox->addItem("Return To Launch", MAV_CMD_NAV_RETURN_TO_LAUNCH);
ui.actionComboBox->addItem("Preflight Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
ui.actionComboBox->addItem("Mission Start", MAV_CMD_MISSION_START);
ui.actionComboBox->addItem("Preflight Reboot", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
ui.actionComboBox->addItem("Trigger Camera", MAV_CMD_DO_DIGICAM_CONTROL);
}
void UASActionsWidget::contextMenuEvent(QContextMenuEvent *event)
{
Q_UNUSED(event)
QLOG_DEBUG() << "contextMenuEvent";
if(m_uas == NULL)
return;
APMShortcutModesDialog* dialog = new APMShortcutModesDialog();
if(m_uas->isMultirotor()){
ApmUiHelpers::addCopterModes(dialog->opt1ComboBox());
ApmUiHelpers::addCopterModes(dialog->opt2ComboBox());
ApmUiHelpers::addCopterModes(dialog->opt3ComboBox());
ApmUiHelpers::addCopterModes(dialog->opt4ComboBox());
} else if (m_uas->isFixedWing()) {
ApmUiHelpers::addPlaneModes(dialog->opt1ComboBox());
ApmUiHelpers::addPlaneModes(dialog->opt2ComboBox());
ApmUiHelpers::addPlaneModes(dialog->opt3ComboBox());
ApmUiHelpers::addPlaneModes(dialog->opt4ComboBox());
} else if (m_uas->isGroundRover()){
ApmUiHelpers::addRoverModes(dialog->opt1ComboBox());
ApmUiHelpers::addRoverModes(dialog->opt2ComboBox());
ApmUiHelpers::addRoverModes(dialog->opt3ComboBox());
ApmUiHelpers::addRoverModes(dialog->opt4ComboBox());
} else {
// Do nothing.
delete dialog;
dialog = NULL;
return;
}
dialog->opt1ComboBox()->setCurrentIndex(dialog->opt1ComboBox()->findText(ui.opt1ModeButton->text()));
dialog->opt2ComboBox()->setCurrentIndex(dialog->opt2ComboBox()->findText(ui.opt2ModeButton->text()));
dialog->opt3ComboBox()->setCurrentIndex(dialog->opt3ComboBox()->findText(ui.opt3ModeButton->text()));
dialog->opt4ComboBox()->setCurrentIndex(dialog->opt4ComboBox()->findText(ui.opt4ModeButton->text()));
if(dialog->exec() == QDialog::Accepted) {
// Changes where made and OK'd
ui.opt1ModeButton->setText(dialog->opt1ComboBox()->currentText());
ui.opt2ModeButton->setText(dialog->opt2ComboBox()->currentText());
ui.opt3ModeButton->setText(dialog->opt3ComboBox()->currentText());
ui.opt4ModeButton->setText(dialog->opt4ComboBox()->currentText());
configureModeButtonEnableDisable();
saveApmSettings();
} else {
QLOG_DEBUG() << "No Shortcut mode changes made";
}
}
void UASActionsWidget::setupApmCopterModes()
{
QLOG_INFO() << "UASActionWidget: set for Copter";
ApmUiHelpers::addCopterModes(ui.modeComboBox);
ui.armDisarmButton->setVisible(true);
ui.armedStatuslabel->setVisible(true);
// Setup configurable shortcut action
ui.opt1ModeButton->setText("none");
ui.opt2ModeButton->setText("Acro");
ui.opt3ModeButton->setText("Alt Hold");
ui.opt4ModeButton->setText("Land");
configureModeButtonEnableDisable();
}
void UASActionsWidget::setupApmRoverModes()
{
QLOG_INFO() << "UASActionWidget: Set for Rover";
ApmUiHelpers::addRoverModes(ui.modeComboBox);
ui.armDisarmButton->setVisible(false);
ui.armedStatuslabel->setVisible(false);
// Setup configurable shortcut action
ui.opt1ModeButton->setText("Learn");
ui.opt2ModeButton->setText("Steer");
ui.opt3ModeButton->setText("Hold");
ui.opt4ModeButton->setText("none");
configureModeButtonEnableDisable();
}
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();
}
}
