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#include "FailSafeConfig.h"
FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent)
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ui.radio1In->setName("Radio 1");
ui.radio1In->setMin(800);
ui.radio1In->setMax(2200);
ui.radio1In->setOrientation(Qt::Horizontal);
ui.radio2In->setName("Radio 2");
ui.radio2In->setMin(800);
ui.radio2In->setMax(2200);
ui.radio2In->setOrientation(Qt::Horizontal);
ui.radio3In->setName("Radio 3");
ui.radio3In->setMin(800);
ui.radio3In->setMax(2200);
ui.radio3In->setOrientation(Qt::Horizontal);
ui.radio4In->setName("Radio 4");
ui.radio4In->setMin(800);
ui.radio4In->setMax(2200);
ui.radio4In->setOrientation(Qt::Horizontal);
ui.radio5In->setName("Radio 5");
ui.radio5In->setMin(800);
ui.radio5In->setMax(2200);
ui.radio5In->setOrientation(Qt::Horizontal);
ui.radio6In->setName("Radio 6");
ui.radio6In->setMin(800);
ui.radio6In->setMax(2200);
ui.radio6In->setOrientation(Qt::Horizontal);
ui.radio7In->setName("Radio 7");
ui.radio7In->setMin(800);
ui.radio7In->setMax(2200);
ui.radio7In->setOrientation(Qt::Horizontal);
ui.radio8In->setName("Radio 8");
ui.radio8In->setMin(800);
ui.radio8In->setMax(2200);
ui.radio8In->setOrientation(Qt::Horizontal);
ui.radio1Out->setName("Radio 1");
ui.radio1Out->setMin(800);
ui.radio1Out->setMax(2200);
ui.radio1Out->setOrientation(Qt::Horizontal);
ui.radio2Out->setName("Radio 2");
ui.radio2Out->setMin(800);
ui.radio2Out->setMax(2200);
ui.radio2Out->setOrientation(Qt::Horizontal);
ui.radio3Out->setName("Radio 3");
ui.radio3Out->setMin(800);
ui.radio3Out->setMax(2200);
ui.radio3Out->setOrientation(Qt::Horizontal);
ui.radio4Out->setName("Radio 4");
ui.radio4Out->setMin(800);
ui.radio4Out->setMax(2200);
ui.radio4Out->setOrientation(Qt::Horizontal);
ui.radio5Out->setName("Radio 5");
ui.radio5Out->setMin(800);
ui.radio5Out->setMax(2200);
ui.radio5Out->setOrientation(Qt::Horizontal);
ui.radio6Out->setName("Radio 6");
ui.radio6Out->setMin(800);
ui.radio6Out->setMax(2200);
ui.radio6Out->setOrientation(Qt::Horizontal);
ui.radio7Out->setName("Radio 7");
ui.radio7Out->setMin(800);
ui.radio7Out->setMax(2200);
ui.radio7Out->setOrientation(Qt::Horizontal);
ui.radio8Out->setName("Radio 8");
ui.radio8Out->setMin(800);
ui.radio8Out->setMax(2200);
ui.radio8Out->setOrientation(Qt::Horizontal);
ui.throttleFailSafeComboBox->addItem("Disable");
ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL");
ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto");
connect(ui.batteryFailCheckBox,SIGNAL(clicked(bool)),this,SLOT(batteryFailChecked(bool)));
connect(ui.fsLongCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsLongClicked(bool)));
connect(ui.fsShortCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsShortClicked(bool)));
connect(ui.gcsCheckBox,SIGNAL(clicked(bool)),this,SLOT(gcsChecked(bool)));
connect(ui.throttleActionCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleActionChecked(bool)));
connect(ui.throttleCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleChecked(bool)));
connect(ui.throttlePwmSpinBox,SIGNAL(editingFinished()),this,SLOT(throttlePwmChanged()));
connect(ui.throttleFailSafeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(throttleFailSafeChanged(int)));
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ui.armedLabel->setText("<h1>DISARMED</h1>");
ui.modeLabel->setText("<h1>MODE</h1>");
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initConnections();
}
void FailSafeConfig::gcsChecked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"FS_GCS_ENABL",1);
}
else
{
m_uas->setParameter(1,"FS_GCS_ENABL",0);
}
}
void FailSafeConfig::throttleActionChecked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"THR_FS_ACTION",1);
}
else
{
m_uas->setParameter(1,"THR_FS_ACTION",0);
}
}
void FailSafeConfig::throttleChecked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"THR_FAILSAFE",1);
}
else
{
m_uas->setParameter(1,"THR_FAILSAFE",0);
}
}
void FailSafeConfig::throttlePwmChanged()
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value());
}
void FailSafeConfig::throttleFailSafeChanged(int index)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
m_uas->setParameter(1,"FS_THR_ENABLE",index);
}
void FailSafeConfig::fsLongClicked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"FS_LONG_ACTN",1);
}
else
{
m_uas->setParameter(1,"FS_LONG_ACTN",0);
}
}
void FailSafeConfig::fsShortClicked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"FS_SHORT_ACTN",1);
}
else
{
m_uas->setParameter(1,"FS_SHORT_ACTN",0);
}
}
void FailSafeConfig::batteryFailChecked(bool checked)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (checked)
{
m_uas->setParameter(1,"FS_BATT_ENABLE",1);
}
else
{
m_uas->setParameter(1,"FS_BATT_ENABLE",0);
}
}
FailSafeConfig::~FailSafeConfig()
{
}
void FailSafeConfig::activeUASSet(UASInterface *uas)
{
if (m_uas)
{
disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
disconnect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
disconnect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
}
AP2ConfigWidget::activeUASSet(uas);
if (!uas)
{
return;
}
connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
connect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
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connect(m_uas,SIGNAL(gpsLocalizationChanged(UASInterface*,int)),this,SLOT(gpsStatusChanged(UASInterface*,int)));
if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
ui.batteryFailCheckBox->setVisible(false);
ui.throttleFailSafeComboBox->setVisible(false);
ui.batteryVoltSpinBox->setVisible(false);
ui.label_6->setVisible(false);
ui.throttlePwmSpinBox->setVisible(true); //Both
ui.throttleCheckBox->setVisible(true);
ui.throttleActionCheckBox->setVisible(true);
ui.gcsCheckBox->setVisible(true);
ui.fsLongCheckBox->setVisible(true);
ui.fsShortCheckBox->setVisible(true);
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
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{
ui.batteryFailCheckBox->setVisible(true);
ui.throttleFailSafeComboBox->setVisible(true);
ui.batteryVoltSpinBox->setVisible(true);
ui.label_6->setVisible(true);
ui.throttlePwmSpinBox->setVisible(true); //Both
ui.throttleCheckBox->setVisible(false);
ui.throttleActionCheckBox->setVisible(false);
ui.gcsCheckBox->setVisible(false);
ui.fsLongCheckBox->setVisible(false);
ui.fsShortCheckBox->setVisible(false);
}
else
{
//Show all, just in case
ui.batteryFailCheckBox->setVisible(true);
ui.throttleFailSafeComboBox->setVisible(true);
ui.batteryVoltSpinBox->setVisible(true);
ui.throttlePwmSpinBox->setVisible(true); //Both
ui.throttleCheckBox->setVisible(true);
ui.throttleActionCheckBox->setVisible(true);
ui.gcsCheckBox->setVisible(true);
ui.fsLongCheckBox->setVisible(true);
ui.fsShortCheckBox->setVisible(true);
}
}
void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
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Q_UNUSED(uas);
Q_UNUSED(component);
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//Arducopter
if (parameterName == "FS_THR_ENABLE")
{
ui.throttleFailSafeComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FS_THR_VALUE")
{
ui.throttlePwmSpinBox->setValue(value.toFloat());
}
else if (parameterName == "FS_BATT_ENABLE")
{
if (value.toInt() == 0)
{
ui.batteryFailCheckBox->setChecked(false);
}
else
{
ui.batteryFailCheckBox->setChecked(true);
}
}
else if (parameterName == "LOW_VOLT")
{
ui.batteryVoltSpinBox->setValue(value.toFloat());
}
//Arduplane
else if (parameterName == "THR_FAILSAFE")
{
if (value.toInt() == 0)
{
ui.throttleCheckBox->setChecked(false);
}
else
{
ui.throttleCheckBox->setChecked(true);
}
}
else if (parameterName == "THR_FS_VALUE")
{
ui.throttlePwmSpinBox->setValue(value.toFloat());
}
else if (parameterName == "THR_FS_ACTION")
{
if (value.toInt() == 0)
{
ui.throttleActionCheckBox->setChecked(false);
}
else
{
ui.throttleActionCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_GCS_ENABL")
{
if (value.toInt() == 0)
{
ui.gcsCheckBox->setChecked(false);
}
else
{
ui.gcsCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_SHORT_ACTN")
{
if (value.toInt() == 0)
{
ui.fsShortCheckBox->setChecked(false);
}
else
{
ui.fsShortCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_LONG_ACTN")
{
if (value.toInt() == 0)
{
ui.fsLongCheckBox->setChecked(false);
}
else
{
ui.fsLongCheckBox->setChecked(true);
}
}
}
void FailSafeConfig::armingChanged(bool armed)
{
if (armed)
{
ui.armedLabel->setText("<h1>ARMED</h1>");
}
else
{
ui.armedLabel->setText("<h1>DISARMED</h1>");
}
}
void FailSafeConfig::remoteControlChannelRawChanges(int chan,float value)
{
if (chan == 0)
{
ui.radio1In->setValue(value);
}
else if (chan == 1)
{
ui.radio2In->setValue(value);
}
else if (chan == 2)
{
ui.radio3In->setValue(value);
}
else if (chan == 3)
{
ui.radio4In->setValue(value);
}
else if (chan == 4)
{
ui.radio5In->setValue(value);
}
else if (chan == 5)
{
ui.radio6In->setValue(value);
}
else if (chan == 6)
{
ui.radio7In->setValue(value);
}
else if (chan == 7)
{
ui.radio8In->setValue(value);
}
}
void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
{
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Q_UNUSED(time);
ui.radio1Out->setValue(act1);
ui.radio2Out->setValue(act2);
ui.radio3Out->setValue(act3);
ui.radio4Out->setValue(act4);
ui.radio5Out->setValue(act5);
ui.radio6Out->setValue(act6);
ui.radio7Out->setValue(act7);
ui.radio8Out->setValue(act8);
}
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void FailSafeConfig::gpsStatusChanged(UASInterface* uas,int fixtype)
{
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Q_UNUSED(uas);
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if (fixtype == 0 || fixtype == 1)
{
ui.gpsLabel->setText("<h1>None</h1>");
}
else if (fixtype == 2)
{
ui.gpsLabel->setText("<h1>2D Fix</h1>");
}
else if (fixtype == 3)
{
ui.gpsLabel->setText("<h1>3D Fix</h1>");
}
}