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#include "UASActionsWidget.h"
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#include <QMessageBox>
#include <UAS.h>
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UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent)
{
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m_uas = 0;
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ui.setupUi(this);
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connect(ui.changeAltitudeButton,SIGNAL(clicked()),this,SLOT(changeAltitudeClicked()));
connect(ui.changeSpeedButton,SIGNAL(clicked()),this,SLOT(changeSpeedClicked()));
connect(ui.goToWaypointButton,SIGNAL(clicked()),this,SLOT(goToWaypointClicked()));
connect(ui.armDisarmButton,SIGNAL(clicked()),this,SLOT(armButtonClicked()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
if (UASManager::instance()->getActiveUAS())
{
activeUASSet(UASManager::instance()->getActiveUAS());
}
}
void UASActionsWidget::activeUASSet(UASInterface *uas)
{
m_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)));
armingChanged(m_uas->isArmed());
updateWaypointList();
}
void UASActionsWidget::armButtonClicked()
{
if (m_uas)
{
if (m_uas->isArmed())
{
((UAS*)m_uas)->disarmSystem();
}
else
{
((UAS*)m_uas)->armSystem();
}
}
}
void UASActionsWidget::armingChanged(bool state)
{
//TODO:
//Figure out why arm/disarm is in UAS.h and not part of the interface, and fix.
if (state)
{
ui.armDisarmButton->setText("DISARM\nCurrently Armed");
}
else
{
ui.armDisarmButton->setText("ARM\nCurrently Disarmed");
}
}
void UASActionsWidget::currentWaypointChanged(quint16 wpid)
{
ui.currentWaypointLabel->setText("Current: " + QString::number(wpid));
}
void UASActionsWidget::updateWaypointList()
{
ui.waypointComboBox->clear();
for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
{
ui.waypointComboBox->addItem(QString::number(i));
}
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}
UASActionsWidget::~UASActionsWidget()
{
}
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void UASActionsWidget::goToWaypointClicked()
{
if (!m_uas)
{
return;
}
m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointComboBox->currentIndex());
}
void UASActionsWidget::changeAltitudeClicked()
{
QMessageBox::information(0,"Error","No implemented yet.");
}
void UASActionsWidget::changeSpeedClicked()
{
if (!m_uas)
{
return;
}
if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
m_uas->setParameter(1,"WP_SPEED_MAX",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
return;
}
else if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
QVariant variant;
if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant))
{
if (variant.toInt() == 1)
{
m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
return;
}
}
m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
}
}