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#include <QDebug>
#include "WaypointViewOnlyView.h"
#include "ui_WaypointViewOnlyView.h"
WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) :
QWidget(parent),
m_ui(new Ui::WaypointViewOnlyView)
{
m_ui->setupUi(this);
this->wp = wp;
updateValues();
connect(m_ui->current, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)),this, SLOT(changedAutoContinue(int)));
}
void WaypointViewOnlyView::changedAutoContinue(int state)
{
bool new_value = false;
if (state != 0)
{
new_value = true;
}
m_ui->autoContinue->blockSignals(true);
m_ui->autoContinue->setChecked(state);
m_ui->autoContinue->blockSignals(false);
wp->setAutocontinue(new_value);
emit changeAutoContinue(wp->getId(),new_value);
}
void WaypointViewOnlyView::changedCurrent(int state)
{
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
if (state == 0)
{
if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
{
m_ui->current->setChecked(true);
m_ui->current->setCheckState(Qt::Checked);
}
else
{
m_ui->current->setChecked(false);
m_ui->current->setCheckState(Qt::Unchecked);
wp->setCurrent(false);
}
}
else
{
wp->setCurrent(true);
emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
}
}
void WaypointViewOnlyView::setCurrent(bool state)
{
m_ui->current->blockSignals(true);
m_ui->current->setChecked(state);
m_ui->current->blockSignals(false);
}
void WaypointViewOnlyView::updateValues()
{
qDebug() << "Trof: WaypointViewOnlyView::updateValues() ID:" << wp->getId();
// Check if we just lost the wp, delete the widget
// accordingly
if (!wp)
{
deleteLater();
return;
}
// Deactivate signals from the WP
wp->blockSignals(true);
// update frame
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
if (m_ui->current->isChecked() != wp->getCurrent())
{
m_ui->current->setChecked(wp->getCurrent());
}
if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
{
m_ui->autoContinue->setChecked(wp->getAutoContinue());
}
switch (wp->getAction())
{
case MAV_CMD_NAV_WAYPOINT:
{
if (wp->getParam1()>0)
{
m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to (%1, %2, %3); yaw: %4; rad: %5").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()).arg(wp->getParam2()));
}
break;
}
case MAV_CMD_NAV_LAND:
{
m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()));
break;
}
case MAV_CMD_NAV_TAKEOFF:
{
m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()));
break;
}
case MAV_CMD_DO_JUMP:
{
if (wp->getParam2()>0)
{
m_ui->displayBar->setText(QString("Jump to waypoint %1. Jumps left: %2").arg(wp->getParam1()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("No jumps left. Proceed to next waypoint."));
}
break;
}
case MAV_CMD_CONDITION_DELAY:
{
m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
break;
}
case 237: //MAV_CMD_DO_START_SEARCH
{
m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
break;
}
case 238: //MAV_CMD_DO_FINISH_SEARCH
{
m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2. Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
break;
}
case 240: //MAV_CMD_DO_SWEEP
{
m_ui->displayBar->setText(QString("Sweep. Corners: (%1,%2) and (%3,%4); z: %5; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1()));
break;
}
default:
{
m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));
break;
}
}
wp->blockSignals(false);
}
WaypointViewOnlyView::~WaypointViewOnlyView()
{
delete m_ui;
}