From b2f67f060e94d658e76f39bc58a8626433ca46ed Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ece.ualberta.ca>
Date: Tue, 21 Sep 2010 14:47:36 -0600
Subject: [PATCH] working on radio calibration

---
 src/ui/QGCRemoteControlView.cc                |  1 +
 .../RadioCalibrationWindow.cc                 | 78 +++++++++++++++++++
 .../RadioCalibration/RadioCalibrationWindow.h | 60 ++++++++++++++
 3 files changed, 139 insertions(+)

diff --git a/src/ui/QGCRemoteControlView.cc b/src/ui/QGCRemoteControlView.cc
index 95f2f4d877..8b28f800e7 100644
--- a/src/ui/QGCRemoteControlView.cc
+++ b/src/ui/QGCRemoteControlView.cc
@@ -107,6 +107,7 @@ void QGCRemoteControlView::setUASId(int id)
     {
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
+        calibrationWindow->setUASId(id);
         connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
         connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
         connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
index 12b2512410..0d7f3e8ac4 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
@@ -24,6 +24,8 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
     throttle = new CurveCalibrator(tr("Throttle"));
     grid->addWidget(throttle, 1, 2, 1, 2);
 
+    /* Buttons for loading/transmitting calibration data */
+    QHBoxLayout *hbox = new QHBoxLayout();
     this->setLayout(grid);
 }
 
@@ -56,3 +58,79 @@ void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
 
     }
 }
+
+
+/*
+  ** RadioCalibrationData Function Definitions **
+*/
+
+RadioCalibrationWindow::RadioCalibrationData::RadioCalibrationData(RadioCalibrationWindow *parent)
+    :parent(parent)
+{
+    data = new QVector<QVector<float> >();
+}
+
+RadioCalibrationWindow::RadioCalibrationData::RadioCalibrationData(const QVector<float> &aileron,
+                                                                   const QVector<float> &elevator,
+                                                                   const QVector<float> &rudder,
+                                                                   const QVector<float> &gyro,
+                                                                   const QVector<float> &pitch,
+                                                                   const QVector<float> &throttle,
+                                                                   RadioCalibrationWindow *parent)
+                                                                       :parent(parent)
+{
+    data = new QVector<QVector<float> >();
+    (*data) << aileron
+            << elevator
+            << rudder
+            << gyro
+            << pitch
+            << throttle;
+}
+
+RadioCalibrationWindow::RadioCalibrationData::RadioCalibrationData(RadioCalibrationData &other)
+    :parent(other.parent)
+{
+    data = new QVector<QVector<float> >(*other.data);
+}
+
+void RadioCalibrationWindow::RadioCalibrationData::saveFile()
+{
+
+}
+
+void RadioCalibrationWindow::RadioCalibrationData::loadFile()
+{
+
+}
+
+void RadioCalibrationWindow::RadioCalibrationData::send()
+{    
+#ifdef MAVLINK_ENABLE_UALBERTA_MESSAGES
+    UAS *uas = dynamic_cast<UAS>(UASManager::instance()->getUASForId(uasId));
+    if (uas)
+    {
+        qDebug()<< "we have a uas";
+        mavlink_message_t msg;
+        mavlink_msg_radio_calibration_pack(uasId, 0, &msg,
+                                           (*data)[AILERON].constData(),
+                                           (*data)[ELEVATOR].constData(),
+                                           (*data)[RUDDER].constData(),
+                                           (*data)[GYRO].constData(),
+                                           (*data)[PITCH].constData(),
+                                           (*data)[THROTTLE].constData());
+        uas.sendMessage(msg);
+
+    }
+#endif
+}
+
+void RadioCalibrationWindow::RadioCalibrationData::receive()
+{
+
+}
+
+void RadioCalibrationWindow::RadioCalibrationData::setUASId(int id)
+{
+    this->uasID = id;
+}
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.h b/src/ui/RadioCalibration/RadioCalibrationWindow.h
index be3c1b09c8..1b10489b96 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.h
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.h
@@ -7,14 +7,21 @@
 #include <QPushButton>
 #include <QVector>
 #include <QGridLayout>
+#include <QHBoxLayout>
+#include <QDebug>
 
 #include "AirfoilServoCalibrator.h"
 #include "SwitchCalibrator.h"
 #include "CurveCalibrator.h"
 
+#include "UASManager.h"
+#include "UASInterface.h"
+#include "mavlink.h"
+
 class RadioCalibrationWindow : public QWidget
 {
 Q_OBJECT
+
 public:
     explicit RadioCalibrationWindow(QWidget *parent = 0);
 
@@ -22,6 +29,12 @@ signals:
 
 public slots:
     void setChannel(int ch, float raw, float normalized);
+    void loadFile() {this->radio->loadFile();}
+    void saveFile() {this->radio->saveFile();}
+    void send() {this->radio->send();}
+    void receive() {this->radio->receive();}
+    void setUASId(int id) {this->radio->setUASId(id);}
+
 
 protected:
         AirfoilServoCalibrator *aileron;
@@ -31,6 +44,53 @@ protected:
         CurveCalibrator *pitch;
         CurveCalibrator *throttle;
 
+        class RadioCalibrationData
+        {
+        public:
+            explicit RadioCalibrationData(RadioCalibrationWindow *parent=0);
+            RadioCalibrationData(RadioCalibrationData&);            
+            RadioCalibrationData(const QVector<float>& aileron,
+                                 const QVector<float>& elevator,
+                                 const QVector<float>& rudder,
+                                 const QVector<float>& gyro,
+                                 const QVector<float>& pitch,
+                                 const QVector<float>& throttle,
+                                 RadioCalibrationWindow *parent=0);
+
+            enum RadioElement
+            {
+                AILERON=0,
+                ELEVATOR,
+                RUDDER,
+                GYRO,
+                PITCH,
+                THROTTLE
+            };
+
+            void loadFile();
+            void saveFile();
+            void send();
+            void receive();
+            void setUASId(int id);
+
+        protected:
+            QVector<QVector<float> > *data;
+            int uasID;
+
+            void init(const QVector<float>& aileron,
+                      const QVector<float>& elevator,
+                      const QVector<float>& rudder,
+                      const QVector<float>& gyro,
+                      const QVector<float>& pitch,
+                      const QVector<float>& throttle);
+
+        private:
+            RadioCalibrationWindow *parent;
+
+
+        };
+
+        RadioCalibrationData *radio;
 };
 
 #endif // RADIOCALIBRATIONWINDOW_H
-- 
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