white space

src/uas/UASManager.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class UASManager
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QList>
-#include <QApplication>
-#include <QMessageBox>
-#include <QTimer>
-#include "UAS.h"
-#include "UASInterface.h"
-#include "UASManager.h"
-#include "QGC.h"
-
-UASManager* UASManager::instance()
-{
-    static UASManager* _instance = 0;
-    if(_instance == 0) {
-        _instance = new UASManager();
-
-        // Set the application as parent to ensure that this object
-        // will be destroyed when the main application exits
-        _instance->setParent(qApp);
-    }
-    return _instance;
-}
-
-/**
- * @brief Private singleton constructor
- *
- * This class implements the singleton design pattern and has therefore only a private constructor.
- **/
-UASManager::UASManager() :
-        activeUAS(NULL)
-{
-    systems = QList<UASInterface*>();
-    start(QThread::LowPriority);
-}
-
-UASManager::~UASManager()
-{
-}
-
-
-void UASManager::run()
-{
-    forever
-    {
-        QGC::SLEEP::msleep(5000);
-    }
-}
-
-void UASManager::addUAS(UASInterface* uas)
-{
-    // WARNING: The active uas is set here
-    // and then announced below. This is necessary
-    // to make sure the getActiveUAS() function
-    // returns the UAS once the UASCreated() signal
-    // is emitted. The code is thus NOT redundant.
-    bool firstUAS = false;
-    if (activeUAS == NULL)
-    {
-        firstUAS = true;
-        activeUAS = uas;
-    }
-
-    // Only execute if there is no UAS at this index
-    if (!systems.contains(uas))
-    {
-        systems.append(uas);
-        connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
-        emit UASCreated(uas);
-    }
-
-    // If there is no active UAS yet, set the first one as the active UAS
-    if (firstUAS)
-    {
-        setActiveUAS(uas);
-    }
-}
-
-void UASManager::removeUAS(QObject* uas)
-{
-    UASInterface* mav = qobject_cast<UASInterface*>(uas);
-
-    if (mav)
-    {
-        int listindex = systems.indexOf(mav);
-
-        if (mav == activeUAS)
-        {
-            if (systems.count() > 1)
-            {
-                // We only set a new UAS if more than one is present
-                if (listindex != 0)
-                {
-                    // The system to be removed is not at position 1
-                    // set position one as new active system
-                    setActiveUAS(systems.first());
-                }
-                else
-                {
-                    // The system to be removed is at position 1,
-                    // select the next system
-                    setActiveUAS(systems.at(1));
-                }
-            }
-            else
-            {
-                // TODO send a null pointer if no UAS is present any more
-                // This has to be proberly tested however, since it might
-                // crash code parts not handling null pointers correctly.
-            }
-        }
-        systems.removeAt(listindex);
-    }
-}
-
-QList<UASInterface*> UASManager::getUASList()
-{
-    return systems;
-}
-
-UASInterface* UASManager::getActiveUAS()
-{
-    return activeUAS; ///< Return zero pointer if no UAS has been loaded
-}
-
-UASInterface* UASManager::silentGetActiveUAS()
-{
-    return activeUAS; ///< Return zero pointer if no UAS has been loaded
-}
-
-bool UASManager::launchActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->launch();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::haltActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->halt();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::continueActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->go();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::returnActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->home();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::stopActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->emergencySTOP();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::killActiveUAS()
-{
-    if (getActiveUAS()) activeUAS->emergencyKILL();
-    return (activeUAS);
-}
-
-bool UASManager::shutdownActiveUAS()
-{
-    if (getActiveUAS()) activeUAS->shutdown();
-    return (activeUAS);
-}
-
-void UASManager::configureActiveUAS()
-{
-    UASInterface* actUAS = getActiveUAS();
-    if(actUAS)
-    {
-        // Do something
-    }
-}
-
-UASInterface* UASManager::getUASForId(int id)
-{
-    UASInterface* system = NULL;
-
-    foreach(UASInterface* sys, systems)
-    {
-        if (sys->getUASID() == id)
-        {
-            system = sys;
-        }
-    }
-
-    // Return NULL if not found
-    return system;
-}
-
-void UASManager::setActiveUAS(UASInterface* uas)
-{
-    if (uas != NULL)
-    {
-        activeUASMutex.lock();
-        if (activeUAS != NULL)
-        {
-            emit activeUASStatusChanged(activeUAS, false);
-            emit activeUASStatusChanged(activeUAS->getUASID(), false);
-        }
-        activeUAS = uas;
-        activeUASMutex.unlock();
-
-        activeUAS->setSelected();
-        emit activeUASSet(uas);
-        emit activeUASSet(uas->getUASID());
-        emit activeUASSetListIndex(systems.indexOf(uas));
-        emit activeUASStatusChanged(uas, true);
-        emit activeUASStatusChanged(uas->getUASID(), true);
-    }
-}
-
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class UASManager
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QList>
+#include <QApplication>
+#include <QMessageBox>
+#include <QTimer>
+#include "UAS.h"
+#include "UASInterface.h"
+#include "UASManager.h"
+#include "QGC.h"
+
+UASManager* UASManager::instance()
+{
+    static UASManager* _instance = 0;
+    if(_instance == 0) {
+        _instance = new UASManager();
+
+        // Set the application as parent to ensure that this object
+        // will be destroyed when the main application exits
+        _instance->setParent(qApp);
+    }
+    return _instance;
+}
+
+/**
+ * @brief Private singleton constructor
+ *
+ * This class implements the singleton design pattern and has therefore only a private constructor.
+ **/
+UASManager::UASManager() :
+        activeUAS(NULL)
+{
+    systems = QList<UASInterface*>();
+    start(QThread::LowPriority);
+}
+
+UASManager::~UASManager()
+{
+}
+
+
+void UASManager::run()
+{
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
+}
+
+void UASManager::addUAS(UASInterface* uas)
+{
+    // WARNING: The active uas is set here
+    // and then announced below. This is necessary
+    // to make sure the getActiveUAS() function
+    // returns the UAS once the UASCreated() signal
+    // is emitted. The code is thus NOT redundant.
+    bool firstUAS = false;
+    if (activeUAS == NULL)
+    {
+        firstUAS = true;
+        activeUAS = uas;
+    }
+
+    // Only execute if there is no UAS at this index
+    if (!systems.contains(uas))
+    {
+        systems.append(uas);
+        connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
+        emit UASCreated(uas);
+    }
+
+    // If there is no active UAS yet, set the first one as the active UAS
+    if (firstUAS)
+    {
+        setActiveUAS(uas);
+    }
+}
+
+void UASManager::removeUAS(QObject* uas)
+{
+    UASInterface* mav = qobject_cast<UASInterface*>(uas);
+
+    if (mav)
+    {
+        int listindex = systems.indexOf(mav);
+
+        if (mav == activeUAS)
+        {
+            if (systems.count() > 1)
+            {
+                // We only set a new UAS if more than one is present
+                if (listindex != 0)
+                {
+                    // The system to be removed is not at position 1
+                    // set position one as new active system
+                    setActiveUAS(systems.first());
+                }
+                else
+                {
+                    // The system to be removed is at position 1,
+                    // select the next system
+                    setActiveUAS(systems.at(1));
+                }
+            }
+            else
+            {
+                // TODO send a null pointer if no UAS is present any more
+                // This has to be proberly tested however, since it might
+                // crash code parts not handling null pointers correctly.
+            }
+        }
+        systems.removeAt(listindex);
+    }
+}
+
+QList<UASInterface*> UASManager::getUASList()
+{
+    return systems;
+}
+
+UASInterface* UASManager::getActiveUAS()
+{
+    return activeUAS; ///< Return zero pointer if no UAS has been loaded
+}
+
+UASInterface* UASManager::silentGetActiveUAS()
+{
+    return activeUAS; ///< Return zero pointer if no UAS has been loaded
+}
+
+bool UASManager::launchActiveUAS()
+{
+    // If the active UAS is set, execute command
+    if (getActiveUAS()) activeUAS->launch();
+    return (activeUAS); ///< Returns true if the UAS exists, false else
+}
+
+bool UASManager::haltActiveUAS()
+{
+    // If the active UAS is set, execute command
+    if (getActiveUAS()) activeUAS->halt();
+    return (activeUAS); ///< Returns true if the UAS exists, false else
+}
+
+bool UASManager::continueActiveUAS()
+{
+    // If the active UAS is set, execute command
+    if (getActiveUAS()) activeUAS->go();
+    return (activeUAS); ///< Returns true if the UAS exists, false else
+}
+
+bool UASManager::returnActiveUAS()
+{
+    // If the active UAS is set, execute command
+    if (getActiveUAS()) activeUAS->home();
+    return (activeUAS); ///< Returns true if the UAS exists, false else
+}
+
+bool UASManager::stopActiveUAS()
+{
+    // If the active UAS is set, execute command
+    if (getActiveUAS()) activeUAS->emergencySTOP();
+    return (activeUAS); ///< Returns true if the UAS exists, false else
+}
+
+bool UASManager::killActiveUAS()
+{
+    if (getActiveUAS()) activeUAS->emergencyKILL();
+    return (activeUAS);
+}
+
+bool UASManager::shutdownActiveUAS()
+{
+    if (getActiveUAS()) activeUAS->shutdown();
+    return (activeUAS);
+}
+
+void UASManager::configureActiveUAS()
+{
+    UASInterface* actUAS = getActiveUAS();
+    if(actUAS)
+    {
+        // Do something
+    }
+}
+
+UASInterface* UASManager::getUASForId(int id)
+{
+    UASInterface* system = NULL;
+
+    foreach(UASInterface* sys, systems)
+    {
+        if (sys->getUASID() == id)
+        {
+            system = sys;
+        }
+    }
+
+    // Return NULL if not found
+    return system;
+}
+
+void UASManager::setActiveUAS(UASInterface* uas)
+{
+    if (uas != NULL)
+    {
+        activeUASMutex.lock();
+        if (activeUAS != NULL)
+        {
+            emit activeUASStatusChanged(activeUAS, false);
+            emit activeUASStatusChanged(activeUAS->getUASID(), false);
+        }
+        activeUAS = uas;
+        activeUASMutex.unlock();
+
+        activeUAS->setSelected();
+        emit activeUASSet(uas);
+        emit activeUASSet(uas->getUASID());
+        emit activeUASSetListIndex(systems.indexOf(uas));
+        emit activeUASStatusChanged(uas, true);
+        emit activeUASStatusChanged(uas->getUASID(), true);
+    }
+}
+

src/ui/designer/QGCActionButton.cc

-#include "QGCActionButton.h"
-#include "ui_QGCActionButton.h"
-
-#include "MAVLinkProtocol.h"
-#include "UASManager.h"
-
-const char* kActionLabels[MAV_ACTION_NB] =
-{"HOLD",
- "START MOTORS",
- "LAUNCH",
- "RETURN",
- "EMERGENCY LAND",
- "EMERGENCY KILL",
- "CONFIRM KILL",
- "CONTINUE",
- "STOP MOTORS",
- "HALT",
- "SHUTDOWN",
- "REBOOT",
- "SET MANUAL",
- "SET AUTO",
- "READ STORAGE",
- "WRITE STORAGE",
- "CALIBRATE RC",
- "CALIBRATE GYRO",
- "CALIBRATE MAG",
- "CALIBRATE ACC",
- "CALIBRATE PRESSURE",
- "START REC",
- "PAUSE REC",
- "STOP REC",
- "TAKEOFF",
- "NAVIGATE",
- "LAND",
- "LOITER",
- "SET ORIGIN",
- "RELAY ON",
- //"RELAY OFF",
- //"GET IMAGE",
- //"START VIDEO",
- //"STOP VIDEO",
- "RESET MAP",
- "RESET PLAN"};
-
-QGCActionButton::QGCActionButton(QWidget *parent) :
-    QGCToolWidgetItem("Button", parent),
-    ui(new Ui::QGCActionButton),
-    uas(NULL)
-{
-    ui->setupUi(this);
-
-    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
-    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
-    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
-    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
-
-    // Hide all edit items
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // add action labels to combobox
-    for (int i = 0; i < MAV_ACTION_NB; i++)
-    {
-        ui->editActionComboBox->addItem(kActionLabels[i]);
-    }
-}
-
-QGCActionButton::~QGCActionButton()
-{
-    delete ui;
-}
-
-void QGCActionButton::sendAction()
-{
-    if (QGCToolWidgetItem::uas)
-    {
-        MAV_ACTION action = static_cast<MAV_ACTION>(
-                ui->editActionComboBox->currentIndex());
-
-        QGCToolWidgetItem::uas->setAction(action);
-    }
-    else
-    {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
-    }
-}
-
-void QGCActionButton::setActionButtonName(QString text)
-{
-    ui->actionButton->setText(text);
-}
-
-void QGCActionButton::startEditMode()
-{
-    ui->editActionComboBox->show();
-    ui->editActionsRefreshButton->show();
-    ui->editFinishButton->show();
-    ui->editNameLabel->show();
-    ui->editButtonName->show();
-    isInEditMode = true;
-}
-
-void QGCActionButton::endEditMode()
-{
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // Write to settings
-    emit editingFinished();
-
-    isInEditMode = false;
-}
-
-void QGCActionButton::writeSettings(QSettings& settings)
-{
-    settings.setValue("TYPE", "BUTTON");
-    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
-    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
-    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
-    settings.sync();
-}
-
-void QGCActionButton::readSettings(const QSettings& settings)
-{
-    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-
-    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-    qDebug() << "DONE READING SETTINGS";
-}
+#include "QGCActionButton.h"
+#include "ui_QGCActionButton.h"
+
+#include "MAVLinkProtocol.h"
+#include "UASManager.h"
+
+const char* kActionLabels[MAV_ACTION_NB] =
+{"HOLD",
+ "START MOTORS",
+ "LAUNCH",
+ "RETURN",
+ "EMERGENCY LAND",
+ "EMERGENCY KILL",
+ "CONFIRM KILL",
+ "CONTINUE",
+ "STOP MOTORS",
+ "HALT",
+ "SHUTDOWN",
+ "REBOOT",
+ "SET MANUAL",
+ "SET AUTO",
+ "READ STORAGE",
+ "WRITE STORAGE",
+ "CALIBRATE RC",
+ "CALIBRATE GYRO",
+ "CALIBRATE MAG",
+ "CALIBRATE ACC",
+ "CALIBRATE PRESSURE",
+ "START REC",
+ "PAUSE REC",
+ "STOP REC",
+ "TAKEOFF",
+ "NAVIGATE",
+ "LAND",
+ "LOITER",
+ "SET ORIGIN",
+ "RELAY ON",
+ //"RELAY OFF",
+ //"GET IMAGE",
+ //"START VIDEO",
+ //"STOP VIDEO",
+ "RESET MAP",
+ "RESET PLAN"};
+
+QGCActionButton::QGCActionButton(QWidget *parent) :
+    QGCToolWidgetItem("Button", parent),
+    ui(new Ui::QGCActionButton),
+    uas(NULL)
+{
+    ui->setupUi(this);
+
+    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
+    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+
+    // Hide all edit items
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // add action labels to combobox
+    for (int i = 0; i < MAV_ACTION_NB; i++)
+    {
+        ui->editActionComboBox->addItem(kActionLabels[i]);
+    }
+}
+
+QGCActionButton::~QGCActionButton()
+{
+    delete ui;
+}
+
+void QGCActionButton::sendAction()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        MAV_ACTION action = static_cast<MAV_ACTION>(
+                ui->editActionComboBox->currentIndex());
+
+        QGCToolWidgetItem::uas->setAction(action);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
+void QGCActionButton::setActionButtonName(QString text)
+{
+    ui->actionButton->setText(text);
+}
+
+void QGCActionButton::startEditMode()
+{
+    ui->editActionComboBox->show();
+    ui->editActionsRefreshButton->show();
+    ui->editFinishButton->show();
+    ui->editNameLabel->show();
+    ui->editButtonName->show();
+    isInEditMode = true;
+}
+
+void QGCActionButton::endEditMode()
+{
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // Write to settings
+    emit editingFinished();
+
+    isInEditMode = false;
+}
+
+void QGCActionButton::writeSettings(QSettings& settings)
+{
+    settings.setValue("TYPE", "BUTTON");
+    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
+    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
+    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
+    settings.sync();
+}
+
+void QGCActionButton::readSettings(const QSettings& settings)
+{
+    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+
+    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+    qDebug() << "DONE READING SETTINGS";
+}