SensorsComponentController.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "SensorsComponentController.h"
#include "QGCMAVLink.h"
#include "UAS.h"
#include "QGCApplication.h"
#include "ParameterManager.h"

#include <QVariant>
#include <QQmlProperty>

QGC_LOGGING_CATEGORY(SensorsComponentControllerLog, "SensorsComponentControllerLog")

SensorsComponentController::SensorsComponentController(void) :
    _statusLog(NULL),
    _progressBar(NULL),
    _compassButton(NULL),
    _gyroButton(NULL),
    _accelButton(NULL),
    _airspeedButton(NULL),
    _levelButton(NULL),
    _cancelButton(NULL),
    _setOrientationsButton(NULL),
    _showOrientationCalArea(false),
    _gyroCalInProgress(false),
    _magCalInProgress(false),
    _accelCalInProgress(false),
    _orientationCalDownSideDone(false),
    _orientationCalUpsideDownSideDone(false),
    _orientationCalLeftSideDone(false),
    _orientationCalRightSideDone(false),
    _orientationCalNoseDownSideDone(false),
    _orientationCalTailDownSideDone(false),
    _orientationCalDownSideVisible(false),
    _orientationCalUpsideDownSideVisible(false),
    _orientationCalLeftSideVisible(false),
    _orientationCalRightSideVisible(false),
    _orientationCalNoseDownSideVisible(false),
    _orientationCalTailDownSideVisible(false),
    _orientationCalDownSideInProgress(false),
    _orientationCalUpsideDownSideInProgress(false),
    _orientationCalLeftSideInProgress(false),
    _orientationCalRightSideInProgress(false),
    _orientationCalNoseDownSideInProgress(false),
    _orientationCalTailDownSideInProgress(false),
    _orientationCalDownSideRotate(false),
    _orientationCalUpsideDownSideRotate(false),
    _orientationCalLeftSideRotate(false),
    _orientationCalRightSideRotate(false),
    _orientationCalNoseDownSideRotate(false),
    _orientationCalTailDownSideRotate(false),
    _unknownFirmwareVersion(false),
    _waitingForCancel(false)
{
}

bool SensorsComponentController::usingUDPLink(void)
{
    return _vehicle->priorityLink()->getLinkConfiguration()->type() == LinkConfiguration::TypeUdp;
}

/// Appends the specified text to the status log area in the ui
void SensorsComponentController::_appendStatusLog(const QString& text)
{
    if (!_statusLog) {
        qWarning() << "Internal error";
        return;
    }
    
    QVariant returnedValue;
    QVariant varText = text;
    QMetaObject::invokeMethod(_statusLog,
                              "append",
                              Q_RETURN_ARG(QVariant, returnedValue),
                              Q_ARG(QVariant, varText));
}

void SensorsComponentController::_startLogCalibration(void)
{
    _unknownFirmwareVersion = false;
    _hideAllCalAreas();
    
    connect(_uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage);
    
    _cancelButton->setEnabled(false);
}

void SensorsComponentController::_startVisualCalibration(void)
{
    _compassButton->setEnabled(false);
    _gyroButton->setEnabled(false);
    _accelButton->setEnabled(false);
    _airspeedButton->setEnabled(false);