apmtoolbar.cpp 5.69 KB
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#include <QDebug>
#include <QDeclarativeContext>
#include <QGraphicsObject>
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#include "LinkManager.h"
#include "MainWindow.h"
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#include "apmtoolbar.h"

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APMToolBar::APMToolBar(QWidget *parent):
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    QDeclarativeView(parent), m_uas(0)
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{
    // Configure our QML object
    setSource(QUrl::fromLocalFile("qml/ApmToolBar.qml"));
    setResizeMode(QDeclarativeView::SizeRootObjectToView);
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    this->rootContext()->setContextProperty("globalObj", this);
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    connect(LinkManager::instance(),SIGNAL(newLink(LinkInterface*)),
            this, SLOT(updateLinkDisplay(LinkInterface*)));
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    if (LinkManager::instance()->getLinks().count()>=3) {
        updateLinkDisplay(LinkManager::instance()->getLinks().last());
    }
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    setConnection(false);
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    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUasSet(UASInterface*)));
    activeUasSet(UASManager::instance()->getActiveUAS());
}
void APMToolBar::activeUasSet(UASInterface *uas)
{
    if (!uas)
    {
        return;
    }
    if (m_uas)
    {
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        disconnect(m_uas,SIGNAL(armingChanged(bool)),
                   this,SLOT(armingChanged(bool)));
        disconnect(uas,SIGNAL(armingChanged(int, QString)),
                this,SLOT(armingChanged(int, QString)));
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    }
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    connect(uas,SIGNAL(armingChanged(bool)),
            this,SLOT(armingChanged(bool)));
    connect(uas,SIGNAL(armingChanged(int, QString)),
            this,SLOT(armingChanged(int, QString)));

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}
void APMToolBar::armingChanged(bool armed)
{
    this->rootObject()->setProperty("armed",armed);
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}

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void APMToolBar::armingChanged(int sysId, QString armingState)
{
    qDebug() << "APMToolBar: sysid " << sysId << " armState" << armingState;
}

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void APMToolBar::setFlightViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerFlightView()), action, SIGNAL(triggered()));
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}

void APMToolBar::setFlightPlanViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerFlightPlanView()), action, SIGNAL(triggered()));
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}

void APMToolBar::setHardwareViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerHardwareView()), action, SIGNAL(triggered()));
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}

void APMToolBar::setSoftwareViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerSoftwareView()), action, SIGNAL(triggered()));
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}

void APMToolBar::setSimulationViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerSimulationView()), action, SIGNAL(triggered()));
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}

void APMToolBar::setTerminalViewAction(QAction *action)
{
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    connect(this, SIGNAL(triggerTerminalView()), action, SIGNAL(triggered()));
}

void APMToolBar::setConnectMAVAction(QAction *action)
{
    connect(this, SIGNAL(connectMAV()), action, SIGNAL(triggered()));
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}

void APMToolBar::selectFlightView()
{
    qDebug() << "APMToolBar: SelectFlightView";
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    emit triggerFlightView();
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}

void APMToolBar::selectFlightPlanView()
{
    qDebug() << "APMToolBar: SelectFlightPlanView";
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    emit triggerFlightPlanView();
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}

void APMToolBar::selectHardwareView()
{
    qDebug() << "APMToolBar: selectHardwareView";
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    emit triggerHardwareView();
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}

void APMToolBar::selectSoftwareView()
{
    qDebug() << "APMToolBar: selectSoftwareView";
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    emit triggerSoftwareView();
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}

void APMToolBar::selectSimulationView()
{
    qDebug() << "APMToolBar: selectSimulationView";
}

void APMToolBar::selectTerminalView()
{
    qDebug() << "APMToolBar: selectTerminalView";
}

void APMToolBar::connectMAV()
{
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    qDebug() << "APMToolBar: connectMAV ";

    bool connected = LinkManager::instance()->getLinks().last()->isConnected();
    bool result;

    if (!connected && LinkManager::instance()->getLinks().count() < 3)
    {
        // No Link so prompt to connect one
        MainWindow::instance()->addLink();
    } else if (!connected) {
        // Need to Connect Link
        result = LinkManager::instance()->getLinks().last()->connect();

    } else if (connected && LinkManager::instance()->getLinks().count() > 2) {
        // result need to be the opposite of success.
        result = !LinkManager::instance()->getLinks().last()->disconnect();
    }
    qDebug() << "result = " << result;
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    // Change the image to represent the state
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    setConnection(result);
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    emit MAVConnected(result);
}

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void APMToolBar::setConnection(bool connection)
{
    // Change the image to represent the state
    QObject *object = rootObject();
    object->setProperty("connected", connection);
}

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APMToolBar::~APMToolBar()
{
    qDebug() << "Destory APM Toolbar";
}

void APMToolBar::showConnectionDialog()
{
    // Displays a UI where the user can select a MAV Link.
    qDebug() << "APMToolBar: showConnectionDialog link count ="
             << LinkManager::instance()->getLinks().count();

    LinkInterface *link = LinkManager::instance()->getLinks().last();
    bool result;

    if (link && LinkManager::instance()->getLinks().count() >= 3)
    {
        // Serial Link so prompt to config it
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        connect(link, SIGNAL(updateLink(LinkInterface*)),
                             this, SLOT(updateLinkDisplay(LinkInterface*)));
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        result = MainWindow::instance()->configLink(link);

        if (!result)
            qDebug() << "Link Config Failed!";
    } else {
        // No Link so prompt to create one
        MainWindow::instance()->addLink();
    }

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}

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void APMToolBar::updateLinkDisplay(LinkInterface* newLink)
{
    qDebug() << "APMToolBar: updateLinkDisplay";
    QObject *object = rootObject();

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    if (newLink && object){
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        qint64 baudrate = newLink->getNominalDataRate();
        object->setProperty("baudrateLabel", QString::number(baudrate));

        QString linkName = newLink->getName();
        object->setProperty("linkNameLabel", linkName);
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        connect(newLink, SIGNAL(connected(bool)),
                this, SLOT(setConnection(bool)));

        setConnection(newLink->isConnected());
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    }
}