ViewWidgetController.cc 1.32 KB
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/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

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#include "ViewWidgetController.h"
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#include "MultiVehicleManager.h"
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#include "UAS.h"
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#include "QGCApplication.h"
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ViewWidgetController::ViewWidgetController(void) :
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	_autopilot(NULL),
	_uas(NULL)
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{
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    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &ViewWidgetController::_vehicleAvailable);
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}

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void ViewWidgetController::_vehicleAvailable(bool available)
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{
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    if (_uas) {
        _uas = NULL;
        _autopilot = NULL;
        emit pluginDisconnected();
    }
    
    if (available) {
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        Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
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        _uas = vehicle->uas();
        _autopilot = vehicle->autopilotPlugin();
        Q_ASSERT(_autopilot);
        emit pluginConnected(QVariant::fromValue(_autopilot));
    }
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}
Q_INVOKABLE void ViewWidgetController::checkForVehicle(void)
{
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    _vehicleAvailable(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
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}