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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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
/// @author Thomas Gubler <thomasgubler@gmail.com>
#include "QGCMapRCToParamDialog.h"
#include "ui_QGCMapRCToParamDialog.h"
#include <QDebug>
#include <QTimer>
#include <QEventLoop>
#include <QShowEvent>
#include <QPushButton>
QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id,
UASInterface *mav, QWidget *parent) :
QDialog(parent),
param_id(param_id),
mav(mav),
ui(new Ui::QGCMapRCToParamDialog)
{
ui->setupUi(this);
// only enable ok button when param was refreshed
QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
okButton->setEnabled(false);
ui->paramIdLabel->setText(param_id);
// Refresh the param
ParamLoader *paramLoader = new ParamLoader(param_id, mav);
paramLoader->moveToThread(¶mLoadThread);
connect(¶mLoadThread, &QThread::finished, paramLoader, &QObject::deleteLater);
connect(this, &QGCMapRCToParamDialog::refreshParam, paramLoader, &ParamLoader::load);
connect(paramLoader, &ParamLoader::paramLoaded, this, &QGCMapRCToParamDialog::paramLoaded);
paramLoadThread.start();
emit refreshParam();
}
QGCMapRCToParamDialog::~QGCMapRCToParamDialog()
{
delete ui;
}
void QGCMapRCToParamDialog::accept() {
emit mapRCToParamDialogResult(param_id,
(float)ui->scaleDoubleSpinBox->value(),
(float)ui->value0DoubleSpinBox->value(),
(quint8)ui->rcParamChannelComboBox->currentIndex(),
(float)ui->minValueDoubleSpinBox->value(),
(float)ui->maxValueDoubleSpinBox->value());
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QDialog::accept();
}
void QGCMapRCToParamDialog::paramLoaded(bool success, float value, QString message)
{
paramLoadThread.quit();
if (success) {
ui->infoLabel->setText("Parameter value is up to date");
ui->value0DoubleSpinBox->setValue(value);
ui->value0DoubleSpinBox->setEnabled(true);
connect(this, &QGCMapRCToParamDialog::mapRCToParamDialogResult,
mav, &UASInterface::sendMapRCToParam);
QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
okButton->setEnabled(true);
} else {
qDebug() << "Error while reading param" << param_id;
ui->infoLabel->setText("Error while refreshing param (" + message + ")");
}
}
void ParamLoader::load()
{
// refresh the parameter from onboard to make sure the current value is used
paramMgr->requestParameterUpdate(paramMgr->getDefaultComponentId(), param_id);
// wait until parameter update is received
QEventLoop loop;
QTimer timer;
connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
timer.start(10 * 1e3);
// overloaded signal:
connect(mav, static_cast<void (UASInterface::*)(
int, int, QString, QVariant)>(&UASInterface::parameterChanged),
this, &ParamLoader::handleParameterChanged);
connect(this, &ParamLoader::correctParameterChanged,
&loop, &QEventLoop::quit);
loop.exec();
if (!param_received == true) {
// timeout
emit paramLoaded(false, 0.0f, "Timeout");
return;
}
QVariant current_param_value;
bool got_param = paramMgr->getParameterValue(paramMgr->getDefaultComponentId(),
param_id, current_param_value);
QString message = got_param ? "" : "param manager Error";
emit paramLoaded(got_param, current_param_value.toFloat(), message);
}
void ParamLoader::handleParameterChanged(int uas, int component, QString parameterName, QVariant value)
{
if (uas == mav->getUASID() && parameterName == param_id) {
param_received = true;
emit correctParameterChanged();
}
}