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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2011 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/>.
======================================================================*/
#include <QToolButton>
#include <QLabel>
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#include "SerialLink.h"
#include "QGCToolBar.h"
#include "UASManager.h"
QGCToolBar::QGCToolBar(QWidget *parent) :
QToolBar(parent),
changed(true),
batteryPercent(0),
batteryVoltage(0),
wpId(0),
altitudeMSL(0),
altitudeRel(0),
systemArmed(false),
currentLink(NULL),
firstAction(NULL)
setObjectName("QGCToolBar");
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
// Do not load UI, wait for actions
}
void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
Q_UNUSED(uas);
Q_UNUSED(lat);
Q_UNUSED(lon);
Q_UNUSED(usec);
altitudeMSL = alt;
changed = true;
}
void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms)
{
// set timeout label visible
if (timeout)
{
// Alternate colors to increase visibility
if ((ms / 1000) % 2 == 0)
{
toolBarTimeoutLabel->setStyleSheet(QString("QLabel {color: #000; background-color: #FF0037;}"));
toolBarTimeoutLabel->setStyleSheet(QString("QLabel {color: #FFF; background-color: #6B0017;}"));
}
toolBarTimeoutLabel->setText(tr("CONNECTION LOST: %1 s").arg((ms / 1000.0f), 2, 'f', 1, ' '));
toolBarTimeoutAction->setVisible(true);
toolBarMessageAction->setVisible(false);
}
else
{
// Check if loss text is present, reset once
if (toolBarTimeoutAction->isVisible())
toolBarTimeoutAction->setVisible(false);
toolBarMessageAction->setVisible(true);
void QGCToolBar::createUI()
{
// CREATE TOOLBAR ITEMS
// Add internal actions
// Add MAV widget
symbolLabel = new QLabel(this);
addWidget(symbolLabel);
toolBarNameLabel = new QLabel(this);
toolBarNameLabel->setToolTip(tr("Currently controlled vehicle"));
toolBarNameLabel->setAlignment(Qt::AlignCenter);
toolBarNameLabel->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
addWidget(toolBarNameLabel);
toolBarTimeoutLabel = new QLabel(this);
toolBarTimeoutLabel->setToolTip(tr("System timed out, interval since last message"));
toolBarTimeoutLabel->setAlignment(Qt::AlignCenter);
toolBarTimeoutLabel->setObjectName("toolBarTimeoutLabel");
toolBarTimeoutLabel->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
toolBarTimeoutAction = addWidget(toolBarTimeoutLabel);
toolBarSafetyLabel = new QLabel(this);
toolBarSafetyLabel->setToolTip(tr("Vehicle safety state"));
toolBarSafetyLabel->setAlignment(Qt::AlignCenter);
addWidget(toolBarSafetyLabel);
toolBarModeLabel = new QLabel(this);
toolBarModeLabel->setToolTip(tr("Vehicle mode"));
toolBarModeLabel->setObjectName("toolBarModeLabel");
toolBarModeLabel->setAlignment(Qt::AlignCenter);
addWidget(toolBarModeLabel);
// toolBarStateLabel = new QLabel(this);
// toolBarStateLabel->setToolTip(tr("Vehicle state"));
// toolBarStateLabel->setObjectName("toolBarStateLabel");
// toolBarStateLabel->setAlignment(Qt::AlignCenter);
// addWidget(toolBarStateLabel);
toolBarBatteryBar = new QProgressBar(this);
toolBarBatteryBar->setMinimum(0);
toolBarBatteryBar->setMaximum(100);
toolBarBatteryBar->setMinimumWidth(20);
toolBarBatteryBar->setMaximumWidth(100);
toolBarBatteryBar->setToolTip(tr("Battery charge level"));
toolBarBatteryBar->setObjectName("toolBarBatteryBar");
toolBarBatteryBar->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::MinimumExpanding);
toolBarBatteryBarAction = addWidget(toolBarBatteryBar);
toolBarBatteryVoltageLabel = new QLabel(this);
toolBarBatteryVoltageLabel->setToolTip(tr("Battery voltage"));
toolBarBatteryVoltageLabel->setObjectName("toolBarBatteryVoltageLabel");
toolBarBatteryVoltageLabel->setAlignment(Qt::AlignCenter);
toolBarBatteryVoltageAction = addWidget(toolBarBatteryVoltageLabel);
toolBarWpLabel = new QLabel(this);
toolBarWpLabel->setToolTip(tr("Current waypoint"));
toolBarWpLabel->setObjectName("toolBarWpLabel");
toolBarWpLabel->setAlignment(Qt::AlignCenter);
toolBarWpAction = addWidget(toolBarWpLabel);
toolBarMessageLabel = new QLabel(this);
toolBarMessageLabel->setToolTip(tr("Most recent system message"));
toolBarMessageLabel->setObjectName("toolBarMessageLabel");
toolBarMessageAction = addWidget(toolBarMessageLabel);
QWidget* spacer = new QWidget();
spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
addWidget(spacer);
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portComboBox = new QComboBox(this);
portComboBox->setToolTip(tr("Choose the COM port to use"));
portComboBox->setEnabled(true);
portComboBox->setMinimumWidth(100);
toolBarPortAction = addWidget(portComboBox);
baudcomboBox = new QComboBox(this);
baudcomboBox->setToolTip(tr("Choose what baud rate to use"));
baudcomboBox->setEnabled(true);
baudcomboBox->setMinimumWidth(40);
baudcomboBox->addItem("9600", 9600);
baudcomboBox->addItem("14400", 14400);
baudcomboBox->addItem("19200", 19200);
baudcomboBox->addItem("38400", 38400);
baudcomboBox->addItem("57600", 57600);
baudcomboBox->addItem("115200", 115200);
baudcomboBox->addItem("230400", 230400);
baudcomboBox->addItem("460800", 460800);
baudcomboBox->addItem("921600", 921600);
baudcomboBox->setCurrentIndex(baudcomboBox->findData(57600));
toolBarBaudAction = addWidget(baudcomboBox);
connect(baudcomboBox, SIGNAL(activated(int)), this, SLOT(baudSelected(int)));
connect(portComboBox, SIGNAL(activated(int)), this, SLOT(portSelected(int)));
connectButton = new QPushButton(tr("Connect"), this);
connectButton->setObjectName("connectButton");
connectButton->setToolTip(tr("Connect wireless link to MAV"));
connectButton->setCheckable(true);
addWidget(connectButton);
connect(connectButton, SIGNAL(clicked(bool)), this, SLOT(connectLink(bool)));
resetToolbarUI();
// Set the toolbar to be updated every 2s
connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
// Configure the toolbar for the current default UAS
setActiveUAS(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
qDebug() << "LINK COUNT" << LinkManager::instance()->getLinks().count();
// Update label if required
if (LinkManager::instance()->getSerialLinks().count() < 1) {
connectButton->setText(tr("New Serial Link"));
toolBarPortAction->setVisible(false);
toolBarBaudAction->setVisible(false);
QList<SerialLink*> links = LinkManager::instance()->getSerialLinks();
foreach(SerialLink* slink, links)
{
addLink(slink);
}
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
connect(LinkManager::instance(), SIGNAL(linkRemoved(LinkInterface*)), this, SLOT(removeLink(LinkInterface*)));
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connect(&portBoxTimer, SIGNAL(timeout()), this, SLOT(updateComboBox()));
portBoxTimer.start(500);
toolBarMessageAction->setVisible(false);
toolBarBatteryBarAction->setVisible(false);
/**
* Reset all the labels and stuff for the toolbar to a pristine state. Done at startup after
* all UI has been created and also when the last UAS has been deleted.
**/
void QGCToolBar::resetToolbarUI()
{
toolBarNameLabel->setText("------");
toolBarNameLabel->setStyleSheet("");
toolBarTimeoutLabel->setText(tr("UNCONNECTED"));
//toolBarTimeoutLabel->show();
toolBarSafetyLabel->setText("----");
toolBarModeLabel->setText("------");
// toolBarStateLabel->setText("------");
toolBarBatteryBar->setValue(0);
toolBarBatteryBar->setDisabled(true);
toolBarBatteryVoltageLabel->setText("xx.x V");
toolBarWpLabel->setText("WP--");
toolBarMessageLabel->clear();
lastSystemMessage = "";
lastSystemMessageTimeMs = 0;
symbolLabel->setStyleSheet("");
symbolLabel->clear();
toolBarMessageAction->setVisible(false);
toolBarBatteryBarAction->setVisible(false);
}
void QGCToolBar::baudSelected(int index)
{
void QGCToolBar::portSelected(int index)
{
Q_UNUSED(index);
userPortChoice = true;
}
void QGCToolBar::setPerspectiveChangeActions(const QList<QAction*> &actions)
group = new QButtonGroup(this);
// Add the first button.
QToolButton *first = new QToolButton(this);
first->setIcon(actions.first()->icon());
first->setText(actions.first()->text());
first->setToolTip(actions.first()->toolTip());
first->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
first->setCheckable(true);
connect(first, SIGNAL(clicked(bool)), actions.first(), SIGNAL(triggered(bool)));
connect(actions.first(),SIGNAL(triggered(bool)),first,SLOT(setChecked(bool)));
first->setObjectName("firstAction");
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//first->setStyleSheet("QToolButton { min-height: 24px; max-height: 24px; min-width: 60px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8); margin-left: 8px; margin-right: 0px; padding-left: 4px; padding-right: 8px; border-radius: 0px; border : 0px solid blue; border-bottom-left-radius: 6px; border-top-left-radius: 6px; border-left: 1px solid #484848; border-top: 1px solid #484848; border-bottom: 1px solid #484848; } QToolButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }");
addWidget(first);
group->addButton(first);
// Add all the middle buttons.
for (int i = 1; i < actions.count(); i++)
{
QToolButton *btn = new QToolButton(this);
btn->setIcon(actions.at(i)->icon());
btn->setText(actions.at(i)->text());
btn->setToolTip(actions.at(i)->toolTip());
btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
btn->setCheckable(true);
connect(btn, SIGNAL(clicked(bool)), actions.at(i), SIGNAL(triggered(bool)));
connect(actions.at(i),SIGNAL(triggered(bool)),btn,SLOT(setChecked(bool)));
addWidget(btn);
group->addButton(btn);
}
// Add last button
advancedButton = new QToolButton(this);
advancedButton->setIcon(QIcon(":/files/images/apps/utilities-system-monitor.svg"));
advancedButton->setText(tr("Pro"));
advancedButton->setToolTip(tr("Options for advanced users"));
advancedButton->setCheckable(true);
advancedButton->setObjectName("advancedButton");
advancedButton->setPopupMode(QToolButton::InstantPopup);
advancedButton->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
addWidget(advancedButton);
group->addButton(advancedButton);
qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided";
// Add the "rest"
void QGCToolBar::setPerspectiveChangeAdvancedActions(const QList<QAction*> &actions)
{
if (actions.count() > 1)
{
QMenu *menu = new QMenu(advancedButton);
for (int i = 0; i < actions.count(); i++)
{
menu->addAction(actions.at(i));
}
advancedButton->setMenu(menu);
connect(menu, SIGNAL(triggered(QAction*)), this, SLOT(advancedActivityTriggered(QAction*)));
} else {
qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided";
}
}
void QGCToolBar::advancedActivityTriggered(QAction* action)
{
if (action->isChecked())
advancedButton->setChecked(true);
}
void QGCToolBar::setActiveUAS(UASInterface* active)
{
// Do nothing if system is the same
if (mav == active || active == NULL)
return;
// If switching UASes, disconnect the only one.
if (mav)
{
disconnect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
disconnect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
disconnect(mav, SIGNAL(batteryChanged(UASInterface*, double, double, double,int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
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disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
if (mav->getWaypointManager())
{
disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
}
else
{
// Only update the UI once a UAS has been selected.
updateViewTimer.start(2000);
}
// Connect new system
mav = active;
if (mav)
connect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
connect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
connect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,double,int)));
connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
if (mav->getWaypointManager())
{
connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
connect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
}
// Update all values once
systemName = mav->getUASName();
systemArmed = mav->isArmed();
toolBarNameLabel->setText(mav->getUASName().replace("MAV", ""));
toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name()));
symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name()));
QString shortMode = mav->getShortMode();
shortMode = shortMode.replace("D|", "");
shortMode = shortMode.replace("A|", "");
toolBarModeLabel->setText(shortMode);
// toolBarStateLabel->setText(mav->getShortState());
toolBarTimeoutAction->setVisible(false);
toolBarMessageLabel->clear();
lastSystemMessageTimeMs = 0;
toolBarBatteryBar->setEnabled(true);
setSystemType(mav, mav->getSystemType());
}
else
{
updateViewTimer.stop();
resetToolbarUI();
}
}
void QGCToolBar::updateArmingState(bool armed)
{
systemArmed = armed;
changed = true;
/* important, immediately update */
updateView();
void QGCToolBar::updateView()
{
if (!changed) return;
if (toolBarWpAction->isVisible())
toolBarWpLabel->setText(tr("WP%1").arg(wpId));
if (toolBarBatteryBarAction->isVisible()) {
toolBarBatteryBar->setValue(batteryPercent);
if (batteryPercent < 30 && toolBarBatteryBar->value() >= 30) {
if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
{
toolBarBatteryBar->setStyleSheet("QProgressBar {color: #FFF} QProgressBar::chunk { background-color: #008000}");
}
else
{
toolBarBatteryBar->setStyleSheet("QProgressBar {color: #000} QProgressBar QProgressBar::chunk { background-color: #0F0}");
}
} else if (batteryPercent >= 30 && toolBarBatteryBar->value() < 30){
if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
{
toolBarBatteryBar->setStyleSheet("QProgressBar {color: #FFF} QProgressBar::chunk { background-color: #808000}");
}
else
{
toolBarBatteryBar->setStyleSheet("QProgressBar {color: #000} QProgressBar QProgressBar::chunk { background-color: #FF0}");
}
}
}
if (toolBarBatteryVoltageLabel->isVisible()) {
toolBarBatteryVoltageLabel->setText(tr("%1 V").arg(batteryVoltage, 4, 'f', 1, ' '));
// toolBarStateLabel->setText(QString("%1").arg(state));
toolBarModeLabel->setText(QString("%1").arg(mode));
// expire after 15 seconds
if (toolBarMessageAction->isVisible()) {
if (QGC::groundTimeMilliseconds() - lastSystemMessageTimeMs < 15000) {
toolBarMessageLabel->setText(QString("%1").arg(lastSystemMessage));
} else {
toolBarMessageLabel->clear();
}
// Display the system armed state with a red-on-yellow background if armed or green text if safe.
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toolBarSafetyLabel->setStyleSheet(QString("QLabel {color: %1; background-color: %2; font-size: 15pt;}").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name()));
toolBarSafetyLabel->setText(tr("ARMED"));
}
else
{
if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
{
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toolBarSafetyLabel->setStyleSheet("QLabel {color: #0D820D; font-size: 15pt;}");
}
else
{
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toolBarSafetyLabel->setStyleSheet("QLabel {color: #14C814; font-size: 15pt;}");
}
void QGCToolBar::updateWaypointDistance(double distance)
{
if (wpDistance != distance) changed = true;
wpDistance = distance;
}
void QGCToolBar::updateCurrentWaypoint(quint16 id)
{
void QGCToolBar::updateBatteryRemaining(UASInterface* uas, double voltage, double current, double percent, int seconds)
Q_UNUSED(uas);
Q_UNUSED(seconds);
if (batteryPercent != percent || batteryVoltage != voltage) changed = true;
void QGCToolBar::updateState(UASInterface* system, QString name, QString description)
{
Q_UNUSED(system);
Q_UNUSED(description);
/* important, immediately update */
updateView();
}
void QGCToolBar::updateMode(int system, QString name, QString description)
{
Q_UNUSED(system);
Q_UNUSED(description);
/* important, immediately update */
updateView();
}
void QGCToolBar::updateName(const QString& name)
{
if (systemName != name)
{
changed = true;
}
}
/**
* The current system type is represented through the system icon.
*
* @param uas Source system, has to be the same as this->uas
* @param systemType type ID, following the MAVLink system type conventions
* @see http://pixhawk.ethz.ch/software/mavlink
*/
void QGCToolBar::setSystemType(UASInterface* uas, unsigned int systemType)
{
Q_UNUSED(uas);
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QPixmap newPixmap;
switch (systemType) {
case MAV_TYPE_GENERIC:
newPixmap = QPixmap(":/files/images/mavs/generic.svg");
break;
case MAV_TYPE_FIXED_WING:
newPixmap = QPixmap(":/files/images/mavs/fixed-wing.svg");
break;
case MAV_TYPE_QUADROTOR:
newPixmap = QPixmap(":/files/images/mavs/quadrotor.svg");
break;
case MAV_TYPE_COAXIAL:
newPixmap = QPixmap(":/files/images/mavs/coaxial.svg");
break;
case MAV_TYPE_HELICOPTER:
newPixmap = QPixmap(":/files/images/mavs/helicopter.svg");
break;
case MAV_TYPE_ANTENNA_TRACKER:
newPixmap = QPixmap(":/files/images/mavs/antenna-tracker.svg");
break;
case MAV_TYPE_GCS:
newPixmap = QPixmap(":files/images/mavs/groundstation.svg");
break;
case MAV_TYPE_AIRSHIP:
newPixmap = QPixmap(":files/images/mavs/airship.svg");
break;
case MAV_TYPE_FREE_BALLOON:
newPixmap = QPixmap(":files/images/mavs/free-balloon.svg");
break;
case MAV_TYPE_ROCKET:
newPixmap = QPixmap(":files/images/mavs/rocket.svg");
break;
case MAV_TYPE_GROUND_ROVER:
newPixmap = QPixmap(":files/images/mavs/ground-rover.svg");
break;
case MAV_TYPE_SURFACE_BOAT:
newPixmap = QPixmap(":files/images/mavs/surface-boat.svg");
break;
case MAV_TYPE_SUBMARINE:
newPixmap = QPixmap(":files/images/mavs/submarine.svg");
break;
case MAV_TYPE_HEXAROTOR:
newPixmap = QPixmap(":files/images/mavs/hexarotor.svg");
break;
case MAV_TYPE_OCTOROTOR:
newPixmap = QPixmap(":files/images/mavs/octorotor.svg");
break;
case MAV_TYPE_TRICOPTER:
newPixmap = QPixmap(":files/images/mavs/tricopter.svg");
break;
case MAV_TYPE_FLAPPING_WING:
newPixmap = QPixmap(":files/images/mavs/flapping-wing.svg");
break;
case MAV_TYPE_KITE:
newPixmap = QPixmap(":files/images/mavs/kite.svg");
break;
default:
newPixmap = QPixmap(":/files/images/mavs/unknown.svg");
break;
}
symbolLabel->setPixmap(newPixmap.scaledToHeight(24));
void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QString text)
{
Q_UNUSED(uasid);
Q_UNUSED(componentid);
Q_UNUSED(severity);
lastSystemMessageTimeMs = QGC::groundTimeMilliseconds();
void QGCToolBar::addLink(LinkInterface* link)
{
// Accept only serial links as current link
SerialLink* serial = qobject_cast<SerialLink*>(link);
if (serial && !currentLink)
{
toolBarPortAction->setVisible(true);
toolBarBaudAction->setVisible(true);
currentLink = link;
connect(currentLink, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
updateLinkState(link->isConnected());
qDebug() << "ADD LINK";
updateComboBox();
}
}
void QGCToolBar::removeLink(LinkInterface* link)
{
if (link == currentLink) {
currentLink = NULL;
// Try to get a new serial link
foreach (SerialLink* s, LinkManager::instance()->getSerialLinks())
{
addLink(s);
}
// Update GUI according to scan result
if (currentLink) {
updateLinkState(currentLink->isConnected());
} else {
connectButton->setText(tr("New Serial Link"));
portComboBox->hide();
baudcomboBox->hide();
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updateComboBox();
}
void QGCToolBar::updateComboBox()
{
if (currentLink && !currentLink->isConnected())
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{
// Do not update if not visible
if (!portComboBox->isVisible())
return;
SerialLink *slink = qobject_cast<SerialLink*>(currentLink);
QList<QString> portlist = slink->getCurrentPorts();
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foreach (QString port, portlist)
{
if (portComboBox->findText(port) == -1)
{
portComboBox->addItem(port, port);
}
if (!userPortChoice) {
if (slink->getPortName().trimmed().length() > 0)
int portIndex = portComboBox->findData(slink->getPortName());
if (portIndex >= 0) {
portComboBox->setCurrentIndex(portIndex);
portComboBox->setEditText(slink->getPortName());
}
if (portlist.length() > 0)
{
portComboBox->setEditText(portlist.last());
}
else
{
portComboBox->setEditText(tr("No serial port found"));
}
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}
if (!userBaudChoice) {
int index = baudcomboBox->findData(slink->getBaudRate());
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}
}
void QGCToolBar::updateLinkState(bool connected)
{
Q_UNUSED(connected);
if (currentLink && currentLink->isConnected() && portComboBox->isVisible())
{
connectButton->setText(tr("Disconnect"));
connectButton->blockSignals(true);
connectButton->setChecked(true);
connectButton->blockSignals(false);
toolBarPortAction->setVisible(false);
toolBarBaudAction->setVisible(false);
toolBarMessageAction->setVisible(true);
toolBarWpAction->setVisible(true);
}
else
{
connectButton->setText(tr("Connect"));
connectButton->blockSignals(true);
connectButton->setChecked(false);
connectButton->blockSignals(false);
toolBarPortAction->setVisible(true);
toolBarBaudAction->setVisible(true);
toolBarMessageAction->setVisible(false);
toolBarWpAction->setVisible(false);
void QGCToolBar::connectLink(bool connect)
{
// No serial port yet present
if (connect && LinkManager::instance()->getSerialLinks().count() == 0)
{
MainWindow::instance()->addLink();
currentLink = LinkManager::instance()->getLinks().last();
SerialLink *link = qobject_cast<SerialLink*>(currentLink);
if (link)
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{
link->setPortName(portComboBox->itemData(portComboBox->currentIndex()).toString().trimmed());
int baud = baudcomboBox->currentText().toInt();
link->setBaudRate(baud);
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link->connect();
}
} else if (!connect && currentLink) {
currentLink->disconnect();
void QGCToolBar::loadSettings()
{
QSettings settings;
settings.beginGroup("QGC_TOOLBAR");
settings.endGroup();
}
void QGCToolBar::storeSettings()
{
QSettings settings;
settings.beginGroup("QGC_TOOLBAR");
settings.endGroup();
settings.sync();
}
void QGCToolBar::clearStatusString()
{
if (toolBarMessageLabel->text().length() > 0)
{
lastSystemMessage = "";
changed = true;
}
QGCToolBar::~QGCToolBar()
{
storeSettings();