1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
#include "QGCHilXPlaneConfiguration.h"
#include "ui_QGCHilXPlaneConfiguration.h"
#include "QGCXPlaneLink.h"
#include "QGCHilConfiguration.h"
QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QGCHilConfiguration *parent) :
QWidget(parent),
ui(new Ui::QGCHilXPlaneConfiguration)
{
ui->setupUi(this);
this->link = link;
connect(ui->startButton, &QPushButton::clicked, this, &QGCHilXPlaneConfiguration::toggleSimulation);
connect(ui->hostComboBox, static_cast<void (QComboBox::*)(const QString&)>(&QComboBox::activated),
link, &QGCHilLink::setRemoteHost);
connect(link, &QGCHilLink::remoteChanged, ui->hostComboBox, &QComboBox::setEditText);
connect(link, &QGCHilLink::statusMessage, parent, &QGCHilConfiguration::receiveStatusMessage);
// connect(mav->getHILSimulation(), SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
// connect(ui->simComboBox, SIGNAL(activated(QString)), mav->getHILSimulation(), SLOT(setVersion(QString)));
ui->startButton->setText(tr("Connect"));
QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
if (xplane)
{
// connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
// connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
//ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
//connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
// XXX not implemented yet
//ui->airframeComboBox->hide();
ui->sensorHilCheckBox->setChecked(xplane->sensorHilEnabled());
ui->useHilActuatorControlsCheckBox->setChecked(true);
connect(xplane, &QGCXPlaneLink::sensorHilChanged, ui->sensorHilCheckBox, &QCheckBox::setChecked);
connect(ui->sensorHilCheckBox, &QCheckBox::clicked, xplane, &QGCXPlaneLink::enableSensorHIL);
connect(xplane, &QGCXPlaneLink::useHilActuatorControlsChanged, ui->useHilActuatorControlsCheckBox, &QCheckBox::setChecked);
connect(ui->useHilActuatorControlsCheckBox, &QCheckBox::clicked, xplane, &QGCXPlaneLink::enableHilActuatorControls);
connect(link, static_cast<void (QGCHilLink::*)(int)>(&QGCHilLink::versionChanged),
this, &QGCHilXPlaneConfiguration::setVersion);
}
ui->hostComboBox->clear();
ui->hostComboBox->addItem(link->getRemoteHost());
}
void QGCHilXPlaneConfiguration::setVersion(int version)
{
Q_UNUSED(version);
}
void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
{
if (!link) {
return;
}
Q_UNUSED(connect);
if (!link->isConnected())
{
link->setRemoteHost(ui->hostComboBox->currentText());
link->connectSimulation();
ui->startButton->setText(tr("Disconnect"));
}
else
{
link->disconnectSimulation();
ui->startButton->setText(tr("Connect"));
}
}
QGCHilXPlaneConfiguration::~QGCHilXPlaneConfiguration()
{
delete ui;
}