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#include "QGCHilXPlaneConfiguration.h"
#include "ui_QGCHilXPlaneConfiguration.h"
#include "QGCXPlaneLink.h"
QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCHilXPlaneConfiguration)
{
ui->setupUi(this);
this->link = link;
connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
connect(link, SIGNAL(statusMessage(QString)), parent, SLOT(receiveStatusMessage(QString)));
// 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());
connect(xplane, SIGNAL(sensorHilChanged(bool)), ui->sensorHilCheckBox, SLOT(setChecked(bool)));
connect(ui->sensorHilCheckBox, SIGNAL(clicked(bool)), xplane, SLOT(enableSensorHIL(bool)));
connect(link, SIGNAL(versionChanged(int)), this, SLOT(setVersion(int)));
}
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;
}