Initial implementation of FailSafe configuration

src/ui/configuration/FailSafeConfig.cc

 #include "FailSafeConfig.h"
 
 
-FailSafeConfig::FailSafeConfig(QWidget *parent) : QWidget(parent)
+FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+    ui.radio1In->setName("Radio 1");
+    ui.radio1In->setMin(800);
+    ui.radio1In->setMax(2200);
+    ui.radio1In->setOrientation(Qt::Horizontal);
+    ui.radio2In->setName("Radio 2");
+    ui.radio2In->setMin(800);
+    ui.radio2In->setMax(2200);
+    ui.radio2In->setOrientation(Qt::Horizontal);
+    ui.radio3In->setName("Radio 3");
+    ui.radio3In->setMin(800);
+    ui.radio3In->setMax(2200);
+    ui.radio3In->setOrientation(Qt::Horizontal);
+    ui.radio4In->setName("Radio 4");
+    ui.radio4In->setMin(800);
+    ui.radio4In->setMax(2200);
+    ui.radio4In->setOrientation(Qt::Horizontal);
+    ui.radio5In->setName("Radio 5");
+    ui.radio5In->setMin(800);
+    ui.radio5In->setMax(2200);
+    ui.radio5In->setOrientation(Qt::Horizontal);
+    ui.radio6In->setName("Radio 6");
+    ui.radio6In->setMin(800);
+    ui.radio6In->setMax(2200);
+    ui.radio6In->setOrientation(Qt::Horizontal);
+    ui.radio7In->setName("Radio 7");
+    ui.radio7In->setMin(800);
+    ui.radio7In->setMax(2200);
+    ui.radio7In->setOrientation(Qt::Horizontal);
+    ui.radio8In->setName("Radio 8");
+    ui.radio8In->setMin(800);
+    ui.radio8In->setMax(2200);
+    ui.radio8In->setOrientation(Qt::Horizontal);
+
+    ui.radio1Out->setName("Radio 1");
+    ui.radio1Out->setMin(800);
+    ui.radio1Out->setMax(2200);
+    ui.radio1Out->setOrientation(Qt::Horizontal);
+    ui.radio2Out->setName("Radio 2");
+    ui.radio2Out->setMin(800);
+    ui.radio2Out->setMax(2200);
+    ui.radio2Out->setOrientation(Qt::Horizontal);
+    ui.radio3Out->setName("Radio 3");
+    ui.radio3Out->setMin(800);
+    ui.radio3Out->setMax(2200);
+    ui.radio3Out->setOrientation(Qt::Horizontal);
+    ui.radio4Out->setName("Radio 4");
+    ui.radio4Out->setMin(800);
+    ui.radio4Out->setMax(2200);
+    ui.radio4Out->setOrientation(Qt::Horizontal);
+    ui.radio5Out->setName("Radio 5");
+    ui.radio5Out->setMin(800);
+    ui.radio5Out->setMax(2200);
+    ui.radio5Out->setOrientation(Qt::Horizontal);
+    ui.radio6Out->setName("Radio 6");
+    ui.radio6Out->setMin(800);
+    ui.radio6Out->setMax(2200);
+    ui.radio6Out->setOrientation(Qt::Horizontal);
+    ui.radio7Out->setName("Radio 7");
+    ui.radio7Out->setMin(800);
+    ui.radio7Out->setMax(2200);
+    ui.radio7Out->setOrientation(Qt::Horizontal);
+    ui.radio8Out->setName("Radio 8");
+    ui.radio8Out->setMin(800);
+    ui.radio8Out->setMax(2200);
+    ui.radio8Out->setOrientation(Qt::Horizontal);
+
+    ui.throttleFailSafeComboBox->addItem("Disable");
+    ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL");
+    ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto");
 }
 
 FailSafeConfig::~FailSafeConfig()
 {
 }
+void FailSafeConfig::activeUASSet(UASInterface *uas)
+{
+    AP2ConfigWidget::activeUASSet(uas);
+    connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
+    connect(uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
+    connect(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+}
+void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    //Arducopter
+    if (parameterName == "FS_THR_ENABLE")
+    {
+        ui.throttleFailSafeComboBox->setCurrentIndex(value.toInt());
+    }
+    else if (parameterName == "FS_THR_VALUE")
+    {
+        ui.throttlePwmSpinBox->setValue(value.toFloat());
+    }
+    else if (parameterName == "FS_BATT_ENABLE")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.batteryFailCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.batteryFailCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "LOW_VOLT")
+    {
+        ui.batteryVoltSpinBox->setValue(value.toFloat());
+    }
+    //Arduplane
+    else if (parameterName == "THR_FAILSAFE")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.throttleCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.throttleCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "THR_FS_VALUE")
+    {
+        ui.throttlePwmSpinBox->setValue(value.toFloat());
+    }
+    else if (parameterName == "THR_FS_ACTION")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.throttleActionCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.throttleActionCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "FS_GCS_ENABL")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.gcsCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.gcsCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "FS_SHORT_ACTN")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.fsShortCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.fsShortCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "FS_LONG_ACTN")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.fsLongCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.fsLongCheckBox->setChecked(true);
+        }
+    }
+
+}
+
+void FailSafeConfig::armingChanged(bool armed)
+{
+    if (armed)
+    {
+        ui.armedLabel->setText("<h1>ARMED</h1>");
+    }
+    else
+    {
+        ui.armedLabel->setText("<h1>DISARMED</h1>");
+    }
+}
+
+void FailSafeConfig::remoteControlChannelRawChanges(int chan,float value)
+{
+    if (chan == 0)
+    {
+        ui.radio1In->setValue(value);
+    }
+    else if (chan == 1)
+    {
+        ui.radio2In->setValue(value);
+    }
+    else if (chan == 2)
+    {
+        ui.radio3In->setValue(value);
+    }
+    else if (chan == 3)
+    {
+        ui.radio4In->setValue(value);
+    }
+    else if (chan == 4)
+    {
+        ui.radio5In->setValue(value);
+    }
+    else if (chan == 5)
+    {
+        ui.radio6In->setValue(value);
+    }
+    else if (chan == 6)
+    {
+        ui.radio7In->setValue(value);
+    }
+    else if (chan == 7)
+    {
+        ui.radio8In->setValue(value);
+    }
+}
+void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
+{
+    ui.radio1Out->setValue(act1);
+    ui.radio2Out->setValue(act2);
+    ui.radio3Out->setValue(act3);
+    ui.radio4Out->setValue(act4);
+    ui.radio5Out->setValue(act5);
+    ui.radio6Out->setValue(act6);
+    ui.radio7Out->setValue(act7);
+    ui.radio8Out->setValue(act8);
+}

src/ui/configuration/FailSafeConfig.h

@@ -3,15 +3,20 @@
 
 #include <QWidget>
 #include "ui_FailSafeConfig.h"
-
-class FailSafeConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class FailSafeConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
 public:
     explicit FailSafeConfig(QWidget *parent = 0);
     ~FailSafeConfig();
-    
+private slots:
+    void activeUASSet(UASInterface *uas);
+    void remoteControlChannelRawChanges(int chan,float value);
+    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
+    void armingChanged(bool armed);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
     Ui::FailSafeConfig ui;
 };