From 0c45b7f0917319224c47a587d5b20d02e43d1944 Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Tue, 9 Jul 2013 17:49:05 -0400
Subject: [PATCH] Initial implementation of FailSafe configuration

---
 src/ui/configuration/FailSafeConfig.cc | 225 ++++++++++++-
 src/ui/configuration/FailSafeConfig.h  |  11 +-
 src/ui/configuration/FailSafeConfig.ui | 424 ++++++++++++++++++++++++-
 3 files changed, 654 insertions(+), 6 deletions(-)

diff --git a/src/ui/configuration/FailSafeConfig.cc b/src/ui/configuration/FailSafeConfig.cc
index 5f7ff81b0..fe3199ba8 100644
--- a/src/ui/configuration/FailSafeConfig.cc
+++ b/src/ui/configuration/FailSafeConfig.cc
@@ -1,11 +1,234 @@
 #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);
+}
diff --git a/src/ui/configuration/FailSafeConfig.h b/src/ui/configuration/FailSafeConfig.h
index a22e96493..83085fb17 100644
--- a/src/ui/configuration/FailSafeConfig.h
+++ b/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;
 };
diff --git a/src/ui/configuration/FailSafeConfig.ui b/src/ui/configuration/FailSafeConfig.ui
index fe4eef1cb..69375dd53 100644
--- a/src/ui/configuration/FailSafeConfig.ui
+++ b/src/ui/configuration/FailSafeConfig.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>822</width>
+    <height>536</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,7 +26,427 @@
     <string>&lt;h2&gt;Fail Safe&lt;/h2&gt;</string>
    </property>
   </widget>
+  <widget class="QWidget" name="verticalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>70</y>
+     <width>252</width>
+     <height>441</height>
+    </rect>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio1In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio2In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio3In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio4In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio5In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio6In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio7In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio8In" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QWidget" name="verticalLayoutWidget_2">
+   <property name="geometry">
+    <rect>
+     <x>300</x>
+     <y>70</y>
+     <width>252</width>
+     <height>441</height>
+    </rect>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_2">
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio1Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio2Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio3Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio4Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio5Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio6Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio7Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGCRadioChannelDisplay" name="radio8Out" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>40</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>570</x>
+     <y>60</y>
+     <width>181</width>
+     <height>181</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Status</string>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_3">
+    <item>
+     <widget class="QLabel" name="modeLabel">
+      <property name="text">
+       <string>TextLabel</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="armedLabel">
+      <property name="text">
+       <string>TextLabel</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="gpsLabel">
+      <property name="text">
+       <string>TextLabel</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>570</x>
+     <y>250</y>
+     <width>161</width>
+     <height>261</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Failsafe Options</string>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_4">
+    <item>
+     <widget class="QCheckBox" name="throttleCheckBox">
+      <property name="text">
+       <string>Throttle FailSafe</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QComboBox" name="throttleFailSafeComboBox"/>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>FS Pwm</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="throttlePwmSpinBox">
+        <property name="maximum">
+         <number>3000</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <widget class="QCheckBox" name="throttleActionCheckBox">
+      <property name="text">
+       <string>Throttle FailSafe Action</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QCheckBox" name="gcsCheckBox">
+      <property name="text">
+       <string>GCS FailSafe</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QCheckBox" name="fsShortCheckBox">
+      <property name="text">
+       <string>FailSafe Short (1 sec)</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QCheckBox" name="fsLongCheckBox">
+      <property name="text">
+       <string>FailSafe Long (20 sec)</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QCheckBox" name="batteryFailCheckBox">
+      <property name="text">
+       <string>Battery Failsafe</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Low Battery</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="batteryVoltSpinBox">
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QGCRadioChannelDisplay</class>
+   <extends>QWidget</extends>
+   <header>ui/designer/QGCRadioChannelDisplay.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>
-- 
2.22.0