From 1b38fb03e2a0cc36d648a7d17c9a29e26a2d86f2 Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ece.ualberta.ca>
Date: Tue, 21 Sep 2010 15:35:57 -0600
Subject: [PATCH] got uas to cast properly. in radio calibrator

---
 qgroundcontrol.pro                            |  2 +-
 src/uas/UAS.cc                                |  2 +-
 .../RadioCalibrationWindow.cc                 | 34 ++++++++++++++-----
 .../RadioCalibration/RadioCalibrationWindow.h |  3 +-
 4 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 4916d75e4..70529131c 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -19,7 +19,7 @@ BASEDIR = .
 BUILDDIR = build
 LANGUAGE = C++
 CONFIG += debug_and_release \
-    console
+    #console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 89a79ab52..08eb88891 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1156,7 +1156,7 @@ void UAS::receiveButton(int buttonIndex)
 
         break;
     }
-    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
+//    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
 
 }
 
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
index 0d7f3e8ac..3d98eb90d 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
@@ -1,7 +1,8 @@
 #include "RadioCalibrationWindow.h"
 
 RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
-        QWidget(parent, Qt::Window)
+        QWidget(parent, Qt::Window),
+        radio(new RadioCalibrationData())
 {
     QGridLayout *grid = new QGridLayout();
 
@@ -26,7 +27,23 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
 
     /* Buttons for loading/transmitting calibration data */
     QHBoxLayout *hbox = new QHBoxLayout();
+    QPushButton *load = new QPushButton(tr("Load File"));
+    QPushButton *save = new QPushButton(tr("Save File"));
+    QPushButton *transmit = new QPushButton(tr("Transmit to UAV"));
+    QPushButton *get = new QPushButton(tr("Get from UAV"));
+    hbox->addWidget(load);
+    hbox->addWidget(save);
+    hbox->addWidget(transmit);
+    hbox->addWidget(get);
+    grid->addLayout(hbox, 2, 0, 1, 4);
     this->setLayout(grid);
+
+    connect(load, SIGNAL(clicked()), this, SLOT(loadFile()));
+    connect(save, SIGNAL(clicked()), this, SLOT(saveFile()));
+    connect(transmit, SIGNAL(clicked()), this, SLOT(send()));
+    connect(get, SIGNAL(clicked()), this, SLOT(receive()));
+
+    setUASId(0);
 }
 
 void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
@@ -96,18 +113,19 @@ RadioCalibrationWindow::RadioCalibrationData::RadioCalibrationData(RadioCalibrat
 
 void RadioCalibrationWindow::RadioCalibrationData::saveFile()
 {
-
+    qDebug() << __FILE__ << __LINE__ << "SAVE TO FILE";
 }
 
 void RadioCalibrationWindow::RadioCalibrationData::loadFile()
 {
-
+    qDebug() << __FILE__ << __LINE__ << "LOAD FROM FILE";
 }
 
 void RadioCalibrationWindow::RadioCalibrationData::send()
 {    
-#ifdef MAVLINK_ENABLE_UALBERTA_MESSAGES
-    UAS *uas = dynamic_cast<UAS>(UASManager::instance()->getUASForId(uasId));
+    qDebug() << __FILE__ << __LINE__ << "uasId = " << uasId;
+#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
+    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
     if (uas)
     {
         qDebug()<< "we have a uas";
@@ -119,7 +137,7 @@ void RadioCalibrationWindow::RadioCalibrationData::send()
                                            (*data)[GYRO].constData(),
                                            (*data)[PITCH].constData(),
                                            (*data)[THROTTLE].constData());
-        uas.sendMessage(msg);
+        uas->sendMessage(msg);
 
     }
 #endif
@@ -127,10 +145,10 @@ void RadioCalibrationWindow::RadioCalibrationData::send()
 
 void RadioCalibrationWindow::RadioCalibrationData::receive()
 {
-
+    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
 }
 
 void RadioCalibrationWindow::RadioCalibrationData::setUASId(int id)
 {
-    this->uasID = id;
+    this->uasId = id;
 }
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.h b/src/ui/RadioCalibration/RadioCalibrationWindow.h
index 1b10489b9..983259968 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.h
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.h
@@ -16,6 +16,7 @@
 
 #include "UASManager.h"
 #include "UASInterface.h"
+#include "UAS.h"
 #include "mavlink.h"
 
 class RadioCalibrationWindow : public QWidget
@@ -75,7 +76,7 @@ protected:
 
         protected:
             QVector<QVector<float> > *data;
-            int uasID;
+            int uasId;
 
             void init(const QVector<float>& aileron,
                       const QVector<float>& elevator,
-- 
2.22.0