APMToolbar as a docking widget [complete] + missing files

qgroundcontrol.pro

@@ -778,6 +778,7 @@ OTHER_FILES += \
 OTHER_FILES += \
     qml/ApmToolBar.qml \
     qml/components/Button.qml \
+    qml/components/TextButton.qml \
     qml/resources/apmplanner/toolbar/connect.png \
     qml/resources/apmplanner/toolbar/flightplanner.png \
     qml/resources/apmplanner/toolbar/helpwizard.png \

qml/ApmToolBar.qml

@@ -4,21 +4,46 @@ import "./components"
 
 Rectangle {
     id: toolbar
-    width: parent.width
+
+    property alias backgroundColor : toolbar.color
+    property alias linkNameLabel: linkDevice.label
+    property alias baudrateLabel: baudrate.label
+
+    width: 1024 < parent.width ? 1024 : parent.width
     height: 72
     color: "black"
     border.color: "black"
 
+    Connections {
+            target: globalObj
+            onMAVConnected: {
+                console.log("Change Connection " + connected)
+                if (connect){
+                    console.log("connected")
+                   // connectButton.image = "./resources/apmplanner/toolbar/disconnect.png"
+                } else {
+                    console.log("disconnected")
+                   // connectButton.image = "./resources/apmplanner/toolbar/connect.png"
+                }
+            }
+    }
+
     Row {
         anchors.left: parent.left
         spacing: 2
 
+        Rectangle {
+            width: 5
+            height: parent.height
+            color: "black"
+        }
+
         Button {
             id: flightDataView
             label: "FLIGHT DATA"
             image: "./resources/apmplanner/toolbar/flightdata.png"
             onClicked: {
-                globalObj.selectFlightView()
+                globalObj.triggerFlightView()
             }
         }
 
@@ -26,7 +51,7 @@ Rectangle {
             id: flightPlanView
             label: "FLIGHT PLAN"
             image: "./resources/apmplanner/toolbar/flightplanner.png"
-            onClicked: globalObj.selectFlightPlanView()
+            onClicked: globalObj.triggerFlightPlanView()
         }
 
         Button {
@@ -34,7 +59,7 @@ Rectangle {
             label: "HARDWARE"
             image: "./resources/apmplanner/toolbar/hardwareconfig.png"
             margins: 8
-            onClicked: globalObj.selectHardwareView()
+            onClicked: globalObj.triggerHardwareView()
         }
 
         Button {
@@ -42,34 +67,62 @@ Rectangle {
             label: "SOFTWARE"
             image: "./resources/apmplanner/toolbar/softwareconfig.png"
             margins: 8
-            onClicked: globalObj.selectSoftwareView()
+            onClicked: globalObj.triggerSoftwareView()
         }
 
         Button {
             id: simualtionView
             label: "SIMULATION"
             image: "./resources/apmplanner/toolbar/simulation.png"
-            onClicked: globalObj.selectSimulationView()
+            onClicked: globalObj.triggerSimulationView()
         }
 
         Button {
             id: terminalView
             label: "TERMINAL"
             image: "./resources/apmplanner/toolbar/terminal.png"
-            onClicked: globalObj.selectTerminalView()
+            onClicked: globalObj.triggerTerminalView()
         }
     }
 
     Row {
-        anchors.left: parent.right
+        anchors.right: parent.right
         spacing: 2
 
+        TextButton {
+            id: linkDevice
+            label: "none"
+            minWidth: 100
+
+            onClicked: globalObj.showConnectionDialog()
+        }
+
+        TextButton {
+            id: baudrate
+            label: "none"
+            minWidth: 100
+
+            onClicked: globalObj.showConnectionDialog()
+        }
+
+        Rectangle {
+            width: 5
+            height: parent.height
+            color: "black"
+        }
+
         Button {
             id: connectButton
             label: "CONNECT"
             image: "./resources/apmplanner/toolbar/connect.png"
-            onClicked: globalObj.connect()
+            onClicked: globalObj.connectMAV()
+        }
+
+        Rectangle {
+            anchors.right: parent.right
+            width: 5
+            height: parent.height
+            color: "black"
         }
     }
 }
-

qml/components/Button.qml

@@ -38,7 +38,7 @@ Rectangle {
     signal buttonClick()
 
     onButtonClick: {
-        console.log(buttonLabel.text + " clicked.")
+        console.log(buttonLabel.text + " clicked calling signal")
         clicked()
     }
 

src/comm/SerialLink.cc

@@ -27,14 +27,18 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
     m_stopp(false),
     m_reqReset(false)
 {
+    qDebug() << "create SerialLink " << portname << baudRate << hardwareFlowControl
+             << parity << dataBits << stopBits;
     // Setup settings
     m_portName = portname.trimmed();
 
     if (m_portName == "" && getCurrentPorts()->size() > 0)
     {
-        m_portName = m_ports->first().trimmed();
+        m_portName = m_ports->first().trimmed();   
     }
 
+    qDebug() << "m_portName " << m_portName;
+
     // Set unique ID and add link to the list of links
     m_id = getNextLinkId();
 
@@ -61,14 +65,15 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
     m_stopBits = stopBits;
 
     // Set the port name
-    if (m_portName == "")
-    {
-        m_name = tr("Serial Link ") + QString::number(getId());
-    }
-    else
-    {
-        m_name = portname.trimmed();
-    }
+//    if (m_portName == "")
+//    {
+//        m_name = tr("Serial Link ") + QString::number(getId());
+//    }
+//    else
+//    {
+//        m_name = portname.trimmed();
+//    }
+
     loadSettings();
 }
 void SerialLink::requestReset()
@@ -187,7 +192,7 @@ void SerialLink::run()
                 m_bitsReceivedTotal += readData.length() * 8;
             }
         } else {
-            qDebug() << "readyReadTime #"<< __LINE__;
+//            qDebug() << "readyReadTime #"<< __LINE__;
 
         }
 
@@ -460,7 +465,7 @@ int SerialLink::getId()
 
 QString SerialLink::getName()
 {
-    return m_name;
+    return m_portName;
 }
 
 /**
@@ -695,11 +700,11 @@ bool SerialLink::setPortName(QString portName)
     if ((portName != m_portName)
             && (portName.trimmed().length() > 0)) {
         m_portName = portName.trimmed();
-        m_name = tr("serial port ") + portName.trimmed(); // [TODO] Do we need this?
+//        m_name = tr("serial port ") + portName.trimmed(); // [TODO] Do we need this?
         if(m_port)
             m_port->setPortName(portName);
 
-        emit nameChanged(m_name); // [TODO] maybe we can eliminate this
+        emit nameChanged(m_portName); // [TODO] maybe we can eliminate this
         return accepted;
     }
     return false;

src/comm/SerialLink.h

@@ -148,7 +148,7 @@ protected:
     int m_stopBits;
     int m_parity;
     QString m_portName;
-    QString m_name;
+//    QString m_name;
     int m_timeout;
     int m_id;
 

src/ui/CommConfigurationWindow.cc

@@ -55,7 +55,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "MainWindow.h"
 
-CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent) : QWidget(NULL)
+CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent) : QWidget(parent)
 {
     this->link = link;
 

src/ui/MainWindow.cc

@@ -181,15 +181,6 @@ MainWindow::MainWindow(QWidget *parent):
     actions << ui.actionSoftwareConfig;
     toolBar->setPerspectiveChangeActions(actions);
 
-    // We only want one of these.
-    apmToolBar = new APMToolBar(this);
-    apmToolBar->setFlightViewAction(ui.actionFlightView);
-    apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
-    apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
-    apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
-    apmToolBar->setSimulationViewAction(ui.actionSimulation_View);
-    apmToolBar->setTerminalViewAction(ui.actionSimulation_View);
-
     // Add actions for advanced users (displayed in dropdown under "advanced")
     QList<QAction*> advancedActions;
     advancedActions << ui.actionSimulation_View;
@@ -200,8 +191,6 @@ MainWindow::MainWindow(QWidget *parent):
     setStatusBar(customStatusBar);
     statusBar()->setSizeGripEnabled(true);
 
-
-
     emit initStatusChanged("Building common widgets.");
 
     buildCommonWidgets();
@@ -616,9 +605,17 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
 
     // Add Our new 'toolbar'
-    qDebug() << "width" << this->width();
+    // Create the APM Toolbar
+    APMToolBar *apmToolBar = new APMToolBar(this);
+    apmToolBar->setFlightViewAction(ui.actionFlightView);
+    apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
+    apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
+    apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
+    apmToolBar->setSimulationViewAction(ui.actionSimulation_View);
+    apmToolBar->setTerminalViewAction(ui.actionSimulation_View);
     createDockWidget(pilotView,apmToolBar,tr("APM Tool Bar"),"APM_TOOLBAR_DOCKWIDGET",VIEW_FLIGHT,Qt::TopDockWidgetArea,this->width(), 70);
 
+
     QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
     infoview->addSource(mavlinkDecoder);
     createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
@@ -864,7 +861,15 @@ void MainWindow::loadDockWidget(QString name)
     else if (name == "APM_TOOLBAR_DOCKWIDGET")
     {
         // Add Our new 'toolbar'
-        createDockWidget(centerStack->currentWidget(),apmToolBar,tr("APM Tool Bar"),"APM_TOOLBAR_DOCKWIDGET",VIEW_FLIGHT,Qt::TopDockWidgetArea,this->width(), 70);
+        // Create the APM Toolbar
+        APMToolBar *apmToolBar = new APMToolBar(this);
+        apmToolBar->setFlightViewAction(ui.actionFlightView);
+        apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
+        apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
+        apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
+        apmToolBar->setSimulationViewAction(ui.actionSimulation_View);
+        apmToolBar->setTerminalViewAction(ui.actionSimulation_View);
+        createDockWidget(centerStack->currentWidget(),apmToolBar,tr("APM Tool Bar"),"APM_TOOLBAR_DOCKWIDGET",currentView,Qt::TopDockWidgetArea,this->width(), 70);
     }
     else
     {
@@ -1651,6 +1656,29 @@ void MainWindow::addLink()
     }
 }
 
+
+bool MainWindow::configLink(LinkInterface *link)
+{
+    // Go searching for this link's configuration window
+    QList<QAction*> actions = ui.menuNetwork->actions();
+
+    bool found(false);
+
+    const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
+    const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
+
+    foreach (QAction* action, actions)
+    {
+        if (action->data().toInt() == linkID)
+        { // LinkManager::instance()->getLinks().indexOf(link)
+            found = true;
+            action->trigger(); // Show the Link Config Dialog
+        }
+    }
+
+    return found;
+}
+
 void MainWindow::addLink(LinkInterface *link)
 {
     // IMPORTANT! KEEP THESE TWO LINES
@@ -1680,7 +1708,7 @@ void MainWindow::addLink(LinkInterface *link)
 
     if (!found)
     {  //  || udp
-        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
+        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, NULL);
         commsWidgetList.append(commWidget);
         connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*)));
         QAction* action = commWidget->getAction();
@@ -1696,6 +1724,11 @@ void MainWindow::addLink(LinkInterface *link)
         }
     }
 }
+
+//void MainWindow::configLink(LinkInterface *link)
+//{
+
+//}
 void MainWindow::commsWidgetDestroyed(QObject *obj)
 {
     if (commsWidgetList.contains(obj))

src/ui/MainWindow.h

@@ -151,6 +151,7 @@ public slots:
     /** @brief Add a communication link */
     void addLink();
     void addLink(LinkInterface* link);
+    bool configLink(LinkInterface *link);
     void configure();
     /** @brief Set the currently controlled UAS */
     void setActiveUAS(UASInterface* uas);
@@ -404,7 +405,6 @@ protected:
 
     QPointer<QGCToolBar> toolBar;
     QPointer<QGCStatusBar> customStatusBar;
-    QPointer<APMToolBar> apmToolBar;
 
     QPointer<DebugConsole> debugConsole;
 

src/ui/MainWindow.ui

@@ -284,7 +284,7 @@
    </property>
    <property name="icon">
     <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/files/images/status/weather-overcast.svg</normaloff>:/files/images/status/weather-overcast.svg</iconset>
+     <normaloff>:/files/images/categories/applications-internet.svg</normaloff>:/files/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
     <string>Mission</string>
@@ -496,6 +496,10 @@
    </property>
   </action>
   <action name="actionSoftwareConfig">
+   <property name="icon">
+    <iconset resource="../../qgroundcontrol.qrc">
+     <normaloff>:/files/images/categories/applications-system.svg</normaloff>:/files/images/categories/applications-system.svg</iconset>
+   </property>
    <property name="text">
     <string>Software</string>
    </property>

src/ui/apmtoolbar.cpp

 #include <QDebug>
 #include <QDeclarativeContext>
 #include <QGraphicsObject>
+#include "LinkManager.h"
+#include "MainWindow.h"
 
 #include "apmtoolbar.h"
 
-APMToolBar::APMToolBar(QWidget *parent) :
+APMToolBar::APMToolBar(QWidget *parent):
     QDeclarativeView(parent)
 {
     // Configure our QML object
     this->rootContext()->setContextProperty("globalObj", this);
     setSource(QUrl::fromLocalFile("qml/ApmToolBar.qml"));
     setResizeMode(QDeclarativeView::SizeRootObjectToView);
+
+    QObject *root = rootObject();
+    connect(LinkManager::instance(),SIGNAL(newLink(LinkInterface*)),
+            this, SLOT(updateLinkDisplay(LinkInterface*)));
 }
 
 void APMToolBar::setFlightViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectFlightView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerFlightView()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::setFlightPlanViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectFlightPlanView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerFlightPlanView()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::setHardwareViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectHardwareView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerHardwareView()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::setSoftwareViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectSoftwareView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerSoftwareView()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::setSimulationViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectSimualtionView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerSimulationView()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::setTerminalViewAction(QAction *action)
 {
-    connect(this, SIGNAL(selectTerminalView()), action, SIGNAL(triggered()));
+    connect(this, SIGNAL(triggerTerminalView()), action, SIGNAL(triggered()));
+}
+
+void APMToolBar::setConnectMAVAction(QAction *action)
+{
+    connect(this, SIGNAL(connectMAV()), action, SIGNAL(triggered()));
 }
 
 void APMToolBar::selectFlightView()
 {
     qDebug() << "APMToolBar: SelectFlightView";
-//    emit triggerFlightView();
+    emit triggerFlightView();
 }
 
 void APMToolBar::selectFlightPlanView()
 {
     qDebug() << "APMToolBar: SelectFlightPlanView";
+    emit triggerFlightPlanView();
 }
 
 void APMToolBar::selectHardwareView()
 {
     qDebug() << "APMToolBar: selectHardwareView";
+    emit triggerHardwareView();
 }
 
 void APMToolBar::selectSoftwareView()
 {
     qDebug() << "APMToolBar: selectSoftwareView";
+    emit triggerSoftwareView();
 }
 
 void APMToolBar::selectSimulationView()
@@ -76,6 +90,65 @@ void APMToolBar::selectTerminalView()
 
 void APMToolBar::connectMAV()
 {
-    qDebug() << "APMToolBar: connect";
+    qDebug() << "APMToolBar: connectMAV ";
+
+    bool connected = LinkManager::instance()->getLinks().last()->isConnected();
+    bool result;
+
+    if (!connected && LinkManager::instance()->getLinks().count() < 3)
+    {
+        // No Link so prompt to connect one
+        MainWindow::instance()->addLink();
+    } else if (!connected) {
+        // Need to Connect Link
+        result = LinkManager::instance()->getLinks().last()->connect();
+
+    } else if (connected && LinkManager::instance()->getLinks().count() > 2) {
+        // result need to be the opposite of success.
+        result = !LinkManager::instance()->getLinks().last()->disconnect();
+    }
+    qDebug() << "result = " << result;
+    emit MAVConnected(result);
+}
+
+APMToolBar::~APMToolBar()
+{
+    qDebug() << "Destory APM Toolbar";
+}
+
+void APMToolBar::showConnectionDialog()
+{
+    // Displays a UI where the user can select a MAV Link.
+    qDebug() << "APMToolBar: showConnectionDialog link count ="
+             << LinkManager::instance()->getLinks().count();
+
+    LinkInterface *link = LinkManager::instance()->getLinks().last();
+    bool result;
+
+    if (link && LinkManager::instance()->getLinks().count() >= 3)
+    {
+        // Serial Link so prompt to config it
+        result = MainWindow::instance()->configLink(link);
+
+        if (!result)
+            qDebug() << "Link Config Failed!";
+    } else {
+        // No Link so prompt to create one
+        MainWindow::instance()->addLink();
+    }
+
 }
 
+void APMToolBar::updateLinkDisplay(LinkInterface* newLink)
+{
+    qDebug() << "APMToolBar: updateLinkDisplay";
+    QObject *object = rootObject();
+
+    if (newLink){
+        qint64 baudrate = newLink->getNominalDataRate();
+        object->setProperty("baudrateLabel", QString::number(baudrate));
+
+        QString linkName = newLink->getName();
+        object->setProperty("linkNameLabel", linkName);
+    }
+}

src/ui/apmtoolbar.h

@@ -4,11 +4,14 @@
 #include <QAction>