Improved custom widget functionality.

src/uas/UAS.cc

@@ -1290,6 +1290,19 @@ void UAS::setParameter(int component, QString id, float value)
     sendMessage(msg);
 }
 
+/**
+ * Sets an action
+ *
+ **/
+void UAS::setAction(MAV_ACTION action)
+{
+    mavlink_message_t msg;
+    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action);
+    // Send message twice to increase chance that it reaches its goal
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
 /**
  * Launches the system
  *

src/uas/UAS.h

@@ -174,6 +174,9 @@ public:
     void setAutopilotType(int apType) { autopilot = apType;}
 
 public slots:
+    /** @brief Sets an action **/
+    void setAction(MAV_ACTION action);
+
     /** @brief Launches the system **/
     void launch();
     /** @brief Write this waypoint to the list of waypoints */

src/uas/UASInterface.h

@@ -162,6 +162,9 @@ public:
 
 public slots:
 
+    /** @brief Sets an action **/
+    virtual void setAction(MAV_ACTION action) = 0;
+
     /** @brief Launches the system/Liftof **/
     virtual void launch() = 0;
     /** @brief Set a new waypoint **/

src/ui/designer/QGCActionButton.cc

 #include "QGCActionButton.h"
 #include "ui_QGCActionButton.h"
 
+#include "MAVLinkProtocol.h"
+#include "UASManager.h"
+
+const char* kActionLabels[MAV_ACTION_NB] =
+{"HOLD",
+ "START MOTORS",
+ "LAUNCH",
+ "RETURN",
+ "EMERGENCY LAND",
+ "EMERGENCY KILL",
+ "CONFIRM KILL",
+ "CONTINUE",
+ "STOP MOTORS",
+ "HALT",
+ "SHUTDOWN",
+ "REBOOT",
+ "SET MANUAL",
+ "SET AUTO",
+ "READ STORAGE",
+ "WRITE STORAGE",
+ "CALIBRATE RC",
+ "CALIBRATE GYRO",
+ "CALIBRATE MAG",
+ "CALIBRATE PRESSURE",
+ "START REC",
+ "PAUSE REC",
+ "STOP REC",
+ "TAKEOFF",
+ "NAVIGATE",
+ "LAND",
+ "LOITER",
+ "SET ORIGIN",
+ "RELAY ON",
+ "RELAY OFF",
+ "GET IMAGE",
+ "START VIDEO",
+ "STOP VIDEO",
+ "RESET MAP"};
+
 QGCActionButton::QGCActionButton(QWidget *parent) :
     QGCToolWidgetItem(parent),
-    ui(new Ui::QGCActionButton)
+    ui(new Ui::QGCActionButton),
+    uas(NULL)
 {
     ui->setupUi(this);
+
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
+
+    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
     connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
+    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
     endEditMode();
+
+    // add action labels to combobox
+    for (int i = 0; i < MAV_ACTION_NB; i++)
+    {
+        ui->editActionComboBox->addItem(kActionLabels[i]);
+    }
 }
 
 QGCActionButton::~QGCActionButton()
@@ -15,6 +68,22 @@ QGCActionButton::~QGCActionButton()
     delete ui;
 }
 
+void QGCActionButton::sendAction()
+{
+    if (uas)
+    {
+        MAV_ACTION action = static_cast<MAV_ACTION>(
+                ui->editActionComboBox->currentIndex());
+
+        uas->setAction(action);
+    }
+}
+
+void QGCActionButton::setActionButtonName(QString text)
+{
+    ui->actionButton->setText(text);
+}
+
 void QGCActionButton::startEditMode()
 {
     ui->editActionComboBox->show();
@@ -30,3 +99,8 @@ void QGCActionButton::endEditMode()
     ui->editFinishButton->hide();
     isInEditMode = false;
 }
+
+void QGCActionButton::setActiveUAS(UASInterface *uas)
+{
+    this->uas = uas;
+}

src/ui/designer/QGCActionButton.h

@@ -7,6 +7,8 @@ namespace Ui {
     class QGCActionButton;
 }
 
+class UASInterface;
+
 class QGCActionButton : public QGCToolWidgetItem
 {
     Q_OBJECT
@@ -16,11 +18,17 @@ public:
     ~QGCActionButton();
 
 public slots:
+    void sendAction();
+    void setActionButtonName(QString text);
     void startEditMode();
     void endEditMode();
 
+private slots:
+    void setActiveUAS(UASInterface* uas);
+
 private:
     Ui::QGCActionButton *ui;
+    UASInterface* uas;
 };
 
 #endif // QGCACTIONBUTTON_H

src/ui/designer/QGCActionButton.ui

@@ -21,13 +21,6 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="2">
-    <widget class="QPushButton" name="actionButton">
-     <property name="text">
-      <string>Button name</string>
-     </property>
-    </widget>
-   </item>
    <item row="2" column="0">
     <widget class="QComboBox" name="editActionComboBox"/>
    </item>
@@ -59,26 +52,17 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="actionButton">
+     <property name="text">
+      <string>Button name</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
  <connections>
-  <connection>
-   <sender>editButtonName</sender>
-   <signal>textChanged(QString)</signal>
-   <receiver>actionButton</receiver>
-   <slot>setWindowTitle(QString)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>310</x>
-     <y>22</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>310</x>
-     <y>55</y>
-    </hint>
-   </hints>
-  </connection>
   <connection>
    <sender>editNameLabel</sender>
    <signal>textChanged(QString)</signal>
@@ -86,11 +70,11 @@
    <slot>setText(QString)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>116</x>
+     <x>114</x>
      <y>22</y>
     </hint>
     <hint type="destinationlabel">
-     <x>116</x>
+     <x>114</x>
      <y>55</y>
     </hint>
    </hints>