added ability to configure the instance id for the opal-rt link

qgroundcontrol.pro

@@ -234,11 +234,14 @@ win32:exists(src/lib/opalrt/OpalApi.h) {
         src/comm/OpalLink.h \
         src/comm/Parameter.h \
         src/comm/QGCParamID.h \
-        src/comm/ParameterList.h
+        src/comm/ParameterList.h \
+        src/ui/OpalLinkConfigurationWindow.h
     SOURCES += src/comm/OpalRT.cc \
         src/comm/OpalLink.cc \
         src/comm/Parameter.cc \
         src/comm/QGCParamID.cc \
-        src/comm/ParameterList.cc
+        src/comm/ParameterList.cc \
+        src/ui/OpalLinkConfigurationWindow.cc
+    FORMS += src/ui/OpalLinkSettings.ui
     DEFINES += OPAL_RT
 }

src/comm/OpalLink.cc

@@ -39,7 +39,8 @@ OpalLink::OpalLink() :
         receiveBuffer(new QQueue<QByteArray>()),
         systemID(1),
         componentID(1),
-        params(NULL)
+        params(NULL),
+        opalInstID(101)
 {
     start(QThread::LowPriority);
 
@@ -302,7 +303,7 @@ bool OpalLink::connect()
     short modelState;
 
     /// \todo allow configuration of instid in window    
-    if ((OpalConnect(101, false, &modelState) == EOK)
+    if ((OpalConnect(opalInstID, false, &modelState) == EOK)
         && (OpalGetSignalControl(0, true) == EOK)
         && (OpalGetParameterControl(true) == EOK))
     {
@@ -330,6 +331,8 @@ bool OpalLink::disconnect()
     OpalDisconnect();
     heartbeatTimer->stop();
     getSignalsTimer->stop();
+    connectState = false;
+    emit connected(connectState);
     return true;
 }
 

src/comm/OpalLink.h

@@ -103,6 +103,8 @@ public:
 
     void run();
 
+    int getOpalInstID() {return static_cast<int>(opalInstID);}
+
 public slots:
 
     void writeBytes(const char *bytes, qint64 length);
@@ -113,6 +115,8 @@ public slots:
 
     void getSignals();
 
+    void setOpalInstID(int instID) {opalInstID = static_cast<unsigned short>(instID);}
+
 protected slots:
 
     void receiveMessage(mavlink_message_t message);
@@ -151,6 +155,8 @@ protected:
 
     void getParameterList();
     OpalRT::ParameterList *params;
+
+    unsigned short opalInstID;
 };
 
 #endif // OPALLINK_H

src/ui/CommConfigurationWindow.cc

@@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkSimulationLink.h"
 #ifdef OPAL_RT
 #include "OpalLink.h"
+#include "OpalLinkConfigurationWindow.h"
 #endif
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSettingsWidget.h"
@@ -114,6 +115,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     OpalLink* opal = dynamic_cast<OpalLink*>(link);
     if (opal != 0)
     {
+        QWidget* conf = new OpalLinkConfigurationWindow(opal, this);
+        QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
+        layout->addWidget(conf);
+        ui.linkGroupBox->setLayout(layout);
         ui.linkGroupBox->setTitle(tr("Opal-RT Link"));
     }
 #endif

src/ui/OpalLinkConfigurationWindow.cc

+#include "OpalLinkConfigurationWindow.h"
+
+OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
+                                                         QWidget *parent,
+                                                         Qt::WindowFlags flags) :
+    QWidget(parent, flags),
+    link(link)
+
+{
+
+
+    ui.setupUi(this);
+
+    ui.opalInstIDSpinBox->setValue(this->link->getOpalInstID());
+
+    connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
+    connect(link, SIGNAL(connected(bool)), this, SLOT(allowSettingsAccess(bool)));
+    this->show();
+}
+
+void OpalLinkConfigurationWindow::allowSettingsAccess(bool enabled)
+{
+    ui.paramFileButton->setEnabled(enabled);
+    ui.servoConfigFileButton->setEnabled(enabled);
+}

src/ui/OpalLinkConfigurationWindow.h

+#ifndef OPALLINKCONFIGURATIONWINDOW_H
+#define OPALLINKCONFIGURATIONWINDOW_H
+
+#include <QWidget>
+#include <QDebug>
+
+#include "LinkInterface.h"
+#include "ui_OpalLinkSettings.h"
+#include "OpalLink.h"
+
+class OpalLinkConfigurationWindow : public QWidget
+{
+Q_OBJECT
+public:
+    explicit OpalLinkConfigurationWindow(OpalLink* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
+
+signals:
+
+public slots:
+
+    void allowSettingsAccess(bool enabled);
+
+private:
+    Ui::OpalLinkSettings ui;
+    OpalLink* link;
+};
+
+#endif // OPALLINKCONFIGURATIONWINDOW_H

src/ui/OpalLinkSettings.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>OpalLinkSettings</class>
+ <widget class="QWidget" name="OpalLinkSettings">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>537</width>
+    <height>250</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>OpalLink Configuration</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0">
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QLabel" name="portlabel">
+     <property name="text">
+      <string>Model Instance ID</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="portlabel_2">
+     <property name="text">
+      <string>Opal-RT Parameter File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="portlabel_3">
+     <property name="text">
+      <string>Servo Configuration File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>431</width>
+       <height>47</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="paramFileButton">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="text">
+      <string>Change</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="servoConfigFileButton">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="text">
+      <string>Change</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1" colspan="2">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QSpinBox" name="opalInstIDSpinBox">
+       <property name="minimum">
+        <number>101</number>
+       </property>
+       <property name="maximum">
+        <number>200</number>
+       </property>
+       <property name="value">
+        <number>101</number>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+  <action name="actionDelete">
+   <property name="text">
+    <string>Delete</string>
+   </property>
+   <property name="toolTip">
+    <string>Delete this link</string>
+   </property>
+  </action>
+  <action name="actionConnect">
+   <property name="text">
+    <string>Connect</string>
+   </property>
+   <property name="toolTip">
+    <string>Connect this link</string>
+   </property>
+  </action>
+  <action name="actionClose">
+   <property name="text">
+    <string>Close</string>
+   </property>
+   <property name="toolTip">
+    <string>Close the configuration window</string>
+   </property>
+  </action>
+ </widget>
+ <resources>
+  <include location="../../mavground.qrc"/>
+ </resources>
+ <connections>
+  <connection>
+   <sender>actionClose</sender>
+   <signal>triggered()</signal>
+   <receiver>OpalLinkSettings</receiver>
+   <slot>close()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>-1</x>
+     <y>-1</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>224</x>
+     <y>195</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>