Fixed control widget, made QGCToolWidgets more general, preparing the parameter interface widget

src/ui/DebugConsole.cc

@@ -454,18 +454,10 @@ void DebugConsole::handleConnectButton()
         if (currLink->isConnected())
         {
             currLink->disconnect();
-            m_ui->connectButton->setText(tr("Connect"));
         }
         else
         {
-            if (currLink->connect())
-            {
-                m_ui->connectButton->setText(tr("Disconn."));
-            }
-            else
-            {
-                m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorRed.name(), tr("Could not connect link %1 ! Please check link hardware.").arg(currLink->getName())));
-            }
+            currLink->connect();
         }
     }
 }

src/ui/MainWindow.cc

@@ -745,6 +745,7 @@ void MainWindow::connectSlugsWidgets()
 void MainWindow::arrangeCommonCenterStack()
 {
     centerStack = new QStackedWidget(this);
+    centerStack->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
     if (!centerStack) return;
 

src/ui/MainWindow.ui

@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">

src/ui/UASControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>210</width>
-    <height>141</height>
+    <width>222</width>
+    <height>172</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -18,14 +18,23 @@
   </property>
   <property name="minimumSize">
    <size>
-    <width>210</width>
-    <height>130</height>
+    <width>222</width>
+    <height>172</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>267</width>
+    <height>194</height>
    </size>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="0,100,50,50,100,0">
+  <property name="toolTip">
+   <string>Control widget to send basic control actions to the micro air vehicle</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowstretch="60,150,80,80,80,100" columnstretch="1,100,40,40,100,1" rowminimumheight="0,0,0,0,0,0">
    <item row="0" column="0" rowspan="6">
     <spacer name="horizontalSpacer">
      <property name="orientation">
@@ -93,7 +102,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Liftoff</string>
+      <string>Start</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">

src/ui/designer/QGCActionButton.cc

@@ -42,17 +42,12 @@ const char* kActionLabels[MAV_ACTION_NB] =
  "RESET MAP"};
 
 QGCActionButton::QGCActionButton(QWidget *parent) :
-    QGCToolWidgetItem(parent),
+    QGCToolWidgetItem("Button", parent),
     ui(new Ui::QGCActionButton),
     uas(NULL)
 {
     ui->setupUi(this);
 
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
-            this, SLOT(setActiveUAS(UASInterface*)));
-    // Set first UAS if it exists
-    this->setActiveUAS(UASManager::instance()->getActiveUAS());
-
     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)));
@@ -73,12 +68,16 @@ QGCActionButton::~QGCActionButton()
 
 void QGCActionButton::sendAction()
 {
-    if (uas)
+    if (QGCToolWidgetItem::uas)
     {
         MAV_ACTION action = static_cast<MAV_ACTION>(
                 ui->editActionComboBox->currentIndex());
 
-        uas->setAction(action);
+        QGCToolWidgetItem::uas->setAction(action);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 
@@ -110,8 +109,3 @@ void QGCActionButton::endEditMode()
 
     isInEditMode = false;
 }
-
-void QGCActionButton::setActiveUAS(UASInterface *uas)
-{
-    this->uas = uas;
-}

src/ui/designer/QGCActionButton.h

@@ -23,9 +23,6 @@ public slots:
     void startEditMode();
     void endEditMode();
 
-private slots:
-    void setActiveUAS(UASInterface* uas);
-
 private:
     Ui::QGCActionButton *ui;
     UASInterface* uas;

src/ui/designer/QGCParamSlider.cc

@@ -3,9 +3,16 @@
 
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
+#include "UASInterface.h"
 
 QGCParamSlider::QGCParamSlider(QWidget *parent) :
-    QGCToolWidgetItem(parent),
+    QGCToolWidgetItem("Slider", parent),
+    parameterName(""),
+    parameterValue(0.0f),
+    parameterScalingFactor(0.0),
+    parameterMin(0.0f),
+    parameterMax(0.0f),
+    component(0),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
@@ -48,6 +55,18 @@ void QGCParamSlider::endEditMode()
     isInEditMode = false;
 }
 
+void QGCParamSlider::sendParameter()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        QGCToolWidgetItem::uas->setParameter(component, parameterName, parameterValue);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
 void QGCParamSlider::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/designer/QGCParamSlider.h

@@ -22,8 +22,16 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
+    /** @brief Send the parameter to the MAV */
+    void sendParameter();
 
 protected:
+    QString parameterName;         ///< Key/Name of the parameter
+    float parameterValue;          ///< Value of the parameter
+    double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value
+    float parameterMin;
+    float parameterMax;
+    int component;                 ///< ID of the MAV component to address
     void changeEvent(QEvent *e);
 
 private:

src/ui/designer/QGCToolWidget.cc

@@ -50,7 +50,7 @@ void QGCToolWidget::addUAS(UASInterface* uas)
 void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
-    menu.addAction(addParamAction);
+    //menu.addAction(addParamAction);
     menu.addAction(addButtonAction);
     menu.addAction(setTitleAction);
     menu.exec(event->globalPos());

src/ui/designer/QGCToolWidgetItem.cc

@@ -3,16 +3,25 @@
 #include <QMenu>
 #include <QContextMenuEvent>
 
-QGCToolWidgetItem::QGCToolWidgetItem(QWidget *parent) :
+#include "UASManager.h"
+
+QGCToolWidgetItem::QGCToolWidgetItem(const QString& name, QWidget *parent) :
     QWidget(parent),
     isInEditMode(false),
+    qgcToolWidgetItemName(name),
+    uas(NULL),
     _component(-1)
 {
-    startEditAction = new QAction("Edit Slider", this);
+    startEditAction = new QAction("Edit "+qgcToolWidgetItemName, this);
     connect(startEditAction, SIGNAL(triggered()), this, SLOT(startEditMode()));
     stopEditAction = new QAction("Finish Editing Slider", this);
     connect(stopEditAction, SIGNAL(triggered()), this, SLOT(endEditMode()));
 
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
+    // Set first UAS if it exists
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+
     endEditMode();
 }
 
@@ -35,3 +44,8 @@ void QGCToolWidgetItem::contextMenuEvent (QContextMenuEvent* event)
     }
     menu.exec(event->globalPos());
 }
+
+void QGCToolWidgetItem::setActiveUAS(UASInterface *uas)
+{
+    this->uas = uas;
+}

src/ui/designer/QGCToolWidgetItem.h

@@ -4,11 +4,13 @@
 #include <QWidget>
 #include <QAction>
 
+#include "UASInterface.h"
+
 class QGCToolWidgetItem : public QWidget
 {
     Q_OBJECT
 public:
-    explicit QGCToolWidgetItem(QWidget *parent = 0);
+    QGCToolWidgetItem(const QString& name, QWidget *parent = 0);
     ~QGCToolWidgetItem();
 
     int component() {return _component;}
@@ -17,12 +19,14 @@ public slots:
     virtual void startEditMode() {}
     virtual void endEditMode() {}
     virtual void setComponent(int comp) {_component = comp;}
+    void setActiveUAS(UASInterface *uas);
 
 protected:
     QAction* startEditAction;
     QAction* stopEditAction;
-
     bool isInEditMode;
+    QString qgcToolWidgetItemName;
+    UASInterface* uas;
     int _component;          ///< The MAV component (the process or device ID)
 
     void contextMenuEvent (QContextMenuEvent* event);

src/ui/uas/UASControlWidget.cc

@@ -114,18 +114,18 @@ void UASControlWidget::setUAS(UASInterface* uas)
     // Check if additional controls should be loaded
     UAS* mav = dynamic_cast<UAS*>(uas);
     if (mav)
-    {
+    {     
         QPushButton* startRecButton = new QPushButton(tr("Record"));
         connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording()));
-        ui.gridLayout->addWidget(startRecButton, 10, 0, 0, 2);
+        ui.gridLayout->addWidget(startRecButton, 7, 1);
 
         QPushButton* pauseRecButton = new QPushButton(tr("Pause"));
         connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording()));
-        ui.gridLayout->addWidget(pauseRecButton, 10, 2, 0, 2);
+        ui.gridLayout->addWidget(pauseRecButton, 7, 3);
 
         QPushButton* stopRecButton = new QPushButton(tr("Stop"));
         connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording()));
-        ui.gridLayout->addWidget(stopRecButton, 10, 4, 0, 2);
+        ui.gridLayout->addWidget(stopRecButton, 7, 4);
     }