Make HIL Dock Widget a normal widget

QGCApplication.pro

@@ -168,6 +168,7 @@ FORMS += \
     src/ui/MainWindow.ui \
     src/ui/mavlink/QGCMAVLinkMessageSender.ui \
     src/ui/MAVLinkSettingsWidget.ui \
+    src/ui/MultiVehicleDockWidget.ui \
     src/ui/QGCCommConfiguration.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCLinkConfiguration.ui \
@@ -265,6 +266,7 @@ HEADERS += \
     src/ui/mavlink/QGCMAVLinkMessageSender.h \
     src/ui/MAVLinkDecoder.h \
     src/ui/MAVLinkSettingsWidget.h \
+    src/ui/MultiVehicleDockWidget.h \
     src/ui/QGCCommConfiguration.h \
     src/ui/QGCDataPlot2D.h \
     src/ui/QGCLinkConfiguration.h \
@@ -308,6 +310,7 @@ HEADERS += \
     src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
     src/ui/CameraView.h \
+    src/ui/HILDockWidget.h \
     src/ui/QGCHilConfiguration.h \
     src/ui/QGCHilFlightGearConfiguration.h \
     src/ui/QGCHilJSBSimConfiguration.h \
@@ -370,6 +373,7 @@ SOURCES += \
     src/ui/mavlink/QGCMAVLinkMessageSender.cc \
     src/ui/MAVLinkDecoder.cc \
     src/ui/MAVLinkSettingsWidget.cc \
+    src/ui/MultiVehicleDockWidget.cc \
     src/ui/QGCCommConfiguration.cc \
     src/ui/QGCDataPlot2D.cc \
     src/ui/QGCLinkConfiguration.cc \
@@ -412,6 +416,7 @@ SOURCES += \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
     src/ui/CameraView.cc \
+    src/ui/HILDockWidget.cc \
     src/ui/QGCHilConfiguration.cc \
     src/ui/QGCHilFlightGearConfiguration.cc \
     src/ui/QGCHilJSBSimConfiguration.cc \

src/ui/HILDockWidget.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "HILDockWidget.h"
+#include "QGCHilConfiguration.h"
+
+HILDockWidget::HILDockWidget(QWidget *parent)
+    : MultiVehicleDockWidget(parent)
+{
+    init();
+}
+
+HILDockWidget::~HILDockWidget()
+{
+
+}
+
+QWidget* HILDockWidget::_newVehicleWidget(Vehicle* vehicle, QWidget* parent)
+{
+    return new QGCHilConfiguration(vehicle, parent);
+}

src/ui/HILDockWidget.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef HILDockWidget_H
+#define HILDockWidget_H
+
+#include "MultiVehicleDockWidget.h"
+
+class HILDockWidget : public MultiVehicleDockWidget
+{
+    Q_OBJECT
+
+public:
+    explicit HILDockWidget(QWidget *parent = 0);
+    ~HILDockWidget();
+
+protected:
+    // Override from MultiVehicleDockWidget
+    virtual QWidget* _newVehicleWidget(Vehicle* vehicle, QWidget* parent);
+};
+
+#endif

src/ui/MainWindow.h

@@ -124,7 +124,6 @@ public slots:
 
     void loadSetupView();
     void loadFlightView();
-    void loadSimulationView();
     void loadAnalyzeView();
     void loadPlanView();
     
@@ -193,7 +192,7 @@ protected:
         VIEW_ANALYZE,           // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
         VIEW_UNUSED3,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_FLIGHT,            // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
-        VIEW_SIMULATION,        // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
+        VIEW_UNUSED4,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_SETUP,             // Setup view. Used for initializing the system for operation.
         VIEW_UNUSED1,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_UNUSED2,           // Unused (don't remove, or it will screw up saved settigns indices)
@@ -261,7 +260,6 @@ private slots:
     
 private slots:
     void _vehicleAdded(Vehicle* vehicle);
-    void _vehicleRemoved(Vehicle* vehicle);
 
 private:
     /// Constructor is private since all creation should be through MainWindow::_create
@@ -279,8 +277,6 @@ private:
     QPointer<QWidget> _missionEditorView;
 
     // Dock widget names
-    static const char* _uasControlDockWidgetName;
-    static const char* _uasListDockWidgetName;
     static const char* _mavlinkDockWidgetName;
     static const char* _customCommandWidgetName;
     static const char* _filesDockWidgetName;
@@ -288,9 +284,9 @@ private:
     static const char* _mapViewDockWidgetName;
     static const char* _pfdDockWidgetName;
     static const char* _uasInfoViewDockWidgetName;
+    static const char* _hilDockWidgetName;
 
     QMap<QString, QDockWidget*>     _mapName2DockWidget;
-    QMap<int, QDockWidget*>         _mapUasId2HilDockWidget;
     QMap<QDockWidget*, QAction*>    _mapDockWidget2Action;
 
     void _buildPlanView(void);
@@ -307,12 +303,8 @@ private:
     void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget);
     void _createInnerDockWidget(const QString& widgetName);
     void _buildCommonWidgets(void);
-    void _hideAllHilDockWidgets(void);
     void _hideAllDockWidgets(void);
     void _showDockWidget(const QString &name, bool show);
-#ifndef __mobile__
-    void _showHILConfigurationWidgets(void);
-#endif
 
     bool                    _autoReconnect;
     bool                    _lowPowerMode;           ///< If enabled, QGC reduces the update rates of all widgets

src/ui/MainWindow.ui

@@ -87,24 +87,14 @@
     <addaction name="separator"/>
     <addaction name="actionStatusBar"/>
    </widget>
-   <widget class="QMenu" name="menuAdvanced">
+   <widget class="QMenu" name="menuWidgets">
     <property name="title">
-     <string>Advanced</string>
+     <string>Widgets</string>
     </property>
-    <widget class="QMenu" name="menuTools">
-     <property name="title">
-      <string>Tool Widgets</string>
-     </property>
-     <addaction name="separator"/>
-    </widget>
-    <addaction name="actionSimulationView"/>
-    <addaction name="separator"/>
-    <addaction name="separator"/>
-    <addaction name="menuTools"/>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuPerspectives"/>
-   <addaction name="menuAdvanced"/>
+   <addaction name="menuWidgets"/>
    <addaction name="menuHelp"/>
   </widget>
   <widget class="QStatusBar" name="statusBar"/>
@@ -226,14 +216,6 @@
     <string>Advanced Mode</string>
    </property>
   </action>
-  <action name="actionSimulationView">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>HIL Simulation</string>
-   </property>
-  </action>
   <action name="actionStatusBar">
    <property name="checkable">
     <bool>true</bool>

src/ui/MultiVehicleDockWidget.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "MultiVehicleDockWidget.h"
+#include "ui_MultiVehicleDockWidget.h"
+#include "MultiVehicleManager.h"
+
+MultiVehicleDockWidget::MultiVehicleDockWidget(QWidget *parent)
+    : QWidget(parent)
+    , _ui(new Ui::MultiVehicleDockWidget)
+{
+    _ui->setupUi(this);
+    
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MultiVehicleDockWidget::_activeVehicleChanged);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MultiVehicleDockWidget::_vehicleAdded);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MultiVehicleDockWidget::_vehicleRemoved);
+}
+
+void MultiVehicleDockWidget::init(void)
+{
+    if (MultiVehicleManager::instance()->activeVehicle()) {
+        _vehicleAdded(MultiVehicleManager::instance()->activeVehicle());
+        _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    }
+}
+
+MultiVehicleDockWidget::~MultiVehicleDockWidget()
+{
+    delete _ui;
+}
+
+void MultiVehicleDockWidget::_vehicleRemoved(Vehicle* vehicle)
+{
+    int id = vehicle->id();
+    
+    if (_vehicleWidgets.contains(id)) {
+        _vehicleWidgets[id]->deleteLater();
+        _vehicleWidgets.remove(id);
+    }
+}
+
+void MultiVehicleDockWidget::_vehicleAdded(Vehicle* vehicle)
+{
+    int id = vehicle->id();
+    
+    if (!_vehicleWidgets.contains(id)) {
+        QWidget* vehicleWidget = _newVehicleWidget(vehicle, _ui->stackedWidget);
+        _vehicleWidgets[id] = vehicleWidget;
+        _ui->stackedWidget->addWidget(vehicleWidget);
+    }
+}
+
+void MultiVehicleDockWidget::_activeVehicleChanged(Vehicle* vehicle)
+{
+    if (vehicle) {
+        int id = vehicle->id();
+        
+        if (!_vehicleWidgets.contains(id)) {
+            _vehicleAdded(vehicle);
+        }
+        
+        QWidget* vehicleWidget = _vehicleWidgets[id];
+        _ui->stackedWidget->setCurrentWidget(vehicleWidget);
+    }
+}

src/ui/MultiVehicleDockWidget.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef MultiVehicleDockWidget_H
+#define MultiVehicleDockWidget_H
+
+#include <QWidget>
+#include <QMap>
+
+#include "Vehicle.h"
+
+namespace Ui
+{
+    class MultiVehicleDockWidget;
+}
+
+/// Provides a base class for a dock widget which automatically handles
+/// Vehicles coming and going. It does this by using a stacked widget which
+/// holds individual Vehicle specific widgets.
+class MultiVehicleDockWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit MultiVehicleDockWidget(QWidget *parent = 0);
+    ~MultiVehicleDockWidget();
+    
+    /// Must be called in the derived class contructor to initialize the base class
+    void init(void);
+
+protected:
+    /// Derived class must implement this to create the QWidget for the
+    /// specified Vehicle.
+    virtual QWidget* _newVehicleWidget(Vehicle* vehicle, QWidget* parent) = 0;
+    
+private slots:
+    void _vehicleAdded(Vehicle* vehicle);
+    void _vehicleRemoved(Vehicle* vehicle);
+    void _activeVehicleChanged(Vehicle* vehicle);
+
+private:
+    QMap<int, QWidget*> _vehicleWidgets;
+    
+    Ui::MultiVehicleDockWidget* _ui;
+};
+
+#endif

src/ui/MultiVehicleDockWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MultiVehicleDockWidget</class>
+ <widget class="QWidget" name="MultiVehicleDockWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>200</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QStackedWidget" name="stackedWidget"/>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCHilConfiguration.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
 #include <QSettings>
 
 #include "QGCHilConfiguration.h"
@@ -7,10 +30,10 @@
 #include "QGCHilJSBSimConfiguration.h"
 #include "QGCHilXPlaneConfiguration.h"
 
-QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
-    QWidget(parent),
-    mav(mav),
-    ui(new Ui::QGCHilConfiguration)
+QGCHilConfiguration::QGCHilConfiguration(Vehicle* vehicle, QWidget *parent)
+    : QWidget(parent)
+    , _vehicle(vehicle)
+    , ui(new Ui::QGCHilConfiguration)
 {
     ui->setupUi(this);
 
@@ -29,8 +52,6 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     }
 
     settings.endGroup();
-
-    connect(mav, SIGNAL(destroyed()), this, SLOT(deleteLater()));
 }
 
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)
@@ -65,11 +86,11 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     if(1 == index)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilFlightGear(false, "", true, this);
-        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
+        _vehicle->uas()->enableHilFlightGear(false, "", true, this);
+        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(_vehicle->uas(), this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
-        QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(mav->getHILSimulation());
+        QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(_vehicle->uas()->getHILSimulation());
         if (fg)
         {
             connect(fg, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
@@ -79,13 +100,13 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     else if (2 == index || 3 == index)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilXPlane(false);
-        QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
+        _vehicle->uas()->enableHilXPlane(false);
+        QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(_vehicle->uas()->getHILSimulation(), this);
         hxpconf->show();
         ui->simulatorConfigurationLayout->addWidget(hxpconf);
 
         // Select correct version of XPlane
-        QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(mav->getHILSimulation());
+        QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(_vehicle->uas()->getHILSimulation());
         if (xplane)
         {
             xplane->setVersion((index == 2) ? 10 : 9);
@@ -95,11 +116,11 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     else if (4)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilJSBSim(false, "");
-        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(mav, this);
+        _vehicle->uas()->enableHilJSBSim(false, "");
+        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(_vehicle->uas(), this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
-        QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(mav->getHILSimulation());
+        QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(_vehicle->uas()->getHILSimulation());
         if (jsb)
         {
             connect(jsb, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));

src/ui/QGCHilConfiguration.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
 #ifndef QGCHILCONFIGURATION_H
 #define QGCHILCONFIGURATION_H
 
 #include <QWidget>
 
-#include "QGCHilLink.h"
-#include "UAS.h"
+#include "Vehicle.h"
 
 namespace Ui {
 class QGCHilConfiguration;
@@ -15,7 +37,7 @@ class QGCHilConfiguration : public QWidget
     Q_OBJECT
     
 public:
-    QGCHilConfiguration(UAS* mav, QWidget *parent = 0);
+    QGCHilConfiguration(Vehicle* vehicle, QWidget *parent = 0);
     ~QGCHilConfiguration();
 
 public slots:
@@ -23,13 +45,12 @@ public slots:
     void receiveStatusMessage(const QString& message);
     void setVersion(QString version);
 
-protected:
-    UAS* mav;
-    
 private slots:
     void on_simComboBox_currentIndexChanged(int index);
 
 private:
+    Vehicle* _vehicle;
+    
     Ui::QGCHilConfiguration *ui;
 };