UI for a bunch of software configuration pages

qgroundcontrol.pro

@@ -250,7 +250,13 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/OpticalFlowConfig.ui \
     src/ui/configuration/OsdConfig.ui \
     src/ui/configuration/AntennaTrackerConfig.ui \
-    src/ui/configuration/CameraGimbalConfig.ui
+    src/ui/configuration/CameraGimbalConfig.ui \
+    src/ui/configuration/BasicPidConfig.ui \
+    src/ui/configuration/StandardParamConfig.ui \
+    src/ui/configuration/GeoFenceConfig.ui \
+    src/ui/configuration/FailSafeConfig.ui \
+    src/ui/configuration/AdvancedParamConfig.ui \
+    src/ui/configuration/ArduCopterPidConfig.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -425,7 +431,13 @@ HEADERS += src/MG.h \
     src/ui/configuration/OsdConfig.h \
     src/ui/configuration/AntennaTrackerConfig.h \
     src/ui/configuration/CameraGimbalConfig.h \
-    src/ui/configuration/AP2ConfigWidget.h
+    src/ui/configuration/AP2ConfigWidget.h \
+    src/ui/configuration/BasicPidConfig.h \
+    src/ui/configuration/StandardParamConfig.h \
+    src/ui/configuration/GeoFenceConfig.h \
+    src/ui/configuration/FailSafeConfig.h \
+    src/ui/configuration/AdvancedParamConfig.h \
+    src/ui/configuration/ArduCopterPidConfig.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -618,7 +630,13 @@ SOURCES += src/main.cc \
     src/ui/configuration/OsdConfig.cc \
     src/ui/configuration/AntennaTrackerConfig.cc \
     src/ui/configuration/CameraGimbalConfig.cc \
-    src/ui/configuration/AP2ConfigWidget.cc
+    src/ui/configuration/AP2ConfigWidget.cc \
+    src/ui/configuration/BasicPidConfig.cc \
+    src/ui/configuration/StandardParamConfig.cc \
+    src/ui/configuration/GeoFenceConfig.cc \
+    src/ui/configuration/FailSafeConfig.cc \
+    src/ui/configuration/AdvancedParamConfig.cc \
+    src/ui/configuration/ArduCopterPidConfig.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/configuration/AdvancedParamConfig.cc

+#include "AdvancedParamConfig.h"
+
+
+AdvancedParamConfig::AdvancedParamConfig(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+}
+
+AdvancedParamConfig::~AdvancedParamConfig()
+{
+}

src/ui/configuration/AdvancedParamConfig.h

+#ifndef ADVANCEDPARAMCONFIG_H
+#define ADVANCEDPARAMCONFIG_H
+
+#include <QWidget>
+#include "ui_AdvancedParamConfig.h"
+
+class AdvancedParamConfig : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit AdvancedParamConfig(QWidget *parent = 0);
+    ~AdvancedParamConfig();
+    
+private:
+    Ui::AdvancedParamConfig ui;
+};
+
+#endif // ADVANCEDPARAMCONFIG_H

src/ui/configuration/AdvancedParamConfig.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AdvancedParamConfig</class>
+ <widget class="QWidget" name="AdvancedParamConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>181</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;Advanced Params&lt;/h2&gt;</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/configuration/ApmHardwareConfig.cc

@@ -40,7 +40,6 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
     ui.compassButton->setVisible(false);
     ui.accelCalibrateButton->setVisible(false);
     ui.radioCalibrateButton->setVisible(false);
-    ui.flightModesButton->setVisible(false);
     ui.optionalHardwareButton->setVisible(false);
     //ui.radio3DRButton->setVisible(false);
     ui.batteryMonitorButton->setVisible(false);
@@ -55,7 +54,6 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
     connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool)));
     connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.accelCalibrateButton,SLOT(setShown(bool)));
     connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool)));
-    connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.flightModesButton,SLOT(setShown(bool)));
 
     connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.radio3DRButton,SLOT(setShown(bool)));
     connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.batteryMonitorButton,SLOT(setShown(bool)));
@@ -94,10 +92,6 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
     buttonToConfigWidgetMap[ui.radioCalibrateButton] = radioConfig;
     connect(ui.radioCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    flightConfig = new FlightModeConfig(this);
-    ui.stackedWidget->addWidget(flightConfig);
-    buttonToConfigWidgetMap[ui.flightModesButton] = flightConfig;
-    connect(ui.flightModesButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
     radio3drConfig = new Radio3DRConfig(this);
     ui.stackedWidget->addWidget(radio3drConfig);

src/ui/configuration/ApmHardwareConfig.h

@@ -40,7 +40,6 @@ This file is part of the QGROUNDCONTROL project
 #include "CompassConfig.h"
 #include "AccelCalibrationConfig.h"
 #include "RadioCalibrationConfig.h"
-#include "FlightModeConfig.h"
 #include "Radio3DRConfig.h"
 #include "BatteryMonitorConfig.h"
 #include "SonarConfig.h"
@@ -62,7 +61,6 @@ private:
     CompassConfig *compassConfig;
     AccelCalibrationConfig *accelConfig;
     RadioCalibrationConfig *radioConfig;
-    FlightModeConfig *flightConfig;
 
     Radio3DRConfig *radio3drConfig;
     BatteryMonitorConfig *batteryConfig;

src/ui/configuration/ApmHardwareConfig.ui

@@ -43,7 +43,7 @@
       <x>0</x>
       <y>0</y>
       <width>156</width>
-      <height>676</height>
+      <height>635</height>
      </rect>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout_12">
@@ -154,22 +154,6 @@
          </property>
         </widget>
        </item>
-       <item>
-        <widget class="QPushButton" name="flightModesButton">
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>35</height>
-          </size>
-         </property>
-         <property name="text">
-          <string>        Flight Modes</string>
-         </property>
-         <property name="checkable">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
        <item>
         <widget class="QPushButton" name="optionalHardwareButton">
          <property name="minimumSize">

src/ui/configuration/ApmSoftwareConfig.cc

@@ -4,8 +4,82 @@
 ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
 {
     ui.setupUi(this);
+
+    ui.basicPidsButton->setVisible(false);
+    ui.flightModesButton->setVisible(false);
+    ui.standardParamButton->setVisible(false);
+    ui.geoFenceButton->setVisible(false);
+    ui.failSafeButton->setVisible(false);
+    ui.advancedParamButton->setVisible(false);
+    ui.advParamListButton->setVisible(false);
+    ui.arduCoperPidButton->setVisible(false);
+
+    basicPidConfig = new BasicPidConfig(this);
+    ui.stackedWidget->addWidget(basicPidConfig);
+    buttonToConfigWidgetMap[ui.basicPidsButton] = basicPidConfig;
+    connect(ui.basicPidsButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    flightConfig = new FlightModeConfig(this);
+    ui.stackedWidget->addWidget(flightConfig);
+    buttonToConfigWidgetMap[ui.flightModesButton] = flightConfig;
+    connect(ui.flightModesButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    standardParamConfig = new StandardParamConfig(this);
+    ui.stackedWidget->addWidget(standardParamConfig);
+    buttonToConfigWidgetMap[ui.standardParamButton] = standardParamConfig;
+    connect(ui.standardParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    geoFenceConfig = new GeoFenceConfig(this);
+    ui.stackedWidget->addWidget(geoFenceConfig);
+    buttonToConfigWidgetMap[ui.geoFenceButton] = geoFenceConfig;
+    connect(ui.geoFenceButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    failSafeConfig = new FailSafeConfig(this);
+    ui.stackedWidget->addWidget(failSafeConfig);
+    buttonToConfigWidgetMap[ui.failSafeButton] = failSafeConfig;
+    connect(ui.failSafeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    advancedParamConfig = new AdvancedParamConfig(this);
+    ui.stackedWidget->addWidget(advancedParamConfig);
+    buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig;
+    connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    arduCoperPidConfig = new ArduCopterPidConfig(this);
+    ui.stackedWidget->addWidget(arduCoperPidConfig);
+    buttonToConfigWidgetMap[ui.arduCoperPidButton] = arduCoperPidConfig;
+    connect(ui.arduCoperPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    if (UASManager::instance()->getActiveUAS())
+    {
+        activeUASSet(UASManager::instance()->getActiveUAS());
+    }
 }
 
 ApmSoftwareConfig::~ApmSoftwareConfig()
 {
 }
+void ApmSoftwareConfig::activateStackedWidget()
+{
+    if (buttonToConfigWidgetMap.contains(sender()))
+    {
+        ui.stackedWidget->setCurrentWidget(buttonToConfigWidgetMap[sender()]);
+    }
+}
+void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
+{
+    if (!uas)
+    {
+        return;
+    }
+
+    ui.basicPidsButton->setVisible(true);
+    ui.flightModesButton->setVisible(true);
+    ui.standardParamButton->setVisible(true);
+    ui.geoFenceButton->setVisible(true);
+    ui.failSafeButton->setVisible(true);
+    ui.advancedParamButton->setVisible(true);
+    ui.advParamListButton->setVisible(true);
+
+    ui.arduCoperPidButton->setVisible(true);
+}

src/ui/configuration/ApmSoftwareConfig.h

@@ -3,6 +3,16 @@
 
 #include <QWidget>
 #include "ui_ApmSoftwareConfig.h"
+#include "FlightModeConfig.h"
+#include "BasicPidConfig.h"
+#include "StandardParamConfig.h"
+#include "GeoFenceConfig.h"
+#include "FailSafeConfig.h"
+#include "AdvancedParamConfig.h"
+#include "ArduCopterPidConfig.h"
+
+#include "UASInterface.h"
+#include "UASManager.h"
 
 class ApmSoftwareConfig : public QWidget
 {
@@ -11,9 +21,19 @@ class ApmSoftwareConfig : public QWidget
 public:
     explicit ApmSoftwareConfig(QWidget *parent = 0);
     ~ApmSoftwareConfig();
-    
+private slots:
+    void activateStackedWidget();
+    void activeUASSet(UASInterface *uas);
 private:
     Ui::ApmSoftwareConfig ui;
+    BasicPidConfig *basicPidConfig;
+    FlightModeConfig *flightConfig;
+    StandardParamConfig *standardParamConfig;
+    GeoFenceConfig *geoFenceConfig;
+    FailSafeConfig *failSafeConfig;
+    AdvancedParamConfig *advancedParamConfig;
+    ArduCopterPidConfig *arduCoperPidConfig;
+    QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
 };
 
 #endif // APMSOFTWARECONFIG_H

src/ui/configuration/ApmSoftwareConfig.ui

@@ -65,6 +65,134 @@
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QPushButton" name="basicPidsButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Basic Pids</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="flightModesButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Flight Modes</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="standardParamButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Standard Params</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="geoFenceButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>GeoFence</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="failSafeButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>FailSafe</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="advancedParamButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Advanced Params</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="advParamListButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Adv Parameter List</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="arduCoperPidButton">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>35</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>ArduCoper Pids</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
        <item>
         <spacer name="verticalSpacer">
          <property name="orientation">

src/ui/configuration/ArduCopterPidConfig.cc

+#include "ArduCopterPidConfig.h"
+#include "ui_ArduCopterPidConfig.h"
+
+ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::ArduCopterPidConfig)
+{
+    ui->setupUi(this);
+}
+
+ArduCopterPidConfig::~ArduCopterPidConfig()
+{
+    delete ui;
+}

src/ui/configuration/ArduCopterPidConfig.h

+#ifndef ARDUCOPTERPIDCONFIG_H
+#define ARDUCOPTERPIDCONFIG_H
+
+#include <QWidget>
+
+namespace Ui {
+class ArduCopterPidConfig;
+}
+
+class ArduCopterPidConfig : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit ArduCopterPidConfig(QWidget *parent = 0);
+    ~ArduCopterPidConfig();
+    
+private:
+    Ui::ArduCopterPidConfig *ui;
+};
+
+#endif // ARDUCOPTERPIDCONFIG_H

src/ui/configuration/ArduCopterPidConfig.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ArduCopterPidConfig</class>
+ <widget class="QWidget" name="ArduCopterPidConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>181</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;ArduCopter Pids&lt;/h2&gt;</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/configuration/BasicPidConfig.cc

+#include "BasicPidConfig.h"
+
+
+BasicPidConfig::BasicPidConfig(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+}
+
+BasicPidConfig::~BasicPidConfig()
+{
+}

src/ui/configuration/BasicPidConfig.h

+#ifndef BASICPIDCONFIG_H
+#define BASICPIDCONFIG_H
+
+#include <QWidget>
+#include "ui_BasicPidConfig.h"
+
+class BasicPidConfig : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit BasicPidConfig(QWidget *parent = 0);
+    ~BasicPidConfig();
+    
+private:
+    Ui::BasicPidConfig ui;
+};
+
+#endif // BASICPIDCONFIG_H

src/ui/configuration/BasicPidConfig.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>BasicPidConfig</class>
+ <widget class="QWidget" name="BasicPidConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>20</y>
+     <width>141</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt; Basic Pids&lt;/h2&gt;</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/configuration/FailSafeConfig.cc

+#include "FailSafeConfig.h"
+
+
+FailSafeConfig::FailSafeConfig(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+}
+
+FailSafeConfig::~FailSafeConfig()
+{
+}

src/ui/configuration/FailSafeConfig.h

+#ifndef FAILSAFECONFIG_H
+#define FAILSAFECONFIG_H
+
+#include <QWidget>
+#include "ui_FailSafeConfig.h"
+
+class FailSafeConfig : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit FailSafeConfig(QWidget *parent = 0);
+    ~FailSafeConfig();
+    
+private:
+    Ui::FailSafeConfig ui;
+};
+
+#endif // FAILSAFECONFIG_H

src/ui/configuration/FailSafeConfig.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FailSafeConfig</class>
+ <widget class="QWidget" name="FailSafeConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>141</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;Fail Safe&lt;/h2&gt;</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/configuration/GeoFenceConfig.cc

+#include "GeoFenceConfig.h"
+
+
+GeoFenceConfig::GeoFenceConfig(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+}
+
+GeoFenceConfig::~GeoFenceConfig()
+{
+}

src/ui/configuration/GeoFenceConfig.h

+#ifndef GEOFENCECONFIG_H
+#define GEOFENCECONFIG_H
+
+#include <QWidget>
+#include "ui_GeoFenceConfig.h"
+
+class GeoFenceConfig : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit GeoFenceConfig(QWidget *parent = 0);
+    ~GeoFenceConfig();
+    
+private:
+    Ui::GeoFenceConfig ui;
+};
+
+#endif // GEOFENCECONFIG_H

src/ui/configuration/GeoFenceConfig.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>GeoFenceConfig</class>
+ <widget class="QWidget" name="GeoFenceConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>141</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;Geo Fence&lt;/h2&gt;</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/configuration/StandardParamConfig.cc

+#include "StandardParamConfig.h"
+
+
+StandardParamConfig::StandardParamConfig(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi