From 9b62308e6e54a9074a2693cbf309d851e1fcc93b Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Tue, 25 Jun 2013 11:41:06 -0400
Subject: [PATCH] Initial implementation of Flight Mode Config screen

---
 src/ui/configuration/FlightModeConfig.cc | 230 +++++++++++++++++++++++
 src/ui/configuration/FlightModeConfig.h  |  11 +-
 src/ui/configuration/FlightModeConfig.ui | 210 ++++++++++++++++++++-
 3 files changed, 448 insertions(+), 3 deletions(-)

diff --git a/src/ui/configuration/FlightModeConfig.cc b/src/ui/configuration/FlightModeConfig.cc
index 07a1ed394..cff7772da 100644
--- a/src/ui/configuration/FlightModeConfig.cc
+++ b/src/ui/configuration/FlightModeConfig.cc
@@ -4,8 +4,238 @@
 FlightModeConfig::FlightModeConfig(QWidget *parent) : QWidget(parent)
 {
     ui.setupUi(this);
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
+
+
 }
 
 FlightModeConfig::~FlightModeConfig()
 {
 }
+void FlightModeConfig::setActiveUAS(UASInterface *uas)
+{
+    if (!uas) return;
+    if (m_uas)
+    {
+    }
+    m_uas = uas;
+    connect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
+    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+    connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
+    QStringList itemlist;
+    if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        itemlist << "Manual";
+        itemlist << "Circle";
+        itemlist << "Stabilize";
+        itemlist << "Training";
+        itemlist << "FBW A";
+        itemlist << "FBW B";
+        itemlist << "Auto";
+        itemlist << "RTL";
+        itemlist << "Loiter";
+        itemlist << "Guided";
+
+        planeModeIndexToUiIndex[0] = 0;
+        planeModeIndexToUiIndex[1] = 1;
+        planeModeIndexToUiIndex[2] = 2;
+        planeModeIndexToUiIndex[3] = 3;
+        planeModeIndexToUiIndex[5] = 4;
+        planeModeIndexToUiIndex[6] = 5;
+        planeModeIndexToUiIndex[10] = 6;
+        planeModeIndexToUiIndex[11] = 7;
+        planeModeIndexToUiIndex[12] = 8;
+        planeModeIndexToUiIndex[15] = 9;
+        ui.mode6ComboBox->setEnabled(true);
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
+    {
+        itemlist << "Manual";
+        itemlist << "Learning";
+        itemlist << "Steering";
+        itemlist << "Hold";
+        itemlist << "Auto";
+        itemlist << "RTL";
+        itemlist << "Guided";
+        itemlist << "Initialising";
+        ui.mode6ComboBox->setEnabled(false);
+        roverModeIndexToUiIndex[0] = 0;
+        roverModeIndexToUiIndex[2] = 1;
+        roverModeIndexToUiIndex[3] = 2;
+        roverModeIndexToUiIndex[4] = 3;
+        roverModeIndexToUiIndex[10] = 5;
+        roverModeIndexToUiIndex[11] = 6;
+        roverModeIndexToUiIndex[15] = 7;
+        roverModeIndexToUiIndex[16] = 8;
+
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        itemlist << "Stabilize";
+        itemlist << "Acro";
+        itemlist << "Alt Hold";
+        itemlist << "Auto";
+        itemlist << "Guided";
+        itemlist << "Loiter";
+        itemlist << "RTL";
+        itemlist << "Circle";
+        itemlist << "Pos Hold";
+        itemlist << "Land";
+        itemlist << "OF_LOITER";
+        itemlist << "Toy";
+        ui.mode6ComboBox->setEnabled(true);
+    }
+    ui.mode1ComboBox->addItems(itemlist);
+    ui.mode2ComboBox->addItems(itemlist);
+    ui.mode3ComboBox->addItems(itemlist);
+    ui.mode4ComboBox->addItems(itemlist);
+    ui.mode5ComboBox->addItems(itemlist);
+    ui.mode6ComboBox->addItems(itemlist);
+}
+void FlightModeConfig::modeChanged(int sysId, QString status, QString description)
+{
+    //Unused?
+}
+void FlightModeConfig::remoteControlChannelRawChanged(int chan,float val)
+{
+    if (chan == 5)
+    {
+        //Channel 5 is the mode switch.
+        ///TODO: Make this configurable
+        if (val <= 1230)
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Highlight);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+        }
+        else if (val <= 1360)
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Highlight);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+        }
+        else if (val <= 1490)
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Highlight);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+        }
+        else if (val <=1620)
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Highlight);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+        }
+        else if (val <=1749)
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Highlight);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+        }
+        else
+        {
+            ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
+            ui.mode6ComboBox->setBackgroundRole(QPalette::Highlight);
+        }
+    }
+}
+
+void FlightModeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        if (parameterName == "FLTMODE1")
+        {
+            ui.mode1ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "FLTMODE2")
+        {
+            ui.mode2ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "FLTMODE3")
+        {
+            ui.mode3ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "FLTMODE4")
+        {
+            ui.mode4ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "FLTMODE5")
+        {
+            ui.mode5ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "FLTMODE6")
+        {
+            ui.mode6ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
+        }
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
+    {
+        if (parameterName == "MODE1")
+        {
+            ui.mode1ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "MODE2")
+        {
+            ui.mode2ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "MODE3")
+        {
+            ui.mode3ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "MODE4")
+        {
+            ui.mode4ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
+        }
+        else if (parameterName == "MODE5")
+        {
+            ui.mode5ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
+        }
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        if (parameterName == "FLTMODE1")
+        {
+            ui.mode1ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+        else if (parameterName == "FLTMODE2")
+        {
+            ui.mode2ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+        else if (parameterName == "FLTMODE3")
+        {
+            ui.mode3ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+        else if (parameterName == "FLTMODE4")
+        {
+            ui.mode4ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+        else if (parameterName == "FLTMODE5")
+        {
+            ui.mode5ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+        else if (parameterName == "FLTMODE6")
+        {
+            ui.mode6ComboBox->setCurrentIndex(value.toInt()-1);
+        }
+    }
+}
diff --git a/src/ui/configuration/FlightModeConfig.h b/src/ui/configuration/FlightModeConfig.h
index fdf1129bb..b9130bdcb 100644
--- a/src/ui/configuration/FlightModeConfig.h
+++ b/src/ui/configuration/FlightModeConfig.h
@@ -3,6 +3,8 @@
 
 #include <QWidget>
 #include "ui_FlightModeConfig.h"
+#include "UASInterface.h"
+#include "UASManager.h"
 
 class FlightModeConfig : public QWidget
 {
@@ -11,9 +13,16 @@ class FlightModeConfig : public QWidget
 public:
     explicit FlightModeConfig(QWidget *parent = 0);
     ~FlightModeConfig();
-    
+private slots:
+    void setActiveUAS(UASInterface *uas);
+    void modeChanged(int sysId, QString status, QString description);
+    void remoteControlChannelRawChanged(int chan,float val);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
+    QMap<int,int> roverModeIndexToUiIndex;
+    QMap<int,int> planeModeIndexToUiIndex;
     Ui::FlightModeConfig ui;
+    UASInterface *m_uas;
 };
 
 #endif // FLIGHTMODECONFIG_H
diff --git a/src/ui/configuration/FlightModeConfig.ui b/src/ui/configuration/FlightModeConfig.ui
index 737d40523..bf5c1b777 100644
--- a/src/ui/configuration/FlightModeConfig.ui
+++ b/src/ui/configuration/FlightModeConfig.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>608</width>
+    <height>359</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -29,6 +29,212 @@
     <bool>false</bool>
    </property>
   </widget>
+  <widget class="QWidget" name="horizontalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>70</y>
+     <width>481</width>
+     <height>191</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout">
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <property name="spacing">
+       <number>8</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Flight Mode 1</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Flight Mode 2</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>Flight Mode 3</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Flight Mode 4</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>Flight Mode 5</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_13">
+        <property name="text">
+         <string>Flight Mode 6</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <widget class="QComboBox" name="mode1ComboBox">
+        <property name="frame">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="mode2ComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="mode3ComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="mode4ComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="mode5ComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="mode6ComboBox"/>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_3">
+      <property name="spacing">
+       <number>8</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QCheckBox" name="mode1SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="mode2SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="mode3SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="mode4SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="mode5SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="mode6SimpleCheckBox">
+        <property name="text">
+         <string>Simple Mode</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>PWM 0 - 1230</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>PWM 1231 - 1360</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>PWM 1361 - 1490</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>PWM 1491 - 1620</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>PWM 1621 - 1749</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>PWM 1750 +</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
  </widget>
  <resources/>
  <connections/>
-- 
2.22.0