From a994cdc184c44233512e70817e7a3b49b619998f Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Tue, 25 May 2010 19:00:25 +0200
Subject: [PATCH] Added complete Watchdog comm methods, testing code

---
 qgroundcontrol.pro                 | 3 ++-
 src/ui/MainWindow.cc               | 1 +
 src/ui/MainWindow.h                | 2 ++
 src/ui/watchdog/WatchdogControl.cc | 8 ++++++++
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 9e633857b..edc1afd7a 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -62,7 +62,8 @@ INCLUDEPATH += src \
     src/input \
     src/lib/qmapcontrol \
     src/ui/mavlink \
-    src/ui/param
+    src/ui/param \
+    src/ui/watchdog
 HEADERS += src/MG.h \
     src/Core.h \
     src/uas/UASInterface.h \
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index e07e037b6..5caa3ef4b 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -98,6 +98,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
     centerStack->addWidget(protocol);
     parameters = new ParameterInterface(this);
     parameters->setVisible(false);
+    watchdogControl = new WatchdogControl(this);
 
     QStringList* acceptList = new QStringList();
     acceptList->append("roll IMU");
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index dc8873f36..2a0d62f02 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -60,6 +60,7 @@ This file is part of the PIXHAWK project
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
+#include "WatchdogControl.h"
 
 #include "LogCompressor.h"
 
@@ -146,6 +147,7 @@ protected:
     XMLCommProtocolWidget* protocol;
     HDDisplay* headDown1;
     HDDisplay* headDown2;
+    WatchdogControl* watchdogControl;
 
     // Popup widgets
     JoystickWidget* joystickWidget;
diff --git a/src/ui/watchdog/WatchdogControl.cc b/src/ui/watchdog/WatchdogControl.cc
index a53f956bc..208544877 100644
--- a/src/ui/watchdog/WatchdogControl.cc
+++ b/src/ui/watchdog/WatchdogControl.cc
@@ -2,6 +2,8 @@
 #include "ui_WatchdogControl.h"
 #include "PxQuadMAV.h"
 
+#include "UASManager.h"
+
 #include <QDebug>
 
 WatchdogControl::WatchdogControl(QWidget *parent) :
@@ -10,6 +12,7 @@ WatchdogControl::WatchdogControl(QWidget *parent) :
         ui(new Ui::WatchdogControl)
 {
     ui->setupUi(this);
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
 }
 
 WatchdogControl::~WatchdogControl()
@@ -24,6 +27,8 @@ void WatchdogControl::setUAS(UASInterface* uas)
     if (qmav)
     {
         connect(qmav, SIGNAL(processReceived(int,int,int,QString,QString,int)), this, SLOT(addProcess(int,int,int,QString,QString,int)));
+        connect(qmav, SIGNAL(watchdogReceived(int,int,int)), this, SLOT(updateWatchdog(int,int,uint)));
+        connect(qmav, SIGNAL(processChanged(int,int,int,int,bool,int,int)), this, SLOT(updateProcess(int,int,int,int,bool,int,int)));
     }
 }
 
@@ -38,6 +43,7 @@ void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int
 
     // start the timeout timer
     //watchdog.timeoutTimer_.reset();
+    qDebug() << "WATCHDOG RECEIVED";
     //qDebug() << "<-- received mavlink_watchdog_heartbeat_t " << msg->sysid << " / " << payload.watchdog_id << " / " << payload.process_count << std::endl;
 }
 
@@ -51,6 +57,7 @@ void WatchdogControl::addProcess(int systemId, int watchdogId, int processId, QS
     process.name_ = name.toStdString();
     process.arguments_ = arguments.toStdString();
     process.timeout_ = timeout;
+    qDebug() << "PROCESS RECEIVED";
     //qDebug() << "<-- received mavlink_watchdog_process_info_t " << msg->sysid << " / " << (const char*)payload.name << " / " << (const char*)payload.arguments << " / " << payload.timeout << std::endl;
 }
 
@@ -67,6 +74,7 @@ void WatchdogControl::updateProcess(int systemId, int watchdogId, int processId,
     process.crashes_ = crashes;
     process.pid_ = pid;
 
+    qDebug() << "PROCESS UPDATED";
     //process.updateTimer_.reset();
     //qDebug() << "<-- received mavlink_watchdog_process_status_t " << msg->sysid << " / " << payload.state << " / " << payload.muted << " / " << payload.crashes << " / " << payload.pid << std::endl;
 }
-- 
2.22.0