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Commit c18a5334 authored by Bryant's avatar Bryant
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Removing UASes now returns the UI to an almost pristine state. This was done... 

Removing UASes now returns the UI to an almost pristine state. This was done by altering the activeUASSet signal so that it can emit a NULL UAS. Crashes may still exist in autopilot-specific code.
parent 9ff35e3e
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Showing with 340 additions and 317 deletions
src/uas/UASManager.cc
View file @ c18a5334
......@@ -310,38 +310,23 @@ void UASManager::removeUAS(UASInterface* uas)
{
int listindex = systems.indexOf(uas);
// If this is the active UAS, select a new one.
// Remove this system from local data store.
systems.removeAt(listindex);
// If this is the active UAS, select a new one if one exists otherwise
// indicate that there are no active UASes.
if (uas == activeUAS)
{
if (systems.count() > 1)
if (systems.count())
{
// We only set a new UAS if more than one is present
if (listindex != 0)
{
// The system to be removed is not at position 1
// set position one as new active system
setActiveUAS(systems.first());
}
else
{
// The system to be removed is at position 1,
// select the next system
setActiveUAS(systems.at(1));
}
setActiveUAS(systems.first());
}
else
{
// TODO send a null pointer if no UAS is present any more
// This has to be properly tested however, since it might
// crash code parts not handling null pointers correctly.
activeUAS = NULL;
// XXX Not emitting the null pointer yet
setActiveUAS(NULL);
}
}
// Finally delete a local reference to this UAS
systems.removeAt(listindex);
// Notify other UI elements that a UAS is being deleted before finally deleting it.
qDebug() << "Deleting UAS object: " << uas->getUASName();
emit UASDeleted(uas);
......@@ -449,21 +434,24 @@ UASInterface* UASManager::getUASForId(int id)
void UASManager::setActiveUAS(UASInterface* uas)
{
if (uas != NULL) {
activeUASMutex.lock();
if (activeUAS != NULL) {
emit activeUASStatusChanged(activeUAS, false);
emit activeUASStatusChanged(activeUAS->getUASID(), false);
}
activeUAS = uas;
activeUASMutex.unlock();
// Signal components that the last UAS is no longer active.
activeUASMutex.lock();
if (activeUAS != NULL) {
emit activeUASStatusChanged(activeUAS, false);
emit activeUASStatusChanged(activeUAS->getUASID(), false);
}
activeUAS = uas;
activeUASMutex.unlock();
// And signal that a new UAS is.
emit activeUASSet(activeUAS);
if (activeUAS)
{
activeUAS->setSelected();
emit activeUASSet(uas);
emit activeUASSet(uas->getUASID());
emit activeUASSetListIndex(systems.indexOf(uas));
emit activeUASStatusChanged(uas, true);
emit activeUASStatusChanged(uas->getUASID(), true);
emit activeUASSet(activeUAS->getUASID());
emit activeUASSetListIndex(systems.indexOf(activeUAS));
emit activeUASStatusChanged(activeUAS, true);
emit activeUASStatusChanged(activeUAS->getUASID(), true);
}
}
src/uas/UASManager.h
View file @ c18a5334
......@@ -151,12 +151,12 @@ public slots:
**/
void addUAS(UASInterface* UAS);
/** @brief Remove a system from the list. Also triggers the UAS to kill itself. */
/** @brief Remove a system from the list. If this is the active UAS, it switches to another one calling setActiveUAS. Also triggers the UAS to kill itself. */
void removeUAS(UASInterface* uas);
/**
* @brief Set a UAS as currently selected
* @brief Set a UAS as currently selected. NULL is a valid value for when no other valid UAS's are available.
*
* @param UAS Unmanned Air System to set
**/
......
src/ui/HSIDisplay.cc
View file @ c18a5334
......@@ -177,15 +177,14 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
setStatusTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget."));
connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
statusClearTimer.start(3000);
if (UASManager::instance()->getActiveUAS())
{
setActiveUAS(UASManager::instance()->getActiveUAS());
}
// Listen for the removal of the active UAS.
setActiveUAS(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
this, SLOT(setActiveUAS(UASInterface*)));
setFocusPolicy(Qt::StrongFocus);
}
......@@ -239,7 +238,7 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
void HSIDisplay::renderOverlay()
{
if (!isVisible()) return;
if (!isVisible() || !uas) return;
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
......@@ -914,9 +913,6 @@ void HSIDisplay::setMetricWidth(double width)
*/
void HSIDisplay::setActiveUAS(UASInterface* uas)
{
if (!uas)
return;
if (this->uas != NULL) {
disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
......@@ -949,47 +945,49 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
}
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
if (uas)
{
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
statusClearTimer.start(3000);
}
else
{
statusClearTimer.stop();
}
this->uas = uas;
resetMAVState();
}
void HSIDisplay::removeUAS(UASInterface* uas)
{
this->uas = NULL;
resetMAVState();
}
void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time)
{
Q_UNUSED(uas);
......@@ -1094,7 +1092,7 @@ void HSIDisplay::updateAttitude(UASInterface* uas, double roll, double pitch, do
void HSIDisplay::updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired)
{
Q_UNUSED(uasid);
Q_UNUSED(uasid);
uiXSetCoordinate = xDesired;
uiYSetCoordinate = yDesired;
uiZSetCoordinate = zDesired;
......
src/ui/HSIDisplay.h
View file @ c18a5334
......@@ -52,7 +52,6 @@ public:
public slots:
void setActiveUAS(UASInterface* uas);
void removeUAS(UASInterface* uas);
/** @brief Set the width in meters this widget shows from top */
void setMetricWidth(double width);
void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
......
src/ui/HUD.cc
View file @ c18a5334
......@@ -327,10 +327,10 @@ void HUD::setActiveUAS(UASInterface* uas)
connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
connect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
}
// Set new UAS
this->uas = uas;
}
// Set new UAS
this->uas = uas;
}
//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
......
src/ui/QGCHilXPlaneConfiguration.cc
View file @ c18a5334
......@@ -44,7 +44,7 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
void QGCHilXPlaneConfiguration::setVersion(int version)
{
Q_UNUSED(version);
}
void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
......
src/ui/QGCToolBar.cc
View file @ c18a5334
......@@ -166,7 +166,6 @@ void QGCToolBar::createUI()
// Configure the toolbar for the current default UAS
setActiveUAS(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(removeUAS(UASInterface*)));
if (LinkManager::instance()->getLinks().count() > 2)
addLink(LinkManager::instance()->getLinks().last());
......@@ -288,8 +287,8 @@ void QGCToolBar::advancedActivityTriggered(QAction* action)
void QGCToolBar::setActiveUAS(UASInterface* active)
{
// Do nothing if system is the same or NULL
if ((active == NULL) || mav == active) return;
// Do nothing if system is the same
if (mav == active) return;
// If switching UASes, disconnect the only one.
if (mav)
......@@ -317,54 +316,43 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
// Connect new system
mav = active;
connect(active, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
connect(active, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
connect(active, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
connect(active, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
connect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
if (active->getWaypointManager())
if (mav)
{
connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
connect(active->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
}
// Update all values once
systemName = mav->getUASName();
systemArmed = mav->isArmed();
toolBarNameLabel->setText(mav->getUASName());
toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name()));
symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name()));
toolBarModeLabel->setText(mav->getShortMode());
toolBarStateLabel->setText(mav->getShortState());
toolBarTimeoutLabel->setText("");
toolBarDistLabel->setText("");
toolBarBatteryBar->setEnabled(true);
setSystemType(mav, mav->getSystemType());
}
connect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
connect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
connect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
if (mav->getWaypointManager())
{
connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
connect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
}
/**
* @brief Handle removal of the UAS that is currently being displayed.
* Stop updating the UI periodically, reset the UI, and reset our stored UAS.
* @param uas The UAS to remove.
*/
void QGCToolBar::removeUAS(UASInterface* uas)
{
if (mav == uas) {
// Update all values once
systemName = mav->getUASName();
systemArmed = mav->isArmed();
toolBarNameLabel->setText(mav->getUASName());
toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name()));
symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name()));
toolBarModeLabel->setText(mav->getShortMode());
toolBarStateLabel->setText(mav->getShortState());
toolBarTimeoutLabel->setText("");
toolBarDistLabel->setText("");
toolBarBatteryBar->setEnabled(true);
setSystemType(mav, mav->getSystemType());
}
else
{
updateViewTimer.stop();
resetToolbarUI();
mav = NULL;
}
}
void QGCToolBar::createCustomWidgets()
{
}
void QGCToolBar::updateArmingState(bool armed)
{
systemArmed = armed;
......
src/ui/QGCToolBar.h
View file @ c18a5334
......@@ -46,8 +46,6 @@ public:
public slots:
/** @brief Set the system that is currently displayed by this widget */
void setActiveUAS(UASInterface* active);
/** @brief Remove the provided UAS if it's currently active from the toolbar */
void removeUAS(UASInterface* uas);
/** @brief Set the link which is currently handled with connecting / disconnecting */
void addLink(LinkInterface* link);
/** @brief Remove link which is currently handled */
......@@ -86,7 +84,6 @@ public slots:
void advancedActivityTriggered(QAction* action);
protected:
void createCustomWidgets();
void storeSettings();
void loadSettings();
void createUI();
......
src/ui/QGCVehicleConfig.cc
View file @ c18a5334
This diff is collapsed.
src/ui/QGCVehicleConfig.h
View file @ c18a5334
......@@ -17,7 +17,7 @@ class QGCVehicleConfig;
class QGCVehicleConfig : public QWidget
{
Q_OBJECT
public:
explicit QGCVehicleConfig(QWidget *parent = 0);
~QGCVehicleConfig();
......@@ -185,12 +185,13 @@ protected:
QList<QGCToolWidget*> toolWidgets; ///< Configurable widgets
bool calibrationEnabled; ///< calibration mode on / off
QMap<QString,QGCToolWidget*> *paramToWidgetMap; ///< Holds the current active MAV's parameter widgets.
QMap<QString,QGCToolWidget*> *libParamToWidgetMap; ///< Holds the library parameter widgets
QMap<QString,QMap<QString,QGCToolWidget*>*> systemTypeToParamMap; ///< Holds all loaded MAV specific parameter widgets, for every MAV.
QMap<QString,QGCToolWidget*> paramToWidgetMap; ///< Holds the current active MAV's parameter widgets.
QList<QWidget*> additionalTabs; ///< Stores additional tabs loaded for this vehicle/autopilot configuration. Used for cleaning up.
QMap<QString,QGCToolWidget*> libParamToWidgetMap; ///< Holds the library parameter widgets
QMap<QString,QMap<QString,QGCToolWidget*> > systemTypeToParamMap; ///< Holds all loaded MAV specific parameter widgets, for every MAV.
QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap; ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget.
QMap<QString,QString> paramTooltips; ///< Tooltips for the ? button next to a parameter.
private:
Ui::QGCVehicleConfig *ui;
QMap<QPushButton*,QWidget*> buttonToWidgetMap;
......
src/ui/QGCVehicleConfig.ui
View file @ c18a5334
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1256</width>
<height>670</height>
<height>711</height>
</rect>
</property>
<property name="sizePolicy">
......@@ -43,7 +43,7 @@
<x>0</x>
<y>0</y>
<width>133</width>
<height>650</height>
<height>691</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
......@@ -876,8 +876,8 @@ Config</string>
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
......@@ -893,8 +893,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>20</width>
<height>20</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
......@@ -968,8 +968,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>16</width>
<height>16</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
......@@ -1005,8 +1005,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>16</width>
<height>16</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_5">
......@@ -1084,8 +1084,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>16</width>
<height>16</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
......@@ -1121,8 +1121,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>16</width>
<height>16</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
......
src/ui/map/QGCMapWidget.cc
View file @ c18a5334
......@@ -302,7 +302,6 @@ void QGCMapWidget::addUAS(UASInterface* uas)
void QGCMapWidget::activeUASSet(UASInterface* uas)
{
// Only execute if proper UAS is set
if (!uas) return;
this->uas = uas;
// Disconnect old MAV manager
......@@ -315,17 +314,26 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
}
currWPManager = uas->getWaypointManager();
// Attach the new waypoint manager if a new UAS was selected. Otherwise, indicate
// that no such manager exists.
if (uas)
{
currWPManager = uas->getWaypointManager();
updateSelectedSystem(uas->getUASID());
followUAVID = uas->getUASID();
updateWaypointList(uas->getUASID());
updateSelectedSystem(uas->getUASID());
followUAVID = uas->getUASID();
updateWaypointList(uas->getUASID());
// Connect the waypoint manager / data storage to the UI
connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
// Connect the waypoint manager / data storage to the UI
connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
}
else
{
currWPManager = NULL;
}
}
/**
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ c18a5334
......@@ -113,7 +113,10 @@ Pixhawk3DWidget::~Pixhawk3DWidget()
void
Pixhawk3DWidget::activeSystemChanged(UASInterface* uas)
{
mActiveSystemId = uas->getUASID();
if (uas)
{
mActiveSystemId = uas->getUASID();
}
mActiveUAS = uas;
......
src/ui/uas/UASActionsWidget.cpp
View file @ c18a5334
......@@ -19,10 +19,13 @@ UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent)
void UASActionsWidget::activeUASSet(UASInterface *uas)
{
m_uas = uas;
connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList()));
connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16)));
connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
armingChanged(m_uas->isArmed());
if (uas)
{
connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList()));
connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16)));
connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
armingChanged(m_uas->isArmed());
}
updateWaypointList();
}
void UASActionsWidget::armButtonClicked()
......@@ -63,9 +66,12 @@ void UASActionsWidget::currentWaypointChanged(quint16 wpid)
void UASActionsWidget::updateWaypointList()
{
ui.waypointComboBox->clear();
for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
if (m_uas)
{
ui.waypointComboBox->addItem(QString::number(i));
for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
{
ui.waypointComboBox->addItem(QString::number(i));
}
}
}
......
src/ui/uas/UASControlWidget.cc
View file @ c18a5334
......@@ -70,7 +70,7 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
void UASControlWidget::setUAS(UASInterface* uas)
{
if (this->uas != 0)
if (this->uas)
{
UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
......@@ -83,18 +83,25 @@ void UASControlWidget::setUAS(UASInterface* uas)
}
// Connect user interface controls
connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
this->uas = uas->getUASID();
setBackgroundColor(uas->getColor());
if (uas)
{
connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
this->uas = uas->getUASID();
setBackgroundColor(uas->getColor());
}
else
{
this->uas = -1;
}
}
UASControlWidget::~UASControlWidget()
......
src/ui/uas/UASListWidget.cc
View file @ c18a5334
......@@ -56,15 +56,21 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent),
m_ui->verticalLayout->addWidget(uWidget);
linkToBoxMapping = QMap<LinkInterface*, QGroupBox*>();
uasToBoxMapping = QMap<UASInterface*, QGroupBox*>();
uasViews = QMap<UASInterface*, UASView*>();
this->setVisible(false);
// Listen for when UASes are added or removed. This does not manage the UASView
// widgets that are displayed within this widget.
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addUAS(UASInterface*)));
connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)),
this, SLOT(removeUAS(UASInterface*)));
// Get a list of all existing UAS
foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
foreach (UASInterface* uas, UASManager::instance()->getUASList())
{
addUAS(uas);
}
}
......@@ -93,7 +99,7 @@ void UASListWidget::addUAS(UASInterface* uas)
if (uasViews.isEmpty())
{
m_ui->verticalLayout->removeWidget(uWidget);
delete uWidget;
uWidget->deleteLater();
uWidget = NULL;
}
......@@ -124,6 +130,7 @@ void UASListWidget::addUAS(UASInterface* uas)
// And add the new UAS to the UASList
UASView* newView = new UASView(uas, newBox);
uasViews.insert(uas, newView);
uasToBoxMapping[uas] = newBox;
newBox->layout()->addWidget(newView);
// Watch for when this widget is destroyed so that we can clean up the
......@@ -148,30 +155,49 @@ void UASListWidget::activeUAS(UASInterface* uas)
*/
void UASListWidget::removeUAS(UASInterface* uas)
{
// Remove the UAS from our data structures and
// the global listing.
// Remove the UASView and check if its parent GroupBox has any other children,
// delete it if it doesn't.
QGroupBox* box = uasToBoxMapping[uas];
uasToBoxMapping.remove(uas);
uasViews.remove(uas);
// Check all groupboxes for all links this uas had and check if they're empty.
// Delete them if they are.
QListIterator<LinkInterface*> i = *uas->getLinks();
while (i.hasNext())
int otherViews = 0;
foreach (UASView* view, box->findChildren<UASView*>())
{
LinkInterface* link = i.next();
if (view->uas == uas)
{
view->deleteLater();
}
else
{
++otherViews;
}
}
if (otherViews == 0)
{
// Delete the groupbox.
QMap<LinkInterface*, QGroupBox*>::const_iterator i = linkToBoxMapping.constBegin();
while (i != linkToBoxMapping.constEnd()) {
if (i.value() == box)
{
linkToBoxMapping.remove(i.key());
}
++i;
}
box->deleteLater();
QGroupBox* box = linkToBoxMapping[link];
if (box)
// And if no other QGroupBoxes are left, put the initial widget back.
int otherBoxes = 0;
foreach (const QGroupBox* otherBox, findChildren<QGroupBox*>())
{
// If this was the last UAS in the GroupBox, remove it and its corresponding link.
int views = box->findChildren<UASView*>().size();
if (views == 0) {
box->deleteLater();
linkToBoxMapping.remove(link);
if (otherBox != box)
{
++otherBoxes;
}
}
if (otherBoxes == 0)
{
uWidget = new QGCUnconnectedInfoWidget(this);
m_ui->verticalLayout->addWidget(uWidget);
}
}
// And if no QGroupBoxes are left, put the initial widget back.
uWidget = new QGCUnconnectedInfoWidget(this);
m_ui->verticalLayout->addWidget(uWidget);
}
src/ui/uas/UASListWidget.h
View file @ c18a5334
......@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include <QWidget>
#include <QMap>
#include <QList>
#include <QVBoxLayout>
#include <QGroupBox>
#include "UASInterface.h"
......@@ -54,9 +55,11 @@ public slots:
void removeUAS(UASInterface* uas);
protected:
// Keep a mapping from UASes to their GroupBox. Useful for determining when groupboxes are empty.
QMap<UASInterface*, QGroupBox*> uasToBoxMapping;
// Keep a mapping from Links to GroupBoxes for adding new links.
QMap<LinkInterface*, QGroupBox*> linkToBoxMapping;
// Tie each view to their UAS object.
// Tie each view to their UAS object so they can be removed easily.
QMap<UASInterface*, UASView*> uasViews;
QGCUnconnectedInfoWidget* uWidget;
void changeEvent(QEvent *e);
......
src/ui/uas/UASView.cc
View file @ c18a5334
......@@ -43,48 +43,48 @@ This file is part of the PIXHAWK project
#include <QGCHilFlightGearConfiguration.h>
UASView::UASView(UASInterface* uas, QWidget *parent) :
QWidget(parent),
startTime(0),
timeout(false),
iconIsRed(true),
disconnected(false),
timeRemaining(0),
chargeLevel(0),
uas(uas),
load(0),
state("UNKNOWN"),
stateDesc(tr("Unknown state")),
mode("MAV_MODE_UNKNOWN"),
thrust(0),
isActive(false),
x(0),
y(0),
z(0),
totalSpeed(0),
lat(0),
lon(0),
alt(0),
groundDistance(0),
localFrame(false),
globalFrameKnown(false),
removeAction(new QAction("Delete this system", this)),
renameAction(new QAction("Rename..", this)),
selectAction(new QAction("Control this system", this )),
hilAction(new QAction("HIL - Hardware in the Loop", this )),
selectAirframeAction(new QAction("Choose Airframe", this)),
setBatterySpecsAction(new QAction("Set Battery Options", this)),
lowPowerModeEnabled(true),
generalUpdateCount(0),
filterTime(0),
m_ui(new Ui::UASView)
QWidget(parent),
uas(uas),
startTime(0),
timeout(false),
iconIsRed(true),
disconnected(false),
timeRemaining(0),
chargeLevel(0),
load(0),
state("UNKNOWN"),
stateDesc(tr("Unknown state")),
mode("MAV_MODE_UNKNOWN"),
thrust(0),
isActive(false),
x(0),
y(0),
z(0),
totalSpeed(0),
lat(0),
lon(0),
alt(0),
groundDistance(0),
localFrame(false),
globalFrameKnown(false),
removeAction(new QAction(tr("Delete this system"), this)),
renameAction(new QAction(tr("Rename.."), this)),
selectAction(new QAction(tr("Control this system"), this)),
hilAction(new QAction(tr("HIL - Hardware in the Loop"), this)),
selectAirframeAction(new QAction(tr("Choose Airframe"), this)),
setBatterySpecsAction(new QAction(tr("Set Battery Options"), this)),
lowPowerModeEnabled(true),
generalUpdateCount(0),
filterTime(0),
m_ui(new Ui::UASView)
{
m_ui->setupUi(this);
// FIXME XXX
lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
hilAction->setCheckable(true);
m_ui->setupUi(this);
// Setup communication
//connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(receiveValue(int,QString,double,quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
......@@ -116,8 +116,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
// Allow to delete this widget
connect(removeAction, SIGNAL(triggered()), this, SLOT(prepareForDeletion()));
// Allow deleting this widget
connect(removeAction, SIGNAL(triggered()), this, SLOT(triggerUASDeletion()));
connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
......@@ -170,9 +170,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
UASView::~UASView()
{
delete m_ui;
delete removeAction;
delete renameAction;
delete selectAction;
}
void UASView::heartbeatTimeout(bool timeout, unsigned int ms)
......@@ -562,23 +559,14 @@ void UASView::showHILUi()
MainWindow::instance()->showHILConfigurationWidget(uas);
}
/**
* @brief Stop updating this UASView, queue it for deletion, and also tell the UASManager to delete the UAS.
*/
void UASView::prepareForDeletion()
void UASView::triggerUASDeletion()
{
refreshTimer->stop();
UASManager::instance()->removeUAS(uas);
deleteLater();
}
void UASView::refresh()
{
//setUpdatesEnabled(false);
//setUpdatesEnabled(true);
//repaint();
//qDebug() << "UPDATING UAS WIDGET!" << uas->getUASName();
if (generalUpdateCount == 4)
{
#if (QGC_EVENTLOOP_DEBUG)
......
src/ui/uas/UASView.h
View file @ c18a5334
......@@ -49,6 +49,7 @@ class UASView : public QWidget
public:
UASView(UASInterface* uas, QWidget *parent = 0);
~UASView();
UASInterface* uas;
public slots:
/** @brief Update the name of the system */
......@@ -65,8 +66,11 @@ public slots:
void updateLoad(UASInterface* uas, double load);
//void receiveValue(int uasid, QString id, double value, quint64 time);
void showHILUi();
/** @brief Disables the widget from accessing the UAS object in preparation for being deleted */
void prepareForDeletion();
/**
* Request that the UASManager deletes this UAS. This doesn't delete this widget
* yet, it waits for the approprait uasDeleted signal.
*/
void triggerUASDeletion();
void refresh();
/** @brief Receive new waypoint information */
void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
......@@ -103,7 +107,6 @@ protected:
bool disconnected;
int timeRemaining;
float chargeLevel;
UASInterface* uas;
float load;
QString state;
QString stateDesc;
......
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