Merged, improved UI when MAVs time out

qgcunittest.pro

@@ -11,7 +11,7 @@ QT       += network \
 
 TEMPLATE = app
 
-TARGET = tst_uasunittest
+TARGET = qgcunittest
 
 BASEDIR = $$IN_PWD
 TESTDIR = $$BASEDIR/qgcunittest
@@ -97,8 +97,7 @@ INCLUDEPATH += . \
     $$BASEDIR/src/ui/ \
 
 
-SOURCES += $$TESTDIR/tst_uasunittest.cc \
-            src/uas/UAS.cc \
+SOURCES +=  src/uas/UAS.cc \
             src/comm/MAVLinkProtocol.cc \
             src/uas/UASWaypointManager.cc \
             src/Waypoint.cc \
@@ -111,6 +110,10 @@ SOURCES += $$TESTDIR/tst_uasunittest.cc \
             src/comm/LinkManager.cc \
             src/QGC.cc \
             src/comm/SerialLink.cc \
+            $$TESTDIR/SlugsMavUnitTest.cc \
+            $$TESTDIR/testSuite.cc \
+            $$TESTDIR/UASUnitTest.cc
+
 
 HEADERS += src/uas/UASInterface.h \
             src/uas/UAS.h \
@@ -129,6 +132,9 @@ HEADERS += src/uas/UASInterface.h \
             src/QGC.h \
             src/comm/SerialLinkInterface.h \
             src/comm/SerialLink.h \
+            $$TESTDIR//SlugsMavUnitTest.h \
+            $$TESTDIR/AutoTest.h \
+            $$TESTDIR/UASUnitTest.h
 
 
 

qgcunittest/AutoTest.h

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#ifndef AUTOTEST_H
+#define AUTOTEST_H
+
+#include <QTest>
+#include <QList>
+#include <QString>
+#include <QSharedPointer>
+
+namespace AutoTest
+{
+    typedef QList<QObject*> TestList;
+
+    inline TestList& testList()
+    {
+	static TestList list;
+	return list;
+    }
+
+    inline bool findObject(QObject* object)
+    {
+	TestList& list = testList();
+	if (list.contains(object))
+	{
+	    return true;
+	}
+	foreach (QObject* test, list)
+	{
+	    if (test->objectName() == object->objectName())
+	    {
+		return true;
+	    }
+	}
+	return false;
+    }
+
+    inline void addTest(QObject* object)
+    {
+	TestList& list = testList();
+	if (!findObject(object))
+	{
+	    list.append(object);
+	}
+    }
+
+    inline int run(int argc, char *argv[])
+    {
+	int ret = 0;
+
+	foreach (QObject* test, testList())
+	{
+	    ret += QTest::qExec(test, argc, argv);
+	}
+
+	return ret;
+    }
+}
+
+template <class T>
+class Test
+{
+public:
+    QSharedPointer<T> child;
+
+    Test(const QString& name) : child(new T)
+    {
+	child->setObjectName(name);
+	AutoTest::addTest(child.data());
+    }
+};
+
+#define DECLARE_TEST(className) static Test<className> t(#className);
+
+#define TEST_MAIN \
+    int main(int argc, char *argv[]) \
+    { \
+      return AutoTest::run(argc, argv); \
+  }
+
+#endif // AUTOTEST_H

qgcunittest/SlugsMavUnitTest.cc

+#include "SlugsMavUnitTest.h"
+
+SlugsMavUnitTest::SlugsMavUnitTest()
+{
+}
+
+void SlugsMavUnitTest::initTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::cleanupTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::first_test()
+{
+  QCOMPARE(1,2);
+}

qgcunittest/SlugsMavUnitTest.h

+#ifndef SLUGSMAVUNITTEST_H
+#define SLUGSMAVUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class SlugsMavUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  SlugsMavUnitTest();
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void first_test();
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.cc

+#include "UASUnitTest.h"
+
+UASUnitTest::UASUnitTest()
+{
+}
+
+void UASUnitTest::initTestCase()
+{
+  mav= new MAVLinkProtocol();
+  uas=new UAS(mav,UASID);
+}
+
+void UASUnitTest::cleanupTestCase()
+{
+  delete uas;
+  delete mav;
+
+}
+
+void UASUnitTest::getUASID_test()
+{
+    // Test a default ID of zero is assigned
+    UAS* uas2 = new UAS(mav);
+    QCOMPARE(uas2->getUASID(), 0);
+    delete uas2;
+
+    // Test that the chosen ID was assigned at construction
+    QCOMPARE(uas->getUASID(), UASID);
+
+    // Make sure that no other ID was sert
+    QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
+    QCOMPARE(uas->getUASID(), 0);
+}
+
+void UASUnitTest::getUASName_test()
+{
+  // Test that the name is build as MAV + ID
+  QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
+
+}
+
+void UASUnitTest::getUpTime_test()
+{
+  UAS* uas2 = new UAS(mav);
+  // Test that the uptime starts at zero to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
+
+  // Sleep for three seconds
+  QTest::qSleep(3000);
+
+  // Test that the up time is computed correctly to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
+
+  delete uas2;
+}
+
+void UASUnitTest::getCommunicationStatus_test()
+{
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
+}
+
+void UASUnitTest::filterVoltage_test()
+{
+    float verificar=uas->filterVoltage(0.4f);
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(verificar, 8.52f);
+}
+void UASUnitTest:: getAutopilotType_test()
+{
+    int verificar=uas->getAutopilotType();
+  // Verify that upon construction the autopilot is set to -1
+  QCOMPARE(verificar, -1);
+}
+void UASUnitTest::setAutopilotType_test()
+{
+  uas->setAutopilotType(2);
+  // Verify that the autopilot is set
+  QCOMPARE(uas->getAutopilotType(), 2);
+}
+
+void UASUnitTest::getStatusForCode_test()
+{
+  QString state, desc;
+  state = "";
+  desc = "";
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
+  QVERIFY(state == "BOOT");
+
+  uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
+  QVERIFY(state == "CALIBRATING");
+
+  uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
+  QVERIFY(state == "ACTIVE");
+
+  uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
+  QVERIFY(state == "STANDBY");
+
+  uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
+  QVERIFY(state == "CRITICAL");
+
+  uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
+  QVERIFY(state == "EMERGENCY");
+
+  uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
+  QVERIFY(state == "SHUTDOWN");
+
+  uas->getStatusForCode(5325, state, desc);
+  QVERIFY(state == "UNKNOWN");
+}
+
+
+void UASUnitTest::getLocalX_test()
+{
+  QCOMPARE(uas->getLocalX(), 0.0);
+}
+void UASUnitTest::getLocalY_test()
+{
+  QCOMPARE(uas->getLocalY(), 0.0);
+}
+void UASUnitTest::getLocalZ_test()
+{
+  QCOMPARE(uas->getLocalZ(), 0.0);
+}
+void UASUnitTest::getLatitude_test()
+{  QCOMPARE(uas->getLatitude(), 0.0);
+}
+void UASUnitTest::getLongitude_test()
+{
+  QCOMPARE(uas->getLongitude(), 0.0);
+}
+void UASUnitTest::getAltitude_test()
+{
+  QCOMPARE(uas->getAltitude(), 0.0);
+}
+void UASUnitTest::getRoll_test()
+{
+  QCOMPARE(uas->getRoll(), 0.0);
+}
+void UASUnitTest::getPitch_test()
+{
+  QCOMPARE(uas->getPitch(), 0.0);
+}
+void UASUnitTest::getYaw_test()
+{
+  QCOMPARE(uas->getYaw(), 0.0);
+}

qgcunittest/UASUnitTest.h

+#ifndef UASUNITTEST_H
+#define UASUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class UASUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  #define  UASID  50
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
+
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void getUASID_test();
+  void getUASName_test();
+  void getUpTime_test();
+  void getCommunicationStatus_test();
+  void filterVoltage_test();
+  void getAutopilotType_test();
+  void setAutopilotType_test();
+  void getStatusForCode_test();
+  void getLocalX_test();
+  void getLocalY_test();
+  void getLocalZ_test();
+  void getLatitude_test();
+  void getLongitude_test();
+  void getAltitude_test();
+  void getRoll_test();
+  void getPitch_test();
+  void getYaw_test();
+
+protected:
+   UAS *prueba;
+
+};
+
+DECLARE_TEST(UASUnitTest)
+#endif // UASUNITTEST_H

qgcunittest/testSuite.cc

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#include "AutoTest.h"
+#include <QDebug>
+
+#if 1
+// This is all you need to run all the tests
+TEST_MAIN
+#else
+// Or supply your own main function
+int main(int argc, char *argv[])
+{
+    int failures = AutoTest::run(argc, argv);
+    if (failures == 0)
+    {
+	qDebug() << "ALL TESTS PASSED";
+    }
+    else
+    {
+	qDebug() << failures << " TESTS FAILED!";
+    }
+    return failures;
+}
+#endif

src/MG.h

@@ -41,7 +41,7 @@ This file is part of the PIXHAWK project
 
 namespace MG
 {
-    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 365 * 2;
+    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
 
     class VERSION
     {

src/QGC.h

@@ -20,7 +20,7 @@ namespace QGC
     quint64 groundTimeUsecs();
     int applicationVersion();
 
-
+    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
 
     class SLEEP : public QThread
     {

src/uas/SlugsMAV.h

@@ -46,7 +46,6 @@ public slots:
     mavlink_pwm_commands_t* getPwmCommands();
 #endif
 
-
 signals:
 
     void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);

src/uas/UAS.cc

@@ -84,8 +84,8 @@ paramsOnceRequested(false)
 {
     color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);
-    statusTimeout->setInterval(500);
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
+    statusTimeout->start(500);
 }
 
 UAS::~UAS()
@@ -101,6 +101,14 @@ int UAS::getUASID() const
 
 void UAS::updateState()
 {
+    // Check if heartbeat timed out
+    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
+    if (heartbeatInterval > timeoutIntervalHeartbeat)
+    {
+        emit heartbeatTimeout(heartbeatInterval);
+        emit heartbeatTimeout();
+    }
+
     // Position lock is set by the MAVLink message handler
     // if no position lock is available, indicate an error
     if (positionLock)
@@ -144,6 +152,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
+            lastHeartbeat = QGC::groundTimeUsecs();
             emit heartbeat(this);
             // Set new type if it has changed
             if (this->type != mavlink_msg_heartbeat_get_type(&message))
@@ -1317,6 +1326,12 @@ void UAS::setParameter(const int component, const QString& id, const float value
     }
 }
 
+void UAS::setUASName(const QString& name)
+{
+    this->name = name;
+    emit nameChanged(name);
+}
+
 /**
  * Sets an action
  *

src/uas/UAS.h

@@ -152,6 +152,7 @@ protected: //COMMENTS FOR TEST UNIT
     double roll;
     double pitch;
     double yaw;
+    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
     QTimer* statusTimeout;      ///< Timer for various status timeouts
     QMap<int, QMap<QString, float>* > parameters; ///< All parameters
     bool paramsOnceRequested;   ///< If the parameter list has been read at least once
@@ -174,7 +175,10 @@ public:
     void setAutopilotType(int apType) { autopilot = apType;}
 
 public slots:
-    /** @brief Sets an action **/
+
+    /** @brief Set a new name **/
+    void setUASName(const QString& name);
+    /** @brief Executes an action **/
     void setAction(MAV_ACTION action);
 
     /** @brief Launches the system **/

src/uas/UASInterface.h

@@ -92,7 +92,8 @@ public:
         COMM_CONNECTED = 2,
         /** The connection is closed **/
         COMM_DISCONNECTING = 3,
-        COMM_FAIL = 4, ///< Communication link failed
+        COMM_FAIL = 4,
+        COMM_TIMEDOUT = 5///< Communication link failed
     };
 
 
@@ -162,6 +163,8 @@ public:
 
 public slots:
 
+    /** @brief Set a new name for the system */
+    virtual void setUASName(const QString& name) = 0;
     /** @brief Sets an action **/
     virtual void setAction(MAV_ACTION action) = 0;
 
@@ -409,9 +412,18 @@ signals:
      */
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
 
+    // ERROR AND STATUS SIGNALS
+    /** @brief Heartbeat timed out */
+    void heartbeatTimeout();
+    /** @brief Heartbeat timed out */
+    void heartbeatTimeout(unsigned int ms);
+    /** @brief Name of system changed */
+    void nameChanged(QString newName);
 
+protected:
 
-
+    // TIMEOUT CONSTANTS
+    static const unsigned int timeoutIntervalHeartbeat = 2000 * 1000; ///< Heartbeat timeout is 1.5 seconds
 
 };
 

src/uas/UASManager.cc

@@ -58,7 +58,7 @@ UASManager* UASManager::instance()
 UASManager::UASManager() :
         activeUAS(NULL)
 {
-    systems = QMap<int, UASInterface*>();
+    systems = QList<UASInterface*>();
     start(QThread::LowPriority);
 }
 
@@ -90,9 +90,9 @@ void UASManager::addUAS(UASInterface* uas)
     }
 
     // Only execute if there is no UAS at this index
-    if (!systems.contains(uas->getUASID()))
+    if (!systems.contains(uas))
     {
-        systems.insert(uas->getUASID(), uas);
+        systems.append(uas);
         emit UASCreated(uas);
     }
 
@@ -105,7 +105,7 @@ void UASManager::addUAS(UASInterface* uas)
 
 QList<UASInterface*> UASManager::getUASList()
 {
-    return systems.values();
+    return systems;
 }
 
 UASInterface* UASManager::getActiveUAS()
@@ -176,8 +176,18 @@ void UASManager::configureActiveUAS()
 
 UASInterface* UASManager::getUASForId(int id)
 {
-    // Return NULL pointer if UAS does not exist
-    return systems.value(id, NULL);
+    UASInterface* system = NULL;
+
+    foreach(UASInterface* sys, systems)
+    {
+        if (sys->getUASID() == id)
+        {
+            system = sys;
+        }
+    }
+
+    // Return NULL if not found
+    return system;
 }
 
 void UASManager::setActiveUAS(UASInterface* uas)
@@ -195,6 +205,7 @@ void UASManager::setActiveUAS(UASInterface* uas)
 
         emit activeUASSet(uas);
         emit activeUASSet(uas->getUASID());
+        emit activeUASSetListIndex(systems.indexOf(uas));
         emit activeUASStatusChanged(uas, true);
         emit activeUASStatusChanged(uas->getUASID(), true);
     }

src/uas/UASManager.h

@@ -162,7 +162,7 @@ public slots:
 
 protected:
     UASManager();
-    QMap<int, UASInterface*> systems;
+    QList<UASInterface*> systems;
     UASInterface* activeUAS;
     QMutex activeUASMutex;
 
@@ -173,6 +173,8 @@ signals:
     /** @brief The UAS currently under main operator control changed */
     void activeUASSet(int systemId);
     /** @brief The UAS currently under main operator control changed */
+    void activeUASSetListIndex(int listIndex);
+    /** @brief The UAS currently under main operator control changed */
     void activeUASStatusChanged(UASInterface* UAS, bool active);
     /** @brief The UAS currently under main operator control changed */
     void activeUASStatusChanged(int systemId, bool active);

src/ui/MainWindow.cc

@@ -436,10 +436,10 @@ void MainWindow::buildPxWidgets()
 
     if (!parametersDockWidget)
     {
-        parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
+        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
         parametersDockWidget->setWidget( new ParameterInterface(this) );
         parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
-        addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
     }
 
     if (!watchdogControlDockWidget)
@@ -1099,7 +1099,7 @@ void MainWindow::showStatusMessage(const QString& status)
 
 void MainWindow::showCriticalMessage(const QString& title, const QString& message)
 {
-    QMessageBox msgBox(MainWindow::instance());
+    QMessageBox msgBox(this);
     msgBox.setIcon(QMessageBox::Critical);
     msgBox.setText(title);
     msgBox.setInformativeText(message);
@@ -1110,7 +1110,7 @@ void MainWindow::showCriticalMessage(const QString& title, const QString& messag
 
 void MainWindow::showInfoMessage(const QString& title, const QString& message)
 {
-    QMessageBox msgBox(MainWindow::instance());
+    QMessageBox msgBox(this);
     msgBox.setIcon(QMessageBox::Information);
     msgBox.setText(title);
     msgBox.setInformativeText(message);
@@ -1152,6 +1152,9 @@ void MainWindow::connectCommonActions()
     connect(ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
     connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
     connect(ui.actionProject_Roadmap_2, SIGNAL(triggered()), this, SLOT(showRoadMap()));
+
+    // Custom widget actions
+    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
 }
 
 void MainWindow::connectPxActions()

src/ui/ParameterInterface.cc

@@ -46,10 +46,10 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
     m_ui->setupUi(this);
     // Make sure the combo box is empty
     // because else indices get messed up
-    m_ui->vehicleComboBox->clear();
+    //m_ui->vehicleComboBox->clear();
 
     // Setup UI connections
-    connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
+    //connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
 
     // Get current MAV list
     QList<UASInterface*> systems = UASManager::instance()->getUASList();
@@ -62,6 +62,7 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
 
     // Setup MAV connections
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(activeUASSetListIndex(int)), this, SLOT(selectUAS(int)));
     this->setVisible(false);
 }
 
@@ -72,9 +73,8 @@ ParameterInterface::~ParameterInterface()
 
 void ParameterInterface::selectUAS(int index)
 {
-    // FIXME plus 2 shouldn't be there
-    m_ui->stackedWidget->setCurrentIndex(index+2);
-    m_ui->sensorSettings->setCurrentIndex(index+2);
+    m_ui->stackedWidget->setCurrentIndex(index);
+    m_ui->sensorSettings->setCurrentIndex(index);
     curr = index;
 }
 
@@ -84,7 +84,7 @@ void ParameterInterface::selectUAS(int index)
  */
 void ParameterInterface::addUAS(UASInterface* uas)
 {
-    m_ui->vehicleComboBox->addItem(uas->getUASName());
+    //m_ui->vehicleComboBox->addItem(uas->getUASName());
 
     QGCParamWidget* param = new QGCParamWidget(uas, this);
     paramWidgets->insert(uas->getUASID(), param);

src/ui/ParameterInterface.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="2,10,5">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="2,0">
    <property name="horizontalSpacing">
     <number>5</number>
    </property>
@@ -23,17 +23,7 @@
    <property name="margin">
     <number>6</number>
    </property>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Vehicle</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QComboBox" name="vehicleComboBox"/>
-   </item>
-   <item row="1" column="0" colspan="2">
+   <item row="0" column="0" colspan="2">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="title">
       <string>Onboard Parameters</string>
@@ -45,26 +35,18 @@
       <item>
        <widget class="QStackedWidget" name="stackedWidget">
         <property name="currentIndex">
-         <number>0</number>
+         <number>-1</number>
         </property>
-        <widget class="QWidget" name="page">
-         <layout class="QVBoxLayout" name="verticalLayout"/>
-        </widget>
-        <widget class="QWidget" name="page_2"/>
        </widget>
       </item>
      </layout>
     </widget>
    </item>
-   <item row="2" column="0" colspan="2">
+   <item row="1" column="0" colspan="2">
     <widget class="QStackedWidget" name="sensorSettings">
      <property name="currentIndex">
-      <number>0</number>
+      <number>-1</number>
      </property>
-     <widget class="QWidget" name="page_3">
-      <layout class="QVBoxLayout" name="verticalLayout_2"/>
-     </widget>
-     <widget class="QWidget" name="page_4"/>
     </widget>
    </item>
   </layout>

src/ui/UASControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>222</width>
-    <height>172</height>
+    <width>200</width>
+    <height>150</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -18,8 +18,8 @@
   </property>
   <property name="minimumSize">
    <size>
-    <width>222</width>
-    <height>172</height>
+    <width>200</width>
+    <height>150</height>
    </size>
   </property>
   <property name="maximumSize">
@@ -34,8 +34,14 @@
   <property name="toolTip">
    <string>Control widget to send basic control actions to the micro air vehicle</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="60,150,80,80,80,100" columnstretch="1,100,40,40,100,1" rowminimumheight="0,0,0,0,0,0">
-   <item row="0" column="0" rowspan="6">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="5,1,40,1,40,40,40" columnstretch="5,20,20,25,5">
+   <property name="margin">
+    <number>4</number>
+   </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <item row="0" column="0" rowspan="7">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -48,12 +54,12 @@
      </property>
     </spacer>
    </item>
-   <item row="0" column="1" colspan="4">
+   <item row="0" column="1" rowspan="2" colspan="3">
     <widget class="QLabel" name="controlStatusLabel">
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>0</height>
+       <height>10</height>
       </size>
      </property>
      <property name="text">
@@ -67,140 +73,143 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="5" rowspan="6">
-    <spacer name="horizontalSpacer_2">
+   <item row="3" column="1" colspan="3">
+    <spacer name="verticalSpacer">
      <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+      <enum>Qt::Vertical</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>30</width>
-       <height>159</height>
+       <width>216</width>
+       <height>17</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="1" column="1" colspan="4">
-    <widget class="QPushButton" name="controlButton">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>12</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Activate Engine</string>
-     </property>
-    </widget>
+   <item row="4" column="1" colspan="3">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>6</number>
+     </property>
+     <item>
+      <widget class="QPushButton" name="liftoffButton">
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Start</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../mavground.qrc">
+         <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="landButton">
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Land</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../mavground.qrc">
+         <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="shutdownButton">
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Halt</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../mavground.qrc">
+         <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
-   <item row="2" column="1">
-    <widget class="QPushButton" name="liftoffButton">
-     <property name="minimumSize">
-      <size>
-       <width>40</width>
-       <height>12</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Start</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="2" colspan="2">
-    <widget class="QPushButton" name="landButton">
+   <item row="5" column="1" colspan="2">
+    <widget class="QComboBox" name="modeComboBox">
      <property name="minimumSize">
       <size>
-       <width>40</width>
-       <height>12</height>
+       <width>25</width>
+       <height>16</height>
       </size>
      </property>
-     <property name="text">
-      <string>Land</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
-     </property>
     </widget>
    </item>
-   <item row="2" column="4">
-    <widget class="QPushButton" name="shutdownButton">
+   <item row="5" column="3">
+    <widget class="QPushButton" name="setModeButton">
      <property name="minimumSize">
       <size>
-       <width>40</width>
-       <height>12</height>
+       <width>25</width>
+       <height>16</height>
       </size>
      </property>
      <property name="text">
-      <string>Halt</string>
+      <string>Set</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
+       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="3" column="1" colspan="2">
-    <widget class="QComboBox" name="modeComboBox">
+   <item row="6" column="1" colspan="3">
+    <widget class="QLabel" name="lastActionLabel">
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>12</height>
-      </size>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="3" colspan="2">
-    <widget class="QPushButton" name="setModeButton">
-     <property name="minimumSize">
-      <size>
-       <width>40</width>
-       <height>12</height>
+       <height>10</height>
       </size>
      </property>
      <property name="text">
-      <string>Set Mode</string>
+      <string>No actions executed so far</string>
      </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
      </property>
     </widget>
    </item>
-   <item row="4" column="3" colspan="2">
-    <widget class="QPushButton" name="setHomeButton">
-     <property name="minimumSize">
+   <item row="1" column="4" rowspan="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
       <size>
-       <width>40</width>
-       <height>16</height>
+       <width>30</width>
+       <height>159</height>
       </size>
      </property>
-     <property name="text">
-      <string>Set Origin</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
-     </property>
-    </widget>
+    </spacer>
    </item>
-   <item row="5" column="1" colspan="4">
-    <widget class="QLabel" name="lastActionLabel">
+   <item row="2" column="1" colspan="3">
+    <widget class="QPushButton" name="controlButton">
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>12</height>
+       <height>30</height>
       </size>
      </property>
      <property name="text">
-      <string>No actions executed so far</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+      <string>Activate Engine</string>
      </property>
     </widget>
    </item>

src/ui/XMLCommProtocolWidget.cc

@@ -35,8 +35,9 @@ void XMLCommProtocolWidget::selectXMLFile()
     QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     const QString mavlinkXML = "MAVLINK_XML_FILE";
     QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
+    QFileInfo dir(dirPath);
     QFileDialog dialog;
-    dialog.setDirectory(dirPath);
+    dialog.setDirectory(dir.absoluteDir());
     dialog.setFileMode(QFileDialog::AnyFile);
     dialog.setFilter(tr("MAVLink XML (*.xml)"));
     dialog.setViewMode(QFileDialog::Detail);
@@ -100,7 +101,6 @@ void XMLCommProtocolWidget::selectOutputDirectory()
     QFileDialog dialog;
     dialog.setDirectory(dirPath);
     dialog.setFileMode(QFileDialog::Directory);
-    dialog.setFilter(tr("MAVLink XML (*.xml)"));
     dialog.setViewMode(QFileDialog::Detail);
     QStringList fileNames;
     if (dialog.exec())

src/ui/uas/UASControlWidget.cc

@@ -97,7 +97,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
         disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
         disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
-        connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
+        //connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
     }
@@ -107,28 +107,28 @@ void UASControlWidget::setUAS(UASInterface* uas)
     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(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());
 
-    // Check if additional controls should be loaded
-    UAS* mav = dynamic_cast<UAS*>(uas);
-    if (mav)
-    {     
-        QPushButton* startRecButton = new QPushButton(tr("Record"));
-        connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording()));
-        ui.gridLayout->addWidget(startRecButton, 7, 1);
-
-        QPushButton* pauseRecButton = new QPushButton(tr("Pause"));
-        connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording()));
-        ui.gridLayout->addWidget(pauseRecButton, 7, 3);
-
-        QPushButton* stopRecButton = new QPushButton(tr("Stop"));
-        connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording()));
-        ui.gridLayout->addWidget(stopRecButton, 7, 4);
-    }
+//    // Check if additional controls should be loaded
+//    UAS* mav = dynamic_cast<UAS*>(uas);
+//    if (mav)
+//    {
+//        QPushButton* startRecButton = new QPushButton(tr("Record"));
+//        connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording()));
+//        ui.gridLayout->addWidget(startRecButton, 7, 1);
+
+//        QPushButton* pauseRecButton = new QPushButton(tr("Pause"));
+//        connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording()));
+//        ui.gridLayout->addWidget(pauseRecButton, 7, 3);
+
+//        QPushButton* stopRecButton = new QPushButton(tr("Stop"));
+//        connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording()));
+//        ui.gridLayout->addWidget(stopRecButton, 7, 4);
+//    }
 
 
     this->uas = uas->getUASID();
@@ -140,6 +140,19 @@ UASControlWidget::~UASControlWidget()
 
 }
 
+void UASControlWidget::updateStatemachine()
+{
+
+    if (engineOn)
+    {
+        ui.controlButton->setText(tr("Stop Engine"));
+    }
+    else
+    {
+        ui.controlButton->setText(tr("Activate Engine"));
+    }
+}
+
 /**
  * Set the background color based on the MAV color. If the MAV is selected as the
  * currently actively controlled system, the frame color is highlighted
@@ -258,16 +271,20 @@ void UASControlWidget::cycleContextButton()
 
         if (!engineOn)
         {
-            ui.controlButton->setText(tr("Stop Engine"));
             mav->enable_motors();
-            ui.lastActionLabel->setText(QString("Attempted to enable motors on %1").arg(mav->getUASName()));
+            ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(mav->getUASName()));
         }
         else
         {
-            ui.controlButton->setText(tr("Activate Engine"));
             mav->disable_motors();
-            ui.lastActionLabel->setText(QString("Attempted to disable motors on %1").arg(mav->getUASName()));
+            ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(mav->getUASName()));
         }
+        // Update state now and in several intervals when MAV might have changed state
+        updateStatemachine();
+
+        QTimer::singleShot(50, this, SLOT(updateStatemachine()));
+        QTimer::singleShot(200, this, SLOT(updateStatemachine()));
+
         //ui.controlButton->setText(tr("Force Landing"));
         //ui.controlButton->setText(tr("KILL VEHICLE"));
     }

src/ui/uas/UASControlWidget.h

@@ -63,6 +63,8 @@ public slots:
     void updateMode(int uas,QString mode,QString description);
     /** @brief Update state */
     void updateState(int state);
+    /** @brief Update internal state machine */
+    void updateStatemachine();
 
 protected slots:
     /** @brief Set the background color for the widget */

src/ui/uas/UASView.cc

@@ -32,6 +32,7 @@ This file is part of the PIXHAWK project
 #include <QDateTime>
 #include <QDebug>
 #include <QMenu>
+#include <QInputDialog>
 
 #include "QGC.h"
 #include "MG.h"
@@ -43,7 +44,7 @@ This file is part of the PIXHAWK project
 UASView::UASView(UASInterface* uas, QWidget *parent) :
         QWidget(parent),
         startTime(0),
-        lastHeartbeat(0),
+        timeout(false),
         iconIsRed(true),
         timeRemaining(0),
         chargeLevel(0),
@@ -63,7 +64,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         alt(0),
         groundDistance(0),
         localFrame(false),
-        removeAction(new QAction("Remove this system", this)),
+        removeAction(new QAction("Delete this system", this)),
+        renameAction(new QAction("Rename..", this)),
         m_ui(new Ui::UASView)
 {
     m_ui->setupUi(this);
@@ -79,7 +81,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
     connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
-    //connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
+    connect(uas, SIGNAL(heartbeatTimeout()), this, SLOT(heartbeatTimeout()));
     connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
     connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
@@ -99,7 +101,11 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
 
     // Allow to delete this widget
     connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
+    connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
+
+    // Name changes
+    connect(uas, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
     
     // Set static values
     
@@ -138,6 +144,11 @@ UASView::~UASView()
     delete m_ui;
 }
 
+void UASView::heartbeatTimeout()
+{
+    timeout = true;
+}
+
 /**
  * Set the background color based on the MAV color. If the MAV is selected as the
  * currently actively controlled system, the frame color is highlighted
@@ -241,8 +252,13 @@ void UASView::receiveHeartbeat(UASInterface* uas)
     heartbeatColor = QColor(20, 200, 20);
     QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
     m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
-    lastHeartbeat = QGC::groundTimeUsecs();
-    //m_ui->heartbeatIcon->setAutoFillBackground(true);
+    if (timeout) setBackgroundColor();
+    timeout = false;
+}
+
+void UASView::updateName(const QString& name)
+{
+    if (uas) m_ui->nameLabel->setText(uas->getUASName());
 }
 
 /**
@@ -400,11 +416,25 @@ void UASView::updateLoad(UASInterface* uas, double load)
 
 void UASView::contextMenuEvent (QContextMenuEvent* event)
 {
-    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    QMenu menu(this);
+    menu.addAction(renameAction);
+    if (timeout)
     {
-        QMenu menu(this);
         menu.addAction(removeAction);
-        menu.exec(event->globalPos());
+    }
+    menu.exec(event->globalPos());
+}
+
+void UASView::rename()
+{
+    if (uas)
+    {
+        bool ok;
+        QString newName = QInputDialog::getText(this, tr("Rename System %1").arg(uas->getUASName()),
+                                                tr("System Name:"), QLineEdit::Normal,
+                                                uas->getUASName(), &ok);
+
+        if (ok && !newName.isEmpty()) uas->setUASName(newName);
     }
 }
 
@@ -480,7 +510,7 @@ void UASView::refresh()
         // Thrust
         m_ui->thrustBar->setValue(thrust * 100);
 
-        if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
+        if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME)
         {
             // Filter output to get a higher stability
             static double filterTime = static_cast<int>(this->timeRemaining);
@@ -513,41 +543,40 @@ void UASView::refresh()
 
     QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
 
-    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    if (timeout)
     {
         // CRITICAL CONDITION, NO HEARTBEAT
 
+        QString borderColor = "#FFFF00";
+        if (isActive)
+        {
+            borderColor = "#FA4A4F";
+        }
+
         if (iconIsRed)
         {
             QColor warnColor(Qt::red);
             m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
-            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name());
             m_ui->uasViewFrame->setStyleSheet(style);
         }
         else
         {
             QColor warnColor(Qt::black);
             m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
-            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name());
             m_ui->uasViewFrame->setStyleSheet(style);
         }
         iconIsRed = !iconIsRed;
     }
     else
     {
-        // Break alert once everything is back to normal
-        if (!iconIsRed)
-        {
-            setBackgroundColor();
-            iconIsRed = true;
-        }
+        // Fade heartbeat icon
+        // Make color darker
+        heartbeatColor = heartbeatColor.darker(150);
 
-    // Fade heartbeat icon
-    // Make color darker
-    heartbeatColor = heartbeatColor.darker(150);
-
-    //m_ui->heartbeatIcon->setAutoFillBackground(true);
-    m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+        //m_ui->heartbeatIcon->setAutoFillBackground(true);
+        m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
     }
     //setUpdatesEnabled(true);
 

src/ui/uas/UASView.h

@@ -50,6 +50,8 @@ public:
     ~UASView();
 
 public slots:
+    /** @brief Update the name of the system */
+    void updateName(const QString& name);
     void receiveHeartbeat(UASInterface* uas);
     void updateThrust(UASInterface* uas, double thrust);
     void updateBattery(UASInterface* uas, double voltage, double percent, int seconds);
@@ -74,15 +76,19 @@ public slots:
     void setUASasActive(bool);
     /** @brief Update the view if an UAS has been set to active */
     void updateActiveUAS(UASInterface* uas, bool active);
+    /** @brief Set the widget into critical mode */
+    void heartbeatTimeout();
     /** @brief Set the background color for the widget */
     void setBackgroundColor();
+    /** @brief Bring up the dialog to rename the system */
+    void rename();
 
 protected:
     void changeEvent(QEvent *e);
     QTimer* refreshTimer;
     QColor heartbeatColor;
     quint64 startTime;
-    quint64 lastHeartbeat;
+    bool timeout;
     bool iconIsRed;
     int timeRemaining;
     float chargeLevel;
@@ -103,6 +109,7 @@ protected:
     float groundDistance;
     bool localFrame;
     QAction* removeAction;
+    QAction* renameAction;
     static const int updateInterval = 300;