Merge pull request #1146 from DonLakeFlyer/Setup

Setup work

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -169,3 +169,8 @@ QUrl AirframeComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/AirframeComponentSummary.qml");
 }
+
+QString AirframeComponent::prerequisiteSetup(void) const
+{
+    return QString();
+}

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -49,7 +49,8 @@ public:
     virtual QString setupStateDescription(void) const;
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
-    virtual QUrl summaryQmlSource(void) const;
+    virtual QUrl summaryQmlSource(void) const;    
+    virtual QString prerequisiteSetup(void) const;
 
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/FlightModeConfig.cc

@@ -104,12 +104,6 @@ void FlightModeConfig::_initUi(void) {
     }
     
     _updateAllSwitches();
-    
-    // Finally if RC Calibration has not been performed disable the entire widget and inform user
-    if (_getChannelMapForParam(_modeSwitchParam) == 0) {
-        // FIXME: Do something more than disable
-        setEnabled(false);
-    }
 }
 
 void FlightModeConfig::_updateAllSwitches(void)

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -27,6 +27,7 @@
 #include "FlightModesComponent.h"
 #include "FlightModeConfig.h"
 #include "VehicleComponentSummaryItem.h"
+#include "PX4AutoPilotPlugin.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
@@ -121,3 +122,17 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/FlightModesComponentSummary.qml");
 }
+
+QString FlightModesComponent::prerequisiteSetup(void) const
+{
+    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    } else if (!plugin->radioComponent()->setupComplete()) {
+        return plugin->radioComponent()->name();
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -50,6 +50,7 @@ public:
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -22,11 +22,6 @@
  ======================================================================*/
 
 #include "PX4AutoPilotPlugin.h"
-#include "AirframeComponent.h"
-#include "RadioComponent.h"
-#include "SensorsComponent.h"
-#include "FlightModesComponent.h"
-#include "SafetyComponent.h"
 #include "AutoPilotPluginManager.h"
 #include "UASManager.h"
 #include "QGCUASParamManagerInterface.h"
@@ -36,7 +31,6 @@
 ///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
 ///     @author Don Gagne <don@thegagnes.com>
 
-
 enum PX4_CUSTOM_MAIN_MODE {
     PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
     PX4_CUSTOM_MAIN_MODE_ALTCTL,
@@ -69,7 +63,12 @@ union px4_custom_mode {
 PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     AutoPilotPlugin(parent),
     _uas(uas),
-    _parameterFacts(NULL)
+    _parameterFacts(NULL),
+    _airframeComponent(NULL),
+    _radioComponent(NULL),
+    _flightModesComponent(NULL),
+    _sensorsComponent(NULL),
+    _safetyComponent(NULL)
 {
     Q_ASSERT(uas);
     
@@ -193,29 +192,27 @@ bool PX4AutoPilotPlugin::pluginIsReady(void) const
 const QVariantList& PX4AutoPilotPlugin::components(void)
 {
     if (_components.count() == 0) {
-        VehicleComponent* component;
-
         Q_ASSERT(_uas);
         
-        component = new AirframeComponent(_uas, this);
-        Q_CHECK_PTR(component);
-        _components.append(QVariant::fromValue(component));
+        _airframeComponent = new AirframeComponent(_uas, this);
+        Q_CHECK_PTR(_airframeComponent);
+        _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
         
-        component = new RadioComponent(_uas, this);
-        Q_CHECK_PTR(component);
-        _components.append(QVariant::fromValue(component));
+        _radioComponent = new RadioComponent(_uas, this);
+        Q_CHECK_PTR(_radioComponent);
+        _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
         
-        component = new FlightModesComponent(_uas, this);
-        Q_CHECK_PTR(component);
-        _components.append(QVariant::fromValue(component));
+        _flightModesComponent = new FlightModesComponent(_uas, this);
+        Q_CHECK_PTR(_flightModesComponent);
+        _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
         
-        component = new SensorsComponent(_uas, this);
-        Q_CHECK_PTR(component);
-        _components.append(QVariant::fromValue(component));
+        _sensorsComponent = new SensorsComponent(_uas, this);
+        Q_CHECK_PTR(_sensorsComponent);
+        _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
 
-        component = new SafetyComponent(_uas, this);
-        Q_CHECK_PTR(component);
-        _components.append(QVariant::fromValue(component));
+        _safetyComponent = new SafetyComponent(_uas, this);
+        Q_CHECK_PTR(_safetyComponent);
+        _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
     }
     
     return _components;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -28,6 +28,11 @@
 #include "AutoPilotPluginManager.h"
 #include "UASInterface.h"
 #include "PX4ParameterFacts.h"
+#include "AirframeComponent.h"
+#include "RadioComponent.h"
+#include "FlightModesComponent.h"
+#include "SensorsComponent.h"
+#include "SafetyComponent.h"
 
 #include <QImage>
 
@@ -53,10 +58,22 @@ public:
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);
     
+    // These methods should only be used by objects within the plugin
+    AirframeComponent* airframeComponent(void) { return _airframeComponent; }
+    RadioComponent* radioComponent(void) { return _radioComponent; }
+    FlightModesComponent* flightModesComponent(void) { return _flightModesComponent; }
+    SensorsComponent* sensorsComponent(void) { return _sensorsComponent; }
+    SafetyComponent* safetyComponent(void) { return _safetyComponent; }
+    
 private:
-    UASInterface*       _uas;
-    PX4ParameterFacts*  _parameterFacts;
-    QVariantList        _components;
+    UASInterface*           _uas;
+    PX4ParameterFacts*      _parameterFacts;
+    QVariantList            _components;
+    AirframeComponent*      _airframeComponent;
+    RadioComponent*         _radioComponent;
+    FlightModesComponent*   _flightModesComponent;
+    SensorsComponent*       _sensorsComponent;
+    SafetyComponent*        _safetyComponent;
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -44,7 +44,7 @@ void PX4Component::_parameterUpdated(int compId, QString paramName, QVariant val
         
         while (*prgTriggers != NULL) {
             if (paramName == *prgTriggers) {
-                emit setupCompleteChanged();
+                emit setupCompleteChanged(setupComplete());
                 return;
             }
             prgTriggers++;

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -27,6 +27,7 @@
 #include "RadioComponent.h"
 #include "PX4RCCalibration.h"
 #include "VehicleComponentSummaryItem.h"
+#include "PX4AutoPilotPlugin.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
@@ -105,3 +106,15 @@ QUrl RadioComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/RadioComponentSummary.qml");
 }
+
+QString RadioComponent::prerequisiteSetup(void) const
+{
+    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+    
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -51,6 +51,7 @@ public:
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -28,6 +28,7 @@
 #include "PX4RCCalibration.h"
 #include "VehicleComponentSummaryItem.h"
 #include "QGCQmlWidgetHolder.h"
+#include "PX4AutoPilotPlugin.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { NULL };
@@ -104,3 +105,15 @@ QUrl SafetyComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/SafetyComponentSummary.qml");
 }
+
+QString SafetyComponent::prerequisiteSetup(void) const
+{
+    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+    
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/PX4/SafetyComponent.h

@@ -51,6 +51,7 @@ public:
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -27,6 +27,7 @@
 #include "SensorsComponent.h"
 #include "QGCPX4SensorCalibration.h"
 #include "VehicleComponentSummaryItem.h"
+#include "PX4AutoPilotPlugin.h"
 
 // These two list must be kept in sync
 
@@ -118,3 +119,15 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/SensorsComponentSummary.qml");
 }
+
+QString SensorsComponent::prerequisiteSetup(void) const
+{
+    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+    
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -50,6 +50,7 @@ public:
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
     
 private:
     const QString   _name;

src/VehicleSetup/SetupView.cc

@@ -33,6 +33,7 @@
 #include "ParameterEditor.h"
 #include "SetupWidgetHolder.h"
 #include "MainWindow.h"
+#include "QGCMessageBox.h"
 
 #include <QQmlError>
 #include <QQmlContext>
@@ -117,6 +118,11 @@ void SetupView::_setConnectedView(void)
 
 void SetupView::_firmwareButtonClicked(void)
 {
+    if (_uasCurrent->isArmed()) {
+        QGCMessageBox::warning("Setup", "Firmware Update cannot be performed while vehicle is armed.");
+        return;
+    }
+    
     SetupWidgetHolder* dialog = new SetupWidgetHolder(MainWindow::instance());
     dialog->setModal(true);
     dialog->setWindowTitle("Firmware Upgrade");
@@ -139,9 +145,20 @@ void SetupView::_parametersButtonClicked(void)
 
 void SetupView::_setupButtonClicked(const QVariant& component)
 {
+    if (_uasCurrent->isArmed()) {
+        QGCMessageBox::warning("Setup", "Setup cannot be performed while vehicle is armed.");
+        return;
+    }
+
     VehicleComponent* vehicle = qobject_cast<VehicleComponent*>(component.value<QObject*>());
     Q_ASSERT(vehicle);
     
+    QString setupPrereq = vehicle->prerequisiteSetup();
+    if (!setupPrereq.isEmpty()) {
+        QGCMessageBox::warning("Setup", QString("%1 setup must be completed prior to %2 setup.").arg(setupPrereq).arg(vehicle->name()));
+        return;
+    }
+    
     SetupWidgetHolder dialog(MainWindow::instance());
     dialog.setModal(true);
     dialog.setWindowTitle(vehicle->name());

src/VehicleSetup/VehicleComponent.h

@@ -50,6 +50,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QString icon READ icon CONSTANT)
     Q_PROPERTY(QWidget* setupWidget READ setupWidget STORED false)
     Q_PROPERTY(QUrl summaryQmlSource READ summaryQmlSource CONSTANT);
+    Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
     
 public:
     VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
@@ -64,11 +65,12 @@ public:
     virtual QWidget* setupWidget(void) const = 0;
     virtual QStringList paramFilterList(void) const = 0;
     virtual QUrl summaryQmlSource(void) const = 0;
+    virtual QString prerequisiteSetup(void) const = 0;
     
     virtual void addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent);
     
 signals:
-    void setupCompleteChanged(void);
+    void setupCompleteChanged(bool setupComplete);
     
 protected:
     UASInterface*                   _uas;

src/uas/UASParameterDataModel.cc

@@ -184,9 +184,8 @@ void UASParameterDataModel::handleParamUpdate(int compId, const QString &paramNa
         }
     }
 
-    emit parameterUpdated(compId,paramName,value);
     setOnboardParam(compId,paramName,value);
-
+    emit parameterUpdated(compId,paramName,value);
 }
 
 bool UASParameterDataModel::getOnboardParamValue(int componentId, const QString& key, QVariant& value) const