Serial link selection in toolbar operational

src/QGCCore.cc

@@ -176,15 +176,11 @@ QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc,
     OpalLink* opalLink = new OpalLink();
     MainWindow::instance()->addLink(opalLink);
 #endif
-    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
-    simulationLink->disconnect();
 
     //We want to have a default serial link available for "quick" connecting.
     SerialLink *slink = new SerialLink();
     MainWindow::instance()->addLink(slink);
 
-    mainWindow = MainWindow::instance(splashScreen);
-
     // Remove splash screen
     splashScreen->finish(mainWindow);
 

src/comm/LinkManager.cc

@@ -210,3 +210,18 @@ const QList<LinkInterface*> LinkManager::getLinks()
 {
     return QList<LinkInterface*>(links);
 }
+
+const QList<SerialLink*> LinkManager::getSerialLinks()
+{
+    QList<SerialLink*> s;
+
+    foreach (LinkInterface* i, links)
+    {
+        SerialLink* link = qobject_cast<SerialLink*>(i);
+
+        if (link)
+            s.append(link);
+    }
+
+    return s;
+}

src/comm/LinkManager.h

@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include <QList>
 #include <QMultiMap>
 #include <LinkInterface.h>
+#include <SerialLink.h>
 #include <ProtocolInterface.h>
 
 /**
@@ -64,6 +65,9 @@ public:
     /** @brief Get a list of all links */
     const QList<LinkInterface*> getLinks();
 
+    /** @brief Get a list of all serial links */
+    const QList<SerialLink*> getSerialLinks();
+
     /** @brief Get a list of all protocols */
     const QList<ProtocolInterface*> getProtocols() {
         return protocolLinks.uniqueKeys();

src/comm/SerialLink.cc

@@ -74,6 +74,7 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
 //    }
 
     loadSettings();
+    LinkManager::instance()->add(this);
 }
 void SerialLink::requestReset()
 {

src/ui/MainWindow.cc

@@ -124,6 +124,7 @@ MainWindow::MainWindow(QWidget *parent):
     darkStyleFileName(defaultDarkStyle),
     lightStyleFileName(defaultLightStyle),
     autoReconnect(false),
+    simulationLink(NULL),
     lowPowerMode(false),
     isAdvancedMode(false),
     dockWidgetTitleBarEnabled(true),
@@ -343,11 +344,11 @@ MainWindow::~MainWindow()
         delete mavlink;
         mavlink = NULL;
     }
-    //    if (simulationLink)
-    //    {
-    //        simulationLink->deleteLater();
-    //        simulationLink = NULL;
-    //    }
+    if (simulationLink)
+    {
+        delete simulationLink;
+        simulationLink = NULL;
+    }
     if (joystick)
     {
         joystick->shutdown();
@@ -1525,6 +1526,8 @@ void MainWindow::connectCommonActions()
     connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
     // Application Settings
     connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
+
+    connect(ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool)));
 }
 
 void MainWindow::showHelp()
@@ -1672,15 +1675,15 @@ void MainWindow::addLink(LinkInterface *link)
 
         // Error handling
         connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
-        // Special case for simulationlink
-        MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
-        if (sim)
-        {
-            connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
-        }
     }
 }
 
+void MainWindow::simulateLink(bool simulate) {
+    if (!simulationLink)
+        simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
+    simulationLink->connectLink(simulate);
+}
+
 //void MainWindow::configLink(LinkInterface *link)
 //{
 

src/ui/MainWindow.h

@@ -204,6 +204,8 @@ public slots:
     void addLink(LinkInterface* link);
     bool configLink(LinkInterface *link);
     void configure();
+    /** @brief Simulate a link */
+    void simulateLink(bool simulate);
     /** @brief Set the currently controlled UAS */
     void setActiveUAS(UASInterface* uas);
 
@@ -387,7 +389,6 @@ protected:
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
 
-    MAVLinkSimulationLink* simulationLink;
     LinkInterface* udpLink;
 
     QSettings settings;
@@ -490,6 +491,7 @@ protected:
     QString darkStyleFileName;
     QString lightStyleFileName;
     bool autoReconnect;
+    MAVLinkSimulationLink* simulationLink;
     Qt::WindowStates windowStateVal;
     bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
     QGCFlightGearLink* fgLink;

src/ui/QGCToolBar.cc

@@ -158,20 +158,23 @@ void QGCToolBar::createUI()
     portComboBox = new QComboBox(this);
     portComboBox->setToolTip(tr("Choose the COM port to use"));
     portComboBox->setEnabled(true);
-    portComboBox->setMinimumWidth(200);
+    portComboBox->setMinimumWidth(100);
     addWidget(portComboBox);
 
     baudcomboBox = new QComboBox(this);
     baudcomboBox->setToolTip(tr("Choose what baud rate to use"));
     baudcomboBox->setEnabled(true);
-    baudcomboBox->setMinimumWidth(80);
-    baudcomboBox->addItem("9600");
-    baudcomboBox->addItem("14400");
-    baudcomboBox->addItem("19200");
-    baudcomboBox->addItem("38400");
-    baudcomboBox->addItem("57600");
-    baudcomboBox->addItem("115200");
-    baudcomboBox->setCurrentIndex(5);
+    baudcomboBox->setMinimumWidth(40);
+    baudcomboBox->addItem("9600", 9600);
+    baudcomboBox->addItem("14400", 14400);
+    baudcomboBox->addItem("19200", 19200);
+    baudcomboBox->addItem("38400", 38400);
+    baudcomboBox->addItem("57600", 57600);
+    baudcomboBox->addItem("115200", 115200);
+    baudcomboBox->addItem("230400", 230400);
+    baudcomboBox->addItem("460800", 460800);
+    baudcomboBox->addItem("921600", 921600);
+    baudcomboBox->setCurrentIndex(baudcomboBox->findData(57600));
     addWidget(baudcomboBox);
 
 
@@ -193,18 +196,25 @@ 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*)));
+    qDebug() << "LINK COUNT" << LinkManager::instance()->getLinks().count();
+    // Update label if required
+    if (LinkManager::instance()->getSerialLinks().count() < 1) {
+        connectButton->setText(tr("New Serial Link"));
+        baudcomboBox->hide();
+        portComboBox->hide();
+    } else {
 
-    if (LinkManager::instance()->getLinks().count() > 2)
-        addLink(LinkManager::instance()->getLinks().last());
-    // XXX implies that connect button is always active for the last used link
-    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
-    connect(LinkManager::instance(), SIGNAL(linkRemoved(LinkInterface*)), this, SLOT(removeLink(LinkInterface*)));
+        QList<SerialLink*> links = LinkManager::instance()->getSerialLinks();
 
-    // Update label if required
-    if (LinkManager::instance()->getLinks().count() < 3) {
-        connectButton->setText(tr("New Link"));
+        foreach(SerialLink* slink, links)
+        {
+            addLink(slink);
+        }
     }
 
+    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
+    connect(LinkManager::instance(), SIGNAL(linkRemoved(LinkInterface*)), this, SLOT(removeLink(LinkInterface*)));
+
     loadSettings();
 
     changed = false;
@@ -591,27 +601,42 @@ void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QS
 
 void QGCToolBar::addLink(LinkInterface* link)
 {
-    // XXX magic number
-    if (LinkManager::instance()->getLinks().count() > 2) {
+    // Accept only serial links as current link
+    SerialLink* serial = qobject_cast<SerialLink*>(link);
+
+    if (serial && !currentLink)
+    {
+        baudcomboBox->show();
+        portComboBox->show();
+
         currentLink = link;
         connect(currentLink, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
         updateLinkState(link->isConnected());
-    }
+
+        qDebug() << "ADD LINK";
+
         updateComboBox();
+    }
 }
 
 void QGCToolBar::removeLink(LinkInterface* link)
 {
     if (link == currentLink) {
         currentLink = NULL;
-        //portComboBox->setEnabled(false);
-        //portComboBox->clear();
-        // XXX magic number
-        if (LinkManager::instance()->getLinks().count() > 2) {
-            currentLink = LinkManager::instance()->getLinks().last();
+
+        // Try to get a new serial link
+        foreach (SerialLink* s, LinkManager::instance()->getSerialLinks())
+        {
+            addLink(s);
+        }
+
+        // Update GUI according to scan result
+        if (currentLink) {
             updateLinkState(currentLink->isConnected());
         } else {
-            connectButton->setText(tr("New Link"));
+            connectButton->setText(tr("New Serial Link"));
+            portComboBox->hide();
+            baudcomboBox->hide();
         }
     }
     updateComboBox();
@@ -619,26 +644,31 @@ void QGCToolBar::removeLink(LinkInterface* link)
 void QGCToolBar::updateComboBox()
 {
     portComboBox->clear();
-    for (int i=0;i<LinkManager::instance()->getLinks().count();i++)
-    {
-        SerialLink *slink = qobject_cast<SerialLink*>(LinkManager::instance()->getLinks()[i]);
-        if (slink)
+    if (currentLink)
     {
-            //It's a serial link
+        SerialLink *slink = qobject_cast<SerialLink*>(currentLink);
         QList<QString> portlist = slink->getCurrentPorts();
-            //if (!slink->isConnected())
-            //{
-                for (int j=0;j<portlist.count();j++)
+        foreach(QString port, portlist) {
+            portComboBox->addItem(port, port);
+        }
+
+        portComboBox->setCurrentIndex(portComboBox->findData(slink->getPortName()));
+        if (slink->getPortName().trimmed().length() > 0)
         {
-                    portComboBox->addItem("Serial port:" + QString::number(i) + ":" + portlist[j]);
+            portComboBox->setEditText(slink->getPortName());
         }
-            //}
-            //We only really want to display from unconnected sources.
+        else
+        {
+            if (portlist.length() > 0)
+            {
+                portComboBox->setEditText(portlist.first());
             }
             else
             {
-            portComboBox->addItem(LinkManager::instance()->getLinks()[i]->getName());
+                portComboBox->setEditText(tr("No serial port found"));
+            }
         }
+        baudcomboBox->setCurrentIndex(baudcomboBox->findData(slink->getBaudRate()));
     }
 }
 
@@ -664,30 +694,22 @@ void QGCToolBar::updateLinkState(bool connected)
 void QGCToolBar::connectLink(bool connect)
 {
     // No serial port yet present
-    // XXX magic number
-    if (connect && LinkManager::instance()->getLinks().count() < 3)
+    if (connect && LinkManager::instance()->getSerialLinks().count() == 0)
     {
         MainWindow::instance()->addLink();
+        currentLink = LinkManager::instance()->getLinks().last();
     } else if (connect) {
-        if (portComboBox->currentText().split(":").count()>2)
-        {
-            int linknum = portComboBox->currentText().split(":")[1].toInt();
-            SerialLink *link = qobject_cast<SerialLink*>(LinkManager::instance()->getLinks().at(linknum));
+        SerialLink *link = qobject_cast<SerialLink*>(currentLink);
         if (link)
         {
-                QString portname = portComboBox->currentText().split(":")[2];
-                link->setPortName(portname.trimmed());
-            }
+            link->setPortName(portComboBox->itemData(portComboBox->currentIndex()).toString().trimmed());
             int baud = baudcomboBox->currentText().toInt();
             link->setBaudRate(baud);
             link->connect();
         }
-        else
-        {
-            LinkManager::instance()->getLinks().last()->connect();
-        }
-    } else if (!connect && LinkManager::instance()->getLinks().count() > 2) {
-        LinkManager::instance()->getLinks().last()->disconnect();
+
+    } else if (!connect && currentLink) {
+        currentLink->disconnect();
     }
 }
 

src/ui/QGCToolBar.h

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QComboBox>
 #include "UASInterface.h"
 #include "QGCMAVLinkLogPlayer.h"
+#include "SerialLink.h"
 
 class QGCToolBar : public QToolBar
 {