VehicleSetup assures active as and parameters ready

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -161,13 +161,14 @@ void PX4RCCalibrationTest::init(void)
     _mockUAS = new MockUAS();
     Q_CHECK_PTR(_mockUAS);
     
-    // This will instatiate the widget with no active UAS set
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    
+    // This will instatiate the widget with an active uas with ready parameters
     _calWidget = new PX4RCCalibration();
     Q_CHECK_PTR(_calWidget);
     _calWidget->_setUnitTestMode();
     _calWidget->setVisible(true);
     
-    _mockUASManager->setMockActiveUAS(_mockUAS);
 
     // Get pointers to the push buttons
     _cancelButton = _calWidget->findChild<QPushButton*>("rcCalCancel");
@@ -215,17 +216,6 @@ void PX4RCCalibrationTest::cleanup(void)
     
 }
 
-/// @brief Tests for correct behavior when active UAS is set into widget.
-void PX4RCCalibrationTest::_setUAS_test(void)
-{
-    // Widget is initialized with UAS, so it should be enabled
-    QCOMPARE(_calWidget->isEnabled(), true);
-
-    // Take away the UAS and widget should disable
-    _mockUASManager->setMockActiveUAS(NULL);
-    QCOMPARE(_calWidget->isEnabled(), false);
-}
-
 /// @brief Test for correct behavior in determining minimum numbers of channels for flight.
 void PX4RCCalibrationTest::_minRCChannels_test(void)
 {

src/qgcunittest/PX4RCCalibrationTest.h

@@ -48,7 +48,6 @@ private slots:
     void init(void);
     void cleanup(void);
     
-    void _setUAS_test(void);
     void _minRCChannels_test(void);
     void _fullCalibration_test(void);
     

src/ui/px4_configuration/PX4RCCalibration.cc

@@ -86,7 +86,6 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
     _rcCalState(rcCalStateChannelWait),
     _mav(NULL),
     _paramMgr(NULL),
-    _parameterListUpToDateSignalled(false),
     _ui(new Ui::PX4RCCalibration),
     _unitTestMode(false)
 {
@@ -120,15 +119,21 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
     _rgAttitudeControl[4].function = rcCalFunctionFlaps;
     _rgAttitudeControl[4].valueWidget = _ui->flapsValue;
     
-    _setActiveUAS(UASManager::instance()->getActiveUAS());
+    // This code assume we already have an active UAS with ready parameters
+    _mav = UASManager::instance()->getActiveUAS();
+    Q_ASSERT(_mav);
+    
+    // Connect new signals
     
-    // Connect signals
     bool fSucceeded;
     Q_UNUSED(fSucceeded);
-    
-    fSucceeded = connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
+    fSucceeded =  connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
     Q_ASSERT(fSucceeded);
-
+    
+    _paramMgr = _mav->getParamManager();
+    Q_ASSERT(_paramMgr);
+    Q_ASSERT(_paramMgr->parametersReady());
+    
     connect(_ui->spektrumBind, &QPushButton::clicked, this, &PX4RCCalibration::_spektrumBind);
     
     _updateTimer.setInterval(150);
@@ -159,6 +164,9 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
     connect(_ui->mode2, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode2Toggled);
     
     _stopCalibration();
+    
+    connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
+    _setInternalCalibrationValuesFromParameters();
 }
 
 PX4RCCalibration::~PX4RCCalibration()
@@ -699,84 +707,82 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
 {
     Q_ASSERT(_paramMgr);
     
-    if (_parameterListUpToDateSignalled) {
-        // Initialize all function mappings to not set
+    // Initialize all function mappings to not set
+    
+    for (size_t i=0; i<_chanMax; i++) {
+        struct ChannelInfo* info = &_rgChannelInfo[i];
+        info->function = rcCalFunctionMax;
+    }
+    
+    for (size_t i=0; i<rcCalFunctionMax; i++) {
+        _rgFunctionChannelMapping[i] = _chanMax;
+    }
+    
+    // FIXME: Hardwired component id
+    
+    // Pull parameters and update
+    
+    QString minTpl("RC%1_MIN");
+    QString maxTpl("RC%1_MAX");
+    QString trimTpl("RC%1_TRIM");
+    QString revTpl("RC%1_REV");
+    QVariant value;
+    bool paramFound;
+    bool convertOk;
+    int componentId = _paramMgr->getDefaultComponentId();
+    
+    for (int i = 0; i < _chanMax; ++i) {
+        struct ChannelInfo* info = &_rgChannelInfo[i];
         
-        for (size_t i=0; i<_chanMax; i++) {
-            struct ChannelInfo* info = &_rgChannelInfo[i];
-            info->function = rcCalFunctionMax;
+        paramFound = _paramMgr->getParameterValue(componentId, trimTpl.arg(i+1), value);
+        Q_ASSERT(paramFound);
+        if (paramFound) {
+            info->rcTrim = value.toInt(&convertOk);
+            Q_ASSERT(convertOk);
         }
         
-        for (size_t i=0; i<rcCalFunctionMax; i++) {
-            _rgFunctionChannelMapping[i] = _chanMax;
+        paramFound = _paramMgr->getParameterValue(componentId, minTpl.arg(i+1), value);
+        Q_ASSERT(paramFound);
+        if (paramFound) {
+            info->rcMin = value.toInt(&convertOk);
+            Q_ASSERT(convertOk);
         }
-        
-        // FIXME: Hardwired component id
-        
-        // Pull parameters and update
-        
-        QString minTpl("RC%1_MIN");
-        QString maxTpl("RC%1_MAX");
-        QString trimTpl("RC%1_TRIM");
-        QString revTpl("RC%1_REV");
-        QVariant value;
-        bool paramFound;
-        bool convertOk;
-        int componentId = _paramMgr->getDefaultComponentId();
-        
-        for (int i = 0; i < _chanMax; ++i) {
-            struct ChannelInfo* info = &_rgChannelInfo[i];
-            
-            paramFound = _paramMgr->getParameterValue(componentId, trimTpl.arg(i+1), value);
-            Q_ASSERT(paramFound);
-            if (paramFound) {
-                info->rcTrim = value.toInt(&convertOk);
-                Q_ASSERT(convertOk);
-            }
-            
-            paramFound = _paramMgr->getParameterValue(componentId, minTpl.arg(i+1), value);
-            Q_ASSERT(paramFound);
-            if (paramFound) {
-                info->rcMin = value.toInt(&convertOk);
-                Q_ASSERT(convertOk);
-            }
 
-            paramFound = _paramMgr->getParameterValue(componentId, maxTpl.arg(i+1), value);
-            Q_ASSERT(paramFound);
-            if (paramFound) {
-                info->rcMax = value.toInt(&convertOk);
-                Q_ASSERT(convertOk);
-            }
+        paramFound = _paramMgr->getParameterValue(componentId, maxTpl.arg(i+1), value);
+        Q_ASSERT(paramFound);
+        if (paramFound) {
+            info->rcMax = value.toInt(&convertOk);
+            Q_ASSERT(convertOk);
+        }
 
-            paramFound = _paramMgr->getParameterValue(componentId, revTpl.arg(i+1), value);
-            Q_ASSERT(paramFound);
-            if (paramFound) {
-                float floatReversed = value.toFloat(&convertOk);
-                Q_ASSERT(convertOk);
-                Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
-                info->reversed = floatReversed == -1.0f;
-            }
+        paramFound = _paramMgr->getParameterValue(componentId, revTpl.arg(i+1), value);
+        Q_ASSERT(paramFound);
+        if (paramFound) {
+            float floatReversed = value.toFloat(&convertOk);
+            Q_ASSERT(convertOk);
+            Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
+            info->reversed = floatReversed == -1.0f;
         }
+    }
+    
+    for (int i=0; i<rcCalFunctionMax; i++) {
+        int32_t paramChannel;
         
-        for (int i=0; i<rcCalFunctionMax; i++) {
-            int32_t paramChannel;
+        paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[i].parameterName, value);
+        Q_ASSERT(paramFound);
+        if (paramFound) {
+            paramChannel = value.toInt(&convertOk);
+            Q_ASSERT(convertOk);
             
-            paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[i].parameterName, value);
-            Q_ASSERT(paramFound);
-            if (paramFound) {
-                paramChannel = value.toInt(&convertOk);
-                Q_ASSERT(convertOk);
-                
-                if (paramChannel != 0) {
-                    _rgFunctionChannelMapping[i] = paramChannel - 1;
-                    _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
-                }
+            if (paramChannel != 0) {
+                _rgFunctionChannelMapping[i] = paramChannel - 1;
+                _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
             }
         }
-        
-        _showMinMaxOnRadioWidgets(true);
-        _showTrimOnRadioWidgets(true);
     }
+    
+    _showMinMaxOnRadioWidgets(true);
+    _showTrimOnRadioWidgets(true);
 }
 
 /// @brief Sets a connected Spektrum receiver into bind mode
@@ -811,38 +817,6 @@ void PX4RCCalibration::_spektrumBind(void)
     }
 }
 
-void PX4RCCalibration::_setActiveUAS(UASInterface* active)
-{
-    // Disconnect old signals
-    if (_mav) {
-        disconnect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
-        disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
-        _paramMgr = NULL;
-    }
-    
-    _mav = active;
-    
-    if (_mav) {
-        // Connect new signals
-        bool fSucceeded;
-        Q_UNUSED(fSucceeded);
-        fSucceeded =  connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
-        Q_ASSERT(fSucceeded);
-        
-        _paramMgr = _mav->getParamManager();
-        Q_ASSERT(_paramMgr);
-
-        fSucceeded = connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
-        Q_ASSERT(fSucceeded);
-        
-        if (_paramMgr->parametersReady()) {
-            _parameterListUpToDate();
-        }
-    }
-
-    setEnabled(_mav ? true : false);
-}
-
 /// @brief Validates the current settings against the calibration rules resetting values as necessary.
 void PX4RCCalibration::_validateCalibration(void)
 {
@@ -1073,17 +1047,6 @@ void PX4RCCalibration::_showTrimOnRadioWidgets(bool show)
     }
 }
 
-void PX4RCCalibration::_parameterListUpToDate(void)
-{
-    _parameterListUpToDateSignalled = true;
-    
-    // Don't start updating the view until we have parameters
-    connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
-
-    if (_currentStep == -1) {
-        _setInternalCalibrationValuesFromParameters();
-    }
-}
 
 void PX4RCCalibration::_loadSettings(void)
 {

src/ui/px4_configuration/PX4RCCalibration.h

@@ -71,9 +71,6 @@ private slots:
     void _updateView(void);
     
     void _remoteControlChannelRawChanged(int chan, float val);
-    void _setActiveUAS(UASInterface* uas);
-    
-    void _parameterListUpToDate(void);
     
 private:
     /// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
@@ -257,8 +254,6 @@ private:
     UASInterface* _mav;                  ///< The current MAV
     QGCUASParamManagerInterface* _paramMgr;
     
-    bool _parameterListUpToDateSignalled;   ///< true: we have received a parameterListUpToDate signal
-    
     Ui::PX4RCCalibration* _ui;
     
     QTimer _updateTimer;    ///< Timer used to update widgete ui