From fb05e12568738d59fcb4f6b43813dedcd4db5aa6 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Wed, 9 Jun 2010 10:38:33 +0200
Subject: [PATCH 1/2] Update UI control elements from vehicle, allows
 multi-operator mode

---
 src/ui/uas/UASControlWidget.cc | 48 +++++++++++++++++++++++++++++-------------
 src/ui/uas/UASControlWidget.h  |  7 +++++-
 2 files changed, 39 insertions(+), 16 deletions(-)

diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index ff2f5be..f28f749 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -55,7 +55,8 @@ This file is part of the PIXHAWK project
 #define CONTROL_MODE_TEST1_INDEX  6
 
 UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
-        uas(NULL)
+        uas(NULL),
+        engineOn(false)
 {
     ui.setupUi(this);
 
@@ -94,6 +95,9 @@ void UASControlWidget::setUAS(UASInterface* uas)
 
         ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
 
+        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+        connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+
         this->uas = uas;
     }
 }
@@ -102,6 +106,28 @@ UASControlWidget::~UASControlWidget() {
 
 }
 
+void UASControlWidget::updateMode(int uas,QString mode,QString description)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(mode);
+    Q_UNUSED(description);
+}
+
+void UASControlWidget::updateState(int state)
+{
+    switch (state)
+    {
+    case (int)MAV_STATE_ACTIVE:
+        engineOn = true;
+        ui.controlButton->setText(tr("Stop Engine"));
+        break;
+    case (int)MAV_STATE_STANDBY:
+        engineOn = false;
+        ui.controlButton->setText(tr("Activate Engine"));
+        break;
+    }
+}
+
 void UASControlWidget::setMode(int mode)
 {
     // Adapt context button mode
@@ -151,34 +177,26 @@ void UASControlWidget::transmitMode()
 
 void UASControlWidget::cycleContextButton()
 {
-    //switch(uas->getMode());
-    static int state = 0;
-
     UAS* mav = dynamic_cast<UAS*>(this->uas);
     if (mav)
     {
 
-        switch (state)
+        if (engineOn)
         {
-        case 0:
             ui.controlButton->setText(tr("Stop Engine"));
             mav->setMode(MAV_MODE_MANUAL);
             mav->enable_motors();
             ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(uas->getUASName()));
-            state++;
-            break;
-        case 1:
+        }
+        else
+        {
             ui.controlButton->setText(tr("Activate Engine"));
             mav->setMode(MAV_MODE_LOCKED);
             mav->disable_motors();
             ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(uas->getUASName()));
-            state = 0;
-            break;
-        case 2:
-            //ui.controlButton->setText(tr("Force Landing"));
-            ui.controlButton->setText(tr("KILL VEHICLE"));
-            break;
         }
+            //ui.controlButton->setText(tr("Force Landing"));
+            //ui.controlButton->setText(tr("KILL VEHICLE"));
     }
 
 }
diff --git a/src/ui/uas/UASControlWidget.h b/src/ui/uas/UASControlWidget.h
index 33ad1e0..e5d1609 100644
--- a/src/ui/uas/UASControlWidget.h
+++ b/src/ui/uas/UASControlWidget.h
@@ -53,12 +53,17 @@ public slots:
     void cycleContextButton();
     /** @brief Set the operation mode of the MAV */
     void setMode(int mode);
-    /** @brief Transmit the operation mode **/
+    /** @brief Transmit the operation mode */
     void transmitMode();
+    /** @brief Update the mode */
+    void updateMode(int uas,QString mode,QString description);
+    /** @brief Update state */
+    void updateState(int state);
 
 protected:
     UASInterface* uas;
     unsigned int uasMode;
+    bool engineOn;
 
 private:
     Ui::uasControl ui;

From 5d47074be53d6f630ae9c5d7c169bd5e1074f88d Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Wed, 9 Jun 2010 10:54:24 +0200
Subject: [PATCH 2/2] Update UI control elements from vehicle, allows
 multi-operator mode

---
 src/uas/UAS.cc                 | 1 +
 src/ui/uas/UASControlWidget.cc | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 2bbc092..c34c070 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -161,6 +161,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     this->status = (int)state.status;
                     getStatusForCode((int)state.status, uasState, stateDescription);
                     emit statusChanged(this, uasState, stateDescription);
+                    emit statusChanged(this->status);
                     stateAudio = " changed status to " + uasState;
                 }
 
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index f28f749..92192ce 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -181,7 +181,7 @@ void UASControlWidget::cycleContextButton()
     if (mav)
     {
 
-        if (engineOn)
+        if (!engineOn)
         {
             ui.controlButton->setText(tr("Stop Engine"));
             mav->setMode(MAV_MODE_MANUAL);