Substantially improved runtime speed, fixed a few more bugs

src/uas/UAS.cc

@@ -79,7 +79,8 @@ attitudeStamped(false),
 lastAttitude(0),
 simulation(new QGCFlightGearLink(this)),
 isLocalPositionKnown(false),
-isGlobalPositionKnown(false)
+isGlobalPositionKnown(false),
+systemIsArmed(false)
 {
     color = UASInterface::getNextColor();
     setBatterySpecs(QString("9V,9.5V,12.6V"));
@@ -87,6 +88,10 @@ isGlobalPositionKnown(false)
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
     readSettings();
+
+    // Initial signals
+    emit disarmed();
+    emit armingChanged(false);
 }
 
 UAS::~UAS()
@@ -236,8 +241,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit systemTypeSet(this, type);
             }
 
-            // FIXME update
-            //emit armingChanged(uasId, );
+            bool currentlyArmed = state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;
+
+            if (systemIsArmed != currentlyArmed)
+            {
+                systemIsArmed = currentlyArmed;
+                emit armingChanged(systemIsArmed);
+                if (systemIsArmed)
+                {
+                    emit armed();
+                }
+                else
+                {
+                    emit disarmed();
+                }
+            }
 
             QString audiostring = "System " + getUASName();
             QString stateAudio = "";
@@ -618,7 +636,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_mission_count_t wpc;
                 mavlink_msg_mission_count_decode(&message, &wpc);
-                if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId())
+                if (wpc.target_system == mavlink->getSystemId())
                 {
                     waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
                 }
@@ -634,7 +652,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_mission_item_t wp;
                 mavlink_msg_mission_item_decode(&message, &wp);
                 //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
-                if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
+                if(wp.target_system == mavlink->getSystemId())
                 {
                     waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
                 }
@@ -660,7 +678,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_mission_request_t wpr;
                 mavlink_msg_mission_request_decode(&message, &wpr);
-                if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId())
+                if(wpr.target_system == mavlink->getSystemId())
                 {
                     waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
                 }

src/uas/UAS.h

@@ -220,6 +220,7 @@ protected: //COMMENTS FOR TEST UNIT
     QGCFlightGearLink* simulation;  ///< Hardware in the loop simulation link
     bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
     bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
+    bool systemIsArmed;             ///< If the system is armed
 
 public:
     /** @brief Set the current battery type */
@@ -234,6 +235,8 @@ public:
     QString getNavModeText(int mode);
     /** @brief Check if vehicle is in autonomous mode */
     bool isAuto();
+    /** @brief Check if vehicle is armed */
+    bool isArmed() const { return systemIsArmed; }
 
     UASWaypointManager* getWaypointManager() {
         return &waypointManager;

src/uas/UASInterface.h

@@ -89,6 +89,8 @@ public:
 
     virtual bool getSelected() const = 0;
 
+    virtual bool isArmed() const = 0;
+
     /** @brief Set the airframe of this MAV */
     virtual int getAirframe() const = 0;
 
@@ -334,6 +336,13 @@ signals:
 
     void navModeChanged(int uasid, int mode, const QString& text);
 
+    /** @brief System is now armed */
+    void armed();
+    /** @brief System is now disarmed */
+    void disarmed();
+    /** @brief Arming mode changed */
+    void armingChanged(bool armed);
+
     /**
      * @brief Update the error count of a device
      *

src/ui/QGCRemoteControlView.cc

@@ -64,6 +64,9 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int)));
+
+    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(redraw()));
+    updateTimer.start(1500);
 }
 
 QGCRemoteControlView::~QGCRemoteControlView()
@@ -74,6 +77,23 @@ QGCRemoteControlView::~QGCRemoteControlView()
 
 void QGCRemoteControlView::setUASId(int id)
 {
+    // Clear channel count
+    raw.clear();
+    raw.resize(0);
+
+    normalized.clear();
+    normalized.resize(0);
+
+    foreach (QLabel* label, rawLabels)
+    {
+        label->deleteLater();
+    }
+
+    foreach(QProgressBar* bar, progressBars)
+    {
+        bar->deleteLater();
+    }
+
     if (uasId != -1) {
         UASInterface* uas = UASManager::instance()->getUASForId(id);
         if (uas) {
@@ -110,14 +130,12 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
         this->raw.append(raw);
         //this->normalized.append(0);
         appendChannelWidget(channelId);
+        updated = true;
     } else {
         // This is an existing channel, aupdate it
+        if (this->raw[channelId] != raw) updated = true;
         this->raw[channelId] = raw;
     }
-    updated = true;
-
-    // FIXME Will be timer based in the future
-    redraw();
 }
 
 void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
@@ -128,22 +146,20 @@ void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
         this->normalized.append(normalized);
         this->raw.append(0);
         appendChannelWidget(channelId);
+        updated = true;
     }
     else
     {
         // This is an existing channel, update it
+        if (this->normalized[channelId] != normalized) updated = true;
         this->normalized[channelId] = normalized;
     }
-//    updated = true;
-
-//    // FIXME Will be timer based in the future
-//    redraw();
 }
 
 void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
 {
+    if (rssi != rssiNormalized) updated = true;
     rssi = rssiNormalized;
-    updated = true;
 }
 
 void QGCRemoteControlView::appendChannelWidget(int channelId)
@@ -169,7 +185,8 @@ void QGCRemoteControlView::appendChannelWidget(int channelId)
 
 void QGCRemoteControlView::redraw()
 {
-    if(isVisible() && updated) {
+    if(isVisible() && updated)
+    {
         // Update raw values
         //for(int i = 0; i < rawLabels.count(); i++)
         //{
@@ -177,7 +194,8 @@ void QGCRemoteControlView::redraw()
         //}
 
         // Update percent bars
-        for(int i = 0; i < progressBars.count(); i++) {
+        for(int i = 0; i < progressBars.count(); i++)
+        {
             rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
             int vv = normalized.at(i)*100.0f;
             //progressBars.at(i)->setValue(vv);

src/ui/QGCRemoteControlView.h

@@ -76,6 +76,7 @@ protected:
     QLabel* nameLabel;
     QPushButton *calibrate;
     RadioCalibrationWindow *calibrationWindow;
+    QTimer updateTimer;
 
 private:
     Ui::QGCRemoteControlView *ui;

src/ui/QGCToolBar.cc

@@ -37,7 +37,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     batteryPercent(0),
     batteryVoltage(0),
     wpId(0),
-    wpDistance(0)
+    wpDistance(0),
+    systemArmed(false)
 {
     setObjectName("QGC_TOOLBAR");
 
@@ -212,6 +213,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
         disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
         disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
+        disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         if (mav->getWaypointManager())
         {
             disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -227,6 +229,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
     connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
     connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
+    connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
     if (active->getWaypointManager())
     {
         connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -235,6 +238,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
 
     // Update all values once
     systemName = mav->getUASName();
+    systemArmed = mav->isArmed();
     toolBarNameLabel->setText(mav->getUASName());
     toolBarNameLabel->setStyleSheet(QString("QLabel { font: bold 16px; color: %1; }").arg(mav->getColor().name()));
     symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name()));
@@ -248,6 +252,12 @@ void QGCToolBar::createCustomWidgets()
 
 }
 
+void QGCToolBar::updateArmingState(bool armed)
+{
+    systemArmed = armed;
+    changed = true;
+}
+
 void QGCToolBar::updateView()
 {
     if (!changed) return;
@@ -259,6 +269,18 @@ void QGCToolBar::updateView()
     toolBarModeLabel->setText(tr("%1").arg(mode));
     toolBarNameLabel->setText(systemName);
     toolBarMessageLabel->setText(lastSystemMessage);
+
+    if (systemArmed)
+    {
+        toolBarSafetyLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name()));
+        toolBarSafetyLabel->setText(tr("ARMED"));
+    }
+    else
+    {
+        toolBarSafetyLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #14C814; }");
+        toolBarSafetyLabel->setText(tr("SAFE"));
+    }
+
     changed = false;
 }
 

src/ui/QGCToolBar.h

@@ -66,6 +66,8 @@ public slots:
     void updateCurrentWaypoint(quint16 id);
     /** @brief Update distance to current waypoint */
     void updateWaypointDistance(double distance);
+    /** @brief Update arming state */
+    void updateArmingState(bool armed);
     /** @brief Repaint widgets */
     void updateView();
 
@@ -96,6 +98,7 @@ protected:
     QString systemName;
     QString lastSystemMessage;
     QTimer updateViewTimer;
+    bool systemArmed;
 };
 
 #endif // QGCTOOLBAR_H