From 223a748441f8302c961c1294b8229aa13741511d Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Fri, 21 Jun 2013 18:32:54 -0400
Subject: [PATCH] CompassConfig implementation

---
 src/ui/configuration/CompassConfig.cc | 99 ++++++++++++++++++++++++++++++++++-
 src/ui/configuration/CompassConfig.h  | 11 +++-
 src/ui/configuration/CompassConfig.ui |  4 +-
 3 files changed, 109 insertions(+), 5 deletions(-)

diff --git a/src/ui/configuration/CompassConfig.cc b/src/ui/configuration/CompassConfig.cc
index 015c45c..fda95b6 100644
--- a/src/ui/configuration/CompassConfig.cc
+++ b/src/ui/configuration/CompassConfig.cc
@@ -3,9 +3,106 @@
 
 CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
 {
+    m_uas=0;
     ui.setupUi(this);
-}
+    ui.autoDecCheckBox->setEnabled(false);
+    ui.enableCheckBox->setEnabled(false);
+    ui.orientationComboBox->setEnabled(false);
+    ui.declinationLineEdit->setEnabled(false);
+    connect(ui.enableCheckBox,SIGNAL(clicked(bool)),this,SLOT(enableClicked(bool)));
+    connect(ui.autoDecCheckBox,SIGNAL(clicked(bool)),this,SLOT(autoDecClicked(bool)));
+    connect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int)));
+
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    activeUASSet(UASManager::instance()->getActiveUAS());
 
+}
 CompassConfig::~CompassConfig()
 {
 }
+void CompassConfig::activeUASSet(UASInterface *uas)
+{
+    if (!uas) return;
+    if (!m_uas)
+    {
+        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+    }
+    m_uas = uas;
+    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+}
+void CompassConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (parameterName == "MAG_ENABLE")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.enableCheckBox->setChecked(false);
+            ui.autoDecCheckBox->setEnabled(false);
+            ui.declinationLineEdit->setEnabled(false);
+        }
+        else
+        {
+            ui.enableCheckBox->setChecked(true);
+            ui.autoDecCheckBox->setEnabled(true);
+            ui.declinationLineEdit->setEnabled(true);
+        }
+        ui.enableCheckBox->setEnabled(true);
+    }
+    else if (parameterName == "COMPASS_AUTODEC")
+    {
+        if (value.toInt() == 0)
+        {
+            ui.autoDecCheckBox->setChecked(false);
+        }
+        else
+        {
+            ui.autoDecCheckBox->setChecked(true);
+        }
+    }
+    else if (parameterName == "COMPASS_DEC")
+    {
+        ui.declinationLineEdit->setText(QString::number(value.toDouble()));
+    }
+}
+
+void CompassConfig::enableClicked(bool enabled)
+{
+    if (m_uas)
+    {
+        if (enabled)
+        {
+            m_uas->setParameter(0,"MAG_ENABLE",QVariant(1));
+            ui.autoDecCheckBox->setEnabled(true);
+            if (!ui.autoDecCheckBox->isChecked())
+            {
+                ui.declinationLineEdit->setEnabled(true);
+            }
+        }
+        else
+        {
+            m_uas->setParameter(0,"MAG_ENABLE",QVariant(0));
+            ui.autoDecCheckBox->setEnabled(false);
+            ui.declinationLineEdit->setEnabled(false);
+        }
+    }
+}
+
+void CompassConfig::autoDecClicked(bool enabled)
+{
+    if (m_uas)
+    {
+        if (enabled)
+        {
+            m_uas->setParameter(0,"COMPASS_AUTODEC",QVariant(1));
+        }
+        else
+        {
+            m_uas->setParameter(0,"COMPASS_AUTODEC",QVariant(0));
+        }
+    }
+}
+
+void CompassConfig::orientationComboChanged(int index)
+{
+
+}
diff --git a/src/ui/configuration/CompassConfig.h b/src/ui/configuration/CompassConfig.h
index e70f340..31a7fe3 100644
--- a/src/ui/configuration/CompassConfig.h
+++ b/src/ui/configuration/CompassConfig.h
@@ -3,7 +3,8 @@
 
 #include <QWidget>
 #include "ui_CompassConfig.h"
-
+#include "UASManager.h"
+#include "UASInterface.h"
 class CompassConfig : public QWidget
 {
     Q_OBJECT
@@ -11,9 +12,15 @@ class CompassConfig : public QWidget
 public:
     explicit CompassConfig(QWidget *parent = 0);
     ~CompassConfig();
-    
+private slots:
+    void activeUASSet(UASInterface *uas);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void enableClicked(bool enabled);
+    void autoDecClicked(bool enabled);
+    void orientationComboChanged(int index);
 private:
     Ui::CompassConfig ui;
+    UASInterface *m_uas;
 };
 
 #endif // COMPASSCONFIG_H
diff --git a/src/ui/configuration/CompassConfig.ui b/src/ui/configuration/CompassConfig.ui
index 8f7edd5..7ac1ede 100644
--- a/src/ui/configuration/CompassConfig.ui
+++ b/src/ui/configuration/CompassConfig.ui
@@ -42,7 +42,7 @@
     <string>&lt;a href=&quot;http://magnetic-declination.com/&quot;&gt;Declination Website&lt;/a&gt;</string>
    </property>
   </widget>
-  <widget class="QComboBox" name="comboBox">
+  <widget class="QComboBox" name="orientationComboBox">
    <property name="geometry">
     <rect>
      <x>280</x>
@@ -102,7 +102,7 @@
    </property>
    <layout class="QHBoxLayout" name="horizontalLayout_3">
     <item>
-     <widget class="QLineEdit" name="lineEdit"/>
+     <widget class="QLineEdit" name="declinationLineEdit"/>
     </item>
     <item>
      <widget class="QLabel" name="label_3">