Merge remote-tracking branch 'MavLink/master' into messageBox

* MavLink/master:
  Remove QGCMessageBox usage
  Change window close sequence to prompt user from Qml side
  Fix live values
  Clear unsent channels
  Live flight mode config

Conflicts:
	src/ui/MainWindow.h

src/AutoPilotPlugins/APM/APMFlightModesComponent.qml

@@ -78,10 +78,13 @@ QGCView {
                                 spacing: ScreenTools.defaultFontPixelWidth
 
                                 property int index:         modelData + 1
+                                property var pwmStrings:    [ "PWM 0 - 1230", "PWM 1231 - 1360", "PWM 1361 - 1490", "PWM 1491 - 1620", "PWM 1621 - 1749", "PWM 1750 +"]
+
 
                                 QGCLabel {
                                     anchors.baseline:   modeCombo.baseline
                                     text:               "Flight Mode " + index + ":"
+                                    color:              controller.activeFlightMode == index ? qgcPal.buttonHighlight : qgcPal.text
                                 }
 
                                 FactComboBox {
@@ -91,56 +94,9 @@ QGCView {
                                     indexModel: false
                                 }
 
-                                QGCCheckBox {
-                                    id:                 simple
-                                    anchors.baseline:   modeCombo.baseline
-                                    text:               "Simple Mode"
-                                    visible:            !controller.fixedWing
-                                    checked:            isChecked()
-
-                                    onClicked: {
-                                        var simpleFact = controller.getParameterFact(-1, "SIMPLE")
-                                        if (checked) {
-                                            simpleFact.value |= 1 << modelData
-                                        } else {
-                                            simpleFact.value &= ~modelData
-                                        }
-                                    }
-
-                                    function isChecked() {
-                                        if (simple.visible) {
-                                            var simpleFact = controller.getParameterFact(-1, "SIMPLE")
-                                            return simpleFact.value & (1 << modelData)
-                                        } else {
-                                            return false;
-                                        }
-                                    }
-                                }
-
-                                QGCCheckBox {
-                                    id:                 superSimple
+                                QGCLabel {
                                     anchors.baseline:   modeCombo.baseline
-                                    text:               "Super Simple Mode"
-                                    visible:            !controller.fixedWing
-                                    checked:            isChecked()
-
-                                    onClicked: {
-                                        var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
-                                        if (checked) {
-                                            simpleFact.value |= 1 << modelData
-                                        } else {
-                                            simpleFact.value &= ~modelData
-                                        }
-                                    }
-
-                                    function isChecked() {
-                                        if (superSimple.visible) {
-                                            var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
-                                            return simpleFact.value & (1 << modelData)
-                                        } else {
-                                            return false;
-                                        }
-                                    }
+                                    text:               pwmStrings[modelData]
                                 }
                             }
                         } // Repeater - Flight Modes
@@ -176,6 +132,9 @@ QGCView {
                                 QGCLabel {
                                     anchors.baseline:   optCombo.baseline
                                     text:               "Channel option " + index + ":"
+                                    color:              controller.channelOptionEnabled[modelData] ? qgcPal.buttonHighlight : qgcPal.text
+
+                                    Component.onCompleted: console.log(index, controller.channelOptionEnabled[modelData])
                                 }
 
                                 FactComboBox {

src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc

@@ -29,7 +29,9 @@
 #include <QQmlProperty>
 
 APMFlightModesComponentController::APMFlightModesComponentController(void)
-    : _channelCount(Vehicle::cMaxRcChannels)
+    : _activeFlightMode(0)
+    , _channelCount(Vehicle::cMaxRcChannels)
+    , _fixedWing(_vehicle->vehicleType() == MAV_TYPE_FIXED_WING)
 {
     QStringList usedParams;
     usedParams << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6";
@@ -37,78 +39,40 @@ APMFlightModesComponentController::APMFlightModesComponentController(void)
         return;
     }
 
-    _init();
-    _validateConfiguration();
+    _rgChannelOptionEnabled << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false);
     
     connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged);
 }
 
-void APMFlightModesComponentController::_init(void)
-{
-    _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
-}
-
-/// This will look for parameter settings which would cause the config to not run correctly.
-/// It will set _validConfiguration and _configurationErrors as needed.
-void APMFlightModesComponentController::_validateConfiguration(void)
+/// Connected to Vehicle::rcChannelsChanged signal
+void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
 {
-    _validConfiguration = true;
-#if 0
-    
-    // Make sure switches are valid and within channel range
-    
-    QStringList switchParams;
-    QList<int> switchMappings;
-    
-    switchParams << "RC_MAP_MODE_SW"  << "RC_MAP_ACRO_SW"  << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
-    
-    for(int i=0; i<switchParams.count(); i++) {
-        int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
-        switchMappings << map;
-        
-        if (map < 0 || map > _channelCount) {
-            _validConfiguration = false;
-            _configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchParams[i]).arg(map).arg(_channelCount);
+    Q_UNUSED(channelCount);
+
+    _activeFlightMode = 0;
+    int channelValue = pwmValues[4];
+    if (channelValue != -1) {
+        bool found = false;
+        int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 };
+        for (int i=0; i<5; i++) {
+            if (channelValue <= rgThreshold[i]) {
+                _activeFlightMode = i + 1;
+                found = true;
+                break;
             }
         }
-    
-    // Make sure mode switches are not double-mapped
-    
-    QStringList attitudeParams;
-    
-    attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
-
-    for (int i=0; i<attitudeParams.count(); i++) {
-        int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
-
-        for (int j=0; j<switchParams.count(); j++) {
-            if (map != 0 && map == switchMappings[j]) {
-                _validConfiguration = false;
-                _configurationErrors += QString("%1 is set to same channel as %2.\n").arg(switchParams[j]).arg(attitudeParams[i]);
-            }
+        if (!found) {
+            _activeFlightMode = 6;
         }
     }
+    emit activeFlightModeChanged(_activeFlightMode);
 
-    // Validate thresholds within range
-    
-    QStringList thresholdParams;
-    
-    thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
-    
-    foreach(QString thresholdParam, thresholdParams) {
-        float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
-        if (threshold < 0.0f || threshold > 1.0f) {
-            _validConfiguration = false;
-            _configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold);
+    for (int i=0; i<6; i++) {
+        _rgChannelOptionEnabled[i] = QVariant(false);
+        channelValue = pwmValues[i+6];
+        if (channelValue != -1 && channelValue > 1800) {
+            _rgChannelOptionEnabled[i] = QVariant(true);
         }
     }
-#endif
-}
-
-/// Connected to Vehicle::rcChannelsChanged signal
-void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
-{
-    for (int channel=0; channel<channelCount; channel++) {
-        _rcValues[channel] = pwmValues[channel];
-    }
+    emit channelOptionEnabledChanged();
 }

src/AutoPilotPlugins/APM/APMFlightModesComponentController.h

@@ -42,25 +42,26 @@ class APMFlightModesComponentController : public FactPanelController
 public:
     APMFlightModesComponentController(void);
     
+    Q_PROPERTY(int      activeFlightMode            READ activeFlightMode       NOTIFY activeFlightModeChanged)
     Q_PROPERTY(int      channelCount                MEMBER _channelCount        CONSTANT)
+    Q_PROPERTY(QVariantList channelOptionEnabled    READ channelOptionEnabled   NOTIFY channelOptionEnabledChanged)
     Q_PROPERTY(bool     fixedWing                   MEMBER _fixedWing           CONSTANT)
-    Q_PROPERTY(QString  reservedChannels    MEMBER _reservedChannels    CONSTANT)
+
+    int activeFlightMode(void) { return _activeFlightMode; }
+    QVariantList channelOptionEnabled(void) { return _rgChannelOptionEnabled; }
+
+signals:
+    void activeFlightModeChanged(int activeFlightMode);
+    void channelOptionEnabledChanged(void);
     
 private slots:
     void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
     
 private:
-    void _init(void);
-    void _validateConfiguration(void);
-    
-    bool _fixedWing;
-    
-    int _rcValues[Vehicle::cMaxRcChannels];
-    
-    bool    _validConfiguration;
-    QString _configurationErrors;
+    int             _activeFlightMode;
     int             _channelCount;
-    QString _reservedChannels;
+    QVariantList    _rgChannelOptionEnabled;
+    bool            _fixedWing;
 };
 
 #endif

src/AutoPilotPlugins/Common/RadioComponentController.cc

@@ -26,8 +26,8 @@
 ///     @author Don Gagne <don@thegagnes.com
 
 #include "RadioComponentController.h"
-#include "QGCMessageBox.h"
 #include "AutoPilotPluginManager.h"
+#include "QGCApplication.h"
 
 #include <QSettings>
 

src/FactSystem/ParameterLoader.cc

@@ -657,7 +657,6 @@ void ParameterLoader::_saveToEEPROM(void)
 QString ParameterLoader::readParametersFromStream(QTextStream& stream)
 {
     QString errors;
-    bool userWarned = false;
 
     while (!stream.atEnd()) {
         QString line = stream.readLine();
@@ -665,16 +664,8 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
             QStringList wpParams = line.split("\t");
             int lineMavId = wpParams.at(0).toInt();
             if (wpParams.size() == 5) {
-                if (!userWarned && (_vehicle->id() != lineMavId)) {
-                    userWarned = true;
-                    QString msg("The parameters in the stream have been saved from System Id %1, but the current vehicle has the System Id %2.");
-                    QGCMessageBox::StandardButton button = QGCMessageBox::warning("Parameter Load",
-                                                                                  msg.arg(lineMavId).arg(_vehicle->id()),
-                                                                                  QGCMessageBox::Ok | QGCMessageBox::Cancel,
-                                                                                  QGCMessageBox::Cancel);
-                    if (button == QGCMessageBox::Cancel) {
-                        return QString();
-                    }
+                if (_vehicle->id() != lineMavId) {
+                    return QString("The parameters in the stream have been saved from System Id %1, but the current vehicle has the System Id %2.").arg(lineMavId).arg(_vehicle->id());
                 }
 
                 int     componentId = wpParams.at(1).toInt();

src/QGCApplication.cc

@@ -455,9 +455,7 @@ bool QGCApplication::_initForNormalAppBoot(void)
     /// settings.
     QString savedFilesLocation = settings.value(_savedFilesLocationKey).toString();
     if (savedFilesLocation.isEmpty()) {
-        QGCMessageBox::warning(
-            tr("Bad save location"),
-            tr("The location to save files to is invalid, or cannot be written to. Please provide a new one."));
+        showMessage("The location to save files to is invalid, or cannot be written to. Please provide a new one.");
         mainWindow->showSettings();
     }
 
@@ -705,10 +703,7 @@ void QGCApplication::_missingParamsDisplay(void)
     }
     _missingParams.clear();
 
-    QGCMessageBox::critical(
-        "Missing Parameters",
-        QString("Parameters missing from firmware: %1.\n\n"
-                "You should quit QGroundControl immediately and update your firmware.").arg(params));
+    showMessage(QString("Parameters missing from firmware: %1.\n\nYou should quit QGroundControl immediately and update your firmware.").arg(params));
 }
 
 void QGCApplication::showMessage(const QString& message)
@@ -717,6 +712,6 @@ void QGCApplication::showMessage(const QString& message)
     if (mainWindow) {
         mainWindow->showMessage(message);
     } else {
-        QGCMessageBox::information("", message);
+        qWarning() << "showMessage with no mainWindow" << message;
     }
 }

src/QGCQuickWidget.cc

@@ -60,7 +60,7 @@ bool QGCQuickWidget::setSource(const QUrl& qmlUrl)
             errorList += error.toString();
             errorList += "\n";
         }
-        QGCMessageBox::warning(tr("Qml Error"), tr("Source not ready: Status(%1)\nErrors:\n%2").arg(status()).arg(errorList));
+        qgcApp()->showMessage(QString("Source not ready: Status(%1)\nErrors:\n%2").arg(status()).arg(errorList));
         return false;
     }
     

src/Vehicle/Vehicle.cc

@@ -353,6 +353,10 @@ void Vehicle::_handleRCChannelsRaw(mavlink_message_t& message)
     int pwmValues[cMaxRcChannels];
     int channelCount = 0;
 
+    for (int i=0; i<cMaxRcChannels; i++) {
+        pwmValues[i] = -1;
+    }
+
     for (int i=0; i<8; i++) {
         uint16_t channelValue = *_rgChannelvalues[i];
 

src/ui/MainWindow.cc

@@ -425,24 +425,20 @@ void MainWindow::showStatusBarCallback(bool checked)
     checked ? statusBar()->show() : statusBar()->hide();
 }
 
-void MainWindow::closeEvent(QCloseEvent *event)
+void MainWindow::acceptWindowClose(void)
 {
-    // Disallow window close if there are active connections
-    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count()) {
-        QGCMessageBox::StandardButton button =
-            QGCMessageBox::warning(
-                tr("QGroundControl close"),
-                tr("There are still active connections to vehicles. Do you want to disconnect these before closing?"),
-                QMessageBox::Yes | QMessageBox::Cancel,
-                QMessageBox::Cancel);
-        if (button == QMessageBox::Yes) {
     qgcApp()->toolbox()->linkManager()->shutdown();
-            // The above disconnect causes a flurry of activity as the vehicle components are removed. This in turn
+    // The above shutdown causes a flurry of activity as the vehicle components are removed. This in turn
     // causes the Windows Version of Qt to crash if you allow the close event to be accepted. In order to prevent
     // the crash, we ignore the close event and setup a delayed timer to close the window after things settle down.
     QTimer::singleShot(1500, this, &MainWindow::_closeWindow);
-        }
+}
 
+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    // Disallow window close if there are active connections
+    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count()) {
+        emit showWindowCloseMessage();
         event->ignore();
         return;
     }

src/ui/MainWindow.h

@@ -94,6 +94,9 @@ public:
     /// @brief Show message in lower message window
     void showMessage(const QString message);
 
+    // Called from MainWindow.qml when the user accepts the window close dialog
+    Q_INVOKABLE void acceptWindowClose(void);
+
 public slots:
     /** @brief Show the application settings */
     void showSettings();
@@ -135,6 +138,7 @@ protected slots:
      * this incoherent.
      */
     void handleActiveViewActionState(bool triggered);
+
 signals:
     // Signals the Qml to show the specified view
     void showFlyView(void);
@@ -142,6 +146,7 @@ signals:
     void showSetupView(void);
 
     void showCriticalMessage(const QString& message);
+    void showWindowCloseMessage(void);
 
     // These are used for unit testing
     void showSetupFirmware(void);

src/ui/MainWindow.qml

@@ -23,6 +23,7 @@ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 import QtQuick          2.5
 import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
 import QtPositioning    5.2
 
 import QGroundControl                       1.0
@@ -95,6 +96,8 @@ Item {
 
         onShowCriticalMessage: showCriticalMessage(message)
 
+        onShowWindowCloseMessage: windowCloseDialog.open()
+
         // The following are use for unit testing only
 
         onShowSetupFirmware:            setupViewLoader.item.showFirmwarePanel()
@@ -192,6 +195,17 @@ Item {
         currentPopUp = indicatorDropdown
     }
 
+    MessageDialog {
+        id:                 windowCloseDialog
+        title:              "QGroundControl close"
+        text:               "There are still active connections to vehicles. Do you want to disconnect these before closing?"
+        standardButtons:    StandardButton.Yes | StandardButton.Cancel
+        modality:           Qt.ApplicationModal
+        visible:            false
+
+        onYes: controller.acceptWindowClose()
+    }
+
     //-- Left Settings Menu
     Loader {
         id:                 leftPanel