From b6c11a8d93f8a0d8d785fbc9d361c74757b59f15 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 14 Jul 2013 11:01:04 +0200
Subject: [PATCH] System switching fixed and tested
---
src/ui/PrimaryFlightDisplay.cc | 61 +++++++++++++++++++++++-------------------
src/ui/PrimaryFlightDisplay.h | 4 +--
2 files changed, 35 insertions(+), 30 deletions(-)
diff --git a/src/ui/PrimaryFlightDisplay.cc b/src/ui/PrimaryFlightDisplay.cc
index a42d372..a68acdf 100644
--- a/src/ui/PrimaryFlightDisplay.cc
+++ b/src/ui/PrimaryFlightDisplay.cc
@@ -170,17 +170,16 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
// Connect with UAS signal
- connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
- // connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(forgetUAS(UASInterface*)));
-
+ //connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+ connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(forgetUAS(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
- // Get a list of all existing UAS and - well attach to one of them. The first one.
- foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
- addUAS(uas);
- }
+// // Get a list of all existing UAS and - well attach to one of them. The first one.
+// foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+// addUAS(uas);
+// }
- if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
+ setActiveUAS(UASManager::instance()->getActiveUAS());
// Refresh timer
refreshTimer->setInterval(updateInterval);
@@ -250,27 +249,23 @@ void PrimaryFlightDisplay::paintEvent(QPaintEvent *event)
doPaint();
}
-/*
- * Interface towards qgroundcontrol
- */
-void PrimaryFlightDisplay::addUAS(UASInterface* uas)
-{
- if (uas)
- {
- if (!this->uas)
- {
- setActiveUAS(uas);
- }
- }
-}
-
-/**
- *
- * @param uas the UAS/MAV to monitor/display with the HUD
- */
-void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
+///*
+// * Interface towards qgroundcontrol
+// */
+//void PrimaryFlightDisplay::addUAS(UASInterface* uas)
+//{
+// if (uas)
+// {
+// if (!this->uas)
+// {
+// setActiveUAS(uas);
+// }
+// }
+//}
+
+void PrimaryFlightDisplay::forgetUAS(UASInterface* uas)
{
- if (this->uas != NULL) {
+ if (this->uas != NULL && this->uas == uas) {
// Disconnect any previously connected active MAV
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
@@ -290,6 +285,16 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
//disconnect(this->uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
//disconnect(this->uas, SIGNAL(localizationChanged(UASInterface* uas, int fix)), this, SLOT(updateGPSFixType(UASInterface*,int)));
}
+}
+
+/**
+ *
+ * @param uas the UAS/MAV to monitor/display with the HUD
+ */
+void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
+{
+ // Disconnect the previous one (if any)
+ forgetUAS(this->uas);
if (uas) {
// Now connect the new UAS
diff --git a/src/ui/PrimaryFlightDisplay.h b/src/ui/PrimaryFlightDisplay.h
index cdb8374..161c8c4 100644
--- a/src/ui/PrimaryFlightDisplay.h
+++ b/src/ui/PrimaryFlightDisplay.h
@@ -26,8 +26,8 @@ public slots:
void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
/** @brief Set the currently monitored UAS */
- void addUAS(UASInterface* uas);
- //void forgetUAS(UASInterface* uas);
+ //void addUAS(UASInterface* uas);
+ void forgetUAS(UASInterface* uas);
void setActiveUAS(UASInterface* uas);
protected: