Additional functionaltiy of Actions view, including setwaypoint,change speed, and ARM/DISARM

src/ui/uas/UASActionsWidget.cpp

@@ -1,11 +1,114 @@
 #include "UASActionsWidget.h"
-
-
+#include <QMessageBox>
+#include <UAS.h>
 UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent)
 {
+    m_uas = 0;
     ui.setupUi(this);
+    connect(ui.changeAltitudeButton,SIGNAL(clicked()),this,SLOT(changeAltitudeClicked()));
+    connect(ui.changeSpeedButton,SIGNAL(clicked()),this,SLOT(changeSpeedClicked()));
+    connect(ui.goToWaypointButton,SIGNAL(clicked()),this,SLOT(goToWaypointClicked()));
+    connect(ui.armDisarmButton,SIGNAL(clicked()),this,SLOT(armButtonClicked()));
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    if (UASManager::instance()->getActiveUAS())
+    {
+        activeUASSet(UASManager::instance()->getActiveUAS());
+    }
+}
+
+void UASActionsWidget::activeUASSet(UASInterface *uas)
+{
+    m_uas = uas;
+    connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList()));
+    connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16)));
+    connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    armingChanged(m_uas->isArmed());
+    updateWaypointList();
+}
+void UASActionsWidget::armButtonClicked()
+{
+    if (m_uas)
+    {
+        if (m_uas->isArmed())
+        {
+            ((UAS*)m_uas)->disarmSystem();
+        }
+        else
+        {
+            ((UAS*)m_uas)->armSystem();
+        }
+    }
+}
+
+void UASActionsWidget::armingChanged(bool state)
+{
+    //TODO:
+    //Figure out why arm/disarm is in UAS.h and not part of the interface, and fix.
+    if (state)
+    {
+        ui.armDisarmButton->setText("DISARM\nCurrently Armed");
+    }
+    else
+    {
+        ui.armDisarmButton->setText("ARM\nCurrently Disarmed");
+    }
+
+}
+
+void UASActionsWidget::currentWaypointChanged(quint16 wpid)
+{
+    ui.currentWaypointLabel->setText("Current: " + QString::number(wpid));
+}
+
+void UASActionsWidget::updateWaypointList()
+{
+    ui.waypointComboBox->clear();
+    for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
+    {
+        ui.waypointComboBox->addItem(QString::number(i));
+    }
 }
 
 UASActionsWidget::~UASActionsWidget()
 {
 }
+void UASActionsWidget::goToWaypointClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointComboBox->currentIndex());
+}
+
+void UASActionsWidget::changeAltitudeClicked()
+{
+    QMessageBox::information(0,"Error","No implemented yet.");
+}
+
+void UASActionsWidget::changeSpeedClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        m_uas->setParameter(1,"WP_SPEED_MAX",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+        return;
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        QVariant variant;
+        if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant))
+        {
+            if (variant.toInt() == 1)
+            {
+                m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+                return;
+            }
+
+        }
+        m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+    }
+}

src/ui/uas/UASActionsWidget.h

@@ -3,7 +3,8 @@
 
 #include <QWidget>
 #include "ui_UASActionsWidget.h"
-
+#include <UASManager.h>
+#include <UASInterface.h>
 class UASActionsWidget : public QWidget
 {
     Q_OBJECT
@@ -14,6 +15,16 @@ public:
     
 private:
     Ui::UASActionsWidget ui;
+    UASInterface *m_uas;
+private slots:
+    void armButtonClicked();
+    void armingChanged(bool state);
+    void currentWaypointChanged(quint16 wpid);
+    void updateWaypointList();
+    void activeUASSet(UASInterface *uas);
+    void goToWaypointClicked();
+    void changeAltitudeClicked();
+    void changeSpeedClicked();
 };
 
 #endif // UASACTIONSWIDGET_H

src/ui/uas/UASActionsWidget.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>413</width>
-    <height>304</height>
+    <width>321</width>
+    <height>363</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -25,7 +25,7 @@
    <property name="title">
     <string>Mission Controls</string>
    </property>
-   <widget class="QPushButton" name="pushButton_9">
+   <widget class="QPushButton" name="goToWaypointButton">
     <property name="geometry">
      <rect>
       <x>10</x>
@@ -38,7 +38,7 @@
      <string>Go To Waypoint</string>
     </property>
    </widget>
-   <widget class="QComboBox" name="comboBox_2">
+   <widget class="QComboBox" name="waypointComboBox">
     <property name="geometry">
      <rect>
       <x>10</x>
@@ -48,19 +48,6 @@
      </rect>
     </property>
    </widget>
-   <widget class="QPushButton" name="pushButton_6">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>50</y>
-      <width>81</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Restart Mission</string>
-    </property>
-   </widget>
    <widget class="QWidget" name="horizontalLayoutWidget">
     <property name="geometry">
      <rect>
@@ -72,10 +59,10 @@
     </property>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
-      <widget class="QSpinBox" name="spinBox_2"/>
+      <widget class="QSpinBox" name="speedSpinBox"/>
      </item>
      <item>
-      <widget class="QPushButton" name="pushButton_12">
+      <widget class="QPushButton" name="changeSpeedButton">
        <property name="text">
         <string>Change Speed</string>
        </property>
@@ -94,10 +81,10 @@
     </property>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
-      <widget class="QSpinBox" name="spinBox"/>
+      <widget class="QSpinBox" name="altitudeSpinBox"/>
      </item>
      <item>
-      <widget class="QPushButton" name="pushButton_11">
+      <widget class="QPushButton" name="changeAltitudeButton">
        <property name="text">
         <string>Change Altitude</string>
        </property>
@@ -105,14 +92,40 @@
      </item>
     </layout>
    </widget>
+   <widget class="QLabel" name="currentWaypointLabel">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>20</y>
+      <width>81</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Current:</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_6">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>50</y>
+      <width>81</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Restart Mission</string>
+    </property>
+   </widget>
   </widget>
   <widget class="QGroupBox" name="groupBox_2">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>180</y>
-     <width>401</width>
-     <height>111</height>
+     <width>311</width>
+     <height>161</height>
     </rect>
    </property>
    <property name="title">
@@ -203,17 +216,17 @@
      <string>RTL</string>
     </property>
    </widget>
-   <widget class="QPushButton" name="pushButton_10">
+   <widget class="QPushButton" name="armDisarmButton">
     <property name="geometry">
      <rect>
-      <x>310</x>
-      <y>20</y>
-      <width>81</width>
-      <height>51</height>
+      <x>10</x>
+      <y>110</y>
+      <width>291</width>
+      <height>41</height>
      </rect>
     </property>
     <property name="text">
-     <string>Arm/Disarm</string>
+     <string>ARM</string>
     </property>
    </widget>
   </widget>