Calibration1/SetupWidget.cpp at master · strawdiving/Calibration1 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
#include "SetupWidget.h"
#include "ui_SetupWidget.h"

#include <QModelIndex>
#include <QGridLayout>
#include<QMessageBox>

#include "PX4AutopioltPlugins/ComponentController.h"
#include "SetupWizard/MessagePanel.h"
#include "QuadApplication.h"
#include "VehicleManager.h"
#include "SetupWizard/SummaryViewPage.h"
#include "SetupWizard/SensorsGroupPage.h"
#include "SetupWizard/ParamPage.h"

SetupWidget::SetupWidget(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::SetupWidget)
  , _messagePanel(NULL)
  , _sensorsPage(NULL)
  , _paramPage(NULL)
  , _summaryPage(NULL)
  , _selectedBtn(NULL)
  , _vehicle(NULL)
{
    ui->setupUi(this);
    this->setStyleSheet("QPushButton {background: #cfe2f3}"
                        "QPushButton:pressed {background: #6699cc}");

    _messagePanel = new MessagePanel();
    _summaryPage = new SummaryViewPage(this);

    ui->stackedWidget->addWidget(_summaryPage);
    ui->stackedWidget->addWidget(_messagePanel);
    ui->stackedWidget->setCurrentWidget(_messagePanel);

    connect(this,&SetupWidget::showMessage,_messagePanel,&MessagePanel::_showMessage);
    connect(ui->pushButton_Sensors,&QPushButton::clicked,this,&SetupWidget::_showPanel);
    connect(ui->pushButton_Param,&QPushButton::clicked,this,&SetupWidget::_showPanel);
    connect(ui->pushButton_Summary,&QPushButton::clicked,this,&SetupWidget::_showPanel);
}

SetupWidget::~SetupWidget()
{
    delete ui;
}

void SetupWidget::_activeVehicleChanged(Vehicle* vehicle)
 {
    qDebug()<<"SetupWidget::_activeVehicleChanged";
    _vehicle = vehicle;
    if(_vehicle) {
        connect(_vehicle->autopilotPlugin(),&PX4AutopilotPlugin::setupCompleteChanged,_summaryPage,&SummaryViewPage::_setupCompleteChange);
        connect(_vehicle->autopilotPlugin(),&PX4AutopilotPlugin::setupCompleteStatus,_summaryPage,&SummaryViewPage::_setupCompleteStatus);
        connect(_vehicle->autopilotPlugin(),&PX4AutopilotPlugin::showMessage,_messagePanel,&MessagePanel::_showMessage);

        connect(_vehicle->parameterLoader(),&ParameterLoader::paramLoadProgress,_messagePanel,&MessagePanel::_paramLoadProgress);
        connect(_vehicle->autopilotPlugin(),&PX4AutopilotPlugin:: parametersReadyChanged,this,&SetupWidget::_parametersReadyChanged);

        _sensorsPage = new SensorsGroupPage(this);

        _paramPage = new ParamPage(this);
        _paramPage->initParamController();

        ui->stackedWidget->addWidget(_sensorsPage);
        ui->stackedWidget->addWidget(_paramPage);
        connect(_summaryPage,&SummaryViewPage::showPanel,this,&SetupWidget::_showCompPanel);
   }
   else {
       ui->stackedWidget->setCurrentWidget(_messagePanel);
       emit showMessage(_disconnectedVehicleText);
       ui->pushButton_Param->setEnabled(false);
       ui->pushButton_Sensors->setEnabled(false);
       ui->pushButton_Summary->setEnabled(false);
       this->setStyleSheet("QPushButton {background: #cfe2f3}"
                           "QPushButton:pressed {background: #6699cc}");
   }
 }

void SetupWidget::_parametersReadyChanged(bool parametersReady)
{
    if(parametersReady) {
        ui->pushButton_Summary->setEnabled(true);
        ui->pushButton_Sensors->setEnabled(true);
        ui->pushButton_Param->setEnabled(true);
        ui->stackedWidget->setCurrentWidget(_summaryPage);
    }
}

void SetupWidget::_showCompPanel(QString compName)
{
    _showComponentPanel(compName);
}

void SetupWidget::_showPanel()
{
    //qDebug()<<"SetupWidget::_showPanel()";
    QPushButton* selectedBtn = qobject_cast<QPushButton*>(sender());
    if(!_selectedBtn) {
        _selectedBtn = selectedBtn;
        _selectedBtn->setStyleSheet("background-color:#6699cc; border-color:green");
    }
    if(_selectedBtn && _selectedBtn != selectedBtn) {
        _selectedBtn->setStyleSheet("background-color: #cfe2f3");
        _selectedBtn = selectedBtn;
        _selectedBtn->setStyleSheet("background-color:#6699cc; border-color:green");
    }

    QString btnName = _selectedBtn->text();
    if(!btnName.isEmpty()) {
        _showComponentPanel(btnName);
    }
}

void SetupWidget::_showComponentPanel(QString name)
{
    if(name == "Summary") {
        ui->stackedWidget->setCurrentWidget(_summaryPage);
        qDebug()<<"summary";
    } else if(_vehicle->autopilotPlugin()) {
        if(name == "Params") {
            //_paramPage->initParamController();
            ui->stackedWidget->setCurrentWidget(_paramPage);
        }
        else {
            if(name == "Sensors") {
                _sensorsPage->initSensorsController();
                ui->stackedWidget->setCurrentWidget(_sensorsPage);
            }
        }
    }
}