From 6ad60a79716621542df9313bc524d56a7fb05f9d Mon Sep 17 00:00:00 2001
From: Andrew Thoms <openpilot@andrewspizza.net>
Date: Sun, 12 Jun 2011 00:17:32 -0400
Subject: [PATCH] Implemented UI code for new ccpm options checkboxes and
 sliders

---
 .../openpilotgcs/src/plugins/config/ccpm.ui   | 21 ++++---
 .../src/plugins/config/configccpmwidget.cpp   | 57 ++++++++++++++++++-
 .../src/plugins/config/configccpmwidget.h     |  2 +
 3 files changed, 70 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui
index 2048c95fb..4242e1ff8 100644
--- a/ground/openpilotgcs/src/plugins/config/ccpm.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui
@@ -843,7 +843,7 @@
                <number>3</number>
               </property>
               <item row="0" column="0">
-               <widget class="QCheckBox" name="ccmpCollectivePassthrough">
+               <widget class="QCheckBox" name="ccpmCollectivePassthrough">
                 <property name="text">
                  <string>Collective Pass through</string>
                 </property>
@@ -870,12 +870,12 @@
                </widget>
               </item>
               <item row="1" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout_13">
+               <layout class="QHBoxLayout" name="ccpmCollectiveChannelBox">
                 <property name="sizeConstraint">
                  <enum>QLayout::SetMinimumSize</enum>
                 </property>
                 <item>
-                 <widget class="QLabel" name="ccpmEngineLabel_2">
+                 <widget class="QLabel" name="ccpmCollectiveChLabel">
                   <property name="enabled">
                    <bool>false</bool>
                   </property>
@@ -900,12 +900,15 @@
                   <property name="text">
                    <string>Collective Ch</string>
                   </property>
+                  <property name="wordWrap">
+                   <bool>true</bool>
+                  </property>
                  </widget>
                 </item>
                 <item>
                  <widget class="QComboBox" name="ccpmCollectiveChannel">
                   <property name="enabled">
-                   <bool>false</bool>
+                   <bool>true</bool>
                   </property>
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -1003,7 +1006,7 @@
               <item>
                <widget class="QSlider" name="ccpmRevoSlider">
                 <property name="enabled">
-                 <bool>false</bool>
+                 <bool>true</bool>
                 </property>
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -1430,7 +1433,7 @@
               <item>
                <widget class="QSlider" name="ccpmCyclicScale">
                 <property name="enabled">
-                 <bool>false</bool>
+                 <bool>true</bool>
                 </property>
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -1548,7 +1551,7 @@
               <item>
                <widget class="QSlider" name="ccpmRollScale">
                 <property name="enabled">
-                 <bool>false</bool>
+                 <bool>true</bool>
                 </property>
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -1666,7 +1669,7 @@
               <item>
                <widget class="QSlider" name="ccpmCollectiveScale">
                 <property name="enabled">
-                 <bool>false</bool>
+                 <bool>true</bool>
                 </property>
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -1784,7 +1787,7 @@
               <item>
                <widget class="QSlider" name="ccpmPitchScale">
                 <property name="enabled">
-                 <bool>false</bool>
+                 <bool>true</bool>
                 </property>
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
index ea4078b52..b3c77bf73 100644
--- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
@@ -185,6 +185,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
     m_ccpm->ccpmServoZChannel->addItems(channels);
     m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
+    m_ccpm->ccpmCollectiveChannel->addItems(channels);
+    m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8);
 
     QStringList Types;
     Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
@@ -196,6 +198,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     //disable changing number of points in curves until UAVObjects have more than 5
     m_ccpm->NumCurvePoints->setEnabled(0);
+    
+    
 
     UpdateType();
 
@@ -237,7 +241,13 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
     connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
 
+    connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions()));
+    connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions()));
+    connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions()));
 
+
+    
+    
    // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
 
 }
@@ -253,7 +263,8 @@ void ConfigccpmWidget::UpdateType()
     QString TypeText;
     double AdjustmentAngle=0;
 
-
+    UpdatCCPMUIOptions();
+    
     TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
     TypeText = m_ccpm->ccpmType->currentText();
     SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
@@ -362,6 +373,9 @@ void ConfigccpmWidget::UpdateType()
                                                             m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
         }
 
+    
+    
+    
     //update UI
     ccpmSwashplateUpdate();
 
@@ -827,6 +841,47 @@ void ConfigccpmWidget::UpdateMixer()
 /**************************
   * ccpm settings
   **************************/
+/*
+ Get the state of the UI check boxes and change the visibility of sliders
+ */
+void ConfigccpmWidget::UpdatCCPMUIOptions()
+{
+    int ccpmCollectivePassthroughState;
+    int ccpmLinkCyclicState;
+    int ccpmLinkRollState;
+    
+    //get the user options
+    ccpmCollectivePassthroughState=m_ccpm->ccpmCollectivePassthrough->isChecked();
+    ccpmLinkCyclicState=m_ccpm->ccpmLinkCyclic->isChecked();
+    ccpmLinkRollState=m_ccpm->ccpmLinkRoll->isChecked();
+    
+    //set which sliders are user...
+    m_ccpm->ccpmRevoMixingBox->setVisible(0);
+    
+    m_ccpm->ccpmPitchMixingBox->setVisible(!ccpmCollectivePassthroughState&&ccpmLinkCyclicState);
+    m_ccpm->ccpmCollectiveScalingBox->setVisible(ccpmCollectivePassthroughState||!ccpmLinkCyclicState);
+
+    m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmCollectivePassthroughState);
+    m_ccpm->ccpmCollectiveChannel->setVisible(ccpmCollectivePassthroughState);
+
+    
+    
+    m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmCollectivePassthroughState||!ccpmLinkCyclicState)&&ccpmLinkRollState);
+    if (ccpmLinkCyclicState)
+    {
+        m_ccpm->ccpmPitchScalingBox->setVisible(0);
+        m_ccpm->ccpmRollScalingBox->setVisible(0);
+        m_ccpm->ccpmLinkRoll->setVisible(0);
+        
+    }
+    else
+    {
+        m_ccpm->ccpmPitchScalingBox->setVisible(!ccpmLinkRollState);
+        m_ccpm->ccpmRollScalingBox->setVisible(!ccpmLinkRollState);
+        m_ccpm->ccpmLinkRoll->setVisible(1);
+    }
+
+}
 /**
   Request the current value of the SystemSettings which holds the ccpm type
   */
diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
index 21b4e1b38..7eb95a5f1 100644
--- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
@@ -103,6 +103,8 @@ private:
         void SwashLvlCancelButtonPressed();
         void SwashLvlFinishButtonPressed();
 
+        void UpdatCCPMUIOptions();
+
         void enableSwashplateLevellingControl(bool state);
         void setSwashplateLevel(int percent);
         void SwashLvlSpinBoxChanged(int value);