terrain_nav: add setting callback

- Ensure the planner is updated when a setting changes.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Author: srmainwaring

MAVProxy/modules/mavproxy_terrainnav/terrainnav.py

@@ -7,6 +7,8 @@
 import time
 import threading
 
+from functools import partial
+
 from MAVProxy.mavproxy import MPState
 
 from MAVProxy.modules.lib import multiproc
@@ -304,7 +306,7 @@ def process_ui_msgs(self):
             elif isinstance(msg, terrainnav_msgs.MoveBoundary):
                 self.move_planner_boundary()
             elif isinstance(msg, terrainnav_msgs.Settings):
-                self.edit_settings()
+                self.settings_dialog()
             else:
                 # TODO: raise an exception
                 if self.is_debug:
@@ -426,10 +428,43 @@ def move_planner_boundary(self):
 
         self._parent_pipe_send.send(PlannerGridLatLon((lat, lon)))
 
-    def edit_settings(self):
+    @staticmethod
+    def setting_callback(pipe, setting):
+        """
+        Called when a setting is updated
+
+        :param pipe: pipe used to send setting to the planner
+        :type pipe: multiproc.Pipe
+        :param setting: the setting that has changed
+        :type setting: MPSetting
+        """
+        print(f"setting changed: name: {setting.name}, value: {setting.value}")
+        # TODO: find more compact way to ensure all settings are sent to planner
+        if setting.name == "loiter_agl_alt":
+            pipe.send(PlannerLoiterAglAlt(setting.value))
+        elif setting.name == "loiter_radius":
+            pipe.send(PlannerLoiterRadius(setting.value))
+        elif setting.name == "turning_radius":
+            pipe.send(PlannerTurningRadius(setting.value))
+        elif setting.name == "climb_angle_deg":
+            pipe.send(PlannerClimbAngleDeg(setting.value))
+        elif setting.name == "max_agl_alt":
+            pipe.send(PlannerMaxAglAlt(setting.value))
+        elif setting.name == "min_agl_alt":
+            pipe.send(PlannerMinAglAlt(setting.value))
+        elif setting.name == "grid_spacing":
+            pipe.send(PlannerGridSpacing(setting.value))
+        elif setting.name == "grid_length":
+            pipe.send(PlannerGridLength(setting.value))
+        elif setting.name == "time_budget":
+            pipe.send(PlannerTimeBudget(setting.value))
+
+    def settings_dialog(self):
         """
         Open the settings dialog
         """
+        cb = partial(TerrainNavModule.setting_callback, self._parent_pipe_send)
+        self.terrainnav_settings.set_callback(cb)
         WXSettings(self.terrainnav_settings)
 
     def draw_circle(self, id, lat, lon, radius, colour):
@@ -708,7 +743,7 @@ def generate_waypoints(self):
         wp_gen = self.terrainnav_settings.wp_generator
         if wp_gen == "SimpleWaypoints":
             self.wp_gen_simple_waypoints()
-        elif wp_gen =="UseLoiterToAlt":
+        elif wp_gen == "UseLoiterToAlt":
             self.wp_gen_use_loiter_to_alt()
         else:
             print(f"[terrainnav] invalid WP generator: {wp_gen}")