QGCParamWidget.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/
/**
 * @file
 *   @brief Implementation of class QGCParamWidget
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
 */
#include <cmath>
#include <float.h>
#include <QGridLayout>
#include <QPushButton>
#include <QFileDialog>
#include <QFile>
#include <QList>
#include <QTime>
#include <QSettings>
#include <QMessageBox>
#include <QApplication>

#include "QGCParamWidget.h"
#include "UASInterface.h"
#include "MainWindow.h"
#include <QDebug>
#include "QGC.h"

/**
 * @param uas MAV to set the parameters on
 * @param parent Parent widget
 */
QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
    QGCUASParamManager(uas, parent),
    components(new QMap<int, QTreeWidgetItem*>())
{
    // Load settings
    loadSettings();

    // Load default values and tooltips
    loadParameterInfoCSV(uas->getAutopilotTypeName(), uas->getSystemTypeName());

    // Create tree widget
    tree = new QTreeWidget(this);
    statusLabel = new QLabel();
    statusLabel->setAutoFillBackground(true);
    tree->setColumnWidth(70, 30);

    // Set tree widget as widget onto this component
    QGridLayout* horizontalLayout;
    //form->setAutoFillBackground(false);
    horizontalLayout = new QGridLayout(this);
    horizontalLayout->setHorizontalSpacing(6);
    horizontalLayout->setVerticalSpacing(6);
    horizontalLayout->setMargin(0);
    horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
    //horizontalLayout->setSizeConstraint( QLayout::SetFixedSize );

    // Parameter tree
    horizontalLayout->addWidget(tree, 0, 0, 1, 3);

    // Status line
    statusLabel->setText(tr("Click refresh to download parameters"));
    horizontalLayout->addWidget(statusLabel, 1, 0, 1, 3);


    // BUTTONS
    QPushButton* refreshButton = new QPushButton(tr("Get"));
    refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft."));
    refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft."));
    connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
    horizontalLayout->addWidget(refreshButton, 2, 0);

    QPushButton* setButton = new QPushButton(tr("Set"));
    setButton->setToolTip(tr("Set current parameters in non-permanent onboard memory"));
    setButton->setWhatsThis(tr("Set current parameters in non-permanent onboard memory"));
    connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
    horizontalLayout->addWidget(setButton, 2, 1);

    QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
    writeButton->setToolTip(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
    writeButton->setWhatsThis(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
    connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
    horizontalLayout->addWidget(writeButton, 2, 2);

    QPushButton* loadFileButton = new QPushButton(tr("Load File"));
    loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
    loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
    connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
    horizontalLayout->addWidget(loadFileButton, 3, 0);

    QPushButton* saveFileButton = new QPushButton(tr("Save File"));
    saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer."));
    saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer."));
    connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
    horizontalLayout->addWidget(saveFileButton, 3, 1);

    QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
    readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
    readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
    connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
    horizontalLayout->addWidget(readButton, 3, 2);

    // Set correct vertical scaling
    horizontalLayout->setRowStretch(0, 100);
    horizontalLayout->setRowStretch(1, 10);
    horizontalLayout->setRowStretch(2, 10);
    horizontalLayout->setRowStretch(3, 10);

    // Set layout
    this->setLayout(horizontalLayout);

    // Set header
    QStringList headerItems;
    headerItems.append("Parameter");
    headerItems.append("Value");
    tree->setHeaderLabels(headerItems);
    tree->setColumnCount(2);
    tree->setExpandsOnDoubleClick(true);

    // Connect signals/slots
    connect(this, SIGNAL(parameterChanged(int,QString,QVariant)), mav, SLOT(setParameter(int,QString,QVariant)));
    connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));

    // New parameters from UAS
    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant)));

    // Connect retransmission guard
    connect(this, SIGNAL(requestParameter(int,QString)), uas, SLOT(requestParameter(int,QString)));
    connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int)));
    connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick()));

    // Get parameters
    if (uas) requestParameterList();
}

void QGCParamWidget::loadSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAVLINK_PROTOCOL");
    bool ok;
    int temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", retransmissionTimeout).toInt(&ok);
    if (ok) retransmissionTimeout = temp;
    temp = settings.value("PARAMETER_REWRITE_TIMEOUT", rewriteTimeout).toInt(&ok);
    if (ok) rewriteTimeout = temp;
    settings.endGroup();
}

void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe)
{
    Q_UNUSED(airframe);

    qDebug() << "ATTEMPTING TO LOAD CSV";

    QDir appDir = QApplication::applicationDirPath();
    appDir.cd("files");
    QString fileName = QString("%1/%2/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower());
    QFile paramMetaFile(fileName);

    qDebug() << "AUTOPILOT:" << autopilot;
    qDebug() << "FILENAME: " << fileName;

    // Load CSV data
    if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text))
    {
        //qDebug() << "COULD NOT OPEN PARAM META INFO FILE:" << fileName;
        return;
    }

    // Extract header

    // Read in values
    // Find all keys
    QTextStream in(&paramMetaFile);

    // First line is header
    // there might be more lines, but the first
    // line is assumed to be at least header
    QString header = in.readLine();

    // Ignore top-level comment lines
    while (header.startsWith('#') || header.startsWith('/')
           || header.startsWith('=') || header.startsWith('^'))