ApmSoftwareConfig.cc

#include "ApmSoftwareConfig.h"
#include <QXmlStreamReader>
#include <QDir>
#include <QFile>


ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
{
    ui.setupUi(this);

    ui.basicPidsButton->setVisible(false);
    ui.flightModesButton->setVisible(false);
    ui.standardParamButton->setVisible(false);
    ui.geoFenceButton->setVisible(false);
    ui.failSafeButton->setVisible(false);
    ui.advancedParamButton->setVisible(false);
    ui.advParamListButton->setVisible(false);
    ui.arduCopterPidButton->setVisible(false);

    /*basicPidConfig = new BasicPidConfig(this);
    ui.stackedWidget->addWidget(basicPidConfig);
    buttonToConfigWidgetMap[ui.basicPidsButton] = basicPidConfig;
    connect(ui.basicPidsButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));*/

    flightConfig = new FlightModeConfig(this);
    ui.stackedWidget->addWidget(flightConfig);
    buttonToConfigWidgetMap[ui.flightModesButton] = flightConfig;
    connect(ui.flightModesButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));

    standardParamConfig = new StandardParamConfig(this);
    ui.stackedWidget->addWidget(standardParamConfig);
    buttonToConfigWidgetMap[ui.standardParamButton] = standardParamConfig;
    connect(ui.standardParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));

    /*geoFenceConfig = new GeoFenceConfig(this);
    ui.stackedWidget->addWidget(geoFenceConfig);
    buttonToConfigWidgetMap[ui.geoFenceButton] = geoFenceConfig;
    connect(ui.geoFenceButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));*/

    failSafeConfig = new FailSafeConfig(this);
    ui.stackedWidget->addWidget(failSafeConfig);
    buttonToConfigWidgetMap[ui.failSafeButton] = failSafeConfig;
    connect(ui.failSafeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));

    advancedParamConfig = new AdvancedParamConfig(this);
    ui.stackedWidget->addWidget(advancedParamConfig);
    buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig;
    connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));

    arduCopterPidConfig = new ArduCopterPidConfig(this);
    ui.stackedWidget->addWidget(arduCopterPidConfig);
    buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig;
    connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));


    arduPlanePidConfig = new ArduPlanePidConfig(this);
    ui.stackedWidget->addWidget(arduPlanePidConfig);
    buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig;
    connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));



    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
    if (UASManager::instance()->getActiveUAS())
    {
        activeUASSet(UASManager::instance()->getActiveUAS());
    }
}

ApmSoftwareConfig::~ApmSoftwareConfig()
{
}
void ApmSoftwareConfig::activateStackedWidget()
{
    if (buttonToConfigWidgetMap.contains(sender()))
    {
        ui.stackedWidget->setCurrentWidget(buttonToConfigWidgetMap[sender()]);
    }
}
void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
{
    if (!uas)
    {
        return;
    }

    ui.basicPidsButton->setVisible(true);
    ui.flightModesButton->setVisible(true);
    ui.standardParamButton->setVisible(true);
    ui.geoFenceButton->setVisible(true);
    ui.failSafeButton->setVisible(true);
    ui.advancedParamButton->setVisible(true);
    ui.advParamListButton->setVisible(true);

    if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
    {
        ui.arduPlanePidButton->setVisible(true);
        ui.arduCopterPidButton->setVisible(false);
    }
    else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
    {
        ui.arduCopterPidButton->setVisible(true);
        ui.arduPlanePidButton->setVisible(false);
    }


    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + uas->getAutopilotTypeName().toLower());
    QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
    if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
    {
        return;
    }

    QXmlStreamReader xml(xmlfile.readAll());
    xmlfile.close();

    //TODO: Testing to ensure that incorrectly formated XML won't break this.
    while (!xml.atEnd())
    {
        if (xml.isStartElement() && xml.name() == "paramfile")
        {
            xml.readNext();
            while ((xml.name() != "paramfile") && !xml.atEnd())
            {
                QString valuetype = "";
                if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
                {
                    valuetype = xml.name().toString();
                    xml.readNext();
                    while ((xml.name() != valuetype) && !xml.atEnd())
                    {
                        if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
                        {
                            QString parametersname = "";
                            if (xml.attributes().hasAttribute("name"))
                            {
                                    parametersname = xml.attributes().value("name").toString();
                            }
                            QVariantMap genset;
                            QVariantMap advset;

                            QString setname = parametersname;
                            xml.readNext();
                            int genarraycount = 0;
                            int advarraycount = 0;
                            while ((xml.name() != "parameters") && !xml.atEnd())
                            {
                                if (xml.isStartElement() && xml.name() == "param")
                                {
                                    QString humanname = xml.attributes().value("humanName").toString();
                                    QString name = xml.attributes().value("name").toString();
                                    QString tab= xml.attributes().value("user").toString();
                                    if (tab == "Advanced")
                                    {
                                        advset["title"] = parametersname;
                                    }
                                    else
                                    {
                                        genset["title"] = parametersname;
                                    }
                                    if (name.contains(":"))
                                    {
                                        name = name.split(":")[1];
                                    }
                                    QString docs = xml.attributes().value("documentation").toString();
                                    //paramTooltips[name] = name + " - " + docs;

                                    int type = -1; //Type of item
                                    QMap<QString,QString> fieldmap;
                                    QMap<QString,QString> valuemap;
                                    xml.readNext();
                                    while ((xml.name() != "param") && !xml.atEnd())
                                    {
                                        if (xml.isStartElement() && xml.name() == "values")
                                        {
                                            type = 1; //1 is a combobox
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            int paramcount = 0;
                                            xml.readNext();
                                            while ((xml.name() != "values") && !xml.atEnd())
                                            {
                                                if (xml.isStartElement() && xml.name() == "value")
                                                {

                                                    QString code = xml.attributes().value("code").toString();
                                                    QString arg = xml.readElementText();
                                                    valuemap[code] = arg;
                                                    if (tab == "Advanced")
                                                    {
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    else
                                                    {
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    paramcount++;
                                                }
                                                xml.readNext();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                        }
                                        if (xml.isStartElement() && xml.name() == "field")
                                        {
                                            type = 2; //2 is a slider
                                            QString fieldtype = xml.attributes().value("name").toString();
                                            QString text = xml.readElementText();
                                            fieldmap[fieldtype] = text;
                                        }
                                        xml.readNext();
                                    }
                                    if (type == -1)
                                    {
                                        //Nothing inside! Assume it's a value, give it a default range.
                                        type = 2;
                                        QString fieldtype = "Range";
                                        QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
                                        fieldmap[fieldtype] = text;
                                    }
                                    if (type == 2)
                                    {
                                        if (tab == "Advanced")
                                        {
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        else
                                        {
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        if (fieldmap.contains("Range"))
                                        {
                                            float min = 0;
                                            float max = 0;
                                            //Some range fields list "0-10" and some list "0 10". Handle both.
                                            if (fieldmap["Range"].split(" ").size() > 1)
                                            {
                                                min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
                                            }
                                            else if (fieldmap["Range"].split("-").size() > 1)
                                            {
                                                min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                        }
                                    }
                                    if (tab == "Advanced")
                                    {
                                        advarraycount++;
                                        advset["count"] = advarraycount;
                                    }
                                    else
                                    {
                                        genarraycount++;
                                        genset["count"] = genarraycount;
                                    }
                                    //Right here we have a single param in memory
                                    name;
                                    docs;
                                    valuemap;
                                    fieldmap;
                                    //standardParamConfig
                                    if (valuemap.size() > 0)
                                    {
                                        QList<QPair<int,QString> > valuelist;
                                        for (QMap<QString,QString>::const_iterator i = valuemap.constBegin();i!=valuemap.constEnd();i++)
                                        {
                                            valuelist.append(QPair<int,QString>(i.key().toInt(),i.value()));
                                        }
                                        if (tab == "Standard")
                                        {
                                            standardParamConfig->addCombo(humanname,docs,name,valuelist);
                                        }
                                        else if (tab == "Advanced")
                                        {
                                            advancedParamConfig->addCombo(humanname,docs,name,valuelist);
                                        }
                                    }
                                    else if (fieldmap.size() > 0)
                                    {
                                        float min = 0;
                                        float max = 100;
                                        if (fieldmap.contains("Range"))
                                        {
                                            float min = 0;
                                            float max = 0;
                                            //Some range fields list "0-10" and some list "0 10". Handle both.
                                            if (fieldmap["Range"].split(" ").size() > 1)
                                            {
                                                min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
                                            }
                                            else if (fieldmap["Range"].split("-").size() > 1)
                                            {
                                                min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
                                            }
                                        }
                                        if (tab == "Standard")
                                        {
                                            standardParamConfig->addRange(humanname,docs,name,min,max);
                                        }
                                        else if (tab == "Advanced")
                                        {
                                            advancedParamConfig->addRange(humanname,docs,name,max,min);
                                        }
                                    }

                                }
                                xml.readNext();
                            }
                            if (genarraycount > 0)
                            {
                                /*
                                tool = new QGCToolWidget("", this);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(genset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap->insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(this);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout());
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->leftGeneralLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->rightGeneralLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;*/
                            }
                            if (advarraycount > 0)
                            {
                                /*
                                tool = new QGCToolWidget("", this);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(advset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap->insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(this);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout());
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->leftAdvancedLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->rightAdvancedLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;*/
                            }




                        }
                        xml.readNext();
                    }

                }

                xml.readNext();
            }
        }
        xml.readNext();
    }

}