From b42f062d1d6f575706f10757adbeb742b3f04f86 Mon Sep 17 00:00:00 2001
From: lm <mail@qgroundcontrol.org>
Date: Mon, 21 Feb 2011 22:42:02 +0100
Subject: [PATCH] Fixed dynamic param widget! Now ready to use!

---
 src/uas/QGCUASParamManager.h        |   3 +
 src/ui/designer/QGCActionButton.ui  |  15 +++
 src/ui/designer/QGCParamSlider.cc   | 141 ++++++++++++++++++++++++----
 src/ui/designer/QGCParamSlider.h    |  10 +-
 src/ui/designer/QGCParamSlider.ui   |  91 ++++++++++++------
 src/ui/designer/QGCToolWidget.cc    |   5 +
 src/ui/designer/QGCToolWidget.ui    |   3 +
 src/ui/designer/QGCToolWidgetItem.h |   2 +-
 8 files changed, 222 insertions(+), 48 deletions(-)

diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 6e4296ee9..1846f183e 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -22,6 +22,9 @@ public:
     /** @brief Request an update for this specific parameter */
     void requestParameterUpdate(int component, const QString& parameter);
 
+    /** @brief Request list of parameters from MAV */
+    virtual void requestParameterList() = 0;
+
 signals:
     void parameterChanged(int component, QString parameter, float value);
     void parameterChanged(int component, int parameterIndex, float value);
diff --git a/src/ui/designer/QGCActionButton.ui b/src/ui/designer/QGCActionButton.ui
index 2d0469379..16e38a95a 100644
--- a/src/ui/designer/QGCActionButton.ui
+++ b/src/ui/designer/QGCActionButton.ui
@@ -16,9 +16,18 @@
   <layout class="QGridLayout" name="gridLayout">
    <item row="1" column="0" colspan="2">
     <widget class="QLabel" name="nameLabel">
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>0</height>
+      </size>
+     </property>
      <property name="text">
       <string>Description</string>
      </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
     </widget>
    </item>
    <item row="2" column="0">
@@ -54,6 +63,12 @@
    </item>
    <item row="1" column="2">
     <widget class="QPushButton" name="actionButton">
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>0</height>
+      </size>
+     </property>
      <property name="text">
       <string>Button name</string>
      </property>
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index d56a4d003..ee81c8d55 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -5,6 +5,7 @@
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
 #include "UASInterface.h"
+#include "UASManager.h"
 
 
 QGCParamSlider::QGCParamSlider(QWidget *parent) :
@@ -15,24 +16,37 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
     parameterMin(0.0f),
     parameterMax(0.0f),
     component(0),
+    parameterIndex(-1),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
+    uas = NULL;
 
     scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum();
 
-    ui->editDoneButton->show();
-    ui->editMaxLabel->show();
-    ui->editMinLabel->show();
-    ui->editNameLabel->show();
-    ui->editInstructionsLabel->show();
-    ui->editRefreshParamsButton->show();
-    ui->editSelectParamComboBox->show();
-    ui->editSelectComponentComboBox->show();
-    ui->editStatusLabel->show();
-    ui->editMinSpinBox->show();
-    ui->editMaxSpinBox->show();
+    ui->editDoneButton->hide();
+    ui->editMaxLabel->hide();
+    ui->editMinLabel->hide();
+    ui->editNameLabel->hide();
+    ui->editInstructionsLabel->hide();
+    ui->editRefreshParamsButton->hide();
+    ui->editSelectParamComboBox->hide();
+    ui->editSelectComponentComboBox->hide();
+    ui->editStatusLabel->hide();
+    ui->editMinSpinBox->hide();
+    ui->editMaxSpinBox->hide();
     connect(ui->editDoneButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+
+    // Sending actions
+    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(sendParameter()));
+    connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int)));
+    connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int)));
+    connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int)));
+    connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+    connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter()));
+
+    // Set the current UAS if present
+    setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -40,6 +54,42 @@ QGCParamSlider::~QGCParamSlider()
     delete ui;
 }
 
+void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
+{
+    if (activeUas)
+    {
+        if (uas)
+        {
+            disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)));
+            disconnect(ui->editRefreshParamsButton, SIGNAL(clicked()), uas->getParamManager(), SLOT(requestParameterList()));
+        }
+
+        // Connect buttons and signals
+        connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)), Qt::UniqueConnection);
+        connect(ui->editRefreshParamsButton, SIGNAL(clicked()), activeUas->getParamManager(), SLOT(requestParameterList()), Qt::UniqueConnection);
+        uas = activeUas;
+    }
+}
+
+void QGCParamSlider::requestParameter()
+{
+    if (parameterIndex != -1)
+    {
+        uas->requestParameter(this->component, this->parameterIndex);
+    }
+}
+
+void QGCParamSlider::selectComponent(int componentIndex)
+{
+    this->component = ui->editSelectComponentComboBox->itemData(componentIndex).toInt();
+}
+
+void QGCParamSlider::selectParameter(int paramIndex)
+{
+    parameterName = ui->editSelectParamComboBox->itemText(paramIndex);
+    parameterIndex = ui->editSelectParamComboBox->itemData(paramIndex).toInt();
+}
+
 void QGCParamSlider::startEditMode()
 {
     ui->editDoneButton->show();
@@ -53,11 +103,23 @@ void QGCParamSlider::startEditMode()
     ui->editStatusLabel->show();
     ui->editMinSpinBox->show();
     ui->editMaxSpinBox->show();
+    ui->writeButton->hide();
+    ui->readButton->hide();
     isInEditMode = true;
 }
 
 void QGCParamSlider::endEditMode()
 {
+    // Store component id
+    selectComponent(ui->editSelectComponentComboBox->currentIndex());
+
+    // Store parameter name and id
+    selectParameter(ui->editSelectParamComboBox->currentIndex());
+
+    // Min/max
+    parameterMin = ui->editMinSpinBox->value();
+    parameterMax = ui->editMaxSpinBox->value();
+
     ui->editDoneButton->hide();
     ui->editMaxLabel->hide();
     ui->editMinLabel->hide();
@@ -69,6 +131,8 @@ void QGCParamSlider::endEditMode()
     ui->editStatusLabel->hide();
     ui->editMinSpinBox->hide();
     ui->editMaxSpinBox->hide();
+    ui->writeButton->show();
+    ui->readButton->show();
     isInEditMode = false;
     emit editingFinished();
 }
@@ -77,6 +141,7 @@ void QGCParamSlider::sendParameter()
 {
     if (QGCToolWidgetItem::uas)
     {
+        qDebug() << "SENDING" << component << parameterName << parameterValue;
         QGCToolWidgetItem::uas->setParameter(component, parameterName, parameterValue);
     }
     else
@@ -89,7 +154,7 @@ void QGCParamSlider::setSliderValue(int sliderValue)
 {
     parameterValue = scaledIntToFloat(sliderValue);
     QString unit("");
-    ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 0, 'f', 3).arg(unit));
+    ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 6, 'f', 6, ' ').arg(unit));
 }
 
 /**
@@ -98,8 +163,39 @@ void QGCParamSlider::setSliderValue(int sliderValue)
  * @brief parameterName Key/name of the parameter
  * @brief value Value of the parameter
  */
-void QGCParamSlider::setParameterValue(int uas, int component, QString parameterName, float value)
+void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value)
 {
+    Q_UNUSED(paramCount);
+    // Check if this component and parameter are part of the list
+    bool found = false;
+    for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i)
+    {
+        if (component == ui->editSelectComponentComboBox->itemData(i).toInt())
+        {
+            found = true;
+        }
+    }
+
+    if (!found)
+    {
+        ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(component), component);
+    }
+
+    // Parameter checking
+    found = false;
+    for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i)
+    {
+        if (parameterName == ui->editSelectParamComboBox->itemText(i))
+        {
+            found = true;
+        }
+    }
+
+    if (!found)
+    {
+        ui->editSelectParamComboBox->addItem(parameterName, paramIndex);
+    }
+
     Q_UNUSED(uas);
     if (component == this->component && parameterName == this->parameterName)
     {
@@ -124,12 +220,16 @@ void QGCParamSlider::changeEvent(QEvent *e)
 
 float QGCParamSlider::scaledIntToFloat(int sliderValue)
 {
-    return (((double)sliderValue)/scaledInt)*(parameterMax - parameterMin);
+    float result = (((double)sliderValue)/(double)scaledInt)*(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value());
+    qDebug() << "INT TO FLOAT: CONVERTED" << sliderValue << "TO" << result;
+    return result;
 }
 
 int QGCParamSlider::floatToScaledInt(float value)
 {
-    return ((value - parameterMin)/(parameterMax - parameterMin))*scaledInt;
+    int result = ((value - ui->editMinSpinBox->value())/(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value()))*scaledInt;
+    qDebug() << "FLOAT TO INT: CONVERTED" << value << "TO" << result << "SCALEDINT" << scaledInt;
+    return result;
 }
 
 void QGCParamSlider::writeSettings(QSettings& settings)
@@ -137,8 +237,9 @@ void QGCParamSlider::writeSettings(QSettings& settings)
     settings.setValue("TYPE", "SLIDER");
     settings.setValue("QGC_PARAM_SLIDER_DESCRIPTION", ui->nameLabel->text());
     //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text());
-    settings.setValue("QGC_PARAM_SLIDER_PARAMID", ui->editSelectParamComboBox->currentText());
-    settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", ui->editSelectComponentComboBox->currentText());
+    settings.setValue("QGC_PARAM_SLIDER_PARAMID", parameterName);
+    settings.setValue("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex);
+    settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", component);
     settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value());
     settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value());
     settings.sync();
@@ -147,9 +248,11 @@ void QGCParamSlider::writeSettings(QSettings& settings)
 void QGCParamSlider::readSettings(const QSettings& settings)
 {
     ui->nameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString());
+    ui->editNameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString());
     //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text());
-    ui->editSelectParamComboBox->setEditText(settings.value("QGC_PARAM_SLIDER_PARAMID").toString());
-    ui->editSelectComponentComboBox->setEditText(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toString());
+    parameterIndex = settings.value("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex).toInt();
+    ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString(), parameterIndex);
+    ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt());
     ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat());
     ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat());
     qDebug() << "DONE READING SETTINGS";
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index 07b9cdea3..ba941e5c6 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -27,9 +27,16 @@ public slots:
     /** @brief Set the slider value as parameter value */
     void setSliderValue(int sliderValue);
     /** @brief Update the UI with the new parameter value */
-    void setParameterValue(int uas, int component, QString parameterName, float value);
+    void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value);
     void writeSettings(QSettings& settings);
     void readSettings(const QSettings& settings);
+    void setActiveUAS(UASInterface *uas);
+    void selectComponent(int componentIndex);
+    void selectParameter(int paramIndex);
+
+protected slots:
+    /** @brief Request the parameter of this widget from the MAV */
+    void requestParameter();
 
 protected:
     QString parameterName;         ///< Key/Name of the parameter
@@ -38,6 +45,7 @@ protected:
     float parameterMin;
     float parameterMax;
     int component;                 ///< ID of the MAV component to address
+    int parameterIndex;
     double scaledInt;
     void changeEvent(QEvent *e);
 
diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui
index b2daaee69..3b5429f13 100644
--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -6,77 +6,103 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>499</width>
-    <height>175</height>
+    <width>606</width>
+    <height>179</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="1" column="0" colspan="4">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0,0,0,0,0,0,0">
+   <item row="1" column="1" colspan="4">
     <widget class="QLineEdit" name="editNameLabel">
      <property name="text">
       <string>Informal Name..</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="5">
     <widget class="QLabel" name="editMinLabel">
      <property name="text">
       <string>Min</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
+   <item row="1" column="7">
     <widget class="QLabel" name="editMaxLabel">
      <property name="text">
       <string>Max</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="0">
+   <item row="2" column="1">
     <widget class="QLabel" name="nameLabel">
      <property name="text">
       <string>Name</string>
      </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
     </widget>
    </item>
-   <item row="2" column="1">
+   <item row="2" column="2">
     <widget class="QLabel" name="valueLabel">
      <property name="text">
       <string>0.00</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="3" colspan="2">
-    <widget class="QDoubleSpinBox" name="editMinSpinBox"/>
+   <item row="2" column="4" colspan="2">
+    <widget class="QDoubleSpinBox" name="editMinSpinBox">
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
    </item>
-   <item row="2" column="5">
+   <item row="2" column="6">
     <widget class="QSlider" name="valueSlider">
+     <property name="maximumSize">
+      <size>
+       <width>300</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="maximum">
+      <number>1000000</number>
+     </property>
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
-   <item row="2" column="6">
-    <widget class="QDoubleSpinBox" name="editMaxSpinBox"/>
+   <item row="2" column="7">
+    <widget class="QDoubleSpinBox" name="editMaxSpinBox">
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
    </item>
-   <item row="0" column="0" colspan="7">
+   <item row="0" column="1" colspan="7">
     <widget class="QLabel" name="editInstructionsLabel">
      <property name="text">
       <string>Please configure the parameter slider now:</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="0" colspan="7">
+   <item row="5" column="1" colspan="7">
     <widget class="QLabel" name="editStatusLabel">
      <property name="text">
-      <string>Please click on refresh to update list..</string>
+      <string>Please click first on refresh to update selection menus..</string>
      </property>
     </widget>
    </item>
-   <item row="3" column="0" colspan="3">
+   <item row="3" column="1" colspan="3">
     <widget class="QComboBox" name="editSelectComponentComboBox">
      <property name="toolTip">
       <string>Select component</string>
@@ -86,7 +112,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4" colspan="3">
+   <item row="3" column="5" colspan="3">
     <widget class="QComboBox" name="editSelectParamComboBox">
      <property name="toolTip">
       <string>Select parameter</string>
@@ -94,14 +120,9 @@
      <property name="statusTip">
       <string>Select parameter</string>
      </property>
-     <item>
-      <property name="text">
-       <string>Click on refresh..</string>
-      </property>
-     </item>
     </widget>
    </item>
-   <item row="2" column="7">
+   <item row="2" column="8">
     <widget class="QPushButton" name="writeButton">
      <property name="toolTip">
       <string>Transmit the current slider value to the system</string>
@@ -118,7 +139,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="8">
+   <item row="2" column="9">
     <widget class="QPushButton" name="readButton">
      <property name="toolTip">
       <string>Read the current parameter value on the system</string>
@@ -131,7 +152,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="7" colspan="2">
+   <item row="3" column="8" colspan="2">
     <widget class="QPushButton" name="editRefreshParamsButton">
      <property name="enabled">
       <bool>true</bool>
@@ -141,13 +162,29 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="7" colspan="2">
+   <item row="5" column="8" colspan="2">
     <widget class="QPushButton" name="editDoneButton">
      <property name="text">
       <string>Done</string>
      </property>
     </widget>
    </item>
+   <item row="2" column="3">
+    <widget class="QDoubleSpinBox" name="valueSpinBox"/>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 6246648fa..ccb980c69 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -105,6 +105,11 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent)
                     item = new QGCActionButton(newWidgets.at(i));
                     qDebug() << "CREATED BUTTON";
                 }
+                else if (type == "SLIDER")
+                {
+                    item = new QGCParamSlider(newWidgets.at(i));
+                    qDebug() << "CREATED PARAM SLIDER";
+                }
 
                 if (item)
                 {
diff --git a/src/ui/designer/QGCToolWidget.ui b/src/ui/designer/QGCToolWidget.ui
index e3bc6c754..f860bf401 100644
--- a/src/ui/designer/QGCToolWidget.ui
+++ b/src/ui/designer/QGCToolWidget.ui
@@ -14,6 +14,9 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="toolLayout">
+   <property name="spacing">
+    <number>6</number>
+   </property>
    <item>
     <widget class="QLabel" name="hintLabel">
      <property name="text">
diff --git a/src/ui/designer/QGCToolWidgetItem.h b/src/ui/designer/QGCToolWidgetItem.h
index b477bec14..832c3ff02 100644
--- a/src/ui/designer/QGCToolWidgetItem.h
+++ b/src/ui/designer/QGCToolWidgetItem.h
@@ -22,7 +22,7 @@ public slots:
     virtual void setComponent(int comp) {_component = comp;}
     virtual void writeSettings(QSettings& settings) = 0;
     virtual void readSettings(const QSettings& settings) = 0;
-    void setActiveUAS(UASInterface *uas);
+    virtual void setActiveUAS(UASInterface *uas);
 
 signals:
     void editingFinished();
-- 
2.22.0