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

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
    QString hey(uas->getAutopilotTypeName());
    QString hey2(uas->getSystemTypeName());
    loadParameterInfoCSV(hey, hey2);

    // 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(loadParametersFromFile()));
    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(saveParametersToFile()));
    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(receivedParameterUpdate(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('^'))
    {
        header = in.readLine();
    }

    bool charRead = false;
    QString separator = "";
    QList<QChar> sepCandidates;
    sepCandidates << '\t';
    sepCandidates << ',';
    sepCandidates << ';';
    //sepCandidates << ' ';
    sepCandidates << '~';
    sepCandidates << '|';

    // Iterate until separator is found
    // or full header is parsed
    for (int i = 0; i < header.length(); i++)
    {
        if (sepCandidates.contains(header.at(i)))
        {
            // Separator found
            if (charRead)
            {
                separator += header[i];
            }
        }
        else
        {
            // Char found
            charRead = true;
            // If the separator is not empty, this char
            // has been read after a separator, so detection
            // is now complete
            if (separator != "") break;
        }
    }

    bool stripFirstSeparator = false;
    bool stripLastSeparator = false;

    // Figure out if the lines start with the separator (e.g. wiki syntax)
    if (header.startsWith(separator)) stripFirstSeparator = true;

    // Figure out if the lines end with the separator (e.g. wiki syntax)
    if (header.endsWith(separator)) stripLastSeparator = true;

    QString out = separator;
    out.replace("\t", "<tab>");
    //qDebug() << " Separator: \"" << out << "\"";
    //qDebug() << "READING CSV:" << header;


    // Read data
    while (!in.atEnd())
    {
        QString line = in.readLine();

        //qDebug() << "LINE PRE-STRIP" << line;

        // Strip separtors if necessary
        if (stripFirstSeparator) line.remove(0, separator.length());
        if (stripLastSeparator) line.remove(line.length()-separator.length(), line.length()-1);

        //qDebug() << "LINE POST-STRIP" << line;

        // Keep empty parts here - we still have to act on them
        QStringList parts = line.split(separator, QString::KeepEmptyParts);

        // Each line is:
        // variable name, Min, Max, Default, Multiplier, Enabled (0 = no, 1 = yes), Comment


        // Fill in min, max and default values
        if (parts.count() > 1)
        {
            // min
            paramMin.insert(parts.at(0).trimmed(), parts.at(1).toDouble());
        }
        if (parts.count() > 2)
        {
            // max
            paramMax.insert(parts.at(0).trimmed(), parts.at(2).toDouble());
        }
        if (parts.count() > 3)
        {
            // default
            paramDefault.insert(parts.at(0).trimmed(), parts.at(3).toDouble());
        }
        // IGNORING 4 and 5 for now
        if (parts.count() > 6)
        {
            // tooltip
            paramToolTips.insert(parts.at(0).trimmed(), parts.at(6).trimmed());
            qDebug() << "PARAM META:" << parts.at(0).trimmed();
        }
    }
}

/**
 * @return The MAV of this widget. Unless the MAV object has been destroyed, this
 *         pointer is never zero.
 */
UASInterface* QGCParamWidget::getUAS()
{
    return mav;
}

/**
 *
 * @param uas System which has the component
 * @param component id of the component
 * @param componentName human friendly name of the component
 */
void QGCParamWidget::addComponent(int uas, int component, QString componentName)
{
    Q_UNUSED(uas);
    if (components->contains(component)) {
        // Update existing
        components->value(component)->setData(0, Qt::DisplayRole, QString("%1 (#%2)").arg(componentName).arg(component));
        //components->value(component)->setData(1, Qt::DisplayRole, QString::number(component));
        components->value(component)->setFirstColumnSpanned(true);
    } else {
        // Add new
        QStringList list(QString("%1 (#%2)").arg(componentName).arg(component));
        QTreeWidgetItem* comp = new QTreeWidgetItem(list);
        comp->setFirstColumnSpanned(true);
        components->insert(component, comp);
        // Create grouping and update maps
        paramGroups.insert(component, new QMap<QString, QTreeWidgetItem*>());
        tree->addTopLevelItem(comp);
        tree->update();
        // Create map in parameters
        if (!onboardParameters.contains(component)) {
            onboardParameters.insert(component, new QMap<QString, QVariant>());
        }
//        // Create map in changed parameters
//        if (!changedValues.contains(component)) {
//            changedValues.insert(component, new QMap<QString, QVariant>());
//        }
    }
}

/**
 * @param uas System which has the component
 * @param component id of the component
 * @param parameterName human friendly name of the parameter
 */
void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value)
{
    receivedParameterUpdate(uas, component, parameterName, value);

    // Missing packets list has to be instantiated for all components
    if (!transmissionMissingPackets.contains(component)) {
        transmissionMissingPackets.insert(component, new QList<int>());
    }

    // List mode is different from single parameter transfers
    if (transmissionListMode) {
        // Only accept the list size once on the first packet from
        // each component
        if (!transmissionListSizeKnown.contains(component))
        {
            // Mark list size as known
            transmissionListSizeKnown.insert(component, true);

            // Mark all parameters as missing
            for (int i = 0; i < paramCount; ++i)
            {
                if (!transmissionMissingPackets.value(component)->contains(i))
                {
                    transmissionMissingPackets.value(component)->append(i);
                }
            }

            // There is only one transmission timeout for all components
            // since components do not manage their transmission,
            // the longest timeout is safe for all components.
            quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount)*retransmissionTimeout);
            if (thisTransmissionTimeout > transmissionTimeout)
            {
                transmissionTimeout = thisTransmissionTimeout;
            }
        }

        // Start retransmission guard
        // or reset timer
        setRetransmissionGuardEnabled(true);
    }

    // Mark this parameter as received in read list
    int index = transmissionMissingPackets.value(component)->indexOf(paramId);
    // If the MAV sent the parameter without request, it wont be in missing list
    if (index != -1) transmissionMissingPackets.value(component)->removeAt(index);

    bool justWritten = false;
    bool writeMismatch = false;
    //bool lastWritten = false;
    // Mark this parameter as received in write ACK list
    QMap<QString, QVariant>* map = transmissionMissingWriteAckPackets.value(component);
    if (map && map->contains(parameterName))
    {
        justWritten = true;
        QVariant newval = map->value(parameterName);
        if (map->value(parameterName) != value)
        {
            writeMismatch = true;
        }
        map->remove(parameterName);
    }

    int missCount = 0;
    foreach (int key, transmissionMissingPackets.keys())
    {
        missCount +=  transmissionMissingPackets.value(key)->count();
    }

    int missWriteCount = 0;
    foreach (int key, transmissionMissingWriteAckPackets.keys())
    {
        missWriteCount += transmissionMissingWriteAckPackets.value(key)->count();
    }

    if (justWritten && !writeMismatch && missWriteCount == 0)
    {
        // Just wrote one and count went to 0 - this was the last missing write parameter
        statusLabel->setText(tr("SUCCESS: WROTE ALL PARAMETERS"));
        QPalette pal = statusLabel->palette();
        pal.setColor(backgroundRole(), QGC::colorGreen);
        statusLabel->setPalette(pal);
    } else if (justWritten && !writeMismatch)
    {
        statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(paramCount));
        QPalette pal = statusLabel->palette();
        pal.setColor(backgroundRole(), QGC::colorGreen);
        statusLabel->setPalette(pal);
    } else if (justWritten && writeMismatch)
    {
        // Mismatch, tell user
        QPalette pal = statusLabel->palette();
        pal.setColor(backgroundRole(), QGC::colorRed);
        statusLabel->setPalette(pal);
        statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName).toDouble()).arg(value.toDouble()));
    }
    else
    {
        if (missCount > 0)
        {
            QPalette pal = statusLabel->palette();
            pal.setColor(backgroundRole(), QGC::colorOrange);
            statusLabel->setPalette(pal);
        }
        else
        {
            QPalette pal = statusLabel->palette();
            pal.setColor(backgroundRole(), QGC::colorGreen);
            statusLabel->setPalette(pal);
        }
        QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
        //statusLabel->setText(tr("OK: %1 %2 #%3/%4, %5 miss").arg(parameterName).arg(val).arg(paramId+1).arg(paramCount).arg(missCount));
        if (missCount == 0)
        {
            // Transmission done
            QTime time = QTime::currentTime();
            QString timeString = time.toString();
            statusLabel->setText(tr("All received. (updated at %1)").arg(timeString));
        }
        else
        {
            // Transmission in progress
            statusLabel->setText(tr("OK: %1 %2 (%3/%4)").arg(parameterName).arg(val).arg(paramCount-missCount).arg(paramCount));
        }
    }

    // Check if last parameter was received
    if (missCount == 0 && missWriteCount == 0)
    {
        this->transmissionActive = false;
        this->transmissionListMode = false;
        transmissionListSizeKnown.clear();
        foreach (int key, transmissionMissingPackets.keys())
        {
            transmissionMissingPackets.value(key)->clear();
        }

        // Expand visual tree
        tree->expandItem(tree->topLevelItem(0));
    }
}

/**
 * @param uas System which has the component
 * @param component id of the component
 * @param parameterName human friendly name of the parameter
 */
void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString parameterName, QVariant value)
{
    //qDebug() << "PARAM WIDGET GOT PARAM:" << value;
    Q_UNUSED(uas);
    // Reference to item in tree
    QTreeWidgetItem* parameterItem = NULL;

    // Get component
    if (!components->contains(component))
    {
        //        QString componentName;
        //        switch (component)
        //        {
        //        case MAV_COMP_ID_CAMERA:
        //            componentName = tr("Camera (#%1)").arg(component);
        //            break;
        //        case MAV_COMP_ID_IMU:
        //            componentName = tr("IMU (#%1)").arg(component);
        //            break;
        //        default:
        //            componentName = tr("Component #").arg(component);
        //            break;
        //        }
        QString componentName = tr("Component #%1").arg(component);
        addComponent(uas, component, componentName);
    }

    // Replace value in map

    // FIXME
    if (onboardParameters.value(component)->contains(parameterName)) onboardParameters.value(component)->remove(parameterName);
    onboardParameters.value(component)->insert(parameterName, value);


    QString splitToken = "_";
    // Check if auto-grouping can work
    if (parameterName.contains(splitToken))
    {
        QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty);
        QMap<QString, QTreeWidgetItem*>* compParamGroups = paramGroups.value(component);
        if (!compParamGroups->contains(parent))
        {
            // Insert group item
            QStringList glist;
            glist.append(parent);
            QTreeWidgetItem* item = new QTreeWidgetItem(glist);
            compParamGroups->insert(parent, item);
            components->value(component)->addChild(item);
        }

        // Append child to group
        bool found = false;
        QTreeWidgetItem* parentItem = compParamGroups->value(parent);
        for (int i = 0; i < parentItem->childCount(); i++) {
            QTreeWidgetItem* child = parentItem->child(i);
            QString key = child->data(0, Qt::DisplayRole).toString();
            if (key == parameterName)
            {
                //qDebug() << "UPDATED CHILD";
                parameterItem = child;
                if (value.type() == QVariant::Char)
                {
                    parameterItem->setData(1, Qt::DisplayRole, value.toUInt());
                }
                else
                {
                    parameterItem->setData(1, Qt::DisplayRole, value);
                }
                found = true;
            }
        }

        if (!found)
        {
            // Insert parameter into map
            QStringList plist;
            plist.append(parameterName);
            // CREATE PARAMETER ITEM
            parameterItem = new QTreeWidgetItem(plist);
            // CONFIGURE PARAMETER ITEM
            if (value.type() == QVariant::Char)
            {
                parameterItem->setData(1, Qt::DisplayRole, value.toUInt());
            }
            else
            {
                parameterItem->setData(1, Qt::DisplayRole, value);
            }

            compParamGroups->value(parent)->addChild(parameterItem);
            parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable);
        }
    }
    else
    {
        bool found = false;
        QTreeWidgetItem* parent = components->value(component);
        for (int i = 0; i < parent->childCount(); i++)
        {
            QTreeWidgetItem* child = parent->child(i);
            QString key = child->data(0, Qt::DisplayRole).toString();
            if (key == parameterName)
            {
                //qDebug() << "UPDATED CHILD";
                parameterItem = child;
                parameterItem->setData(1, Qt::DisplayRole, value);
                found = true;
            }
        }

        if (!found)
        {
            // Insert parameter into map
            QStringList plist;
            plist.append(parameterName);
            // CREATE PARAMETER ITEM
            parameterItem = new QTreeWidgetItem(plist);
            // CONFIGURE PARAMETER ITEM
            parameterItem->setData(1, Qt::DisplayRole, value);

            components->value(component)->addChild(parameterItem);
            parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable);
        }
        //tree->expandAll();
    }
    // Reset background color
    parameterItem->setBackground(0, Qt::NoBrush);
    parameterItem->setBackground(1, Qt::NoBrush);
    // Add tooltip
    QString tooltipFormat;
    if (paramDefault.contains(parameterName))
    {
        tooltipFormat = tr("Default: %1, %2");
        tooltipFormat = tooltipFormat.arg(paramDefault.value(parameterName, 0.0f)).arg(paramToolTips.value(parameterName, ""));
    }
    else
    {
        tooltipFormat = paramToolTips.value(parameterName, "");
    }
    parameterItem->setToolTip(0, tooltipFormat);
    parameterItem->setToolTip(1, tooltipFormat);

    paramDataModel->handleParameterUpdate(component,parameterName,value);

}

/**
 * Send a request to deliver the list of onboard parameters
 * to the MAV.
 */
void QGCParamWidget::requestParameterList()
{
    if (!mav) return;
    // FIXME This call does not belong here
    // Once the comm handling is moved to a new
    // Param manager class the settings can be directly
    // loaded from MAVLink protocol
    loadSettings();
    // End of FIXME

    // Clear view and request param list
    clear();
    onboardParameters.clear();
    received.clear();
    // Clear transmission state
    transmissionListMode = true;
    transmissionListSizeKnown.clear();
    foreach (int key, transmissionMissingPackets.keys())
    {
        transmissionMissingPackets.value(key)->clear();
    }
    transmissionActive = true;

    // Set status text
    statusLabel->setText(tr("Requested param list.. waiting"));

    mav->requestParameters();
}

void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
{
    if (current && column > 0) {
        QTreeWidgetItem* parent = current->parent();
        while (parent->parent() != NULL) {
            parent = parent->parent();
        }
        // Parent is now top-level component
        int key = components->key(parent);

        //ensure we have a placeholder map for this component
        QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters();
        if (!changedValues.contains(key)) {
            changedValues.insert(key, new QMap<QString, QVariant>());
        }

        //insert the changed value into the map
        QMap<QString, QVariant>* map = changedValues.value(key, NULL);
        if (map) {
            QString str = current->data(0, Qt::DisplayRole).toString();
            QVariant value = current->data(1, Qt::DisplayRole);
            // Set parameter on changed list to be transmitted to MAV
            QPalette pal = statusLabel->palette();
            pal.setColor(backgroundRole(), QGC::colorOrange);
            statusLabel->setPalette(pal);
            statusLabel->setText(tr("Transmit pend. %1:%2: %3").arg(key).arg(str).arg(value.toFloat(), 5, 'f', 1, QChar(' ')));
            //qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
            // Changed values list
            if (map->contains(str)) map->remove(str);
            map->insert(str, value);

            // Check if the value was numerically changed
            if (!onboardParameters.value(key)->contains(str) || onboardParameters.value(key)->value(str, value.toDouble()-1) != value) {
                current->setBackground(0, QBrush(QColor(QGC::colorOrange)));
                current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
            }

            switch ((int)onboardParameters.value(key)->value(str).type())
            {
            case QVariant::Int:
            {
                QVariant fixedValue(value.toInt());
                onboardParameters.value(key)->insert(str, fixedValue);
            }
                break;
            case QVariant::UInt:
            {
                QVariant fixedValue(value.toUInt());
                onboardParameters.value(key)->insert(str, fixedValue);
            }
                break;
            case QMetaType::Float:
            {
                QVariant fixedValue(value.toFloat());
                onboardParameters.value(key)->insert(str, fixedValue);
            }
                break;
            case QMetaType::QChar:
            {
                QVariant fixedValue(QChar((unsigned char)value.toUInt()));
                onboardParameters.value(key)->insert(str, fixedValue);
            }
                break;
            default:
                qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE";
                return;
            }
        }
    }
}

void QGCParamWidget::saveParametersToFile()
{
    if (!mav) return;
    QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
    QFile file(fileName);
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
        return;
    }

    QTextStream in(&file);

    in << "# Onboard parameters for system " << mav->getUASName() << "\n";
    in << "#\n";
    in << "# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)\n";

    // Iterate through all components, through all parameters and emit them
    QMap<int, QMap<QString, QVariant>*>::iterator i;
    for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) {
        // Iterate through the parameters of the component
        int compid = i.key();
        QMap<QString, QVariant>* comp = i.value();
        {
            QMap<QString, QVariant>::iterator j;
            for (j = comp->begin(); j != comp->end(); ++j)
            {
                QString paramValue("%1");
                QString paramType("%1");
                switch ((int)j.value().type())
                {
                case QVariant::Int:
                    paramValue = paramValue.arg(j.value().toInt());
                    paramType = paramType.arg(MAV_PARAM_TYPE_INT32);
                    break;
                case QVariant::UInt:
                    paramValue = paramValue.arg(j.value().toUInt());
                    paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
                    break;
                case QMetaType::Float:
                    // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
                    // (see IEEE 754, 32 bit single-precision)
                    paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
                    paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
                    break;
                default:
                    qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();
                    return;
                }
                in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n";
                in.flush();
            }
        }
    }
    file.close();
}


void QGCParamWidget::loadedParameterForComponent(int componentId, QStringList& wpParams )
{
    // Set parameter value

    QMap<int, QMap<QString , QVariant> *> changedValues = this->paramDataModel->getPendingParameters();

    // Create changed values data structure if necessary
    if (!changedValues.contains(componentId)) {
        changedValues.insert(componentId, new QMap<QString, QVariant>());
    }

    // Add to changed values
    if (changedValues.value(componentId)->contains(wpParams.at(2))) {
        changedValues.value(componentId)->remove(wpParams.at(2));
    }

    switch (wpParams.at(4).toUInt())
    {
    case (int)MAV_PARAM_TYPE_REAL32:
        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toFloat());
        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toFloat());
        setParameter(componentId, wpParams.at(2), wpParams.at(3).toFloat());
        break;
    case (int)MAV_PARAM_TYPE_UINT32:
        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toUInt());
        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toUInt());
        setParameter(componentId, wpParams.at(2), QVariant(wpParams.at(3).toUInt()));
        break;
    case (int)MAV_PARAM_TYPE_INT32:
        //receivedParameterUpdate(wpParams.at(0).toInt(), componentId, wpParams.at(2), wpParams.at(3).toInt());
        changedValues.value(componentId)->insert(wpParams.at(2), wpParams.at(3).toInt());
        setParameter(componentId, wpParams.at(2), QVariant(wpParams.at(3).toInt()));
        break;
    default:
        qDebug() << "FAILED LOADING PARAM" << wpParams.at(2) << "NO KNOWN DATA TYPE";
    }

}

void QGCParamWidget::loadParametersFromFile()
{
    if (!mav) return;
    QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
    QFile file(fileName);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
        return;

    bool userWarned = false;

    QTextStream in(&file);
    while (!in.atEnd()) {
        QString line = in.readLine();
        if (!line.startsWith("#")) {
            QStringList wpParams = line.split("\t");
            if (wpParams.size() == 5) {
                // Only load parameters for right mav
                if (!userWarned && (mav->getUASID() != wpParams.at(0).toInt())) {
                    MainWindow::instance()->showCriticalMessage(tr("Parameter loading warning"), tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
                    userWarned = true;
                }

                bool changed = false;
                int componentId = wpParams.at(1).toInt();
                QString parameterName = wpParams.at(2);
                if (!onboardParameters.contains(componentId) ||
                        fabs((static_cast<float>(onboardParameters.value(componentId)->value(parameterName, wpParams.at(3).toDouble()).toDouble())) - (wpParams.at(3).toDouble())) > 2.0f * FLT_EPSILON) {
                    changed = true;
                    qDebug() << "Changed" << parameterName << "VAL" << wpParams.at(3).toDouble();
                }

                if (changed) {
                    loadedParameterForComponent(componentId,wpParams);
                }

            }
        }
    }
    file.close();

}

/**
 * Enabling the retransmission guard enables the parameter widget to track
 * dropped parameters and to re-request them. This works for both individual
 * parameter reads as well for whole list requests.
 *
 * @param enabled True if retransmission checking should be enabled, false else
 */
void QGCParamWidget::setRetransmissionGuardEnabled(bool enabled)
{
    if (enabled) {
        retransmissionTimer.start(retransmissionTimeout);
    } else {
        retransmissionTimer.stop();
    }
}

void QGCParamWidget::retransmissionGuardTick()
{
    if (transmissionActive) {
        //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD ACTIVE, CHECKING FOR DROPS..";

        // Check for timeout
        // stop retransmission attempts on timeout
        if (QGC::groundTimeMilliseconds() > transmissionTimeout) {
            setRetransmissionGuardEnabled(false);
            transmissionActive = false;

            // Empty read retransmission list
            // Empty write retransmission list
            int missingReadCount = 0;
            QList<int> readKeys = transmissionMissingPackets.keys();
            foreach (int component, readKeys) {
                missingReadCount += transmissionMissingPackets.value(component)->count();
                transmissionMissingPackets.value(component)->clear();
            }

            // Empty write retransmission list
            int missingWriteCount = 0;
            QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
            foreach (int component, writeKeys) {
                missingWriteCount += transmissionMissingWriteAckPackets.value(component)->count();
                transmissionMissingWriteAckPackets.value(component)->clear();
            }
            statusLabel->setText(tr("TIMEOUT! MISSING: %1 read, %2 write.").arg(missingReadCount).arg(missingWriteCount));
        }

        // Re-request at maximum retransmissionBurstRequestSize parameters at once
        // to prevent link flooding
        QMap<int, QMap<QString, QVariant>*>::iterator i;
        for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) {
            // Iterate through the parameters of the component
            int component = i.key();
            // Request n parameters from this component (at maximum)
            QList<int> * paramList = transmissionMissingPackets.value(component, NULL);
            if (paramList) {
                int count = 0;
                foreach (int id, *paramList) {
                    if (count < retransmissionBurstRequestSize) {
                        //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << id << "FROM COMPONENT #" << component;
                        emit requestParameter(component, id);
                        statusLabel->setText(tr("Requested retransmission of #%1").arg(id+1));
                        count++;
                    } else {
                        break;
                    }
                }
            }
        }

        // Re-request at maximum retransmissionBurstRequestSize parameters at once
        // to prevent write-request link flooding
        // Empty write retransmission list
        QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
        foreach (int component, writeKeys) {
            int count = 0;
            QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(component);
            foreach (QString key, missingParams->keys()) {
                if (count < retransmissionBurstRequestSize) {
                    // Re-request write operation
                    QVariant value = missingParams->value(key);
                    switch ((int)onboardParameters.value(component)->value(key).type())
                    {
                    case QVariant::Int:
                    {
                        QVariant fixedValue(value.toInt());
                        emit parameterChanged(component, key, fixedValue);
                    }
                        break;
                    case QVariant::UInt:
                    {
                        QVariant fixedValue(value.toUInt());
                        emit parameterChanged(component, key, fixedValue);
                    }
                        break;
                    case QMetaType::Float:
                    {
                        QVariant fixedValue(value.toFloat());
                        emit parameterChanged(component, key, fixedValue);
                    }
                        break;
                    default:
                        //qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE";
                        return;
                    }
                    statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble()));
                    count++;
                } else {
                    break;
                }
            }
        }
    } else {
        //qDebug() << __FILE__ << __LINE__ << "STOPPING RETRANSMISSION GUARD GRACEFULLY";
        setRetransmissionGuardEnabled(false);
    }
}


/**
 * The .. signal is emitted
 */
void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter)
{
    if (mav) mav->requestParameter(component, parameter);
}


/**
 * @param component the subsystem which has the parameter
 * @param parameterName name of the parameter, as delivered by the system
 * @param value value of the parameter
 */
void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
{
    if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName))
    {
        statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble()));
        return;
    }
    if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName))
    {
        statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
        return;
    }
    if (onboardParameters.value(component)->value(parameterName) == value)
    {
        statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
        return;
    }

    switch ((int)onboardParameters.value(component)->value(parameterName).type())
    {
    case QVariant::Char:
    {
        QVariant fixedValue(QChar((unsigned char)value.toInt()));
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QVariant::Int:
    {
        QVariant fixedValue(value.toInt());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QVariant::UInt:
    {
        QVariant fixedValue(value.toUInt());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    case QMetaType::Float:
    {
        QVariant fixedValue(value.toFloat());
        emit parameterChanged(component, parameterName, fixedValue);
        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
    }
        break;
    default:
        qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
        return;
    }

    // Wait for parameter to be written back
    // mark it therefore as missing
    if (!transmissionMissingWriteAckPackets.contains(component))
    {
        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
    }

    // Insert it in missing write ACK list
    transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);

    // Set timeouts
    if (transmissionActive)
    {
        transmissionTimeout += rewriteTimeout;
    }
    else
    {
        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
        if (newTransmissionTimeout > transmissionTimeout)
        {
            transmissionTimeout = newTransmissionTimeout;
        }
        transmissionActive = true;
    }

    // Enable guard / reset timeouts
    setRetransmissionGuardEnabled(true);
}

/**
 * Set all parameter in the parameter tree on the MAV
 */
void QGCParamWidget::setParameters()
{
    // Iterate through all components, through all parameters and emit them
    int parametersSent = 0;
    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();
    QMap<int, QMap<QString, QVariant>*>::iterator i;
    for (i = changedValues.begin(); i != changedValues.end(); ++i) {
        // Iterate through the parameters of the component
        int compid = i.key();
        QMap<QString, QVariant>* comp = i.value();
        {
            QMap<QString, QVariant>::iterator j;
            for (j = comp->begin(); j != comp->end(); ++j) {
                setParameter(compid, j.key(), j.value());
                parametersSent++;
            }
        }
    }

    // Change transmission status if necessary
    if (parametersSent == 0) {
        statusLabel->setText(tr("No transmission: No changed values."));
    } else {
        statusLabel->setText(tr("Transmitting %1 parameters.").arg(parametersSent));
        // Set timeouts
        if (transmissionActive)
        {
            transmissionTimeout += parametersSent*rewriteTimeout;
        }
        else
        {
            transmissionActive = true;
            quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + parametersSent*rewriteTimeout;
            if (newTransmissionTimeout > transmissionTimeout) {
                transmissionTimeout = newTransmissionTimeout;
            }
        }
        // Enable guard
        setRetransmissionGuardEnabled(true);
    }
}

/**
 * Write the current onboard parameters from RAM into
 * permanent storage, e.g. EEPROM or harddisk
 */
void QGCParamWidget::writeParameters()
{
    int changedParamCount = 0;

    QMap<int, QMap<QString, QVariant>*>::iterator i;
    QMap<int, QMap<QString, QVariant>*> changedValues = paramDataModel->getPendingParameters();

    for (i = changedValues.begin(); i != changedValues.end() , (0 == changedParamCount);  ++i)
    {
        // Iterate through the parameters of the component
        QMap<QString, QVariant>* comp = i.value();
        QMap<QString, QVariant>::iterator j;
        for (j = comp->begin(); j != comp->end(); ++j)
        {
            changedParamCount++;
            break;//it only takes one changed param to warrant warning the user
        }
    }

    if (changedParamCount > 0)
    {
        QMessageBox msgBox;
        msgBox.setText(tr("There are locally changed parameters. Please transmit them first (<TRANSMIT>) or update them with the onboard values (<REFRESH>) before storing onboard from RAM to ROM."));
        msgBox.exec();
    }
    else
    {
        if (!mav) return;
        mav->writeParametersToStorage();
    }
}

void QGCParamWidget::readParameters()
{
    if (!mav) return;
    mav->readParametersFromStorage();
}

/**
 * Clear all data in the parameter widget
 */
void QGCParamWidget::clear()
{
    tree->clear();
    components->clear();
}