#include <QXmlStreamReader>
#include <QDir>
#include <QFile>
#include "ApmSoftwareConfig.h"
ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
{
ui.setupUi(this);
ui.flightModesButton->setVisible(false);
ui.standardParamButton->setVisible(false);
ui.failSafeButton->setVisible(false);
ui.advancedParamButton->setVisible(false);
ui.advParamListButton->setVisible(false);
ui.arduCopterPidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
ui.arduPlanePidButton->setVisible(false);
m_flightConfig = new FlightModeConfig(this);
ui.stackedWidget->addWidget(m_flightConfig);
m_buttonToConfigWidgetMap[ui.flightModesButton] = m_flightConfig;
connect(ui.flightModesButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_standardParamConfig = new StandardParamConfig(this);
ui.stackedWidget->addWidget(m_standardParamConfig);
m_buttonToConfigWidgetMap[ui.standardParamButton] = m_standardParamConfig;
connect(ui.standardParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_failSafeConfig = new FailSafeConfig(this);
ui.stackedWidget->addWidget(m_failSafeConfig);
m_buttonToConfigWidgetMap[ui.failSafeButton] = m_failSafeConfig;
connect(ui.failSafeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_advancedParamConfig = new AdvancedParamConfig(this);
ui.stackedWidget->addWidget(m_advancedParamConfig);
m_buttonToConfigWidgetMap[ui.advancedParamButton] = m_advancedParamConfig;
connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_advParameterList = new AdvParameterList(this);
ui.stackedWidget->addWidget(m_advParameterList);
m_buttonToConfigWidgetMap[ui.advParamListButton] = m_advParameterList;
connect(ui.advParamListButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_arduCopterPidConfig = new ArduCopterPidConfig(this);
ui.stackedWidget->addWidget(m_arduCopterPidConfig);
m_buttonToConfigWidgetMap[ui.arduCopterPidButton] = m_arduCopterPidConfig;
connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_arduPlanePidConfig = new ArduPlanePidConfig(this);
ui.stackedWidget->addWidget(m_arduPlanePidConfig);
m_buttonToConfigWidgetMap[ui.arduPlanePidButton] = m_arduPlanePidConfig;
connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
m_arduRoverPidConfig = new ArduRoverPidConfig(this);
ui.stackedWidget->addWidget(m_arduRoverPidConfig);
m_buttonToConfigWidgetMap[ui.arduRoverPidButton] = m_arduRoverPidConfig;
connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
activeUASSet(UASManager::instance()->getActiveUAS());
}
ApmSoftwareConfig::~ApmSoftwareConfig()
{
}
void ApmSoftwareConfig::activateStackedWidget()
{
if (m_buttonToConfigWidgetMap.contains(sender()))
{
ui.stackedWidget->setCurrentWidget(m_buttonToConfigWidgetMap[sender()]);
}
}
void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
{
if (!uas)
{
return;
}
ui.flightModesButton->setVisible(true);
ui.standardParamButton->setVisible(true);
ui.failSafeButton->setVisible(true);
ui.advancedParamButton->setVisible(true);
ui.advParamListButton->setVisible(true);
QString compare = "";
if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
ui.arduPlanePidButton->setVisible(true);
ui.arduCopterPidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
compare = "ArduPlane";
}
else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
ui.arduCopterPidButton->setVisible(true);
ui.arduPlanePidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
compare = "ArduCopter";
}
else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
{
ui.arduRoverPidButton->setVisible(true);
ui.arduCopterPidButton->setVisible(false);
ui.arduPlanePidButton->setVisible(false);
compare = "APMRover2";
}
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.
//Also, move this into the Param Manager, as it should handle all metadata.
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
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 (compare == parametersname)
{
if (tab == "Standard")
{
m_standardParamConfig->addCombo(humanname,docs,name,valuelist);
}
else if (tab == "Advanced")
{
m_advancedParamConfig->addCombo(humanname,docs,name,valuelist);
}
m_advParameterList->setParameterMetaData(name,humanname,docs);
}
}
else if (fieldmap.size() > 0)
{
float min = 0;
float max = 65535;
if (fieldmap.contains("Range"))
{
//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 (compare == parametersname)
{
if (tab == "Standard")
{
m_standardParamConfig->addRange(humanname,docs,name,min,max);
}
else if (tab == "Advanced")
{
m_advancedParamConfig->addRange(humanname,docs,name,min,max);
}
m_advParameterList->setParameterMetaData(name,humanname,docs);
}
}
}
xml.readNext();
}
}
xml.readNext();
}
}
xml.readNext();
}
}
xml.readNext();
}
}