LibrePilot/ground/openpilotgcs/src/plugins/config/configservowidget.cpp

/**
 ******************************************************************************
 *
 * @file       configservowidget.cpp
 * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup ConfigPlugin Config Plugin
 * @{
 * @brief Servo input/output configuration panel for the config gadget
 *****************************************************************************/
/*
 * This program 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.
 *
 * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "configservowidget.h"

#include "uavtalk/telemetrymanager.h"

#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>

ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
    m_config = new Ui_SettingsWidget();
    m_config->setupUi(this);

	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
	UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

	// First of all, put all the channel widgets into lists, so that we can
    // manipulate those:

	// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
    outLabels << m_config->ch0OutValue
            << m_config->ch1OutValue
            << m_config->ch2OutValue
            << m_config->ch3OutValue
            << m_config->ch4OutValue
            << m_config->ch5OutValue
            << m_config->ch6OutValue
            << m_config->ch7OutValue;

    outSliders << m_config->ch0OutSlider
            << m_config->ch1OutSlider
            << m_config->ch2OutSlider
            << m_config->ch3OutSlider
            << m_config->ch4OutSlider
            << m_config->ch5OutSlider
            << m_config->ch6OutSlider
            << m_config->ch7OutSlider;

    outMin << m_config->ch0OutMin
            << m_config->ch1OutMin
            << m_config->ch2OutMin
            << m_config->ch3OutMin
            << m_config->ch4OutMin
            << m_config->ch5OutMin
            << m_config->ch6OutMin
            << m_config->ch7OutMin;

    outMax << m_config->ch0OutMax
            << m_config->ch1OutMax
            << m_config->ch2OutMax
            << m_config->ch3OutMax
            << m_config->ch4OutMax
            << m_config->ch5OutMax
            << m_config->ch6OutMax
            << m_config->ch7OutMax;

    reversals << m_config->ch0Rev
            << m_config->ch1Rev
            << m_config->ch2Rev
            << m_config->ch3Rev
            << m_config->ch4Rev
            << m_config->ch5Rev
            << m_config->ch6Rev
            << m_config->ch7Rev;

	inMaxLabels << m_config->ch0Max
			<< m_config->ch1Max
			<< m_config->ch2Max
			<< m_config->ch3Max
			<< m_config->ch4Max
			<< m_config->ch5Max
			<< m_config->ch6Max
			<< m_config->ch7Max;

	inMinLabels << m_config->ch0Min
			<< m_config->ch1Min
			<< m_config->ch2Min
			<< m_config->ch3Min
			<< m_config->ch4Min
			<< m_config->ch5Min
			<< m_config->ch6Min
			<< m_config->ch7Min;

	inNeuLabels << m_config->ch0Cur
			<< m_config->ch1Cur
			<< m_config->ch2Cur
			<< m_config->ch3Cur
			<< m_config->ch4Cur
			<< m_config->ch5Cur
			<< m_config->ch6Cur
			<< m_config->ch7Cur;

	inSliders << m_config->inSlider0
			  << m_config->inSlider1
			  << m_config->inSlider2
			  << m_config->inSlider3
			  << m_config->inSlider4
			  << m_config->inSlider5
			  << m_config->inSlider6
			  << m_config->inSlider7;

    // Now connect the widget to the ManualControlCommand / Channel UAVObject

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));

    // Get the receiver types supported by OpenPilot and fill the corresponding
    // dropdown menu:
    obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
    QString fieldName = QString("InputMode");
    UAVObjectField *field = obj->getField(fieldName);
    m_config->receiverType->addItems(field->getOptions());
    m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.

    // Fill in the dropdown menus for the channel RC Input assignement.
    QStringList channelsList;
        channelsList << "None";
    QList<UAVObjectField*> fieldList = obj->getFields();
    foreach (UAVObjectField* field, fieldList) {
        if (field->getUnits().contains("channel")) {
            channelsList.append(field->getName());
        }
    }

    m_config->ch0Assign->addItems(channelsList);
    m_config->ch1Assign->addItems(channelsList);
    m_config->ch2Assign->addItems(channelsList);
    m_config->ch3Assign->addItems(channelsList);
    m_config->ch4Assign->addItems(channelsList);
    m_config->ch5Assign->addItems(channelsList);
    m_config->ch6Assign->addItems(channelsList);
    m_config->ch7Assign->addItems(channelsList);

    // And for the channel output assignement options
    m_config->ch0Output->addItem("None");
    m_config->ch1Output->addItem("None");
    m_config->ch2Output->addItem("None");
    m_config->ch3Output->addItem("None");
    m_config->ch4Output->addItem("None");
    m_config->ch5Output->addItem("None");
    m_config->ch6Output->addItem("None");
    m_config->ch7Output->addItem("None");

    // And the flight mode settings:
    field = obj->getField(QString("FlightModePosition"));
    m_config->fmsModePos1->addItems(field->getOptions());
    m_config->fmsModePos2->addItems(field->getOptions());
    m_config->fmsModePos3->addItems(field->getOptions());
    field = obj->getField(QString("Stabilization1Settings"));
    channelsList.clear();
    channelsList.append(field->getOptions());
    m_config->fmsSsPos1Roll->addItems(channelsList);
    m_config->fmsSsPos1Pitch->addItems(channelsList);
    m_config->fmsSsPos1Yaw->addItems(channelsList);
    m_config->fmsSsPos2Roll->addItems(channelsList);
    m_config->fmsSsPos2Pitch->addItems(channelsList);
    m_config->fmsSsPos2Yaw->addItems(channelsList);
    m_config->fmsSsPos3Roll->addItems(channelsList);
    m_config->fmsSsPos3Pitch->addItems(channelsList);
    m_config->fmsSsPos3Yaw->addItems(channelsList);

    // And the Armin configurations:
    field = obj->getField(QString("Arming"));
    m_config->armControl->clear();
    m_config->armControl->addItems(field->getOptions());

    obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
    fieldList = obj->getFields();
    foreach (UAVObjectField* field, fieldList) {
        if (field->getUnits().contains("channel")) {
            m_config->ch0Output->addItem(field->getName());
            m_config->ch1Output->addItem(field->getName());
            m_config->ch2Output->addItem(field->getName());
            m_config->ch3Output->addItem(field->getName());
            m_config->ch4Output->addItem(field->getName());
            m_config->ch5Output->addItem(field->getName());
            m_config->ch6Output->addItem(field->getName());
            m_config->ch7Output->addItem(field->getName());
        }
    }

	// set the RC input tneutral value textees
	for (int i = 0; i < 8; i++)
		inNeuLabels[i]->setText(QString::number(inSliders[i]->value()));

	for (int i = 0; i < 8; i++) {
        connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
        connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
        connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
        // Now connect the channel out sliders to our signal to send updates in test mode
        connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
    }

    connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));

    requestRCInputUpdate();
    requestRCOutputUpdate();

    connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
    connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
    connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));

       // Flightmode panel is connected to the same as rcinput because
    // the underlying object is the same!
    connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
    connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
    connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));

    connect(m_config->saveArmToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
    connect(m_config->saveArmToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
    connect(m_config->getArmCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));

    connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject()));
    connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate()));
    connect(m_config->getRCOutputCurrent, SIGNAL(clicked()), this, SLOT(requestRCOutputUpdate()));

    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));

	connect(m_config->inSlider0, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged0(int)));
	connect(m_config->inSlider1, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged1(int)));
	connect(m_config->inSlider2, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged2(int)));
	connect(m_config->inSlider3, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged3(int)));
	connect(m_config->inSlider4, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged4(int)));
	connect(m_config->inSlider5, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged5(int)));
	connect(m_config->inSlider6, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged6(int)));
	connect(m_config->inSlider7, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged7(int)));

    firstUpdate = true;

	enableControls(false);

	// Listen to telemetry connection events
	if (pm)
	{
		TelemetryManager *tm = pm->getObject<TelemetryManager>();
		if (tm)
		{
			connect(tm, SIGNAL(myStart()), this, SLOT(onTelemetryStart()));
			connect(tm, SIGNAL(myStop()), this, SLOT(onTelemetryStop()));
			connect(tm, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
			connect(tm, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
		}
	}
}

ConfigServoWidget::~ConfigServoWidget()
{
   // Do nothing
}

// ************************************
// slider value changed signals

void ConfigServoWidget::onInSliderValueChanged0(int value)
{
	inNeuLabels[0]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged1(int value)
{
	inNeuLabels[1]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged2(int value)
{
	inNeuLabels[2]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged3(int value)
{
	inNeuLabels[3]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged4(int value)
{
	inNeuLabels[4]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged5(int value)
{
	inNeuLabels[5]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged6(int value)
{
	inNeuLabels[6]->setText(QString::number(value));
}

void ConfigServoWidget::onInSliderValueChanged7(int value)
{
	inNeuLabels[7]->setText(QString::number(value));
}

// ************************************
// telemetry start/stop connect/disconnect signals

void ConfigServoWidget::onTelemetryStart()
{
}

void ConfigServoWidget::onTelemetryStop()
{
}

void ConfigServoWidget::onTelemetryConnect()
{
	enableControls(true);
}

void ConfigServoWidget::onTelemetryDisconnect()
{
	enableControls(false);
	m_config->doRCInputCalibration->setChecked(false);
}

// ************************************

void ConfigServoWidget::enableControls(bool enable)
{
	m_config->getRCInputCurrent->setEnabled(enable);
	m_config->saveRCInputToRAM->setEnabled(enable);
	m_config->saveRCInputToSD->setEnabled(enable);

	m_config->saveFmsToSD->setEnabled(enable);
	m_config->saveFmsToRAM->setEnabled(enable);
	m_config->getFmsCurrent->setEnabled(enable);

	m_config->saveArmToSD->setEnabled(enable);
	m_config->saveArmToRAM->setEnabled(enable);
	m_config->getArmCurrent->setEnabled(enable);

	m_config->saveRCOutputToSD->setEnabled(enable);
	m_config->saveRCOutputToRAM->setEnabled(enable);
	m_config->getRCOutputCurrent->setEnabled(enable);

	m_config->doRCInputCalibration->setEnabled(enable);

	m_config->ch0Assign->setEnabled(enable);
	m_config->ch1Assign->setEnabled(enable);
	m_config->ch2Assign->setEnabled(enable);
	m_config->ch3Assign->setEnabled(enable);
	m_config->ch4Assign->setEnabled(enable);
	m_config->ch5Assign->setEnabled(enable);
	m_config->ch6Assign->setEnabled(enable);
	m_config->ch7Assign->setEnabled(enable);
}

// ************************************

/**
  Sends the channel value to the UAV to move the servo.
  Returns immediately if we are not in testing mode
  */
void ConfigServoWidget::sendChannelTest(int value)
{
    // First of all, update the label:
    QSlider *ob = (QSlider*)QObject::sender();
    int index = outSliders.indexOf(ob);
    if (reversals[index]->isChecked())
        value = outMin[index]->value()-value+outMax[index]->value();
    else
        outLabels[index]->setText(QString::number(value));

    outLabels[index]->setText(QString::number(value));
    if (!m_config->channelOutTest->isChecked())
        return;

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));

    UAVObjectField * channel = obj->getField("Channel");
    channel->setValue(value,index);
    obj->updated();

}

/**
  Toggles the channel testing mode by making the GCS take over
  the ActuatorCommand objects
  */
void ConfigServoWidget::runChannelTests(bool state)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
    UAVObject::Metadata mdata = obj->getMetadata();
    if (state)
    {
        accInitialData = mdata;
        mdata.flightAccess = UAVObject::ACCESS_READONLY;
        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryAcked = false;
        mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
        mdata.gcsTelemetryUpdatePeriod = 100;
    }
    else
    {
        mdata = accInitialData; // Restore metadata
    }
    obj->setMetadata(mdata);

}



/********************************
  *  Output settings
  *******************************/

/**
  Request the current config from the board (RC Output)
  */
void ConfigServoWidget::requestRCOutputUpdate()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    // Get the Airframe type from the system settings:
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
    Q_ASSERT(obj);
    obj->requestUpdate();
    UAVObjectField *field = obj->getField(QString("AirframeType"));
    m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString());

    // Reset all channel assignements:
    m_config->ch0Output->setCurrentIndex(0);
    m_config->ch1Output->setCurrentIndex(0);
    m_config->ch2Output->setCurrentIndex(0);
    m_config->ch3Output->setCurrentIndex(0);
    m_config->ch4Output->setCurrentIndex(0);
    m_config->ch5Output->setCurrentIndex(0);
    m_config->ch6Output->setCurrentIndex(0);
    m_config->ch7Output->setCurrentIndex(0);

    // Get the channel assignements:
    obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
    Q_ASSERT(obj);
    obj->requestUpdate();
    QList<UAVObjectField*> fieldList = obj->getFields();
    foreach (UAVObjectField* field, fieldList) {
        if (field->getUnits().contains("channel")) {
            assignOutputChannel(obj,field->getName());
        }
    }

    // Get Output rates for both banks
    field = obj->getField(QString("ChannelUpdateFreq"));
    m_config->outputRate1->setValue(field->getValue(0).toInt());
    m_config->outputRate2->setValue(field->getValue(1).toInt());

    // Get Channel ranges:
    for (int i=0;i<8;i++) {
        field = obj->getField(QString("ChannelMin"));
        int minValue = field->getValue(i).toInt();
        outMin[i]->setValue(minValue);
        field = obj->getField(QString("ChannelMax"));
        int maxValue = field->getValue(i).toInt();
        outMax[i]->setValue(maxValue);
        if (maxValue>minValue) {
            outSliders[i]->setMinimum(minValue);
            outSliders[i]->setMaximum(maxValue);
            reversals[i]->setChecked(false);
        } else {
            outSliders[i]->setMinimum(maxValue);
            outSliders[i]->setMaximum(minValue);
            reversals[i]->setChecked(true);
        }
    }

    field = obj->getField(QString("ChannelNeutral"));
    for (int i=0; i<8; i++) {
        int value = field->getValue(i).toInt();
        outSliders[i]->setValue(value);
        outLabels[i]->setText(QString::number(value));
    }


}

/**
  * Sends the config to the board, without saving to the SD card (RC Output)
  */
void ConfigServoWidget::sendRCOutputUpdate()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
    Q_ASSERT(obj);

    // Now send channel ranges:
    UAVObjectField * field = obj->getField(QString("ChannelMax"));
    for (int i = 0; i < 8; i++) {
        field->setValue(outMax[i]->value(),i);
    }

    field = obj->getField(QString("ChannelMin"));
    for (int i = 0; i < 8; i++) {
        field->setValue(outMin[i]->value(),i);
    }

    field = obj->getField(QString("ChannelNeutral"));
    for (int i = 0; i < 8; i++) {
        field->setValue(outSliders[i]->value(),i);
    }

    field = obj->getField(QString("ChannelUpdateFreq"));
    field->setValue(m_config->outputRate1->value(),0);
    field->setValue(m_config->outputRate2->value(),1);

    // Set Actuator assignement for each channel:
    // Rule: if two channels have the same setting (which is wrong!) the higher channel
    // will get the setting.

    // First, reset all channel assignements:
    QList<UAVObjectField*> fieldList = obj->getFields();
    foreach (UAVObjectField* field, fieldList) {
        // NOTE: we assume that all options in ActuatorSettings are a channel assignement
        // except for the options called "ChannelXXX"
        if (field->getUnits().contains("channel")) {
            field->setValue(field->getOptions().last());
        }
    }

    if (m_config->ch0Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch0Output->currentText());
        field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch1Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch1Output->currentText());
        field->setValue(field->getOptions().at(1)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch2Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch2Output->currentText());
        field->setValue(field->getOptions().at(2)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch3Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch3Output->currentText());
        field->setValue(field->getOptions().at(3)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch4Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch4Output->currentText());
        field->setValue(field->getOptions().at(4)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch5Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch5Output->currentText());
        field->setValue(field->getOptions().at(5)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch6Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch6Output->currentText());
        field->setValue(field->getOptions().at(6)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch7Output->currentIndex() != 0) {
        field = obj->getField(m_config->ch7Output->currentText());
        field->setValue(field->getOptions().at(7)); // -> This way we don't depend on channel naming convention
    }

    // ... and send to the OP Board
    obj->updated();


}


/**
  Sends the config to the board and request saving into the SD card (RC Output)
  */
void ConfigServoWidget::saveRCOutputObject()
{
    // Send update so that the latest value is saved
    sendRCOutputUpdate();
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
    Q_ASSERT(obj);
    updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);

}


/**
  Sets the minimum/maximum value of the channel 0 to seven output sliders.
  Have to do it here because setMinimum is not a slot.

  One added trick: if the slider is at either its max or its min when the value
  is changed, then keep it on the max/min.
  */
void ConfigServoWidget::setChOutRange()
{
    QSpinBox *spinbox = (QSpinBox*)QObject::sender();

    int index = outMin.indexOf(spinbox); // This is the channel number
    if (index < 0)
        index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max

    QSlider *slider = outSliders[index];

    int oldMini = slider->minimum();
    int oldMaxi = slider->maximum();

    if (outMin[index]->value()<outMax[index]->value())
    {
        slider->setRange(outMin[index]->value(), outMax[index]->value());
        reversals[index]->setChecked(false);
    }
    else
    {
        slider->setRange(outMax[index]->value(), outMin[index]->value());
        reversals[index]->setChecked(true);
    }

    if (slider->value() == oldMini)
        slider->setValue(slider->minimum());

//    if (slider->value() == oldMaxi)
//        slider->setValue(slider->maximum());  // this can be dangerous if it happens to be controlling a motor at the time!
}

/**
  Reverses the channel when the checkbox is clicked
  */
void ConfigServoWidget::reverseChannel(bool state)
{
    QCheckBox *checkbox = (QCheckBox*)QObject::sender();
    int index = reversals.indexOf(checkbox); // This is the channel number

    // Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
    // the situations below can happen!
    if (state && (outMax[index]->value()<outMin[index]->value()))
        return;
    if (!state && (outMax[index]->value()>outMin[index]->value()))
        return;

    // Now, swap the min & max values (only on the spinboxes, the slider
    // does not change!
    int temp = outMax[index]->value();
    outMax[index]->setValue(outMin[index]->value());
    outMin[index]->setValue(temp);

    // Also update the channel value
    // This is a trick to force the slider to update its value and
    // emit the right signal itself, because our sendChannelTest(int) method
    // relies on the object sender's identity.
    if (outSliders[index]->value()<outSliders[index]->maximum()) {
        outSliders[index]->setValue(outSliders[index]->value()+1);
        outSliders[index]->setValue(outSliders[index]->value()-1);
    } else {
        outSliders[index]->setValue(outSliders[index]->value()-1);
        outSliders[index]->setValue(outSliders[index]->value()+1);
    }

}


/********************************
  *  Input settings
  *******************************/

/**
  Request the current config from the board
  */
void ConfigServoWidget::requestRCInputUpdate()
{
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
    Q_ASSERT(obj);
    obj->requestUpdate();

	UAVObjectField *field;

    // Now update all the slider values:

	UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
	UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
	UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
	Q_ASSERT(field_max);
	Q_ASSERT(field_min);
	Q_ASSERT(field_neu);
	for (int i = 0; i < 8; i++)
	{
		QVariant max = field_max->getValue(i);
		QVariant min = field_min->getValue(i);
		QVariant neutral = field_neu->getValue(i);
		inMaxLabels[i]->setText(max.toString());
		inMinLabels[i]->setText(min.toString());
		inSliders[i]->setMaximum(max.toInt());
		inSliders[i]->setMinimum(min.toInt());
		inSliders[i]->setValue(neutral.toInt());
	}

    // Update receiver type
	field = obj->getField(QString("InputMode"));
    m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));

    // Reset all channel assignement dropdowns:
    m_config->ch0Assign->setCurrentIndex(0);
    m_config->ch1Assign->setCurrentIndex(0);
    m_config->ch2Assign->setCurrentIndex(0);
    m_config->ch3Assign->setCurrentIndex(0);
    m_config->ch4Assign->setCurrentIndex(0);
    m_config->ch5Assign->setCurrentIndex(0);
    m_config->ch6Assign->setCurrentIndex(0);
    m_config->ch7Assign->setCurrentIndex(0);

    // Update all channels assignements
	QList<UAVObjectField *> fieldList = obj->getFields();
	foreach (UAVObjectField *field, fieldList)
	{
		if (field->getUnits().contains("channel"))
            assignChannel(obj, field->getName());
    }

    // Update all the flight mode settingsin the relevant tab
    field = obj->getField(QString("FlightModePosition"));
    m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString())));
    m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString())));
    m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString())));

    field = obj->getField(QString("Stabilization1Settings"));
	m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
	m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
	m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
    field = obj->getField(QString("Stabilization2Settings"));
	m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
	m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
	m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
    field = obj->getField(QString("Stabilization3Settings"));
	m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
	m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
	m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));

    // Load the arming settings
    field = obj->getField(QString("Arming"));
    m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString()));
    field = obj->getField(QString("ArmedTimeout"));
    m_config->armTimeout->setValue(field->getValue().toInt()/1000);
}


/**
  * Sends the config to the board, without saving to the SD card
  */
void ConfigServoWidget::sendRCInputUpdate()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
    Q_ASSERT(obj);
    // Now update all fields from the sliders:
    QString fieldName = QString("ChannelMax");
    UAVObjectField * field = obj->getField(fieldName);
	for (int i = 0; i < 8; i++)
		field->setValue(inMaxLabels[i]->text().toInt(), i);

    fieldName = QString("ChannelMin");
    field = obj->getField(fieldName);
	for (int i = 0; i < 8; i++)
		field->setValue(inMinLabels[i]->text().toInt(), i);

    fieldName = QString("ChannelNeutral");
    field = obj->getField(fieldName);
	for (int i = 0; i < 8; i++)
		field->setValue(inSliders[i]->value(), i);

    // Set RC Receiver type:
    fieldName = QString("InputMode");
    field = obj->getField(fieldName);
    field->setValue(m_config->receiverType->currentText());

    // Set Roll/Pitch/Yaw/Etc assignement:
    // Rule: if two channels have the same setting (which is wrong!) the higher channel
    // will get the setting.

    // First, reset all channel assignements:
    QList<UAVObjectField*> fieldList = obj->getFields();
    foreach (UAVObjectField* field, fieldList) {
        if (field->getUnits().contains("channel")) {
            field->setValue(field->getOptions().last());
        }
    }

    // Then assign according to current GUI state:
    if (m_config->ch0Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch0Assign->currentText());
        field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
    }
    if (m_config->ch1Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch1Assign->currentText());
        field->setValue(field->getOptions().at(1));
    }
    if (m_config->ch2Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch2Assign->currentText());
        field->setValue(field->getOptions().at(2));
    }
    if (m_config->ch3Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch3Assign->currentText());
        field->setValue(field->getOptions().at(3));
    }
    if (m_config->ch4Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch4Assign->currentText());
        field->setValue(field->getOptions().at(4));
    }
    if (m_config->ch5Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch5Assign->currentText());
        field->setValue(field->getOptions().at(5));
    }
    if (m_config->ch6Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch6Assign->currentText());
        field->setValue(field->getOptions().at(6));
    }
    if (m_config->ch7Assign->currentIndex() != 0) {
        field = obj->getField(m_config->ch7Assign->currentText());
        field->setValue(field->getOptions().at(7));
    }

    // Send all the flight mode settings
    field = obj->getField(QString("FlightModePosition"));
    field->setValue(m_config->fmsModePos1->currentText(),0);
    field->setValue(m_config->fmsModePos2->currentText(),1);
    field->setValue(m_config->fmsModePos3->currentText(),2);

    field = obj->getField(QString("Stabilization1Settings"));
    field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll"));
    field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
    field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
    field = obj->getField(QString("Stabilization2Settings"));
    field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll"));
    field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
    field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
    field = obj->getField(QString("Stabilization3Settings"));
    field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll"));
    field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
    field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw"));

    // Save the arming settings
    field = obj->getField(QString("Arming"));
    field->setValue(m_config->armControl->currentText());
    field = obj->getField(QString("ArmedTimeout"));
    field->setValue(m_config->armTimeout->value()*1000);

    // ... and send to the OP Board
    obj->updated();

}


/**
  Sends the config to the board and request saving into the SD card
  */
void ConfigServoWidget::saveRCInputObject()
{
    // Send update so that the latest value is saved
    sendRCInputUpdate();
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
    Q_ASSERT(obj);
    updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}


/**
  * Set the dropdown option for a channel Input assignement
  */
void ConfigServoWidget::assignChannel(UAVDataObject *obj, QString str)
{
    UAVObjectField* field = obj->getField(str);
    QStringList options = field->getOptions();
    switch (options.indexOf(field->getValue().toString())) {
    case 0:
        m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 1:
        m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 2:
        m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 3:
        m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 4:
        m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 5:
        m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 6:
        m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    case 7:
        m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
        break;
    }
}

/**
  * Set the dropdown option for a channel output assignement
  */
void ConfigServoWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
    UAVObjectField* field = obj->getField(str);
    QStringList options = field->getOptions();
    switch (options.indexOf(field->getValue().toString())) {
    case 0:
        m_config->ch0Output->setCurrentIndex(m_config->ch0Output->findText(str));
        break;
    case 1:
        m_config->ch1Output->setCurrentIndex(m_config->ch1Output->findText(str));
        break;
    case 2:
        m_config->ch2Output->setCurrentIndex(m_config->ch2Output->findText(str));
        break;
    case 3:
        m_config->ch3Output->setCurrentIndex(m_config->ch3Output->findText(str));
        break;
    case 4:
        m_config->ch4Output->setCurrentIndex(m_config->ch4Output->findText(str));
        break;
    case 5:
        m_config->ch5Output->setCurrentIndex(m_config->ch5Output->findText(str));
        break;
    case 6:
        m_config->ch6Output->setCurrentIndex(m_config->ch6Output->findText(str));
        break;
    case 7:
        m_config->ch7Output->setCurrentIndex(m_config->ch7Output->findText(str));
        break;
    }
}



/**
  * Updates the slider positions and min/max values
  *
  */
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{

    QString fieldName = QString("Connected");
    UAVObjectField *field = controlCommand->getField(fieldName);
	if (field->getValue().toBool())
        m_config->RCInputConnected->setText("RC Receiver Connected");
	else
        m_config->RCInputConnected->setText("RC Receiver Not Connected");

	if (m_config->doRCInputCalibration->isChecked())
	{
		if (firstUpdate)
		{
            // Increase the data rate from the board so that the sliders
            // move faster
            UAVObject::Metadata mdata = controlCommand->getMetadata();
            mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
            mccDataRate = mdata.flightTelemetryUpdatePeriod;
            mdata.flightTelemetryUpdatePeriod = 150;
            controlCommand->setMetadata(mdata);

            // Also protect the user by setting all values to zero
            // and making the ActuatorCommand object readonly
            UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
            mdata = obj->getMetadata();
            mdata.flightAccess = UAVObject::ACCESS_READONLY;
            obj->setMetadata(mdata);
            UAVObjectField *field = obj->getField("Channel");
            for (int i=0; i< field->getNumElements(); i++) {
                field->setValue(0,i);
            }
            obj->updated();

        }

		field = controlCommand->getField(QString("Channel"));
		for (int i = 0; i < 8; i++)
			updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], reversals[i], field->getValue(i).toInt());

        firstUpdate = false;
	}
	else
	{
		if (!firstUpdate)
		{
            // Restore original data rate from the board:
            UAVObject::Metadata mdata = controlCommand->getMetadata();
            mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
            mdata.flightTelemetryUpdatePeriod = mccDataRate;
            controlCommand->setMetadata(mdata);

            UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
            mdata = obj->getMetadata();
            mdata.flightAccess = UAVObject::ACCESS_READWRITE;
            obj->setMetadata(mdata);

        }
        firstUpdate = true;
    }
    //Update the Flight mode channel slider
    UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
    // Find the channel currently assigned to flightmode
    field = obj->getField("FlightMode");
    int chIndex = field->getOptions().indexOf(field->getValue().toString());
	if (chIndex < field->getOptions().length() - 1)
	{
		float valueScaled;

		int chMin = inSliders[chIndex]->minimum();
		int chMax = inSliders[chIndex]->maximum();
		int chNeutral = inSliders[chIndex]->value();

		int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
		if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
		{
			if (chMax != chNeutral)
				valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
			else
				valueScaled = 0;
		}
		else
		{
			if (chMin != chNeutral)
				valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
			else
				valueScaled = 0;
        }

        // Bound
		if (valueScaled >  1.0) valueScaled =  1.0;
		else
		if (valueScaled < -1.0) valueScaled = -1.0;

		m_config->fmsSlider->setValue(valueScaled * 100);
	}
}

void ConfigServoWidget::updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value)
{
	Q_UNUSED(rev);

//	if (!slider || !min || !max || !rev)
	if (!slider || !min || !max)
		return;

	if (firstUpdate)
	{	// Reset all the min/max values of the progress bar since we are starting the calibration.

		slider->setMaximum(value);
		slider->setMinimum(value);
		slider->setValue(value);

		max->setText(QString::number(value));
		min->setText(QString::number(value));

		return;
	}

	if (value > 0)
	{	// avoids glitches...
		if (value > slider->maximum())
		{
			slider->setMaximum(value);
			max->setText(QString::number(value));
		}
		if (value < slider->minimum())
		{
			slider->setMinimum(value);
			min->setText(QString::number(value));
		}
		slider->setValue(value);
	}
}