LibrePilot/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

/**
 ******************************************************************************
 *
 * @file       configtaskwidget.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup UAVObjectWidgetUtils Plugin
 * @{
 * @brief Utility plugin for UAVObject to Widget relation management
 *****************************************************************************/
/*
 * 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 "configtaskwidget.h"
#include <QWidget>
#include <QLineEdit>
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"

/**
 * Constructor
 */
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent), m_isConnected(false), m_isWidgetUpdatesAllowed(true),
    m_saveButton(NULL), m_isDirty(false), m_outOfLimitsStyle("background-color: rgb(255, 0, 0);"), m_realtimeUpdateTimer(NULL)
{
    m_pluginManager     = ExtensionSystem::PluginManager::instance();
    TelemetryManager *telMngr = m_pluginManager->getObject<TelemetryManager>();
    m_objectUtilManager = m_pluginManager->getObject<UAVObjectUtilManager>();
    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()), Qt::UniqueConnection);
    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()), Qt::UniqueConnection);
    connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()), Qt::UniqueConnection);
    connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()), Qt::UniqueConnection);
    UAVSettingsImportExportFactory *importexportplugin = m_pluginManager->getObject<UAVSettingsImportExportFactory>();
    connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(invalidateObjects()));
}

/**
 * Add a widget to the dirty detection pool
 * @param widget to add to the detection pool
 */
void ConfigTaskWidget::addWidget(QWidget *widget)
{
    addWidgetBinding("", "", widget);
}

/**
 * Add an object to the management system
 * @param objectName name of the object to add to the management system
 */
void ConfigTaskWidget::addUAVObject(QString objectName, QList<int> *reloadGroups)
{
    addWidgetBinding(objectName, "", NULL, 0, 1, false, reloadGroups);
}

void ConfigTaskWidget::addUAVObject(UAVObject *objectName, QList<int> *reloadGroups)
{
    QString objstr;

    if (objectName) {
        objstr = objectName->getName();
    }
    addUAVObject(objstr, reloadGroups);
}

/**
 * Add an UAVObject field to widget relation to the management system
 * @param object name of the object to add
 * @param field name of the field to add
 * @param widget pointer to the widget whitch will display/define the field value
 * @param index index of the field element to add to this relation
 */
void ConfigTaskWidget::addWidgetBinding(QString object, QString field, QWidget *widget, QString index)
{
    UAVObject *obj = NULL;
    UAVObjectField *_field = NULL;

    obj    = getObject(QString(object));
    Q_ASSERT(obj);
    _field = obj->getField(QString(field));
    Q_ASSERT(_field);
    addWidgetBinding(object, field, widget, _field->getElementNames().indexOf(index));
}

void ConfigTaskWidget::addWidgetBinding(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString index)
{
    QString objstr;
    QString fieldstr;

    if (obj) {
        objstr = obj->getName();
    }
    if (field) {
        fieldstr = field->getName();
    }
    addWidgetBinding(objstr, fieldstr, widget, index);
}
/**
 * Add a UAVObject field to widget relation to the management system
 * @param object name of the object to add
 * @param field name of the field to add
 * @param widget pointer to the widget whitch will display/define the field value
 * @param element name of the element of the field element to add to this relation
 * @param scale scale value of this relation
 * @param isLimited bool to signal if this widget contents is limited in value
 * @param defaultReloadGroups default and reload groups this relation belongs to
 * @param instID instance ID of the object used on this relation
 */
void ConfigTaskWidget::addWidgetBinding(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    UAVObject *obj = getObject(QString(object), instID);

    Q_ASSERT(obj);
    UAVObjectField *_field;
    int index = 0;
    if (!field.isEmpty() && obj) {
        _field = obj->getField(QString(field));
        if (!element.isEmpty()) {
            index = _field->getElementNames().indexOf(QString(element));
        }
    }
    addWidgetBinding(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID);
}

void ConfigTaskWidget::addWidgetBinding(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    QString objstr;
    QString fieldstr;

    if (obj) {
        objstr = obj->getName();
    }
    if (field) {
        fieldstr = field->getName();
    }
    addWidgetBinding(objstr, fieldstr, widget, element, scale, isLimited, defaultReloadGroups, instID);
}

void ConfigTaskWidget::addWidgetBinding(UAVObject *obj, UAVObjectField *field, QWidget *widget, int index, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    QString objstr;
    QString fieldstr;

    if (obj) {
        objstr = obj->getName();
    }
    if (field) {
        fieldstr = field->getName();
    }
    addWidgetBinding(objstr, fieldstr, widget, index, scale, isLimited, defaultReloadGroups, instID);
}

/**
 * Add an UAVObject field to widget relation to the management system
 * @param object name of the object to add
 * @param field name of the field to add
 * @param widget pointer to the widget whitch will display/define the field value
 * @param index index of the element of the field to add to this relation
 * @param scale scale value of this relation
 * @param isLimited bool to signal if this widget contents is limited in value
 * @param defaultReloadGroups default and reload groups this relation belongs to
 * @param instID instance ID of the object used on this relation
 */
void ConfigTaskWidget::addWidgetBinding(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    if (addShadowWidgetBinding(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID)) {
        return;
    }

    UAVObject *obj = NULL;
    UAVObjectField *_field = NULL;
    if (!object.isEmpty()) {
        obj = getObject(QString(object), instID);
        Q_ASSERT(obj);
        m_updatedObjects.insert(obj, true);
        connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectUpdated(UAVObject *)));
        connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection);
    }

    if (!field.isEmpty() && obj) {
        _field = obj->getField(QString(field));
    }

    WidgetBinding *binding = new WidgetBinding(widget, obj, _field, index, scale, isLimited);
    m_widgetBindings.append(binding);

    if (obj && m_saveButton) {
        m_saveButton->addObject((UAVDataObject *)obj);
    }

    if (!widget) {
        if (defaultReloadGroups && obj) {
            foreach(int i, *defaultReloadGroups) {
                if (this->m_reloadGroups.contains(i)) {
                    this->m_reloadGroups.value(i)->append(binding);
                } else {
                    this->m_reloadGroups.insert(i, new QList<WidgetBinding *>());
                    this->m_reloadGroups.value(i)->append(binding);
                }
            }
        }
    } else {
        connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
        if (defaultReloadGroups) {
            addWidgetToReloadGroups(widget, defaultReloadGroups);
        }
        m_shadowBindings.insert(widget, binding);
        loadWidgetLimits(widget, _field, index, isLimited, scale);
    }
}

/**
 * destructor
 */
ConfigTaskWidget::~ConfigTaskWidget()
{
    if (m_saveButton) {
        delete m_saveButton;
    }
    foreach(QList<WidgetBinding *> *reloadGroup, m_reloadGroups.values()) {
        if (reloadGroup) {
            delete reloadGroup;
        }
    }
    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding) {
            delete binding;
        }
    }
    if (m_realtimeUpdateTimer) {
        delete m_realtimeUpdateTimer;
        m_realtimeUpdateTimer = NULL;
    }
}

void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
{
    // saveObjectToSD is now handled by the UAVUtils plugin in one
    // central place (and one central queue)
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();

    utilMngr->saveObjectToSD(obj);
}

/**
 * Util function to get a pointer to the object manager
 * @return pointer to the UAVObjectManager
 */
UAVObjectManager *ConfigTaskWidget::getObjectManager()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();

    Q_ASSERT(objMngr);
    return objMngr;
}
/**
 * Utility function which calculates the Mean value of a list of values
 * @param list list of double values
 * @returns Mean value of the list of parameter values
 */
double ConfigTaskWidget::listMean(QList<double> list)
{
    double accum = 0;

    for (int i = 0; i < list.size(); i++) {
        accum += list[i];
    }
    return accum / list.size();
}

/**
 * Utility function which calculates the Variance value of a list of values
 * @param list list of double values
 * @returns Variance of the list of parameter values
 */
double ConfigTaskWidget::listVar(QList<double> list)
{
    double mean_accum = 0;
    double var_accum  = 0;
    double mean;

    for (int i = 0; i < list.size(); i++) {
        mean_accum += list[i];
    }
    mean = mean_accum / list.size();

    for (int i = 0; i < list.size(); i++) {
        var_accum += (list[i] - mean) * (list[i] - mean);
    }

    // Use unbiased estimator
    return var_accum / (list.size() - 1);
}

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

void ConfigTaskWidget::onAutopilotDisconnect()
{
    m_isConnected = false;
    enableControls(false);
    invalidateObjects();
}

void ConfigTaskWidget::forceConnectedState() // dynamic widgets don't recieve the connected signal. This should be called instead.
{
    m_isConnected = true;
    setDirty(false);
}

void ConfigTaskWidget::onAutopilotConnect()
{
    if (m_objectUtilManager) {
        m_currentBoardId = m_objectUtilManager->getBoardModel(); // TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
    }
    invalidateObjects();
    m_isConnected = true;
    foreach(WidgetBinding * binding, m_widgetBindings) {
        loadWidgetLimits(binding->widget(), binding->field(), binding->index(), binding->isLimited(), binding->scale());
    }
    setDirty(false);
    enableControls(true);
    refreshWidgetsValues();
}
/**
 * SLOT Function used to populate the widgets with the initial values
 * Overwrite this if you need to change the default behavior
 */
void ConfigTaskWidget::populateWidgets()
{
    bool dirtyBack = m_isDirty;
    emit populateWidgetsRequested();

    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->object() != NULL && binding->field() != NULL && binding->widget() != NULL) {
            setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
        }
    }
    setDirty(dirtyBack);
}
/**
 * SLOT function used to refresh the widgets contents of the widgets with relation to
 * object field added to the framework pool
 * Overwrite this if you need to change the default behavior
 */
void ConfigTaskWidget::refreshWidgetsValues(UAVObject *obj)
{
    if (!m_isWidgetUpdatesAllowed) {
        return;
    }

    bool dirtyBack = m_isDirty;
    emit refreshWidgetsValuesRequested();
    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->object() == obj && binding->field() != NULL && binding->widget() != NULL) {
            setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
        }
    }
    setDirty(dirtyBack);
}

/**
 * SLOT function used to update the uavobject fields from widgets with relation to
 * object field added to the framework pool
 * Overwrite this if you need to change the default behavior
 */
void ConfigTaskWidget::updateObjectsFromWidgets()
{
    emit updateObjectsFromWidgetsRequested();

    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->object() != NULL && binding->field() != NULL) {
            setFieldFromWidget(binding->widget(), binding->field(), binding->index(), binding->scale());
        }
    }
}

/**
 * SLOT function used handle help button presses
 * Overwrite this if you need to change the default behavior
 */
void ConfigTaskWidget::helpButtonPressed()
{
    QString url = m_helpButtons.value((QPushButton *)sender(), QString());

    if (!url.isEmpty()) {
        QDesktopServices::openUrl(QUrl(url, QUrl::StrictMode));
    }
}

/**
 * Add update and save buttons to the form
 * multiple buttons can be added for the same function
 * @param update pointer to the update button
 * @param save pointer to the save button
 */
void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *save)
{
    if (!m_saveButton) {
        m_saveButton = new SmartSaveButton(this);
        connect(m_saveButton, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
        connect(m_saveButton, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty()));
        connect(m_saveButton, SIGNAL(beginOp()), this, SLOT(disableObjectUpdates()));
        connect(m_saveButton, SIGNAL(endOp()), this, SLOT(enableObjectUpdates()));
    }
    if (update && save) {
        m_saveButton->addButtons(save, update);
    } else if (update) {
        m_saveButton->addApplyButton(update);
    } else if (save) {
        m_saveButton->addSaveButton(save);
    }
    if (m_widgetBindings.count() > 0) {
        foreach(WidgetBinding * binding, m_widgetBindings) {
            m_saveButton->addObject((UAVDataObject *)binding->object());
        }
    }
    updateEnableControls();
}

/**
 * SLOT function used the enable or disable the SAVE, UPLOAD and RELOAD buttons
 * @param enable set to true to enable the buttons or false to disable them
 * @param field name of the field to add
 */
void ConfigTaskWidget::enableControls(bool enable)
{
    if (m_saveButton) {
        m_saveButton->enableControls(enable);
    }

    foreach(QPushButton * button, m_reloadButtons) {
        button->setEnabled(enable);
    }

    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->widget()) {
            binding->widget()->setEnabled(enable);
            foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
                shadow->widget()->setEnabled(enable);
            }
        }
    }
}

bool ConfigTaskWidget::shouldObjectBeSaved(UAVObject *object)
{
    Q_UNUSED(object);
    return true;
}

/**
 * SLOT function called when on of the widgets contents added to the framework changes
 */
void ConfigTaskWidget::forceShadowUpdates()
{
    foreach(WidgetBinding * binding, m_widgetBindings) {
        foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
            disconnectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
            checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(),
                               getVariantFromWidget(binding->widget(), binding->scale(), binding->units()), shadow->scale());
            setWidgetFromVariant(shadow->widget(), getVariantFromWidget(binding->widget(), binding->scale(), binding->units()), shadow->scale());
            emit widgetContentsChanged(shadow->widget());
            connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
        }
    }
    setDirty(true);
}

/**
 * SLOT function called when one of the widgets contents added to the framework changes
 */
void ConfigTaskWidget::widgetsContentsChanged()
{
    QWidget *emitter = ((QWidget *)sender());
    emit widgetContentsChanged(emitter);
    double scale;
    WidgetBinding *binding = m_shadowBindings.value(emitter, NULL);

    if (binding) {
        if (binding->widget() == emitter) {
            scale = binding->scale();
            checkWidgetsLimits(emitter, binding->field(), binding->index(), binding->isLimited(),
                               getVariantFromWidget(emitter, binding->scale(), binding->units()), binding->scale());
        } else {
            foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
                if (shadow->widget() == emitter) {
                    scale = shadow->scale();
                    checkWidgetsLimits(emitter, binding->field(), binding->index(), shadow->isLimited(),
                                       getVariantFromWidget(emitter, scale, binding->units()), scale);
                }
            }
        }
        if (binding->widget() != emitter) {
            disconnectWidgetUpdatesToSlot(binding->widget(), SLOT(widgetsContentsChanged()));

            checkWidgetsLimits(binding->widget(), binding->field(), binding->index(), binding->isLimited(),
                               getVariantFromWidget(emitter, scale, binding->units()), binding->scale());
            setWidgetFromVariant(binding->widget(), getVariantFromWidget(emitter, scale, binding->units()), binding->scale());
            emit widgetContentsChanged(binding->widget());

            connectWidgetUpdatesToSlot(binding->widget(), SLOT(widgetsContentsChanged()));
        }
        foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
            if (shadow->widget() != emitter) {
                disconnectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));

                checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(),
                                   getVariantFromWidget(emitter, scale, binding->units()), shadow->scale());
                setWidgetFromVariant(shadow->widget(), getVariantFromWidget(emitter, scale, binding->units()), shadow->scale());
                emit widgetContentsChanged(shadow->widget());

                connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
            }
        }
    }
    if (m_saveButton) {
        m_saveButton->resetIcons();
    }
    setDirty(true);
}

/**
 * SLOT function used clear the forms dirty status flag
 */
void ConfigTaskWidget::clearDirty()
{
    setDirty(false);
}
/**
 * Sets the form's dirty status flag
 * @param value
 */
void ConfigTaskWidget::setDirty(bool value)
{
    m_isDirty = value;
}
/**
 * Checks if the form is dirty (unsaved changes)
 * @return true if the form has unsaved changes
 */
bool ConfigTaskWidget::isDirty()
{
    if (m_isConnected) {
        return m_isDirty;
    } else {
        return false;
    }
}
/**
 * SLOT function used to disable widget contents changes when related object field changes
 */
void ConfigTaskWidget::disableObjectUpdates()
{
    m_isWidgetUpdatesAllowed = false;
    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->object()) {
            disconnect(binding->object(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)));
        }
    }
}

/**
 * SLOT function used to enable widget contents changes when related object field changes
 */
void ConfigTaskWidget::enableObjectUpdates()
{
    m_isWidgetUpdatesAllowed = true;
    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (binding->object()) {
            connect(binding->object(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection);
        }
    }
}

/**
 * Called when an uav object is updated
 * @param obj pointer to the object whitch has just been updated
 */
void ConfigTaskWidget::objectUpdated(UAVObject *object)
{
    m_updatedObjects[object] = true;
}

/**
 * Checks if all objects added to the pool have already been updated
 * @return true if all objects added to the pool have already been updated
 */
bool ConfigTaskWidget::allObjectsUpdated()
{
    bool result = true;

    foreach(UAVObject * object, m_updatedObjects.keys()) {
        result = result & m_updatedObjects[object];
    }
    return result;
}

/**
 * Adds a new help button
 * @param button pointer to the help button
 * @param url url to open in the browser when the help button is pressed
 */
void ConfigTaskWidget::addHelpButton(QPushButton *button, QString url)
{
    m_helpButtons.insert(button, url);
    connect(button, SIGNAL(clicked()), this, SLOT(helpButtonPressed()));
}
/**
 * Invalidates all the uav objects "is updated" flag
 */
void ConfigTaskWidget::invalidateObjects()
{
    foreach(UAVObject * obj, m_updatedObjects.keys()) {
        m_updatedObjects[obj] = false;
    }
}
/**
 * SLOT call this to apply changes to uav objects
 */
void ConfigTaskWidget::apply()
{
    if (m_saveButton) {
        m_saveButton->apply();
    }
}
/**
 * SLOT call this to save changes to uav objects
 */
void ConfigTaskWidget::save()
{
    if (m_saveButton) {
        m_saveButton->save();
    }
}
/**
 * Adds a new shadow widget
 * shadow widgets are widgets whitch have a relation to an object already present on the framework pool i.e. already added trough addUAVObjectToWidgetRelation
 * This function doesn't have to be used directly, addUAVObjectToWidgetRelation will call it if a previous relation exhists.
 * @return returns false if the shadow widget relation failed to be added (no previous relation exhisted)
 */
bool ConfigTaskWidget::addShadowWidgetBinding(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,
                                       QList<int> *defaultReloadGroups, quint32 instID)
{
    foreach(WidgetBinding * binding, m_widgetBindings) {
        if (!binding->object() || !binding->widget() || !binding->field()) {
            continue;
        }
        if (binding->object()->getName() == object &&
                binding->field()->getName() == field &&
                binding->index() == index &&
                binding->object()->getInstID() == instID) {

            binding->addShadow(widget, scale, isLimited);

            m_shadowBindings.insert(widget, binding);
            connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
            if (defaultReloadGroups) {
                addWidgetToReloadGroups(widget, defaultReloadGroups);
            }
            loadWidgetLimits(widget, binding->field(), binding->index(), isLimited, scale);
            return true;
        }
    }
    return false;
}

/**
 * Auto loads widgets based on the Dynamic property named "objrelation"
 * Check the wiki for more information
 */
void ConfigTaskWidget::autoLoadWidgets()
{
    QPushButton *saveButtonWidget  = NULL;
    QPushButton *applyButtonWidget = NULL;

    foreach(QWidget * widget, this->findChildren<QWidget *>()) {
        QVariant info = widget->property("objrelation");

        if (info.isValid()) {
            bindingStruct uiRelation;
            uiRelation.buttonType = none;
            uiRelation.scale = 1;
            uiRelation.element    = QString();
            uiRelation.haslimits  = false;
            foreach(QString str, info.toStringList()) {
                QString prop  = str.split(":").at(0);
                QString value = str.split(":").at(1);

                if (prop == "objname") {
                    uiRelation.objname = value;
                } else if (prop == "fieldname") {
                    uiRelation.fieldname = value;
                } else if (prop == "element") {
                    uiRelation.element = value;
                } else if (prop == "scale") {
                    if (value == "null") {
                        uiRelation.scale = 1;
                    } else {
                        uiRelation.scale = value.toDouble();
                    }
                } else if (prop == "haslimits") {
                    if (value == "yes") {
                        uiRelation.haslimits = true;
                    } else {
                        uiRelation.haslimits = false;
                    }
                } else if (prop == "button") {
                    if (value == "save") {
                        uiRelation.buttonType = save_button;
                    } else if (value == "apply") {
                        uiRelation.buttonType = apply_button;
                    } else if (value == "reload") {
                        uiRelation.buttonType = reload_button;
                    } else if (value == "default") {
                        uiRelation.buttonType = default_button;
                    } else if (value == "help") {
                        uiRelation.buttonType = help_button;
                    }
                } else if (prop == "buttongroup") {
                    foreach(QString s, value.split(",")) {
                        uiRelation.buttonGroup.append(s.toInt());
                    }
                } else if (prop == "url") {
                    uiRelation.url = str.mid(str.indexOf(":") + 1);
                }
            }
            if (!uiRelation.buttonType == none) {
                QPushButton *button = NULL;
                switch (uiRelation.buttonType) {
                case save_button:
                    saveButtonWidget = qobject_cast<QPushButton *>(widget);
                    if (saveButtonWidget) {
                        addApplySaveButtons(NULL, saveButtonWidget);
                    }
                    break;
                case apply_button:
                    applyButtonWidget = qobject_cast<QPushButton *>(widget);
                    if (applyButtonWidget) {
                        addApplySaveButtons(applyButtonWidget, NULL);
                    }
                    break;
                case default_button:
                    button = qobject_cast<QPushButton *>(widget);
                    if (button) {
                        addDefaultButton(button, uiRelation.buttonGroup.at(0));
                    }
                    break;
                case reload_button:
                    button = qobject_cast<QPushButton *>(widget);
                    if (button) {
                        addReloadButton(button, uiRelation.buttonGroup.at(0));
                    }
                    break;
                case help_button:
                    button = qobject_cast<QPushButton *>(widget);
                    if (button) {
                        addHelpButton(button, uiRelation.url);
                    }
                    break;

                default:
                    break;
                }
            } else {
                QWidget *wid = qobject_cast<QWidget *>(widget);
                if (wid) {
                    addWidgetBinding(uiRelation.objname, uiRelation.fieldname, wid, uiRelation.element, uiRelation.scale, uiRelation.haslimits, &uiRelation.buttonGroup);
                }
            }
        }
    }
    refreshWidgetsValues();
    forceShadowUpdates();
    foreach(WidgetBinding *binding, m_widgetBindings) {
        if (binding->widget()) {
            qDebug() << "Binding:" << binding->widget()->objectName();
        }
        foreach(ShadowWidgetBinding *shadow, binding->shadows()) {
            if (shadow->widget()) {
                qDebug() << "  Shadow" << shadow->widget()->objectName();
            }
        }
    }
}

/**
 * Adds a widget to a list of default/reload groups
 * default/reload groups are groups of widgets to be set with default or reloaded (values from persistent memory) when a defined button is pressed
 * @param widget pointer to the widget to be added to the groups
 * @param groups list of the groups on which to add the widget
 */
void ConfigTaskWidget::addWidgetToReloadGroups(QWidget *widget, QList<int> *groups)
{
    foreach(WidgetBinding *binding, m_widgetBindings) {
        bool addBinding = false;

        if (binding->widget() == widget) {
            addBinding = true;
        } else {
            foreach(ShadowWidgetBinding *shadow, binding->shadows()) {
                if (shadow->widget() == widget) {
                    addBinding = true;
                }
            }
        }
        if (addBinding) {
            foreach(int i, *groups) {
                if (m_reloadGroups.contains(i)) {
                    m_reloadGroups.value(i)->append(binding);
                } else {
                    m_reloadGroups.insert(i, new QList<WidgetBinding *>());
                    m_reloadGroups.value(i)->append(binding);
                }
            }
        }
    }
}

/**
 * Adds a button to a default group
 * @param button pointer to the default button
 * @param buttongroup number of the group
 */
void ConfigTaskWidget::addDefaultButton(QPushButton *button, int buttonGroup)
{
    button->setProperty("group", buttonGroup);
    connect(button, SIGNAL(clicked()), this, SLOT(defaultButtonClicked()));
}

/**
 * Adds a button to a reload group
 * @param button pointer to the reload button
 * @param buttongroup number of the group
 */
void ConfigTaskWidget::addReloadButton(QPushButton *button, int buttonGroup)
{
    button->setProperty("group", buttonGroup);
    m_reloadButtons.append(button);
    connect(button, SIGNAL(clicked()), this, SLOT(reloadButtonClicked()));
}

/**
 * Called when a default button is clicked
 */
void ConfigTaskWidget::defaultButtonClicked()
{
    int group = sender()->property("group").toInt();
    emit defaultRequested(group);

    QList<WidgetBinding *> *bindings = m_reloadGroups.value(group);
    foreach(WidgetBinding * binding, *bindings) {
        if (!binding->object() || !binding->field()) {
            continue;
        }
        UAVDataObject *temp = ((UAVDataObject *)binding->object())->dirtyClone();
        setWidgetFromField(binding->widget(), temp->getField(binding->field()->getName()), binding->index(), binding->scale(), binding->isLimited());
    }
}

/**
 * Called when a reload button is clicked
 */
void ConfigTaskWidget::reloadButtonClicked()
{
    if (m_realtimeUpdateTimer) {
        return;
    }
    int group = sender()->property("group").toInt();
    QList<WidgetBinding *> *bindings = m_reloadGroups.value(group, NULL);
    if (!bindings) {
        return;
    }
    ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
    m_realtimeUpdateTimer = new QTimer(this);
    QEventLoop *eventLoop     = new QEventLoop(this);
    connect(m_realtimeUpdateTimer, SIGNAL(timeout()), eventLoop, SLOT(quit()));
    connect(objper, SIGNAL(objectUpdated(UAVObject *)), eventLoop, SLOT(quit()));

    QList<objectComparator> temp;
    foreach(WidgetBinding *binding, *bindings) {
        if (binding->object() != NULL) {
            objectComparator value;
            value.objid     = binding->object()->getObjID();
            value.objinstid = binding->object()->getInstID();
            if (temp.contains(value)) {
                continue;
            } else {
                temp.append(value);
            }
            ObjectPersistence::DataFields data;
            data.Operation  = ObjectPersistence::OPERATION_LOAD;
            data.Selection  = ObjectPersistence::SELECTION_SINGLEOBJECT;
            data.ObjectID   = binding->object()->getObjID();
            data.InstanceID = binding->object()->getInstID();
            objper->setData(data);
            objper->updated();
            m_realtimeUpdateTimer->start(500);
            eventLoop->exec();
            if (m_realtimeUpdateTimer->isActive()) {
                binding->object()->requestUpdate();
                if (binding->widget()) {
                    setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
                }
            }
            m_realtimeUpdateTimer->stop();
        }
    }
    if (eventLoop) {
        delete eventLoop;
        eventLoop = NULL;
    }
    if (m_realtimeUpdateTimer) {
        delete m_realtimeUpdateTimer;
        m_realtimeUpdateTimer = NULL;
    }
}

/**
 * Connects widgets "contents changed" signals to a slot
 */
void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget *widget, const char *function)
{
    if (!widget) {
        return;
    }
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        connect(cb, SIGNAL(currentIndexChanged(int)), this, function);
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        connect(cb, SIGNAL(valueChanged(int)), this, function);
    } else if (MixerCurveWidget * cb = qobject_cast<MixerCurveWidget *>(widget)) {
        connect(cb, SIGNAL(curveUpdated()), this, function);
    } else if (QTableWidget * cb = qobject_cast<QTableWidget *>(widget)) {
        connect(cb, SIGNAL(cellChanged(int, int)), this, function);
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        connect(cb, SIGNAL(valueChanged(int)), this, function);
    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
        connect(cb, SIGNAL(valueChanged(double)), this, function);
    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
        connect(cb, SIGNAL(stateChanged(int)), this, function);
    } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {
        connect(cb, SIGNAL(clicked()), this, function);
    } else {
        qDebug() << __FUNCTION__ << "widget binding not implemented" << widget->metaObject()->className();
    }
}

/**
 * Disconnects widgets "contents changed" signals to a slot
 */
void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function)
{
    if (!widget) {
        return;
    }
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        disconnect(cb, SIGNAL(currentIndexChanged(int)), this, function);
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        disconnect(cb, SIGNAL(valueChanged(int)), this, function);
    } else if (MixerCurveWidget * cb = qobject_cast<MixerCurveWidget *>(widget)) {
        disconnect(cb, SIGNAL(curveUpdated()), this, function);
    } else if (QTableWidget * cb = qobject_cast<QTableWidget *>(widget)) {
        disconnect(cb, SIGNAL(cellChanged(int, int)), this, function);
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        disconnect(cb, SIGNAL(valueChanged(int)), this, function);
    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
        disconnect(cb, SIGNAL(valueChanged(double)), this, function);
    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
        disconnect(cb, SIGNAL(stateChanged(int)), this, function);
    } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {
        disconnect(cb, SIGNAL(clicked()), this, function);
    } else {
        qDebug() << __FUNCTION__ << "widget binding not implemented" << widget->metaObject()->className();
    }
}

/**
 * Sets a widget value from an UAVObject field
 * @param widget pointer for the widget to set
 * @param field pointer to the UAVObject field to use
 * @param index index of the element to use
 * @param scale scale to be used on the assignement
 * @return returns true if the assignement was successfull
 */
bool ConfigTaskWidget::setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale)
{
    if (!widget || !field) {
        return false;
    }
    QVariant ret = getVariantFromWidget(widget, scale, field->getUnits());
    if (ret.isValid()) {
        field->setValue(ret, index);
        return true;
    }
    {
        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
        return false;
    }
}

/**
 * Gets a variant from a widget
 * @param widget pointer to the widget from where to get the value
 * @param scale scale to be used on the assignement
 * @return returns the value of the widget times the scale
 */
QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, QString units)
{
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        return (QString)cb->currentText();
    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
        return (double)(cb->value() * scale);
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        return (double)(cb->value() * scale);
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        return (double)(cb->value() * scale);
    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
        return (QString)(cb->isChecked() ? "TRUE" : "FALSE");
    } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
        QString value = (QString)cb->displayText();
        if (units == "hex") {
            bool ok;
            return value.toUInt(&ok, 16);
        } else {
            return value;
        }
    } else {
        return QVariant();
    }
}

/**
 * Sets a widget from a variant
 * @param widget pointer for the widget to set
 * @param value value to be used on the assignement
 * @param scale scale to be used on the assignement
 * @param units the units for the value
 * @return returns true if the assignement was successfull
 */
bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units)
{
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        cb->setCurrentIndex(cb->findText(value.toString()));
        return true;
    } else if (QLabel * cb = qobject_cast<QLabel *>(widget)) {
        if (scale == 0) {
            cb->setText(value.toString());
        } else {
            cb->setText(QString::number((value.toDouble() / scale)));
        }
        return true;
    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
        cb->setValue((double)(value.toDouble() / scale));
        return true;
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        cb->setValue((int)qRound(value.toDouble() / scale));
        return true;
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        cb->setValue((int)qRound(value.toDouble() / scale));
        return true;
    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
        bool bvalue = value.toString() == "TRUE";
        cb->setChecked(bvalue);
        return true;
    } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
        if ((scale == 0) || (scale == 1)) {
            if (units == "hex") {
                cb->setText(QString::number(value.toUInt(), 16).toUpper());
            } else {
                cb->setText(value.toString());
            }
        } else {
            cb->setText(QString::number((value.toDouble() / scale)));
        }
        return true;
    } else {
        return false;
    }
}

/**
 * Sets a widget from a variant
 * @param widget pointer for the widget to set
 * @param value value to be used on the assignement
 * @param scale scale to be used on the assignement
 * @return returns true if the assignement was successfull
 */
bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale)
{
    return setWidgetFromVariant(widget, value, scale, QString(""));
}

/**
 * Sets a widget from a UAVObject field
 * @param widget pointer to the widget to set
 * @param field pointer to the field from where to get the value from
 * @param index index of the element to use
 * @param scale scale to be used on the assignement
 * @param hasLimits set to true if you want to limit the values (check wiki)
 * @return returns true if the assignement was successfull
 */
bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits)
{
    if (!widget || !field) {
        return false;
    }
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        if (cb->count() == 0) {
            loadWidgetLimits(cb, field, index, hasLimits, scale);
        }
    }
    QVariant var = field->getValue(index);
    checkWidgetsLimits(widget, field, index, hasLimits, var, scale);
    bool ret     = setWidgetFromVariant(widget, var, scale, field->getUnits());
    if (ret) {
        return true;
    } else {
        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
        return false;
    }
}

void ConfigTaskWidget::checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale)
{
    if (!hasLimits) {
        return;
    }
    if (!field->isWithinLimits(value, index, m_currentBoardId)) {
        if (!widget->property("styleBackup").isValid()) {
            widget->setProperty("styleBackup", widget->styleSheet());
        }
        widget->setStyleSheet(m_outOfLimitsStyle);
        widget->setProperty("wasOverLimits", (bool)true);
        if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
            if (cb->findText(value.toString()) == -1) {
                cb->addItem(value.toString());
            }
        } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
            if ((double)(value.toDouble() / scale) > cb->maximum()) {
                cb->setMaximum((double)(value.toDouble() / scale));
            } else if ((double)(value.toDouble() / scale) < cb->minimum()) {
                cb->setMinimum((double)(value.toDouble() / scale));
            }
        } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
            if ((int)qRound(value.toDouble() / scale) > cb->maximum()) {
                cb->setMaximum((int)qRound(value.toDouble() / scale));
            } else if ((int)qRound(value.toDouble() / scale) < cb->minimum()) {
                cb->setMinimum((int)qRound(value.toDouble() / scale));
            }
        } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
            if ((int)qRound(value.toDouble() / scale) > cb->maximum()) {
                cb->setMaximum((int)qRound(value.toDouble() / scale));
            } else if ((int)qRound(value.toDouble() / scale) < cb->minimum()) {
                cb->setMinimum((int)qRound(value.toDouble() / scale));
            }
        }
    } else if (widget->property("wasOverLimits").isValid()) {
        if (widget->property("wasOverLimits").toBool()) {
            widget->setProperty("wasOverLimits", (bool)false);
            if (widget->property("styleBackup").isValid()) {
                QString style = widget->property("styleBackup").toString();
                widget->setStyleSheet(style);
            }
            loadWidgetLimits(widget, field, index, hasLimits, scale);
        }
    }
}

void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double scale)
{
    if (!widget || !field) {
        return;
    }
    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
        cb->clear();
        QStringList option = field->getOptions();
        if (hasLimits) {
            foreach(QString str, option) {
                if (field->isWithinLimits(str, index, m_currentBoardId)) {
                    cb->addItem(str);
                }
            }
        } else {
            cb->addItems(option);
        }
    }
    if (!hasLimits) {
        return;
    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
        if (field->getMaxLimit(index).isValid()) {
            cb->setMaximum((double)(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale));
        }
        if (field->getMinLimit(index, m_currentBoardId).isValid()) {
            cb->setMinimum((double)(field->getMinLimit(index, m_currentBoardId).toDouble() / scale));
        }
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        if (field->getMaxLimit(index, m_currentBoardId).isValid()) {
            cb->setMaximum((int)qRound(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale));
        }
        if (field->getMinLimit(index, m_currentBoardId).isValid()) {
            cb->setMinimum((int)qRound(field->getMinLimit(index, m_currentBoardId).toDouble() / scale));
        }
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        if (field->getMaxLimit(index, m_currentBoardId).isValid()) {
            cb->setMaximum((int)qRound(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale));
        }
        if (field->getMinLimit(index, m_currentBoardId).isValid()) {
            cb->setMinimum((int)(field->getMinLimit(index, m_currentBoardId).toDouble() / scale));
        }
    }
}

UAVObject *ConfigTaskWidget::getObject(const QString name, quint32 instId)
{
    return m_pluginManager->getObject<UAVObjectManager>()->getObject(name, instId);
}

void ConfigTaskWidget::updateEnableControls()
{
    TelemetryManager *telMngr = m_pluginManager->getObject<TelemetryManager>();

    Q_ASSERT(telMngr);
    enableControls(telMngr->isConnected());
}

void ConfigTaskWidget::disableMouseWheelEvents()
{
    // Disable mouse wheel events
    foreach(QSpinBox * sp, findChildren<QSpinBox *>()) {
        sp->installEventFilter(this);
    }
    foreach(QDoubleSpinBox * sp, findChildren<QDoubleSpinBox *>()) {
        sp->installEventFilter(this);
    }
    foreach(QSlider * sp, findChildren<QSlider *>()) {
        sp->installEventFilter(this);
    }
    foreach(QComboBox * sp, findChildren<QComboBox *>()) {
        sp->installEventFilter(this);
    }
}

bool ConfigTaskWidget::eventFilter(QObject *obj, QEvent *evt)
{
    // Filter all wheel events, and ignore them
    if (evt->type() == QEvent::Wheel &&
        (qobject_cast<QAbstractSpinBox *>(obj) ||
         qobject_cast<QComboBox *>(obj) ||
         qobject_cast<QAbstractSlider *>(obj))) {
        evt->ignore();
        return true;
    }
    return QWidget::eventFilter(obj, evt);
}

WidgetBinding::WidgetBinding(QWidget *widget, UAVObject *object, UAVObjectField *field, int index, double scale, bool isLimited) :
    ShadowWidgetBinding(widget, scale, isLimited)
{
    m_object = object;
    m_field  = field;
    m_index  = index;
}

WidgetBinding::~WidgetBinding()
{
}

QString WidgetBinding::units() const
{
    if(m_field) {
        return m_field->getUnits();
    }
    return QString("");
}

UAVObject *WidgetBinding::object() const
{
    return m_object;
}

UAVObjectField *WidgetBinding::field() const
{
    return m_field;
}

int WidgetBinding::index() const
{
    return m_index;
}

QList<ShadowWidgetBinding *> WidgetBinding::shadows() const
{
    return m_shadows;
}

void WidgetBinding::addShadow(QWidget *widget, int scale, bool isLimited)
{
    ShadowWidgetBinding *shadow = NULL;

    // Prefer anything else to QLabel and prefer QDoubleSpinBox to anything else
    if ((qobject_cast<QLabel *>(m_widget) && !qobject_cast<QLabel *>(widget)) ||
        (!qobject_cast<QDoubleSpinBox *>(m_widget) && qobject_cast<QDoubleSpinBox *>(widget))) {
        shadow      = new ShadowWidgetBinding(m_widget, m_scale, m_isLimited);
        m_isLimited = isLimited;
        m_scale     = scale;
        m_widget    = widget;
    } else {
        shadow = new ShadowWidgetBinding(widget, scale, isLimited);
    }
    m_shadows.append(shadow);
}

ShadowWidgetBinding::ShadowWidgetBinding(QWidget *widget, double scale, bool isLimited)
{
    m_widget    = widget;
    m_scale     = scale;
    m_isLimited = isLimited;
}

ShadowWidgetBinding::~ShadowWidgetBinding()
{
}

QWidget *ShadowWidgetBinding::widget() const
{
    return m_widget;
}

double ShadowWidgetBinding::scale() const
{
    return m_scale;
}

bool ShadowWidgetBinding::isLimited() const
{
    return m_isLimited;
}