/**
 ******************************************************************************
 *
 * @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 <QtGui/QWidget>
#include <QtGui/QLineEdit>
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"

/**
 * Constructor
 */
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent), isConnected(false), allowWidgetUpdates(true), smartsave(NULL), dirty(false), outOfLimitsStyle("background-color: rgb(255, 0, 0);"), timeOut(NULL)
{
    pm = ExtensionSystem::PluginManager::instance();
    objManager = pm->getObject<UAVObjectManager>();
    TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
    utilMngr   = pm->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 = pm->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)
{
    addUAVObjectToWidgetRelation("", "", 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)
{
    addUAVObjectToWidgetRelation(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::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index)
{
    UAVObject *obj = NULL;
    UAVObjectField *_field = NULL;

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

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

    if (obj) {
        objstr = obj->getName();
    }
    if (field) {
        fieldstr = field->getName();
    }
    addUAVObjectToWidgetRelation(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::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    UAVObject *obj = objManager->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));
        }
    }
    addUAVObjectToWidgetRelation(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID);
}

void ConfigTaskWidget::addUAVObjectToWidgetRelation(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();
    }
    addUAVObjectToWidgetRelation(objstr, fieldstr, widget, element, scale, isLimited, defaultReloadGroups, instID);
}
void ConfigTaskWidget::addUAVObjectToWidgetRelation(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();
    }
    addUAVObjectToWidgetRelation(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::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
{
    if (addShadowWidget(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID)) {
        return;
    }

    UAVObject *obj = NULL;
    UAVObjectField *_field = NULL;
    if (!object.isEmpty()) {
        obj = objManager->getObject(QString(object), instID);
        Q_ASSERT(obj);
        objectUpdates.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));
    }
    objectToWidget *ow = new objectToWidget();
    ow->field     = _field;
    ow->object    = obj;
    ow->widget    = widget;
    ow->index     = index;
    ow->scale     = scale;
    ow->isLimited = isLimited;
    objOfInterest.append(ow);
    if (obj) {
        if (smartsave) {
            smartsave->addObject((UAVDataObject *)obj);
        }
    }
    if (widget == NULL) {
        if (defaultReloadGroups && obj) {
            foreach(int i, *defaultReloadGroups) {
                if (this->defaultReloadGroups.contains(i)) {
                    this->defaultReloadGroups.value(i)->append(ow);
                } else {
                    this->defaultReloadGroups.insert(i, new QList<objectToWidget *>());
                    this->defaultReloadGroups.value(i)->append(ow);
                }
            }
        }
    } else {
        connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
        if (defaultReloadGroups) {
            addWidgetToDefaultReloadGroups(widget, defaultReloadGroups);
        }
        shadowsList.insert(widget, ow);
        loadWidgetLimits(widget, _field, index, isLimited, scale);
    }
}
/**
 * destructor
 */
ConfigTaskWidget::~ConfigTaskWidget()
{
    if (smartsave) {
        delete smartsave;
    }
    foreach(QList<objectToWidget *> *pointer, defaultReloadGroups.values()) {
        if (pointer) {
            delete pointer;
        }
    }
    foreach(objectToWidget * oTw, objOfInterest) {
        if (oTw) {
            delete oTw;
        }
    }
    if (timeOut) {
        delete timeOut;
        timeOut = 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()
{
    isConnected = false;
    enableControls(false);
    invalidateObjects();
}

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

void ConfigTaskWidget::onAutopilotConnect()
{
    if (utilMngr) {
        currentBoard = utilMngr->getBoardModel(); // TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
    }
    invalidateObjects();
    isConnected = true;
    foreach(objectToWidget * ow, objOfInterest) {
        loadWidgetLimits(ow->widget, ow->field, ow->index, ow->isLimited, ow->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 = dirty;
    emit populateWidgetsRequested();

    foreach(objectToWidget * ow, objOfInterest) {
        if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) {
            // do nothing
        } else {
            setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->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 (!allowWidgetUpdates) {
        return;
    }

    bool dirtyBack = dirty;
    emit refreshWidgetsValuesRequested();
    foreach(objectToWidget * ow, objOfInterest) {
        if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) {
            // do nothing
        } else {
            if (ow->object == obj || obj == NULL) {
                setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->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(objectToWidget * ow, objOfInterest) {
        if (ow->object == NULL || ow->field == NULL) {} else {
            setFieldFromWidget(ow->widget, ow->field, ow->index, ow->scale);
        }
    }
}
/**
 * SLOT function used handle help button presses
 * Overwrite this if you need to change the default behavior
 */
void ConfigTaskWidget::helpButtonPressed()
{
    QString url = helpButtonList.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 (!smartsave) {
        smartsave = new smartSaveButton(this);
        connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
        connect(smartsave, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty()));
        connect(smartsave, SIGNAL(beginOp()), this, SLOT(disableObjUpdates()));
        connect(smartsave, SIGNAL(endOp()), this, SLOT(enableObjUpdates()));
    }
    if (update && save) {
        smartsave->addButtons(save, update);
    } else if (update) {
        smartsave->addApplyButton(update);
    } else if (save) {
        smartsave->addSaveButton(save);
    }
    if (objOfInterest.count() > 0) {
        foreach(objectToWidget * oTw, objOfInterest) {
            smartsave->addObject((UAVDataObject *)oTw->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 (smartsave) {
        smartsave->enableControls(enable);
    }

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

    foreach(objectToWidget * ow, objOfInterest) {
        if (ow->widget) {
            ow->widget->setEnabled(enable);
            foreach(shadow * sh, ow->shadowsList) {
                sh->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(objectToWidget * oTw, objOfInterest) {
        foreach(shadow * sh, oTw->shadowsList) {
            disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
            checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
            setWidgetFromVariant(sh->widget, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
            emit widgetContentsChanged((QWidget *)sh->widget);
            connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
        }
    }
    setDirty(true);
}
/**
 * SLOT function called when one of the widgets contents added to the framework changes
 */
void ConfigTaskWidget::widgetsContentsChanged()
{
    emit widgetContentsChanged((QWidget *)sender());
    double scale;
    objectToWidget *oTw = shadowsList.value((QWidget *)sender(), NULL);

    if (oTw) {
        if (oTw->widget == (QWidget *)sender()) {
            scale = oTw->scale;
            checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(),
                                                                                                                 oTw->scale, oTw->getUnits()), oTw->scale);
        } else {
            foreach(shadow * sh, oTw->shadowsList) {
                if (sh->widget == (QWidget *)sender()) {
                    scale = sh->scale;
                    checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(),
                                                                                                                        scale, oTw->getUnits()), scale);
                }
            }
        }
        if (oTw->widget != (QWidget *)sender()) {
            disconnectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged()));
            checkWidgetsLimits(oTw->widget, oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale);
            setWidgetFromVariant(oTw->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale);
            emit widgetContentsChanged((QWidget *)oTw->widget);
            connectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged()));
        }
        foreach(shadow * sh, oTw->shadowsList) {
            if (sh->widget != (QWidget *)sender()) {
                disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
                checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale);
                setWidgetFromVariant(sh->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale);
                emit widgetContentsChanged((QWidget *)sh->widget);
                connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
            }
        }
    }
    if (smartsave) {
        smartsave->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)
{
    dirty = value;
}
/**
 * Checks if the form is dirty (unsaved changes)
 * @return true if the form has unsaved changes
 */
bool ConfigTaskWidget::isDirty()
{
    if (isConnected) {
        return dirty;
    } else {
        return false;
    }
}
/**
 * SLOT function used to disable widget contents changes when related object field changes
 */
void ConfigTaskWidget::disableObjUpdates()
{
    allowWidgetUpdates = false;
    foreach(objectToWidget * obj, objOfInterest) {
        if (obj->object) {
            disconnect(obj->object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)));
        }
    }
}
/**
 * SLOT function used to enable widget contents changes when related object field changes
 */
void ConfigTaskWidget::enableObjUpdates()
{
    allowWidgetUpdates = true;
    foreach(objectToWidget * obj, objOfInterest) {
        if (obj->object) {
            connect(obj->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 *obj)
{
    objectUpdates[obj] = 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()
{
    qDebug() << "ConfigTaskWidge:allObjectsUpdated called";
    bool ret = true;
    foreach(UAVObject * obj, objectUpdates.keys()) {
        ret = ret & objectUpdates[obj];
    }
    qDebug() << "Returned:" << ret;
    return ret;
}
/**
 * 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)
{
    helpButtonList.insert(button, url);
    connect(button, SIGNAL(clicked()), this, SLOT(helpButtonPressed()));
}
/**
 * Invalidates all the uav objects "is updated" flag
 */
void ConfigTaskWidget::invalidateObjects()
{
    foreach(UAVObject * obj, objectUpdates.keys()) {
        objectUpdates[obj] = false;
    }
}
/**
 * SLOT call this to apply changes to uav objects
 */
void ConfigTaskWidget::apply()
{
    if (smartsave) {
        smartsave->apply();
    }
}
/**
 * SLOT call this to save changes to uav objects
 */
void ConfigTaskWidget::save()
{
    if (smartsave) {
        smartsave->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::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,
                                       QList<int> *defaultReloadGroups, quint32 instID)
{
    foreach(objectToWidget * oTw, objOfInterest) {
        if (!oTw->object || !oTw->widget || !oTw->field) {
            continue;
        }
        if (oTw->object->getName() == object && oTw->field->getName() == field && oTw->index == index && oTw->object->getInstID() == instID) {
            shadow *sh = NULL;
            // prefer anything else to QLabel
            if (qobject_cast<QLabel *>(oTw->widget) && !qobject_cast<QLabel *>(widget)) {
                sh = new shadow;
                sh->isLimited  = oTw->isLimited;
                sh->scale      = oTw->scale;
                sh->widget     = oTw->widget;
                oTw->isLimited = isLimited;
                oTw->scale     = scale;
                oTw->widget    = widget;
            }
            // prefer QDoubleSpinBox to anything else
            else if (!qobject_cast<QDoubleSpinBox *>(oTw->widget) && qobject_cast<QDoubleSpinBox *>(widget)) {
                sh = new shadow;
                sh->isLimited  = oTw->isLimited;
                sh->scale      = oTw->scale;
                sh->widget     = oTw->widget;
                oTw->isLimited = isLimited;
                oTw->scale     = scale;
                oTw->widget    = widget;
            } else {
                sh = new shadow;
                sh->isLimited = isLimited;
                sh->scale     = scale;
                sh->widget    = widget;
            }
            shadowsList.insert(widget, oTw);
            oTw->shadowsList.append(sh);
            connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
            if (defaultReloadGroups) {
                addWidgetToDefaultReloadGroups(widget, defaultReloadGroups);
            }
            loadWidgetLimits(widget, oTw->field, oTw->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()) {
            uiRelationAutomation 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) {
                    addUAVObjectToWidgetRelation(uiRelation.objname, uiRelation.fieldname, wid, uiRelation.element, uiRelation.scale, uiRelation.haslimits, &uiRelation.buttonGroup);
                }
            }
        }
    }
    refreshWidgetsValues();
    forceShadowUpdates();
    foreach(objectToWidget * ow, objOfInterest) {
        if (ow->widget) {
            qDebug() << "Master:" << ow->widget->objectName();
        }
        foreach(shadow * sh, ow->shadowsList) {
            if (sh->widget) {
                qDebug() << "Child" << sh->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::addWidgetToDefaultReloadGroups(QWidget *widget, QList<int> *groups)
{
    foreach(objectToWidget * oTw, objOfInterest) {
        bool addOTW = false;

        if (oTw->widget == widget) {
            addOTW = true;
        } else {
            foreach(shadow * sh, oTw->shadowsList) {
                if (sh->widget == widget) {
                    addOTW = true;
                }
            }
        }
        if (addOTW) {
            foreach(int i, *groups) {
                if (defaultReloadGroups.contains(i)) {
                    defaultReloadGroups.value(i)->append(oTw);
                } else {
                    defaultReloadGroups.insert(i, new QList<objectToWidget *>());
                    defaultReloadGroups.value(i)->append(oTw);
                }
            }
        }
    }
}
/**
 * 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);
    reloadButtonList.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<objectToWidget *> *list = defaultReloadGroups.value(group);
    foreach(objectToWidget * oTw, *list) {
        if (!oTw->object || !oTw->field) {
            continue;
        }
        UAVDataObject *temp = ((UAVDataObject *)oTw->object)->dirtyClone();
        setWidgetFromField(oTw->widget, temp->getField(oTw->field->getName()), oTw->index, oTw->scale, oTw->isLimited);
    }
}
/**
 * Called when a reload button is clicked
 */
void ConfigTaskWidget::reloadButtonClicked()
{
    if (timeOut) {
        return;
    }
    int group = sender()->property("group").toInt();
    QList<objectToWidget *> *list = defaultReloadGroups.value(group, NULL);
    if (!list) {
        return;
    }
    ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
    timeOut = new QTimer(this);
    QEventLoop *eventLoop     = new QEventLoop(this);
    connect(timeOut, SIGNAL(timeout()), eventLoop, SLOT(quit()));
    connect(objper, SIGNAL(objectUpdated(UAVObject *)), eventLoop, SLOT(quit()));

    QList<temphelper> temp;
    foreach(objectToWidget * oTw, *list) {
        if (oTw->object != NULL) {
            temphelper value;
            value.objid     = oTw->object->getObjID();
            value.objinstid = oTw->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   = oTw->object->getObjID();
            data.InstanceID = oTw->object->getInstID();
            objper->setData(data);
            objper->updated();
            timeOut->start(500);
            eventLoop->exec();
            if (timeOut->isActive()) {
                oTw->object->requestUpdate();
                if (oTw->widget) {
                    setWidgetFromField(oTw->widget, oTw->field, oTw->index, oTw->scale, oTw->isLimited);
                }
            }
            timeOut->stop();
        }
    }
    if (eventLoop) {
        delete eventLoop;
        eventLoop = NULL;
    }
    if (timeOut) {
        delete timeOut;
        timeOut = 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 to uavobject relation 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 to uavobject relation 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, currentBoard)) {
        if (!widget->property("styleBackup").isValid()) {
            widget->setProperty("styleBackup", widget->styleSheet());
        }
        widget->setStyleSheet(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, currentBoard)) {
                    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, currentBoard).toDouble() / scale));
        }
        if (field->getMinLimit(index, currentBoard).isValid()) {
            cb->setMinimum((double)(field->getMinLimit(index, currentBoard).toDouble() / scale));
        }
    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
        if (field->getMaxLimit(index, currentBoard).isValid()) {
            cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale));
        }
        if (field->getMinLimit(index, currentBoard).isValid()) {
            cb->setMinimum((int)qRound(field->getMinLimit(index, currentBoard).toDouble() / scale));
        }
    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
        if (field->getMaxLimit(index, currentBoard).isValid()) {
            cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale));
        }
        if (field->getMinLimit(index, currentBoard).isValid()) {
            cb->setMinimum((int)(field->getMinLimit(index, currentBoard).toDouble() / scale));
        }
    }
}

void ConfigTaskWidget::updateEnableControls()
{
    TelemetryManager *telMngr = pm->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);
}
/**
   @}
   @}
 */