LibrePilot/ground/openpilotgcs/src/plugins/hitl/hitloptionspage.cpp

/**
 ******************************************************************************
 *
 * @file       hitloptionspage.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup HITLPlugin HITL Plugin
 * @{
 * @brief The Hardware In The Loop plugin
 *****************************************************************************/
/*
 * 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 "hitloptionspage.h"
#include "hitlconfiguration.h"
#include "ui_hitloptionspage.h"
#include <hitlplugin.h>

#include <QFileDialog>
#include <QtAlgorithms>
#include <QStringList>
#include <simulator.h>


HITLOptionsPage::HITLOptionsPage(HITLConfiguration *conf, QObject *parent) :
    IOptionsPage(parent),
    config(conf)
{}

QWidget *HITLOptionsPage::createPage(QWidget *parent)
{
    Q_UNUSED(parent);

    // Create page
    m_optionsPage = new Ui::HITLOptionsPage();
    QWidget *optionsPageWidget = new QWidget;
    m_optionsPage->setupUi(optionsPageWidget);
    int index = 0;
    foreach(SimulatorCreator * creator, HITLPlugin::typeSimulators) {
        m_optionsPage->chooseFlightSimulator->insertItem(index++, creator->Description(), creator->ClassId());
    }

    // QString classId = widget->listSimulators->itemData(0).toString();
    // SimulatorCreator* creator = HITLPlugin::getSimulatorCreator(classId);

    // QWidget* embedPage = creator->createOptionsPage();
    // m_optionsPage->verticalLayout->addWidget(embedPage);

    m_optionsPage->executablePath->setExpectedKind(Utils::PathChooser::File);
    m_optionsPage->executablePath->setPromptDialogTitle(tr("Choose flight simulator executable"));
    m_optionsPage->dataPath->setExpectedKind(Utils::PathChooser::Directory);
    m_optionsPage->dataPath->setPromptDialogTitle(tr("Choose flight simulator data directory"));

    // Restore the contents from the settings:
    foreach(SimulatorCreator * creator, HITLPlugin::typeSimulators) {
        QString id = config->Settings().simulatorId;

        if (creator->ClassId() == id) {
            m_optionsPage->chooseFlightSimulator->setCurrentIndex(HITLPlugin::typeSimulators.indexOf(creator));
        }
    }

    m_optionsPage->executablePath->setPath(config->Settings().binPath);
    m_optionsPage->dataPath->setPath(config->Settings().dataPath);

    m_optionsPage->manualControlRadioButton->setChecked(config->Settings().manualControlEnabled);
    m_optionsPage->gcsReceiverRadioButton->setChecked(config->Settings().gcsReceiverEnabled);

    m_optionsPage->startSim->setChecked(config->Settings().startSim);
    m_optionsPage->noiseCheckBox->setChecked(config->Settings().addNoise);

    m_optionsPage->hostAddress->setText(config->Settings().hostAddress);
    m_optionsPage->remoteAddress->setText(config->Settings().remoteAddress);
    m_optionsPage->outputPort->setText(QString::number(config->Settings().outPort));
    m_optionsPage->inputPort->setText(QString::number(config->Settings().inPort));
    m_optionsPage->latitude->setText(config->Settings().latitude);
    m_optionsPage->longitude->setText(config->Settings().longitude);

    m_optionsPage->groundTruthCheckbox->setChecked(config->Settings().groundTruthEnabled);
    m_optionsPage->gpsPositionCheckbox->setChecked(config->Settings().gpsPositionEnabled);
    m_optionsPage->attStateCheckbox->setChecked(config->Settings().attStateEnabled);
    m_optionsPage->attRawCheckbox->setChecked(config->Settings().attRawEnabled);


    m_optionsPage->attRawRateSpinbox->setValue(config->Settings().attRawRate);
    m_optionsPage->gpsPosRateSpinbox->setValue(config->Settings().gpsPosRate);
    m_optionsPage->groundTruthRateSpinbox->setValue(config->Settings().groundTruthRate);
// m_optionsPage->attStateRate->setValue(config->Settings().attStateRate);

    m_optionsPage->baroAltitudeCheckbox->setChecked(config->Settings().baroSensorEnabled);
    m_optionsPage->baroAltRateSpinbox->setValue(config->Settings().baroAltRate);

    m_optionsPage->minOutputPeriodSpinbox->setValue(config->Settings().minOutputPeriod);

    m_optionsPage->attActHW->setChecked(config->Settings().attActHW);
    m_optionsPage->attActCalc->setChecked(config->Settings().attActCalc);
    m_optionsPage->attActSim->setChecked(config->Settings().attActSim);

    m_optionsPage->airspeedStateCheckbox->setChecked(config->Settings().airspeedStateEnabled);
    m_optionsPage->airspeedRateSpinbox->setValue(config->Settings().airspeedStateRate);

    return optionsPageWidget;
}

void HITLOptionsPage::apply()
{
    SimulatorSettings settings;
    int i = m_optionsPage->chooseFlightSimulator->currentIndex();

    settings.simulatorId          = m_optionsPage->chooseFlightSimulator->itemData(i).toString();
    settings.binPath              = m_optionsPage->executablePath->path();
    settings.dataPath             = m_optionsPage->dataPath->path();
    settings.startSim             = m_optionsPage->startSim->isChecked();
    settings.addNoise             = m_optionsPage->noiseCheckBox->isChecked();
    settings.hostAddress          = m_optionsPage->hostAddress->text();
    settings.remoteAddress        = m_optionsPage->remoteAddress->text();

    settings.inPort = m_optionsPage->inputPort->text().toInt();
    settings.outPort              = m_optionsPage->outputPort->text().toInt();
    settings.longitude            = m_optionsPage->longitude->text();
    settings.latitude             = m_optionsPage->latitude->text();

    settings.addNoise             = m_optionsPage->noiseCheckBox->isChecked();

    settings.attRawEnabled        = m_optionsPage->attRawCheckbox->isChecked();
    settings.attRawRate           = m_optionsPage->attRawRateSpinbox->value();

    settings.attStateEnabled      = m_optionsPage->attStateCheckbox->isChecked();

    settings.gpsPositionEnabled   = m_optionsPage->gpsPositionCheckbox->isChecked();
    settings.gpsPosRate           = m_optionsPage->gpsPosRateSpinbox->value();

    settings.groundTruthEnabled   = m_optionsPage->groundTruthCheckbox->isChecked();
    settings.groundTruthRate      = m_optionsPage->groundTruthRateSpinbox->value();

    settings.baroSensorEnabled    = m_optionsPage->baroAltitudeCheckbox->isChecked();
    settings.baroAltRate          = m_optionsPage->baroAltRateSpinbox->value();

    settings.minOutputPeriod      = m_optionsPage->minOutputPeriodSpinbox->value();

    settings.manualControlEnabled = m_optionsPage->manualControlRadioButton->isChecked();
    settings.gcsReceiverEnabled   = m_optionsPage->gcsReceiverRadioButton->isChecked();

    settings.attActHW             = m_optionsPage->attActHW->isChecked();
    settings.attActSim            = m_optionsPage->attActSim->isChecked();
    settings.attActCalc           = m_optionsPage->attActCalc->isChecked();

    settings.airspeedStateEnabled = m_optionsPage->airspeedStateCheckbox->isChecked();
    settings.airspeedStateRate    = m_optionsPage->airspeedRateSpinbox->value();

    // Write settings to file
    config->setSimulatorSettings(settings);
}

void HITLOptionsPage::finish()
{
    delete m_optionsPage;
}