mirror of
https://bitbucket.org/librepilot/librepilot.git
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371 lines
14 KiB
C++
371 lines
14 KiB
C++
/**
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******************************************************************************
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*
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* @file vehicletemplateexportdialog.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup [Group]
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* @{
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* @addtogroup VehicleTemplateExportDialog
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* @{
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* @brief [Brief]
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "vehicletemplateexportdialog.h"
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#include "ui_vehicletemplateexportdialog.h"
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#include <extensionsystem/pluginmanager.h>
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#include "systemsettings.h"
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#include <QBuffer>
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#include <QFileDialog>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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#include <QUuid>
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#include <QDebug>
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#include <QMessageBox>
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#include <uavobjecthelper.h>
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#include <objectpersistence.h>
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#include "stabilizationsettings.h"
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#include "stabilizationsettingsbank1.h"
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#include "stabilizationsettingsbank2.h"
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#include "stabilizationsettingsbank3.h"
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#include "mixersettings.h"
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#include "ekfconfiguration.h"
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#include <uavtalk/telemetrymanager.h>
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#include <utils/pathutils.h>
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const char *VehicleTemplateExportDialog::EXPORT_FIXEDWING_NAME = "fixedwing";
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const char *VehicleTemplateExportDialog::EXPORT_MULTI_NAME = "multirotor";
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const char *VehicleTemplateExportDialog::EXPORT_HELI_NAME = "helicopter";
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const char *VehicleTemplateExportDialog::EXPORT_SURFACE_NAME = "surface";
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const char *VehicleTemplateExportDialog::EXPORT_CUSTOM_NAME = "custom";
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VehicleTemplateExportDialog::VehicleTemplateExportDialog(QWidget *parent) :
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QDialog(parent),
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ui(new Ui::VehicleTemplateExportDialog), m_autopilotConnected(false)
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{
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ui->setupUi(this);
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connect(ui->ImportButton, SIGNAL(clicked()), this, SLOT(importImage()));
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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m_uavoManager = pm->getObject<UAVObjectManager>();
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ui->Photo->setScene(new QGraphicsScene(this));
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ui->Type->setText(setupVehicleType());
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ui->selectionWidget->setTemplateInfo(m_type, m_subType, true);
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connect(ui->Name, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
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connect(ui->Owner, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
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connect(ui->ForumNick, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
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connect(ui->Size, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
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connect(ui->Weight, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
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connect(ui->exportBtn, SIGNAL(clicked()), this, SLOT(exportTemplate()));
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connect(ui->saveAsBtn, SIGNAL(clicked()), this, SLOT(saveAsTemplate()));
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connect(ui->importBtn, SIGNAL(clicked()), this, SLOT(importTemplate()));
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connect(ui->cancelBtn, SIGNAL(clicked()), this, SLOT(reject()));
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connect(ui->cancelBtn_2, SIGNAL(clicked()), this, SLOT(reject()));
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TelemetryManager *telemManager = pm->getObject<TelemetryManager>();
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if (telemManager->isConnected()) {
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onAutoPilotConnect();
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} else {
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onAutoPilotDisconnect();
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}
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connect(telemManager, SIGNAL(connected()), this, SLOT(onAutoPilotConnect()));
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connect(telemManager, SIGNAL(disconnected()), this, SLOT(onAutoPilotDisconnect()));
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}
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VehicleTemplateExportDialog::~VehicleTemplateExportDialog()
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{
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delete ui;
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}
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QString VehicleTemplateExportDialog::setupVehicleType()
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{
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SystemSettings *systemSettings = SystemSettings::GetInstance(m_uavoManager);
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Q_ASSERT(systemSettings);
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SystemSettings::DataFields systemSettingsData = systemSettings->getData();
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switch (systemSettingsData.AirframeType) {
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case SystemSettings::AIRFRAMETYPE_FIXEDWING:
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m_type = VehicleConfigurationSource::VEHICLE_FIXEDWING;
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m_subType = VehicleConfigurationSource::FIXED_WING_AILERON;
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return tr("Fixed Wing - Aileron");
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case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
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m_type = VehicleConfigurationSource::VEHICLE_FIXEDWING;
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m_subType = VehicleConfigurationSource::FIXED_WING_ELEVON;
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return tr("Fixed Wing - Elevon");
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case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
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m_type = VehicleConfigurationSource::VEHICLE_FIXEDWING;
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m_subType = VehicleConfigurationSource::FIXED_WING_VTAIL;
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return tr("Fixed Wing - V-Tail");
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case SystemSettings::AIRFRAMETYPE_HELICP:
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m_type = VehicleConfigurationSource::VEHICLE_HELI;
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m_subType = VehicleConfigurationSource::HELI_CCPM;
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return tr("Helicopter");
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case SystemSettings::AIRFRAMETYPE_TRI:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_TRI_Y;
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return tr("Multirotor - Tricopter");
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case SystemSettings::AIRFRAMETYPE_QUADX:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_X;
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return tr("Multirotor - Quadrocopter X");
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case SystemSettings::AIRFRAMETYPE_QUADP:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS;
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return tr("Multirotor - Quadrocopter +");
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case SystemSettings::AIRFRAMETYPE_OCTOV:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_V;
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return tr("Multirotor - Octocopter V");
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case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X;
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return tr("Multirotor - Octocopter X8X");
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case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS;
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return tr("Multirotor - Octocopter X8+");
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case SystemSettings::AIRFRAMETYPE_OCTO:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO;
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return tr("Multirotor - Octocopter +");
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case SystemSettings::AIRFRAMETYPE_OCTOX:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_X;
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return tr("Multirotor - Octocopter X");
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case SystemSettings::AIRFRAMETYPE_HEXAX:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_X;
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return tr("Multirotor - Hexacopter X");
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case SystemSettings::AIRFRAMETYPE_HEXAH:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_H;
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return tr("Multirotor - Hexacopter H");
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case SystemSettings::AIRFRAMETYPE_HEXACOAX:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y;
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return tr("Multirotor - Hexacopter Y6");
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case SystemSettings::AIRFRAMETYPE_HEXA:
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m_type = VehicleConfigurationSource::VEHICLE_MULTI;
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m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA;
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return tr("Multirotor - Hexacopter +");
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default:
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m_type = VehicleConfigurationSource::VEHICLE_UNKNOWN;
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return tr("Unsupported");
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}
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}
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void VehicleTemplateExportDialog::saveTemplate(QString path)
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{
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QJsonObject exportObject;
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QList<UAVObject *> objectsToExport;
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objectsToExport << StabilizationSettings::GetInstance(m_uavoManager);
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objectsToExport << StabilizationSettingsBank1::GetInstance(m_uavoManager);
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objectsToExport << StabilizationSettingsBank2::GetInstance(m_uavoManager);
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objectsToExport << StabilizationSettingsBank3::GetInstance(m_uavoManager);
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objectsToExport << MixerSettings::GetInstance(m_uavoManager);
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objectsToExport << EKFConfiguration::GetInstance(m_uavoManager);
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m_uavoManager->toJson(exportObject, objectsToExport);
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exportObject["type"] = m_type;
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exportObject["subtype"] = m_subType;
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exportObject["name"] = ui->Name->text();
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exportObject["owner"] = ui->Owner->text();
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exportObject["nick"] = ui->ForumNick->text();
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exportObject["size"] = ui->Size->text();
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exportObject["weight"] = ui->Weight->text();
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exportObject["motor"] = ui->Motor->text();
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exportObject["esc"] = ui->Esc->text();
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exportObject["servo"] = ui->Servo->text();
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exportObject["battery"] = ui->Battery->text();
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exportObject["propeller"] = ui->Propeller->text();
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exportObject["controller"] = ui->Controllers->currentText();
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exportObject["comment"] = ui->Comment->document()->toPlainText();
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QUuid uuid = QUuid::createUuid();
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exportObject["uuid"] = uuid.toString();
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if (!m_image.isNull()) {
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QByteArray bytes;
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QBuffer buffer(&bytes);
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buffer.open(QIODevice::WriteOnly);
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m_image.scaled(IMAGE_SCALE_WIDTH, IMAGE_SCALE_HEIGHT, Qt::KeepAspectRatio,
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Qt::SmoothTransformation).save(&buffer, "PNG");
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exportObject["photo"] = QString::fromLatin1(bytes.toBase64().data());
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}
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QJsonDocument saveDoc(exportObject);
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const char *fileType = ".vtmpl";
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QString fileName = QString("%1-%2-%3%4")
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.arg(fixFilenameString(ui->Name->text(), 20))
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.arg(fixFilenameString(ui->Type->text(), 30))
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.arg(fixFilenameString(uuid.toString().right(12)))
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.arg(fileType);
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QString fullPath;
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if (path.isEmpty()) {
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fullPath = QString("%1%2%3").arg(QDir::homePath()).arg(QDir::separator()).arg(fileName);
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fullPath = QFileDialog::getSaveFileName(this, tr("Export settings"), fullPath, QString("%1 (*%2)").arg(tr("VehicleTemplates"), fileType));
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} else {
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fullPath = QString("%1%2%3").arg(path).arg(QDir::separator()).arg(fileName);
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}
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if (!fullPath.isEmpty()) {
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if (!fullPath.endsWith(fileType)) {
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fullPath.append(fileType);
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}
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QFile saveFile(fullPath);
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if (saveFile.open(QIODevice::WriteOnly)) {
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saveFile.write(saveDoc.toJson());
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saveFile.close();
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} else {
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QMessageBox::information(this, "Export", tr("Settings could not be exported to \n%1(%2).\nPlease try again.")
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.arg(QFileInfo(saveFile).absoluteFilePath(), saveFile.error()), QMessageBox::Ok);
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}
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}
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}
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QString VehicleTemplateExportDialog::fixFilenameString(QString input, int truncate)
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{
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return input.replace(' ', "").replace('|', "").replace('/', "")
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.replace('\\', "").replace(':', "").replace('"', "")
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.replace('\'', "").replace('?', "").replace('*', "")
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.replace('>', "").replace('<', "")
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.replace('}', "").replace('{', "")
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.left(truncate);
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}
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void VehicleTemplateExportDialog::exportTemplate()
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{
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QString path = QString("%1%2%3%4").arg(Utils::InsertStoragePath("%%STOREPATH%%vehicletemplates"))
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.arg(QDir::separator()).arg(getTypeDirectory()).arg(QDir::separator());
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QDir dir;
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dir.mkpath(path);
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saveTemplate(path);
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}
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void VehicleTemplateExportDialog::saveAsTemplate()
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{
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saveTemplate(QString(""));
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}
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void VehicleTemplateExportDialog::importTemplate()
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{
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QJsonObject *tmpl = ui->selectionWidget->selectedTemplate();
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if (tmpl != NULL) {
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QList<UAVObject *> updatedObjects;
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m_uavoManager->fromJson(*tmpl, &updatedObjects);
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UAVObjectUpdaterHelper helper;
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foreach(UAVObject * object, updatedObjects) {
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UAVDataObject *dataObj = dynamic_cast<UAVDataObject *>(object);
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if (dataObj != NULL && dataObj->isKnown()) {
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helper.doObjectAndWait(dataObj);
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ObjectPersistence *objper = ObjectPersistence::GetInstance(m_uavoManager);
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ObjectPersistence::DataFields data;
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data.Operation = ObjectPersistence::OPERATION_SAVE;
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data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
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data.ObjectID = dataObj->getObjID();
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data.InstanceID = dataObj->getInstID();
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objper->setData(data);
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helper.doObjectAndWait(objper);
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}
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}
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}
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}
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void VehicleTemplateExportDialog::importImage()
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{
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QString fileName = QFileDialog::getOpenFileName(this, tr("Import Image"), "", tr("Images (*.png *.jpg)"));
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if (!fileName.isEmpty()) {
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m_image.load(fileName);
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ui->Photo->scene()->addPixmap(m_image);
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ui->Photo->setSceneRect(ui->Photo->scene()->itemsBoundingRect());
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ui->Photo->fitInView(ui->Photo->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
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}
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}
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void VehicleTemplateExportDialog::onAutoPilotConnect()
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{
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ui->importBtn->setEnabled(true);
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m_autopilotConnected = true;
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updateStatus();
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}
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void VehicleTemplateExportDialog::onAutoPilotDisconnect()
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{
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ui->importBtn->setEnabled(false);
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m_autopilotConnected = false;
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updateStatus();
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}
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QString VehicleTemplateExportDialog::getTypeDirectory()
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{
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switch (m_type) {
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case VehicleConfigurationSource::VEHICLE_FIXEDWING:
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return EXPORT_FIXEDWING_NAME;
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case VehicleConfigurationSource::VEHICLE_MULTI:
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return EXPORT_MULTI_NAME;
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case VehicleConfigurationSource::VEHICLE_HELI:
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return EXPORT_HELI_NAME;
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case VehicleConfigurationSource::VEHICLE_SURFACE:
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return EXPORT_SURFACE_NAME;
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default:
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return EXPORT_CUSTOM_NAME;
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}
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}
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void VehicleTemplateExportDialog::updateStatus()
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{
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bool enabled = m_autopilotConnected && ui->Name->text().length() > 3 && ui->Owner->text().length() > 2 &&
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ui->ForumNick->text().length() > 2 && ui->Size->text().length() > 0 &&
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ui->Weight->text().length() > 0;
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ui->exportBtn->setEnabled(enabled);
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ui->saveAsBtn->setEnabled(enabled);
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}
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