configcamerastabilizationwidget.cpp

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/*
 * 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, see <http://www.gnu.org/licenses/>
 */

/*
 * IMPORTANT: This module is meant to be a reference implementation which
 * demostrates the use of ConfigTaskWidget API for widgets which are not directly
 * related to UAVObjects. It contains a lot of comments including some commented
 * out code samples. Please DO NOT COPY/PASTE them into any other module based
 * on this.
 */

#include "configcamerastabilizationwidget.h"
#include "camerastabsettings.h"
#include "modulesettings.h"
#include "mixersettings.h"
#include "actuatorcommand.h"

ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent)
    : ConfigTaskWidget(parent)
{
    m_camerastabilization = new Ui_CameraStabilizationWidget();
    m_camerastabilization->setupUi(this);

    // These widgets don't have direct relation to UAVObjects
    // and need special processing
    QComboBox *outputs[] = {
        m_camerastabilization->rollChannel,
        m_camerastabilization->pitchChannel,
        m_camerastabilization->yawChannel,

    };
    const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);

    // Populate widgets with channel numbers
    for (int i = 0; i < NUM_OUTPUTS; i++) {
        outputs[i]->clear();
        outputs[i]->addItem("None");
        for (quint32 j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
            outputs[i]->addItem(QString("Channel %1").arg(j + 1));
    }

    // Load UAVObjects to widget relations from UI file
    // using objrelation dynamic property
    autoLoadWidgets();

    // Add some widgets to track their UI dirty state and handle smartsave
    addWidget(m_camerastabilization->enableCameraStabilization);
    addWidget(m_camerastabilization->rollChannel);
    addWidget(m_camerastabilization->pitchChannel);
    addWidget(m_camerastabilization->yawChannel);

    // Add some UAVObjects to monitor their changes in addition to autoloaded ones.
    // Note also that we want to reload some UAVObjects by "Reload" button and have
    // to pass corresponding reload group numbers (defined also in objrelation property)
    // to the montitor. We don't reload ModuleSettings (module enable state) but reload
    // output channels.
    QList<int> reloadGroups;
    reloadGroups << 1;
    addUAVObject("ModuleSettings");
    addUAVObject("MixerSettings", &reloadGroups);

    // To set special widgets to defaults when requested
    connect(this, &ConfigTaskWidget::defaultRequested, this,
            &ConfigCameraStabilizationWidget::defaultRequestedSlot);

    disableMouseWheelEvents();
}

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

/*
 * This overridden function refreshes widgets which have no direct relation
 * to any of UAVObjects. It saves their dirty state first because update comes
 * from UAVObjects, and then restores it. Aftewards it calls base class
 * function to take care of other widgets which were dynamically added.
 */
void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
{
    bool dirty = isDirty();

    // Set module enable checkbox from OptionalModules UAVObject item.
    // It needs special processing because ConfigTaskWidget uses TRUE/FALSE
    // for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
    ModuleSettings *moduleSettings = ModuleSettings::GetInstance(getObjectManager());
    ModuleSettings::DataFields moduleSettingsData = moduleSettings->getData();

    m_camerastabilization->enableCameraStabilization->setChecked(
        moduleSettingsData.AdminState[ModuleSettings::ADMINSTATE_CAMERASTAB]
        == ModuleSettings::ADMINSTATE_ENABLED);

    // Load mixer outputs which are mapped to camera controls
    MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
    MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();

    // TODO: Need to reformat object so types are an
    // array themselves.  This gets really awkward
    quint8 *mixerTypes[] = {
        &mixerSettingsData.Mixer1Type, &mixerSettingsData.Mixer2Type,
        &mixerSettingsData.Mixer3Type, &mixerSettingsData.Mixer4Type,
        &mixerSettingsData.Mixer5Type, &mixerSettingsData.Mixer6Type,
        &mixerSettingsData.Mixer7Type, &mixerSettingsData.Mixer8Type,
        &mixerSettingsData.Mixer9Type, &mixerSettingsData.Mixer10Type,
    };
    const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);

    QComboBox *outputs[] = { m_camerastabilization->rollChannel,
                             m_camerastabilization->pitchChannel,
                             m_camerastabilization->yawChannel };
    const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);

    for (int i = 0; i < NUM_OUTPUTS; i++) {
        // Default to none if not found.
        // Then search for any mixer channels set to this
        outputs[i]->setCurrentIndex(0);
        for (int j = 0; j < NUM_MIXERS; j++)
            if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i)
                && outputs[i]->currentIndex() != (j + 1))
                outputs[i]->setCurrentIndex(j + 1);
    }

    setDirty(dirty);

    ConfigTaskWidget::refreshWidgetsValues(obj);
}

/*
 * This overridden function updates UAVObjects which have no direct relation
 * to any of widgets. Aftewards it calls base class function to take care of
 * other object to widget relations which were dynamically added.
 */
void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
{
    // Save state of the module enable checkbox first.
    // Do not use setData() member on whole object, if possible, since it triggers
    // unnessesary UAVObect update.
    quint8 enableModule = m_camerastabilization->enableCameraStabilization->isChecked()
        ? (ModuleSettings::ADMINSTATE_ENABLED)
        : (ModuleSettings::ADMINSTATE_DISABLED);
    ModuleSettings *moduleSettings = ModuleSettings::GetInstance(getObjectManager());
    moduleSettings->setAdminState(ModuleSettings::ADMINSTATE_CAMERASTAB, enableModule);

    // Update mixer channels which were mapped to camera outputs in case they are
    // not used for other function yet
    MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
    MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();

    // TODO: Need to reformat object so types are an
    // array themselves.  This gets really awkward
    quint8 *mixerTypes[] = {
        &mixerSettingsData.Mixer1Type, &mixerSettingsData.Mixer2Type,
        &mixerSettingsData.Mixer3Type, &mixerSettingsData.Mixer4Type,
        &mixerSettingsData.Mixer5Type, &mixerSettingsData.Mixer6Type,
        &mixerSettingsData.Mixer7Type, &mixerSettingsData.Mixer8Type,
        &mixerSettingsData.Mixer9Type, &mixerSettingsData.Mixer10Type,
    };
    const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);

    QComboBox *outputs[] = { m_camerastabilization->rollChannel,
                             m_camerastabilization->pitchChannel,
                             m_camerastabilization->yawChannel };
    const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);

    m_camerastabilization->message->setText("");
    bool widgetUpdated;
    do {
        widgetUpdated = false;

        for (int i = 0; i < NUM_OUTPUTS; i++) {
            // Channel 1 is second entry, so becomes zero
            int mixerNum = outputs[i]->currentIndex() - 1;

            if ((mixerNum >= 0) && // Short circuit in case of none
                (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED)
                && (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i)) {
                // If the mixer channel already mapped to something, it should not be
                // used for camera output, we reset it to none
                outputs[i]->setCurrentIndex(0);
                m_camerastabilization->message->setText(
                    "One of the channels is already assigned, reverted to none");

                // Loop again or we may have inconsistent widget and UAVObject
                widgetUpdated = true;
            } else {
                // Make sure no other channels have this output set
                for (int j = 0; j < NUM_MIXERS; j++)
                    if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
                        *mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;

                // If this channel is assigned to one of the outputs that is not disabled
                // set it
                if ((mixerNum >= 0) && (mixerNum < NUM_MIXERS))
                    *mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
            }
        }
    } while (widgetUpdated);

    // FIXME: Should not use setData() to prevent double updates.
    // It should be refactored after the reformatting of MixerSettings UAVObject.
    mixerSettings->setData(mixerSettingsData);

    ConfigTaskWidget::updateObjectsFromWidgets();
}

/*
 * This slot function is called when "Default" button is clicked.
 * All special widgets which belong to the group passed should be set here.
 */
void ConfigCameraStabilizationWidget::defaultRequestedSlot(int group)
{
    Q_UNUSED(group);

    // Here is the example of how to reset the state of QCheckBox. It is
    // commented out because we normally don't want to reset the module
    // enable state to default "disabled" (or we don't care about values at all).
    // But if you want, you could use the dirtyClone() function to get default
    // values of an object and then use them to set a widget state.
    //
    // HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
    // HwSettings *hwSettingsDefault=dynamic_cast <HwSettings*> (hwSettings)->dirtyClone();
    // HwSettings::DataFields hwSettingsData = hwSettingsDefault->getData();
    // m_camerastabilization->enableCameraStabilization->setChecked(
    //    hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
    //    HwSettings::OPTIONALMODULES_ENABLED);

    // For outputs we set them all to none, so don't use any UAVObject to get defaults
    QComboBox *outputs[] = {
        m_camerastabilization->rollChannel,
        m_camerastabilization->pitchChannel,
        m_camerastabilization->yawChannel,
    };
    const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);

    for (int i = 0; i < NUM_OUTPUTS; i++) {
        outputs[i]->setCurrentIndex(0);
    }
}