pathplannergadgetwidget.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/>
 */
#include "pathplannergadgetwidget.h"
#include "waypointdialog.h"
#include "waypointdelegate.h"
#include "ui_pathplanner.h"
#include <QFileDialog>
#include <QString>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>

#include "algorithms/pathfillet.h"
#include "extensionsystem/pluginmanager.h"

PathPlannerGadgetWidget::PathPlannerGadgetWidget(QWidget *parent)
    : QLabel(parent)
    , prevModel(NULL)
{
    ui = new Ui_PathPlanner();
    ui->setupUi(this);
    ui->statusTL->setVisible(false);
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    FlightDataModel *model = pm->getObject<FlightDataModel>();
    Q_ASSERT(model);

    QItemSelectionModel *selection = pm->getObject<QItemSelectionModel>();
    Q_ASSERT(selection);
    setModel(model, selection);
}

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

void PathPlannerGadgetWidget::setModel(FlightDataModel *model, QItemSelectionModel *selection)
{
    proxy = new ModelUavoProxy(this, model);

    this->model = model;
    this->selection = selection;

    ui->tableView->setModel(model);
    ui->tableView->setSelectionModel(selection);
    ui->tableView->setSelectionBehavior(QAbstractItemView::SelectRows);

    ui->tableView->setItemDelegate(new WaypointDelegate(this));
    ui->tableView->resizeColumnsToContents();

    ui->tableView->resizeColumnsToContents();

    connect(proxy, &ModelUavoProxy::sendPathPlanToUavProgress, this,
            &PathPlannerGadgetWidget::on_waypointSendProgress);
}

void PathPlannerGadgetWidget::on_tbAdd_clicked()
{
    ui->tableView->model()->insertRow(ui->tableView->model()->rowCount());
}

void PathPlannerGadgetWidget::on_tbDelete_clicked()
{
    // XXX: TODO: Should delete all selected rows
    ui->tableView->model()->removeRow(ui->tableView->selectionModel()->currentIndex().row());
}

void PathPlannerGadgetWidget::on_tbInsert_clicked()
{
    ui->tableView->model()->insertRow(ui->tableView->selectionModel()->currentIndex().row());
}

void PathPlannerGadgetWidget::on_tbReadFromFile_clicked()
{
    if (!model)
        return;
    QString fileName = QFileDialog::getOpenFileName(this, tr("Open File"));
    model->readFromFile(fileName);
}

void PathPlannerGadgetWidget::on_tbSaveToFile_clicked()
{
    if (!model)
        return;
    QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"));
    model->writeToFile(fileName);
}

void PathPlannerGadgetWidget::on_tbDetails_clicked()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    Q_ASSERT(pm);
    if (pm == NULL)
        return;

    WaypointDialog *dialog = pm->getObject<WaypointDialog>();
    Q_ASSERT(dialog);
    dialog->show();
}

void PathPlannerGadgetWidget::on_tbSendToUAV_clicked()
{
    enableButtons(false);
    ui->statusTL->setVisible(false);
    ui->statusPB->setValue(0);
    bool result;
    result = proxy->modelToObjects();
    if (result)
        ui->statusTL->setText("All waypoints were sent successfully");
    else
        ui->statusTL->setText("WARNING: Not all waypoints were sent successfully");
    ui->statusTL->setVisible(true);
    enableButtons(true);
}

void PathPlannerGadgetWidget::on_tbFetchFromUAV_clicked()
{
    proxy->objectsToModel();
    ui->tableView->resizeColumnsToContents();
}

void PathPlannerGadgetWidget::on_tbFilletPath_clicked()
{
    // Create a copy of the model before filleting
    if (!prevModel)
        prevModel = new FlightDataModel(this);
    Q_ASSERT(prevModel);
    if (prevModel)
        prevModel->replaceData(model);

    IPathAlgorithm *algo = new PathFillet(this);
    // Only process is successfully configured and the verification of the model succeeds
    QString err;
    if (algo->configure(this) && algo->verifyPath(model, err)) {
        // If unsuccessful delete the cached model
        if (!algo->processPath(model)) {
            delete prevModel;
            prevModel = NULL;
        }
    }
}

void PathPlannerGadgetWidget::on_tbUnfilletPath_clicked()
{
    if (prevModel)
        model->replaceData(prevModel);
}

void PathPlannerGadgetWidget::on_waypointSendProgress(int value)
{
    ui->statusPB->setValue(value);
}

void PathPlannerGadgetWidget::enableButtons(bool enable)
{
    QList<QToolButton *> blist = this->findChildren<QToolButton *>();
    foreach (QToolButton *button, blist) {
        button->setEnabled(enable);
    }
}