gcs-nf/MavLinkNode/ParameterInspector/ParameterInspector.cpp

#include "ParameterInspector.h"
#include "ui_ParameterInspector.h"

ParameterInspector::ParameterInspector(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::ParameterInspector)
{
    ui->setupUi(this);

    setWindowTitle(tr("ParameterInspector"));

    // Make sure "All" is an option for both the system and components
    ui->systemComboBox->addItem(tr("All"), 0);
    ui->componentComboBox->addItem(tr("All"), 0);

    // Set up the column headers for the message listing
    QStringList header;
    header << tr("Name");
    header << tr("Value");
    ui->treeWidget->setHeaderLabels(header);


    TimerRunningFlag = true;
    QTimer::singleShot(1000,this,SLOT(mReflush()));
}

ParameterInspector::~ParameterInspector()
{
    TimerRunningFlag = false;

    //clear 那些消息

    delete ui;
}

void ParameterInspector::mReflush()
{
   if(isReflush == true)
   {
       isReflush = false;

       ui->progressBar->setValue(currentpersent);

       refreshView();
   }

   if(TimerRunningFlag == true)
   {
      QTimer::singleShot(10,this,SLOT(mReflush()));
   }
}



void ParameterInspector::resizeEvent(QResizeEvent * event)
{
    Q_UNUSED(event);


}


//添加一个设备，
void ParameterInspector::addVehicles(uint16_t sysid,uint16_t compid)
{
    if(!vehicles.keys().contains(sysid))
    {
        //如果还没有这个设备，就添加一个
        QMap<int, mavlink_param_value_t> param;
        vehicles.insert(sysid,param);

        //同时检查combox有没有，没有就添加
        if(ui->systemComboBox->findText(tr("Vehicle %1").arg(sysid)) == (-1))
        {
            ui->systemComboBox->addItem(tr("Vehicle %1").arg(sysid), sysid);
        }
    }



    //同时检查combox有没有，没有就添加
    if(ui->componentComboBox->findText(tr("Comp %1").arg(compid)) == (-1))
    {
        ui->componentComboBox->addItem(tr("Comp %1").arg(compid), compid);
    }


}




//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
void ParameterInspector::appendParameter(mavlink_message_t msg)
{
    //查找这个消息归属的设备和部件

    if(!vehicles.keys().contains(msg.sysid))
    {
        //如果还没有这个设备，就添加一个
        QMap<int, mavlink_param_value_t> param;
        vehicles.insert(msg.sysid,param);

        //同时检查combox有没有，没有就添加
        if(ui->systemComboBox->findText(tr("Vehicle %1").arg(msg.sysid)) == (-1))
        {
            ui->systemComboBox->addItem(tr("Vehicle %1").arg(msg.sysid), msg.sysid);
        }
    }

    //解码
    mavlink_param_value_t param_value;//
    mavlink_msg_param_value_decode(&msg,&param_value);


    //如果当前是航点0，那么设置状态条
    if(param_value.param_index == 0)
    {
        ui->progressBar->setMaximum(0);
        ui->progressBar->setMaximum(param_value.param_count - 1);
    }

    //这里可能有bug,程序会死机
    //ui->progressBar->setValue((int)param_value.param_index);

    currentpersent = param_value.param_index;


    //qDebug() << QThread::currentThreadId();

    //检查是否包含了该参数，如果没有，那么添加
    QMap<int, mavlink_param_value_t> ParameterStorage;
    ParameterStorage = vehicles.value(msg.sysid);

    ParameterStorage.insert(param_value.param_index,param_value);
    vehicles.insert(msg.sysid,ParameterStorage);

    //需要刷新一次

    isReflush = true;
}
void ParameterInspector::refreshView()//来一个参数更新一次
{
    QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;

    for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
    {
        //查找参数的index
        QMap<int,mavlink_param_value_t> params = ite.value();//得到所有参数item
        QMap<int,mavlink_param_value_t>::iterator param_ite;


        QMap<int, QTreeWidgetItem* > widgetitems;//获取单独一个设备的参数显示条
        widgetitems = uasParamTreeItems.value(ite.key());

        for(param_ite=params.begin(); param_ite!=params.end();++param_ite)//历遍每一个参数
        {
             mavlink_param_value_t param = param_ite.value();//每一个value
             QString paraName = param_id(param.param_id); //得到名称

             qDebug() << paraName;//ok

             //查找这个value是不是已经存，存在更新，不存在则建立
             bool paramFound = false;

             foreach (QTreeWidgetItem* Item, widgetitems.values()) {
                 if(Item->data(0,Qt::DisplayRole) == param_id(param.param_id))
                 {
                     //这个设备已经存在
                     paramFound = true;
                     //更新该参数
                     Item->setData(1,Qt::DisplayRole,param_value(param));
                     widgetitems.insert(param.param_index,Item);
                 }
             }

             if(!paramFound)//没有找到
             {
                 //没有找到，新建一个组
                 QTreeWidgetItem* paraItem = new QTreeWidgetItem();
                 paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
                 paraItem->setData(1,Qt::DisplayRole,param_value(param));
                 widgetitems.insert(param.param_index,paraItem);
             }
        }

        uasParamTreeItems.insert(ite.key(),widgetitems);//保存一整个设备的参数



        //得到一个vehicle
        bool VehicleFound = false;
        foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
            if(Item->data(0,Qt::DisplayRole) == tr("Vehicle %1").arg(ite.key()))
            {
                //这个设备已经存在
                VehicleFound = true;
                //存在测更新
                Item->addChildren(uasParamTreeItems.value(ite.key()).values());
                uasTopLevelItems.insert(ite.key(),Item);
            }
        }

        if(!VehicleFound)//没有找到
        {
            //没有找到，新建一个组
            QTreeWidgetItem* TopItem = new QTreeWidgetItem();
            TopItem->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(ite.key()));

            TopItem->addChildren(uasParamTreeItems.value(ite.key()).values());

            uasTopLevelItems.insert(ite.key(),TopItem);
        }

       ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());
    }
}


void ParameterInspector::clearview(void)
{
    QMap<int, QMap<int, QTreeWidgetItem*>>::iterator ite;
    for (ite=uasParamTreeItems.begin(); ite!=uasParamTreeItems.end();++ite)
    {
        QMap<int, QTreeWidgetItem*> param_ite = ite.value();

        QList<int> groupKeys = param_ite.uniqueKeys();
        QList<int>::iterator listKeys;
        for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
        {
            delete param_ite.take(*listKeys);
        }
    }
    uasParamTreeItems.clear();

    QMap<int, QTreeWidgetItem* >::iterator iteTree;
    for(iteTree=uasTopLevelItems.begin(); iteTree!=uasTopLevelItems.end();++iteTree)
    {
        delete iteTree.value();
        iteTree.value() = NULL;
    }
    uasTopLevelItems.clear();


    QMap<int,QMap<int,mavlink_param_value_t>>::iterator vehicle_ite;//删除这个
    for (vehicle_ite=vehicles.begin(); vehicle_ite!=vehicles.end();++vehicle_ite)
    {

        vehicle_ite.value().clear();
        //delete vehicle_ite.value();
        //vehicle_ite.value() = NULL;
    }
    vehicles.clear();

    ui->treeWidget->clear();
}










QVariant ParameterInspector::param_value(mavlink_param_value_t param)
{
        QVariant value;

        switch (param.param_type)
        {
        case MAV_PARAM_TYPE_UINT8:
        {
            value = ((uint8_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT8:
        {
            value = ((int8_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT16:
        {
            value = ((uint16_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT16:
        {
            value = ((int16_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT32:
        {
            value = ((uint32_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT32:
        {
            value = ((int32_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT64:
        {
            value = ((uint64_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT64:
        {
            value = ((int64_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_REAL32:
        {
            value = ((float *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_REAL64:
        {
            value = ((double *)&param.param_value)[0];
        }break;
         default:
        {
            value = ((int32_t *)&param.param_value)[0];
            qDebug() << "Unsupported type " << param.param_type;
        }break;

        }

        return value;
}


char* ParameterInspector::param_id(char *id)//设置id,如果id小于16，那么能够找到/0，如果等于或者大于，那么会找不到，因此乱码
{
     uint8_t len = 0;
     while(len < 16)
     {
         if(id[len] != '\0')
         {
            //continue;
         }
         else
         {
             return id;
         }
         len++;
     }

     id[16] = '\0';
     return id;
}

void ParameterInspector::on_ReadButton_clicked()
{
    uint8_t m_sysid = 0;
    uint8_t m_compid = 1;
    uint8_t m_type = 0;

    m_sysid = ui->systemComboBox->currentData().toInt();
    m_compid = ui->componentComboBox->currentData().toInt();

    emit ReadCmd(m_sysid,m_compid,m_type);
}

void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column)
{

    ui->SearchlineEdit->setText(item->data(0,Qt::DisplayRole).toString());

    //根据type 设置这个value

    ui->ValuelineEdit->setText(item->data(1,Qt::DisplayRole).toString());

}

void ParameterInspector::on_clearButton_clicked()
{
    //清除所有的存储数据，包括显示
    clearview();
}

void ParameterInspector::on_WriteButton_clicked()
{
     //读取是哪设备，是哪个参数，然后发送出去
}