gcs-nf/App/CommandUI/CommandUI.cpp

#include "CommandUI.h"
#include "ui_CommandUI.h"

#include "QtTextToSpeech/QtTextToSpeech"


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

    this->setAcceptDrops(true);

    m_parent = parent;
    //检测文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
    QDir *Dir = new QDir;
    if(!Dir->exists("./commands"))
    Dir->mkdir("./commands");//如果文件夹不存在就新建


    //load qss
    QFile file(":/qss/CommandUI.qss");
    file.open(QFile::ReadOnly);
    QTextStream filetext(&file);
    QString stylesheet = filetext.readAll();
    this->setStyleSheet(stylesheet);
    file.close();


    //查找默认的值
    Config *config = new Config();
    if(config->getCommandFile().size() >0)
    {
        CommandFile = config->getCommandFile();
    }
    delete config;

    setCommandFile(CommandFile);

    DoubleClickTimer = new QTimer(this);
    DoubleClickTimer->setInterval(200);//0.2s之内再点击，那就相当于双击
    connect(DoubleClickTimer,SIGNAL(timeout()),
            this,SLOT(DoubleClickTimeout()));


    ui->comboBox_seq->hide();
    ui->label_seq->hide();
    ui->pushButton_setSeq->hide();

    ui->comboBox_uav->hide();
    ui->label_uav->hide();
    ui->pushButton_setUAV->hide();

}

CommandUI::~CommandUI()
{
    delete ui;
}

void CommandUI::wheelEvent(QWheelEvent *event)
{
    int max = ui->tabWidget_Command->count();
     int current = ui->tabWidget_Command->currentIndex();

     if(event->delta() < 0)
     {
        if(current < (max - 1))
        {
           current++;
           ui->tabWidget_Command->setCurrentIndex(current);
        }
     }
     else if(event->delta() > 0)
     {
         if(current > 0)
         {
            current--;
            ui->tabWidget_Command->setCurrentIndex(current);
         }
     }
}

void CommandUI::dragEnterEvent(QDragEnterEvent *event)
{

    if(!event->mimeData()->urls()[0].fileName().right(5).compare(tr(".json")))
    {
        event->acceptProposedAction();
    }
    else
    {
        event->ignore();
    }
}

void CommandUI::dropEvent(QDropEvent *event)
{
     const QMimeData *qm = event->mimeData();

     QString fileName = qm->urls()[0].toLocalFile();



     if(fileName.right(5) == ".json")
     {
         setCommandFile(fileName);
     }
}

void CommandUI::keyPressEvent(QKeyEvent *event)   //键盘按下事件
{
    switch(event->key())
    {
        case Qt::Key_Space :
        {
            qInfo() << "command key" << event;
        }
        break;
    }
}


void CommandUI::mousePressEvent(QMouseEvent *event)
{
    if (event->button() == Qt::MiddleButton)
    {

    }
    else if (event->button() == Qt::RightButton)
    {

        if(event->modifiers() == Qt::ControlModifier)
        {
            QFileDialog *dlg = new QFileDialog();

            //dlg->show();

            QString fileName = dlg->getOpenFileName(this, tr("Selete Command File..."),
                                                    "./commands/",
                                                    tr("command file (*.json)"));
            if(!fileName.isEmpty())
            {
                setCommandFile(fileName);
            }
        }
        else if(event->modifiers() == Qt::AltModifier)
        {
            //CommandEditor *edit = new CommandEditor();
            //edit->show();
        }
    }
}

void CommandUI::updateUI(void)
{
    loadCommandJson(CommandFile);

    for(QJsonValue info: CMD_infoArray) {
        if (!info.isObject()) {
            return;
        }

        if(!ui->tabWidget_Command->widget(info.toObject().find(_PageJsonKey).value().toInt()))
        {
            QWidget *w = new QWidget();

            qInfo() << "Command Can't find index of " << info.toObject().find(_PageJsonKey).value().toInt();

            if(info.toObject().find(_PageJsonKey).value().toInt() == 0)
            {
                ui->tabWidget_Command->insertTab(info.toObject().find(_PageJsonKey).value().toInt(),
                                                 w,
                                                 info.toObject().find(_TitleJsonKey).value().toString());

                qInfo() << "Command Create Base Command Page";
            }
            else
            {
                ui->tabWidget_Command->insertTab(info.toObject().find(_PageJsonKey).value().toInt(),
                                                 w,
                                                 info.toObject().find(_TitleJsonKey).value().toString());
                qInfo() << "Command Create Advance Command "
                        << info.toObject().find(_TitleJsonKey).value().toString()
                        << "Page";
            }
        }

        QJsonArray BtnArray = info.toObject().find(_CommandsJsonKey).value().toArray();

        for(QJsonValue binfo: BtnArray) {
            if (!binfo.isObject()) {
                return;
            }

            CommandButton *btn = new CommandButton(ui->tabWidget_Command->widget(info.toObject().find(_PageJsonKey).value().toInt()));


            btn->setParameters(binfo.toObject().find(_rowJsonKey).value().toVariant(),
                               binfo.toObject().find(_colunmJsonKey).value().toVariant(),
                               binfo.toObject().find(_noticeJsonKey).value().toVariant(),
                               binfo.toObject().find(_commandJsonKey).value().toVariant(),
                               binfo.toObject().find(_confirmJsonKey).value().toVariant(),
                                info.toObject().find(_PageJsonKey).value().toVariant(),
                               binfo.toObject().find(_dialogJsonKey).value().toVariant(),
                               binfo.toObject().find(_param1JsonKey).value().toVariant(),
                               binfo.toObject().find(_param2JsonKey).value().toVariant(),
                               binfo.toObject().find(_param3JsonKey).value().toVariant(),
                               binfo.toObject().find(_param4JsonKey).value().toVariant(),
                               binfo.toObject().find(_param5JsonKey).value().toVariant(),
                               binfo.toObject().find(_param6JsonKey).value().toVariant(),
                               binfo.toObject().find(_param7JsonKey).value().toVariant());



            btn->show();
            btn->raise();

            btn->setText(binfo.toObject().find(_TextJsonKey).value().toString());

            btn->resize(m_width,m_height);
            btn->move(binfo.toObject().find(_colunmJsonKey).value().toInt() * (m_width + m_spacing) + m_spacing,
                      binfo.toObject().find(_rowJsonKey).value().toInt() * (m_height + m_spacing)+ m_spacing);


            btn->setProperty("state",state::success);
            btn->style()->unpolish(btn);
            btn->style()->polish(btn);

            connect(btn,&CommandButton::clicked,
                    this,&CommandUI::on_commandClicked);
        }
    }

}




void CommandUI::setCommandFile(QString File)
{
    Config *config = new Config();
    config->setCommandFile(File);
    delete config;

    CommandFile = File;

    for(int i = 0;i < ui->tabWidget_Command->count();i++)
    {
        QObjectList wlist = ui->tabWidget_Command->widget(i)->children();
        foreach (QObject *b, wlist) {
            CommandButton *btn = qobject_cast<CommandButton *>(b);
            if(btn)
            {
                disconnect(btn,SIGNAL(clicked(bool)),
                           this,SLOT(on_commandClicked()));
                delete btn;
            }
        }

        delete ui->tabWidget_Command->widget(i);
    }


    ui->tabWidget_Command->clear();

    updateUI();

}

void CommandUI::loadCommandJson(const QString& jsonFilename)
{
    if (jsonFilename.isEmpty()) {
        return;
    }

    qDebug() << "Loading " << jsonFilename;

    QFile jsonFile(jsonFilename);
    if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString();
        return;
    }

    QByteArray bytes = jsonFile.readAll();

    jsonFile.close();
    QJsonParseError jsonParseError;
    QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
    if (jsonParseError.error != QJsonParseError::NoError) {
        qWarning() << jsonFilename << "Unable to open json document" << jsonParseError.errorString();
        return;
    }

    QJsonObject json = doc.object();
    m_version = json.value(_versionJsonKey).toString();
    qDebug() << "command version :" << m_version;

    m_width = json.value(_WidthJsonKey).toInt();
    m_height = json.value(_HeightJsonKey).toInt();
    m_spacing = json.value(_spacingJsonKey).toInt();

    QJsonValue jsonValue = json.value(_ButtonsJsonKey);

    if (!jsonValue.isArray()) {
        qWarning() << jsonFilename << "_CommandButtonJsonKey not array";
        return;
    }

    CMD_infoArray = jsonValue.toArray();

    for(QJsonValue info: CMD_infoArray) {
        if (!info.isObject()) {
            qWarning() << jsonFilename << "mavCmdArray should contain objects";
            return;
        }
    }
}


void CommandUI::setSecondConfirm(QVariant value)
{
     if(value.toBool() == true)
     {
         for(int i = 0;i < ui->tabWidget_Command->count();i++)
         {
                 QObjectList list = ui->tabWidget_Command->widget(i)->children();

                 foreach (QObject *obj, list) {
                      CommandButton *btn = qobject_cast<CommandButton *>(obj);
                      if(btn)
                      {
                          if((btn->text() == m_name)
                          &&(btn->Command() == m_command)
                          &&(btn->Confirm() == m_confirm)
                          &&(btn->Param1() == m_param1)
                          &&(btn->Param2() == m_param2)
                          &&(btn->Param3() == m_param3)
                          &&(btn->Param4() == m_param4)
                          &&(btn->Param5() == m_param5)
                          &&(btn->Param6() == m_param6)
                          &&(btn->Param7() == m_param7))
                          {
                              btn->setProperty("state",state::failure);
                              btn->style()->unpolish(btn);
                              btn->style()->polish(btn);

                              emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
                          }
                      }
                 }
         }

         emit cmd_long(m_param1.toDouble(),
                       m_param2.toDouble(),
                       m_param3.toDouble(),
                       m_param4.toDouble(),
                       m_param5.toDouble(),
                       m_param6.toDouble(),
                       m_param7.toDouble(),
                       m_command,m_confirm);

     }
     else
     {
         m_param1 = 0;
         m_param2 = 0;
         m_param3 = 0;
         m_param4 = 0;
         m_param5 = 0;
         m_param6 = 0;
         m_param7 = 0;
         m_command = 0;
         m_confirm = 0;
     }
}

void CommandUI::setSecondValue(QVariant value)
{

    for(int i = 0;i < ui->tabWidget_Command->count();i++)
    {
         QObjectList list = ui->tabWidget_Command->widget(i)->children();

         foreach (QObject *obj, list) {
              CommandButton *btn = qobject_cast<CommandButton *>(obj);
              if(btn)
              {
                  if((btn->text() == m_name)
                  &&(btn->Command() == m_command)
                  &&(btn->Confirm() == m_confirm)
                  &&(btn->Param1() == m_param1)
                  &&(btn->Param2() == m_param2)
                  &&(btn->Param3() == m_param3)
                  &&(btn->Param4() == m_param4)
                  &&(btn->Param5() == m_param5)
                  &&(btn->Param6() == m_param6)
                  &&(btn->Param7() == m_param7))
                  {
                      btn->setProperty("state",state::failure);
                      btn->style()->unpolish(btn);
                      btn->style()->polish(btn);


                      emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
                  }
              }
         }
    }


     //找到要编辑的，然后把数字赋值过去
     bool flag = false;

     m_param1.toDouble(&flag);
     if(!flag)
     {
         m_param1 = value;
     }

     m_param2.toDouble(&flag);
     if(!flag)
     {
         m_param2 = value;
     }

     m_param3.toDouble(&flag);
     if(!flag)
     {
         m_param3 = value;
     }

     m_param4.toDouble(&flag);
     if(!flag)
     {
         m_param4 = value;
     }

     m_param5.toDouble(&flag);
     if(!flag)
     {
         m_param5 = value;
     }

     m_param6.toDouble(&flag);
     if(!flag)
     {
         m_param6 = value;
     }

     m_param7.toDouble(&flag);
     if(!flag)
     {
         m_param7 = value;
     }

     emit cmd_long(m_param1.toDouble(),
                   m_param2.toDouble(),
                   m_param3.toDouble(),
                   m_param4.toDouble(),
                   m_param5.toDouble(),
                   m_param6.toDouble(),
                   m_param7.toDouble(),
                   m_command,m_confirm);
}


void CommandUI::setParamValue(QVariant value)
{

    emit showMessage(tr("无人机 %1 %2 %3 %4")
                     .arg(QString::number(m_currentSys))
                     .arg(m_name)
                     .arg(m_param1.toString())
                     .arg(value.toString()));

     //找到要编辑的，然后把数字赋值过去
    /*
     bool flag = false;

     m_param3.toDouble(&flag);
     if(!flag)
     {
         m_param3 = value;
     }
     */

     m_param3 = value;

     emit WriteParam(m_currentSys,1,m_param1,m_param2,m_param3);
}


void CommandUI::on_commandClicked()
{

     //找到消息的发送者
     CommandButton *btn = qobject_cast<CommandButton *>(sender());

      m_name    = btn->text();

      m_command = btn->Command().toInt();
      m_confirm = btn->Confirm().toInt();

      m_param1  = btn->Param1();
      m_param2  = btn->Param2();
      m_param3  = btn->Param3();
      m_param4  = btn->Param4();
      m_param5  = btn->Param5();
      m_param6  = btn->Param6();
      m_param7  = btn->Param7();


       int32_t  dialogValue = btn->Dialog().toInt();


       switch (dialogValue) {
       case -1://param
       {

               //value 确定要输入的参数
               Inputter *inputter = new Inputter(this);
               inputter->setGeometry(0,0,this->width(),this->height());

               //设置警告界面
               QString str;

               str.append(tr("set parameter \n"));
               str.append(m_param1.toString());
               str.append(" ");
               str.append(m_param2.toString());
               str.append("\n");
               str.append(btn->Notice().toString());

               inputter->setLabel(str);

               connect(inputter,SIGNAL(confirmValue(QVariant)),
                       this,SLOT(setParamValue(QVariant)));

               inputter->show();


       }break;
       case 0:{
           btn->setProperty("state",state::failure);
           btn->style()->unpolish(btn);
           btn->style()->polish(btn);

           emit cmd_long(m_param1.toDouble(),
                         m_param2.toDouble(),
                         m_param3.toDouble(),
                         m_param4.toDouble(),
                         m_param5.toDouble(),
                         m_param6.toDouble(),
                         m_param7.toDouble(),
                         m_command,m_confirm);
       }break;
       case 1:{
           //根据这个comfirm 确定要输入的参数
           Confirm *confirmor = new Confirm(this);
           confirmor->setGeometry(0,0,this->width(),this->height());

           //设置警告界面
           confirmor->setNotice(btn->Notice().toString());

           connect(confirmor,SIGNAL(confirmValue(QVariant)),
                   this,SLOT(setSecondConfirm(QVariant)));

           confirmor->show();
       }break;
       case 2:{
           //value 确定要输入的参数
           Inputter *inputter = new Inputter(this);
           inputter->setGeometry(0,0,this->width(),this->height());

           //设置警告界面
           inputter->setLabel(btn->Notice());

           connect(inputter,SIGNAL(confirmValue(QVariant)),
                   this,SLOT(setSecondValue(QVariant)));

           inputter->show();
       }break;
       default:{
           btn->setProperty("state",state::failure);
           btn->style()->unpolish(btn);
           btn->style()->polish(btn);

           emit cmd_long(m_param1.toDouble(),
                         m_param2.toDouble(),
                         m_param3.toDouble(),
                         m_param4.toDouble(),
                         m_param5.toDouble(),
                         m_param6.toDouble(),
                         m_param7.toDouble(),
                         m_command,m_confirm);
       }break;
       }


 }



void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
    bool isFundSender = false;
    QString string;
    //找到消息的发送者

    qDebug() << "command accepte" << command;

    for(int i = 0;i < ui->tabWidget_Command->count();i++)
    {
        if(!ui->tabWidget_Command->widget(i))
        {
            continue;
        }

        qDebug() << "tab index" << i;

        QObjectList list = ui->tabWidget_Command->widget(i)->children();

        if(command == m_command)
        {
            foreach (QObject *obj, list)
            {
                CommandButton *btn = qobject_cast<CommandButton *>(obj);
                if(btn)
                {
                    QString btn_name = btn->text();
                    if(btn_name == m_name)//查到正在等待回复的按键
                    {
                        isFundSender = true;

                        if(flag)
                        {
                            btn->setProperty("state",state::success);
                        }
                        else
                        {
                            btn->setProperty("state",state::failure);
                        }


                        switch (result) {
                        case MAV_RESULT_ACCEPTED:
                            string.append(tr("%1,%2 accepted and executed").arg(command).arg(btn_name));
                            break;
                        case MAV_RESULT_TEMPORARILY_REJECTED:
                            string.append(tr("%1,%2 rejected").arg(command).arg(btn_name));
                            break;
                        case MAV_RESULT_DENIED:
                            string.append(tr("%1,%2 permanently denied").arg(command).arg(btn_name));
                            break;
                        case MAV_RESULT_UNSUPPORTED:
                            string.append(tr("%1,%2 unsupported").arg(command).arg(btn_name));
                            break;
                        case MAV_RESULT_FAILED:
                            string.append(tr("%1,%2 failed").arg(command).arg(btn_name));
                            break;
                        case MAV_RESULT_IN_PROGRESS:
                            string.append(tr("%1,%2 being executed").arg(command).arg(btn_name));
                            break;
                        case 0xFE:
                            string.append(tr("%1,%2 time out").arg(command).arg(btn_name));
                            break;
                        case 0xFF:
                            string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
                            break;
                        default:
                            break;
                        }

                        btn->style()->unpolish(btn);
                        btn->style()->polish(btn);

                        m_command = 0;
                        m_name.clear();
                    }
                }
            }


        }
    }

    if(isFundSender == false)
    {
        emit Accepted(flag,command,result);
    }
    else
    {
        if(string.size() > 0)
        {

            /*
            QVariant flag;
            Config *cfg = new Config();

            cfg->getTTS(&flag);

            if(flag.toBool())
            {
                QTextToSpeech *tts = new QTextToSpeech();
                tts->say(string);
                tts->deleteLater();

            }
            */

            say(string);
            emit showMessage(string);
        }
    }
}


//专门为航点设计的一个确认窗口

void CommandUI::setCurrent(QVariant value)
{
    if(value.toBool() == true)
    {
        emit showMessage(tr("设置航点 %1").arg(m_currentSeq));

        emit SetCurrentPoint(m_currentSeq);
    }
}

void CommandUI::missionConfirm(int group, int seq)
{
    m_currentSeq = seq;

    //根据这个comfirm 确定要输入的参数
    Confirm *confirmor = new Confirm(this);
    confirmor->setGeometry(0,0,this->width(),this->height());

    //设置警告界面
    confirmor->setNotice(tr("click confirm to set Point %1 as current point").arg(seq));

    connect(confirmor,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setCurrent(QVariant)));

    confirmor->show();


    //输入 1~4
/*
    if(isCofirmShow == true)
    {

    }
    else
    {
        m_currentSeq = seq;

        //根据这个comfirm 确定要输入的参数
        Confirm *confirmor = new Confirm(this);
        confirmor->setGeometry(0,0,this->width(),this->height());

        //设置警告界面
        confirmor->setNotice(tr("click confirm to set group %1 Point %2 as current point").arg(group).arg(seq));

        connect(confirmor,&Confirm::confirmValue,[=](QVariant value){
            if(value.toBool() == true)
            {
                emit showMessage(tr("set mission :group %1,point %2").arg(group).arg(seq));
                //emit SetCurrentPoint(seq);

                //发送修改航线的指令
                emit cmd_long(group,
                              seq,
                              0,
                              0,
                              0,
                              0,
                              0,
                              20011,
                              0);

            }
            isCofirmShow = false;
        });

        connect(confirmor,&Confirm::destroyed,[=](){
            isCofirmShow = false;
        });

        confirmor->show();
        isCofirmShow = true;
    }
    */






}


void CommandUI::DoubleClickTimeout()
{
    DoubleClickTimer->stop();
}

void CommandUI::addVehicles(int sysid, int compid)
{
    Q_UNUSED(compid)

    if(ui->comboBox_uav->findData(sysid) == -1)
    {
        ui->comboBox_uav->addItem(QString::number(sysid),sysid);
        ui->comboBox_uav->setCurrentIndex(0);
    }

}

void CommandUI::CurrentUAV(int id,int comp)
{
    m_currentSys = id;
    m_currentComp = comp;
}


void CommandUI::setPointCount(QList<int> nums)
{
    ui->comboBox_seq->clear();

    foreach (int i, nums)
    {
        ui->comboBox_seq->addItem(QString::number(i),i);
    }
    ui->comboBox_seq->setCurrentIndex(0);

}

void CommandUI::on_groupBox_Command_clicked()
{
    qDebug() << "clicked";

    if(DoubleClickTimer)
    {
        if(DoubleClickTimer->isActive())
        {
            //双击后的效果
            qDebug() << "double";
            DoubleClickTimer->stop();
        }
        else
        {
            qDebug() << "clicked";
            DoubleClickTimer->start();
        }
    }
}



void CommandUI::on_pushButton_setSeq_clicked()
{
    if(ui->comboBox_seq->currentIndex() != -1)
    {
        int group = 1;//ui->comboBox_group->currentData().toInt() - 2;
        int seq = ui->comboBox_seq->currentData(Qt::UserRole).toInt();

        missionConfirm(group,seq);
    }
}

void CommandUI::on_pushButton_setUAV_clicked()
{
    if(ui->comboBox_uav->currentIndex() != -1)
    {
        int seq = ui->comboBox_uav->currentData(Qt::UserRole).toInt();

        //根据这个comfirm 确定要输入的参数
        Confirm *confirmor = new Confirm(this);
        confirmor->setGeometry(0,0,this->width(),this->height());

        //设置警告界面
        confirmor->setNotice(tr("click confirm to set uav %1 as current").arg(seq));

        connect(confirmor,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setCurrent(QVariant)));

        confirmor->show();
    }
}