#include "propertyui.h"
#include "ui_propertyui.h"
#include <iterator>
#include <QMetaObject>



const char* propertyui::_categoryJsonKey              = "category";
const char* propertyui::_decimalPlacesJsonKey         = "decimalPlaces";
const char* propertyui::_defaultJsonKey               = "default";
const char* propertyui::_descriptionJsonKey           = "description";
const char* propertyui::_enumStringsJsonKey           = "enumStrings";
const char* propertyui::_enumValuesJsonKey            = "enumValues";
const char* propertyui::_nanUnchangedJsonKey          = "nanUnchanged";
const char* propertyui::_friendlyEditJsonKey          = "friendlyEdit";
const char* propertyui::_friendlyNameJsonKey          = "friendlyName";
const char* propertyui::_idJsonKey                    = "id";
const char* propertyui::_labelJsonKey                 = "label";
const char* propertyui::_mavCmdInfoJsonKey            = "mavCmdInfo";
const char* propertyui::_param1JsonKey                = "param1";
const char* propertyui::_param2JsonKey                = "param2";
const char* propertyui::_param3JsonKey                = "param3";
const char* propertyui::_param4JsonKey                = "param4";
const char* propertyui::_param5JsonKey                = "param5";
const char* propertyui::_param6JsonKey                = "param6";
const char* propertyui::_param7JsonKey                = "param7";
const char* propertyui::_paramJsonKeyFormat           = "param%1";
const char* propertyui::_paramRemoveJsonKey           = "paramRemove";
const char* propertyui::_rawNameJsonKey               = "rawName";
const char* propertyui::_standaloneCoordinateJsonKey  = "standaloneCoordinate";
const char* propertyui::_specifiesCoordinateJsonKey   = "specifiesCoordinate";
const char* propertyui::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
const char* propertyui::_unitsJsonKey                 = "units";
const char* propertyui::_commentJsonKey               = "comment";
const char* propertyui::_advancedCategory             = "Advanced";
const char* propertyui::_versionJsonKey               = "version";


MissionCmdParamInfo::MissionCmdParamInfo(QObject* parent)
    : QObject(parent)
{

}

MissionCmdParamInfo::MissionCmdParamInfo(const MissionCmdParamInfo& other, QObject* parent)
    : QObject(parent)
{
    *this = other;
}

const MissionCmdParamInfo& MissionCmdParamInfo::operator=(const MissionCmdParamInfo& other)
{
    _decimalPlaces =    other._decimalPlaces;
    _defaultValue =     other._defaultValue;
    _enumStrings =      other._enumStrings;
    _enumValues =       other._enumValues;
    _label =            other._label;
    _param =            other._param;
    _units =            other._units;
    _nanUnchanged =     other._nanUnchanged;

    return *this;
}


//向地图发送信息请求读取一个航点

//收到地图的一个航点

propertyui::propertyui(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::propertyui)
{


    ui->setupUi(this);

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


    this->adjustSize();

    //初始化参数
    setWayPointProperty(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);

    //初始化ui
    //一个一个设置
    ui->label_Param1->setHidden(true);
    ui->label_Param2->setHidden(true);
    ui->label_Param3->setHidden(true);
    ui->label_Param4->setHidden(true);
    ui->label_Param5->setHidden(true);
    ui->label_Param6->setHidden(true);
    ui->label_Param7->setHidden(true);

    ui->pushButton_Param1->setHidden(true);
    ui->pushButton_Param2->setHidden(true);
    ui->pushButton_Param3->setHidden(true);
    ui->pushButton_Param4->setHidden(true);
    ui->pushButton_Param5->setHidden(true);
    ui->pushButton_Param6->setHidden(true);
    ui->pushButton_Param7->setHidden(true);

    //载入json
    _loadMavCmdInfoJson(":/json/MavCmdInfoCommon_cn_2.json", true);

    ui->label_Descript->adjustSize();
    ui->label_Descript->setWordWrap(true);
    ui->label_Descript->setAlignment(Qt::AlignTop);

   //rebuildUI(" ");

}


void propertyui::clearLayout(QLayout *layout)
{
    QLayoutItem *item;
    while((item = layout->takeAt(0)) != 0)
    {
         //删除widget
         if(item->widget()){
             item->widget()->deleteLater();
             delete item->widget();
         }
         //删除子布局
         QLayout *childLayout = item->layout();
         if(childLayout){
             clearLayout(childLayout);
         }
         delete item;
     }
}

//还需要修正
void propertyui::rebuildUI(QString CMD)
{
    //QJsonValue info
    for(QJsonValue info: MAV_CMD_infoArray) {
        if (!info.isObject()) {
            return;
        }

        if(info.toObject().find(_friendlyNameJsonKey).value() == CMD)
        {
            QString str;
            loadJsonInfo(info.toObject(),true,str);
        }
    }

    ui->pushButton_friendlyName->setText(CMD);

    //重新载入UI
    ui->pushButton_Seq->setText(QString::number(m_seq));
    ui->label_Descript->setText(description());

    //载入高度
    ui->pushButton_Alt->setText(QString::number(m_z,'f',0));

    if(m_frame == FrameType::MAV_FRAME_GLOBAL_RELATIVE_ALT)
    {
        ui->pushButton_AltType->setText(tr("Relative"));
    }
    else if(m_frame == FrameType::MAV_FRAME_GLOBAL)
    {
        ui->pushButton_AltType->setText(tr("Absolutely"));
    }

    //载入经纬度
    ui->pushButton_Lat->setText(QString::number(m_x * 10e-8,'f',6));
    ui->pushButton_Lng->setText(QString::number(m_y * 10e-8,'f',6));



    //一个一个设置
    ui->label_Param1->setHidden(true);
    ui->label_Param2->setHidden(true);
    ui->label_Param3->setHidden(true);
    ui->label_Param4->setHidden(true);
    ui->label_Param5->setHidden(true);
    ui->label_Param6->setHidden(true);
    ui->label_Param7->setHidden(true);

    ui->pushButton_Param1->setHidden(true);
    ui->pushButton_Param2->setHidden(true);
    ui->pushButton_Param3->setHidden(true);
    ui->pushButton_Param4->setHidden(true);
    ui->pushButton_Param5->setHidden(true);
    ui->pushButton_Param6->setHidden(true);
    ui->pushButton_Param7->setHidden(true);

    for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
    {
       MissionCmdParamInfo* i = item.value();

       switch(i->param())
       {
       case 1:
       {
           ui->label_Param1->show();
           ui->pushButton_Param1->show();
           ui->label_Param1->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param1_type = "QComboBox";
               int index;
               if(m_param1 > (i->enumValues().size() - 1))
               {
                   //m_param1 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param1->text())).toDouble();
                   index = i->enumValues().indexOf(i->defaultValue());
               }
               else
               {
                   index = i->enumValues().indexOf(m_param1);
                   if(index == -1)
                   {
                       index = 0;
                   }
               }

               ui->pushButton_Param1->setText(i->enumStrings().at(index));//当前值大于index
           }
           else
           {
               param1_type = "QLineEdit";
               ui->pushButton_Param1->setText(QString::number(m_param1,'f',i->decimalPlaces()));
           }
       }break;
       case 2:
       {
           ui->label_Param2->show();
           ui->pushButton_Param2->show();
           ui->label_Param2->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param2_type = "QComboBox";

               int index;
               if(m_param2 > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_param2;
               }

               ui->pushButton_Param2->setText(i->enumStrings().at(index));
           }
           else
           {
               param2_type = "QLineEdit";
               ui->pushButton_Param2->setText(QString::number(m_param2,'f',i->decimalPlaces()));
           }
       }break;
       case 3:
       {
           ui->label_Param3->show();
           ui->pushButton_Param3->show();
           ui->label_Param3->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param3_type = "QComboBox";

               int index;
               if(m_param3 > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_param3;
               }

               ui->pushButton_Param3->setText(i->enumStrings().at(index));
           }
           else
           {
               param3_type = "QLineEdit";
               ui->pushButton_Param3->setText(QString::number(m_param3,'f',i->decimalPlaces()));
           }
       }break;
       case 4:
       {
           ui->label_Param4->show();
           ui->pushButton_Param4->show();
           ui->label_Param4->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param4_type = "QComboBox";

               int index;
               if(m_param4 > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_param4;
               }

               ui->pushButton_Param4->setText(i->enumStrings().at(index));
           }
           else
           {
               param4_type = "QLineEdit";
               ui->pushButton_Param4->setText(QString::number(m_param4,'f',i->decimalPlaces()));
           }
       }break;
       case 5:
       {
           ui->label_Param5->show();
           ui->pushButton_Param5->show();
           ui->label_Param5->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param5_type = "QComboBox";

               int index;
               if(m_x > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_x;
               }

               ui->pushButton_Param5->setText(i->enumStrings().at(index));
           }
           else
           {
               param5_type = "QLineEdit";
               ui->pushButton_Param5->setText(QString::number(m_x,'f',i->decimalPlaces()));
           }
       }break;
       case 6:
       {
           ui->label_Param6->show();
           ui->pushButton_Param6->show();
           ui->label_Param6->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param6_type = "QComboBox";

               int index;
               if(m_y > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_y;
               }

               ui->pushButton_Param6->setText(i->enumStrings().at(index));
           }
           else
           {
               param6_type = "QLineEdit";
               ui->pushButton_Param6->setText(QString::number(m_y,'f',i->decimalPlaces()));
           }
       }break;
       case 7:
       {
           ui->label_Param7->show();
           ui->pushButton_Param7->show();
           ui->label_Param7->setText(i->label());

           if(i->enumStrings().size() != 0)
           {
               param7_type = "QComboBox";

               int index;
               if(m_z > (i->enumValues().size() - 1))
               {
                   index = i->defaultValue();
               }
               else
               {
                   index = m_z;
               }

               ui->pushButton_Param7->setText(i->enumStrings().at(index));
           }
           else
           {
               param7_type = "QLineEdit";
               ui->pushButton_Param7->setText(QString::number(m_z,'f',i->decimalPlaces()));
           }
       }break;
       }
    }
}


void propertyui::WayPointPropertyUpdate(void)
{
    //设置高度
    m_z = ui->pushButton_Alt->text().toDouble();


    //设置经纬度

    m_x = ui->pushButton_Lat->text().toDouble() * 10e6;
    m_y = ui->pushButton_Lng->text().toDouble() * 10e6;

    qDebug() << m_x  << m_y;

    //设置高度类型
    if(ui->pushButton_AltType->text() == tr("Relative"))
    {
        m_frame = FrameType::MAV_FRAME_GLOBAL_RELATIVE_ALT;
    }
    else if(ui->pushButton_AltType->text() == tr("Absolutely"))
    {
        m_frame = FrameType::MAV_FRAME_GLOBAL;
    }

    for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
    {
       MissionCmdParamInfo* i = item.value();

       switch(i->param())
       {
       case 1:
       {
           if(param1_type == "QComboBox")
           {
               //根据值寻找index，当前做法错误
               m_param1 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param1->text())).toDouble();
           }
           else if(param1_type == "QLineEdit")
           {
               m_param1 = ui->pushButton_Param1->text().toDouble();
           }
       }break;
       case 2:
       {
           if(param2_type == "QComboBox")
           {
               m_param2 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param2->text())).toDouble();
           }
           else if(param2_type == "QLineEdit")
           {
               m_param2 = ui->pushButton_Param2->text().toDouble();
           }
       }break;
       case 3:
       {
           if(param3_type == "QComboBox")
           {
               m_param3 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param3->text())).toDouble();
           }
           else if(param3_type == "QLineEdit")
           {
               m_param3 = ui->pushButton_Param3->text().toDouble();
           }
       }break;
       case 4:
       {
           if(param4_type == "QComboBox")
           {
               m_param4 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param4->text())).toDouble();
           }
           else if(param4_type == "QLineEdit")
           {
               m_param4 = ui->pushButton_Param4->text().toDouble();
           }
       }break;
       case 5:
       {
           if(param5_type == "QComboBox")
           {
               m_x = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param5->text())).toDouble();
           }
           else if(param5_type == "QLineEdit")
           {
               m_x = ui->pushButton_Param5->text().toDouble();
           }
       }break;
       case 6:
       {
           if(param6_type == "QComboBox")
           {
               m_y = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param6->text())).toDouble();
           }
           else if(param6_type == "QLineEdit")
           {
               m_y = ui->pushButton_Param6->text().toDouble();
           }
       }break;
       case 7:
       {
           if(param7_type == "QComboBox")
           {
               m_z = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param7->text())).toDouble();
           }
           else if(param7_type == "QLineEdit")
           {
               m_z = ui->pushButton_Param7->text().toDouble();
           }
       }break;
       }
    }

    qDebug() << "PropertyUpdate"
             <<  m_param1
             <<  m_param2
             <<  m_param3
             <<  m_param4
             <<  m_x
             <<  m_y
             <<  m_z
             <<  m_seq
             <<  m_group
             <<  m_command
             <<  m_target_system
             <<  m_target_component
             <<  m_frame
             <<  m_current
             <<  m_autocontinue
             <<  m_mission_type ;

    emit WayPointPropertyChanged(m_param1,m_param2,m_param3,m_param4,
                                 m_x,m_y,m_z,
                                 m_seq,m_group,m_command,
                                 m_target_system,m_target_component,
                                 m_frame,m_current,m_autocontinue,m_mission_type);
}

void propertyui::setWayPointProperty(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type)
{
    m_param1 = param1;
    m_param2 = param2;
    m_param3 = param3;
    m_param4 = param4;
    m_x = x;
    m_y = y;
    m_z = z;
    m_seq = seq;
    m_group = group;
    m_command = command;
    m_target_system = target_system;
    m_target_component = target_component;
    m_frame = frame;
    m_current = current;
    m_autocontinue = autocontinue;
    m_mission_type = mission_type;

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

        if(info.toObject().value(_idJsonKey).toInt() == m_command)
        {
             rebuildUI(info.toObject().value(_friendlyNameJsonKey).toString());
        }
    }

    qDebug() <<  " set PROPERTY"
             <<  m_param1
             <<  m_param2
             <<  m_param3
             <<  m_param4
             <<  m_x
             <<  m_y
             <<  m_z
             <<  m_seq
             <<  m_group
             <<  m_command
             <<  m_target_system
             <<  m_target_component
             <<  m_frame
             <<  m_current
             <<  m_autocontinue
             <<  m_mission_type ;


}



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

//读取航点所有信息之后 从json 载入 相关设置 然后在这个界面设置之后发送信号到航点


void propertyui::_loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList)
{
    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();
    int version = json.value(_versionJsonKey).toInt();
    qDebug() << "MAV CMD version :" << version;
    if (version != 1) {
        qWarning() << jsonFilename << "Invalid version" << version;
        return;
    }




    QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);

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

    // Iterate over MissionCommandUIInfo objects
    MAV_CMD_infoArray = jsonValue.toArray();

    //qDebug() <<  MAV_CMD_infoArray;

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


QString propertyui::category(void) const
{
    if (_infoMap.contains(_categoryJsonKey)) {
        return _infoMap[_categoryJsonKey].toString();
    } else {
        return _advancedCategory;
    }
}

QString propertyui::description(void) const
{
    if (_infoMap.contains(_descriptionJsonKey)) {
        return _infoMap[_descriptionJsonKey].toString();
    } else {
        return QString();
    }
}

bool propertyui::friendlyEdit(void) const
{
    if (_infoMap.contains(_friendlyEditJsonKey)) {
        return _infoMap[_friendlyEditJsonKey].toBool();
    } else {
        return false;
    }
}

QString propertyui::friendlyName(void) const
{
    if (_infoMap.contains(_friendlyNameJsonKey)) {
        return _infoMap[_friendlyNameJsonKey].toString();
    } else {
        return QString();
    }
}

QString propertyui::rawName(void) const
{
    if (_infoMap.contains(_rawNameJsonKey)) {
        return _infoMap[_rawNameJsonKey].toString();
    } else {
        return QString();
    }
}

bool propertyui::isStandaloneCoordinate(void) const
{
    if (_infoMap.contains(_standaloneCoordinateJsonKey)) {
        return _infoMap[_standaloneCoordinateJsonKey].toBool();
    } else {
        return false;
    }
}

bool propertyui::specifiesCoordinate(void) const
{
    if (_infoMap.contains(_specifiesCoordinateJsonKey)) {
        return _infoMap[_specifiesCoordinateJsonKey].toBool();
    } else {
        return false;
    }
}

bool propertyui::specifiesAltitudeOnly(void) const
{
    if (_infoMap.contains(_specifiesAltitudeOnlyJsonKey)) {
        return _infoMap[_specifiesAltitudeOnlyJsonKey].toBool();
    } else {
        return false;
    }
}

void propertyui::_overrideInfo(propertyui *uiInfo)
{
    // Override info values
    for (const QString& valueKey: uiInfo->_infoMap.keys()) {
        _setInfoValue(valueKey, uiInfo->_infoMap[valueKey]);
    }

    // Add to the remove params list
    for (int removeIndex: uiInfo->_paramRemoveList) {
        if (!_paramRemoveList.contains(removeIndex)) {
            _paramRemoveList.append(removeIndex);
        }
    }

    // Override param info
    for (const int paramIndex: uiInfo->_paramInfoMap.keys()) {
        _paramRemoveList.removeOne(paramIndex);
        // MissionCmdParamInfo objects are owned by MissionCommandTree are are in existence for the entire run so
        // we can just use the same pointer reference.
        _paramInfoMap[paramIndex] = uiInfo->_paramInfoMap[paramIndex];
    }
}

QString propertyui::_loadErrorString(const QString& errorString) const
{
    return QString("%1 %2").arg(_infoValue(_rawNameJsonKey).toString()).arg(errorString);
}

bool propertyui::loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString)
{
    QString internalError;

    QStringList allKeys;
    allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
            << _friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey;

    // Look for unknown keys in top level object
    for (const QString& key: jsonObject.keys()) {
        if (!allKeys.contains(key) && key != _commentJsonKey) {
            errorString = _loadErrorString(QString("Unknown key: %1").arg(key));
            return false;
        }
    }

    // Make sure we have the required keys
    QStringList requiredKeys;
    requiredKeys << _idJsonKey;
    if (requireFullObject) {
        requiredKeys << _rawNameJsonKey;
    }

    if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, internalError)) {
        errorString = _loadErrorString(internalError);
        return false;
    }



    // Only the full object should specify rawName, friendlyName
    if (!requireFullObject && (jsonObject.contains(_rawNameJsonKey) || jsonObject.contains(_friendlyNameJsonKey))) {
        errorString = _loadErrorString(QStringLiteral("Only the full object should specify rawName or friendlyName"));
        return false;
    }

    // Validate key types

    QList<QJsonValue::Type> types;
    types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
          << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;

    if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
        errorString = _loadErrorString(internalError);
        return false;
    }


    // Read in top level values

    _command = (MAV_CMD)jsonObject.value(_idJsonKey).toInt();

    if (jsonObject.contains(_categoryJsonKey)) {
        _infoMap[_categoryJsonKey] = jsonObject.value(_categoryJsonKey).toVariant();
    }
    if (jsonObject.contains(_rawNameJsonKey)) {
        _infoMap[_rawNameJsonKey] = jsonObject.value(_rawNameJsonKey).toVariant();
    }
    if (jsonObject.contains(_friendlyNameJsonKey)) {
        _infoMap[_friendlyNameJsonKey] = jsonObject.value(_friendlyNameJsonKey).toVariant();
    }
    if (jsonObject.contains(_descriptionJsonKey)) {
        _infoMap[_descriptionJsonKey] = jsonObject.value(_descriptionJsonKey).toVariant();
    }
    if (jsonObject.contains(_standaloneCoordinateJsonKey)) {
        _infoMap[_standaloneCoordinateJsonKey] = jsonObject.value(_standaloneCoordinateJsonKey).toVariant();
    }
    if (jsonObject.contains(_specifiesCoordinateJsonKey)) {
        _infoMap[_specifiesCoordinateJsonKey] = jsonObject.value(_specifiesCoordinateJsonKey).toVariant();
    }
    if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
        _infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
    }
    if (jsonObject.contains(_friendlyEditJsonKey)) {
        _infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
    }
    if (jsonObject.contains(_paramRemoveJsonKey)) {
        QStringList indexList = jsonObject.value(_paramRemoveJsonKey).toString().split(QStringLiteral(","));
        for (const QString& indexString: indexList) {
            _paramRemoveList.append(indexString.toInt());
        }
    }

    if (requireFullObject) {
        // Since this is the base of the hierarchy it must contain valid defaults for all values.
        if (!_infoAvailable(_categoryJsonKey)) {
            _setInfoValue(_categoryJsonKey, _advancedCategory);
        }
        if (!_infoAvailable(_friendlyNameJsonKey)) {
            _setInfoValue(_friendlyNameJsonKey, _infoValue(_rawNameJsonKey));
        }
        if (!_infoAvailable(_descriptionJsonKey)) {
            _setInfoValue(_descriptionJsonKey, QStringLiteral(""));
        }
        if (!_infoAvailable(_standaloneCoordinateJsonKey)) {
            _setInfoValue(_standaloneCoordinateJsonKey, false);
        }
        if (!_infoAvailable(_specifiesCoordinateJsonKey)) {
            _setInfoValue(_specifiesCoordinateJsonKey, false);
        }
        if (!_infoAvailable(_friendlyEditJsonKey)) {
            _setInfoValue(_friendlyEditJsonKey, false);
        }
    }

    if (requireFullObject) {
        if (_infoAvailable(_friendlyEditJsonKey) && _infoValue(_friendlyEditJsonKey).toBool()) {
            if (!_infoAvailable(_descriptionJsonKey)) {
                errorString = _loadErrorString(QStringLiteral("Missing description for friendly edit"));
                return false;
            }
            if (_infoValue(_rawNameJsonKey).toString() == _infoValue(_friendlyNameJsonKey).toString()) {
                errorString = _loadErrorString(QStringLiteral("Missing friendlyName for friendly edit"));
                return false;
            }
        }
    }

    QString debugOutput;
    for (const QString& infoKey: _infoMap.keys()) {
        debugOutput.append(QString("MavCmdInfo %1: %2 ").arg(infoKey).arg(_infoMap[infoKey].toString()));
    }

    // Read params

    //先清除这个参数存储buff
    _paramInfoMap.clear();

    for (int i=1; i<=7; i++) {
        QString paramKey = QString(_paramJsonKeyFormat).arg(i);

        if (jsonObject.contains(paramKey)) {
            QJsonObject paramObject = jsonObject.value(paramKey).toObject();

            QStringList allParamKeys;
            allParamKeys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey << _nanUnchangedJsonKey;

            // Look for unknown keys in param object
            for (const QString& key: paramObject.keys()) {
                if (!allParamKeys.contains(key) && key != _commentJsonKey) {
                    errorString = _loadErrorString(QString("Unknown param key: %1").arg(key));
                    return false;
                }
            }

            // Validate key types

            QList<QJsonValue::Type> types;
            types << QJsonValue::Null <<  QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
            if (!JsonHelper::validateKeyTypes(jsonObject, allParamKeys, types, internalError)) {
                errorString = _loadErrorString(internalError);
                return false;
            }


            _setInfoValue(_friendlyEditJsonKey, true); // Assume friendly edit if we have params

            if (!paramObject.contains(_labelJsonKey)) {
                internalError = QString("param object missing label key: %1").arg(paramKey);
                errorString = _loadErrorString(internalError);
                return false;
            }

            MissionCmdParamInfo* paramInfo = new MissionCmdParamInfo(this);

            paramInfo->_label =         paramObject.value(_labelJsonKey).toString();
            paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt();
            paramInfo->_enumStrings =   paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
            paramInfo->_param =         i;
            paramInfo->_units =         paramObject.value(_unitsJsonKey).toString();
            paramInfo->_nanUnchanged =  paramObject.value(_nanUnchangedJsonKey).toBool(false);

            if (paramObject.contains(_defaultJsonKey)) {
                if (paramInfo->_nanUnchanged) {
                    paramInfo->_defaultValue = JsonHelper::possibleNaNJsonValue(paramObject[_defaultJsonKey]);
                } else {
                    if (paramObject[_defaultJsonKey].type() == QJsonValue::Null) {
                        errorString = QString("Param %1 default value was null/NaN but NaN is not allowed");
                        return false;
                    }
                    paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
                }
            } else {
                paramInfo->_defaultValue = paramInfo->_nanUnchanged ? std::numeric_limits<double>::quiet_NaN() : 0;
            }

            QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
            for (const QString &enumValue: enumValues) {
                bool    convertOk;
                double  value = enumValue.toDouble(&convertOk);

                if (!convertOk) {
                    internalError = QString("Bad enumValue: %1").arg(enumValue);
                    errorString = _loadErrorString(internalError);
                    return false;
                }

                paramInfo->_enumValues << QVariant(value);
            }
            if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
                internalError = QString("enum strings/values count mismatch: %1, %2").arg(paramInfo->_enumStrings.count()).arg(paramInfo->_enumValues.count());
                errorString = _loadErrorString(internalError);
                return false;
            }
            _paramInfoMap[i] = paramInfo;
        }
    }

    return true;
}


void propertyui::setallPoint(QMap<int,int> list)
{
    allPoint.clear();

    for (QMap<int,int>::iterator i = list.begin();i != list.end(); ++i)
    {
        int index = i.key();
        QString Seq = QString::number(i.key());
        QString Type;

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

            if(info.toObject().find(_idJsonKey).value() == i.value())
            {
               Type = (QString)info.toObject().find(_friendlyNameJsonKey).value().toString();
            }
        }

        //string存在排序问题

        QVector< QString> value;

        value << Seq
              << Type;


        allPoint.insert(index,value);
    }

    for (QMap<int, QVector< QString> >::iterator i = allPoint.begin();i != allPoint.end(); ++i)
    {
        qDebug() << i.key() << i.value();
    }


    MultiSelector *selector = new MultiSelector(this);
    selector->setGeometry(0,0,this->width(),this->height());

    //读取所有的航点的cmd，然后设置list
    selector->setList(allPoint,ui->pushButton_Seq->text());

    connect(selector,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setSeqNav(QVariant)));

    selector->show();

}

void propertyui::setSeqNav(QVariant value)
{
    //读取这个值得航点
    emit WPotherPoint(value.toInt()+1);
}

void propertyui::on_pushButton_Seq_clicked()
{
    emit searchall();
}


void propertyui::setFriendlyName(QVariant value)
{
    ui->pushButton_friendlyName->setText(value.toString());

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

        if(info.toObject().find(_friendlyNameJsonKey).value() == value.toString())
        {
           m_command = (MAV_CMD)info.toObject().find(_idJsonKey).value().toInt();
        }
    }

    //然后重置一下参数
    WayPointPropertyUpdate();
    //更新界面
    rebuildUI(value.toString());

}

void propertyui::on_pushButton_friendlyName_clicked()
{
    Selector *selector = new Selector(this);
    selector->setGeometry(0,0,this->width(),this->height());

    QStringList list;

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

        QString str = info.toObject().value(_friendlyNameJsonKey).toString();
        if(str.size() != 0)
        {
            list.append(str);
        }
    }

    selector->setList(list,ui->pushButton_friendlyName->text());

    connect(selector,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setFriendlyName(QVariant)));

    selector->show();
}

void propertyui::setAltType(QVariant value)
{
    ui->pushButton_AltType->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_AltType_clicked()
{
    Selector *selector = new Selector(this);
    selector->setGeometry(0,0,this->width(),this->height());

    QStringList list;

    list << tr("Relative")
         << tr("Absolutely");


    selector->setList(list,ui->pushButton_AltType->text());
    connect(selector,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setAltType(QVariant)));

    selector->show();
}


void propertyui::setAltitude(QVariant value)
{
    ui->pushButton_Alt->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();

}

void propertyui::on_pushButton_Alt_clicked()
{
    Inputter *inputter = new Inputter(this);
    inputter->setGeometry(0,0,this->width(),this->height());

    inputter->setLabel(tr("set") + ui->pushButton_AltType->text() + tr("Altitude"));
    inputter->setInitValue(ui->pushButton_Alt->text());

    inputter->setDecimalPlaces(0);

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

    inputter->show();
}

void propertyui::setLatitude(QVariant value)
{
    ui->pushButton_Lat->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Lat_clicked()
{
    Inputter *inputter = new Inputter(this);
    inputter->setGeometry(0,0,this->width(),this->height());

    inputter->setLabel(tr("setLatitude"));
    inputter->setDecimalPlaces(6);
    inputter->setInitValue(ui->pushButton_Lat->text());
    connect(inputter,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setLatitude(QVariant)));

    inputter->show();
}

void propertyui::setLongitude(QVariant value)
{
    ui->pushButton_Lng->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Lng_clicked()
{
    Inputter *inputter = new Inputter(this);
    inputter->setGeometry(0,0,this->width(),this->height());

    inputter->setLabel(tr("setLongitude"));
    inputter->setDecimalPlaces(6);

    inputter->setInitValue(ui->pushButton_Lng->text());
    connect(inputter,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setLongitude(QVariant)));

    inputter->show();
}



void propertyui::setParam1(QVariant value)
{
    ui->pushButton_Param1->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param1_clicked()
{
     if(param1_type == "QComboBox")
     {
         Selector *selector = new Selector(this);
         selector->setGeometry(0,0,this->width(),this->height());

         QStringList list;

         for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
         {
            MissionCmdParamInfo* i = item.value();
            if(i->param() == 1)
            {
                list = i->enumStrings();
            }
         }

         selector->setList(list,ui->pushButton_Param1->text());
         connect(selector,SIGNAL(confirmValue(QVariant)),
                 this,SLOT(setParam1(QVariant)));

         selector->show();
     }
     else if(param1_type == "QLineEdit")
     {
         Inputter *inputter = new Inputter(this);
         inputter->setGeometry(0,0,this->width(),this->height());

         inputter->setLabel(ui->label_Param1->text());

         int DecimalPlaces = 0;

         for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
         {
            MissionCmdParamInfo* i = item.value();
            if(i->param() == 1)
            {
                DecimalPlaces = i->decimalPlaces();
            }
         }

         inputter->setDecimalPlaces(DecimalPlaces);

         inputter->setInitValue(ui->pushButton_Param1->text());
         connect(inputter,SIGNAL(confirmValue(QVariant)),
                 this,SLOT(setParam1(QVariant)));

         inputter->show();
     }
}

void propertyui::setParam2(QVariant value)
{
    ui->pushButton_Param2->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param2_clicked()
{
    if(param2_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 2)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param2->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam2(QVariant)));

        selector->show();
    }
    else if(param2_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param2->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 2)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);


        inputter->setInitValue(ui->pushButton_Param2->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam2(QVariant)));

        inputter->show();
    }
}

void propertyui::setParam3(QVariant value)
{
    ui->pushButton_Param3->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param3_clicked()
{
    if(param3_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 3)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param3->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam3(QVariant)));

        selector->show();
    }
    else if(param3_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param3->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 3)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);

        inputter->setInitValue(ui->pushButton_Param3->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam3(QVariant)));

        inputter->show();
    }
}

void propertyui::setParam4(QVariant value)
{
    ui->pushButton_Param4->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param4_clicked()
{
    if(param4_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 4)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param4->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam4(QVariant)));

        selector->show();
    }
    else if(param4_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param4->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 4)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);

        inputter->setInitValue(ui->pushButton_Param4->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam4(QVariant)));

        inputter->show();
    }
}

void propertyui::setParam5(QVariant value)
{
    ui->pushButton_Param5->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param5_clicked()
{
    if(param5_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 5)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param5->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam5(QVariant)));

        selector->show();
    }
    else if(param5_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param5->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 5)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);

        inputter->setInitValue(ui->pushButton_Param5->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam5(QVariant)));

        inputter->show();
    }
}

void propertyui::setParam6(QVariant value)
{
    ui->pushButton_Param6->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param6_clicked()
{
    if(param6_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 6)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param6->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam6(QVariant)));

        selector->show();
    }
    else if(param6_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param6->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 6)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);

        inputter->setInitValue(ui->pushButton_Param6->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam6(QVariant)));

        inputter->show();
    }
}

void propertyui::setParam7(QVariant value)
{
    ui->pushButton_Param7->setText(value.toString());
    //重置一下参数
    WayPointPropertyUpdate();
}

void propertyui::on_pushButton_Param7_clicked()
{
    if(param7_type == "QComboBox")
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 7)
           {
               list = i->enumStrings();
           }
        }

        selector->setList(list,ui->pushButton_Param7->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam7(QVariant)));

        selector->show();
    }
    else if(param7_type == "QLineEdit")
    {
        Inputter *inputter = new Inputter(this);
        inputter->setGeometry(0,0,this->width(),this->height());

        inputter->setLabel(ui->label_Param7->text());

        int DecimalPlaces = 0;

        for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
        {
           MissionCmdParamInfo* i = item.value();
           if(i->param() == 7)
           {
               DecimalPlaces = i->decimalPlaces();
           }
        }

        inputter->setDecimalPlaces(DecimalPlaces);

        inputter->setInitValue(ui->pushButton_Param7->text());
        connect(inputter,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setParam7(QVariant)));

        inputter->show();
    }
}

//模仿qgc
void propertyui::setLoad(QVariant value)
{
    qDebug() << "Loadvalue" << value;
    if(value.toBool() == true)
    {
        QFileDialog *dlg = new QFileDialog();
        QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
                                                "./plan/",
                                                tr("plan file (*.plan)"));
        if(!fileName.isEmpty())
        {
            emit WPLoad(fileName);
        }
    }
    else
    {

    }
}

void propertyui::on_pushButton_Load_clicked()
{

   Confirm *conf = new Confirm(this);
   conf->setGeometry(0,0,this->width(),this->height());

   conf->setNotice(tr("click to clear all points"));

   connect(conf,SIGNAL(confirmValue(QVariant)),
           this,SLOT(setLoad(QVariant)));

   conf->show();

}

void propertyui::on_pushButton_Save_clicked()
{
    QFileDialog *dlg = new QFileDialog();

    QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
                                            "./plan/",
                                            tr("plan file (*.plan)"));
    if(!fileName.isEmpty())
    {
        emit WPSave(fileName);
    }

}

void propertyui::on_pushButton_Upload_clicked()
{
    emit WPUpload();
}

void propertyui::on_pushButton_Download_clicked()
{
    emit WPDownload();
}

void propertyui::on_pushButton_Previous_clicked()
{
    if(m_seq > 0)
     emit WPotherPoint(m_seq - 1);
}

void propertyui::on_pushButton_Next_clicked()
{
     emit WPotherPoint(m_seq +1);
}


void propertyui::on_pushButton_Insert_clicked()
{
     emit WPInsert(m_seq);
}

void propertyui::on_pushButton_Delete_clicked()
{
     emit WPDelete(m_seq);
}