gcs-nf/App/ToolsUI/ServoSystem/ServoSystem.h

#ifndef SERVOSYSTEM_H
#define SERVOSYSTEM_H

#include <QWidget>
#include "QMouseEvent"
#include "QDebug"
#include "QAction"
#include "QContextMenuEvent"
#include "QMenu"
#include "QColor"
#include "QLabel"
#include "mavlink.h"
#include "QStyle"


#include "Config/Config.h"

#include "QMessageBox"

#include "multiselector.h"
#include "Selector.h"
#include "Inputter.h"
#include "CharInputter.h"
#include "Confirm.h"
#include "CommandEditor.h"
#include "QtTextToSpeech/QtTextToSpeech"
#include "mavlink.h"



namespace Ui {
class ServoSystem;
}

class ServoSystem : public QWidget
{
    Q_OBJECT

public:

    enum state{
      success = 0,
      failure,
    };

    explicit ServoSystem(QWidget *parent = nullptr);
    ~ServoSystem();

    void closeEvent(QCloseEvent *event);

    void contextMenuEvent(QContextMenuEvent *event);

private slots:
    void on_pushButton_Servo_Check_clicked();

    void on_pushButton_Servo_Read_clicked();

    void on_pushButton_Servo_Zero_clicked();

    void on_pushButton_Servo_Work_clicked();

    void on_pushButton_AirHeatOn_clicked();

    void on_pushButton_coldrun_clicked();

    void on_pushButton_groundstartup_clicked();

    void on_pushButton_Afterburner_off_clicked();

    void on_pushButton_stop_clicked();

    void on_pushButton_EmergencyStop_clicked();

    void on_pushButton_Afterburner_on_clicked();

    void on_pushButton_Afterburner_half_clicked();

    void on_pushButton_setRPM_clicked();

    void on_pushButton_SendCommand_clicked();

    void on_pushButton_Cancel_clicked();

    void on_pushButton_IMU_clicked();

    void on_pushButton_ServoSet_clicked();

    void on_pushButton_Zero_clicked();

    void on_pushButton_setFuel_clicked();

    //void on_pushButton_AngleZero_clicked();

    void on_pushButton_HeatOn1_clicked();

    void on_pushButton_HeatOn2_clicked();


    void on_pushButton_ServoTest_clicked();

    void on_pushButton_StabilizeTest_clicked();

    void on_pushButton_ManualTest_clicked();

    void on_pushButton_swep_clicked();

    void on_pushButton_test_cmd_clicked();

    void on_pushButton_test_stop_clicked();

    void on_pushButton_IAS_SEL_0_clicked();

    void on_pushButton_IAS_SEL_1_clicked();

    void on_pushButton_IAS_SEL_2_clicked();

    void on_pushButton_HeatOff_clicked();

    //void on_pushButton_ZeroComplete_clicked();

signals:
    void showMessage(const QString &message,int TimeOut = 0);
    void cmd_int(float param1, float param2, float param3, float param4, int x, int y, float z);
    void cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);

    void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);


public slots:
    void setFloat(void);
    void setColor(QWidget *w,state s);
    void setValue(QLabel *w,QString s);

    void setCheckState(uint32_t pos,QVariant value);
    void setBUMState(mavlink_bmustate_t *t);
    void setServoState(mavlink_servo_output_raw_t *t);



    float param_getvalue(QVariant param,uint8_t type);

    void commandAccepted(bool flag,uint16_t command,uint8_t result);

    void on_comboBox_TestPoint_currentIndexChanged(int index);
    void on_pushButton_SendTest_clicked();

    void setSecondConfirm(QVariant value);
    void on_commandClicked(QString name,
                           float param1, float param2, float param3, float param4,
                               float param5, float param6, float param7,
                               uint16_t command, uint8_t confirmation);
   void on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uint8_t type, float value);

   void addVehicles(int sysid, int compid);


private:
    QWidget *m_parent;

    Ui::ServoSystem *ui;


    QVariant dir_la;
    QVariant dir_ra;
    QVariant dir_le;
    QVariant dir_re;
    QVariant dir_ru;

    QVariant max_la;
    QVariant max_ra;
    QVariant max_le;
    QVariant max_re;
    QVariant max_ru;

    QVariant scale_la;
    QVariant scale_ra;
    QVariant scale_le;
    QVariant scale_re;
    QVariant scale_ru;

    QVariant bias_la;
    QVariant bias_ra;
    QVariant bias_le;
    QVariant bias_re;
    QVariant bias_ru;


    QString m_name = 0;
    float m_param1 = 0;
    float m_param2 = 0;
    float m_param3 = 0;
    float m_param4 = 0;
    float m_param5 = 0;
    float m_param6 = 0;
    float m_param7 = 0;
    uint16_t m_command = 0;
    uint8_t m_confirm = 0;


    uint8_t m_sysid;
    uint8_t m_compid;
    QString m_id;
    uint8_t m_type;
    float m_value;


    uint32_t cmdType = 0;//0 cmd 1 param

    float m_ra = 0;
    float m_la = 0;
    float m_ru = 0;
    float m_re = 0;
    float m_le = 0;

};

#endif // SERVOSYSTEM_H