gcs-nf/App/CommandUI/CommandUI.cpp

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


const char* CommandUI::_versionJsonKey            = "version";
const char* CommandUI::_commentJsonKey            = "comment";
const char* CommandUI::_CommandButtonJsonKey      = "CommandButton";

const char* CommandUI::_WidthJsonKey              = "Width";
const char* CommandUI::_HeightJsonKey             = "Height";

const char* CommandUI::_TextJsonKey               = "Text";
const char* CommandUI::_rowJsonKey                = "row";
const char* CommandUI::_columnJsonKey             = "column";


const char* CommandUI::_param1JsonKey             = "param1";
const char* CommandUI::_param2JsonKey             = "param2";
const char* CommandUI::_param3JsonKey             = "param3";
const char* CommandUI::_param4JsonKey             = "param4";
const char* CommandUI::_param5JsonKey             = "param5";
const char* CommandUI::_param6JsonKey             = "param6";
const char* CommandUI::_param7JsonKey             = "param7";
const char* CommandUI::_commandJsonKey            = "command";
const char* CommandUI::_confirmJsonKey            = "confirm";




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

    //检测qml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();


    //载入json
    //loadCommandJson(":/json/Command.json");
    loadCommandJson("./commands/Command.json");

    ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));

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

        QPushButton *btn = new QPushButton(ui->groupBox_Command);

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

        btn->setFixedSize(CMDwidth,CMDheight);

        ui->gridLayout_Command->addWidget(btn,
                                        info.toObject().find(_rowJsonKey).value().toInt(),
                                        info.toObject().find(_columnJsonKey).value().toInt());

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

        connect(btn,SIGNAL(clicked(bool)),
                this,SLOT(on_commandClicked()));



    }

}

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



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();
    CMD_version = json.value(_versionJsonKey).toInt();
    qDebug() << "command version :" << CMD_version;

    /*
    if (version != 1) {
        qWarning() << jsonFilename << "Invalid version" << version;
        return;
    }
    */

    CMDwidth = json.value(_WidthJsonKey).toInt();
    CMDheight = json.value(_HeightJsonKey).toInt();


    QJsonValue jsonValue = json.value(_CommandButtonJsonKey);

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

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

    //qDebug() <<  CMD_infoArray;

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

 void CommandUI::on_commandClicked()
 {
     //找到消息的发送者
     QPushButton *btn = qobject_cast<QPushButton *>(sender());

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

         //找到id或者名字一样的按键，找到参数，发出去

         QString _name = info.toObject().find(_TextJsonKey).value().toString();
         QString _text = btn->text();

         if(_name == _text)
         {
              float param1 = info.toObject().find(_param1JsonKey).value().toDouble();
              float param2 = info.toObject().find(_param2JsonKey).value().toDouble();
              float param3 = info.toObject().find(_param3JsonKey).value().toDouble();
              float param4 = info.toObject().find(_param4JsonKey).value().toDouble();
              float param5 = info.toObject().find(_param5JsonKey).value().toDouble();
              float param6 = info.toObject().find(_param6JsonKey).value().toDouble();
              float param7 = info.toObject().find(_param7JsonKey).value().toDouble();
          uint16_t command = info.toObject().find(_commandJsonKey).value().toInt();
           uint8_t confirm = info.toObject().find(_confirmJsonKey).value().toInt();


              emit cmd_long(param1,param2, param3,param4,param5,param6,param7,command,confirm);

              qDebug() << tr("clicked") << btn->text()
                       << param1
                       << param2
                       << param3
                       << param4
                       << param5
                       << param6
                       << param7
                       << command
                       << confirm;

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


void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
    //找到消息的发送者
    QObjectList list = ui->groupBox_Command->children();

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

        if(command == info.toObject().find(_commandJsonKey).value().toInt())
        {
            foreach (QObject *obj, list)
            {
                QPushButton *btn = qobject_cast<QPushButton *>(obj);
                if(btn)
                {
                    if(btn->text() == info.toObject().find(_TextJsonKey).value().toString())
                    {
                        if(flag)
                        {
                            btn->setProperty("state",state::success);
                        }
                        else
                        {
                            btn->setProperty("state",state::failure);
                        }
                        btn->style()->unpolish(btn);
                        btn->style()->polish(btn);
                    }
                }
            }

        }
    }
}