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,
      warning,
      inital,
    };

    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();

    void on_pushButton_500W_Open_clicked();

    void on_pushButton_500W_Close_clicked();

    void on_pushButton_tracer_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 setCCMState(mavlink_ccmstate_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);

   void setAPversion(QString ver);
   void setHILMode(QString mode);
   void setSimulatorState(bool paser, bool comm);

   void setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
                       QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
                       QVariant scalela, QVariant scalera, QVariant scalele, QVariant scalere, QVariant scaleru,
                       QVariant la, QVariant ra,QVariant le, QVariant re,QVariant ru);

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;


    int heatCount = 30;
    QTimer *tim = nullptr;

    bool isWaitPitotAck = false;
    bool isWaitPitotClose = true;
    bool isWaitTracerAck = false;

    QFile *HILStateFile;

};

#endif // SERVOSYSTEM_H