ground/gcs/src/plugins/setupwizard/vehicletemplateexportdialog.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       vehicletemplateexportdialog.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup [Group]
   7  * @{
   8  * @addtogroup VehicleTemplateExportDialog
   9  * @{
  10  * @brief [Brief]
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include "vehicletemplateexportdialog.h"
  29 #include "ui_vehicletemplateexportdialog.h"
  30 #include <extensionsystem/pluginmanager.h>
  31 #include "systemsettings.h"
  32 #include <QBuffer>
  33 #include <QFileDialog>
  34 #include <QJsonDocument>
  35 #include <QJsonObject>
  36 #include <QJsonArray>
  37 #include <QUuid>
  38 #include <QDebug>
  39 #include <QMessageBox>
  40 #include <uavobjecthelper.h>
  41 #include <objectpersistence.h>
  42 #include "stabilizationsettings.h"
  43 #include "stabilizationsettingsbank1.h"
  44 #include "stabilizationsettingsbank2.h"
  45 #include "stabilizationsettingsbank3.h"
  46 #include "mixersettings.h"
  47 #include "ekfconfiguration.h"
  48 #include <uavtalk/telemetrymanager.h>
  49 #include <utils/pathutils.h>
  50
  51 const char *VehicleTemplateExportDialog::EXPORT_FIXEDWING_NAME = "fixedwing";
  52 const char *VehicleTemplateExportDialog::EXPORT_MULTI_NAME     = "multirotor";
  53 const char *VehicleTemplateExportDialog::EXPORT_HELI_NAME = "helicopter";
  54 const char *VehicleTemplateExportDialog::EXPORT_SURFACE_NAME   = "surface";
  55 const char *VehicleTemplateExportDialog::EXPORT_CUSTOM_NAME    = "custom";
  56
  57 VehicleTemplateExportDialog::VehicleTemplateExportDialog(QWidget *parent) :
  58     QDialog(parent),
  59     ui(new Ui::VehicleTemplateExportDialog), m_autopilotConnected(false)
  60 {
  61     ui->setupUi(this);
  62     connect(ui->ImportButton, SIGNAL(clicked()), this, SLOT(importImage()));
  63     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  64     m_uavoManager = pm->getObject<UAVObjectManager>();
  65     ui->Photo->setScene(new QGraphicsScene(this));
  66     ui->Type->setText(setupVehicleType());
  67     ui->selectionWidget->setTemplateInfo(m_type, m_subType, true);
  68
  69     connect(ui->Name, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  70     connect(ui->Owner, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  71     connect(ui->ForumNick, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  72     connect(ui->Size, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  73     connect(ui->Weight, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  74
  75     connect(ui->exportBtn, SIGNAL(clicked()), this, SLOT(exportTemplate()));
  76     connect(ui->saveAsBtn, SIGNAL(clicked()), this, SLOT(saveAsTemplate()));
  77     connect(ui->importBtn, SIGNAL(clicked()), this, SLOT(importTemplate()));
  78     connect(ui->cancelBtn, SIGNAL(clicked()), this, SLOT(reject()));
  79     connect(ui->cancelBtn_2, SIGNAL(clicked()), this, SLOT(reject()));
  80
  81     TelemetryManager *telemManager = pm->getObject<TelemetryManager>();
  82     if (telemManager->isConnected()) {
  83         onAutoPilotConnect();
  84     } else {
  85         onAutoPilotDisconnect();
  86     }
  87
  88     connect(telemManager, SIGNAL(connected()), this, SLOT(onAutoPilotConnect()));
  89     connect(telemManager, SIGNAL(disconnected()), this, SLOT(onAutoPilotDisconnect()));
  90 }
  91
  92 VehicleTemplateExportDialog::~VehicleTemplateExportDialog()
  93 {
  94     delete ui;
  95 }
  96
  97 QString VehicleTemplateExportDialog::setupVehicleType()
  98 {
  99     SystemSettings *systemSettings = SystemSettings::GetInstance(m_uavoManager);
 100
 101     Q_ASSERT(systemSettings);
 102     SystemSettings::DataFields systemSettingsData = systemSettings->getData();
 103
 104     switch (systemSettingsData.AirframeType) {
 105     case SystemSettings::AIRFRAMETYPE_FIXEDWING:
 106         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 107         m_subType = VehicleConfigurationSource::FIXED_WING_AILERON;
 108         return tr("Fixed Wing - Aileron");
 109
 110     case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
 111         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 112         m_subType = VehicleConfigurationSource::FIXED_WING_ELEVON;
 113         return tr("Fixed Wing - Elevon");
 114
 115     case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
 116         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 117         m_subType = VehicleConfigurationSource::FIXED_WING_VTAIL;
 118         return tr("Fixed Wing - V-Tail");
 119
 120     case SystemSettings::AIRFRAMETYPE_HELICP:
 121         m_type    = VehicleConfigurationSource::VEHICLE_HELI;
 122         m_subType = VehicleConfigurationSource::HELI_CCPM;
 123         return tr("Helicopter");
 124
 125     case SystemSettings::AIRFRAMETYPE_TRI:
 126         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 127         m_subType = VehicleConfigurationSource::MULTI_ROTOR_TRI_Y;
 128         return tr("Multirotor - Tricopter");
 129
 130     case SystemSettings::AIRFRAMETYPE_QUADX:
 131         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 132         m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_X;
 133         return tr("Multirotor - Quadrocopter X");
 134
 135     case SystemSettings::AIRFRAMETYPE_QUADP:
 136         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 137         m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS;
 138         return tr("Multirotor - Quadrocopter +");
 139
 140     case SystemSettings::AIRFRAMETYPE_OCTOV:
 141         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 142         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_V;
 143         return tr("Multirotor - Octocopter V");
 144
 145     case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
 146         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 147         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X;
 148         return tr("Multirotor - Octocopter X8X");
 149
 150     case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
 151         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 152         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS;
 153         return tr("Multirotor - Octocopter X8+");
 154
 155     case SystemSettings::AIRFRAMETYPE_OCTO:
 156         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 157         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO;
 158         return tr("Multirotor - Octocopter +");
 159
 160     case SystemSettings::AIRFRAMETYPE_OCTOX:
 161         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 162         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_X;
 163         return tr("Multirotor - Octocopter X");
 164
 165     case SystemSettings::AIRFRAMETYPE_HEXAX:
 166         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 167         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_X;
 168         return tr("Multirotor - Hexacopter X");
 169
 170     case SystemSettings::AIRFRAMETYPE_HEXAH:
 171         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 172         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_H;
 173         return tr("Multirotor - Hexacopter H");
 174
 175     case SystemSettings::AIRFRAMETYPE_HEXACOAX:
 176         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 177         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y;
 178         return tr("Multirotor - Hexacopter Y6");
 179
 180     case SystemSettings::AIRFRAMETYPE_HEXA:
 181         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 182         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA;
 183         return tr("Multirotor - Hexacopter +");
 184
 185     default:
 186         m_type = VehicleConfigurationSource::VEHICLE_UNKNOWN;
 187         return tr("Unsupported");
 188     }
 189 }
 190
 191 void VehicleTemplateExportDialog::saveTemplate(QString path)
 192 {
 193     QJsonObject exportObject;
 194
 195     QList<UAVObject *> objectsToExport;
 196     objectsToExport << StabilizationSettings::GetInstance(m_uavoManager);
 197     objectsToExport << StabilizationSettingsBank1::GetInstance(m_uavoManager);
 198     objectsToExport << StabilizationSettingsBank2::GetInstance(m_uavoManager);
 199     objectsToExport << StabilizationSettingsBank3::GetInstance(m_uavoManager);
 200     objectsToExport << MixerSettings::GetInstance(m_uavoManager);
 201     objectsToExport << EKFConfiguration::GetInstance(m_uavoManager);
 202     m_uavoManager->toJson(exportObject, objectsToExport);
 203
 204     exportObject["type"]       = m_type;
 205     exportObject["subtype"]    = m_subType;
 206     exportObject["name"]       = ui->Name->text();
 207     exportObject["owner"]      = ui->Owner->text();
 208     exportObject["nick"]       = ui->ForumNick->text();
 209     exportObject["size"]       = ui->Size->text();
 210     exportObject["weight"]     = ui->Weight->text();
 211     exportObject["motor"]      = ui->Motor->text();
 212     exportObject["esc"]        = ui->Esc->text();
 213     exportObject["servo"]      = ui->Servo->text();
 214     exportObject["battery"]    = ui->Battery->text();
 215     exportObject["propeller"]  = ui->Propeller->text();
 216     exportObject["controller"] = ui->Controllers->currentText();
 217     exportObject["comment"]    = ui->Comment->document()->toPlainText();
 218     QUuid uuid = QUuid::createUuid();
 219     exportObject["uuid"]       = uuid.toString();
 220
 221     if (!m_image.isNull()) {
 222         QByteArray bytes;
 223         QBuffer buffer(&bytes);
 224         buffer.open(QIODevice::WriteOnly);
 225         m_image.scaled(IMAGE_SCALE_WIDTH, IMAGE_SCALE_HEIGHT, Qt::KeepAspectRatio,
 226                        Qt::SmoothTransformation).save(&buffer, "PNG");
 227         exportObject["photo"] = QString::fromLatin1(bytes.toBase64().data());
 228     }
 229
 230     QJsonDocument saveDoc(exportObject);
 231
 232     const char *fileType = ".vtmpl";
 233
 234     QString fileName     = QString("%1-%2-%3%4")
 235                            .arg(fixFilenameString(ui->Name->text(), 20))
 236                            .arg(fixFilenameString(ui->Type->text(), 30))
 237                            .arg(fixFilenameString(uuid.toString().right(12)))
 238                            .arg(fileType);
 239
 240     QString fullPath;
 241     if (path.isEmpty()) {
 242         fullPath = QString("%1%2%3").arg(QDir::homePath()).arg(QDir::separator()).arg(fileName);
 243         fullPath = QFileDialog::getSaveFileName(this, tr("Export settings"), fullPath, QString("%1 (*%2)").arg(tr("VehicleTemplates"), fileType));
 244     } else {
 245         fullPath = QString("%1%2%3").arg(path).arg(QDir::separator()).arg(fileName);
 246     }
 247
 248     if (!fullPath.isEmpty()) {
 249         if (!fullPath.endsWith(fileType)) {
 250             fullPath.append(fileType);
 251         }
 252         QFile saveFile(fullPath);
 253         if (saveFile.open(QIODevice::WriteOnly)) {
 254             saveFile.write(saveDoc.toJson());
 255             saveFile.close();
 256         } else {
 257             QMessageBox::information(this, "Export", tr("Settings could not be exported to \n%1(%2).\nPlease try again.")
 258                                      .arg(QFileInfo(saveFile).absoluteFilePath(), saveFile.error()), QMessageBox::Ok);
 259         }
 260     }
 261 }
 262
 263 QString VehicleTemplateExportDialog::fixFilenameString(QString input, int truncate)
 264 {
 265     return input.replace(' ', "").replace('|', "").replace('/', "")
 266            .replace('\\', "").replace(':', "").replace('"', "")
 267            .replace('\'', "").replace('?', "").replace('*', "")
 268            .replace('>', "").replace('<', "")
 269            .replace('}', "").replace('{', "")
 270            .left(truncate);
 271 }
 272
 273 void VehicleTemplateExportDialog::exportTemplate()
 274 {
 275     QString path = QString("%1%2%3%4").arg(Utils::InsertStoragePath("%%STOREPATH%%vehicletemplates"))
 276                    .arg(QDir::separator()).arg(getTypeDirectory()).arg(QDir::separator());
 277     QDir dir;
 278
 279     dir.mkpath(path);
 280     saveTemplate(path);
 281 }
 282
 283 void VehicleTemplateExportDialog::saveAsTemplate()
 284 {
 285     saveTemplate(QString(""));
 286 }
 287
 288 void VehicleTemplateExportDialog::importTemplate()
 289 {
 290     QJsonObject *tmpl = ui->selectionWidget->selectedTemplate();
 291
 292     if (tmpl != NULL) {
 293         QList<UAVObject *> updatedObjects;
 294         m_uavoManager->fromJson(*tmpl, &updatedObjects);
 295         UAVObjectUpdaterHelper helper;
 296         foreach(UAVObject * object, updatedObjects) {
 297             UAVDataObject *dataObj = dynamic_cast<UAVDataObject *>(object);
 298
 299             if (dataObj != NULL && dataObj->isKnown()) {
 300                 helper.doObjectAndWait(dataObj);
 301
 302                 ObjectPersistence *objper = ObjectPersistence::GetInstance(m_uavoManager);
 303                 ObjectPersistence::DataFields data;
 304                 data.Operation  = ObjectPersistence::OPERATION_SAVE;
 305                 data.Selection  = ObjectPersistence::SELECTION_SINGLEOBJECT;
 306                 data.ObjectID   = dataObj->getObjID();
 307                 data.InstanceID = dataObj->getInstID();
 308                 objper->setData(data);
 309
 310                 helper.doObjectAndWait(objper);
 311             }
 312         }
 313     }
 314 }
 315
 316 void VehicleTemplateExportDialog::importImage()
 317 {
 318     QString fileName = QFileDialog::getOpenFileName(this, tr("Import Image"), "", tr("Images (*.png *.jpg)"));
 319
 320     if (!fileName.isEmpty()) {
 321         m_image.load(fileName);
 322         ui->Photo->scene()->addPixmap(m_image);
 323         ui->Photo->setSceneRect(ui->Photo->scene()->itemsBoundingRect());
 324         ui->Photo->fitInView(ui->Photo->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
 325     }
 326 }
 327
 328 void VehicleTemplateExportDialog::onAutoPilotConnect()
 329 {
 330     ui->importBtn->setEnabled(true);
 331     m_autopilotConnected = true;
 332     updateStatus();
 333 }
 334
 335 void VehicleTemplateExportDialog::onAutoPilotDisconnect()
 336 {
 337     ui->importBtn->setEnabled(false);
 338     m_autopilotConnected = false;
 339     updateStatus();
 340 }
 341
 342 QString VehicleTemplateExportDialog::getTypeDirectory()
 343 {
 344     switch (m_type) {
 345     case VehicleConfigurationSource::VEHICLE_FIXEDWING:
 346         return EXPORT_FIXEDWING_NAME;
 347
 348     case VehicleConfigurationSource::VEHICLE_MULTI:
 349         return EXPORT_MULTI_NAME;
 350
 351     case VehicleConfigurationSource::VEHICLE_HELI:
 352         return EXPORT_HELI_NAME;
 353
 354     case VehicleConfigurationSource::VEHICLE_SURFACE:
 355         return EXPORT_SURFACE_NAME;
 356
 357     default:
 358         return EXPORT_CUSTOM_NAME;
 359     }
 360 }
 361
 362 void VehicleTemplateExportDialog::updateStatus()
 363 {
 364     bool enabled = m_autopilotConnected && ui->Name->text().length() > 2 && ui->Owner->text().length() > 2 &&
 365                    ui->ForumNick->text().length() > 2 && ui->Size->text().length() > 0 &&
 366                    ui->Weight->text().length() > 0;
 367
 368     ui->Motor->setEnabled(enabled);
 369     ui->Esc->setEnabled(enabled);
 370     ui->Servo->setEnabled(enabled);
 371     ui->Battery->setEnabled(enabled);
 372     ui->Propeller->setEnabled(enabled);
 373     ui->Controllers->setEnabled(enabled);
 374     ui->Comment->setEnabled(enabled);
 375     ui->ImportButton->setEnabled(enabled);
 376
 377     ui->exportBtn->setEnabled(enabled);
 378     ui->saveAsBtn->setEnabled(enabled);
 379 }