ground/openpilotgcs/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_BASE_NAME      = "../share/openpilotgcs/cloudconfig";
  52 const char *VehicleTemplateExportDialog::EXPORT_FIXEDWING_NAME = "fixedwing";
  53 const char *VehicleTemplateExportDialog::EXPORT_MULTI_NAME     = "multirotor";
  54 const char *VehicleTemplateExportDialog::EXPORT_HELI_NAME      = "helicopter";
  55 const char *VehicleTemplateExportDialog::EXPORT_SURFACE_NAME   = "surface";
  56 const char *VehicleTemplateExportDialog::EXPORT_CUSTOM_NAME    = "custom";
  57
  58 VehicleTemplateExportDialog::VehicleTemplateExportDialog(QWidget *parent) :
  59     QDialog(parent),
  60     ui(new Ui::VehicleTemplateExportDialog), m_autopilotConnected(false)
  61 {
  62     ui->setupUi(this);
  63     connect(ui->ImportButton, SIGNAL(clicked()), this, SLOT(importImage()));
  64     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  65     m_uavoManager = pm->getObject<UAVObjectManager>();
  66     ui->Photo->setScene(new QGraphicsScene(this));
  67     ui->Type->setText(setupVehicleType());
  68     ui->selectionWidget->setTemplateInfo(m_type, m_subType);
  69
  70     connect(ui->Name, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  71     connect(ui->Owner, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  72     connect(ui->ForumNick, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  73     connect(ui->Size, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  74     connect(ui->Weight, SIGNAL(textChanged(QString)), this, SLOT(updateStatus()));
  75
  76     connect(ui->exportBtn, SIGNAL(clicked()), this, SLOT(exportTemplate()));
  77     connect(ui->saveAsBtn, SIGNAL(clicked()), this, SLOT(saveAsTemplate()));
  78     connect(ui->importBtn, SIGNAL(clicked()), this, SLOT(importTemplate()));
  79     connect(ui->cancelBtn, SIGNAL(clicked()), this, SLOT(reject()));
  80     connect(ui->cancelBtn_2, SIGNAL(clicked()), this, SLOT(reject()));
  81
  82     TelemetryManager *telemManager = pm->getObject<TelemetryManager>();
  83     if (telemManager->isConnected()) {
  84         onAutoPilotConnect();
  85     } else {
  86         onAutoPilotDisconnect();
  87     }
  88
  89     connect(telemManager, SIGNAL(connected()), this, SLOT(onAutoPilotConnect()));
  90     connect(telemManager, SIGNAL(disconnected()), this, SLOT(onAutoPilotDisconnect()));
  91 }
  92
  93 VehicleTemplateExportDialog::~VehicleTemplateExportDialog()
  94 {
  95     delete ui;
  96 }
  97
  98 QString VehicleTemplateExportDialog::setupVehicleType()
  99 {
 100     SystemSettings *systemSettings = SystemSettings::GetInstance(m_uavoManager);
 101
 102     Q_ASSERT(systemSettings);
 103     SystemSettings::DataFields systemSettingsData = systemSettings->getData();
 104
 105     switch (systemSettingsData.AirframeType) {
 106     case SystemSettings::AIRFRAMETYPE_FIXEDWING:
 107         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 108         m_subType = VehicleConfigurationSource::FIXED_WING_AILERON;
 109         return tr("Fixed Wing - Aileron");
 110
 111     case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
 112         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 113         m_subType = VehicleConfigurationSource::FIXED_WING_ELEVON;
 114         return tr("Fixed Wing - Elevon");
 115
 116     case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
 117         m_type    = VehicleConfigurationSource::VEHICLE_FIXEDWING;
 118         m_subType = VehicleConfigurationSource::FIXED_WING_VTAIL;
 119         return tr("Fixed Wing - V-Tail");
 120
 121     case SystemSettings::AIRFRAMETYPE_HELICP:
 122         m_type    = VehicleConfigurationSource::VEHICLE_HELI;
 123         m_subType = VehicleConfigurationSource::HELI_CCPM;
 124         return tr("Helicopter");
 125
 126     case SystemSettings::AIRFRAMETYPE_TRI:
 127         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 128         m_subType = VehicleConfigurationSource::MULTI_ROTOR_TRI_Y;
 129         return tr("Multirotor - Tricopter");
 130
 131     case SystemSettings::AIRFRAMETYPE_QUADX:
 132         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 133         m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_X;
 134         return tr("Multirotor - Quadrocopter X");
 135
 136     case SystemSettings::AIRFRAMETYPE_QUADP:
 137         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 138         m_subType = VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS;
 139         return tr("Multirotor - Quadrocopter +");
 140
 141     case SystemSettings::AIRFRAMETYPE_OCTOV:
 142         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 143         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_V;
 144         return tr("Multirotor - Octocopter V");
 145
 146     case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
 147         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 148         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X;
 149         return tr("Multirotor - Octocopter X8X");
 150
 151     case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
 152         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 153         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS;
 154         return tr("Multirotor - Octocopter X8+");
 155
 156     case SystemSettings::AIRFRAMETYPE_OCTO:
 157         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 158         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO;
 159         return tr("Multirotor - Octocopter +");
 160
 161     case SystemSettings::AIRFRAMETYPE_OCTOX:
 162         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 163         m_subType = VehicleConfigurationSource::MULTI_ROTOR_OCTO_X;
 164         return tr("Multirotor - Octocopter X");
 165
 166     case SystemSettings::AIRFRAMETYPE_HEXAX:
 167         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 168         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_X;
 169         return tr("Multirotor - Hexacopter X");
 170
 171     case SystemSettings::AIRFRAMETYPE_HEXAH:
 172         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 173         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_H;
 174         return tr("Multirotor - Hexacopter H");
 175
 176     case SystemSettings::AIRFRAMETYPE_HEXACOAX:
 177         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 178         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y;
 179         return tr("Multirotor - Hexacopter Y6");
 180
 181     case SystemSettings::AIRFRAMETYPE_HEXA:
 182         m_type    = VehicleConfigurationSource::VEHICLE_MULTI;
 183         m_subType = VehicleConfigurationSource::MULTI_ROTOR_HEXA;
 184         return tr("Multirotor - Hexacopter +");
 185
 186     default:
 187         m_type = VehicleConfigurationSource::VEHICLE_UNKNOWN;
 188         return tr("Unsupported");
 189     }
 190 }
 191
 192 void VehicleTemplateExportDialog::saveTemplate(QString path)
 193 {
 194     QJsonObject exportObject;
 195
 196     QList<UAVObject *> objectsToExport;
 197     objectsToExport << StabilizationSettings::GetInstance(m_uavoManager);
 198     objectsToExport << StabilizationSettingsBank1::GetInstance(m_uavoManager);
 199     objectsToExport << StabilizationSettingsBank2::GetInstance(m_uavoManager);
 200     objectsToExport << StabilizationSettingsBank3::GetInstance(m_uavoManager);
 201     objectsToExport << MixerSettings::GetInstance(m_uavoManager);
 202     objectsToExport << EKFConfiguration::GetInstance(m_uavoManager);
 203     m_uavoManager->toJson(exportObject, objectsToExport);
 204
 205     exportObject["type"]       = m_type;
 206     exportObject["subtype"]    = m_subType;
 207     exportObject["name"]       = ui->Name->text();
 208     exportObject["owner"]      = ui->Owner->text();
 209     exportObject["nick"]       = ui->ForumNick->text();
 210     exportObject["size"]       = ui->Size->text();
 211     exportObject["weight"]     = ui->Weight->text();
 212     exportObject["motor"]      = ui->Motor->text();
 213     exportObject["esc"]        = ui->Esc->text();
 214     exportObject["servo"]      = ui->Servo->text();
 215     exportObject["battery"]    = ui->Battery->text();
 216     exportObject["propeller"]  = ui->Propeller->text();
 217     exportObject["controller"] = ui->Controllers->currentText();
 218     exportObject["comment"]    = ui->Comment->document()->toPlainText();
 219     QUuid uuid = QUuid::createUuid();
 220     exportObject["uuid"]       = uuid.toString();
 221
 222     if (!m_image.isNull()) {
 223         QByteArray bytes;
 224         QBuffer buffer(&bytes);
 225         buffer.open(QIODevice::WriteOnly);
 226         m_image.scaled(IMAGE_SCALE_WIDTH, IMAGE_SCALE_HEIGHT, Qt::KeepAspectRatio,
 227                        Qt::SmoothTransformation).save(&buffer, "PNG");
 228         exportObject["photo"] = QString::fromLatin1(bytes.toBase64().data());
 229     }
 230
 231     QJsonDocument saveDoc(exportObject);
 232
 233     const char *fileType = ".optmpl";
 234
 235     QString fileName     = QString("%1-%2-%3%4")
 236                            .arg(fixFilenameString(ui->Name->text(), 20))
 237                            .arg(fixFilenameString(ui->Type->text(), 30))
 238                            .arg(fixFilenameString(uuid.toString().right(12)))
 239                            .arg(fileType);
 240
 241     QString fullPath;
 242     if (path.isEmpty()) {
 243         fullPath = QString("%1%2%3").arg(QDir::homePath()).arg(QDir::separator()).arg(fileName);
 244         fullPath = QFileDialog::getSaveFileName(this, tr("Export settings"), fullPath, QString("%1 (*%2)").arg(tr("OPTemplates"), fileType));
 245     } else {
 246         fullPath = QString("%1%2%3").arg(path).arg(QDir::separator()).arg(fileName);
 247     }
 248
 249     if (!fullPath.isEmpty()) {
 250         if (!fullPath.endsWith(fileType)) {
 251             fullPath.append(fileType);
 252         }
 253         QFile saveFile(fullPath);
 254         if (saveFile.open(QIODevice::WriteOnly)) {
 255             saveFile.write(saveDoc.toJson());
 256             saveFile.close();
 257         } else {
 258             QMessageBox::information(this, "Export", tr("Settings could not be exported to \n%1(%2).\nPlease try again.")
 259                                      .arg(QFileInfo(saveFile).absoluteFilePath(), saveFile.error()), QMessageBox::Ok);
 260         }
 261     }
 262 }
 263
 264 QString VehicleTemplateExportDialog::fixFilenameString(QString input, int truncate)
 265 {
 266     return input.replace(' ', "").replace('|', "").replace('/', "")
 267            .replace('\\', "").replace(':', "").replace('"', "")
 268            .replace('\'', "").replace('?', "").replace('*', "")
 269            .replace('>', "").replace('<', "")
 270            .replace('}', "").replace('{', "")
 271            .left(truncate);
 272 }
 273
 274 void VehicleTemplateExportDialog::exportTemplate()
 275 {
 276     QString path = QString("%1%2%3%4").arg(Utils::PathUtils().InsertStoragePath("%%STOREPATH%%cloudconfig"))
 277                    .arg(QDir::separator()).arg(getTypeDirectory()).arg(QDir::separator());
 278     QDir dir;
 279
 280     dir.mkpath(path);
 281     saveTemplate(path);
 282 }
 283
 284 void VehicleTemplateExportDialog::saveAsTemplate()
 285 {
 286     saveTemplate(QString(""));
 287 }
 288
 289 void VehicleTemplateExportDialog::importTemplate()
 290 {
 291     QJsonObject *tmpl = ui->selectionWidget->selectedTemplate();
 292
 293     if (tmpl != NULL) {
 294         QList<UAVObject *> updatedObjects;
 295         m_uavoManager->fromJson(*tmpl, &updatedObjects);
 296         UAVObjectUpdaterHelper helper;
 297         foreach(UAVObject * object, updatedObjects) {
 298             UAVDataObject *dataObj = dynamic_cast<UAVDataObject *>(object);
 299
 300             if (dataObj != NULL && dataObj->isKnown()) {
 301                 helper.doObjectAndWait(dataObj);
 302
 303                 ObjectPersistence *objper = ObjectPersistence::GetInstance(m_uavoManager);
 304                 ObjectPersistence::DataFields data;
 305                 data.Operation  = ObjectPersistence::OPERATION_SAVE;
 306                 data.Selection  = ObjectPersistence::SELECTION_SINGLEOBJECT;
 307                 data.ObjectID   = dataObj->getObjID();
 308                 data.InstanceID = dataObj->getInstID();
 309                 objper->setData(data);
 310
 311                 helper.doObjectAndWait(objper);
 312             }
 313         }
 314     }
 315 }
 316
 317 void VehicleTemplateExportDialog::importImage()
 318 {
 319     QString fileName = QFileDialog::getOpenFileName(this, tr("Import Image"), "", tr("Images (*.png *.jpg)"));
 320
 321     if (!fileName.isEmpty()) {
 322         m_image.load(fileName);
 323         ui->Photo->scene()->addPixmap(m_image);
 324         ui->Photo->setSceneRect(ui->Photo->scene()->itemsBoundingRect());
 325         ui->Photo->fitInView(ui->Photo->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
 326     }
 327 }
 328
 329 void VehicleTemplateExportDialog::onAutoPilotConnect()
 330 {
 331     ui->importBtn->setEnabled(true);
 332     m_autopilotConnected = true;
 333     updateStatus();
 334 }
 335
 336 void VehicleTemplateExportDialog::onAutoPilotDisconnect()
 337 {
 338     ui->importBtn->setEnabled(false);
 339     m_autopilotConnected = false;
 340     updateStatus();
 341 }
 342
 343 QString VehicleTemplateExportDialog::getTypeDirectory()
 344 {
 345     switch (m_type) {
 346     case VehicleConfigurationSource::VEHICLE_FIXEDWING:
 347         return EXPORT_FIXEDWING_NAME;
 348
 349     case VehicleConfigurationSource::VEHICLE_MULTI:
 350         return EXPORT_MULTI_NAME;
 351
 352     case VehicleConfigurationSource::VEHICLE_HELI:
 353         return EXPORT_HELI_NAME;
 354
 355     case VehicleConfigurationSource::VEHICLE_SURFACE:
 356         return EXPORT_SURFACE_NAME;
 357
 358     default:
 359         return EXPORT_CUSTOM_NAME;
 360     }
 361 }
 362
 363 void VehicleTemplateExportDialog::updateStatus()
 364 {
 365     bool enabled = m_autopilotConnected && ui->Name->text().length() > 3 && ui->Owner->text().length() > 2 &&
 366                    ui->ForumNick->text().length() > 2 && ui->Size->text().length() > 0 &&
 367                    ui->Weight->text().length() > 0;
 368
 369     ui->exportBtn->setEnabled(enabled);
 370     ui->saveAsBtn->setEnabled(enabled);
 371 }