airborne_CO2/Source/M300/PSDK_Qt/Widget/Widget_M300RTK.cpp

#include "Widget_M300RTK.h"
#define RLX_LINENUMBER 0

enum AireType {
    Aire_Aire = 1,
    Aire_N2 = 0,
    Aire_NONE=2,
};

enum Target_Gas {
    Target_CO2 = 0,
    Target_H2O = 1,
    Target_NONE=2,
};

int32_t CuttrentGasValue = 0;
int32_t passwordforsetting = 0;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = 0;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = 0;
AireType CurrentAireType = Aire_NONE;
Target_Gas CurrentTargetGas = Target_NONE;
float NowTempreature = 0;
bool isnowsystemWorking = false;
QStringList Strforshow;
QStringList StrforshowCurrent;
QStringList StrforshowLast;
vector<int> indexforshow;

ZZ_Widget_M300RTK::ZZ_Widget_M300RTK(QObject *parent /*= nullptr*/) {
    m_iFlagIsVehicleCapturing = 0;
    Strforshow.append("");
    Strforshow.append("");
    Strforshow.append("");
    Strforshow.append("");
    Strforshow.append("");
    // Strforshow.append("");
    // Strforshow.append("");
    StrforshowCurrent = Strforshow;
    StrforshowLast = Strforshow;
    indexforshow.resize(Strforshow.size());
    for (int i = 0; i < indexforshow.size(); i++) {
        indexforshow[i] = 0;
    }
    connect(&m_TimerForflash, &QTimer::timeout, this, &ZZ_Widget_M300RTK::Slot_flash_screen);


    connect(this, &ZZ_Widget_M300RTK::Signal_UpdatePSDKFloatMessage, this,
            &ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
    m_bIsFlashOn = false;
}

ZZ_Widget_M300RTK::~ZZ_Widget_M300RTK() {
}

int ZZ_Widget_M300RTK::InitParam() {
    return 0;
}

int ZZ_Widget_M300RTK::SetUIFilePath(char *pcUIFilePath, uint16_t uiLength) {
    if (uiLength >= 256) {
        qDebug() << "ZZ_Widget_M300RTK: Func SetUIFilePath. File path is too long";
        return 1;
    }

    QByteArray qbaTemp(pcUIFilePath);
    m_qstrFilePath = qbaTemp;

    return 0;
}


int ZZ_Widget_M300RTK::UpdateCaptureStatus(int iStatus) {
    m_iFlagIsVehicleCapturing = iStatus;
}

int ZZ_Widget_M300RTK::GetSettings(UIConfig &struUIConfig) {
    struUIConfig.sDecisionHeight = m_siDjiWidgetValueList_DecisionHeight;
    struUIConfig.sCaptureMode = m_siDjiWidgetValueList_CaptureMode;
    struUIConfig.sSamplingRate = m_siDjiWidgetValueList_SamplingRate;
    return 0;
}

int ZZ_Widget_M300RTK::SetSettings(UIConfig struUIConfig) {
    m_struUIConfig = struUIConfig;
    m_siDjiWidgetValueList_CaptureMode = struUIConfig.sCaptureMode;
    m_siDjiWidgetValueList_DecisionHeight = struUIConfig.sDecisionHeight;
    m_siDjiWidgetValueList_SamplingRate = struUIConfig.sSamplingRate;
    return 0;
}

void ZZ_Widget_M300RTK::stratmessageflash() {

    m_TimerForflash.start(5000);
    m_bIsFlashOn = true;
}

int ZZ_Widget_M300RTK::PreparteEnvironment() {
    T_DjiReturnCode djiStat;

    static const T_DjiWidgetHandlerListItem s_DjiWidgetHandlerList[] =
    {
        {0, DJI_WIDGET_TYPE_SWITCH, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {1, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {2, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {3, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{
    4, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
    ZZ_Widget_M300RTK::OnLoadWidgetValue, this
},
        {
            5, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
            ZZ_Widget_M300RTK::OnLoadWidgetValue, this
        },
        {6, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {7, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {8, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {9, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
        {
            10, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
            ZZ_Widget_M300RTK::OnLoadWidgetValue, this
        },
        {11, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this}
    };

    djiStat = DjiWidget_Init();
    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_Init. Dji widget init error" << djiStat;
        //return djiStat;
    }

    djiStat = DjiWidget_RegDefaultUiConfigByDirPath(m_qstrFilePath.toLatin1());
    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        qDebug() << m_qstrFilePath.toLatin1();
        qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegDefaultUiConfigByDirPath.Add default widget ui config error";
        return djiStat;
    }

    djiStat = DjiWidget_RegHandlerList(s_DjiWidgetHandlerList,
                                       sizeof(s_DjiWidgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem));
    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegHandlerList.Set widget handler list error";
        return djiStat;
    }

    return 0;
}

int ZZ_Widget_M300RTK::UploadResources() {
    return 0;
}

int ZZ_Widget_M300RTK::test_UpdatePSDKFloatMessage(QString qstrMessage) {
    T_DjiReturnCode djiStat;

    djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
    }

    return 0;
}

T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
                                                       void *userData) {
    ZZ_Widget_M300RTK *pCaller = (ZZ_Widget_M300RTK *) userData;


    if (pCaller->m_iFlagIsVehicleCapturing) {
        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
    }
    if (widgetType == DJI_WIDGET_TYPE_INT_INPUT_BOX) {
        if (index == 5) {
            qDebug() << "now tempreatrue is " << value;
            NowTempreature = value;
        }
        if (index == 10) {
            qDebug() << "now gas value is " << value;
            CuttrentGasValue = value;
        }
        if (index==4) {
            passwordforsetting = value;
			qDebug() << "now password is " << passwordforsetting;
        }
    }
    if (widgetType == DJI_WIDGET_TYPE_BUTTON) {
        if (passwordforsetting!=123456) {
            pCaller->emit Signal_UpdatePSDKFloatMessage("wrong password",RLX_LINENUMBER);
            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
        }
        if (index == 6) {
            //qDebug()<<"now value is "<<value;


            if (value == 1) {
                if (isnowsystemWorking == true) return 0;
                if (NowTempreature == 0) {
                    pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct temperature first",RLX_LINENUMBER);
                    return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
                }
                isnowsystemWorking = true;
                pCaller->emit Signal_UpdatePSDKFloatMessage(
                    "calibrating wind Sensor temperature:" + QString::number(NowTempreature * 1.0 / 10),RLX_LINENUMBER);
                //qt 消息队列执行
                pCaller->emit SendCommand("WDA", "StartCalibrate#" + QString::number(NowTempreature * 1.0 / 10));
            }
        }
        if (index == 8) {
            if (value == 1) {
                if (isnowsystemWorking == true) return 0;
                isnowsystemWorking = true;
                QString AiretypeStr;
                if (CurrentAireType == Aire_Aire) {
                    AiretypeStr = "Air";
                } else if (CurrentAireType == Aire_N2) {
                    AiretypeStr = "N2";
                }
                else {
					pCaller->emit Signal_UpdatePSDKFloatMessage("please select correct aire type first",RLX_LINENUMBER);
                    					isnowsystemWorking = false;
                    					return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
				}
                qDebug() << "start gas sensor zero calibrate with " + AiretypeStr;
                pCaller->emit Signal_UpdatePSDKFloatMessage("ZeroCalibrate with " + AiretypeStr,RLX_LINENUMBER);
                QCoreApplication::processEvents();
                pCaller->emit SendCommand("GAS", "ZeroCalibrate#" + AiretypeStr);
                qDebug() << "---------------------------------------------";
            }
        }
        if (index == 11) {
            if (value == 1) {
                if (isnowsystemWorking == true) return 0;
                isnowsystemWorking = true;
                QString TargetGasStr;
                if (CurrentTargetGas == Target_CO2) {
                    TargetGasStr = "CO2";
                } else if (CurrentTargetGas==Target_H2O) {
                    TargetGasStr = "H2O";
                }
                else {
                    pCaller->emit Signal_UpdatePSDKFloatMessage("please select correct target gas first",RLX_LINENUMBER);
					isnowsystemWorking = false;
					return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
                }
                //确保当前气体值不为0
                if (CuttrentGasValue == 0) {
                    pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct gas value first",RLX_LINENUMBER);
                    isnowsystemWorking = false;
                    return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
                }

                qDebug() << "start gas sensor span calibrate with " + TargetGasStr + " value is " + QString::number(
                    CuttrentGasValue);
                pCaller->emit Signal_UpdatePSDKFloatMessage(
                    TargetGasStr + " Span Calibrating gas value is " + QString::number(CuttrentGasValue),
                    RLX_LINENUMBER);
                pCaller->emit SendCommand(
                    "GAS", "SpanCalibrate#" + TargetGasStr + "#" + QString::number(CuttrentGasValue));
            }
        }
    }


    if (widgetType == DJI_WIDGET_TYPE_SWITCH) {
        if (ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode == 0) {
            pCaller->emit Signal_UpdatePSDKFloatMessage("Automatic capture mode.Please don't use this function",
                                                        RLX_LINENUMBER);
            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
        } else {
            if (value == 1) {
                if (isnowsystemWorking == true) {
                    // ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
                    return 0;
                }

                isnowsystemWorking = true;
                pCaller->emit Signal_UpdatePSDKFloatMessage("start capture",RLX_LINENUMBER);
                pCaller->emit Signal_StartCapture();
            } else {
                if (isnowsystemWorking == false) {
                    // ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
                    return 0;
                }
                isnowsystemWorking = false;
                pCaller->emit Signal_UpdatePSDKFloatMessage("capture stopped",RLX_LINENUMBER);
                pCaller->emit Signal_StopCapture();
            }
        }
        ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = value;

        ///for test
        QString qstrTest;
        qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
        qstrTest = QString("index:%1,value:%2").arg(index, value);
        //pCaller->test_UpdatePSDKFloatMessage(qstrTest);
        //qstrTest = "12345";
        //pCaller->emit Signal_UpdatePSDKFloatMessage(qstrTest);
    }

    if (widgetType == DJI_WIDGET_TYPE_LIST) {
        if (index == 1) {
            pCaller->emit Signal_UpdateCaptureMode((char) value);
            ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = value;
        } else if (index == 2) {
            ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = value;
        } else if (index == 3) {
            ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = value;
        } else if (index == 7) {
            CurrentAireType = (AireType) value;
        } else if (index == 9) {
            CurrentTargetGas = (Target_Gas) value;
        }


#ifdef ZZ_FLAG_TEST
        qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
#endif
    }


    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
                                                     void *userData) {
    if (widgetType == DJI_WIDGET_TYPE_SWITCH) {
        //qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;

        *value = ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn;
    }

    if (widgetType == DJI_WIDGET_TYPE_LIST) {
        //qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
        if (index == 1) {
            *value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode;
        } else if (index == 2) {
            *value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight;
        } else if (index == 3) {
            *value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate;
        } else if (index == 7) {
            *value = (int32_t) CurrentAireType;
        } else if (index == 9) {
            *value = (int32_t) CurrentTargetGas;
        }
    }
    if (widgetType == DJI_WIDGET_TYPE_INT_INPUT_BOX) {
        if (index==4) {
			*value = passwordforsetting;
		}
        if (index == 5) {
            *value = NowTempreature;
        }
        if (index == 10) {
            *value = CuttrentGasValue;
        }
    }


    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

int ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage(QString qstrMessage, int lineid) {
    T_DjiReturnCode djiStat;
    Strforshow[lineid] = qstrMessage;
    // qDebug() << "float message line " << lineid << " : " << qstrMessage;
    Slot_flash_screen();
    //
    // QString strinone="";
    // for (int i = 0; i < Strforshow.size(); i++) {
    // 	strinone+=Strforshow[i]+"\r\n";
    // }
    // djiStat = DjiWidgetFloatingWindow_ShowMessage(strinone.toLatin1());
    // if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
    // {
    // 	qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
    // }

    return 0;
}

void ZZ_Widget_M300RTK::BackCommand(QString Worker, QString Command) {
    if (Worker == "WDA") {
        if (Command == "Finish") {
            isnowsystemWorking = false;
            qDebug() << "wind calibrate finished";
            emit Signal_UpdatePSDKFloatMessage("wind calibrate finished",RLX_LINENUMBER);
        }
    } else if (Worker == "GAS") {
        if (Command == "Finish") {
            isnowsystemWorking = false;
            qDebug() << "gas zero calibrate finished";
            emit Signal_UpdatePSDKFloatMessage("gas zero calibrate finished",RLX_LINENUMBER);
        }
    }
}

void ZZ_Widget_M300RTK::Slot_flash_screen() {
    QString strinone = "";
    // 获取当前日期时间
    QDateTime QDateTime= QDateTime::currentDateTime();
    Strforshow[Strforshow.size()-1]=QDateTime.toString("yyyy-MM-dd hh:mm:ss");
    ;
    //  QTime currentTime = QTime::currentTime();
    // Strforshow.at(Strforshow.length())=currentTime.toString("hh:mm:ss");
    // qDebug() << "Slot_flash_screen time:" << currentTime;

    StrforshowCurrent = Strforshow;
    //

    QStringList strforsend;


    if (StrforshowCurrent==StrforshowLast&&StrforshowCurrent.at(0).size()<25) {
		//没有变化不需要更新
		return;
	}


    for (int i = 0; i < StrforshowCurrent.size(); i++) {
        if (i==0) {
            if (StrforshowCurrent.at(i) != StrforshowLast.at(i)) {
                indexforshow[i] = 0;
            }

            if (StrforshowCurrent.at(i).size() < 25 || i >= 1) {
                //只有第一行需要滚动显示

                strforsend.append(StrforshowCurrent.at(i));
                indexforshow[i] = 0;
            } else {
                QString doublestr = StrforshowCurrent.at(i) + StrforshowCurrent.at(i);
                QString strtemp = doublestr.mid(indexforshow[i], 30);
                strforsend.append(strtemp);
                if (indexforshow[i] >= StrforshowCurrent.at(i).size()) {
                    indexforshow[i] = 0;
                } else
                    indexforshow[i]++;
            }
        }else {
            strforsend.append(StrforshowCurrent.at(i));
        }

    }

    for (int i = 0; i < strforsend.size(); i++) {
        strinone += strforsend[i] + "\r\n";
    }
    T_DjiReturnCode djiStat = DjiWidgetFloatingWindow_ShowMessage(strinone.toLatin1());
    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
    }
    StrforshowLast = StrforshowCurrent;

}