actionwindow.cpp

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#include <fstream>
#include <iostream>
#include <sstream>
#include <assert.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stddef.h>
#include <stdio.h>
#include <dirent.h>


#include <QCloseEvent>
#include <QMessageBox>
#include <QTextStream>
#include "ActionWindow.h"
#include "ActionList.h"
#include "ui_ActionWindow.h"
#include "ActionList.h"
#include "ui_ActionList.h"
#include "NewState.h"
#include "ui_NewState.h"
#include "SendState.h"
#include "ui_SendState.h"
using namespace std;

void ActionWindow::MakeArray()
{
	angles[0] = ui->ra1a;
	angles[1] = ui->la1a;
	angles[2] = ui->ra2a;
	angles[3] = ui->la2a;
	angles[4] = ui->ra3a;
	angles[5] = ui->la3a;
	angles[6] = ui->ra4a;
	angles[7] = ui->la4a;
	angles[8] = ui->rl1a;
	angles[9] = ui->ll1a;
	angles[10] = ui->rl2a;
	angles[11] = ui->ll2a;
	angles[12] = ui->rl3a;
	angles[13] = ui->ll3a;
	angles[14] = ui->rl4a;
	angles[15] = ui->ll4a;
	angles[16] = ui->rl5a;
	angles[17] = ui->ll5a;
	angles[18] = ui->rl6a;
	angles[19] = ui->ll6a;

	gains[0] = ui->ra1g;
	gains[1] = ui->la1g;
	gains[2] = ui->ra2g;
	gains[3] = ui->la2g;
	gains[4] = ui->ra3g;
	gains[5] = ui->la3g;
	gains[6] = ui->ra4g;
	gains[7] = ui->la4g;
	gains[8] = ui->rl1g;
	gains[9] = ui->ll1g;
	gains[10] = ui->rl2g;
	gains[11] = ui->ll2g;
	gains[12] = ui->rl3g;
	gains[13] = ui->ll3g;
	gains[14] = ui->rl4g;
	gains[15] = ui->ll4g;
	gains[16] = ui->rl5g;
	gains[17] = ui->ll5g;
	gains[18] = ui->rl6g;
	gains[19] = ui->ll6g;

	precisions[0] = ui->ra1p;
	precisions[1] = ui->la1p;
	precisions[2] = ui->ra2p;
	precisions[3] = ui->la2p;
	precisions[4] = ui->ra3p;
	precisions[5] = ui->la3p;
	precisions[6] = ui->ra4p;
	precisions[7] = ui->la4p;
	precisions[8] = ui->rl1p;
	precisions[9] = ui->ll1p;
	precisions[10] = ui->rl2p;
	precisions[11] = ui->ll2p;
	precisions[12] = ui->rl3p;
	precisions[13] = ui->ll3p;
	precisions[14] = ui->rl4p;
	precisions[15] = ui->ll4p;
	precisions[16] = ui->rl5p;
	precisions[17] = ui->ll5p;
	precisions[18] = ui->rl6p;
	precisions[19] = ui->ll6p;
}

void ActionWindow::MakeConnections()
{
	QObject::connect(ui->min_time, SIGNAL(textEdited(QString)), 
				this, SLOT(fields_edited()));
	QObject::connect(ui->max_time, SIGNAL(textEdited(QString)), 
				this, SLOT(fields_edited()));
/*	QObject::connect(ui->action_name, SIGNAL(textEdited(QString)),
				this, SLOT(fields_edited()));
	QObject::connect(ui->repeat_index, SIGNAL(valueChanged(int)),
				this, SLOT(fields_edited()));
*/	for(int i=0;i<20;i++)
	{
		QObject::connect(angles[i], SIGNAL(textEdited(QString)), 
				this, SLOT(fields_edited()));
		QObject::connect(gains [i], SIGNAL(textEdited(QString)), 
				this, SLOT(fields_edited()));
		QObject::connect(precisions[i], SIGNAL(valueChanged(int)),
				this, SLOT(fields_edited()));
	}
}

ActionWindow::ActionWindow()
{
	setFixedSize(500,570);
	listDialog = new ActionList();
	listDialog->setFixedSize(150,190);
	insertDialog = new NewState();
	insertDialog->setFixedSize(170,204);
	sendDialog = new SendState(this,&pipe);
	sendDialog->setFixedSize(240,120);
	emitting_by_code = false;
	ui = new Ui_ActionEditor;
	ui->setupUi(this);
	ui->select->setTracking(true);
	MakeArray();
	MakeConnections();
	modified = false;
	on_New_clicked();
	fileDialog = NULL;
	mkfifo("mkfifo /tmp/trainer_pipe", 0666);
	pipe=0;
}

bool ActionWindow::AskForSave()
{
	int ret = QMessageBox::question(this, tr("Trainer"),
		tr("The document has been modified.\n"
		"Do you want to save your changes?"),
		QMessageBox::Save | QMessageBox::Discard
		| QMessageBox::Cancel,
		QMessageBox::Save);
	if(ret==QMessageBox::Save)
	{
		if(fileName=="")
			return on_saveas_clicked();
		else
		{
			on_save_clicked();
			return true;
		}
	}else
		return ret==QMessageBox::Discard;
}

void ActionWindow::on_New_clicked()
{
	if(!modified || AskForSave())
	{
		fileName = "";
		modified = false;
		actionList.clear();
		actionList.push_back(action());
		act = &actionList[0];
		ApplyAction();
	}
}

void ActionWindow::on_open_clicked()
{
	if(!modified || AskForSave())
	{
		QString dir="/home";
		if(fileName != "")
		{
			int i;
			for(i=int(fileName.length())-1; i>=0&&fileName[i]!='/'; i--);
			dir = fileName.left(i);
		}

		QString s;
		if(fileDialog==NULL)
		{
			fileDialog = new QFileDialog(this, "Open File", dir, "Action files (*.rad)");
			fileDialog->setDefaultSuffix("rad");
		}
		fileDialog->setWindowTitle("Open File");
		fileDialog->setDirectory(dir);
		fileDialog->setAcceptMode(QFileDialog::AcceptOpen);
		fileDialog->setFileMode(QFileDialog::ExistingFile);
		int x=fileDialog->exec();
		QStringList l=fileDialog->selectedFiles();
		if(x && l.size() && (s = l[0]) != "")
		{
			fileName = s;
			OpenFile();
		}
	}
}

void ActionWindow::on_save_clicked()
{
	if(fileName!="")
	{
		ofstream out(fileName.toStdString().c_str());
		for(unsigned i=0;i<actionList.size();i++)
			actionList[i].save(out);
		modified = false;
		UpdateControls();
	}
}

bool ActionWindow::on_saveas_clicked()
{
	QString dir="/home";
	if(fileName != "")
	{
		int i;
		for(i=int(fileName.length())-1; i>=0&&fileName[i]!='/'; i--);
		dir = fileName.left(i);
	}
	if(fileDialog==NULL)
	{
		fileDialog = new QFileDialog(this, "Open File", dir, "Action files (*.rad)");
		fileDialog->setDefaultSuffix("rad");
	}
	fileDialog->setWindowTitle("Save File");
	fileDialog->setDirectory(dir);
	fileDialog->setAcceptMode(QFileDialog::AcceptSave);
	fileDialog->setFileMode(QFileDialog::AnyFile);
	int x = fileDialog->exec();
	QStringList l=fileDialog->selectedFiles();
	/*cout<<x<<" "<<l.size()<<endl;
	for(int i=0;i<l.size();i++)
		cout<<l[i].toStdString()<<endl;
	*/
	if(x && l.size() && l[0]!="")
	{
		fileName = l[0];
		on_save_clicked();
		return true;
	}
	return false;
}

void ActionWindow::OpenFile()
{
	ifstream fin(fileName.toStdString().c_str());
	actionList.clear();
	action tmp;
	while(tmp.load(fin))
		actionList.push_back(tmp);
	int n=actionList.size();
	if(n==0)
		QMessageBox::critical(this, "Warning", "Empty or bad formated File");
	else 
	{
		listDialog->ui->list->clear();
		for(int i=n-1;i>=0;i--)
			listDialog->ui->list->insertItem(0,
					QString::fromStdString(actionList[i].name));
		listDialog->selected = -1;
		listDialog->exec();
		if(listDialog->selected == -1)
			return;
		n = listDialog->selected;
		act = &actionList[n];
		modified = false;
		UpdateControls();
		ApplyAction();
		ui->actionList->clear();
		n = actionList.size();
		for(int i=n-1;i>=0;i--)
			ui->actionList->insertItem(0,
					QString::fromStdString(actionList[i].name));
	}
}

void ActionWindow::on_actionList_itemDoubleClicked(QListWidgetItem *item)
{
	int selected = ui->actionList->row(item);
	act = &actionList[selected];
	modified = false;
	UpdateControls();
	ApplyAction();
}

void ActionWindow::ApplyAction()
{
	ui->action_name -> setText(QString::fromStdString(act->name));
	emitting_by_code=true;
	ui->repeat_index-> setValue(act->repeat);
	emitting_by_code=false;
	current_state = 0;
	UpdateControls();
}

void ActionWindow::UpdateControls()
{
	emitting_by_code = true;
	ui->save->setEnabled(modified&&fileName!="");
	ui->repeat_index->setMaximum(act->arr.size());
	if(ui->repeat_index->value() > act->arr.size())
		ui->repeat_index->setValue(act->arr.size());
	ui->select->setMaximum(max(int(act->arr.size())-1,0));
	ui->select->resize( min(26+(30*max(int(act->arr.size())-1 , 0)) , 280) , 16 );
	ui->select->setEnabled(act->arr.size());
	ui->State ->setEnabled(act->arr.size());
	ui->remove->setEnabled(act->arr.size());
	ui->go_left ->setEnabled(act->arr.size()>1 && current_state>0);
	ui->go_right->setEnabled(act->arr.size()>1 && current_state<int(act->arr.size())-1);

	state *s,t;
	if(act->arr.size()==0)
		s=&t;
	else
		s=&(act->arr[current_state]);

	ui->select->setValue(current_state);
	QString str;
	QTextStream(&str) << current_state << " / " << act->arr.size();
	ui->state->setText(str);
	if(s->min_time<0)
		ui->min_time->setText("");
	else
		ui->min_time->setText(QString::number(s->min_time,'f',1));
	if(s->max_time<0)
		ui->max_time->setText("");
	else
		ui->max_time->setText(QString::number(s->max_time,'f',1));
	for(int i=0;i<20;i++)
		if(s->imp[i])
		{
			angles[i]->setText(QString::number(s->angle[i],'f',0));
			gains[i]->setText(QString::number(s->gain[i],'f',0));
			precisions[i]->setValue((int)(s->precision[i]));
		}else
		{
			angles[i]->setText("");
			gains[i]->setText("");
			precisions[i]->setValue(3);
		}
	emitting_by_code = false;
}

void ActionWindow::on_action_name_textEdited(const QString &q)
{
//	cout<<q.toStdString()<<" "<<ui->action_name->text().toStdString()<<endl;
	QString p = q.simplified();
	for(int i=0;i<p.length();i++)
		if(p[i].isSpace())
			p[i]='_';
	ui->action_name->setText(p);
	if(p=="")
		p="_";
	act->name = p.toStdString();
	modified = true;
}

void ActionWindow::on_repeat_index_valueChanged(int a)
{
	if(emitting_by_code)
		return ;
	act->repeat = a;
	modified = true;
	UpdateControls();
}

void ActionWindow::on_select_valueChanged(int a)
{
	current_state = a;
	UpdateControls();
}

void ActionWindow::on_insert_clicked()
{
	insertDialog->ui->select->setMaximum(act->arr.size());
	insertDialog->ui->select->setValue(act->arr.size());
	insertDialog->sel=-1;
	insertDialog->n=act->arr.size()+1;
	insertDialog->on_select_valueChanged(act->arr.size());
	insertDialog->ui->frame->setEnabled(act->arr.size());
	insertDialog->ui->New->setChecked(true);
	insertDialog->ui->select->setEnabled(act->arr.size());
	insertDialog->exec();
	if(insertDialog->sel!=-1)
	{
		if(insertDialog->ui->New->isChecked())
			act->arr.insert(act->arr.begin()+insertDialog->sel,state());
		else
			act->arr.insert(act->arr.begin()+insertDialog->sel,act->arr[current_state]);
		current_state = insertDialog->sel;
		modified = true;
		UpdateControls();
	}
}

void ActionWindow::on_remove_clicked()
{
	assert(act->arr.size());
	act->arr.erase(act->arr.begin()+current_state);
	if(current_state==act->arr.size()&&current_state)
		current_state--;
	modified = true;
	UpdateControls();
}

void ActionWindow::on_go_left_clicked()
{
	assert(current_state);
	swap(act->arr[current_state],act->arr[current_state-1]);
	current_state--;
	modified = true;
	UpdateControls();
		
}

void ActionWindow::on_go_right_clicked()
{
	assert(current_state<int(act->arr.size())-1);
	swap(act->arr[current_state],act->arr[current_state+1]);
	current_state++;
	modified = true;
	UpdateControls();
}

void ActionWindow::fields_edited()
{
	if(emitting_by_code)
		return;
	assert(act->arr.size());
	modified = true;
	QString s,t;
	ui->min_time->setText(s=ui->min_time->text().simplified());
	if(s=="")
		act->arr[current_state].min_time = -1;
	else
		act->arr[current_state].min_time = s.toDouble();

	ui->max_time->setText(s=ui->max_time->text().simplified());
	if(s=="")
		act->arr[current_state].max_time = -1;
	else
		act->arr[current_state].max_time = s.toDouble();
	for(int i=0;i<20;i++)
	{
		s=angles[i]->text().simplified();
		t=gains[i]->text().simplified();
		if(s=="" && t=="")
			act->arr[current_state].imp[i] = false;
		else
		{
			act->arr[current_state].imp[i] = true;
			act->arr[current_state].angle[i] = s.toDouble();
			act->arr[current_state].gain[i] = t.toDouble();
			act->arr[current_state].precision[i] = precisions[i]->value();
		}
	}
	if(fileName!="")
		ui->save->setEnabled(true);
}

void ActionWindow::on_clear_clicked()
{
	emitting_by_code = true;
	ui->min_time->setText("");
	ui->max_time->setText("");
	for(int i=0;i<20;i++)
	{
		angles[i]->setText("");
		gains[i]->setText("");
		precisions[i]->setValue(3);
	}
	emitting_by_code = false;
	fields_edited();
}

void ActionWindow::on_zero_clicked()
{
	emitting_by_code = true;
	ui->min_time->setText("100");
	ui->max_time->setText("100");
	for(int i=0;i<20;i++)
	{
		angles[i]->setText("0");
		gains[i]->setText("10");
		precisions[i]->setValue(3);
	}
	emitting_by_code = false;
	fields_edited();
}

void ActionWindow::SaveChange(const string &s)
{
	cout<<s<<endl;
}

void ActionWindow::on_send_action_clicked()
{
	if(pipe==0)
		pipe=open("/tmp/trainer_pipe", O_RDWR | O_NONBLOCK);
	ostringstream oss;
	act->save(oss);
	string s=oss.str();
	write(pipe, s.c_str(), s.length());
}

void ActionWindow::on_send_action_2_clicked()
{
	sendDialog->ui->from->setMaximum(act->arr.size()-1);
	sendDialog->ui->from->setValue(0);
	sendDialog->ui-> to ->setMaximum(act->arr.size()-1);
	sendDialog->ui-> to ->setMaximum(act->arr.size()-1);
	sendDialog->show();
}

void ActionWindow::closeEvent(QCloseEvent *event)
{
	if(modified)
		if(AskForSave())
			event->accept();
		else
			event->ignore();
}