/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

import QtQuick          2.3
import QtQuick.Controls 1.2
import QtQuick.Dialogs  1.2
import QtQuick.Layouts  1.2

import QGroundControl               1.0
import QGroundControl.FactSystem    1.0
import QGroundControl.FactControls  1.0
import QGroundControl.Controls      1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Controllers   1.0

SetupPage {
    id:             powerPage
    pageComponent:  pageComponent

    Component {
        id: pageComponent

        Item {
            width:  Math.max(availableWidth, innerColumn.width)
            height: innerColumn.height

            property int textEditWidth:    ScreenTools.defaultFontPixelWidth * 8

            property Fact battNumCells:         controller.getParameterFact(-1, "BAT_N_CELLS")
            property Fact battHighVolt:         controller.getParameterFact(-1, "BAT_V_CHARGED")
            property Fact battLowVolt:          controller.getParameterFact(-1, "BAT_V_EMPTY")
            property Fact battVoltLoadDrop:     controller.getParameterFact(-1, "BAT_V_LOAD_DROP")
            property Fact battVoltageDivider:   controller.getParameterFact(-1, "BAT_V_DIV")
            property Fact battAmpsPerVolt:      controller.getParameterFact(-1, "BAT_A_PER_V")
            property Fact uavcanEnable:         controller.getParameterFact(-1, "UAVCAN_ENABLE", false)

            readonly property string highlightPrefix:   "<font color=\"" + qgcPal.warningText + "\">"
            readonly property string highlightSuffix:   "</font>"

            function getBatteryImage()
            {
                switch(battNumCells.value) {
                case 1:  return "/qmlimages/PowerComponentBattery_01cell.svg";
                case 2:  return "/qmlimages/PowerComponentBattery_02cell.svg"
                case 3:  return "/qmlimages/PowerComponentBattery_03cell.svg"
                case 4:  return "/qmlimages/PowerComponentBattery_04cell.svg"
                case 5:  return "/qmlimages/PowerComponentBattery_05cell.svg"
                case 6:  return "/qmlimages/PowerComponentBattery_06cell.svg"
                default: return "/qmlimages/PowerComponentBattery_01cell.svg";
                }
            }

            ColumnLayout {
                id:                         innerColumn
                anchors.horizontalCenter:   parent.horizontalCenter
                spacing:                    ScreenTools.defaultFontPixelHeight

                function drawArrowhead(ctx, x, y, radians)
                {
                    ctx.save();
                    ctx.beginPath();
                    ctx.translate(x,y);
                    ctx.rotate(radians);
                    ctx.moveTo(0,0);
                    ctx.lineTo(5,10);
                    ctx.lineTo(-5,10);
                    ctx.closePath();
                    ctx.restore();
                    ctx.fill();
                }

                function drawLineWithArrow(ctx, x1, y1, x2, y2)
                {
                    ctx.beginPath();
                    ctx.moveTo(x1, y1);
                    ctx.lineTo(x2, y2);
                    ctx.stroke();
                    var rd = Math.atan((y2 - y1) / (x2 - x1));
                    rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
                    drawArrowhead(ctx, x2, y2, rd);
                }

                PowerComponentController {
                    id:         controller
                    onOldFirmware:          mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.").arg(QGroundControl.appName))
                    onNewerFirmware:        mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade %1.").arg(QGroundControl.appName))
                    onBatteryConnected:     mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Performing calibration. This will take a few seconds.."))
                    onCalibrationFailed:    mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), errorMessage)
                    onCalibrationSuccess:   mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Calibration complete. You can disconnect your battery now if you like."))
                    onConnectBattery:       mainWindow.showMessageDialog(qsTr("ESC Calibration"), highlightPrefix + qsTr("WARNING: Props must be removed from vehicle prior to performing ESC calibration.") + highlightSuffix + qsTr(" Connect the battery now and calibration will begin."))
                    onDisconnectBattery:    mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), qsTr("You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again."))
                }

                Component {
                    id: calcVoltageDividerDlgComponent

                    QGCViewDialog {
                        id: calcVoltageDividerDlg

                        QGCFlickable {
                            anchors.fill:   parent
                            contentHeight:  column.height
                            contentWidth:   column.width

                            Column {
                                id:         column
                                width:      calcVoltageDividerDlg.width
                                spacing:    ScreenTools.defaultFontPixelHeight

                                QGCLabel {
                                    width:      parent.width
                                    wrapMode:   Text.WordWrap
                                    text:       qsTr("Measure battery voltage using an external voltmeter and enter the value below. Click Calculate to set the new voltage multiplier.")
                                }

                                Grid {
                                    columns: 2
                                    spacing: ScreenTools.defaultFontPixelHeight / 2
                                    verticalItemAlignment: Grid.AlignVCenter

                                    QGCLabel {
                                        text: qsTr("Measured voltage:")
                                    }
                                    QGCTextField { id: measuredVoltage }

                                    QGCLabel { text: qsTr("Vehicle voltage:") }
                                    QGCLabel { text: controller.vehicle.battery.voltage.valueString }

                                    QGCLabel { text: qsTr("Voltage divider:") }
                                    FactLabel { fact: battVoltageDivider }
                                }

                                QGCButton {
                                    text: "Calculate"

                                    onClicked:  {
                                        var measuredVoltageValue = parseFloat(measuredVoltage.text)
                                        if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) {
                                            return
                                        }
                                        var newVoltageDivider = (measuredVoltageValue * battVoltageDivider.value) / controller.vehicle.battery.voltage.value
                                        if (newVoltageDivider > 0) {
                                            battVoltageDivider.value = newVoltageDivider
                                        }
                                    }
                                }
                            } // Column
                        } // QGCFlickable
                    } // QGCViewDialog
                } // Component - calcVoltageDividerDlgComponent

                Component {
                    id: calcAmpsPerVoltDlgComponent

                    QGCViewDialog {
                        id: calcAmpsPerVoltDlg

                        QGCFlickable {
                            anchors.fill:   parent
                            contentHeight:  column.height
                            contentWidth:   column.width

                            Column {
                                id:         column
                                width:      calcAmpsPerVoltDlg.width
                                spacing:    ScreenTools.defaultFontPixelHeight

                                QGCLabel {
                                    width:      parent.width
                                    wrapMode:   Text.WordWrap
                                    text:       qsTr("Measure current draw using an external current meter and enter the value below. Click Calculate to set the new amps per volt value.")
                                }

                                Grid {
                                    columns: 2
                                    spacing: ScreenTools.defaultFontPixelHeight / 2
                                    verticalItemAlignment: Grid.AlignVCenter

                                    QGCLabel {
                                        text: qsTr("Measured current:")
                                    }
                                    QGCTextField { id: measuredCurrent }

                                    QGCLabel { text: qsTr("Vehicle current:") }
                                    QGCLabel { text: controller.vehicle.battery.current.valueString }

                                    QGCLabel { text: qsTr("Amps per volt:") }
                                    FactLabel { fact: battAmpsPerVolt }
                                }

                                QGCButton {
                                    text: qsTr("Calculate")

                                    onClicked:  {
                                        var measuredCurrentValue = parseFloat(measuredCurrent.text)
                                        if (measuredCurrentValue === 0) {
                                            return
                                        }
                                        var newAmpsPerVolt = (measuredCurrentValue * battAmpsPerVolt.value) / controller.vehicle.battery.current.value
                                        if (newAmpsPerVolt != 0) {
                                            battAmpsPerVolt.value = newAmpsPerVolt
                                        }
                                    }
                                }
                            } // Column
                        } // QGCFlickable
                    } // QGCViewDialog
                } // Component - calcAmpsPerVoltDlgComponent

                QGCGroupBox {
                    id:     batteryGroup
                    title:  qsTr("Battery")

                    GridLayout {
                        id:             batteryGrid
                        columns:        5
                        columnSpacing:  ScreenTools.defaultFontPixelWidth

                        QGCLabel {
                            text:               qsTr("Number of Cells (in Series)")
                        }

                        FactTextField {
                            id:         cellsField
                            width:      textEditWidth
                            fact:       battNumCells
                            showUnits:  true
                        }

                        QGCColoredImage {
                            id:                     batteryImage
                            Layout.rowSpan:         3
                            width:                  height * 0.75
                            height:                 100
                            sourceSize.height:      height
                            fillMode:               Image.PreserveAspectFit
                            smooth:                 true
                            color:                  qgcPal.text
                            cache:                  false
                            source:                 getBatteryImage();
                        }

                        Item { width: 1; height: 1; Layout.columnSpan: 2 }

                        QGCLabel {
                            id:                 battHighLabel
                            text:               qsTr("Full Voltage (per cell)")
                        }

                        FactTextField {
                            id:         battHighField
                            width:      textEditWidth
                            fact:       battHighVolt
                            showUnits:  true
                        }

                        QGCLabel {
                            text:   qsTr("Battery Max:")
                        }

                        QGCLabel {
                            text:   (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
                        }

                        QGCLabel {
                            id:                 battLowLabel
                            text:               qsTr("Empty Voltage (per cell)")
                        }

                        FactTextField {
                            id:         battLowField
                            width:      textEditWidth
                            fact:       battLowVolt
                            showUnits:  true
                        }

                        QGCLabel {
                            text:   qsTr("Battery Min:")
                        }

                        QGCLabel {
                            text:   (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
                        }

                        QGCLabel {
                            text:               qsTr("Voltage divider")
                        }

                        FactTextField {
                            id:                 voltMultField
                            fact:               battVoltageDivider
                        }

                        QGCButton {
                            id:                 voltMultCalculateButton
                            text:               qsTr("Calculate")
                            onClicked:          mainWindow.showComponentDialog(calcVoltageDividerDlgComponent, qsTr("Calculate Voltage Divider"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
                        }

                        Item { width: 1; height: 1; Layout.columnSpan: 2 }

                        QGCLabel {
                            id:                 voltMultHelp
                            Layout.columnSpan:  batteryGrid.columns
                            Layout.fillWidth:   true
                            font.pointSize:     ScreenTools.smallFontPointSize
                            wrapMode:           Text.WordWrap
                            text:               qsTr("If the battery voltage reported by the vehicle is largely different than the voltage read externally using a voltmeter you can adjust the voltage multiplier value to correct this. ") +
                                                qsTr("Click the Calculate button for help with calculating a new value.")
                        }

                        QGCLabel {
                            id:                 ampPerVoltLabel
                            text:               qsTr("Amps per volt")
                        }

                        FactTextField {
                            id:                 ampPerVoltField
                            fact:               battAmpsPerVolt
                        }

                        QGCButton {
                            id:                 ampPerVoltCalculateButton
                            text:               qsTr("Calculate")
                            onClicked:          mainWindow.showComponentDialog(calcAmpsPerVoltDlgComponent, qsTr("Calculate Amps per Volt"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
                        }

                        Item { width: 1; height: 1; Layout.columnSpan: 2 }

                        QGCLabel {
                            id:                 ampPerVoltHelp
                            Layout.columnSpan:  batteryGrid.columns
                            Layout.fillWidth:   true
                            font.pointSize:     ScreenTools.smallFontPointSize
                            wrapMode:           Text.WordWrap
                            text:               qsTr("If the current draw reported by the vehicle is largely different than the current read externally using a current meter you can adjust the amps per volt value to correct this. ") +
                                                qsTr("Click the Calculate button for help with calculating a new value.")
                        }
                    } // Grid
                } // QGCGroupBox - Battery settings

                QGCGroupBox {
                    Layout.maximumWidth:    batteryGroup.width
                    Layout.fillWidth:       true
                    title:                  qsTr("ESC PWM Minimum and Maximum Calibration")

                    ColumnLayout {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        spacing:        ScreenTools.defaultFontPixelWidth

                        QGCLabel {
                            color:              qgcPal.warningText
                            wrapMode:           Text.WordWrap
                            text:               qsTr("WARNING: Propellers must be removed from vehicle prior to performing ESC calibration.")
                            Layout.fillWidth:   true
                        }

                        QGCLabel {
                            text: qsTr("You must use USB connection for this operation.")
                        }

                        QGCButton {
                            text:       qsTr("Calibrate")
                            width:      ScreenTools.defaultFontPixelWidth * 20
                            onClicked:  controller.calibrateEsc()
                        }
                    }
                }

                QGCCheckBox {
                    id:         showUAVCAN
                    text:       qsTr("Show UAVCAN Settings")
                    checked:    uavcanEnable ? uavcanEnable.rawValue !== 0 : false
                }

                QGCGroupBox {
                    Layout.maximumWidth:    batteryGroup.width
                    Layout.fillWidth:       true
                    title:                  qsTr("UAVCAN Bus Configuration")
                    visible:                showUAVCAN.checked

                    Row {
                        id:         uavCanConfigRow
                        spacing:    ScreenTools.defaultFontPixelWidth

                        FactComboBox {
                            id:                 uavcanEnabledCheckBox
                            width:              ScreenTools.defaultFontPixelWidth * 20
                            fact:               uavcanEnable
                            indexModel:         false
                        }

                        QGCLabel {
                            anchors.verticalCenter: parent.verticalCenter
                            text:                   qsTr("Change required restart")
                        }
                    }
                }

                QGCGroupBox {
                    Layout.maximumWidth:    batteryGroup.width
                    Layout.fillWidth:       true
                    title:                  qsTr("UAVCAN Motor Index and Direction Assignment")
                    visible:                showUAVCAN.checked

                    ColumnLayout {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        spacing:        ScreenTools.defaultFontPixelWidth

                        QGCLabel {
                            wrapMode:           Text.WordWrap
                            color:              qgcPal.warningText
                            text:               qsTr("WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.")
                            Layout.fillWidth:   true
                        }

                        QGCLabel {
                            wrapMode:           Text.WordWrap
                            text:               qsTr("ESC parameters will only be accessible in the editor after assignment.")
                            Layout.fillWidth:   true
                        }

                        QGCLabel {
                            wrapMode:           Text.WordWrap
                            text:               qsTr("Start the process, then turn each motor into its turn direction, in the order of their motor indices.")
                            Layout.fillWidth:   true
                        }

                        QGCButton {
                            text:       qsTr("Start Assignment")
                            width:      ScreenTools.defaultFontPixelWidth * 20
                            onClicked:  controller.busConfigureActuators()
                        }

                        QGCButton {
                            text:       qsTr("Stop Assignment")
                            width:      ScreenTools.defaultFontPixelWidth * 20
                            onClicked:  controller.stopBusConfigureActuators()
                        }
                    }
                }

                QGCCheckBox {
                    id:     showAdvanced
                    text:   qsTr("Show Advanced Settings")
                }

                QGCGroupBox {
                    Layout.maximumWidth:    batteryGroup.width
                    Layout.fillWidth:       true
                    title:                  qsTr("Advanced Power Settings")
                    visible:                showAdvanced.checked

                    ColumnLayout {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        spacing:        ScreenTools.defaultFontPixelWidth

                        Row {
                            spacing: ScreenTools.defaultFontPixelWidth

                            QGCLabel {
                                text:               qsTr("Voltage Drop on Full Load (per cell)")
                                anchors.baseline:   battDropField.baseline
                            }

                            FactTextField {
                                id:         battDropField
                                width:      textEditWidth
                                fact:       battVoltLoadDrop
                                showUnits:  true
                            }
                        }

                        QGCLabel {
                            wrapMode:           Text.WordWrap
                            text:               qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") +
                                                qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") +
                                                highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + highlightSuffix
                            Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 60
                        }

                        Row {
                            spacing: ScreenTools.defaultFontPixelWidth

                            QGCLabel {
                                text: qsTr("Compensated Minimum Voltage:")
                            }

                            QGCLabel {
                                text: ((battNumCells.value * battLowVolt.value) - (battNumCells.value * battVoltLoadDrop.value)).toFixed(1) + qsTr(" V")
                            }
                        }
                    } // Column
                } // QGCGroupBox - Advanced power settings
            } // Column
        } // Item
    } // Component
} // SetupPage
