/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief QGC Mav Manager (QML Bindings)
 *   @author Gus Grubba <mavlink@grubba.com>
 */

#ifndef MAVMANAGER_H
#define MAVMANAGER_H

#include <QObject>
#include <QTimer>
#include <QQmlListProperty>
#include "Waypoint.h"

class UASInterface;
class UASWaypointManager;

class MavManager : public QObject
{
    Q_OBJECT
    Q_ENUMS(MessageType_t)
public:
    explicit MavManager(QObject *parent = 0);
    ~MavManager();

    enum {
        ROLL_CHANGED,
        PITCH_CHANGED,
        HEADING_CHANGED,
        GROUNDSPEED_CHANGED,
        AIRSPEED_CHANGED,
        CLIMBRATE_CHANGED,
        ALTITUDERELATIVE_CHANGED,
        ALTITUDEWGS84_CHANGED,
        ALTITUDEAMSL_CHANGED
    };

    Q_INVOKABLE QString     getMavIconColor();
    Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
    Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);

    Q_PROPERTY(float        roll                READ roll               NOTIFY rollChanged)
    Q_PROPERTY(float        pitch               READ pitch              NOTIFY pitchChanged)
    Q_PROPERTY(float        heading             READ heading            NOTIFY headingChanged)
    Q_PROPERTY(float        groundSpeed         READ groundSpeed        NOTIFY groundSpeedChanged)
    Q_PROPERTY(float        airSpeed            READ airSpeed           NOTIFY airSpeedChanged)
    Q_PROPERTY(float        climbRate           READ climbRate          NOTIFY climbRateChanged)
    Q_PROPERTY(float        altitudeRelative    READ altitudeRelative   NOTIFY altitudeRelativeChanged)
    Q_PROPERTY(float        altitudeWGS84       READ altitudeWGS84      NOTIFY altitudeWGS84Changed)
    Q_PROPERTY(float        altitudeAMSL        READ altitudeAMSL       NOTIFY altitudeAMSLChanged)
    Q_PROPERTY(float        latitude            READ latitude           NOTIFY latitudeChanged)
    Q_PROPERTY(float        longitude           READ longitude          NOTIFY longitudeChanged)
    Q_PROPERTY(bool         mavPresent          READ mavPresent         NOTIFY mavPresentChanged)
    Q_PROPERTY(double       batteryVoltage      READ batteryVoltage     NOTIFY batteryVoltageChanged)
    Q_PROPERTY(double       batteryPercent      READ batteryPercent     NOTIFY batteryPercentChanged)
    Q_PROPERTY(double       batteryConsumed     READ batteryConsumed    NOTIFY batteryConsumedChanged)
    Q_PROPERTY(bool         systemArmed         READ systemArmed        NOTIFY systemArmedChanged)
    Q_PROPERTY(QString      currentMode         READ currentMode        NOTIFY currentModeChanged)
    Q_PROPERTY(QString      systemPixmap        READ systemPixmap       NOTIFY systemPixmapChanged)
    Q_PROPERTY(int          satelliteCount      READ satelliteCount     NOTIFY satelliteCountChanged)
    Q_PROPERTY(QString      currentState        READ currentState       NOTIFY currentStateChanged)
    Q_PROPERTY(QString      systemName          READ systemName         NOTIFY systemNameChanged)
    Q_PROPERTY(int          satelliteLock       READ satelliteLock      NOTIFY satelliteLockChanged)
    Q_PROPERTY(double       waypointDistance    READ waypointDistance   NOTIFY waypointDistanceChanged)
    Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
    Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
    Q_PROPERTY(QQmlListProperty<Waypoint> waypoints READ waypoints NOTIFY waypointsChanged)

    float           roll                () { return _roll; }
    float           pitch               () { return _pitch; }
    float           heading             () { return _heading; }
    float           groundSpeed         () { return _groundSpeed; }
    float           airSpeed            () { return _airSpeed; }
    float           climbRate           () { return _climbRate; }
    float           altitudeRelative    () { return _altitudeRelative; }
    float           altitudeWGS84       () { return _altitudeWGS84; }
    float           altitudeAMSL        () { return _altitudeAMSL; }
    float           latitude            () { return _latitude; }
    float           longitude           () { return _longitude; }
    bool            mavPresent          () { return _mav != NULL; }
    int             satelliteCount      () { return _satelliteCount; }
    double          batteryVoltage      () { return _batteryVoltage; }
    double          batteryPercent      () { return _batteryPercent; }
    double          batteryConsumed     () { return _batteryConsumed; }
    bool            systemArmed         () { return _systemArmed; }
    QString         currentMode         () { return _currentMode; }
    QString         systemPixmap        () { return _systemPixmap; }
    QString         currentState        () { return _currentState; }
    QString         systemName          () { return _systemName; }
    int             satelliteLock       () { return _satelliteLock; }
    double          waypointDistance    () { return _waypointDistance; }
    uint16_t        currentWaypoint     () { return _currentWaypoint; }
    unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }

    QQmlListProperty<Waypoint> waypoints() {return QQmlListProperty<Waypoint>(this, _waypoints); }

signals:
    void rollChanged            ();
    void pitchChanged           ();
    void headingChanged         ();
    void groundSpeedChanged     ();
    void airSpeedChanged        ();
    void climbRateChanged       ();
    void altitudeRelativeChanged();
    void altitudeWGS84Changed   ();
    void altitudeAMSLChanged    ();
    void latitudeChanged        ();
    void longitudeChanged       ();
    void mavPresentChanged      ();
    void batteryVoltageChanged  ();
    void batteryPercentChanged  ();
    void batteryConsumedChanged ();
    void systemArmedChanged     ();
    void heartbeatTimeoutChanged();
    void currentModeChanged     ();
    void currentConfigChanged   ();
    void systemPixmapChanged    ();
    void satelliteCountChanged  ();
    void currentStateChanged    ();
    void systemNameChanged      ();
    void satelliteLockChanged   ();
    void waypointDistanceChanged();
    void currentWaypointChanged ();
    void waypointsChanged       ();

private slots:
    /** @brief Attitude from main autopilot / system state */
    void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
    /** @brief Attitude from one specific component / redundant autopilot */
    void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
    /** @brief Speed */
    void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
    /** @brief Altitude */
    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
    void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
    void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
    void _forgetUAS                         (UASInterface* uas);
    void _setActiveUAS                      (UASInterface* uas);
    void _checkUpdate                       ();
    void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
    void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);
    void _updateArmingState                 (bool armed);
    void _updateState                       (UASInterface* system, QString name, QString description);
    void _updateMode                        (int system, QString name, QString description);
    void _updateName                        (const QString& name);
    void _setSystemType                     (UASInterface* uas, unsigned int systemType);
    void _heartbeatTimeout                  (bool timeout, unsigned int ms);
    void _updateCurrentWaypoint             (quint16 id);
    void _updateWaypointDistance            (double distance);
    void _setSatelliteCount                 (double val, QString name);
    void _setSatLoc                         (UASInterface* uas, int fix);
    void _updateWaypointViewOnly            (int uas, Waypoint* wp);
    void _waypointViewOnlyListChanged       ();

private:
    bool    _isAirplane                     ();
    void    _addChange                      (int id);
    float   _oneDecimal                     (float value);

private:
    UASInterface*   _mav;
    float           _roll;
    float           _pitch;
    float           _heading;
    float           _altitudeAMSL;
    float           _altitudeWGS84;
    float           _altitudeRelative;
    float           _groundSpeed;
    float           _airSpeed;
    float           _climbRate;
    float           _navigationAltitudeError;
    float           _navigationSpeedError;
    float           _navigationCrosstrackError;
    float           _navigationTargetBearing;
    float           _latitude;
    float           _longitude;
    QTimer*         _refreshTimer;
    QList<int>      _changes;
    double          _batteryVoltage;
    double          _batteryPercent;
    double          _batteryConsumed;
    bool            _systemArmed;
    QString         _currentState;
    QString         _currentMode;
    QString         _systemName;
    QString         _systemPixmap;
    unsigned int    _currentHeartbeatTimeout;
    double          _waypointDistance;
    quint16         _currentWaypoint;
    int             _satelliteCount;
    int             _satelliteLock;
    UASWaypointManager* _wpm;
    int             _updateCount;
    QList<Waypoint*>_waypoints;
};

#endif // MAVMANAGER_H
