QGCCameraControl.cc

/*!
 * @file
 *   @brief Camera Controller
 *   @author Gus Grubba <mavlink@grubba.com>
 *
 */

#include "QGCCameraControl.h"
#include "QGCCameraIO.h"
#include "SettingsManager.h"
#include "VideoManager.h"
#include "QGCMapEngine.h"

#include <QDir>
#include <QStandardPaths>
#include <QDomDocument>
#include <QDomNodeList>

QGC_LOGGING_CATEGORY(CameraControlLog, "CameraControlLog")
QGC_LOGGING_CATEGORY(CameraControlLogVerbose, "CameraControlLogVerbose")

static const char* kDefnition       = "definition";
static const char* kParameters      = "parameters";
static const char* kParameter       = "parameter";
static const char* kVersion         = "version";
static const char* kModel           = "model";
static const char* kVendor          = "vendor";
static const char* kLocalization    = "localization";
static const char* kLocale          = "locale";
static const char* kStrings         = "strings";
static const char* kName            = "name";
static const char* kValue           = "value";
static const char* kControl         = "control";
static const char* kReadOnly        = "readonly";
static const char* kOptions         = "options";
static const char* kOption          = "option";
static const char* kType            = "type";
static const char* kDefault         = "default";
static const char* kDescription     = "description";
static const char* kExclusions      = "exclusions";
static const char* kExclusion       = "exclude";
static const char* kRoption         = "roption";
static const char* kCondition       = "condition";
static const char* kParameterranges = "parameterranges";
static const char* kParameterrange  = "parameterrange";
static const char* kOriginal        = "original";
static const char* kTranslated      = "translated";
static const char* kReset           = "reset";

//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, bool& target)
{
    QDomNamedNodeMap attrs = node.attributes();
    if(!attrs.count()) {
        return false;
    }
    QDomNode subNode = attrs.namedItem(tagName);
    if(subNode.isNull()) {
        return false;
    }
    target = subNode.nodeValue() != "0";
    return true;
}

//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, int& target)
{
    QDomNamedNodeMap attrs = node.attributes();
    if(!attrs.count()) {
        return false;
    }
    QDomNode subNode = attrs.namedItem(tagName);
    if(subNode.isNull()) {
        return false;
    }
    target = subNode.nodeValue().toInt();
    return true;
}

//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, QString& target)
{
    QDomNamedNodeMap attrs = node.attributes();
    if(!attrs.count()) {
        return false;
    }
    QDomNode subNode = attrs.namedItem(tagName);
    if(subNode.isNull()) {
        return false;
    }
    target = subNode.nodeValue();
    return true;
}

//-----------------------------------------------------------------------------
static bool
read_value(QDomNode& element, const char* tagName, QString& target)
{
    QDomElement de = element.firstChildElement(tagName);
    if(de.isNull()) {
        return false;
    }
    target = de.text();
    return true;
}

//-----------------------------------------------------------------------------
QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
    : FactGroup(0, parent)
    , _vehicle(vehicle)
    , _compID(compID)
    , _version(0)
    , _cached(false)
    , _storageFree(0)
    , _storageTotal(0)
    , _netManager(NULL)
    , _cameraMode(CAM_MODE_UNDEFINED)
    , _video_status(VIDEO_CAPTURE_STATUS_UNDEFINED)
{
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    memcpy(&_info, info, sizeof(mavlink_camera_information_t));
    connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady);
    _vendor = QString((const char*)(void*)&info->vendor_name[0]);
    _modelName = QString((const char*)(void*)&info->model_name[0]);
    int ver = (int)_info.cam_definition_version;
    _cacheFile.sprintf("%s/%s_%s_%03d.xml",
        qgcApp()->toolbox()->settingsManager()->appSettings()->parameterSavePath().toStdString().c_str(),
        _vendor.toStdString().c_str(),
        _modelName.toStdString().c_str(),
        ver);
    if(info->cam_definition_uri[0] != 0) {
        //-- Process camera definition file
        _handleDefinitionFile(info->cam_definition_uri);
    } else {
        _initWhenReady();
    }
}

//-----------------------------------------------------------------------------
QGCCameraControl::~QGCCameraControl()
{
    if(_netManager) {
        delete _netManager;
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_initWhenReady()
{
    qCDebug(CameraControlLog) << "_initWhenReady()";
    if(isBasic()) {
        qCDebug(CameraControlLog) << "Basic, MAVLink only messages.";
        _requestCameraSettings();
    } else {
        _requestAllParameters();
        //-- Give some time to load the parameters before going after the camera settings
        QTimer::singleShot(2000, this, &QGCCameraControl::_requestCameraSettings);
    }
    connect(_vehicle, &Vehicle::mavCommandResult, this, &QGCCameraControl::_mavCommandResult);
    connect(&_captureStatusTimer, &QTimer::timeout, this, &QGCCameraControl::_requestCaptureStatus);
    connect(&_updateTimer, &QTimer::timeout, this, &QGCCameraControl::_updateTimeout);
    _updateTimer.setSingleShot(true);
    _captureStatusTimer.setSingleShot(true);
    QTimer::singleShot(2500, this, &QGCCameraControl::_requestStorageInfo);
    _captureStatusTimer.start(2750);
    emit infoChanged();
    if(_netManager) {
        delete _netManager;
        _netManager = NULL;
    }
}

//-----------------------------------------------------------------------------
QString
QGCCameraControl::firmwareVersion()
{
    int major = (_info.firmware_version >> 24) & 0xFF;
    int minor = (_info.firmware_version >> 16) & 0xFF;
    int build = _info.firmware_version & 0xFFFF;
    QString ver;
    ver.sprintf("%d.%d.%d", major, minor, build);
    return ver;
}

//-----------------------------------------------------------------------------
QGCCameraControl::VideoStatus
QGCCameraControl::videoStatus()
{
    return _video_status;
}

//-----------------------------------------------------------------------------
QString
QGCCameraControl::storageFreeStr()
{
    return QGCMapEngine::bigSizeToString((quint64)_storageFree * 1024 * 1024);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setCameraMode(CameraMode mode)
{
    qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
    if(mode == CAM_MODE_VIDEO) {
        setVideoMode();
    } else if(mode == CAM_MODE_PHOTO) {
        setPhotoMode();
    } else {
        qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
        return;
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_setCameraMode(CameraMode mode)
{
    _cameraMode = mode;
    emit cameraModeChanged();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::toggleMode()
{
    if(cameraMode() == CAM_MODE_PHOTO) {
        setVideoMode();
    } else if(cameraMode() == CAM_MODE_VIDEO) {
        setPhotoMode();
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::toggleVideo()
{
    if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
        return stopVideo();
    } else {
        return startVideo();
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::takePhoto()
{
    qCDebug(CameraControlLog) << "takePhoto()";
    //-- Check if camera can capture photos or if it can capture it while in Video Mode
    if(!capturesPhotos() || (cameraMode() == CAM_MODE_VIDEO && !photosInVideoMode())) {
        return false;
    }
    if(capturesPhotos()) {
        _vehicle->sendMavCommand(
            MAV_COMP_ID_CAMERA,                         // Target component
            MAV_CMD_IMAGE_START_CAPTURE,                // Command id
            false,                                      // ShowError
            0,                                          // Reserved (Set to 0)
            0,                                          // Duration between two consecutive pictures (in seconds--ignored if single image)
            1);                                         // Number of images to capture total - 0 for unlimited capture
        //-- Capture local image as well
        QString photoPath = qgcApp()->toolbox()->settingsManager()->appSettings()->savePath()->rawValue().toString() + QStringLiteral("/Photo");
        QDir().mkpath(photoPath);
        photoPath += + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd_hh.mm.ss.zzz") + ".jpg";
        qgcApp()->toolbox()->videoManager()->videoReceiver()->grabImage(photoPath);
        return true;
    }
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::startVideo()
{
    qCDebug(CameraControlLog) << "startVideo()";
    //-- Check if camera can capture videos or if it can capture it while in Photo Mode
    if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
        return false;
    }
    if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
        _vehicle->sendMavCommand(
            MAV_COMP_ID_CAMERA,                         // Target component
            MAV_CMD_VIDEO_START_CAPTURE,                // Command id
            true,                                       // ShowError
            0,                                          // Reserved (Set to 0)
            0);                                         // CAMERA_CAPTURE_STATUS Frequency
        return true;
    }
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::stopVideo()
{
    qCDebug(CameraControlLog) << "stopVideo()";
    if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
        _vehicle->sendMavCommand(
            MAV_COMP_ID_CAMERA,                         // Target component
            MAV_CMD_VIDEO_STOP_CAPTURE,                 // Command id
            true,                                       // ShowError
            0);                                         // Reserved (Set to 0)
        return true;
    }
    return false;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setVideoMode()
{
    if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
        qCDebug(CameraControlLog) << "setVideoMode()";
        //-- Use basic MAVLink message
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_SET_CAMERA_MODE,                // Command id
            true,                                   // ShowError
            0,                                      // Reserved (Set to 0)
            CAM_MODE_VIDEO);                     // Camera mode (0: photo, 1: video)
        _setCameraMode(CAM_MODE_VIDEO);
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoMode()
{
    if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
        qCDebug(CameraControlLog) << "setPhotoMode()";
        //-- Use basic MAVLink message
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_SET_CAMERA_MODE,                // Command id
            true,                                   // ShowError
            0,                                      // Reserved (Set to 0)
            CAM_MODE_PHOTO);                     // Camera mode (0: photo, 1: video)
        _setCameraMode(CAM_MODE_PHOTO);
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::resetSettings()
{
    qCDebug(CameraControlLog) << "resetSettings()";
    _vehicle->sendMavCommand(
        _compID,                                // Target component
        MAV_CMD_RESET_CAMERA_SETTINGS,          // Command id
        true,                                   // ShowError
        1);                                     // Do Reset
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::formatCard(int id)
{
    qCDebug(CameraControlLog) << "formatCard()";
    if(_vehicle) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_STORAGE_FORMAT,                 // Command id
            true,                                   // ShowError
            id,                                     // Storage ID (1 for first, 2 for second, etc.)
            1);                                     // Do Format
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCaptureStatus()
{
    _vehicle->sendMavCommand(
        _compID,                                // target component
        MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS,  // command id
        false,                                  // showError
        1);                                     // Do Request
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::factChanged(Fact* pFact)
{
    _updateActiveList();
    _updateRanges(pFact);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
{
    //-- Is this ours?
    if(_vehicle->id() != vehicleId || compID() != component) {
        return;
    }
    if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
        switch(command) {
            case MAV_CMD_RESET_CAMERA_SETTINGS:
                if(isBasic()) {
                    _requestCameraSettings();
                } else {
                    _requestAllParameters();
                    QTimer::singleShot(2000, this, &QGCCameraControl::_requestCameraSettings);
                }
                break;
            case MAV_CMD_VIDEO_START_CAPTURE:
                _setVideoStatus(VIDEO_CAPTURE_STATUS_RUNNING);
                _captureStatusTimer.start(1000);
                break;
            case MAV_CMD_VIDEO_STOP_CAPTURE:
                _setVideoStatus(VIDEO_CAPTURE_STATUS_STOPPED);
                break;
        }
    } else {
        if(noReponseFromVehicle) {
            qCDebug(CameraControlLog) << "No response for" << command;
        } else {
            qCDebug(CameraControlLog) << "Bad response for" << command;
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_setVideoStatus(VideoStatus status)
{
    if(_video_status != status) {
        _video_status = status;
        emit videoStatusChanged();
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadCameraDefinitionFile(QByteArray& bytes)
{
    QByteArray originalData(bytes);
    //-- Handle localization
    if(!_handleLocalization(bytes)) {
        return false;
    }
    int errorLine;
    QString errorMsg;
    QDomDocument doc;
    if(!doc.setContent(bytes, false, &errorMsg, &errorLine)) {
        qCritical() << "Unable to parse camera definition file on line:" << errorLine;
        qCritical() << errorMsg;
        return false;
    }
    //-- Load camera constants
    QDomNodeList defElements = doc.elementsByTagName(kDefnition);
    if(!defElements.size() || !_loadConstants(defElements)) {
        qWarning() <<  "Unable to load camera constants from camera definition";
        return false;
    }
    //-- Load camera parameters
    QDomNodeList paramElements = doc.elementsByTagName(kParameters);
    if(!paramElements.size() || !_loadSettings(paramElements)) {
        qWarning() <<  "Unable to load camera parameters from camera definition";
        return false;
    }
    //-- If this is new, cache it
    if(!_cached) {
        qCDebug(CameraControlLog) << "Saving camera definition file" << _cacheFile;
        QFile file(_cacheFile);
        if (!file.open(QIODevice::WriteOnly)) {
            qWarning() << QString("Could not save cache file %1. Error: %2").arg(_cacheFile).arg(file.errorString());
        } else {
            file.write(originalData);
        }
    }
    return true;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadConstants(const QDomNodeList nodeList)
{
    QDomNode node = nodeList.item(0);
    if(!read_attribute(node, kVersion, _version)) {
        return false;
    }
    if(!read_value(node, kModel, _modelName)) {
        return false;
    }
    if(!read_value(node, kVendor, _vendor)) {
        return false;
    }
    return true;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
{
    QDomNode node = nodeList.item(0);
    QDomElement elem = node.toElement();
    QDomNodeList parameters = elem.elementsByTagName(kParameter);
    //-- Pre-process settings (maintain order and skip non-controls)
    for(int i = 0; i < parameters.size(); i++) {
        QDomNode parameterNode = parameters.item(i);
        QString name;
        if(read_attribute(parameterNode, kName, name)) {
            bool control = true;
            read_attribute(parameterNode, kControl, control);
            if(control) {
                _settings << name;
            }
        } else {
            qCritical() << "Parameter entry missing parameter name";
            return false;
        }
    }
    //-- Load parameters
    for(int i = 0; i < parameters.size(); i++) {
        QDomNode parameterNode = parameters.item(i);
        QString factName;
        read_attribute(parameterNode, kName, factName);
        QString type;
        if(!read_attribute(parameterNode, kType, type)) {
            qCritical() << QString("Parameter %1 missing parameter type").arg(factName);
            return false;
        }
        //-- Does it have a control?
        bool control = true;
        read_attribute(parameterNode, kControl, control);
        //-- Is it read only?
        bool readOnly = false;
        read_attribute(parameterNode, kReadOnly, readOnly);
        //-- Param type
        bool unknownType;
        FactMetaData::ValueType_t factType = FactMetaData::stringToType(type, unknownType);
        if (unknownType) {
            qCritical() << QString("Unknown type for parameter %1").arg(factName);
            return false;
        }
        //-- Description
        QString description;
        if(!read_value(parameterNode, kDescription, description)) {
            qCritical() << QString("Parameter %1 missing parameter description").arg(factName);
            return false;
        }
        //-- Does it require full update on changes?
        bool update = false;
        read_attribute(parameterNode, kReset, update);
        if(update) {
            _requestUpdates << factName;
        }
        //-- Build metadata
        FactMetaData* metaData = new FactMetaData(factType, factName, this);
        QQmlEngine::setObjectOwnership(metaData, QQmlEngine::CppOwnership);
        metaData->setShortDescription(description);
        metaData->setLongDescription(description);
        metaData->setHasControl(control);
        metaData->setReadOnly(readOnly);
        //-- Options (enums)
        QDomElement optionElem = parameterNode.toElement();
        QDomNodeList optionsRoot = optionElem.elementsByTagName(kOptions);
        if(optionsRoot.size()) {
            //-- Iterate options
            QDomNode node = optionsRoot.item(0);
            QDomElement elem = node.toElement();
            QDomNodeList options = elem.elementsByTagName(kOption);
            for(int i = 0; i < options.size(); i++) {
                QDomNode option = options.item(i);
                QString optName;
                QString optValue;
                QVariant optVariant;
                if(!_loadNameValue(option, factName, metaData, optName, optValue, optVariant)) {
                    delete metaData;
                    return false;
                }
                metaData->addEnumInfo(optName, optVariant);
                _originalOptNames[factName]  << optName;
                _originalOptValues[factName] << optVariant;
                //-- Check for exclusions
                QStringList exclusions = _loadExclusions(option);
                if(exclusions.size()) {
                    qCDebug(CameraControlLogVerbose) << "New exclusions:" << factName << optValue << exclusions;
                    QGCCameraOptionExclusion* pExc = new QGCCameraOptionExclusion(this, factName, optValue, exclusions);
                    QQmlEngine::setObjectOwnership(pExc, QQmlEngine::CppOwnership);
                    _valueExclusions.append(pExc);
                }
                //-- Check for range rules
                if(!_loadRanges(option, factName, optValue)) {
                    delete metaData;
                    return false;
                }
            }
        }
        QString defaultValue;
        if(read_attribute(parameterNode, kDefault, defaultValue)) {
            QVariant defaultVariant;
            QString  errorString;
            if (metaData->convertAndValidateRaw(defaultValue, false, defaultVariant, errorString)) {
                metaData->setRawDefaultValue(defaultVariant);
            } else {
                qWarning() << "Invalid default value for" << factName
                           << " type:"  << metaData->type()
                           << " value:" << defaultValue
                           << " error:" << errorString;
            }
        }
        //-- Set metadata and Fact
        if (_nameToFactMetaDataMap.contains(factName)) {
            qWarning() << QStringLiteral("Duplicate fact name:") << factName;
            delete metaData;
        } else {
            _nameToFactMetaDataMap[factName] = metaData;
            Fact* pFact = new Fact(_compID, factName, factType, this);
            QQmlEngine::setObjectOwnership(pFact, QQmlEngine::CppOwnership);
            pFact->setMetaData(metaData);
            pFact->_containerSetRawValue(metaData->rawDefaultValue());
            QGCCameraParamIO* pIO = new QGCCameraParamIO(this, pFact, _vehicle);
            QQmlEngine::setObjectOwnership(pIO, QQmlEngine::CppOwnership);
            _paramIO[factName] = pIO;
            _addFact(pFact, factName);
        }
    }
    if(_nameToFactMetaDataMap.size() > 0) {
        _addFactGroup(this, "camera");
        _processRanges();
        _activeSettings = _settings;
        emit activeSettingsChanged();
        return true;
    }
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_handleLocalization(QByteArray& bytes)
{
    QString errorMsg;
    int errorLine;
    QDomDocument doc;
    if(!doc.setContent(bytes, false, &errorMsg, &errorLine)) {
        qCritical() << "Unable to parse camera definition file on line:" << errorLine;
        qCritical() << errorMsg;
        return false;
    }
    //-- Find out where we are
    QLocale locale = QLocale::system();
#if defined (__macos__)
    locale = QLocale(locale.name());
#endif
    QString localeName = locale.name().toLower().replace("-", "_");
    qCDebug(CameraControlLog) << "Current locale:" << localeName;
    if(localeName == "en_us") {
        // Nothing to do
        return true;
    }
    QDomNodeList locRoot = doc.elementsByTagName(kLocalization);
    if(!locRoot.size()) {
        // Nothing to do
        return true;
    }
    //-- Iterate locales
    QDomNode node = locRoot.item(0);
    QDomElement elem = node.toElement();
    QDomNodeList locales = elem.elementsByTagName(kLocale);
    for(int i = 0; i < locales.size(); i++) {
        QDomNode locale = locales.item(i);
        QString name;
        if(!read_attribute(locale, kName, name)) {
            qWarning() << "Localization entry is missing its name attribute";
            continue;
        }
        // If we found a direct match, deal with it now
        if(localeName == name.toLower().replace("-", "_")) {
            return _replaceLocaleStrings(locale, bytes);
        }
    }
    //-- No direct match. Pick first matching language (if any)
    localeName = localeName.left(3);
    for(int i = 0; i < locales.size(); i++) {
        QDomNode locale = locales.item(i);
        QString name;
        read_attribute(locale, kName, name);
        if(name.toLower().startsWith(localeName)) {
            return _replaceLocaleStrings(locale, bytes);
        }
    }
    //-- Could not find a language to use
    qWarning() <<  "No match for" << QLocale::system().name() << "in camera definition file";
    //-- Just use default, en_US
    return true;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_replaceLocaleStrings(const QDomNode node, QByteArray& bytes)
{
    QDomElement stringElem = node.toElement();
    QDomNodeList strings = stringElem.elementsByTagName(kStrings);
    for(int i = 0; i < strings.size(); i++) {
        QDomNode stringNode = strings.item(i);
        QString original;
        QString translated;
        if(read_attribute(stringNode, kOriginal, original)) {
            if(read_attribute(stringNode, kTranslated, translated)) {
                QString o; o = "\"" + original + "\"";
                QString t; t = "\"" + translated + "\"";
                bytes.replace(o.toUtf8(), t.toUtf8());
                o = ">" + original + "<";
                t = ">" + translated + "<";
                bytes.replace(o.toUtf8(), t.toUtf8());
            }
        }
    }
    return true;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestAllParameters()
{
    //-- Reset receive list
    foreach(QString paramName, _paramIO.keys()) {
        if(_paramIO[paramName]) {
            _paramIO[paramName]->setParamRequest();
        } else {
            qCritical() << "QGCParamIO is NULL" << paramName;
        }
    }
    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
    mavlink_message_t msg;
    mavlink_msg_param_ext_request_list_pack_chan(
        mavlink->getSystemId(),
        mavlink->getComponentId(),
        _vehicle->priorityLink()->mavlinkChannel(),
        &msg,
        _vehicle->id(),
        compID());
    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
    qCDebug(CameraControlLogVerbose) << "Request all parameters";
}

//-----------------------------------------------------------------------------
QString
QGCCameraControl::_getParamName(const char* param_id)
{
    QByteArray bytes(param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
    QString parameterName(bytes);
    return parameterName;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::handleParamAck(const mavlink_param_ext_ack_t& ack)
{
    QString paramName = _getParamName(ack.param_id);
    if(!_paramIO.contains(paramName)) {
        qCWarning(CameraControlLog) << "Received PARAM_EXT_ACK for unknown param:" << paramName;
        return;
    }
    if(_paramIO[paramName]) {
        _paramIO[paramName]->handleParamAck(ack);
    } else {
        qCritical() << "QGCParamIO is NULL" << paramName;
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::handleParamValue(const mavlink_param_ext_value_t& value)
{
    QString paramName = _getParamName(value.param_id);
    if(!_paramIO.contains(paramName)) {
        qCWarning(CameraControlLog) << "Received PARAM_EXT_VALUE for unknown param:" << paramName;
        return;
    }
    if(_paramIO[paramName]) {
        _paramIO[paramName]->handleParamValue(value);
    } else {
        qCritical() << "QGCParamIO is NULL" << paramName;
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateActiveList()
{
    //-- Clear out excluded parameters based on exclusion rules
    QStringList exclusionList;
    foreach(QGCCameraOptionExclusion* param, _valueExclusions) {
        Fact* pFact = getFact(param->param);
        if(pFact) {
            QString option = pFact->rawValueString();
            if(param->value == option) {
                exclusionList << param->exclusions;
            }
        }
    }
    QStringList active;
    foreach(QString key, _settings) {
        if(!exclusionList.contains(key)) {
            active.append(key);
        }
    }
    if(active != _activeSettings) {
        qCDebug(CameraControlLogVerbose) << "Excluding" << exclusionList;
        _activeSettings = active;
        emit activeSettingsChanged();
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_processConditionTest(const QString conditionTest)
{
    enum {
        TEST_NONE,
        TEST_EQUAL,
        TEST_NOT_EQUAL,
        TEST_GREATER,
        TEST_SMALLER
    };
    qCDebug(CameraControlLogVerbose) << "_processConditionTest(" << conditionTest << ")";
    int op = TEST_NONE;
    QStringList test;
    if(conditionTest.contains("!=")) {
        test = conditionTest.split("!=", QString::SkipEmptyParts);
        op = TEST_NOT_EQUAL;
    } else if(conditionTest.contains("=")) {
        test = conditionTest.split("=", QString::SkipEmptyParts);
        op = TEST_EQUAL;
    } else if(conditionTest.contains(">")) {
        test = conditionTest.split(">", QString::SkipEmptyParts);
        op = TEST_GREATER;
    } else if(conditionTest.contains("<")) {
        test = conditionTest.split("<", QString::SkipEmptyParts);
        op = TEST_SMALLER;
    }
    if(test.size() == 2) {
        Fact* pFact = getFact(test[0]);
        if(pFact) {
            switch(op) {
            case TEST_EQUAL:
                return pFact->rawValueString() == test[1];
            case TEST_NOT_EQUAL:
                return pFact->rawValueString() != test[1];
            case TEST_GREATER:
                return pFact->rawValueString() > test[1];
            case TEST_SMALLER:
                return pFact->rawValueString() < test[1];
            case TEST_NONE:
                break;
            }
        } else {
            qWarning() << "Invalid condition parameter:" << test[0] << "in" << conditionTest;
            return false;
        }
    }
    qWarning() << "Invalid condition" << conditionTest;
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_processCondition(const QString condition)
{
    qCDebug(CameraControlLogVerbose) << "_processCondition(" << condition << ")";
    bool result = true;
    bool andOp  = true;
    if(!condition.isEmpty()) {
        QStringList scond = condition.split(" ", QString::SkipEmptyParts);
        while(scond.size()) {
            QString test = scond.first();
            scond.removeFirst();
            if(andOp) {
                result = result && _processConditionTest(test);
            } else {
                result = result || _processConditionTest(test);
            }
            if(!scond.size()) {
                return result;
            }
            andOp = scond.first().toUpper() == "AND";
            scond.removeFirst();
        }
    }
    return result;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateRanges(Fact* pFact)
{
    QMap<Fact*, QGCCameraOptionRange*> rangesSet;
    QMap<Fact*, QString> rangesReset;
    QStringList changedList;
    QStringList resetList;
    //-- Iterate range sets looking for limited ranges
    foreach(QGCCameraOptionRange* pRange, _optionRanges) {
        //-- If this fact or one of its conditions is part of this range set
        if(!changedList.contains(pRange->targetParam) && (pRange->param == pFact->name() || pRange->condition.contains(pFact->name()))) {
            Fact* pRFact = getFact(pRange->param);          //-- This parameter
            Fact* pTFact = getFact(pRange->targetParam);    //-- The target parameter (the one its range is to change)
            if(pRFact && pTFact) {
                //qCDebug(CameraControlLogVerbose) << "Check new set of options for" << pTFact->name();
                QString option = pRFact->rawValueString();  //-- This parameter value
                //-- If this value (and condition) triggers a change in the target range
                //qCDebug(CameraControlLogVerbose) << "Range value:" << pRange->value << "Current value:" << option << "Condition:" << pRange->condition;
                if(pRange->value == option && _processCondition(pRange->condition)) {
                    if(pTFact->enumStrings() != pRange->optNames) {
                        //-- Set limited range set
                        rangesSet[pTFact] = pRange;
                        qCDebug(CameraControlLogVerbose) << "Limited set of options for:" << pRange->targetParam << pRange->optNames;
                    }
                    changedList << pRange->targetParam;
                }
            }
        }
    }
    //-- Iterate range sets again looking for resets
    foreach(QGCCameraOptionRange* pRange, _optionRanges) {
        if(!changedList.contains(pRange->targetParam) && (pRange->param == pFact->name() || pRange->condition.contains(pFact->name()))) {
            Fact* pTFact = getFact(pRange->targetParam);    //-- The target parameter (the one its range is to change)
            if(!resetList.contains(pRange->targetParam)) {
                if(pTFact->enumStrings() != _originalOptNames[pRange->targetParam]) {
                    //-- Restore full option set
                    rangesReset[pTFact] = pRange->targetParam;
                    qCDebug(CameraControlLogVerbose) << "Restore full set of options for:" << pRange->targetParam << _originalOptNames[pRange->targetParam];
                }
                resetList << pRange->targetParam;
            }
        }
    }
    //-- Update limited range set
    foreach (Fact* pFact, rangesSet.keys()) {
        pFact->setEnumInfo(rangesSet[pFact]->optNames, rangesSet[pFact]->optVariants);
        if(!_updates.contains(pFact)) {
            _paramIO[pFact->name()]->optNames = rangesSet[pFact]->optNames;
            _paramIO[pFact->name()]->optVariants = rangesSet[pFact]->optVariants;
            _updates << pFact;
        }
    }
    //-- Restore full range set
    foreach (Fact* pFact, rangesReset.keys()) {
        pFact->setEnumInfo(_originalOptNames[rangesReset[pFact]], _originalOptValues[rangesReset[pFact]]);
        if(!_updates.contains(pFact)) {
            _paramIO[pFact->name()]->optNames = _originalOptNames[rangesReset[pFact]];
            _paramIO[pFact->name()]->optVariants = _originalOptValues[rangesReset[pFact]];
            _updates << pFact;
        }
    }
    //-- Parameter update requests
    if(_requestUpdates.contains(pFact->name())) {
        _requestAllParameters();
    }
    //-- Update UI (Asynchronous state where values come back after a while)
    if(_updates.size()) {
        _updateTimer.start(500);
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateTimeout()
{
    //-- Update UI
    foreach (Fact* pFact, _updates) {
        pFact->setEnumInfo(_paramIO[pFact->name()]->optNames, _paramIO[pFact->name()]->optVariants);
        qCDebug(CameraControlLogVerbose) << "Update enums" << pFact->name() << pFact->enumStrings();
        emit pFact->enumsChanged();
    }
    _updates.clear();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCameraSettings()
{
    qCDebug(CameraControlLog) << "_requestCameraSettings()";
    if(_vehicle) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_REQUEST_CAMERA_SETTINGS,        // command id
            false,                                  // showError
            1);                                     // Do Request
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestStorageInfo()
{
    qCDebug(CameraControlLog) << "_requestStorageInfo()";
    if(_vehicle) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_REQUEST_STORAGE_INFORMATION,    // command id
            false,                                  // showError
            0,                                      // Storage ID (0 for all, 1 for first, 2 for second, etc.)
            1);                                     // Do Request
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::handleSettings(const mavlink_camera_settings_t& settings)
{
    qCDebug(CameraControlLog) << "handleSettings() Mode:" << settings.mode_id;
    _setCameraMode((CameraMode)settings.mode_id);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::handleStorageInfo(const mavlink_storage_information_t& st)
{
    qCDebug(CameraControlLog) << "_handleStorageInfo:" << st.available_capacity << st.status << st.storage_count << st.storage_id << st.total_capacity << st.used_capacity;
    if(_storageTotal != st.total_capacity) {
        _storageTotal = st.total_capacity;
    }
    //-- Always emit this
    emit storageTotalChanged();
    if(_storageFree != st.available_capacity) {
        _storageFree = st.available_capacity;
        emit storageFreeChanged();
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap)
{
    //-- This is a response to MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS
    qCDebug(CameraControlLog) << "handleCaptureStatus:" << cap.available_capacity << cap.image_interval << cap.image_status << cap.recording_time_ms << cap.video_status;
    //-- Disk Free Space
    if(_storageFree != cap.available_capacity) {
        _storageFree = cap.available_capacity;
        emit storageFreeChanged();
    }
    //-- Video Capture Status
    _setVideoStatus((VideoStatus)cap.video_status);
    //-- Keep asking for it once in a while when recording
    if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
        _captureStatusTimer.start(5000);
    }
}

//-----------------------------------------------------------------------------
QStringList
QGCCameraControl::_loadExclusions(QDomNode option)
{
    QStringList exclusionList;
    QDomElement optionElem = option.toElement();
    QDomNodeList excRoot = optionElem.elementsByTagName(kExclusions);
    if(excRoot.size()) {
        //-- Iterate options
        QDomNode node = excRoot.item(0);
        QDomElement elem = node.toElement();
        QDomNodeList exclusions = elem.elementsByTagName(kExclusion);
        for(int i = 0; i < exclusions.size(); i++) {
            QString exclude = exclusions.item(i).toElement().text();
            if(!exclude.isEmpty()) {
                exclusionList << exclude;
            }
        }
    }
    return exclusionList;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadRanges(QDomNode option, const QString factName, QString paramValue)
{
    QDomElement optionElem = option.toElement();
    QDomNodeList rangeRoot = optionElem.elementsByTagName(kParameterranges);
    if(rangeRoot.size()) {
        QDomNode node = rangeRoot.item(0);
        QDomElement elem = node.toElement();
        QDomNodeList parameterRanges = elem.elementsByTagName(kParameterrange);
        //-- Iterate parameter ranges
        for(int i = 0; i < parameterRanges.size(); i++) {
            QString param;
            QString condition;
            QMap<QString, QVariant> rangeList;
            QDomNode paramRange = parameterRanges.item(i);
            if(!read_attribute(paramRange, kParameter, param)) {
                qCritical() << QString("Malformed option range for parameter %1").arg(factName);
                return false;
            }
            read_attribute(paramRange, kCondition, condition);
            QDomElement pelem = paramRange.toElement();
            QDomNodeList rangeOptions = pelem.elementsByTagName(kRoption);
            QStringList  optNames;
            QStringList  optValues;
            //-- Iterate options
            for(int i = 0; i < rangeOptions.size(); i++) {
                QString optName;
                QString optValue;
                QDomNode roption = rangeOptions.item(i);
                if(!read_attribute(roption, kName, optName)) {
                    qCritical() << QString("Malformed roption for parameter %1").arg(factName);
                    return false;
                }
                if(!read_attribute(roption, kValue, optValue)) {
                    qCritical() << QString("Malformed rvalue for parameter %1").arg(factName);
                    return false;
                }
                optNames  << optName;
                optValues << optValue;
            }
            if(optNames.size()) {
                QGCCameraOptionRange* pRange = new QGCCameraOptionRange(this, factName, paramValue, param, condition, optNames, optValues);
                _optionRanges.append(pRange);
                qCDebug(CameraControlLogVerbose) << "New range limit:" << factName << paramValue << param << condition << optNames << optValues;
            }
        }
    }
    return true;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_processRanges()
{
    //-- After all parameter are loaded, process parameter ranges
    foreach(QGCCameraOptionRange* pRange, _optionRanges) {
        Fact* pRFact = getFact(pRange->targetParam);
        if(pRFact) {
            for(int i = 0; i < pRange->optNames.size(); i++) {
                QVariant optVariant;
                QString  errorString;
                if (!pRFact->metaData()->convertAndValidateRaw(pRange->optValues[i], false, optVariant, errorString)) {
                    qWarning() << "Invalid roption value, name:" << pRange->targetParam
                               << " type:"  << pRFact->metaData()->type()
                               << " value:" << pRange->optValues[i]
                               << " error:" << errorString;
                } else {
                    pRange->optVariants << optVariant;
                }
            }
        }
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadNameValue(QDomNode option, const QString factName, FactMetaData* metaData, QString& optName, QString& optValue, QVariant& optVariant)
{
    if(!read_attribute(option, kName, optName)) {
        qCritical() << QString("Malformed option for parameter %1").arg(factName);
        return false;
    }
    if(!read_attribute(option, kValue, optValue)) {
        qCritical() << QString("Malformed value for parameter %1").arg(factName);
        return false;
    }
    QString  errorString;
    if (!metaData->convertAndValidateRaw(optValue, false, optVariant, errorString)) {
        qWarning() << "Invalid option value, name:" << factName
                   << " type:"  << metaData->type()
                   << " value:" << optValue
                   << " error:" << errorString;
    }
    return true;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_handleDefinitionFile(const QString &url)
{
    //-- First check and see if we have it cached
    QFile xmlFile(_cacheFile);
    if (!xmlFile.exists()) {
        qCDebug(CameraControlLog) << "No camera definition file cached";
        _httpRequest(url);
        return;
    }
    if (!xmlFile.open(QIODevice::ReadOnly)) {
        qWarning() << "Could not read cached camera definition file:" << _cacheFile;
        _httpRequest(url);
        return;
    }
    QByteArray bytes = xmlFile.readAll();
    QDomDocument doc;
    if(!doc.setContent(bytes, false)) {
        qWarning() << "Could not parse cached camera definition file:" << _cacheFile;
        _httpRequest(url);
        return;
    }
    //-- We have it
    qCDebug(CameraControlLog) << "Using cached camera definition file:" << _cacheFile;
    _cached = true;
    emit dataReady(bytes);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_httpRequest(const QString &url)
{
    qCDebug(CameraControlLog) << "Request camera definition:" << url;
    if(!_netManager) {
        _netManager = new QNetworkAccessManager(this);
    }
    QNetworkProxy savedProxy = _netManager->proxy();
    QNetworkProxy tempProxy;
    tempProxy.setType(QNetworkProxy::DefaultProxy);
    _netManager->setProxy(tempProxy);
    QNetworkRequest request(url);
    request.setAttribute(QNetworkRequest::FollowRedirectsAttribute, true);
    QSslConfiguration conf = request.sslConfiguration();
    conf.setPeerVerifyMode(QSslSocket::VerifyNone);
    request.setSslConfiguration(conf);
    QNetworkReply* reply = _netManager->get(request);
    connect(reply, &QNetworkReply::finished,  this, &QGCCameraControl::_downloadFinished);
    _netManager->setProxy(savedProxy);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_downloadFinished()
{
    QNetworkReply* reply = qobject_cast<QNetworkReply*>(sender());
    if(!reply) {
        return;
    }
    int err = reply->error();
    int http_code = reply->attribute(QNetworkRequest::HttpStatusCodeAttribute).toInt();
    QByteArray data = reply->readAll();
    if(err == QNetworkReply::NoError && http_code == 200) {
        data.append("\n");
    } else {
        data.clear();
        qWarning() << QString("Camera Definition download error: %1 status: %2").arg(reply->errorString(), reply->attribute(QNetworkRequest::HttpStatusCodeAttribute).toString());
    }
    emit dataReady(data);
    //reply->deleteLater();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_dataReady(QByteArray data)
{
    if(data.size()) {
        qCDebug(CameraControlLog) << "Parsing camera definition";
        _loadCameraDefinitionFile(data);
    } else {
        qCDebug(CameraControlLog) << "No camera definition";
    }
    _initWhenReady();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_paramDone()
{
    foreach(QString param, _paramIO.keys()) {
        if(!_paramIO[param]->paramDone()) {
            return;
        }
    }
    //-- All parameters loaded (or timed out)
    emit parametersReady();
}