FactMetaData.cc

/****************************************************************************
 *
 * (c) 2009-2020 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.
 *
 ****************************************************************************/

#include "FactMetaData.h"
#include "SettingsManager.h"
#include "JsonHelper.h"
#include "QGCApplication.h"

#include <QDebug>
#include <QtMath>
#include <QJsonParseError>
#include <QJsonArray>

#include <limits>
#include <cmath>

// Conversion Constants
// Time
const qreal FactMetaData::UnitConsts_s::secondsPerHour = 3600.0;

// Velocity
const qreal FactMetaData::UnitConsts_s::knotsToKPH = 1.852; // exact, hence weird base for knotsToMetersPerSecond

// Length
const qreal FactMetaData::UnitConsts_s::milesToMeters =         1609.344;
const qreal FactMetaData::UnitConsts_s::feetToMeters =          0.3048;
const qreal FactMetaData::UnitConsts_s::inchesToCentimeters =   2.54;

//Weight
const qreal FactMetaData::UnitConsts_s::ouncesToGrams =         28.3495;
const qreal FactMetaData::UnitConsts_s::poundsToGrams =         453.592;


static const char* kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
static const char* kDefaultGroup    = QT_TRANSLATE_NOOP("FactMetaData", "Misc");

const char* FactMetaData::qgcFileType =                 "FactMetaData";
const char* FactMetaData::_jsonMetaDataDefinesName =    "QGC.MetaData.Defines";
const char* FactMetaData::_jsonMetaDataFactsName =      "QGC.MetaData.Facts";

// Built in translations for all Facts
const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = {
    { "centi-degrees",  "deg",  FactMetaData::_centiDegreesToDegrees,                   FactMetaData::_degreesToCentiDegrees },
    { "radians",        "deg",  FactMetaData::_radiansToDegrees,                        FactMetaData::_degreesToRadians },
    { "gimbal-degrees", "deg",  FactMetaData::_mavlinkGimbalDegreesToUserGimbalDegrees, FactMetaData::_userGimbalDegreesToMavlinkGimbalDegrees },
    { "norm",           "%",    FactMetaData::_normToPercent,                           FactMetaData::_percentToNorm },
};

// Translations driven by app settings
const FactMetaData::AppSettingsTranslation_s FactMetaData::_rgAppSettingsTranslations[] = {
    { "m",      "m",        FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsMeters, FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "meter",  "meter",    FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsMeters, FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "meters", "meters",   FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsMeters, FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    //NOTE: we've coined an artificial "raw unit" of "vertical metre" to separate it from the horizontal metre - a bit awkward but this is all the design permits
    { "vertical m",  "m",   FactMetaData::UnitVerticalDistance,      UnitsSettings::VerticalDistanceUnitsMeters,   FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "cm/px",  "cm/px",    FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsMeters, FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "m/s",    "m/s",      FactMetaData::UnitSpeed,                 UnitsSettings::SpeedUnitsMetersPerSecond,     FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "C",      "C",        FactMetaData::UnitTemperature,           UnitsSettings::TemperatureUnitsCelsius,       FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "m^2",    "m\u00B2",  FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsSquareMeters,         FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "m",      "ft",       FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsFeet,   FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
    { "meter",  "ft",       FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsFeet,   FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
    { "meters", "ft",       FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsFeet,   FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
    { "vertical m",  "ft",  FactMetaData::UnitVerticalDistance,      UnitsSettings::VerticalDistanceUnitsFeet,     FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
    { "cm/px",  "in/px",    FactMetaData::UnitHorizontalDistance,    UnitsSettings::HorizontalDistanceUnitsFeet,   FactMetaData::_centimetersToInches,                 FactMetaData::_inchesToCentimeters },
    { "m^2",    "km\u00B2", FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsSquareKilometers,     FactMetaData::_squareMetersToSquareKilometers,      FactMetaData::_squareKilometersToSquareMeters },
    { "m^2",    "ha",       FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsHectares,             FactMetaData::_squareMetersToHectares,              FactMetaData::_hectaresToSquareMeters },
    { "m^2",    "ft\u00B2", FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsSquareFeet,           FactMetaData::_squareMetersToSquareFeet,            FactMetaData::_squareFeetToSquareMeters },
    { "m^2",    "ac",       FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsAcres,                FactMetaData::_squareMetersToAcres,                 FactMetaData::_acresToSquareMeters },
    { "m^2",    "mi\u00B2", FactMetaData::UnitArea,                  UnitsSettings::AreaUnitsSquareMiles,          FactMetaData::_squareMetersToSquareMiles,           FactMetaData::_squareMilesToSquareMeters },
    { "m/s",    "ft/s",     FactMetaData::UnitSpeed,                 UnitsSettings::SpeedUnitsFeetPerSecond,       FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
    { "m/s",    "mph",      FactMetaData::UnitSpeed,                 UnitsSettings::SpeedUnitsMilesPerHour,        FactMetaData::_metersPerSecondToMilesPerHour,       FactMetaData::_milesPerHourToMetersPerSecond },
    { "m/s",    "km/h",     FactMetaData::UnitSpeed,                 UnitsSettings::SpeedUnitsKilometersPerHour,   FactMetaData::_metersPerSecondToKilometersPerHour,  FactMetaData::_kilometersPerHourToMetersPerSecond },
    { "m/s",    "kn",       FactMetaData::UnitSpeed,                 UnitsSettings::SpeedUnitsKnots,               FactMetaData::_metersPerSecondToKnots,              FactMetaData::_knotsToMetersPerSecond },
    { "C",      "F",        FactMetaData::UnitTemperature,           UnitsSettings::TemperatureUnitsFarenheit,     FactMetaData::_celsiusToFarenheit,                  FactMetaData::_farenheitToCelsius },
    { "g",      "g",        FactMetaData::UnitWeight,                UnitsSettings::WeightUnitsGrams,              FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
    { "g",      "kg",       FactMetaData::UnitWeight,                UnitsSettings::WeightUnitsKg,                 FactMetaData::_gramsToKilograms,                    FactMetaData::_kilogramsToGrams },
    { "g",      "oz",       FactMetaData::UnitWeight,                UnitsSettings::WeightUnitsOz,                 FactMetaData::_gramsToOunces,                       FactMetaData::_ouncesToGrams },
    { "g",      "lbs",      FactMetaData::UnitWeight,                UnitsSettings::WeightUnitsLbs,                FactMetaData::_gramsToPunds,                        FactMetaData::_poundsToGrams },
};

const char* FactMetaData::_decimalPlacesJsonKey =       "decimalPlaces";
const char* FactMetaData::_nameJsonKey =                "name";
const char* FactMetaData::_typeJsonKey =                "type";
const char* FactMetaData::_shortDescriptionJsonKey =    "shortDescription";
const char* FactMetaData::_longDescriptionJsonKey =     "longDescription";
const char* FactMetaData::_unitsJsonKey =               "units";
const char* FactMetaData::_defaultValueJsonKey =        "defaultValue";
const char* FactMetaData::_mobileDefaultValueJsonKey =  "mobileDefaultValue";
const char* FactMetaData::_minJsonKey =                 "min";
const char* FactMetaData::_maxJsonKey =                 "max";
const char* FactMetaData::_incrementJsonKey =           "increment";
const char* FactMetaData::_hasControlJsonKey =          "control";
const char* FactMetaData::_qgcRebootRequiredJsonKey =   "qgcRebootRequired";

FactMetaData::FactMetaData(QObject* parent)
    : QObject               (parent)
    , _type                 (valueTypeInt32)
    , _decimalPlaces        (kUnknownDecimalPlaces)
    , _rawDefaultValue      (0)
    , _defaultValueAvailable(false)
    , _rawMax               (_maxForType())
    , _maxIsDefaultForType  (true)
    , _rawMin               (_minForType())
    , _minIsDefaultForType  (true)
    , _rawTranslator        (_defaultTranslator)
    , _cookedTranslator     (_defaultTranslator)
    , _vehicleRebootRequired(false)
    , _qgcRebootRequired    (false)
    , _rawIncrement         (std::numeric_limits<double>::quiet_NaN())
    , _hasControl           (true)
    , _readOnly             (false)
    , _writeOnly            (false)
    , _volatile             (false)
{
    _category   = kDefaultCategory;
    _group      = kDefaultGroup;
}

FactMetaData::FactMetaData(ValueType_t type, QObject* parent)
    : QObject               (parent)
    , _type                 (type)
    , _decimalPlaces        (kUnknownDecimalPlaces)
    , _rawDefaultValue      (0)
    , _defaultValueAvailable(false)
    , _rawMax               (_maxForType())
    , _maxIsDefaultForType  (true)
    , _rawMin               (_minForType())
    , _minIsDefaultForType  (true)
    , _rawTranslator        (_defaultTranslator)
    , _cookedTranslator     (_defaultTranslator)
    , _vehicleRebootRequired(false)
    , _qgcRebootRequired    (false)
    , _rawIncrement         (std::numeric_limits<double>::quiet_NaN())
    , _hasControl           (true)
    , _readOnly             (false)
    , _writeOnly            (false)
    , _volatile             (false)
{
    _category   = kDefaultCategory;
    _group      = kDefaultGroup;
}

FactMetaData::FactMetaData(const FactMetaData& other, QObject* parent)
    : QObject(parent)
{
    *this = other;
}

FactMetaData::FactMetaData(ValueType_t type, const QString name, QObject* parent)
    : QObject               (parent)
    , _type                 (type)
    , _decimalPlaces        (kUnknownDecimalPlaces)
    , _rawDefaultValue      (0)
    , _defaultValueAvailable(false)
    , _rawMax               (_maxForType())
    , _maxIsDefaultForType  (true)
    , _rawMin               (_minForType())
    , _minIsDefaultForType  (true)
    , _name                 (name)
    , _rawTranslator        (_defaultTranslator)
    , _cookedTranslator     (_defaultTranslator)
    , _vehicleRebootRequired(false)
    , _qgcRebootRequired    (false)
    , _rawIncrement         (std::numeric_limits<double>::quiet_NaN())
    , _hasControl           (true)
    , _readOnly             (false)
    , _writeOnly            (false)
    , _volatile             (false)
{
    _category   = kDefaultCategory;
    _group      = kDefaultGroup;
}

const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
{
    _decimalPlaces          = other._decimalPlaces;
    _rawDefaultValue        = other._rawDefaultValue;
    _defaultValueAvailable  = other._defaultValueAvailable;
    _bitmaskStrings         = other._bitmaskStrings;
    _bitmaskValues          = other._bitmaskValues;
    _enumStrings            = other._enumStrings;
    _enumValues             = other._enumValues;
    _category               = other._category;
    _group                  = other._group;
    _longDescription        = other._longDescription;
    _rawMax                 = other._rawMax;
    _maxIsDefaultForType    = other._maxIsDefaultForType;
    _rawMin                 = other._rawMin;
    _minIsDefaultForType    = other._minIsDefaultForType;
    _name                   = other._name;
    _shortDescription       = other._shortDescription;
    _type                   = other._type;
    _rawUnits               = other._rawUnits;
    _cookedUnits            = other._cookedUnits;
    _rawTranslator          = other._rawTranslator;
    _cookedTranslator       = other._cookedTranslator;
    _vehicleRebootRequired  = other._vehicleRebootRequired;
    _qgcRebootRequired      = other._qgcRebootRequired;
    _rawIncrement           = other._rawIncrement;
    _hasControl             = other._hasControl;
    _readOnly               = other._readOnly;
    _writeOnly              = other._writeOnly;
    _volatile               = other._volatile;
    return *this;
}

const QString FactMetaData::defaultCategory()
{
    return QString(kDefaultCategory);
}

const QString FactMetaData::defaultGroup()
{
    return QString(kDefaultGroup);
}

QVariant FactMetaData::rawDefaultValue(void) const
{
    if (_defaultValueAvailable) {
        return _rawDefaultValue;
    } else {
        qWarning() << "Attempt to access unavailable default value";
        return QVariant(0);
    }
}

void FactMetaData::setRawDefaultValue(const QVariant& rawDefaultValue)
{
    if (_type == valueTypeString || (isInRawMinLimit(rawDefaultValue) && isInRawMaxLimit(rawDefaultValue))) {
        _rawDefaultValue = rawDefaultValue;
        _defaultValueAvailable = true;
    } else {
        qWarning() << "Attempt to set default value which is outside min/max range";
    }
}

void FactMetaData::setRawMin(const QVariant& rawMin)
{
    if (isInRawMinLimit(rawMin)) {
        _rawMin = rawMin;
        _minIsDefaultForType = false;
    } else {
        qWarning() << "Attempt to set min below allowable value for fact: " << name()
                   << ", value attempted: " << rawMin
                   << ", type: " << type() << ", min for type: " << _minForType();
        _rawMin = _minForType();
    }
}

void FactMetaData::setRawMax(const QVariant& rawMax)
{
    if (isInRawMaxLimit(rawMax)) {
        _rawMax = rawMax;
        _maxIsDefaultForType = false;
    } else {
        qWarning() << "Attempt to set max above allowable value";
        _rawMax = _maxForType();
    }
}

bool FactMetaData::isInRawMinLimit(const QVariant& variantValue) const
{
    switch (_type) {
    case valueTypeUint8:
        return _rawMin.value<unsigned char>() <= variantValue.value<unsigned char>();
    case valueTypeInt8:
        return _rawMin.value<signed char>() <= variantValue.value<signed char>();
    case valueTypeUint16:
        return _rawMin.value<unsigned short int>() <= variantValue.value<unsigned short int>();
    case valueTypeInt16:
        return _rawMin.value<short int>() <= variantValue.value<short int>();
    case valueTypeUint32:
        return _rawMin.value<uint32_t>() <= variantValue.value<uint32_t>();
    case valueTypeInt32:
        return _rawMin.value<int32_t>() <= variantValue.value<int32_t>();
    case valueTypeUint64:
        return _rawMin.value<uint64_t>() <= variantValue.value<uint64_t>();
    case valueTypeInt64:
        return _rawMin.value<int64_t>() <= variantValue.value<int64_t>();
    case valueTypeFloat:
        return _rawMin.value<float>() <= variantValue.value<float>();
    case valueTypeDouble:
        return _rawMin.value<double>() <= variantValue.value<double>();
    default:
        return true;
    }

    return true;
}

bool FactMetaData::isInRawMaxLimit(const QVariant& variantValue) const
{
    switch (_type) {
    case valueTypeUint8:
        return _rawMax.value<unsigned char>() >= variantValue.value<unsigned char>();
    case valueTypeInt8:
        return _rawMax.value<signed char>() >= variantValue.value<signed char>();
    case valueTypeUint16:
        return _rawMax.value<unsigned short int>() >= variantValue.value<unsigned short int>();
    case valueTypeInt16:
        return _rawMax.value<short int>() >= variantValue.value<short int>();
    case valueTypeUint32:
        return _rawMax.value<uint32_t>() >= variantValue.value<uint32_t>();
    case valueTypeInt32:
        return _rawMax.value<int32_t>() >= variantValue.value<int32_t>();
    case valueTypeUint64:
        return _rawMax.value<uint64_t>() >= variantValue.value<uint64_t>();
    case valueTypeInt64:
        return _rawMax.value<int64_t>() >= variantValue.value<int64_t>();
    case valueTypeFloat:
        return _rawMax.value<float>() >= variantValue.value<float>();
    case valueTypeDouble:
        return _rawMax.value<double>() >= variantValue.value<double>();
    default:
        return true;
    }

    return true;
}

QVariant FactMetaData::_minForType(void) const
{
    switch (_type) {
    case valueTypeUint8:
        return QVariant(std::numeric_limits<unsigned char>::min());
    case valueTypeInt8:
        return QVariant(std::numeric_limits<signed char>::min());
    case valueTypeUint16:
        return QVariant(std::numeric_limits<unsigned short int>::min());
    case valueTypeInt16:
        return QVariant(std::numeric_limits<short int>::min());
    case valueTypeUint32:
        return QVariant(std::numeric_limits<uint32_t>::min());
    case valueTypeInt32:
        return QVariant(std::numeric_limits<int32_t>::min());
    case valueTypeUint64:
        return QVariant((qulonglong)std::numeric_limits<uint64_t>::min());
    case valueTypeInt64:
        return QVariant((qlonglong)std::numeric_limits<int64_t>::min());
    case valueTypeFloat:
        return QVariant(-std::numeric_limits<float>::max());
    case valueTypeDouble:
        return QVariant(-std::numeric_limits<double>::max());
    case valueTypeString:
        return QVariant();
    case valueTypeBool:
        return QVariant(0);
    case valueTypeElapsedTimeInSeconds:
        return QVariant(0.0);
    case valueTypeCustom:
        return QVariant();
    }

    // Make windows compiler happy, even switch is full cased
    return QVariant();
}

QVariant FactMetaData::_maxForType(void) const
{
    switch (_type) {
    case valueTypeUint8:
        return QVariant(std::numeric_limits<unsigned char>::max());
    case valueTypeInt8:
        return QVariant(std::numeric_limits<signed char>::max());
    case valueTypeUint16:
        return QVariant(std::numeric_limits<unsigned short int>::max());
    case valueTypeInt16:
        return QVariant(std::numeric_limits<short int>::max());
    case valueTypeUint32:
        return QVariant(std::numeric_limits<uint32_t>::max());
    case valueTypeInt32:
        return QVariant(std::numeric_limits<int32_t>::max());
    case valueTypeUint64:
        return QVariant((qulonglong)std::numeric_limits<uint64_t>::max());
    case valueTypeInt64:
        return QVariant((qlonglong)std::numeric_limits<int64_t>::max());
    case valueTypeFloat:
        return QVariant(std::numeric_limits<float>::max());
    case valueTypeElapsedTimeInSeconds:
    case valueTypeDouble:
        return QVariant(std::numeric_limits<double>::max());
    case valueTypeString:
        return QVariant();
    case valueTypeBool:
        return QVariant(1);
    case valueTypeCustom:
        return QVariant();
    }

    // Make windows compiler happy, even switch is full cased
    return QVariant();
}

bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertOnly, QVariant& typedValue, QString& errorString)
{
    bool convertOk = false;

    errorString.clear();

    switch (type()) {
    case FactMetaData::valueTypeInt8:
    case FactMetaData::valueTypeInt16:
    case FactMetaData::valueTypeInt32:
        typedValue = QVariant(rawValue.toInt(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<int32_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toInt()).arg(rawMax().toInt());
            }
        }
        break;
    case FactMetaData::valueTypeInt64:
        typedValue = QVariant(rawValue.toLongLong(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<int64_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toInt()).arg(rawMax().toInt());
            }
        }
        break;
    case FactMetaData::valueTypeUint8:
    case FactMetaData::valueTypeUint16:
    case FactMetaData::valueTypeUint32:
        typedValue = QVariant(rawValue.toUInt(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<uint32_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toUInt()).arg(rawMax().toUInt());
            }
        }
        break;
    case FactMetaData::valueTypeUint64:
        typedValue = QVariant(rawValue.toULongLong(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<uint64_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toUInt()).arg(rawMax().toUInt());
            }
        }
        break;
    case FactMetaData::valueTypeFloat:
        typedValue = QVariant(rawValue.toFloat(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<float>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toDouble()).arg(rawMax().toDouble());
            }
        }
        break;
    case FactMetaData::valueTypeElapsedTimeInSeconds:
    case FactMetaData::valueTypeDouble:
        typedValue = QVariant(rawValue.toDouble(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInRawLimit<double>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(rawMin().toDouble()).arg(rawMax().toDouble());
            }
        }
        break;
    case FactMetaData::valueTypeString:
        convertOk = true;
        typedValue = QVariant(rawValue.toString());
        break;
    case FactMetaData::valueTypeBool:
        convertOk = true;
        typedValue = QVariant(rawValue.toBool());
        break;
    case FactMetaData::valueTypeCustom:
        convertOk = true;
        typedValue = QVariant(rawValue.toByteArray());
        break;
    }

    if (!convertOk) {
        errorString += tr("Invalid number");
    }

    return convertOk && errorString.isEmpty();
}

bool FactMetaData::convertAndValidateCooked(const QVariant& cookedValue, bool convertOnly, QVariant& typedValue, QString& errorString)
{
    bool convertOk = false;

    errorString.clear();

    if (!convertOnly && _customCookedValidator) {
        errorString = _customCookedValidator(cookedValue);
        if (!errorString.isEmpty()) {
            return false;
        }
    }

    switch (type()) {
    case FactMetaData::valueTypeInt8:
    case FactMetaData::valueTypeInt16:
    case FactMetaData::valueTypeInt32:
        typedValue = QVariant(cookedValue.toInt(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<int32_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toInt()).arg(cookedMax().toInt());
            }
        }
        break;
    case FactMetaData::valueTypeInt64:
        typedValue = QVariant(cookedValue.toLongLong(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<int64_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toInt()).arg(cookedMax().toInt());
            }
        }
        break;
    case FactMetaData::valueTypeUint8:
    case FactMetaData::valueTypeUint16:
    case FactMetaData::valueTypeUint32:
        typedValue = QVariant(cookedValue.toUInt(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<uint32_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toUInt()).arg(cookedMax().toUInt());
            }
        }
        break;
    case FactMetaData::valueTypeUint64:
        typedValue = QVariant(cookedValue.toULongLong(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<uint64_t>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toUInt()).arg(cookedMax().toUInt());
            }
        }
        break;
    case FactMetaData::valueTypeFloat:
        typedValue = QVariant(cookedValue.toFloat(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<float>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toFloat()).arg(cookedMax().toFloat());
            }
        }
        break;
    case FactMetaData::valueTypeElapsedTimeInSeconds:
    case FactMetaData::valueTypeDouble:
        typedValue = QVariant(cookedValue.toDouble(&convertOk));
        if (!convertOnly && convertOk) {
            if (!isInCookedLimit<double>(typedValue)) {
                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toDouble()).arg(cookedMax().toDouble());
            }
        }
        break;
    case FactMetaData::valueTypeString:
        convertOk = true;
        typedValue = QVariant(cookedValue.toString());
        break;
    case FactMetaData::valueTypeBool:
        convertOk = true;
        typedValue = QVariant(cookedValue.toBool());
        break;
    case FactMetaData::valueTypeCustom:
        convertOk = true;
        typedValue = QVariant(cookedValue.toByteArray());
        break;
    }

    if (!convertOk) {
        errorString += tr("Invalid number");
    }

    return convertOk && errorString.isEmpty();
}

bool FactMetaData::clampValue(const QVariant& cookedValue, QVariant& typedValue)
{
    bool convertOk = false;
    switch (type()) {
    case FactMetaData::valueTypeInt8:
    case FactMetaData::valueTypeInt16:
    case FactMetaData::valueTypeInt32:
        typedValue = QVariant(cookedValue.toInt(&convertOk));
        if (convertOk) {
            clamp<int32_t>(typedValue);
        }
        break;
    case FactMetaData::valueTypeInt64:
        typedValue = QVariant(cookedValue.toLongLong(&convertOk));
        if (convertOk) {
            clamp<int64_t>(typedValue);
        }
        break;
    case FactMetaData::valueTypeUint8:
    case FactMetaData::valueTypeUint16:
    case FactMetaData::valueTypeUint32:
        typedValue = QVariant(cookedValue.toUInt(&convertOk));
        if (convertOk) {
            clamp<uint32_t>(typedValue);
        }
        break;
    case FactMetaData::valueTypeUint64:
        typedValue = QVariant(cookedValue.toULongLong(&convertOk));
        if (convertOk) {
            clamp<uint64_t>(typedValue);
        }
        break;
    case FactMetaData::valueTypeFloat:
        typedValue = QVariant(cookedValue.toFloat(&convertOk));
        if (convertOk) {
            clamp<float>(typedValue);
        }
        break;
    case FactMetaData::valueTypeElapsedTimeInSeconds:
    case FactMetaData::valueTypeDouble:
        typedValue = QVariant(cookedValue.toDouble(&convertOk));
        if (convertOk) {
            clamp<double>(typedValue);
        }
        break;
    case FactMetaData::valueTypeString:
        convertOk = true;
        typedValue = QVariant(cookedValue.toString());
        break;
    case FactMetaData::valueTypeBool:
        convertOk = true;
        typedValue = QVariant(cookedValue.toBool());
        break;
    case FactMetaData::valueTypeCustom:
        convertOk = true;
        typedValue = QVariant(cookedValue.toByteArray());
        break;
    }
    return convertOk;
}

void FactMetaData::setBitmaskInfo(const QStringList& strings, const QVariantList& values)
{
    if (strings.count() != values.count()) {
        qWarning() << "Count mismatch strings:values" << strings.count() << values.count();
        return;
    }

    _bitmaskStrings = strings;
    _bitmaskValues = values;
    setBuiltInTranslator();
}

void FactMetaData::addBitmaskInfo(const QString& name, const QVariant& value)
{
    _bitmaskStrings << name;
    _bitmaskValues << value;
}

void FactMetaData::setEnumInfo(const QStringList& strings, const QVariantList& values)
{
    if (strings.count() != values.count()) {
        qWarning() << "Count mismatch strings:values" << strings.count() << values.count();
        return;
    }

    _enumStrings = strings;
    _enumValues = values;
    setBuiltInTranslator();
}

void FactMetaData::addEnumInfo(const QString& name, const QVariant& value)
{
    _enumStrings << name;
    _enumValues << value;
}

void FactMetaData::setTranslators(Translator rawTranslator, Translator cookedTranslator)
{
    _rawTranslator = rawTranslator;
    _cookedTranslator = cookedTranslator;
}

void FactMetaData::setBuiltInTranslator(void)
{
    if (_enumStrings.count()) {
        // No translation if enum
        setTranslators(_defaultTranslator, _defaultTranslator);
        _cookedUnits = _rawUnits;
        return;
    } else {
        for (size_t i=0; i<sizeof(_rgBuiltInTranslations)/sizeof(_rgBuiltInTranslations[0]); i++) {
            const BuiltInTranslation_s* pBuiltInTranslation = &_rgBuiltInTranslations[i];

            if (pBuiltInTranslation->rawUnits.toLower() == _rawUnits.toLower()) {
                _cookedUnits = pBuiltInTranslation->cookedUnits;
                setTranslators(pBuiltInTranslation->rawTranslator, pBuiltInTranslation->cookedTranslator);
                return;
            }
        }
    }

    // Translator not yet set, try app settings translators
    _setAppSettingsTranslators();
}

QVariant FactMetaData::_degreesToRadians(const QVariant& degrees)
{
    return QVariant(qDegreesToRadians(degrees.toDouble()));
}

QVariant FactMetaData::_radiansToDegrees(const QVariant& radians)
{
    return QVariant(qRadiansToDegrees(radians.toDouble()));
}

QVariant FactMetaData::_centiDegreesToDegrees(const QVariant& centiDegrees)
{
    return QVariant(centiDegrees.toReal() / 100.0);
}

QVariant FactMetaData::_degreesToCentiDegrees(const QVariant& degrees)
{
    return QVariant(qRound(degrees.toReal() * 100.0));
}

QVariant FactMetaData::_userGimbalDegreesToMavlinkGimbalDegrees(const QVariant& userGimbalDegrees)
{
    // User facing gimbal degree values are from 0 (level) to 90 (straight down)
    // Mavlink gimbal degree values are from 0 (level) to -90 (straight down)
    return userGimbalDegrees.toDouble() * -1.0;
}

QVariant FactMetaData::_mavlinkGimbalDegreesToUserGimbalDegrees(const QVariant& mavlinkGimbalDegrees)
{
    // User facing gimbal degree values are from 0 (level) to 90 (straight down)
    // Mavlink gimbal degree values are from 0 (level) to -90 (straight down)
    return mavlinkGimbalDegrees.toDouble() * -1.0;
}

QVariant FactMetaData::_metersToFeet(const QVariant& meters)
{
    return QVariant(meters.toDouble() * 1.0/constants.feetToMeters);
}

QVariant FactMetaData::_feetToMeters(const QVariant& feet)
{
    return QVariant(feet.toDouble() * constants.feetToMeters);
}

QVariant FactMetaData::_squareMetersToSquareKilometers(const QVariant& squareMeters)
{
    return QVariant(squareMeters.toDouble() * 0.000001);
}

QVariant FactMetaData::_squareKilometersToSquareMeters(const QVariant& squareKilometers)
{
    return QVariant(squareKilometers.toDouble() * 1000000.0);
}

QVariant FactMetaData::_squareMetersToHectares(const QVariant& squareMeters)
{
    return QVariant(squareMeters.toDouble() * 0.0001);
}

QVariant FactMetaData::_hectaresToSquareMeters(const QVariant& hectares)
{
    return QVariant(hectares.toDouble() * 1000.0);
}

QVariant FactMetaData::_squareMetersToSquareFeet(const QVariant& squareMeters)
{
    return QVariant(squareMeters.toDouble() * 10.7639);
}

QVariant FactMetaData::_squareFeetToSquareMeters(const QVariant& squareFeet)
{
    return QVariant(squareFeet.toDouble() * 0.0929);
}

QVariant FactMetaData::_squareMetersToAcres(const QVariant& squareMeters)
{
    return QVariant(squareMeters.toDouble() * 0.000247105);
}

QVariant FactMetaData::_acresToSquareMeters(const QVariant& acres)
{
    return QVariant(acres.toDouble() * 4046.86);
}

QVariant FactMetaData::_squareMetersToSquareMiles(const QVariant& squareMeters)
{
    return QVariant(squareMeters.toDouble() * 3.86102e-7);
}

QVariant FactMetaData::_squareMilesToSquareMeters(const QVariant& squareMiles)
{
    return QVariant(squareMiles.toDouble() * 258999039.98855);
}

QVariant FactMetaData::_metersPerSecondToMilesPerHour(const QVariant& metersPerSecond)
{
    return QVariant((metersPerSecond.toDouble() * 1.0/constants.milesToMeters) * constants.secondsPerHour);
}

QVariant FactMetaData::_milesPerHourToMetersPerSecond(const QVariant& milesPerHour)
{
    return QVariant((milesPerHour.toDouble() * constants.milesToMeters) / constants.secondsPerHour);
}

QVariant FactMetaData::_metersPerSecondToKilometersPerHour(const QVariant& metersPerSecond)
{
    return QVariant((metersPerSecond.toDouble() / 1000.0) * constants.secondsPerHour);
}

QVariant FactMetaData::_kilometersPerHourToMetersPerSecond(const QVariant& kilometersPerHour)
{
    return QVariant((kilometersPerHour.toDouble() * 1000.0) / constants.secondsPerHour);
}

QVariant FactMetaData::_metersPerSecondToKnots(const QVariant& metersPerSecond)
{
    return QVariant(metersPerSecond.toDouble() * constants.secondsPerHour / (1000.0 * constants.knotsToKPH));
}

QVariant FactMetaData::_knotsToMetersPerSecond(const QVariant& knots)
{
    return QVariant(knots.toDouble() * (1000.0 * constants.knotsToKPH / constants.secondsPerHour));
}

QVariant FactMetaData::_percentToNorm(const QVariant& percent)
{
    return QVariant(percent.toDouble() / 100.0);
}

QVariant FactMetaData::_normToPercent(const QVariant& normalized)
{
    return QVariant(normalized.toDouble() * 100.0);
}

QVariant FactMetaData::_centimetersToInches(const QVariant& centimeters)
{
    return QVariant(centimeters.toDouble() * 1.0/constants.inchesToCentimeters);
}

QVariant FactMetaData::_inchesToCentimeters(const QVariant& inches)
{
    return QVariant(inches.toDouble() * constants.inchesToCentimeters);
}

QVariant FactMetaData::_celsiusToFarenheit(const QVariant& celsius)
{
    return QVariant(celsius.toDouble() * (9.0 / 5.0) + 32);
}

QVariant FactMetaData::_farenheitToCelsius(const QVariant& farenheit)
{
    return QVariant((farenheit.toDouble() - 32) * (5.0 / 9.0));
}

QVariant FactMetaData::_kilogramsToGrams(const QVariant& kg) {
    return QVariant(kg.toDouble() * 1000);
}

QVariant FactMetaData::_ouncesToGrams(const QVariant& oz) {
    return QVariant(oz.toDouble() * constants.ouncesToGrams);
}

QVariant FactMetaData::_poundsToGrams(const QVariant& lbs) {
    return QVariant(lbs.toDouble() * constants.poundsToGrams);
}

QVariant FactMetaData::_gramsToKilograms(const QVariant& g) {
    return QVariant(g.toDouble() / 1000);
}

QVariant FactMetaData::_gramsToOunces(const QVariant& g) {
    return QVariant(g.toDouble() / constants.ouncesToGrams);
}

QVariant FactMetaData::_gramsToPunds(const QVariant& g) {
    return QVariant(g.toDouble() / constants.poundsToGrams);
}

void FactMetaData::setRawUnits(const QString& rawUnits)
{
    _rawUnits = rawUnits;
    _cookedUnits = rawUnits;

    setBuiltInTranslator();
}

FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString, bool& unknownType)
{
    QStringList         knownTypeStrings;
    QList<ValueType_t>  knownTypes;

    unknownType = false;

    knownTypeStrings << QStringLiteral("Uint8")
                     << QStringLiteral("Int8")
                     << QStringLiteral("Uint16")
                     << QStringLiteral("Int16")
                     << QStringLiteral("Uint32")
                     << QStringLiteral("Int32")
                     << QStringLiteral("Uint64")
                     << QStringLiteral("Int64")
                     << QStringLiteral("Float")
                     << QStringLiteral("Double")
                     << QStringLiteral("String")
                     << QStringLiteral("Bool")
                     << QStringLiteral("ElapsedSeconds")
                     << QStringLiteral("Custom");

    knownTypes << valueTypeUint8
               << valueTypeInt8
               << valueTypeUint16
               << valueTypeInt16
               << valueTypeUint32
               << valueTypeInt32
               << valueTypeUint64
               << valueTypeInt64
               << valueTypeFloat
               << valueTypeDouble
               << valueTypeString
               << valueTypeBool
               << valueTypeElapsedTimeInSeconds
               << valueTypeCustom;

    for (int i=0; i<knownTypeStrings.count(); i++) {
        if (knownTypeStrings[i].compare(typeString, Qt::CaseInsensitive) == 0) {
            return knownTypes[i];
        }
    }

    unknownType = true;

    return valueTypeDouble;
}

size_t FactMetaData::typeToSize(ValueType_t type)
{
    switch (type) {
    case valueTypeUint8:
    case valueTypeInt8:
        return 1;

    case valueTypeUint16:
    case valueTypeInt16:
        return 2;

    case valueTypeUint32:
    case valueTypeInt32:
    case valueTypeFloat:
        return 4;

    case valueTypeUint64:
    case valueTypeInt64:
    case valueTypeDouble:
        return 8;

    case valueTypeCustom:
        return MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN;

    default:
        qWarning() << "Unsupported fact value type" << type;
        return 0;
    }
}

/// Set translators according to app settings
void FactMetaData::_setAppSettingsTranslators(void)
{
    // We can only translate between real numbers
    if (!_enumStrings.count() && (type() == valueTypeDouble || type() == valueTypeFloat)) {
        for (size_t i=0; i<sizeof(_rgAppSettingsTranslations)/sizeof(_rgAppSettingsTranslations[0]); i++) {
            const AppSettingsTranslation_s* pAppSettingsTranslation = &_rgAppSettingsTranslations[i];

            if (_rawUnits.toLower() != pAppSettingsTranslation->rawUnits.toLower()) {
                continue;
            }

            UnitsSettings* settings = qgcApp()->toolbox()->settingsManager()->unitsSettings();
            uint settingsUnits = 0;

            switch (pAppSettingsTranslation->unitType) {
            case UnitHorizontalDistance:
                settingsUnits = settings->horizontalDistanceUnits()->rawValue().toUInt();
                break;
            case UnitVerticalDistance:
                settingsUnits = settings->verticalDistanceUnits()->rawValue().toUInt();
                break;
            case UnitSpeed:
                settingsUnits = settings->speedUnits()->rawValue().toUInt();
                break;
            case UnitArea:
                settingsUnits = settings->areaUnits()->rawValue().toUInt();
                break;
            case UnitTemperature:
                settingsUnits = settings->temperatureUnits()->rawValue().toUInt();
                break;
            case UnitWeight:
                settingsUnits = settings->weightUnits()->rawValue().toUInt();
                break;
            default:
                break;
            }

            if (settingsUnits == pAppSettingsTranslation->unitOption) {
                 _cookedUnits = pAppSettingsTranslation->cookedUnits;
                setTranslators(pAppSettingsTranslation->rawTranslator, pAppSettingsTranslation->cookedTranslator);
                return;