APMSensorsComponentController.h

/****************************************************************************
 *
 * (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.
 *
 ****************************************************************************/

#pragma once

#include <QObject>

#include "UASInterface.h"
#include "FactPanelController.h"
#include "QGCLoggingCategory.h"
#include "APMSensorsComponent.h"
#include "APMCompassCal.h"

Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerLog)
Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerVerboseLog)

/// Sensors Component MVC Controller for SensorsComponent.qml.
class APMSensorsComponentController : public FactPanelController
{
    Q_OBJECT
    
public:
    APMSensorsComponentController(void);
    ~APMSensorsComponentController();

    Q_PROPERTY(QQuickItem* statusLog                        MEMBER _statusLog)
    Q_PROPERTY(QQuickItem* progressBar                      MEMBER _progressBar)
    
    Q_PROPERTY(QQuickItem* nextButton                       MEMBER _nextButton)
    Q_PROPERTY(QQuickItem* cancelButton                     MEMBER _cancelButton)
    Q_PROPERTY(QQuickItem* orientationCalAreaHelpText       MEMBER _orientationCalAreaHelpText)

    Q_PROPERTY(bool compassSetupNeeded                      READ compassSetupNeeded                         NOTIFY setupNeededChanged)
    Q_PROPERTY(bool accelSetupNeeded                        READ accelSetupNeeded                           NOTIFY setupNeededChanged)

    Q_PROPERTY(bool showOrientationCalArea                  MEMBER _showOrientationCalArea                  NOTIFY showOrientationCalAreaChanged)
    
    Q_PROPERTY(bool orientationCalDownSideDone              MEMBER _orientationCalDownSideDone              NOTIFY orientationCalSidesDoneChanged)
    Q_PROPERTY(bool orientationCalUpsideDownSideDone        MEMBER _orientationCalUpsideDownSideDone        NOTIFY orientationCalSidesDoneChanged)
    Q_PROPERTY(bool orientationCalLeftSideDone              MEMBER _orientationCalLeftSideDone              NOTIFY orientationCalSidesDoneChanged)
    Q_PROPERTY(bool orientationCalRightSideDone             MEMBER _orientationCalRightSideDone             NOTIFY orientationCalSidesDoneChanged)
    Q_PROPERTY(bool orientationCalNoseDownSideDone          MEMBER _orientationCalNoseDownSideDone          NOTIFY orientationCalSidesDoneChanged)
    Q_PROPERTY(bool orientationCalTailDownSideDone          MEMBER _orientationCalTailDownSideDone          NOTIFY orientationCalSidesDoneChanged)
    
    Q_PROPERTY(bool orientationCalDownSideVisible           MEMBER _orientationCalDownSideVisible           NOTIFY orientationCalSidesVisibleChanged)
    Q_PROPERTY(bool orientationCalUpsideDownSideVisible     MEMBER _orientationCalUpsideDownSideVisible     NOTIFY orientationCalSidesVisibleChanged)
    Q_PROPERTY(bool orientationCalLeftSideVisible           MEMBER _orientationCalLeftSideVisible           NOTIFY orientationCalSidesVisibleChanged)
    Q_PROPERTY(bool orientationCalRightSideVisible          MEMBER _orientationCalRightSideVisible          NOTIFY orientationCalSidesVisibleChanged)
    Q_PROPERTY(bool orientationCalNoseDownSideVisible       MEMBER _orientationCalNoseDownSideVisible       NOTIFY orientationCalSidesVisibleChanged)
    Q_PROPERTY(bool orientationCalTailDownSideVisible       MEMBER _orientationCalTailDownSideVisible       NOTIFY orientationCalSidesVisibleChanged)
    
    Q_PROPERTY(bool orientationCalDownSideInProgress        MEMBER _orientationCalDownSideInProgress        NOTIFY orientationCalSidesInProgressChanged)
    Q_PROPERTY(bool orientationCalUpsideDownSideInProgress  MEMBER _orientationCalUpsideDownSideInProgress  NOTIFY orientationCalSidesInProgressChanged)
    Q_PROPERTY(bool orientationCalLeftSideInProgress        MEMBER _orientationCalLeftSideInProgress        NOTIFY orientationCalSidesInProgressChanged)
    Q_PROPERTY(bool orientationCalRightSideInProgress       MEMBER _orientationCalRightSideInProgress       NOTIFY orientationCalSidesInProgressChanged)
    Q_PROPERTY(bool orientationCalNoseDownSideInProgress    MEMBER _orientationCalNoseDownSideInProgress    NOTIFY orientationCalSidesInProgressChanged)
    Q_PROPERTY(bool orientationCalTailDownSideInProgress    MEMBER _orientationCalTailDownSideInProgress    NOTIFY orientationCalSidesInProgressChanged)
    
    Q_PROPERTY(bool orientationCalDownSideRotate            MEMBER _orientationCalDownSideRotate            NOTIFY orientationCalSidesRotateChanged)
    Q_PROPERTY(bool orientationCalUpsideDownSideRotate      MEMBER _orientationCalUpsideDownSideRotate      NOTIFY orientationCalSidesRotateChanged)
    Q_PROPERTY(bool orientationCalLeftSideRotate            MEMBER _orientationCalLeftSideRotate            NOTIFY orientationCalSidesRotateChanged)
    Q_PROPERTY(bool orientationCalRightSideRotate           MEMBER _orientationCalRightSideRotate           NOTIFY orientationCalSidesRotateChanged)
    Q_PROPERTY(bool orientationCalNoseDownSideRotate        MEMBER _orientationCalNoseDownSideRotate        NOTIFY orientationCalSidesRotateChanged)
    Q_PROPERTY(bool orientationCalTailDownSideRotate        MEMBER _orientationCalTailDownSideRotate        NOTIFY orientationCalSidesRotateChanged)
    
    Q_PROPERTY(bool waitingForCancel                        MEMBER _waitingForCancel                        NOTIFY waitingForCancelChanged)

    Q_PROPERTY(bool compass1CalSucceeded                    READ compass1CalSucceeded                       NOTIFY compass1CalSucceededChanged)
    Q_PROPERTY(bool compass2CalSucceeded                    READ compass2CalSucceeded                       NOTIFY compass2CalSucceededChanged)
    Q_PROPERTY(bool compass3CalSucceeded                    READ compass3CalSucceeded                       NOTIFY compass3CalSucceededChanged)

    Q_PROPERTY(double compass1CalFitness                    READ compass1CalFitness                         NOTIFY compass1CalFitnessChanged)
    Q_PROPERTY(double compass2CalFitness                    READ compass2CalFitness                         NOTIFY compass2CalFitnessChanged)
    Q_PROPERTY(double compass3CalFitness                    READ compass3CalFitness                         NOTIFY compass3CalFitnessChanged)

    Q_INVOKABLE void calibrateCompass           (void);
    Q_INVOKABLE void calibrateAccel             (void);
    Q_INVOKABLE void calibrateGyro              (void);
    Q_INVOKABLE void calibrateMotorInterference (void);
    Q_INVOKABLE void levelHorizon               (void);
    Q_INVOKABLE void calibratePressure          (void);
    Q_INVOKABLE void cancelCalibration          (void);
    Q_INVOKABLE void nextClicked                (void);
    Q_INVOKABLE bool usingUDPLink               (void);

    bool compassSetupNeeded (void) const;
    bool accelSetupNeeded   (void) const;

    typedef enum {
        CalTypeAccel,
        CalTypeGyro,
        CalTypeOnboardCompass,
        CalTypeOffboardCompass,
        CalTypeLevelHorizon,
        CalTypeCompassMot,
        CalTypePressure,
        CalTypeNone
    } CalType_t;
    Q_ENUM(CalType_t)

    bool compass1CalSucceeded(void) const { return _rgCompassCalSucceeded[0]; }
    bool compass2CalSucceeded(void) const { return _rgCompassCalSucceeded[1]; }
    bool compass3CalSucceeded(void) const { return _rgCompassCalSucceeded[2]; }

    double compass1CalFitness(void) const { return _rgCompassCalFitness[0]; }
    double compass2CalFitness(void) const { return _rgCompassCalFitness[1]; }
    double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; }

signals:
    void showGyroCalAreaChanged                 (void);
    void showOrientationCalAreaChanged          (void);
    void orientationCalSidesDoneChanged         (void);
    void orientationCalSidesVisibleChanged      (void);
    void orientationCalSidesInProgressChanged   (void);
    void orientationCalSidesRotateChanged       (void);
    void resetStatusTextArea                    (void);
    void waitingForCancelChanged                (void);
    void setupNeededChanged                     (void);
    void calibrationComplete                    (CalType_t calType);
    void compass1CalSucceededChanged            (bool compass1CalSucceeded);
    void compass2CalSucceededChanged            (bool compass2CalSucceeded);
    void compass3CalSucceededChanged            (bool compass3CalSucceeded);
    void compass1CalFitnessChanged              (double compass1CalFitness);
    void compass2CalFitnessChanged              (double compass2CalFitness);
    void compass3CalFitnessChanged              (double compass3CalFitness);
    void setAllCalButtonsEnabled                (bool enabled);

private slots:
    void _handleUASTextMessage  (int uasId, int compId, int severity, QString text);
    void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
    void _mavCommandResult      (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);

private:
    void _startLogCalibration               (void);
    void _startVisualCalibration            (void);
    void _appendStatusLog                   (const QString& text);
    void _refreshParams                     (void);
    void _hideAllCalAreas                   (void);
    void _resetInternalState                (void);
    void _handleCommandAck                  (mavlink_message_t& message);
    void _handleMagCalProgress              (mavlink_message_t& message);
    void _handleMagCalReport                (mavlink_message_t& message);
    void _restorePreviousCompassCalFitness  (void);

    enum StopCalibrationCode {
        StopCalibrationSuccess,
        StopCalibrationSuccessShowLog,
        StopCalibrationFailed,
        StopCalibrationCancelled
    };
    void _stopCalibration(StopCalibrationCode code);
    
    void _updateAndEmitShowOrientationCalArea(bool show);

    APMCompassCal           _compassCal;
    APMSensorsComponent*    _sensorsComponent;

    QQuickItem* _statusLog;
    QQuickItem* _progressBar;
    QQuickItem* _nextButton;
    QQuickItem* _cancelButton;
    QQuickItem* _orientationCalAreaHelpText;
    
    bool _showOrientationCalArea;
    
    CalType_t _calTypeInProgress;

    uint8_t _rgCompassCalProgress[3];
    bool    _rgCompassCalComplete[3];
    bool    _rgCompassCalSucceeded[3];
    float   _rgCompassCalFitness[3];

    bool _orientationCalDownSideDone;
    bool _orientationCalUpsideDownSideDone;
    bool _orientationCalLeftSideDone;
    bool _orientationCalRightSideDone;
    bool _orientationCalNoseDownSideDone;
    bool _orientationCalTailDownSideDone;
    
    bool _orientationCalDownSideVisible;
    bool _orientationCalUpsideDownSideVisible;
    bool _orientationCalLeftSideVisible;
    bool _orientationCalRightSideVisible;
    bool _orientationCalNoseDownSideVisible;
    bool _orientationCalTailDownSideVisible;
    
    bool _orientationCalDownSideInProgress;
    bool _orientationCalUpsideDownSideInProgress;
    bool _orientationCalLeftSideInProgress;
    bool _orientationCalRightSideInProgress;
    bool _orientationCalNoseDownSideInProgress;
    bool _orientationCalTailDownSideInProgress;
    
    bool _orientationCalDownSideRotate;
    bool _orientationCalUpsideDownSideRotate;
    bool _orientationCalLeftSideRotate;
    bool _orientationCalRightSideRotate;
    bool _orientationCalNoseDownSideRotate;
    bool _orientationCalTailDownSideRotate;
    
    bool _waitingForCancel;

    bool _restoreCompassCalFitness;
    float _previousCompassCalFitness;
    static const char* _compassCalFitnessParam;
    
    static const int _supportedFirmwareCalVersion = 2;
};