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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "PowerComponentController.h"
#include "QGCMAVLink.h"
#include "UAS.h"
#include <QVariant>
#include <QQmlProperty>
PowerComponentController::PowerComponentController(void)
{
}
PowerComponentController::~PowerComponentController()
{
_stopCalibration();
}
void PowerComponentController::calibrateEsc(void)
{
_warningMessages.clear();
connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
_uas->startCalibration(UASInterface::StartCalibrationEsc);
}
void PowerComponentController::busConfigureActuators(void)
{
_warningMessages.clear();
connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
_uas->startBusConfig(UASInterface::StartBusConfigActuators);
}
void PowerComponentController::stopBusConfigureActuators(void)
{
disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
_uas->startBusConfig(UASInterface::EndBusConfigActuators);
}
void PowerComponentController::_stopCalibration(void)
{
disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
}
void PowerComponentController::_stopBusConfig(void)
{
_stopCalibration();
}
void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
Q_UNUSED(severity);
UASInterface* uas = _autopilot->vehicle()->uas();
Q_ASSERT(uas);
if (uasId != uas->getUASID()) {
return;
}
// All calibration messages start with [cal]
QString calPrefix("[cal] ");
if (!text.startsWith(calPrefix)) {
return;
}
text = text.right(text.length() - calPrefix.length());
// Make sure we can understand this firmware rev
QString calStartPrefix("calibration started: ");
if (text.startsWith(calStartPrefix)) {
text = text.right(text.length() - calStartPrefix.length());
// Split version number and cal type
QStringList parts = text.split(" ");
if (parts.count() != 2) {
emit incorrectFirmwareRevReporting();
return;
}
#if 0
// FIXME: Cal version check is not working. Needs to be able to cancel, calibration
int firmwareRev = parts[0].toInt();
if (firmwareRev < _neededFirmwareRev) {
emit oldFirmware();
return;
}
if (firmwareRev > _neededFirmwareRev) {
emit newerFirmware();
return;
}
#endif
}
if (text == "Connect battery now") {
emit connectBattery();
return;
}
if (text == "Battery connected") {
emit batteryConnected();
return;
}
QString failedPrefix("calibration failed: ");
if (text.startsWith(failedPrefix)) {
QString failureText = text.right(text.length() - failedPrefix.length());
if (failureText.startsWith("Disconnect battery")) {
emit disconnectBattery();
return;
}
_stopCalibration();
emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
return;
}
QString calCompletePrefix("calibration done:");
if (text.startsWith(calCompletePrefix)) {
_stopCalibration();
emit calibrationSuccess(_warningMessages);
return;
}
QString warningPrefix("config warning: ");
if (text.startsWith(warningPrefix)) {
_warningMessages << text.right(text.length() - warningPrefix.length());
}
QString busFailedPrefix("bus conf fail:");
if (text.startsWith(busFailedPrefix)) {
_stopBusConfig();
emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
return;
}
QString busCompletePrefix("bus conf done:");
if (text.startsWith(calCompletePrefix)) {
_stopBusConfig();
emit calibrationSuccess(_warningMessages);
return;
}
QString busWarningPrefix("bus conf warn: ");
if (text.startsWith(busWarningPrefix)) {
_warningMessages << text.right(text.length() - warningPrefix.length());
}
}