/****************************************************************************
 *
 *   (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 "ArduCopterFirmwarePlugin.h"
#include "QGCApplication.h"
#include "MissionManager.h"
#include "ParameterManager.h"

bool ArduCopterFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduCopterFirmwarePlugin::_remapParamName;

APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
    APMCustomMode(mode, settable)
{
    setEnumToStringMapping({
        {STABILIZE,      "Stabilize"},
        {ACRO,           "Acro"},
        {ALT_HOLD,       "Altitude Hold"},
        {AUTO,           "Auto"},
        {GUIDED,         "Guided"},
        {LOITER,         "Loiter"},
        {RTL,            "RTL"},
        {CIRCLE,         "Circle"},
        {LAND,           "Land"},
        {DRIFT,          "Drift"},
        {SPORT,          "Sport"},
        {FLIP,           "Flip"},
        {AUTOTUNE,       "Autotune"},
        {POS_HOLD,       "Position Hold"},
        {BRAKE,          "Brake"},
        {THROW,          "Throw"},
        {AVOID_ADSB,     "Avoid ADSB"},
        {GUIDED_NOGPS,   "Guided No GPS"},
        {SAFE_RTL,       "Smart RTL"},
    });
}

ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
{
    setSupportedModes({
        APMCopterMode(APMCopterMode::STABILIZE ,true),
        APMCopterMode(APMCopterMode::ACRO      ,true),
        APMCopterMode(APMCopterMode::ALT_HOLD  ,true),
        APMCopterMode(APMCopterMode::AUTO      ,true),
        APMCopterMode(APMCopterMode::GUIDED    ,true),
        APMCopterMode(APMCopterMode::LOITER    ,true),
        APMCopterMode(APMCopterMode::RTL       ,true),
        APMCopterMode(APMCopterMode::CIRCLE    ,true),
        APMCopterMode(APMCopterMode::LAND      ,true),
        APMCopterMode(APMCopterMode::DRIFT     ,true),
        APMCopterMode(APMCopterMode::SPORT     ,true),
        APMCopterMode(APMCopterMode::FLIP      ,true),
        APMCopterMode(APMCopterMode::AUTOTUNE  ,true),
        APMCopterMode(APMCopterMode::POS_HOLD  ,true),
        APMCopterMode(APMCopterMode::BRAKE     ,true),
        APMCopterMode(APMCopterMode::THROW     ,true),
        APMCopterMode(APMCopterMode::AVOID_ADSB,true),
        APMCopterMode(APMCopterMode::GUIDED_NOGPS,true),
        APMCopterMode(APMCopterMode::SAFE_RTL,true),
    });

    if (!_remapParamNameIntialized) {
        FirmwarePlugin::remapParamNameMap_t& remapV3_6 = _remapParamName[3][6];

        remapV3_6["BATT_AMP_PERVLT"] =  QStringLiteral("BATT_AMP_PERVOL");
        remapV3_6["BATT2_AMP_PERVLT"] = QStringLiteral("BATT2_AMP_PERVOL");
        remapV3_6["BATT_LOW_MAH"] =     QStringLiteral("FS_BATT_MAH");
        remapV3_6["BATT_LOW_VOLT"] =    QStringLiteral("FS_BATT_VOLTAGE");
        remapV3_6["BATT_FS_LOW_ACT"] =  QStringLiteral("FS_BATT_ENABLE");
        remapV3_6["PSC_ACCZ_P"] =       QStringLiteral("ACCEL_Z_P");
        remapV3_6["PSC_ACCZ_I"] =       QStringLiteral("ACCEL_Z_I");

        FirmwarePlugin::remapParamNameMap_t& remapV3_7 = _remapParamName[3][7];

        remapV3_7["BATT_ARM_VOLT"] =    QStringLiteral("ARMING_VOLT_MIN");
        remapV3_7["BATT2_ARM_VOLT"] =   QStringLiteral("ARMING_VOLT2_MIN");
        remapV3_7["RC7_OPTION"] =       QStringLiteral("CH7_OPT");
        remapV3_7["RC8_OPTION"] =       QStringLiteral("CH8_OPT");
        remapV3_7["RC9_OPTION"] =       QStringLiteral("CH9_OPT");
        remapV3_7["RC10_OPTION"] =      QStringLiteral("CH10_OPT");
        remapV3_7["RC11_OPTION"] =      QStringLiteral("CH11_OPT");
        remapV3_7["RC12_OPTION"] =      QStringLiteral("CH12_OPT");

        _remapParamNameIntialized = true;
    }
}

int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
    // Remapping supports up to 3.7
    return majorVersionNumber == 3 ? 7 : Vehicle::versionNotSetValue;
}

void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
{
    _setFlightModeAndValidate(vehicle, "Land");
}

bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
{
    Q_UNUSED(vehicle);
    return _coaxialMotors;
}

bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
{
    return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
}

bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
    if (vehicle->isOfflineEditingVehicle()) {
        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
    } else {
        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
            return yawMode && yawMode->rawValue().toInt() != 0;
        }
    }
    return true;
}