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


import QtQuick                  2.3
import QtQuick.Controls         1.2
import QtQuick.Controls.Styles  1.4
import QtQuick.Layouts          1.2
import QtGraphicalEffects       1.0

import QGroundControl.FactSystem    1.0
import QGroundControl.FactControls  1.0
import QGroundControl.Controls      1.0
import QGroundControl.ScreenTools   1.0


SetupPage {
    id:             safetyPage
    pageComponent:  pageComponent

    Component {
        id: pageComponent

        Item {
            width:  Math.max(availableWidth, mainCol.width)
            height: mainCol.height

            FactPanelController {
                id:         controller
                factPanel:  safetyPage.viewPanel
            }

            property real _margins:         ScreenTools.defaultFontPixelHeight
            property real _middleRowWidth:  ScreenTools.defaultFontPixelWidth * 20
            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 14

            property Fact _fenceAction:     controller.getParameterFact(-1, "GF_ACTION")
            property Fact _fenceRadius:     controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
            property Fact _fenceAlt:        controller.getParameterFact(-1, "GF_MAX_VER_DIST")
            property Fact _rtlLandDelay:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
            property Fact _lowBattAction:   controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
            property Fact _rcLossAction:    controller.getParameterFact(-1, "NAV_RCL_ACT")
            property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
            property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
            property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)

            property bool _showIcons: !ScreenTools.isTinyScreen

            Column {
                id:                                     mainCol
                spacing:                                _margins
                anchors.horizontalCenter:               parent.horizontalCenter

                /*
                   **** Low Battery ****
                */
                Item { width: 1; height: _margins * 0.5; }
                QGCLabel {
                    text:                               qsTr("Low Battery Failsafe Trigger")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    color:                              qgcPal.windowShade
                    width:                              rtlSettings.width
                    height:                             lowBattRow.height + _margins * 2
                    Row {
                        id:                             lowBattRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item { width: _margins * 0.5; height: 1; }
                        Image {
                            height:                     ScreenTools.defaultFontPixelWidth * 6
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            anchors.verticalCenter:     parent.verticalCenter
                            Row {
                                QGCLabel {
                                    anchors.baseline:   lowBattCombo.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Failsafe Action:")
                                }
                                FactComboBox {
                                    id:                 lowBattCombo
                                    width:              _editFieldWidth
                                    fact:               _lowBattAction
                                    indexModel:         false
                                }
                            }
                            Row {
                                QGCLabel {
                                    anchors.baseline:   batLowLevelField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Battery Warn Level:")
                                }
                                FactTextField {
                                    id:                 batLowLevelField
                                    fact:               controller.getParameterFact(-1, "BAT_LOW_THR")
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                            Row {
                                QGCLabel {
                                    anchors.baseline:   batCritLevelField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Battery Failsafe Level:")
                                }
                                FactTextField {
                                    id:                 batCritLevelField
                                    fact:               controller.getParameterFact(-1, "BAT_CRIT_THR")
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                /*
                   **** RC Loss ****
                */
                QGCLabel {
                    text:                               qsTr("RC Loss Failsafe Trigger")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    color:                              qgcPal.windowShade
                    width:                              rtlSettings.width
                    height:                             rcLossRow.height + _margins * 2
                    Row {
                        id:                             rcLossRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item { width: _margins * 0.5; height: 1; }
                        Image {
                            height:                     ScreenTools.defaultFontPixelWidth * 6
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            anchors.verticalCenter:     parent.verticalCenter
                            Row {
                                QGCLabel {
                                    anchors.baseline:   rcLossCombo.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Failsafe Action:")
                                }
                                FactComboBox {
                                    id:                 rcLossCombo
                                    width:              _editFieldWidth
                                    fact:               _rcLossAction
                                    indexModel:         false
                                }
                            }
                            Row {
                                QGCLabel {
                                    anchors.baseline:   rcLossField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("RC Loss Timeout:")
                                }
                                FactTextField {
                                    id:                 rcLossField
                                    fact:               controller.getParameterFact(-1, "COM_RC_LOSS_T")
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                /*
                   **** Data Link Loss ****
                */
                QGCLabel {
                    text:                               qsTr("Data Link Loss Failsafe Trigger")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    color:                              qgcPal.windowShade
                    width:                              rtlSettings.width
                    height:                             dlLossRow.height + _margins * 2
                    Row {
                        id:                             dlLossRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item { width: _margins * 0.5; height: 1; }
                        Image {
                            height:                     ScreenTools.defaultFontPixelWidth * 6
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            anchors.verticalCenter:     parent.verticalCenter
                            Row {
                                QGCLabel {
                                    anchors.baseline:   dlLossCombo.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Failsafe Action:")
                                }
                                FactComboBox {
                                    id:                 dlLossCombo
                                    width:              _editFieldWidth
                                    fact:               _dlLossAction
                                    indexModel:         false
                                }
                            }
                            Row {
                                QGCLabel {
                                    anchors.baseline:   dlLossField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Data Link Loss Timeout:")
                                }
                                FactTextField {
                                    id:                 dlLossField
                                    fact:               controller.getParameterFact(-1, "COM_DL_LOSS_T")
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                /*
                   **** Geofence ****
                */
                QGCLabel {
                    text:                               qsTr("Geofence Failsafe Trigger")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    color:                              qgcPal.windowShade
                    width:                              rtlSettings.width
                    height:                             geofenceRow.height + _margins * 2
                    Row {
                        id:                             geofenceRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item { width: _margins * 0.5; height: 1; }
                        Image {
                            height:                     ScreenTools.defaultFontPixelWidth * 8
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            anchors.verticalCenter:     parent.verticalCenter
                            Row {
                                QGCLabel {
                                    id:                 fenceActionLabel
                                    anchors.baseline:   fenceActionCombo.baseline
                                    text:               qsTr("Action on breach:")
                                    width:              _middleRowWidth
                                }
                                FactComboBox {
                                    id:                 fenceActionCombo
                                    width:              _editFieldWidth
                                    fact:               _fenceAction
                                    indexModel:         false
                                }
                            }
                            Row {
                                QGCCheckBox {
                                    id:                 fenceRadiusCheckBox
                                    anchors.baseline:   fenceRadiusField.baseline
                                    text:               qsTr("Max radius:")
                                    checked:            _fenceRadius.value > 0
                                    onClicked:          _fenceRadius.value = checked ? 100 : 0
                                    width:              _middleRowWidth
                                }
                                FactTextField {
                                    id:                 fenceRadiusField
                                    showUnits:          true
                                    fact:               _fenceRadius
                                    enabled:            fenceRadiusCheckBox.checked
                                    width:              _editFieldWidth
                                }
                            }
                            Row {
                                QGCCheckBox {
                                    id:                 fenceAltMaxCheckBox
                                    anchors.baseline:   fenceAltMaxField.baseline
                                    text:               qsTr("Max altitude:")
                                    checked:            _fenceAlt ? _fenceAlt.value > 0 : false
                                    onClicked:          _fenceAlt.value = checked ? 100 : 0
                                    width:              _middleRowWidth
                                }
                                FactTextField {
                                    id:                 fenceAltMaxField
                                    showUnits:          true
                                    fact:               _fenceAlt
                                    enabled:            fenceAltMaxCheckBox.checked
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                /*
                   **** Return Home Settings ****
                */
                QGCLabel {
                    id:                                 rtlLabel
                    text:                               qsTr("Return Home Settings")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    id:                                 rtlSettings
                    color:                              qgcPal.windowShade
                    width:                              rtlRow.width  + _margins * 2
                    height:                             rtlRow.height + _margins * 2
                    Row {
                        id:                             rtlRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item { width: _margins * 0.5; height: 1; }
                        QGCColoredImage {
                            id:                         icon
                            color:                      qgcPal.text
                            height:                     ScreenTools.defaultFontPixelWidth * 10
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            Row {
                                QGCLabel {
                                    id:                 climbLabel
                                    anchors.baseline:   climbField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Climb to altitude of:")
                                }
                                FactTextField {
                                    id:                 climbField
                                    fact:               controller.getParameterFact(-1, "RTL_RETURN_ALT")
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                            Item { width: 1; height: _margins * 0.5; }
                            QGCLabel {
                                id:                     returnHomeLabel
                                text:                   "Return home, then:"
                            }
                            Row {
                                Item { height: 1; width: _margins; }
                                Column {
                                    spacing:            _margins * 0.5
                                    ExclusiveGroup { id: homeLoiterGroup }
                                    QGCRadioButton {
                                        id:             homeLandRadio
                                        checked:        _rtlLandDelay ? _rtlLandDelay.value === 0 : false
                                        exclusiveGroup: homeLoiterGroup
                                        text:           "Land immediately"
                                        onClicked:      _rtlLandDelay.value = 0
                                    }
                                    QGCRadioButton {
                                        id:             homeLoiterNoLandRadio
                                        checked:        _rtlLandDelay ? _rtlLandDelay.value < 0 : false
                                        exclusiveGroup: homeLoiterGroup
                                        text:           "Loiter and do not land"
                                        onClicked:      _rtlLandDelay.value = -1
                                    }
                                    QGCRadioButton {
                                        id:             homeLoiterLandRadio
                                        checked:        _rtlLandDelay ? _rtlLandDelay.value > 0 : false
                                        exclusiveGroup: homeLoiterGroup
                                        text:           qsTr("Loiter and land after specified time")
                                        onClicked:      _rtlLandDelay.value = 60
                                    }
                                }
                            }
                            Item { width: 1; height: _margins * 0.5; }
                            Row {
                                QGCLabel {
                                    text:               qsTr("Loiter Time")
                                    width:              _middleRowWidth
                                    anchors.baseline:   landDelayField.baseline
                                    color:              qgcPal.text
                                    enabled:            homeLoiterLandRadio.checked === true
                                }
                                FactTextField {
                                    id:                 landDelayField
                                    fact:               controller.getParameterFact(-1, "RTL_LAND_DELAY")
                                    showUnits:          true
                                    enabled:            homeLoiterLandRadio.checked === true
                                    width:              _editFieldWidth
                                }
                            }
                            Row {
                                QGCLabel {
                                    text:               qsTr("Loiter Altitude")
                                    width:              _middleRowWidth
                                    anchors.baseline:   descendField.baseline
                                    color:              qgcPal.text
                                    enabled:            homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
                                }
                                FactTextField {
                                    id:                 descendField
                                    fact:               controller.getParameterFact(-1, "RTL_DESCEND_ALT")
                                    enabled:            homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                /*
                   **** Land Mode Settings ****
                */
                QGCLabel {
                    text:                               qsTr("Land Mode Settings")
                    font.family:                        ScreenTools.demiboldFontFamily
                }
                Rectangle {
                    color:                              qgcPal.windowShade
                    width:                              rtlSettings.width
                    height:                             landModeRow.height + _margins * 2
                    Row {
                        id:                             landModeRow
                        spacing:                        _margins
                        anchors.verticalCenter:         parent.verticalCenter
                        Item {
                            width:                      _margins * 0.5
                            height:                     1
                        }
                        QGCColoredImage {
                            color:                      qgcPal.text
                            height:                     ScreenTools.defaultFontPixelWidth * 13
                            width:                      ScreenTools.defaultFontPixelWidth * 20
                            sourceSize.width:           width
                            mipmap:                     true
                            fillMode:                   Image.PreserveAspectFit
                            source:                     controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
                            anchors.verticalCenter:     parent.verticalCenter
                            visible:                    _showIcons
                        }
                        Item {
                            width:      _margins * 0.5
                            height:     1
                            visible:    _showIcons
                        }
                        Column {
                            spacing:                    _margins * 0.5
                            anchors.verticalCenter:     parent.verticalCenter
                            Row {
                                visible:                controller.vehicle ? (!controller.vehicle.fixedWing && (_landSpeedMC !== -1)) : false
                                QGCLabel {
                                    anchors.baseline:   landVelField.baseline
                                    width:              _middleRowWidth
                                    text:               qsTr("Landing Velocity:")
                                }
                                FactTextField {
                                    id:                 landVelField
                                    fact:               _landSpeedMC
                                    showUnits:          true
                                    width:              _editFieldWidth
                                }
                            }
                            Row {
                                QGCCheckBox {
                                    id:                 disarmDelayCheckBox
                                    anchors.baseline:   disarmField.baseline
                                    text:               qsTr("Disarm After:")
                                    checked:            _disarmLandDelay.value > 0
                                    onClicked:          _disarmLandDelay.value = checked ? 2 : 0
                                    width:              _middleRowWidth
                                }
                                FactTextField {
                                    id:                 disarmField
                                    showUnits:          true
                                    fact:               _disarmLandDelay
                                    enabled:            disarmDelayCheckBox.checked
                                    width:              _editFieldWidth
                                }
                            }
                        }
                    }
                }
                Item { width: 1; height: _margins * 0.5; }
            } // Column
        } // Item
    } // Component
} // SetupPage