/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

#include "PX4AutoPilotPlugin.h"
#include "AirframeComponent.h"
#include "RadioComponent.h"
#include "SensorsComponent.h"
#include "FlightModesComponent.h"
#include "AutoPilotPluginManager.h"
#include "UASManager.h"
#include "QGCUASParamManagerInterface.h"
#include "PX4ParameterFacts.h"

/// @file
///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
///     @author Don Gagne <don@thegagnes.com>


enum PX4_CUSTOM_MAIN_MODE {
    PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
    PX4_CUSTOM_MAIN_MODE_ALTCTL,
    PX4_CUSTOM_MAIN_MODE_POSCTL,
    PX4_CUSTOM_MAIN_MODE_AUTO,
    PX4_CUSTOM_MAIN_MODE_ACRO,
    PX4_CUSTOM_MAIN_MODE_OFFBOARD,
};

enum PX4_CUSTOM_SUB_MODE_AUTO {
    PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
    PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
    PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
    PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
    PX4_CUSTOM_SUB_MODE_AUTO_RTL,
    PX4_CUSTOM_SUB_MODE_AUTO_LAND,
    PX4_CUSTOM_SUB_MODE_AUTO_RTGS
};

union px4_custom_mode {
    struct {
        uint16_t reserved;
        uint8_t main_mode;
        uint8_t sub_mode;
    };
    uint32_t data;
    float data_float;
};

PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) :
    AutoPilotPlugin(parent)
{
    UASManagerInterface* uasMgr = UASManager::instance();
    Q_ASSERT(uasMgr);
    
    // We need to track uas coming and going so that we can create PX4ParameterFacts instances for each uas
    connect(uasMgr, &UASManagerInterface::UASCreated, this, &PX4AutoPilotPlugin::_uasCreated);
    connect(uasMgr, &UASManagerInterface::UASDeleted, this, &PX4AutoPilotPlugin::_uasDeleted);
    
    PX4ParameterFacts::loadParameterFactMetaData();
}

PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
{
    PX4ParameterFacts::deleteParameterFactMetaData();
    
    foreach(UASInterface* uas, _mapUas2ParameterFacts.keys()) {
        delete _mapUas2ParameterFacts[uas];
    }
    _mapUas2ParameterFacts.clear();
}

QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
{
    QList<VehicleComponent*> components;
    
    VehicleComponent* component;
    
    component = new AirframeComponent(uas);
    Q_CHECK_PTR(component);
    components.append(component);
    
    component = new RadioComponent(uas);
    Q_CHECK_PTR(component);
    components.append(component);
    
    component = new FlightModesComponent(uas);
    Q_CHECK_PTR(component);
    components.append(component);
    
    component = new SensorsComponent(uas);
    Q_CHECK_PTR(component);
    components.append(component);
    
    return components;
}

QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
{
    QList<FullMode_t>       modeList;
    FullMode_t              fullMode;
    union px4_custom_mode   px4_cm;
    
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
    fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
    fullMode.customMode = px4_cm.data;
    modeList << fullMode;
    
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
    fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
    fullMode.customMode = px4_cm.data;
    modeList << fullMode;
    
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
    fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
    fullMode.customMode = px4_cm.data;
    modeList << fullMode;
    
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
    fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
    fullMode.customMode = px4_cm.data;
    modeList << fullMode;
    
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
    fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
    fullMode.customMode = px4_cm.data;
    modeList << fullMode;
    
    return modeList;
}

QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
{
    QString mode;
    
    Q_ASSERT(baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED);
    
    if (baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
        union px4_custom_mode px4_mode;
        px4_mode.data = customMode;
        
        if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
            mode = "|MANUAL";
        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
            mode = "|ALTCTL";
        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
            mode = "|POSCTL";
        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
            mode = "|AUTO";
            if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_READY) {
                mode += "|READY";
            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF) {
                mode += "|TAKEOFF";
            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LOITER) {
                mode += "|LOITER";
            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_MISSION) {
                mode += "|MISSION";
            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_RTL) {
                mode += "|RTL";
            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LAND) {
                mode += "|LAND";
            }
        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
            mode = "|OFFBOARD";
        }
    } else {
        mode = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
    }
    
    return mode;
}

void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
{
    Q_ASSERT(context);
    Q_ASSERT(uas);
    
    QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
    Q_UNUSED(paramMgr);
    Q_ASSERT(paramMgr);
    Q_ASSERT(paramMgr->parametersReady());
    
    PX4ParameterFacts* facts = _parameterFactsForUas(uas);
    Q_ASSERT(facts);
    
    context->setContextProperty("parameterFacts", facts);
}

/// @brief When a new uas is create we add a new set of parameter facts for it
void PX4AutoPilotPlugin::_uasCreated(UASInterface* uas)
{
    Q_ASSERT(uas);
    Q_ASSERT(!_mapUas2ParameterFacts.contains(uas));
    
    // Each uas has it's own set of parameter facts
    PX4ParameterFacts* facts = new PX4ParameterFacts(uas, this);
    Q_CHECK_PTR(facts);
    _mapUas2ParameterFacts[uas] = facts;
}

/// @brief When the uas is deleted we remove the parameter facts for it from the system
void PX4AutoPilotPlugin::_uasDeleted(UASInterface* uas)
{
    delete _parameterFactsForUas(uas);
    _mapUas2ParameterFacts.remove(uas);
}

PX4ParameterFacts* PX4AutoPilotPlugin::_parameterFactsForUas(UASInterface* uas) const
{
    Q_ASSERT(uas);
    Q_ASSERT(_mapUas2ParameterFacts.contains(uas));
    
    return _mapUas2ParameterFacts[uas];
}