/*=====================================================================
 
 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/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "AirframeComponent.h"
#include "QGCPX4AirframeConfig.h"

/// @brief Parameters which signal a change in setupComplete state
static const char* triggerParams[] = { "SYS_AUTOSTART", NULL };

struct mavType {
    int         type;
    const char* description;
};

/// @brief Used to translate from MAV_TYPE_* id to user string
static const struct mavType mavTypeInfo[] = {
    { MAV_TYPE_GENERIC,             "Generic" },
    { MAV_TYPE_FIXED_WING,          "Fixed Wing" },
    { MAV_TYPE_QUADROTOR,           "Quadrotor" },
    { MAV_TYPE_COAXIAL,             "Coaxial" },
    { MAV_TYPE_HELICOPTER,          "Helicopter"},
    { MAV_TYPE_ANTENNA_TRACKER,     "Antenna Tracker" },
    { MAV_TYPE_GCS,                 "Ground Control Station" },
    { MAV_TYPE_AIRSHIP,             "Airship" },
    { MAV_TYPE_FREE_BALLOON,        "Free Balloon" },
    { MAV_TYPE_ROCKET,              "Rocket" },
    { MAV_TYPE_GROUND_ROVER,        "Ground Rover" },
    { MAV_TYPE_SURFACE_BOAT,        "Boat" },
    { MAV_TYPE_SUBMARINE,           "Submarine" },
    { MAV_TYPE_HEXAROTOR,           "Hexarotor" },
    { MAV_TYPE_OCTOROTOR,           "Octorotor" },
    { MAV_TYPE_TRICOPTER,           "Tricopter" },
    { MAV_TYPE_FLAPPING_WING,       "Flapping Wing" },
    { MAV_TYPE_KITE,                "Kite" },
    { MAV_TYPE_ONBOARD_CONTROLLER,  "Onbard companion controller" },
    { MAV_TYPE_VTOL_DUOROTOR,       "Two-rotor VTOL" },
    { MAV_TYPE_VTOL_QUADROTOR,      "Quad-rotor VTOL" },
};
static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);

AirframeComponent::AirframeComponent(UASInterface* uas, QObject* parent) :
    PX4Component(uas, parent),
    _name(tr("Airframe"))
{
    // Validate that our mavTypeInfo array hasn't gotten out of sync
    
    Q_ASSERT(cMavTypes == MAV_TYPE_ENUM_END);
    
    static const int mavTypes[] = {
        MAV_TYPE_GENERIC,
        MAV_TYPE_FIXED_WING,
        MAV_TYPE_QUADROTOR,
        MAV_TYPE_COAXIAL,
        MAV_TYPE_HELICOPTER,
        MAV_TYPE_ANTENNA_TRACKER,
        MAV_TYPE_GCS,
        MAV_TYPE_AIRSHIP,
        MAV_TYPE_FREE_BALLOON,
        MAV_TYPE_ROCKET,
        MAV_TYPE_GROUND_ROVER,
        MAV_TYPE_SURFACE_BOAT,
        MAV_TYPE_SUBMARINE,
        MAV_TYPE_HEXAROTOR,
        MAV_TYPE_OCTOROTOR,
        MAV_TYPE_TRICOPTER,
        MAV_TYPE_FLAPPING_WING,
        MAV_TYPE_KITE,
        MAV_TYPE_ONBOARD_CONTROLLER,
        MAV_TYPE_VTOL_DUOROTOR,
        MAV_TYPE_VTOL_QUADROTOR
    };
    
    for (size_t i=0; i<sizeof(mavTypes)/sizeof(mavTypes[0]); i++) {
        Q_ASSERT(mavTypeInfo[i].type == mavTypes[i]);
    }
}

QString AirframeComponent::name(void) const
{
    return _name;
}

QString AirframeComponent::description(void) const
{
    return tr("The Airframe Component is used to select the airframe which matches your vehicle. "
              "This will in turn set up the various tuning values for flight paramters.");
}

QString AirframeComponent::icon(void) const
{
    return ":/files/images/px4/menu/plane.png";
}

bool AirframeComponent::requiresSetup(void) const
{
    return true;
}

bool AirframeComponent::setupComplete(void) const
{
    QVariant value;
    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) {
        return value.toInt() != 0;
    } else {
        Q_ASSERT(false);
        return false;
    }
}

QString AirframeComponent::setupStateDescription(void) const
{
    const char* stateDescription;
    
    if (requiresSetup()) {
        stateDescription = "Requires calibration";
    } else {
        stateDescription = "Calibrated";
    }
    return QString(stateDescription);
}

const char** AirframeComponent::setupCompleteChangedTriggerList(void) const
{
    return triggerParams;
}

QStringList AirframeComponent::paramFilterList(void) const
{
    QStringList list;
    
    list << "SYS_AUTOSTART";
    
    return list;
}

QWidget* AirframeComponent::setupWidget(void) const
{
    return new QGCPX4AirframeConfig;
}

QList<QStringList> AirframeComponent::summaryItems(void) const
{
    QVariant value;
    QStringList row;
    QList<QStringList> items;
    
    row << "System ID:";
    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "MAV_SYS_ID", value)) {
        if (value.toInt() == 0) {
            row << "Setup required";
        } else {
            row << value.toString();
        }
    } else {
        // Why is the parameter missing?
        Q_ASSERT(false);
    }
    items << row;
    
    row.clear();
    row << "Airframe:";
    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SYS_AUTOSTART", value)) {
        if (value.toInt() == 0) {
            row << "Setup required";
        } else {
            row << value.toString();
        }
    } else {
        // Why is the parameter missing?
        Q_ASSERT(false);
    }
    items << row;
    
    row.clear();
    row << "Type:";
    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "MAV_TYPE", value)) {
        int index = value.toInt();
        
        if (index < 0 || index >= (int)cMavTypes) {
            row << "Unknown";
        } else {
            row << mavTypeInfo[index].description;
        }
    } else {
        // Why is the parameter missing?
        Q_ASSERT(false);
        row << "Unknown";
    }
    items << row;
    
    return items;
}