QG4/src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009, 2015 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 "APMAirframeComponentController.h"
#include "APMAirframeComponentAirframes.h"
#include "APMRemoteParamsDownloader.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"

#include <QVariant>
#include <QQmlProperty>
#include <QStandardPaths>

bool APMAirframeComponentController::_typesRegistered = false;

APMAirframeComponentController::APMAirframeComponentController(void) :
    _airframeTypesModel(new QmlObjectListModel(this))
{
    if (!_typesRegistered) {
        _typesRegistered = true;
        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAiframeType", QStringLiteral("Can only reference APMAirframeType"));
        qmlRegisterUncreatableType<APMAirframe>("QGroundControl.Controllers", 1, 0, "APMAiframe", QStringLiteral("Can only reference APMAirframe"));
    }
    _fillAirFrames();

    Fact *frame = getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"));
    connect(frame, &Fact::vehicleUpdated, this, &APMAirframeComponentController::_factFrameChanged);
    _factFrameChanged(frame->rawValue());
}

APMAirframeComponentController::~APMAirframeComponentController()
{

}

void APMAirframeComponentController::_factFrameChanged(QVariant value)
{
    FrameId v = (FrameId) value.toInt();

    for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) {
        APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i));
        Q_ASSERT(airframeType);
        if (airframeType->type() == v) {
            _currentAirframeType = airframeType;
            break;
        }
    }
    emit currentAirframeTypeChanged(_currentAirframeType);
}

void APMAirframeComponentController::_fillAirFrames()
{
    for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) {
        const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex);

        APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this);
        Q_CHECK_PTR(airframeType);

        for (int index = 0; index < pType->rgAirframeInfo.count(); index++) {
            const APMAirframe* pInfo = pType->rgAirframeInfo.at(index);
            Q_CHECK_PTR(pInfo);

            airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type());
        }
        _airframeTypesModel->append(airframeType);
    }

    emit loadAirframesCompleted();
}

void APMAirframeComponentController::_finishVehicleSetup() {
    QDir dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0)
           + QDir::separator() + qApp->applicationName();

    QFile parametersFile(dataLocation.absoluteFilePath(_currentAirframe->params()));
    parametersFile.open(QIODevice::ReadOnly);

    QTextStream reader(&parametersFile);

    while (!reader.atEnd()) {
        QString line = reader.readLine().trimmed();
        if (line.isEmpty() || line.at(0) == QChar('#')) {
            continue;
        }

        QStringList aux = line.split(',');
        if (parameterExists(-1, aux.at(0))) {
            Fact *param = getParameterFact(-1, aux.at(0));
            param->setRawValue(QVariant::fromValue(aux.at(1)));
        }
    }
    qgcApp()->setOverrideCursor(Qt::ArrowCursor);
    sender()->deleteLater();
    emit currentAirframeChanged(_currentAirframe);
}

APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :
    QObject(parent),
    _name(name),
    _imageResource(imageResource),
    _type(type),
    _dirty(false)
{
}

APMAirframeType::~APMAirframeType()
{
}

void APMAirframeType::addAirframe(const QString& name, const QString& file, int type)
{
    APMAirframe* airframe = new APMAirframe(name, file, type);
    Q_CHECK_PTR(airframe);
    
    _airframes.append(QVariant::fromValue(airframe));
}

APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) :
    QObject(parent),
    _name(name),
    _paramsFile(paramsFile),
    _type(type)
{
}

QString APMAirframe::name() const
{
    return _name;
}

QString APMAirframe::params() const
{
    return _paramsFile;
}

int APMAirframe::type() const
{
    return _type;
}

APMAirframe::~APMAirframe()
{
}

QString APMAirframeType::imageResource() const
{
    return _imageResource;
}

QString APMAirframeType::name() const
{
    return _name;
}

int APMAirframeType::type() const
{
    return _type;
}

APMAirframeType *APMAirframeComponentController::currentAirframeType() const
{
    return _currentAirframeType;
}

APMAirframe *APMAirframeComponentController::currentAirframe() const
{
    return _currentAirframe;
}

void APMAirframeComponentController::setCurrentAirframe(APMAirframe *t)
{
    _currentAirframe = t;
    qgcApp()->setOverrideCursor(Qt::WaitCursor);
    APMRemoteParamsDownloader *paramDownloader = new APMRemoteParamsDownloader(_currentAirframe->params());
    connect(paramDownloader, &APMRemoteParamsDownloader::finished, this, &APMAirframeComponentController::_finishVehicleSetup);
}

void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t)
{
    Fact *param = getParameterFact(-1, QStringLiteral("FRAME"));
    Q_ASSERT(param);
    param->setRawValue(t->type());
}