vehicleconfigurationhelper.h

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/*
 * This program 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.
 *
 * This program 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 this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef VEHICLECONFIGURATIONHELPER_H
#define VEHICLECONFIGURATIONHELPER_H

#include "vehicleconfigurationsource.h"

#include <config/cfg_vehicletypes/vehicleconfig.h>
#include <uavobjects/uavobjectmanager.h>
#include <actuatorsettings.h>
#include <systemsettings.h>

#include <QEventLoop>
#include <QList>
#include <QPair>

struct mixerChannelSettings
{
    int type;
    int throttle1;
    int throttle2;
    int roll;
    int pitch;
    int yaw;

    mixerChannelSettings()
        : type()
        , throttle1()
        , throttle2()
        , roll()
        , pitch()
        , yaw()
    {
    }

    mixerChannelSettings(int t, int th1, int th2, int r, int p, int y)
        : type(t)
        , throttle1(th1)
        , throttle2(th2)
        , roll(r)
        , pitch(p)
        , yaw(y)
    {
    }
};

class VehicleConfigurationHelper : public QObject
{
    Q_OBJECT

public:
    VehicleConfigurationHelper(VehicleConfigurationSource *configSource);
    bool setupVehicle(bool save = true);
    bool setupHardwareSettings(bool save = true);

    enum EscFrequency {
        ESC_FREQUENCY_LEGACY = 50,
        ESC_FREQUENCY_RAPID = 400,
        ESC_FREQUENCY_SYNCPWM = 0,
        ESC_FREQUENCY_DSHOT300 = 65532,
        ESC_FREQUENCY_DSHOT600 = 65533,
        ESC_FREQUENCY_DSHOT1200 = 65534,
    };

signals:
    void saveProgress(int total, int current, QString description);

private:
    static const int MIXER_TYPE_DISABLED = 0;
    static const int MIXER_TYPE_MOTOR = 1;
    static const int MIXER_TYPE_SERVO = 2;
    static const float DEFAULT_ENABLED_ACCEL_TAU;

    VehicleConfigurationSource *m_configSource;
    UAVObjectManager *m_uavoManager;

    QList<QPair<UAVDataObject *, QString> *> m_modifiedObjects;
    void addModifiedObject(UAVDataObject *object, QString description);
    void clearModifiedObjects();

    void applyHardwareConfiguration();
    void applyVehicleConfiguration();
    void applyActuatorConfiguration();
    void applyFlighModeConfiguration();
    void applySensorBiasConfiguration();
    void applyStabilizationConfiguration();
    void applyManualControlDefaults();

    void applyMixerConfiguration(mixerChannelSettings channels[]);

    GUIConfigDataUnion getGUIConfigData();
    void applyMultiGUISettings(SystemSettings::AirframeTypeOptions airframe,
                               GUIConfigDataUnion guiConfig);

    bool saveChangesToController(bool save);
    QEventLoop m_eventLoop;
    bool m_transactionOK;
    bool m_transactionTimeout;
    int m_currentTransactionObjectID;
    int m_progress;

    void resetVehicleConfig();
    void resetGUIData();

    void setupTriCopter();
    void setupQuadCopter();
    void setupHexaCopter();
    void setupOctoCopter();

private slots:
    void uavoTransactionCompleted(UAVObject *object, bool success);
    void uavoTransactionCompleted(int oid, bool success);
    void saveChangesTimeout();
};

#endif // VEHICLECONFIGURATIONHELPER_H