/**
 ******************************************************************************
 *
 * @file       configahrswidget.h
 * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup ConfigPlugin Config Plugin
 * @{
 * @brief The Configuration Gadget used to update settings in the firmware
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#include "configahrswidget.h"

#include "math.h"
#include <QDebug>
#include <QTimer>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>



ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
    m_ahrs = new Ui_AHRSWidget();
    m_ahrs->setupUi(this);


    m_ahrs->ahrsBargraph->setScene(new QGraphicsScene(this));

    QSvgRenderer *renderer = new QSvgRenderer();
    ahrsbargraph = new QGraphicsSvgItem();
    renderer->load(QString(":/configgadget/images/ahrs-calib.svg"));
    ahrsbargraph->setSharedRenderer(renderer);
    ahrsbargraph->setElementId("background");
    ahrsbargraph->setObjectName("background");
    m_ahrs->ahrsBargraph->scene()->addItem(ahrsbargraph);
    m_ahrs->ahrsBargraph->setSceneRect(ahrsbargraph->boundingRect());

    // Initialize the 9 bargraph values:

    QMatrix lineMatrix = renderer->matrixForElement("accel_x");
    QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
    qreal startX = rect.x();
    qreal startY = rect.y()+ rect.height();
    // maxBarHeight will be used for scaling it later.
    maxBarHeight = rect.height();
    // Then once we have the initial location, we can put it
    // into a QGraphicsSvgItem which we will display at the same
    // place: we do this so that the heading scale can be clipped to
    // the compass dial region.
    accel_x = new QGraphicsSvgItem();
    accel_x->setSharedRenderer(renderer);
    accel_x->setElementId("accel_x");
    m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
    accel_x->setPos(startX, startY);
    accel_x->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("accel_y");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    accel_y = new QGraphicsSvgItem();
    accel_y->setSharedRenderer(renderer);
    accel_y->setElementId("accel_y");
    m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
    accel_y->setPos(startX,startY);
    accel_y->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("accel_z");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    accel_z = new QGraphicsSvgItem();
    accel_z->setSharedRenderer(renderer);
    accel_z->setElementId("accel_z");
    m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
    accel_z->setPos(startX,startY);
    accel_z->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("gyro_x");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    gyro_x = new QGraphicsSvgItem();
    gyro_x->setSharedRenderer(renderer);
    gyro_x->setElementId("gyro_x");
    m_ahrs->ahrsBargraph->scene()->addItem(gyro_x);
    gyro_x->setPos(startX,startY);
    gyro_x->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("gyro_y");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    gyro_y = new QGraphicsSvgItem();
    gyro_y->setSharedRenderer(renderer);
    gyro_y->setElementId("gyro_y");
    m_ahrs->ahrsBargraph->scene()->addItem(gyro_y);
    gyro_y->setPos(startX,startY);
    gyro_y->setTransform(QTransform::fromScale(1,0),true);


    lineMatrix = renderer->matrixForElement("gyro_z");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    gyro_z = new QGraphicsSvgItem();
    gyro_z->setSharedRenderer(renderer);
    gyro_z->setElementId("gyro_z");
    m_ahrs->ahrsBargraph->scene()->addItem(gyro_z);
    gyro_z->setPos(startX,startY);
    gyro_z->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("mag_x");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    mag_x = new QGraphicsSvgItem();
    mag_x->setSharedRenderer(renderer);
    mag_x->setElementId("mag_x");
    m_ahrs->ahrsBargraph->scene()->addItem(mag_x);
    mag_x->setPos(startX,startY);
    mag_x->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("mag_y");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    mag_y = new QGraphicsSvgItem();
    mag_y->setSharedRenderer(renderer);
    mag_y->setElementId("mag_y");
    m_ahrs->ahrsBargraph->scene()->addItem(mag_y);
    mag_y->setPos(startX,startY);
    mag_y->setTransform(QTransform::fromScale(1,0),true);

    lineMatrix = renderer->matrixForElement("mag_z");
    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
    startX = rect.x();
    startY = rect.y()+ rect.height();
    mag_z = new QGraphicsSvgItem();
    mag_z->setSharedRenderer(renderer);
    mag_z->setElementId("mag_z");
    m_ahrs->ahrsBargraph->scene()->addItem(mag_z);
    mag_z->setPos(startX,startY);
    mag_z->setTransform(QTransform::fromScale(1,0),true);



    // Fill the dropdown menus:
    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
    UAVObjectField *field = obj->getField(QString("Algorithm"));
    m_ahrs->algorithm->addItems(field->getOptions());


    // Connect the signals
    connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
    connect(m_ahrs->ahrsCalibSave, SIGNAL(clicked()), this, SLOT(saveAHRSCalibration()));
    connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));

    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));


}

ConfigAHRSWidget::~ConfigAHRSWidget()
{
   // Do nothing
}


void ConfigAHRSWidget::showEvent(QShowEvent *event)
{
    m_ahrs->ahrsBargraph->fitInView(ahrsbargraph, Qt::KeepAspectRatio);
}

/**
  Launches the AHRS sensors calibration
  */
void ConfigAHRSWidget::launchAHRSCalibration()
{
    m_ahrs->calibInstructions->setText("Calibration launched...");
    m_ahrs->ahrsCalibStart->setEnabled(false);
    m_ahrs->ahrsCalibSave->setEnabled(false);

    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
    UAVObjectField *field = obj->getField(QString("measure_var"));
    field->setValue("TRUE");
    obj->updated();

    QTimer::singleShot(15000, this, SLOT(calibPhase2()));
    phaseCounter = 0;
    progressBarIndex = 0;
    connect(&progressBarTimer, SIGNAL(timeout()), this, SLOT(incrementProgress()));
    progressBarTimer.start(1000);
}

/**
  Increment progress bar
  */
void ConfigAHRSWidget::incrementProgress()
{
    m_ahrs->calibProgress->setValue(progressBarIndex++);
    if (progressBarIndex > m_ahrs->calibProgress->maximum()) {
        progressBarTimer.stop();
        progressBarIndex = 0;
    }
}


/**
  Callback once calibration is done on the board.

  Currently we don't have a way to tell if calibration is finished, so we
  have to use a timer.

  calibPhase2 is also connected to the AHRSCalibration object update signal.

  */
void ConfigAHRSWidget::calibPhase2()
{
    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));

    //  This is a bit weird, but it is because we are expecting an update from the
    // OP board with the correct calibration values, and those only arrive on the object update
    // which comes back from the board, and not the first object update signal which is in fast
    // the object update we did ourselves... Clear ?
    switch (phaseCounter) {
    case 0:
        phaseCounter++;
        m_ahrs->calibInstructions->setText("Getting results...");
        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
        obj->updated();
        break;
    case 1:  // this is where we end up with the update just above
        phaseCounter++;
        break;
    case 2: { // This is the update with the right values (coming from the board)
            disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
            // Now update size of all the graphs
            drawVariancesGraph();

            // Now wait 15 more seconds before re-enabling the "Save" button
            QTimer::singleShot(15000, this, SLOT(calibPhase2()));
            m_ahrs->calibInstructions->setText(QString("Please review the results..."));
            progressBarIndex = 0;
            phaseCounter++;
        }
        break;

    case 3:         // This step re-enables the "Save" button
        m_ahrs->calibInstructions->setText(QString("Press \"Save\" if OK."));
        m_ahrs->ahrsCalibStart->setEnabled(true);
        m_ahrs->ahrsCalibSave->setEnabled(true);
        break;

    }

}

/**
  Saves the AHRS sensors calibration (to RAM only)
  */
void ConfigAHRSWidget::saveAHRSCalibration()
{
    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
    UAVObjectField *field = obj->getField(QString("measure_var"));
    field->setValue("FALSE");
    obj->updated();

}

/**
  Draws the sensor variances bargraph
  */
void ConfigAHRSWidget::drawVariancesGraph()
{
    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
    // Now update size of all the graphs
    // I have not found a way to do this elegantly...
    UAVObjectField *field = obj->getField(QString("accel_var"));
    // The expected range is from 1E-6 to 1E-1
    double steps = 6; // 6 bars on the graph
    float accel_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
    accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
    float accel_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
    accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
    float accel_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
    accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);

    field = obj->getField(QString("gyro_var"));
    float gyro_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
    gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
    float gyro_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
    gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
    float gyro_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
    gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);

    field = obj->getField(QString("mag_var"));
    float mag_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
    mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
    float mag_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
    mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
    float mag_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
    mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);

}

/**
  Request current settings from the AHRS
  */
void ConfigAHRSWidget::ahrsSettingsRequest()
{
    UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
    obj->requestUpdate();
    UAVObjectField *field = obj->getField(QString("Algorithm"));
    m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
    drawVariancesGraph();
}