vescinterface.cpp

/*
    Copyright 2016 - 2020 Benjamin Vedder	benjamin@vedder.se

    This file is part of VESC Tool.

    VESC Tool 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.

    VESC Tool 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/>.
    */

#include <QDebug>
#include <QHostInfo>
#include <QNetworkDatagram>
#include <QFileInfo>
#include <QThread>
#include <QEventLoop>
#include <cmath>
#include <QRegularExpression>
#include <QDateTime>
#include <QDir>
#include <cmath>
#include "lzokay/lzokay.hpp"
#include "vescinterface.h"
#include "utility.h"
#include "heatshrink/heatshrinkif.h"

#ifdef HAS_SERIALPORT
#include <QSerialPortInfo>
#endif

#ifdef HAS_CANBUS
#include <QCanBus>
#endif

#ifndef VT_INTRO_VERSION
#define VT_INTRO_VERSION 1
#endif

VescInterface::VescInterface(QObject *parent) : QObject(parent)
{
    mMcConfig = new ConfigParams(this);
    mAppConfig = new ConfigParams(this);
    mInfoConfig = new ConfigParams(this);
    mFwConfig = new ConfigParams(this);
    mCustomConfigsLoaded = false;
    mQmlHwLoaded = false;
    mQmlAppLoaded = false;
    mPacket = new Packet(this);
    mCommands = new Commands(this);

    // Compatible firmwares
    mFwVersionReceived = false;
    mFwRetries = 0;
    mFwPollCnt = 0;
    mFwTxt = "x.x";
    mFwPair = qMakePair(-1, -1);
    mIsUploadingFw = false;
    mIsLastFwBootloader = false;
    mFwSupportsConfiguration = false;

    mCancelSwdUpload = false;
    mCancelFwUpload = false;
    mFwUploadStatus = "FW Upload Status";
    mFwUploadProgress = -1.0;
    mFwIsBootloader = false;

    mTimer = new QTimer(this);
    mTimer->setInterval(20);
    mTimer->start();

    mLastConnType = static_cast<conn_t>(mSettings.value("connection_type", CONN_NONE).toInt());
    mLastTcpServer = mSettings.value("tcp_server", "127.0.0.1").toString();
    mLastTcpPort = mSettings.value("tcp_port", 65102).toInt();
    mLastUdpServer = QHostAddress(mSettings.value("udp_server", "127.0.0.1").toString());
    mLastUdpPort = mSettings.value("udp_port", 65102).toInt();

    mSendCanBefore = false;
    mCanIdBefore = 0;
    mWasConnected = false;
    mAutoconnectOngoing = false;
    mAutoconnectProgress = 0.0;
    mIgnoreCanChange = false;

    mCanTmpFwdActive = false;
    mCanTmpFwdSendCanLast = false;
    mCanTmpFwdIdLast = -1;

#ifdef Q_OS_ANDROID
    QAndroidJniObject activity = QAndroidJniObject::callStaticObjectMethod(
                "org/qtproject/qt5/android/QtNative", "activity", "()Landroid/app/Activity;");

    if (activity.isValid()) {
        QAndroidJniObject serviceName = QAndroidJniObject::getStaticObjectField<jstring>(
                    "android/content/Context","POWER_SERVICE");
        if (serviceName.isValid()) {
            QAndroidJniObject powerMgr = activity.callObjectMethod(
                        "getSystemService", "(Ljava/lang/String;)Ljava/lang/Object;",serviceName.object<jobject>());
            if (powerMgr.isValid()) {
                jint levelAndFlags = QAndroidJniObject::getStaticField<jint>(
                            "android/os/PowerManager","PARTIAL_WAKE_LOCK");
                QAndroidJniObject tag = QAndroidJniObject::fromString( "VESC Tool" );
                mWakeLock = powerMgr.callObjectMethod("newWakeLock",
                                                       "(ILjava/lang/String;)Landroid/os/PowerManager$WakeLock;",
                                                       levelAndFlags,tag.object<jstring>());
            }
        }
    }
#endif
    mWakeLockActive = false;

    // Serial
#ifdef HAS_SERIALPORT
    mSerialPort = new QSerialPort(this);
    mLastSerialPort = mSettings.value("serial_port", "").toString();
    mLastSerialBaud = mSettings.value("serial_baud", 115200).toInt();

    connect(mSerialPort, SIGNAL(readyRead()),
            this, SLOT(serialDataAvailable()));
    connect(mSerialPort, SIGNAL(error(QSerialPort::SerialPortError)),
            this, SLOT(serialPortError(QSerialPort::SerialPortError)));
#endif

    // CANbus
#ifdef HAS_CANBUS
    mCanDevice = nullptr;
    mLastCanDeviceInterface = mSettings.value("CANbusDeviceInterface", "can0").toString();
    mLastCanDeviceBitrate = mSettings.value("CANbusDeviceBitrate", 500000).toInt();
    mLastCanBackend = mSettings.value("CANbusBackend", "socketcan").toString();
    mLastCanDeviceID = mSettings.value("CANbusLastDeviceID", 0).toInt();
    mCANbusScanning = false;
#endif

#ifdef HAS_POS
    mPosSource = nullptr;
#endif

    // TCP
    mTcpSocket = new QTcpSocket(this);
    mTcpConnected = false;

    connect(mTcpSocket, SIGNAL(readyRead()), this, SLOT(tcpInputDataAvailable()));
    connect(mTcpSocket, SIGNAL(connected()), this, SLOT(tcpInputConnected()));
    connect(mTcpSocket, SIGNAL(disconnected()),
            this, SLOT(tcpInputDisconnected()));
    connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
            this, SLOT(tcpInputError(QAbstractSocket::SocketError)));

    // UDP
    mUdpSocket = new QUdpSocket(this);
    mUdpConnected = false;
    connect(mUdpSocket, SIGNAL(readyRead()), this, SLOT(udpInputDataAvailable()));
    connect(mUdpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
            this, SLOT(udpInputError(QAbstractSocket::SocketError)));

    // BLE
#ifdef HAS_BLUETOOTH
    mBleUart = new BleUart(this);
    mLastBleAddr = mSettings.value("ble_addr").toString();

    {
        int size = mSettings.beginReadArray("bleNames");
        for (int i = 0; i < size; ++i) {
            mSettings.setArrayIndex(i);
            QString address = mSettings.value("address").toString();
            QString name = mSettings.value("name").toString();
            mBleNames.insert(address, name);
        }
        mSettings.endArray();
    }

    {
        int size = mSettings.beginReadArray("blePreferred");
        for (int i = 0; i < size; ++i) {
            mSettings.setArrayIndex(i);
            QString address = mSettings.value("address").toString();
            bool pref = mSettings.value("preferred").toBool();
            mBlePreferred.insert(address, pref);
        }
        mSettings.endArray();
    }

    connect(mBleUart, SIGNAL(dataRx(QByteArray)), this, SLOT(bleDataRx(QByteArray)));
    connect(mBleUart, &BleUart::connected, [this]{
        setLastConnectionType(CONN_BLE);
        mSettings.setValue("ble_addr", mLastBleAddr);
    });
    connect(mBleUart, SIGNAL(unintentionalDisconnect()), this, SLOT(bleUnintentionalDisconnect()));
#endif

    mTcpServer = new TcpServerSimple(this);
    mTcpServer->setUsePacket(true);
    connect(mTcpServer->packet(), &Packet::packetReceived, [this](QByteArray &packet) {
        mPacket->sendPacket(packet);
    });
    connect(mPacket, &Packet::packetReceived, [this](QByteArray &packet) {
        mTcpServer->packet()->sendPacket(packet);
    });

    mUdpServer = new UdpServerSimple(this);
    mUdpServer->setUsePacket(true);
    connect(mUdpServer->packet(), &Packet::packetReceived, [this](QByteArray &packet) {
        mPacket->sendPacket(packet);
    });
    connect(mPacket, &Packet::packetReceived, [this](QByteArray &packet) {
        mUdpServer->packet()->sendPacket(packet);
    });

    {
        int size = mSettings.beginReadArray("profiles");
        for (int i = 0; i < size; ++i) {
            mSettings.setArrayIndex(i);
            MCCONF_TEMP cfg;
            cfg.current_min_scale = mSettings.value("current_min_scale", 1.0).toDouble();
            cfg.current_max_scale = mSettings.value("current_max_scale", 1.0).toDouble();
            cfg.erpm_or_speed_min = mSettings.value("erpm_or_speed_min").toDouble();
            cfg.erpm_or_speed_max = mSettings.value("erpm_or_speed_max").toDouble();
            cfg.duty_min = mSettings.value("duty_min").toDouble();
            cfg.duty_max = mSettings.value("duty_max").toDouble();
            cfg.watt_min = mSettings.value("watt_min").toDouble();
            cfg.watt_max = mSettings.value("watt_max").toDouble();
            cfg.name = mSettings.value("name").toString();
            mProfiles.append(QVariant::fromValue(cfg));
        }
        mSettings.endArray();
    }

    {
        int size = mSettings.beginReadArray("pairedUuids");
        for (int i = 0; i < size; ++i) {
            mSettings.setArrayIndex(i);
            QString uuid = mSettings.value("uuid").toString().toUpper();
            mPairedUuids.append(uuid.replace(" ", ""));
        }
        mSettings.endArray();
    }

    {
        int size = mSettings.beginReadArray("configurationBackups");
        for (int i = 0; i < size; ++i) {
            CONFIG_BACKUP cfg;
            mSettings.setArrayIndex(i);
            QString uuid = mSettings.value("uuid").toString();
            cfg.vesc_uuid = uuid;
            cfg.mcconf_xml_compressed = mSettings.value("mcconf").toString();
            cfg.appconf_xml_compressed = mSettings.value("appconf").toString();
            cfg.name = mSettings.value("name", QString("")).toString();
            mConfigurationBackups.insert(uuid, cfg);
        }
        mSettings.endArray();
    }
    
    QLocale systemLocale;
    bool useImperialByDefault = systemLocale.measurementSystem() == QLocale::ImperialSystem;

    mUseImperialUnits = mSettings.value("useImperialUnits", useImperialByDefault).toBool();
    mKeepScreenOn = mSettings.value("keepScreenOn", true).toBool();
    mUseWakeLock = mSettings.value("useWakeLock", false).toBool();
    mLoadQmlUiOnConnect = mSettings.value("loadQmlUiOnConnect", true).toBool();
    mAllowScreenRotation = mSettings.value("allowScreenRotation", false).toBool();
    mSpeedGaugeUseNegativeValues =  mSettings.value("speedGaugeUseNegativeValues", true).toBool();

    mCommands->setAppConfig(mAppConfig);
    mCommands->setMcConfig(mMcConfig);

    // Other signals/slots
    connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
    connect(mPacket, SIGNAL(dataToSend(QByteArray&)),
            this, SLOT(packetDataToSend(QByteArray&)));
    connect(mPacket, SIGNAL(packetReceived(QByteArray&)),
            this, SLOT(packetReceived(QByteArray&)));
    connect(mCommands, SIGNAL(dataToSend(QByteArray&)),
            this, SLOT(cmdDataToSend(QByteArray&)));
    connect(mCommands, SIGNAL(fwVersionReceived(FW_RX_PARAMS)),
            this, SLOT(fwVersionReceived(FW_RX_PARAMS)));
    connect(mCommands, SIGNAL(ackReceived(QString)), this, SLOT(ackReceived(QString)));
    connect(mMcConfig, SIGNAL(updated()), this, SLOT(mcconfUpdated()));
    connect(mAppConfig, SIGNAL(updated()), this, SLOT(appconfUpdated()));

    connect(mCommands, &Commands::valuesSetupReceived, [this](SETUP_VALUES v) {
        mLastSetupValues = v;
        mLastSetupTime = QDateTime::currentDateTimeUtc();
    });

    connect(mCommands, &Commands::valuesImuReceived, [this](IMU_VALUES v) {
        mLastImuValues = v;
        mLastImuTime = QDateTime::currentDateTimeUtc();
    });

    connect(mCommands, &Commands::valuesReceived, [this](MC_VALUES v) {
        if (mRtLogFile.isOpen()) {
            int msPos = -1;
            double lat = 0.0;
            double lon = 0.0;
            double alt = 0.0;
            double gVel = 0.0;
            double vVel = 0.0;
            double hAcc = 0.0;
            double vAcc = 0.0;

#ifdef HAS_POS
            if (mLastPos.isValid() && mLastPosTime.isValid() &&
                    mLastPosTime.secsTo(QDateTime::currentDateTime()) < 3) {
                msPos = mLastPos.timestamp().time().msecsSinceStartOfDay();
                lat = mLastPos.coordinate().latitude();
                lon = mLastPos.coordinate().longitude();

                if (!std::isnan(mLastPos.coordinate().altitude())) {
                    alt = mLastPos.coordinate().altitude();
                }

                if (mLastPos.hasAttribute(QGeoPositionInfo::GroundSpeed)) {
                    gVel = mLastPos.attribute(QGeoPositionInfo::GroundSpeed);
                }

                if (mLastPos.hasAttribute(QGeoPositionInfo::VerticalSpeed)) {
                    vVel = mLastPos.attribute(QGeoPositionInfo::VerticalSpeed);
                }

                if (mLastPos.hasAttribute(QGeoPositionInfo::HorizontalAccuracy)) {
                    hAcc = mLastPos.attribute(QGeoPositionInfo::HorizontalAccuracy);
                }

                if (mLastPos.hasAttribute(QGeoPositionInfo::VerticalAccuracy)) {
                    vAcc = mLastPos.attribute(QGeoPositionInfo::VerticalAccuracy);
                }
            }
#endif

            auto t = QDateTime::currentDateTimeUtc().time();
            QTextStream os(&mRtLogFile);

            int msSetup = -1;
            if (mLastSetupTime.isValid()) {
                msSetup = mLastSetupTime.time().msecsSinceStartOfDay();
            }

            int msImu = -1;
            if (mLastImuTime.isValid()) {
                msImu = mLastImuTime.time().msecsSinceStartOfDay();
            }

            os << t.msecsSinceStartOfDay() << ";";
            os << v.v_in << ";";
            os << v.temp_mos << ";";
            os << v.temp_mos_1 << ";";
            os << v.temp_mos_2 << ";";
            os << v.temp_mos_3 << ";";
            os << v.temp_motor << ";";
            os << v.current_motor << ";";
            os << v.current_in << ";";
            os << v.id << ";";
            os << v.iq << ";";
            os << v.rpm << ";";
            os << v.duty_now << ";";
            os << v.amp_hours << ";";
            os << v.amp_hours_charged << ";";
            os << v.watt_hours << ";";
            os << v.watt_hours_charged << ";";
            os << v.tachometer << ";";
            os << v.tachometer_abs << ";";
            os << v.position << ";";
            os << v.fault_code << ";";
            os << v.vesc_id << ";";
            os << v.vd << ";";
            os << v.vq << ";";

            os << msSetup << ";";
            os << mLastSetupValues.amp_hours << ";";
            os << mLastSetupValues.amp_hours_charged << ";";
            os << mLastSetupValues.watt_hours << ";";
            os << mLastSetupValues.watt_hours_charged << ";";
            os << mLastSetupValues.battery_level << ";";
            os << mLastSetupValues.battery_wh << ";";
            os << mLastSetupValues.current_in << ";";
            os << mLastSetupValues.current_motor << ";";
            os << mLastSetupValues.speed << ";";
            os << mLastSetupValues.tachometer << ";";
            os << mLastSetupValues.tachometer_abs << ";";
            os << mLastSetupValues.num_vescs << ";";

            os << msImu << ";";
            os << mLastImuValues.roll << ";";
            os << mLastImuValues.pitch << ";";
            os << mLastImuValues.yaw << ";";
            os << mLastImuValues.accX << ";";
            os << mLastImuValues.accY << ";";
            os << mLastImuValues.accZ << ";";
            os << mLastImuValues.gyroX << ";";
            os << mLastImuValues.gyroY << ";";
            os << mLastImuValues.gyroZ << ";";

            os << msPos << ";";
            os << fixed << qSetRealNumberPrecision(8) << lat << ";";
            os << fixed << qSetRealNumberPrecision(8) << lon << ";";
            os << alt << ";";
            os << gVel << ";";
            os << vVel << ";";
            os << hAcc << ";";
            os << vAcc << ";";
            os << "\n";
            os.flush();

            LOG_DATA d;
            d.values = v;
            d.setupValues = mLastSetupValues;
            d.imuValues = mLastImuValues;
            d.valTime = t.msecsSinceStartOfDay();
            d.setupValTime = msSetup;
            d.imuValTime = msImu;
            d.posTime = msPos;
            d.lat = lat;
            d.lon = lon;
            d.alt = alt;
            d.gVel = gVel;
            d.vVel = vVel;
            d.hAcc = hAcc;
            d.vAcc = vAcc;
            mRtLogData.append(d);
        }
    });

    mDeserialFailedMessageShown = false;
    connect(mCommands, &Commands::deserializeConfigFailed, [this](bool isMc, bool isApp) {
        if (!mDeserialFailedMessageShown) {
            mDeserialFailedMessageShown = true;
            QString configName = "unknown";
            if (isMc) {
                configName = "motor";
            } else if (isApp) {
                configName = "app";
            }

#if VT_IS_TEST_VERSION
            emitMessageDialog("Deserializing " + configName + " configuration failed",
                              "Could not deserialize " + configName +
                              " configuration. You probably need to update the VESC firmware, as "
                              "a new iteration of the test version has been made.",
                              false, false);
#else
            emitMessageDialog("Deserializing " + configName + " configuration failed",
                              "Could not deserialize " + configName +
                              " configuration. This probably means "
                              "that something is wrong with your firmware, or this VESC Tool version.",
                              false, false);
#endif
        }
    });

#if VT_IS_TEST_VERSION
    QTimer::singleShot(1000, [this]() {
        /*emitMessageDialog("VESC Tool Test Version",
                          "Warning: This is a test version of VESC Tool. The included firmwares are NOT compatible with "
                          "released firmwares and should only be used with this test version. When using a release version "
                          "of VESC Tool, the firmware must be upgraded even if the version number is the same.",
                          false);*/
    });
#endif
}

VescInterface::~VescInterface()
{
    storeSettings();
    closeRtLogFile();

    if (mWakeLockActive) {
        setWakeLock(false);
    }

    Utility::stopGnssForegroundService();
}

Commands *VescInterface::commands() const
{
    return mCommands;
}

ConfigParams *VescInterface::mcConfig()
{
    return mMcConfig;
}

ConfigParams *VescInterface::appConfig()
{
    return mAppConfig;
}

ConfigParams *VescInterface::infoConfig()
{
    return mInfoConfig;
}

ConfigParams *VescInterface::fwConfig()
{
    return mFwConfig;
}

QStringList VescInterface::getSupportedFirmwares()
{
    QList<QPair<int, int> > fwPairs = getSupportedFirmwarePairs();
    QStringList fws;

    for (int i = 0;i < fwPairs.size();i++) {
        fws.append(QString("%1.%2").arg(fwPairs.at(i).first).arg(fwPairs.at(i).second, 2, 10, QLatin1Char('0')));
    }
    return fws;
}

QList<QPair<int, int> > VescInterface::getSupportedFirmwarePairs()
{
    QList<QPair<int, int> > fws;

    ConfigParam *p = mInfoConfig->getParam("fw_version");

    if (p) {
        QStringList strs = p->enumNames;

        for (int i = 0;i < strs.size();i++) {
            QStringList mami = strs.at(i).split(".");
            QPair<int, int> fw = qMakePair(mami.at(0).toInt(), mami.at(1).toInt());
            fws.append(fw);
        }
    }

    return fws;
}

QString VescInterface::getFirmwareNow()
{
    return mFwTxt;
}

QPair<int, int> VescInterface::getFirmwareNowPair()
{
    return mFwPair;
}

void VescInterface::emitStatusMessage(const QString &msg, bool isGood)
{
    emit statusMessage(msg, isGood);
}

void VescInterface::emitMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText)
{
    emit messageDialog(title, msg, isGood, richText);
}

bool VescInterface::fwRx()
{
    return mFwVersionReceived;
}

void VescInterface::storeSettings()
{
    mSettings.remove("bleNames");
    {
        mSettings.beginWriteArray("bleNames");
        QHashIterator<QString, QString> i(mBleNames);
        int ind = 0;
        while (i.hasNext()) {
            i.next();
            mSettings.setArrayIndex(ind);
            mSettings.setValue("address", i.key());
            mSettings.setValue("name", i.value());
            ind++;
        }
        mSettings.endArray();
    }

    mSettings.remove("blePreferred");
    {
        mSettings.beginWriteArray("blePreferred");
        QHashIterator<QString, bool> i(mBlePreferred);
        int ind = 0;
        while (i.hasNext()) {
            i.next();
            mSettings.setArrayIndex(ind);
            mSettings.setValue("address", i.key());
            mSettings.setValue("preferred", i.value());
            ind++;
        }
        mSettings.endArray();
    }

    mSettings.remove("profiles");
    mSettings.beginWriteArray("profiles");
    for (int i = 0; i < mProfiles.size(); ++i) {
        MCCONF_TEMP cfg = mProfiles.value(i).value<MCCONF_TEMP>();
        mSettings.setArrayIndex(i);
        mSettings.setValue("current_min_scale", cfg.current_min_scale);
        mSettings.setValue("current_max_scale", cfg.current_max_scale);
        mSettings.setValue("erpm_or_speed_min", cfg.erpm_or_speed_min);
        mSettings.setValue("erpm_or_speed_max", cfg.erpm_or_speed_max);
        mSettings.setValue("duty_min", cfg.duty_min);
        mSettings.setValue("duty_max", cfg.duty_max);
        mSettings.setValue("watt_min", cfg.watt_min);
        mSettings.setValue("watt_max", cfg.watt_max);
        mSettings.setValue("name", cfg.name);
    }
    mSettings.endArray();

    mSettings.beginWriteArray("pairedUuids");
    for (int i = 0;i < mPairedUuids.size();i++) {
        mSettings.setArrayIndex(i);
        mSettings.setValue("uuid", mPairedUuids.at(i));
    }
    mSettings.endArray();

    mSettings.remove("configurationBackups");
    {
        mSettings.beginWriteArray("configurationBackups");
        QHashIterator<QString, CONFIG_BACKUP> i(mConfigurationBackups);
        int ind = 0;
        while (i.hasNext()) {
            i.next();
            mSettings.setArrayIndex(ind);
            mSettings.setValue("uuid", i.key());
            mSettings.setValue("mcconf", i.value().mcconf_xml_compressed);
            mSettings.setValue("appconf", i.value().appconf_xml_compressed);
            mSettings.setValue("name", i.value().name);
            ind++;
        }
        mSettings.endArray();
    }

    mSettings.setValue("useImperialUnits", mUseImperialUnits);
    mSettings.setValue("keepScreenOn", mKeepScreenOn);
    mSettings.setValue("useWakeLock", mUseWakeLock);
    mSettings.setValue("loadQmlUiOnConnect", mLoadQmlUiOnConnect);
    mSettings.setValue("darkMode", Utility::isDarkMode());
    mSettings.setValue("allowScreenRotation", mAllowScreenRotation);
    mSettings.setValue("speedGaugeUseNegativeValues", mSpeedGaugeUseNegativeValues);
    mSettings.sync();
}

QVariantList VescInterface::getProfiles()
{
    return mProfiles;
}

void VescInterface::addProfile(QVariant profile)
{
    mProfiles.append(profile);
    emit profilesUpdated();
}

void VescInterface::clearProfiles()
{
    mProfiles.clear();
    emit profilesUpdated();
}

void VescInterface::deleteProfile(int index)
{
    if (index >= 0 && mProfiles.length() > index) {
        mProfiles.removeAt(index);
        emit profilesUpdated();
    }
}

void VescInterface::moveProfileUp(int index)
{
    if (index > 0 && index < mProfiles.size()) {
        mProfiles.swap(index, index - 1);
        emit profilesUpdated();
    }
}

void VescInterface::moveProfileDown(int index)
{
    if (index >= 0 && index < (mProfiles.size() - 1)) {
        mProfiles.swap(index, index + 1);
        emit profilesUpdated();
    }
}

MCCONF_TEMP VescInterface::getProfile(int index)
{
    MCCONF_TEMP conf = createMcconfTemp();

    if (index >= 0 && mProfiles.length() > index) {
        conf = mProfiles.value(index).value<MCCONF_TEMP>();
    }

    return conf;
}

void VescInterface::updateProfile(int index, QVariant profile)
{
    if (index >= 0 && mProfiles.length() > index) {
        mProfiles[index] = profile;
        emit profilesUpdated();
    }
}

bool VescInterface::isProfileInUse(int index)
{
    MCCONF_TEMP conf = getProfile(index);

    bool res = true;

    if (!Utility::almostEqual(conf.current_max_scale,
                              mMcConfig->getParamDouble("l_current_max_scale"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.current_min_scale,
                              mMcConfig->getParamDouble("l_current_min_scale"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.duty_max,
                              mMcConfig->getParamDouble("l_max_duty"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.duty_min,
                              mMcConfig->getParamDouble("l_min_duty"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.watt_max,
                              mMcConfig->getParamDouble("l_watt_max"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.watt_min,
                              mMcConfig->getParamDouble("l_watt_min"), 0.0001)) {
        res = false;
    }

    double speedFact = ((mMcConfig->getParamInt("si_motor_poles") / 2.0) * 60.0 *
            mMcConfig->getParamDouble("si_gear_ratio")) /
            (mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);

    if (!Utility::almostEqual(conf.erpm_or_speed_max * speedFact,
                              mMcConfig->getParamDouble("l_max_erpm"), 0.0001)) {
        res = false;
    }

    if (!Utility::almostEqual(conf.erpm_or_speed_min * speedFact,
                              mMcConfig->getParamDouble("l_min_erpm"), 0.0001)) {
        res = false;
    }

    return res;
}

MCCONF_TEMP VescInterface::createMcconfTemp()
{
    MCCONF_TEMP conf;
    conf.name = "Unnamed Profile";
    conf.current_min_scale = 1.0;
    conf.current_max_scale = 1.0;
    conf.duty_min = 0.05;
    conf.duty_max = 0.95;
    conf.erpm_or_speed_min = -5.0;
    conf.erpm_or_speed_max = 5.0;
    conf.watt_min = -500.0;
    conf.watt_max = 500.0;
    return conf;
}

void VescInterface::updateMcconfFromProfile(MCCONF_TEMP profile)
{
    double speedFact = ((double(mMcConfig->getParamInt("si_motor_poles")) / 2.0) * 60.0 *
            mMcConfig->getParamDouble("si_gear_ratio")) /
            (mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);

    mMcConfig->updateParamDouble("l_current_min_scale", profile.current_min_scale);
    mMcConfig->updateParamDouble("l_current_max_scale", profile.current_max_scale);
    mMcConfig->updateParamDouble("l_watt_min", profile.watt_min);
    mMcConfig->updateParamDouble("l_watt_max", profile.watt_max);
    mMcConfig->updateParamDouble("l_min_erpm", profile.erpm_or_speed_min * speedFact);
    mMcConfig->updateParamDouble("l_max_erpm", profile.erpm_or_speed_max * speedFact);
    mMcConfig->updateParamDouble("l_min_duty", profile.duty_min);
    mMcConfig->updateParamDouble("l_max_duty", profile.duty_max);
}

QStringList VescInterface::getPairedUuids()
{
    return mPairedUuids;
}

bool VescInterface::addPairedUuid(QString uuid)
{
    bool res = false;

    uuid = uuid.replace(" ", "").toUpper();

    QRegularExpression hexMatcher("^[0-9A-F]{24}$",
                                  QRegularExpression::CaseInsensitiveOption);

    QRegularExpressionMatch match = hexMatcher.match(uuid);
    if (!match.hasMatch()) {
        emitMessageDialog("Add VESC",
                          "The UUID must consist of 24 hexadecimal characters.",
                          false, false);
        return false;
    }

    if (hasPairedUuid(uuid)) {
        emitMessageDialog("Add VESC",
                          "This VESC already is in your paired UUID list.",
                          true, false);
    } else {
        mPairedUuids.append(uuid);
        emit pairingListUpdated();
        res = true;
    }

    return res;
}

bool VescInterface::deletePairedUuid(QString uuid)
{
    bool res = false;

    uuid = uuid.replace(" ", "").toUpper();

    for (int i = 0;i < mPairedUuids.size();i++) {
        QString str = mPairedUuids.at(i);
        if (str.replace(" ", "").toUpper() == uuid) {
            mPairedUuids.removeAt(i);
            emit pairingListUpdated();
            res = true;
            break;
        }
    }

    return res;
}

void VescInterface::clearPairedUuids()
{
    mPairedUuids.clear();
    emit pairingListUpdated();
}

bool VescInterface::hasPairedUuid(QString uuid)
{
    bool res = false;

    uuid = uuid.replace(" ", "").toUpper();

    for (int i = 0;i < mPairedUuids.size();i++) {
        QString str = mPairedUuids.at(i);
        if (str.replace(" ", "").toUpper() == uuid) {
            res = true;
            break;
        }
    }

    return res;
}

QString VescInterface::getConnectedUuid()
{
    QString res;

    if (isPortConnected()) {
        res = mUuidStr;
    }

    return res;
}

bool VescInterface::isIntroDone()
{
    if (mSettings.contains("introVersion")) {
        if (mSettings.value("introVersion").toInt() != VT_INTRO_VERSION) {
            mSettings.setValue("intro_done", false);
        }
    } else {
        mSettings.setValue("intro_done", false);
    }

    return mSettings.value("intro_done", false).toBool();
}

void VescInterface::setIntroDone(bool done)
{
    mSettings.setValue("introVersion", VT_INTRO_VERSION);
    mSettings.setValue("intro_done", done);
}

QString VescInterface::getLastTcpServer() const
{
    return mLastTcpServer;
}

int VescInterface::getLastTcpPort() const
{
    return mLastTcpPort;
}

QString VescInterface::getLastUdpServer() const
{
    return mLastUdpServer.toString();
}

int VescInterface::getLastUdpPort() const
{
    return mLastUdpPort;
}

bool VescInterface::swdEraseFlash()
{
    auto waitBmEraseRes = [this]() {
        int res = -10;

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(20000);
        auto conn = connect(mCommands, &Commands::bmEraseFlashAllRes, [&res,&loop](int erRes) {
            res = erRes;
            loop.quit();
        });

        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        disconnect(conn);
        return res;
    };

    mCommands->bmEraseFlashAll();
    emit fwUploadStatus("Erasing flash...", 0.0, true);
    int erRes = waitBmEraseRes();
    if (erRes != 1) {
        QString msg = "Unknown failure";

        if (erRes == -10) {
            msg = "Erase timed out";
        } else if (erRes == -3) {
            msg = "Erase failed";
        } else if (erRes == -2) {
            msg = "Could not recognize target";
        } else if (erRes == -1) {
            msg = "Not connected to target";
        }

        emitMessageDialog("SWD Upload", msg, false, false);
        emit fwUploadStatus(msg, 0.0, false);

        return false;
    }

    emit fwUploadStatus("Erase done", 0.0, false);

    return true;
}

bool VescInterface::swdUploadFw(QByteArray newFirmware, uint32_t startAddr,
                                bool verify, bool isLzo)
{
    bool supportsLzo = mCommands->getLimitedCompatibilityCommands().
            contains(int(COMM_BM_WRITE_FLASH_LZO));

    if (mLastFwParams.hwType != HW_TYPE_VESC) {
        supportsLzo = false;
    }

    auto waitBmWriteRes = [this]() {
        int res = -10;

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(3000);
        auto conn = connect(mCommands, &Commands::bmWriteFlashRes, [&res,&loop](int wrRes) {
            res = wrRes;
            loop.quit();
        });

        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        disconnect(conn);
        return res;
    };

    auto writeChunk = [this, &waitBmWriteRes, &verify]
            (uint32_t addr, QByteArray chunk, QByteArray chunkLzo) {
        for (int i = 0;i < 3;i++) {
            if (chunkLzo.isEmpty()) {
                mCommands->bmWriteFlash(addr, chunk);
            } else {
                mCommands->bmWriteFlashLzo(addr, quint16(chunk.size()), chunkLzo);
            }

            int res = waitBmWriteRes();

            if (verify && (!mCommands->isLimitedMode() ||
                           mCommands->getLimitedCompatibilityCommands().
                           contains(int(COMM_BM_MEM_READ)))) {
                QByteArray rdData = mCommands->bmReadMemWait(addr, quint16(chunk.size()));

                if (rdData.size() != chunk.size()) {
                    return -11;
                }

                if (rdData != chunk) {
                    return -12;
                }
            }

            if (res != -10) {
                return res;
            }
        }

        return -20;
    };

    mCancelSwdUpload = false;
    int addr = int(startAddr);
    int szTot = newFirmware.size();
    int uploadSize = 2;
    int compChunks = 0;
    int nonCompChunks = 0;

    while (newFirmware.size() > 0) {
        const int chunkSize = 400;

        int sz = newFirmware.size() > chunkSize ? chunkSize : newFirmware.size();

        QByteArray in = newFirmware.mid(0, sz);
        std::size_t outMaxSize = chunkSize + chunkSize / 16 + 64 + 3;
        unsigned char out[1000];
        std::size_t out_len = sz;

        if (supportsLzo && isLzo) {
            lzokay::EResult error = lzokay::compress((const uint8_t*)in.constData(), sz, out, outMaxSize, out_len);
            if (error < lzokay::EResult::Success) {
                qWarning() << "LZO Compress Error" << int(error);
                isLzo = false;
            }
        }

        int res = 1;
        if (supportsLzo && isLzo && (out_len + 2) < uint32_t(sz)) {
            compChunks++;
            uploadSize += out_len + 2;
            res = writeChunk(uint32_t(addr), in, QByteArray((const char*)out, int(out_len)));
        } else {
            nonCompChunks++;
            uploadSize += sz;
            res = writeChunk(uint32_t(addr), in, QByteArray());
        }

        newFirmware.remove(0, sz);
        addr += sz;

        if (res == 1) {
            emit fwUploadStatus("Uploading firmware over SWD", double(addr - startAddr) / double(szTot), true);
        } else {
            QString msg = "Unknown failure";

            if (res == -20) {
                msg = "Timed out";
            } else if (res == -2) {
                msg = "Write failed";
            } else if (res == -1) {
                msg = "Not connected to target";
            } else if (res == -11) {
                msg = "Verification failed (-11)";
            } else if (res == -12) {
                msg = "Verification failed (-12)";
            }

            emitMessageDialog("SWD Upload", msg, false, false);
            emit fwUploadStatus(msg, 0.0, false);

            return false;
        }

        if (mCancelSwdUpload) {
            emit fwUploadStatus("Upload cancelled", 0.0, false);
            return false;
        }
    }

    if (supportsLzo && isLzo) {
        qDebug() << "Uploaded:" << uploadSize << "Initial Size:" << szTot << "Compression Ratio:"
                 << double(uploadSize) / double(szTot) << "Compressed chunks:" << compChunks
                 << "Incompressible chunks:" << nonCompChunks;
    }

    emit fwUploadStatus("Upload done", 1.0, false);

    return true;
}

void VescInterface::swdCancel()
{
    mCancelSwdUpload = true;
}

bool VescInterface::swdReboot()
{
    auto waitBmReboot = [this]() {
        int res = -10;

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(3000);
        auto conn = connect(mCommands, &Commands::bmRebootRes, [&res,&loop](int wrRes) {
            res = wrRes;
            loop.quit();
        });

        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        disconnect(conn);
        return res;
    };

    mCommands->bmReboot();
    int res = waitBmReboot();
    if (res == -10) {
        QString msg = "Reboot: Unknown failure";

        if (res == -10) {
            msg = "Reboot: Timed out";
        } else if (res == -1) {
            msg = "Reboot: Not connected to target";
        } else if (res == -2) {
            msg = "Reboot: Flash done failed";
        }

        emitMessageDialog("SWD Upload", msg, false, false);
        emit fwUploadStatus(msg, 1.0, false);

        return false;
    }

    return true;
}

bool VescInterface::fwEraseNewApp(bool fwdCan, quint32 fwSize)
{
    auto waitEraseRes = [this]() {
        int res = -10;

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(20000);
        auto conn = connect(mCommands, &Commands::eraseNewAppResReceived,
                            [&res,&loop](bool erRes) {
            res = erRes ? 1 : -1;
            loop.quit();
        });

        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        disconnect(conn);
        return res;
    };

    mCommands->eraseNewApp(fwdCan, fwSize, mLastFwParams.hwType, mLastFwParams.hw);
    emit fwUploadStatus("Erasing buffer...", 0.0, true);
    int erRes = waitEraseRes();
    if (erRes != 1) {
        QString msg = QString("Unknown failure: %1").arg(erRes);

        if (erRes == -10) {
            msg = "Erase timed out";
        } else if (erRes == -1) {
            msg = "Erasing buffer failed";
        }

        emitMessageDialog("Firmware Upload", msg, false, false);
        emit fwUploadStatus(msg, 0.0, false);

        return false;
    }

    emit fwUploadStatus("Erase done", 0.0, false);

    return true;
}

bool VescInterface::fwEraseBootloader(bool fwdCan)
{
    auto waitEraseRes = [this]() {
        int res = -10;

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(20000);
        auto conn = connect(mCommands, &Commands::eraseBootloaderResReceived,
                            [&res,&loop](bool erRes) {
            res = erRes ? 1 : -1;
            loop.quit();
        });

        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        disconnect(conn);
        return res;
    };

    mCommands->eraseBootloader(fwdCan, mLastFwParams.hwType, mLastFwParams.hw);
    emit fwUploadStatus("Erasing bootloader...", 0.0, true);
    int erRes = waitEraseRes();
    if (erRes != 1) {
        QString msg = "Unknown failure";

        if (erRes == -10) {
            msg = "Erase timed out";
        } else if (erRes == -1) {
            msg = "Erasing bootloader failed";
        }

        emitMessageDialog("Firmware Upload", msg, false, false);
        emit fwUploadStatus(msg, 0.0, false);

        return false;
    }

    emit fwUploadStatus("Erase done", 0.0, false);

    return true;
}

bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fwdCan, bool isLzo)
{
    mIsLastFwBootloader = isBootloader;
    mFwUploadProgress = 0.0;
    mCancelFwUpload = false;

    if (fwdCan) {
        FW_RX_PARAMS fwParamsLocal;
        Utility::getFwVersionBlocking(this, &fwParamsLocal);
        if (fwParamsLocal.hw.isEmpty()) {
            emitMessageDialog("Firmware Upload", "Could not read hardware version", false, false);
            mFwUploadStatus = "Read HW version failed";
            mFwUploadProgress = -1.0;
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
            return false;
        }

        if (fwParamsLocal.hwType == HW_TYPE_VESC) {
            if (mCommands->getSendCan()) {
                emitMessageDialog("Firmware Upload",
                                  "CAN forwarding must be disabled when uploading firmware to "
                                  "all VESCs at the same time.", false, false);
                mFwUploadStatus = "CAN check failed";
                mFwUploadProgress = -1.0;
                emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
                return false;
            }

            mFwUploadStatus = "Scanning CAN bus...";
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, true);
            auto devs = scanCan();

            bool ignoreBefore = mIgnoreCanChange;
            mIgnoreCanChange = true;

            for (auto d: devs) {
                mCommands->setSendCan(true, d);
                FW_RX_PARAMS fwParamsCan;
                Utility::getFwVersionBlocking(this, &fwParamsCan);
                if (fwParamsCan.hwType == HW_TYPE_VESC && fwParamsLocal.hw != fwParamsCan.hw) {
                    emitMessageDialog("Firmware Upload",
                                      "All VESCs on the CAN-bus must have the same hardware version to upload "
                                      "firmware to all of them at the same time. You must update them individually.",
                                      false, false);
                    mCommands->setSendCan(false);
                    mIgnoreCanChange = ignoreBefore;

                    mFwUploadStatus = "CAN check failed";
                    mFwUploadProgress = -1.0;
                    emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);

                    return false;
                }
            }

            mCommands->setSendCan(false);
            mIgnoreCanChange = ignoreBefore;
        }
    }

    if (isBootloader) {
        if (mCommands->getLimitedSupportsEraseBootloader()) {
            mFwUploadStatus = "Erasing bootloader";
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, true);
            if (!fwEraseBootloader(fwdCan)) {
                mFwUploadStatus = "Erasing bootloader failed";
                mFwUploadProgress = -1.0;
                emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
                return false;
            }
        }
    } else {
        mFwUploadStatus = "Erasing buffer";
        emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, true);
        if (!fwEraseNewApp(fwdCan, quint32(newFirmware.size()))) {
            mFwUploadStatus = "Erasing buffer failed";
            mFwUploadProgress = -1.0;
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
            return false;
        }
    }

    bool supportsLzo = mCommands->getLimitedCompatibilityCommands().
            contains(int(COMM_WRITE_NEW_APP_DATA_LZO));

    if (mLastFwParams.hwType != HW_TYPE_VESC) {
        supportsLzo = false;
    }

    auto writeChunk = [this, &fwdCan](uint32_t addr, QByteArray chunk, bool fwIsLzo, quint16 decompressedLen) {
        for (int i = 0;i < 3;i++) {
            int res = -10;
            QEventLoop loop;
            QTimer timeoutTimer;
            timeoutTimer.setSingleShot(true);
            timeoutTimer.start(3000);
            auto conn = connect(mCommands, &Commands::writeNewAppDataResReceived,
                                [&res,&loop](bool ok, bool hasOffset, quint32 offset) {
                (void)offset;
                (void)hasOffset;
                res = ok ? 1 : -1;
                loop.quit();
            });

            if (fwIsLzo) {
                mCommands->writeNewAppDataLzo(chunk, addr, decompressedLen, fwdCan);
            } else {
                mCommands->writeNewAppData(chunk, addr, fwdCan, mLastFwParams.hwType, mLastFwParams.hw);
            }

            connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
            loop.exec();
            disconnect(conn);

            if (res != 1) {
                qDebug() << "Write chunk failed:" << res << "LZO:" << fwIsLzo << "Addr:" << addr << "Size:" << chunk.size();
            }

            if (res != -10) {
                return res;
            }
        }

        return -20;
    };

    int addr = 0;

    if (isBootloader) {
        if (mLastFwParams.hwType != HW_TYPE_VESC) {
            addr += 0x0803E000 - 0x08020000;
        } else {
            addr += (1024 * 128 * 3);
        }
    }

    int startAddr = addr;
    int szTot = newFirmware.size();
    int uploadSize = 2;
    int compChunks = 0;
    int nonCompChunks = 0;
    int skipChunks = 0;

    bool useHeatshrink = false;
    if (szTot > 393208) {
        useHeatshrink = true;
        qDebug() << "Firmware is big, using heatshrink compression library";
        int szOld = szTot;
        HeatshrinkIf hs;
        newFirmware = hs.encode(newFirmware);
        szTot = newFirmware.size();
        qDebug() << "New size:" << szTot << "(" << 100.0 * (double)szTot / (double)szOld << "%)";
        supportsLzo = false;

        if (szTot > 393208) {
            emitMessageDialog(tr("Firmware too big"),
                              tr("The firmware you are trying to upload is too large for the "
                                 "bootloader even after compression."), false);
            return false;
        }
    }

    if (!isBootloader) {
        quint16 crc = Packet::crc16((const unsigned char*)newFirmware.constData(),
                                    uint32_t(newFirmware.size()));
        VByteArray sizeCrc;
        if (useHeatshrink) {
            uint32_t szShift = 0xCC;
            szShift <<= 24;
            szShift |= szTot;
            sizeCrc.vbAppendUint32(szShift);
        } else {
            sizeCrc.vbAppendUint32(szTot);
        }
        sizeCrc.vbAppendUint16(crc);
        newFirmware.prepend(sizeCrc);
    }

    int lzoFailures = 0;
    const int chunkSize = 384;
    while (newFirmware.size() > 0) {
        if (mCancelFwUpload) {
            mFwUploadProgress = -1.0;
            mFwUploadStatus = "Upload cancelled";
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
            return false;
        }

        int sz = newFirmware.size() > chunkSize ? chunkSize : newFirmware.size();

        QByteArray in = newFirmware.mid(0, sz);

        bool hasData = false;
        for (auto b: in) {
            if (b != (char)0xff) {
                hasData = true;
                break;
            }
        }

        int res = 1;
        if (hasData) {
            std::size_t outMaxSize = chunkSize + chunkSize / 16 + 64 + 3;
            unsigned char out[1000];
            std::size_t out_len = sz;

            if (isLzo && supportsLzo) {
                lzokay::EResult error = lzokay::compress((const uint8_t*)in.constData(), sz, out,outMaxSize, out_len);
                if (error < lzokay::EResult::Success) {
                    qWarning() << "LZO Compress Error" << int(error);
                    isLzo = false;
                }
            }

            if (isLzo && supportsLzo && (out_len + 2) < uint32_t(sz)) {
                compChunks++;
                uploadSize += out_len + 2;
                res = writeChunk(uint32_t(addr), QByteArray((const char*)out, int(out_len)),
                                 true, uint16_t(sz));

                if (res != 1) {
                    res = writeChunk(uint32_t(addr), in, false, 0);

                    // This actually can happen for at least one block of data, which is strange. Probably some
                    // incompatibility between lzokay and minilzo. TODO: figure out what the problem is.
                    if (res == 1) {
                        qWarning() << "Writing LZO failed, but regular write was OK.";
                        lzoFailures++;

                        if (lzoFailures > 3) {
                            qWarning() << "Lzo does not seem to work with the current FW, disabling it for this upload.";
                            supportsLzo = false;
                        }
                    }
                } else {
                    lzoFailures = 0;
                }
            } else {
                nonCompChunks++;
                uploadSize += sz;
                res = writeChunk(uint32_t(addr), in, false, 0);
            }
        } else {
            skipChunks++;
        }

        newFirmware.remove(0, sz);
        addr += sz;

        if (res == 1) {
            mFwUploadProgress = double(addr - startAddr) / double(szTot);
            mFwUploadStatus = "Uploading ";
            if (isBootloader) {
                mFwUploadStatus += "Bootloader";
            } else {
                mFwUploadStatus += "Firmware";
            }
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, true);
        } else {
            QString msg = QString("Unknown failure: %1").arg(res);

            if (res == -20) {
                msg = "Firmware upload timed out";
            } else if (res == -2) {
                msg = "Write failed";
            }

            emitMessageDialog("Firmware Upload", msg, false, false);
            mFwUploadProgress = -1.0;
            mFwUploadStatus = msg;
            emit fwUploadStatus(mFwUploadStatus, mFwUploadProgress, false);
            return false;
        }
    }

    mFwUploadProgress = -1.0;
    mFwUploadStatus = "Upload done";
    emit fwUploadStatus(mFwUploadStatus, 1.0, false);

    if (supportsLzo && isLzo) {
        qDebug() << "Uploaded:" << uploadSize << "Initial Size:" << szTot << "Compression Ratio:"
                 << double(uploadSize) / double(szTot - skipChunks * chunkSize)
                 << "\nCompressed chunks:" << compChunks << "Incompressible chunks:"
                 << nonCompChunks << "\nSkipped chunks:" << skipChunks
                 << "(" << skipChunks * chunkSize << "b )";
    }

    if (!isBootloader) {
        mCommands->jumpToBootloader(fwdCan, mLastFwParams.hwType, mLastFwParams.hw);
        Utility::sleepWithEventLoop(500);
        disconnectPort();
    }

    return true;
}

void VescInterface::fwUploadCancel()
{
    mCancelFwUpload = true;
}

double VescInterface::getFwUploadProgress()
{
    return mFwUploadProgress;
}

QString VescInterface::getFwUploadStatus()
{
    return mFwUploadStatus;
}

bool VescInterface::isCurrentFwBootloader()
{
    return mIsLastFwBootloader;
}

bool VescInterface::openRtLogFile(QString outDirectory)
{
    if (outDirectory.startsWith("file:/")) {
        outDirectory.remove(0, 6);
    }

    if (!QDir(outDirectory).exists()) {
        QDir().mkpath(outDirectory);
    }

    if (!QDir(outDirectory).exists()) {
        emitMessageDialog("Log to file",
                          "Output directory does not exist",
                          false, false);
        return false;
    }

    QDateTime d = QDateTime::currentDateTime();
    mRtLogFile.setFileName(QString("%1/%2-%3-%4_%5-%6-%7.csv").
                           arg(outDirectory).
                           arg(d.date().year(), 2, 10, QChar('0')).
                           arg(d.date().month(), 2, 10, QChar('0')).
                           arg(d.date().day(), 2, 10, QChar('0')).
                           arg(d.time().hour(), 2, 10, QChar('0')).
                           arg(d.time().minute(), 2, 10, QChar('0')).
                           arg(d.time().second(), 2, 10, QChar('0')));

    bool res = mRtLogFile.open(QIODevice::WriteOnly | QIODevice::Text);

    if (mRtLogFile.isOpen()) {
        QTextStream os(&mRtLogFile);
        os << "ms_today" << ";";
        os << "input_voltage" << ";";
        os << "temp_mos_max" << ";";
        os << "temp_mos_1" << ";";
        os << "temp_mos_2" << ";";
        os << "temp_mos_3" << ";";
        os << "temp_motor" << ";";
        os << "current_motor" << ";";
        os << "current_in" << ";";
        os << "d_axis_current" << ";";
        os << "q_axis_current" << ";";
        os << "erpm" << ";";
        os << "duty_cycle" << ";";
        os << "amp_hours_used" << ";";
        os << "amp_hours_charged" << ";";
        os << "watt_hours_used" << ";";
        os << "watt_hours_charged" << ";";
        os << "tachometer" << ";";
        os << "tachometer_abs" << ";";
        os << "encoder_position" << ";";
        os << "fault_code" << ";";
        os << "vesc_id" << ";";
        os << "d_axis_voltage" << ";";
        os << "q_axis_voltage" << ";";

        os << "ms_today_setup" << ";";
        os << "amp_hours_setup" << ";";
        os << "amp_hours_charged_setup" << ";";
        os << "watt_hours_setup" << ";";
        os << "watt_hours_charged_setup" << ";";
        os << "battery_level" << ";";
        os << "battery_wh_tot" << ";";
        os << "current_in_setup" << ";";
        os << "current_motor_setup" << ";";
        os << "speed_meters_per_sec" << ";";
        os << "tacho_meters" << ";";
        os << "tacho_abs_meters" << ";";
        os << "num_vescs" << ";";

        os << "ms_today_imu" << ";";
        os << "roll" << ";";
        os << "pitch" << ";";
        os << "yaw" << ";";
        os << "accX" << ";";
        os << "accY" << ";";
        os << "accZ" << ";";
        os << "gyroX" << ";";
        os << "gyroY" << ";";
        os << "gyroZ" << ";";

        os << "gnss_posTime" << ";";
        os << "gnss_lat" << ";";
        os << "gnss_lon" << ";";
        os << "gnss_alt" << ";";
        os << "gnss_gVel" << ";";
        os << "gnss_vVel" << ";";
        os << "gnss_hAcc" << ";";
        os << "gnss_vAcc" << ";";
        os << "\n";
        os.flush();
    }

    if (!res) {
        emitMessageDialog("Log to file",
                          "Could not open file for writing.",
                          false, false);
    }

    mRtLogData.clear();

    if (res) {
#ifdef HAS_POS
        if (mPosSource != nullptr) {
            mPosSource->deleteLater();
        }

        mPosSource = QGeoPositionInfoSource::createDefaultSource(this);


        if (mPosSource) {
            connect(mPosSource, &QGeoPositionInfoSource::positionUpdated,
                    [this](QGeoPositionInfo info) {
                mLastPos = info;
                mLastPosTime = QDateTime::currentDateTimeUtc();
            });
            mPosSource->setUpdateInterval(5);
            mPosSource->startUpdates();
        }else{
            emitMessageDialog("Postioning",
                              "Could not get Positioning Working.",
                              false, false);
        }
#endif
    }

    return res;
}

void VescInterface::closeRtLogFile()
{
    if (mRtLogFile.isOpen()) {
        mRtLogFile.close();
    }
}

bool VescInterface::isRtLogOpen()
{
    return mRtLogFile.isOpen();
}

QString VescInterface::rtLogFilePath()
{
    QFileInfo fi(mRtLogFile);
    return fi.canonicalFilePath();
}

QVector<LOG_DATA> VescInterface::getRtLogData()
{
    return mRtLogData;
}

bool VescInterface::loadRtLogFile(QString file)
{
    bool res = false;

    QFile inFile(file);

    if (inFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        QTextStream in(&inFile);
        int lineNum = 0;

        mRtLogData.clear();
        while (!in.atEnd()) {
            QStringList tokens = in.readLine().split(";");

            if (tokens.size() == 1) {
                tokens = tokens.at(0).split(",");
            }

            if (tokens.size() < 22) {
                continue;
            }

            if (lineNum > 0) {
                LOG_DATA d;
                d.valTime = tokens.at(0).toInt();
                d.values.v_in = tokens.at(1).toDouble();
                d.values.temp_mos = tokens.at(2).toDouble();
                d.values.temp_mos_1 = tokens.at(3).toDouble();
                d.values.temp_mos_2 = tokens.at(4).toDouble();
                d.values.temp_mos_3 = tokens.at(5).toDouble();
                d.values.temp_motor = tokens.at(6).toDouble();
                d.values.current_motor = tokens.at(7).toDouble();
                d.values.current_in = tokens.at(8).toDouble();
                d.values.id = tokens.at(9).toDouble();
                d.values.iq = tokens.at(10).toDouble();
                d.values.rpm = tokens.at(11).toDouble();
                d.values.duty_now = tokens.at(12).toDouble();
                d.values.amp_hours = tokens.at(13).toDouble();
                d.values.amp_hours_charged = tokens.at(14).toDouble();
                d.values.watt_hours = tokens.at(15).toDouble();
                d.values.watt_hours_charged = tokens.at(16).toDouble();
                d.values.tachometer = tokens.at(17).toInt();
                d.values.tachometer_abs = tokens.at(18).toInt();
                d.values.position = tokens.at(19).toDouble();
                d.values.fault_code = mc_fault_code(tokens.at(20).toInt());
                d.values.vesc_id = tokens.at(21).toInt();

                // Possibly populate setup values too, but these values would
                // not correspond to setupValTime.
//                d.setupValues.v_in = d.values.v_in;
//                d.setupValues.duty_now = d.values.duty_now;
//                d.setupValues.temp_mos = d.values.temp_mos;
//                d.setupValues.temp_motor = d.values.temp_motor;
//                d.setupValues.fault_code = d.values.fault_code;
//                d.setupValues.vesc_id = d.values.vesc_id;

                if (tokens.size() >= 55) {
                    d.values.vd = tokens.at(22).toDouble();
                    d.values.vq = tokens.at(23).toDouble();

                    d.setupValTime = tokens.at(24).toInt();
                    d.setupValues.amp_hours = tokens.at(25).toDouble();
                    d.setupValues.amp_hours_charged = tokens.at(26).toDouble();
                    d.setupValues.watt_hours = tokens.at(27).toDouble();
                    d.setupValues.watt_hours_charged = tokens.at(28).toDouble();
                    d.setupValues.battery_level = tokens.at(29).toDouble();
                    d.setupValues.battery_wh = tokens.at(30).toDouble();
                    d.setupValues.current_in = tokens.at(31).toDouble();
                    d.setupValues.current_motor = tokens.at(32).toDouble();
                    d.setupValues.speed = tokens.at(33).toDouble();
                    d.setupValues.tachometer = tokens.at(34).toDouble();
                    d.setupValues.tachometer_abs = tokens.at(35).toDouble();
                    d.setupValues.num_vescs = tokens.at(36).toInt();

                    d.imuValTime = tokens.at(37).toInt();
                    d.imuValues.roll = tokens.at(38).toDouble();
                    d.imuValues.pitch = tokens.at(39).toDouble();
                    d.imuValues.yaw = tokens.at(40).toDouble();
                    d.imuValues.accX = tokens.at(41).toDouble();
                    d.imuValues.accY = tokens.at(42).toDouble();
                    d.imuValues.accZ = tokens.at(43).toDouble();
                    d.imuValues.gyroX = tokens.at(44).toDouble();
                    d.imuValues.gyroY = tokens.at(45).toDouble();
                    d.imuValues.gyroZ = tokens.at(46).toDouble();

                    d.posTime = tokens.at(47).toInt();
                    d.lat = tokens.at(48).toDouble();
                    d.lon = tokens.at(49).toDouble();
                    d.alt = tokens.at(50).toDouble();
                    d.gVel = tokens.at(51).toDouble();
                    d.vVel = tokens.at(52).toDouble();
                    d.hAcc = tokens.at(53).toDouble();
                    d.vAcc = tokens.at(54).toDouble();
                }

                mRtLogData.append(d);
            }

            lineNum++;
        }

        inFile.close();
        res = true;

        emitStatusMessage(QString("Loaded %1 log entries").arg(lineNum - 1), true);
    } else {
        emitMessageDialog("Read Log File",
                          "Could not open\n" +
                          file +
                          "\nfor reading.",
                          false, false);
    }

    return res;
}

LOG_DATA VescInterface::getRtLogSample(double progress)
{
    LOG_DATA d;

    int sample = int(double(mRtLogData.size() - 1) * progress);
    if (sample >= 0 && sample < mRtLogData.size()) {
        d = mRtLogData.at(sample);
    }

    return d;
}

LOG_DATA VescInterface::getRtLogSampleAtValTimeFromStart(int time)
{
    LOG_DATA d;

    if (mRtLogData.size() > 0) {
        d = mRtLogData.first();
        int startTime = d.valTime;

        for (LOG_DATA dn: mRtLogData) {
            int timeMs = dn.valTime - startTime;
            if (timeMs < 0) { // Handle midnight
                timeMs += 60 * 60 * 24;
            }

            if (timeMs >= time) {
                d = dn;
                break;
            }
        }
    }

    return d;
}

bool VescInterface::useImperialUnits()
{
    return mUseImperialUnits;
}

void VescInterface::setUseImperialUnits(bool useImperialUnits)
{
    bool changed = useImperialUnits != mUseImperialUnits;
    mUseImperialUnits = useImperialUnits;
    if (changed) {
        emit useImperialUnitsChanged(mUseImperialUnits);
    }
}

bool VescInterface::keepScreenOn()
{
    return mKeepScreenOn;
}

void VescInterface::setKeepScreenOn(bool on)
{
    mKeepScreenOn = on;
}

bool VescInterface::useWakeLock()
{
    return mUseWakeLock;
}

void VescInterface::setUseWakeLock(bool on)
{
    mUseWakeLock = on;
}

bool VescInterface::setWakeLock(bool lock)
{
#ifdef Q_OS_ANDROID
    if (mWakeLock.isValid()) {
        mWakeLock.callMethod<void>("setReferenceCounted", "(Z)V", false);

        if (lock) {
            mWakeLock.callMethod<void>("acquire", "()V");
            mWakeLockActive = true;
        } else {
            mWakeLock.callMethod<void>("release", "()V");
            mWakeLockActive = false;
        }

        return true;
    } else {
        emitMessageDialog("Wake Lock", "Could not aquire wake lock", false, false);
        return false;
    }
#else
    (void)lock;
    return true;
#endif
}

bool VescInterface::getLoadQmlUiOnConnect() const
{
    return mLoadQmlUiOnConnect;
}

void VescInterface::setLoadQmlUiOnConnect(bool loadQmlUiOnConnect)
{
    mLoadQmlUiOnConnect = loadQmlUiOnConnect;
}

bool VescInterface::getAllowScreenRotation() const
{
    return mAllowScreenRotation;
}

void VescInterface::setAllowScreenRotation(bool allowScreenRotation)
{
    mAllowScreenRotation = allowScreenRotation;
    Utility::allowScreenRotation(allowScreenRotation);
}

bool VescInterface::speedGaugeUseNegativeValues()
{
    return mSpeedGaugeUseNegativeValues;
}

void VescInterface::setSpeedGaugeUseNegativeValues(bool useNegativeValues)
{
    mSpeedGaugeUseNegativeValues = useNegativeValues;
}

#ifdef HAS_SERIALPORT
QString VescInterface::getLastSerialPort() const
{
    return mLastSerialPort;
}

int VescInterface::getLastSerialBaud() const
{
    return mLastSerialBaud;
}
#endif

#ifdef HAS_CANBUS
QString VescInterface::getLastCANbusInterface() const
{
    return mLastCanDeviceInterface;
}

int VescInterface::getLastCANbusBitrate() const
{
    return mLastCanDeviceBitrate;
}
#endif

#ifdef HAS_BLUETOOTH
BleUart *VescInterface::bleDevice()
{
    return mBleUart;
}

void VescInterface::storeBleName(QString address, QString name)
{
    mBleNames.insert(address, name);
}

QString VescInterface::getBleName(QString address)
{
    QString res;
    if(mBleNames.contains(address)) {
        res = mBleNames[address];
    }
    return res;
}

QString VescInterface::getLastBleAddr() const
{
    return mLastBleAddr;
}

void VescInterface::storeBlePreferred(QString address, bool preferred)
{
    mBlePreferred.insert(address, preferred);
}

bool VescInterface::getBlePreferred(QString address)
{
    bool res = false;
    if(mBlePreferred.contains(address)) {
        res = mBlePreferred[address];
    }
    return res;
}
#endif

bool VescInterface::isPortConnected()
{
    bool res = false;

#ifdef HAS_SERIALPORT
    if (mSerialPort->isOpen()) {
        res = true;
    }
#endif

#ifdef HAS_CANBUS
    if (isCANbusConnected() && !mCANbusScanning) {
        res = true;
    }
#endif

    if (mTcpConnected) {
        res = true;
    }

    if (mUdpConnected) {
        res = true;
    }

#ifdef HAS_BLUETOOTH
    if (mBleUart->isConnected()) {
        res = true;
    }
#endif

    return res;
}

void VescInterface::disconnectPort()
{
#ifdef HAS_SERIALPORT
    if(mSerialPort->isOpen()) {
        mSerialPort->flush();
        mSerialPort->close();
        updateFwRx(false);
    }
#endif

#ifdef HAS_CANBUS
    if(isCANbusConnected()) {
        mCanDevice->disconnectDevice();
        delete mCanDevice;
        mCanDevice = nullptr;
    }
#endif

    if (mTcpConnected) {
        mTcpSocket->flush();
        mTcpSocket->close();
        updateFwRx(false);
    }

    if (mUdpConnected) {
        mUdpSocket->close();
        mUdpConnected = false;
        updateFwRx(false);
    }

#ifdef HAS_BLUETOOTH
    if (mBleUart->isConnected()) {
        mBleUart->disconnectBle();
        updateFwRx(false);
    }
#endif

    mFwRetries = 0;
}

bool VescInterface::reconnectLastPort()
{
    if (mLastConnType == CONN_SERIAL) {
#ifdef HAS_SERIALPORT
        return connectSerial(mLastSerialPort, mLastSerialBaud);
#else
        return false;
#endif
    } else if (mLastConnType == CONN_TCP) {
        connectTcp(mLastTcpServer, mLastTcpPort);
        return true;
    } else if (mLastConnType == CONN_UDP) {
        connectUdp(mLastUdpServer.toString(), mLastUdpPort);
        return true;
    } else if (mLastConnType == CONN_BLE) {
#ifdef HAS_BLUETOOTH
        mBleUart->startConnect(mLastBleAddr);
#endif
        return true;
    } else if (mLastConnType == CONN_CANBUS) {
#ifdef HAS_CANBUS
        return connectCANbus(mLastCanBackend, mLastCanDeviceInterface, mLastCanDeviceBitrate);
#else
        return false;
#endif
    } else {
#ifdef HAS_SERIALPORT
        QList<VSerialInfo_t> ports = listSerialPorts();
        if (!ports.isEmpty()) {
            return connectSerial(ports.first().systemPath);
        } else  {
            emit messageDialog(tr("Reconnect"), tr("No ports found"), false, false);
            return false;
        }
#else
        emit messageDialog(tr("Reconnect"),
                           tr("Please specify the connection manually "
                              "the first time you are connecting."),
                           false, false);
        return false;
#endif
    }
}

bool VescInterface::autoconnect()
{
    bool res = false;

#ifdef HAS_SERIALPORT
    QList<VSerialInfo_t> ports = listSerialPorts();
    mAutoconnectOngoing = true;
    mAutoconnectProgress = 0.0;

    disconnectPort();
    disconnect(mCommands, SIGNAL(fwVersionReceived(FW_RX_PARAMS)),
               this, SLOT(fwVersionReceived(FW_RX_PARAMS)));

    for (int i = 0;i < ports.size();i++) {
        VSerialInfo_t serial = ports[i];

        if (!connectSerial(serial.systemPath)) {
            continue;
        }

        mSerialPort->flush();
        Utility::sleepWithEventLoop(100);
        mPacket->resetState();

        QEventLoop loop;
        QTimer timeoutTimer;
        timeoutTimer.setSingleShot(true);
        timeoutTimer.start(500);
        connect(mCommands, SIGNAL(fwVersionReceived(FW_RX_PARAMS)), &loop, SLOT(quit()));
        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
        loop.exec();

        if (timeoutTimer.isActive()) {
            // If the timer is still running, a firmware version was received.
            res = true;
            break;
        } else {
            mAutoconnectProgress = double(i) / double(ports.size());
            emit autoConnectProgressUpdated(mAutoconnectProgress, false);
            disconnectPort();
        }
    }

    connect(mCommands, SIGNAL(fwVersionReceived(FW_RX_PARAMS)),
            this, SLOT(fwVersionReceived(FW_RX_PARAMS)));
#endif

    emit autoConnectProgressUpdated(1.0, true);
    emit autoConnectFinished();
    mAutoconnectOngoing = false;
    return res;
}

QString VescInterface::getConnectedPortName()
{
    QString res = tr("Not connected");
    bool connected = false;

#ifdef HAS_SERIALPORT
    if (mSerialPort->isOpen()) {
        res = tr("Connected (serial) to %1").arg(mSerialPort->portName());
        connected = true;
    }
#endif

#ifdef HAS_CANBUS
    if (isCANbusConnected()) {
        res = tr("Connected (CAN bus) to %1").arg(mLastCanDeviceInterface);
        connected = true;
    }
#endif

    if (mTcpConnected) {
        res = tr("Connected (TCP) to %1:%2").arg(mLastTcpServer).arg(mLastTcpPort);
        connected = true;
    }

    if (mUdpConnected) {
        res = tr("Connected (UDP) to %1:%2").arg(mLastUdpServer.toString()).arg(mLastUdpPort);
        connected = true;
    }

#ifdef HAS_BLUETOOTH
    if (mBleUart->isConnected()) {
#if  defined(Q_OS_IOS)|defined(Q_OS_MACX)
        QStringList ids = mLastBleAddr.split('-');
        QString id = ids[0].left(3) + '-' + ids[1].left(2) + '-' + ids[2].left(2) + '-' + ids[3].left(2) + '-' + ids[4].right(3);
        res = tr("Connected (BLE) to %1").arg(id);
#else
        res = tr("Connected (BLE) to %1").arg(mLastBleAddr);
#endif
        connected = true;
    }
#endif

    if (connected && mCommands->isLimitedMode()) {
        res += tr(", limited mode");
    }

    return res;
}

bool VescInterface::connectSerial(QString port, int baudrate)
{
#ifdef HAS_SERIALPORT
    bool found = false;
    for (VSerialInfo_t ser: listSerialPorts()) {
        if (ser.systemPath == port) {
            found = true;
            break;
        }
    }

    if (!found) {
        emit statusMessage(tr("Invalid serial port: %1").arg(port), false);
        return false;
    }

    if(!mSerialPort->isOpen()) {
        // TODO: Maybe this test works on other OSes as well
#ifdef Q_OS_UNIX
        QFileInfo fi(port);
        if (fi.exists()) {
            if (!fi.isWritable()) {
                emit statusMessage(tr("Serial port is not writable"), false);
                emit serialPortNotWritable(port);
                return false;
            }
        }
#endif

        mSerialPort->setPortName(port);
        mSerialPort->open(QIODevice::ReadWrite);

        if(!mSerialPort->isOpen()) {
            return false;
        }

        mSerialPort->setBaudRate(baudrate);
        mSerialPort->setDataBits(QSerialPort::Data8);
        mSerialPort->setParity(QSerialPort::NoParity);
        mSerialPort->setStopBits(QSerialPort::OneStop);
        mSerialPort->setFlowControl(QSerialPort::NoFlowControl);
    }

    mLastSerialPort = port;
    mLastSerialBaud = baudrate;
    mSettings.setValue("serial_port", mLastSerialPort);
    mSettings.setValue("serial_baud", mLastSerialBaud);
    setLastConnectionType(CONN_SERIAL);
    return true;
#else
    (void)port;
    (void)baudrate;
    emit messageDialog(tr("Connect serial"),
                       tr("Serial port support is not enabled in this build "
                          "of VESC Tool."),
                       false, false);
    return false;
#endif
}

QList<VSerialInfo_t> VescInterface::listSerialPorts()
{
    QList<VSerialInfo_t> res;

#ifdef HAS_SERIALPORT
    QList<QSerialPortInfo> ports = QSerialPortInfo::availablePorts();

    foreach(const QSerialPortInfo &port, ports) {
        VSerialInfo_t info;
        info.name = port.portName();
        info.systemPath = port.systemLocation();
        int index = res.size();

        if(port.manufacturer().startsWith("STMicroelectronics")) {
            info.name.insert(0, "VESC - ");
            info.isVesc = true;
            index = 0;
        } else {
            info.isVesc = false;
        }

        res.insert(index, info);
    }
#endif

    return res;
}

QList<QString> VescInterface::listCANbusInterfaces()
{
    QList<QString> res;
#ifdef HAS_CANBUS
#ifdef Q_OS_UNIX
    QFile devicesFile("/proc/net/dev");

    if (devicesFile.open(QIODevice::ReadOnly)) {
        QTextStream in(&devicesFile);
        do {
            QString line = in.readLine();
            for ( int i = 0; i<10; i++) {
                QString interface = QString("can").append(QString::number(i));
                if (line.contains(interface)) {
                    res.append(interface);
                }
            }
        } while (!in.atEnd());

        devicesFile.close();
    }
#endif
#endif
    return res;
}

bool VescInterface::connectCANbus(QString backend, QString ifName, int bitrate)
{
#ifdef HAS_CANBUS
    QString errorString;

    mCANbusScanning = false;
    mCanDevice = QCanBus::instance()->createDevice(backend, ifName, &errorString);
    if (!mCanDevice) {
        QString msg = tr("Error creating device '%1' using backend '%2', reason: '%3'").arg(mLastCanDeviceInterface).arg(mLastCanBackend).arg(errorString);
        emit statusMessage(msg, false);
        qWarning() << msg;
        return false;
    }

    connect(mCanDevice, SIGNAL(framesReceived()), this, SLOT(CANbusDataAvailable()));
    connect(mCanDevice, SIGNAL(errorOccurred(QCanBusDevice::CanBusError)), this, SLOT(CANbusError(QCanBusDevice::CanBusError)));

    mCanDevice->setConfigurationParameter(QCanBusDevice::LoopbackKey, false);
    mCanDevice->setConfigurationParameter(QCanBusDevice::ReceiveOwnKey, false);
    // bitrate change not supported yet by socketcan. It is possible to set the rate when
    // configuring the CAN network interface using the ip link command.
    // mCanDevice->setConfigurationParameter(QCanBusDevice::BitRateKey, bitrate);
    mCanDevice->setConfigurationParameter(QCanBusDevice::CanFdKey, false);
    mCanDevice->setConfigurationParameter(QCanBusDevice::ReceiveOwnKey, false);

    if (!mCanDevice->connectDevice()) {
        QString msg = tr("Connection error: %1").arg(mCanDevice->errorString());
        emit statusMessage(msg, false);
        qWarning() << msg;

        delete mCanDevice;
        mCanDevice = nullptr;
        return false;
    }

    QThread::msleep(10);

    mLastCanBackend = backend;
    mLastCanDeviceInterface = ifName;
    mLastCanDeviceBitrate = bitrate;

    mSettings.setValue("CANbusBackend", mLastCanBackend);
    mSettings.setValue("CANbusDeviceInterface", mLastCanDeviceInterface);
    mSettings.setValue("CANbusDeviceBitrate", mLastCanDeviceBitrate);
    mSettings.setValue("CANbusLastDeviceID", mLastCanDeviceID);
    setLastConnectionType(CONN_CANBUS);
    return true;
#else
    (void)backend;
    (void)ifName;
    (void)bitrate;
    emit messageDialog(tr("Connect serial"),
                       tr("CAN bus support is not enabled in this build "
                          "of VESC Tool."),
                       false, false);
    return false;
#endif
}

bool VescInterface::isCANbusConnected()
{
#ifdef HAS_CANBUS
    if (mCanDevice != nullptr) {
        if (mCanDevice->state() == QCanBusDevice::ConnectedState) {
            return true;
        }
    }
#endif
    return false;
}

void VescInterface::setCANbusReceiverID(int node_ID)
{
#ifdef HAS_CANBUS
    mLastCanDeviceID = node_ID;
#else
    (void)node_ID;
#endif
}

void VescInterface::connectTcp(QString server, int port)
{
    mLastTcpServer = server;
    mLastTcpPort = port;

    QHostAddress host;
    host.setAddress(server);

    // Try DNS lookup
    if (host.isNull()) {
        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();

        if (!addresses.isEmpty()) {
            host.setAddress(addresses.first().toString());
        }
    }

    mTcpSocket->abort();
    mTcpSocket->connectToHost(host, port);
}

void VescInterface::connectUdp(QString server, int port)
{
    QHostAddress host;
    host.setAddress(server);

    // Try DNS lookup
    if (host.isNull()) {
        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();

        if (!addresses.isEmpty()) {
            host.setAddress(addresses.first().toString());
        }
    }

    if(host.isNull()) // Can't lookup
        return;

    mUdpConnected = true;
    mLastUdpServer = host;
    mLastUdpPort = port;
    setLastConnectionType(CONN_UDP);
    updateFwRx(false);
}

void VescInterface::connectBle(QString address)
{
#ifdef HAS_BLUETOOTH
    mBleUart->startConnect(address);
    mLastBleAddr = address;
#else
    (void)address;
#endif
}

bool VescInterface::isAutoconnectOngoing() const
{
    return mAutoconnectOngoing;
}

double VescInterface::getAutoconnectProgress() const
{
    return mAutoconnectProgress;
}

void VescInterface::scanCANbus()
{
#ifdef HAS_CANBUS
    if (!isCANbusConnected()) {
        return;
    }

    mCANbusScanning = true;
    mCanNodesID.clear();

    QCanBusFrame frame;
    frame.setExtendedFrameFormat(true);
    frame.setFrameType(QCanBusFrame::UnknownFrame);
    frame.setFlexibleDataRateFormat(false);
    frame.setBitrateSwitch(false);

    QEventLoop loop;
    QTimer pollTimer;
    pollTimer.start(15);
    unsigned int i = 0;

    auto conn = connect(&pollTimer, &QTimer::timeout,
                        [this, &loop, &frame, &i]() {
        frame.setFrameId(i | uint32_t(CAN_PACKET_PING << 8));
        mCanDevice->writeFrame(frame);
        i++;
        if (i >= 254) {
            loop.quit();
        }
    });

    loop.exec();
    disconnect(conn);
#endif
    return;
}

QVector<int> VescInterface::scanCan()
{
    QVector<int> canDevs;

    if (!isPortConnected()) {
        return canDevs;
    }

    QEventLoop loop;

    bool timeout;
    auto conn = connect(commands(), &Commands::pingCanRx,
                        [&canDevs, &timeout, &loop](QVector<int> devs, bool isTimeout) {
        for (int dev: devs) {
            canDevs.append(dev);
        }
        timeout = isTimeout;
        loop.quit();
    });

    commands()->pingCan();
    loop.exec();

    disconnect(conn);

    if (!timeout) {
        mCanDevsLast = canDevs;
    } else {
        canDevs.clear();
    }

    return canDevs;
}

QVector<int> VescInterface::getCanDevsLast() const
{
    return mCanDevsLast;
}

void VescInterface::ignoreCanChange(bool ignore)
{
    mIgnoreCanChange = ignore;
}

bool VescInterface::isIgnoringCanChanges()
{
    return mIgnoreCanChange;
}


/**
 * @brief VescInterface::canTmpOverride
 * Temporarily override CAN-forwading and ignore CAN-changes while doing so. Useful
 * to temporarily send one or more CAN-packets from commands to devices on the CAN-bus.
 *
 * This command should only be used briefly, after which canTmpOverrideEnd() should
 * be used to restore the old CAN-forwarding state.
 *
 * This command can be used multiple times without running canTmpOverrideEnd()
 * in-between, as the old CAN-state is only saved if overriding was not currently
 * active.
 *
 * @param fwdCan
 * Enable CAN-forwarding. Can also be set to false to send to the local divice
 * if CAN-forwarding is already active.
 *
 * @param canId
 * CAN-id to forward to
 */
void VescInterface::canTmpOverride(bool fwdCan, int canId)
{
    if (!mCanTmpFwdActive) {
        mCanTmpFwdActive = true;
        mCanTmpFwdSendCanLast = mCommands->getSendCan();
        mCanTmpFwdIdLast = mCommands->getCanSendId();
    }

    ignoreCanChange(true);
    mCommands->setSendCan(fwdCan, canId);
}

/**
 * @brief VescInterface::canTmpOverrideEnd
 * Restore the CAN-forwarding state after using canTmpOverride.
 */
void VescInterface::canTmpOverrideEnd()
{
    if (mCanTmpFwdActive) {
        mCanTmpFwdActive = false;
        mCommands->setSendCan(mCanTmpFwdSendCanLast, mCanTmpFwdIdLast);
        ignoreCanChange(false);
    }
}

bool VescInterface::tcpServerStart(int port)
{
    bool res = mTcpServer->startServer(port);

    if (!res) {
        emitMessageDialog("Start TCP Server",
                          "Could not start TCP server: " + mTcpServer->errorString(),
                          false, false);
    }

    return res;
}

void VescInterface::tcpServerStop()
{
    mTcpServer->stopServer();
}

bool VescInterface::tcpServerIsRunning()
{
    return mTcpServer->isServerRunning();
}

bool VescInterface::tcpServerIsClientConnected()
{
    return mTcpServer->isClientConnected();
}

QString VescInterface::tcpServerClientIp()
{
    return mTcpServer->getConnectedClientIp();
}

bool VescInterface::udpServerStart(int port)
{
    bool res = mUdpServer->startServer(port);

    if (!res) {
        emitMessageDialog("Start UDP Server",
                          "Could not start UDP server: " + mUdpServer->errorString(),
                          false, false);
    }

    return res;
}

void VescInterface::udpServerStop()
{
    mUdpServer->stopServer();
}

bool VescInterface::udpServerIsRunning()
{
    return mUdpServer->isServerRunning();
}

bool VescInterface::udpServerIsClientConnected()
{
    return mUdpServer->isClientConnected();
}

QString VescInterface::udpServerClientIp()
{
    return mUdpServer->getConnectedClientIp();
}

void VescInterface::emitConfigurationChanged()
{
    emit configurationChanged();
}

#ifdef HAS_SERIALPORT
void VescInterface::serialDataAvailable()
{
    while (mSerialPort->bytesAvailable() > 0) {
        mPacket->processData(mSerialPort->readAll());
    }
}

void VescInterface::serialPortError(QSerialPort::SerialPortError error)
{
    QString message;
    switch (error) {
    case QSerialPort::NoError:
        break;

    default:
        message = "Serial port error: " + mSerialPort->errorString();
        break;
    }

    if(!message.isEmpty()) {
        emit statusMessage(message, false);

        if (mSerialPort->isOpen()) {
            mSerialPort->close();
        }

       updateFwRx(false);
    }
}
#endif

#ifdef HAS_CANBUS
void VescInterface::CANbusDataAvailable()
{
    QCanBusFrame frame;
    QByteArray payload;
    unsigned short rxbuf_len = 0;
    unsigned short crc;
    char commands_send;

    while (mCanDevice->framesAvailable() > 0) {
        frame = mCanDevice->readFrame();
        if (frame.isValid() && (frame.frameType() == QCanBusFrame::DataFrame)) {
            int packet_type = frame.frameId() >> 8;
            payload = frame.payload();

            switch(packet_type) {
            case CAN_PACKET_PONG:
                mCanNodesID.append(payload[0]);
                emit CANbusNewNode(payload[0]);
                break;

            case CAN_PACKET_PROCESS_SHORT_BUFFER:
                payload.remove(0,2);

                rxbuf_len = payload.size();
                crc = Packet::crc16((const unsigned char*)payload.data(), rxbuf_len);

                // add stop, start, length and crc for the packet decoder
                payload.prepend((unsigned char) rxbuf_len);
                payload.prepend(2);
                payload.append((unsigned char)(crc>>8));
                payload.append((unsigned char)(crc & 0xFF));
                payload.append(3);
                mPacket->processData(payload);
                break;

            case CAN_PACKET_FILL_RX_BUFFER:
                payload.remove(0,1);    // discard index
                mCanRxBuffer.append(payload);
                break;

            case CAN_PACKET_FILL_RX_BUFFER_LONG:
                payload.remove(0,2);    // discard the 2 byte index
                mCanRxBuffer.append(payload);
                break;

            case CAN_PACKET_PROCESS_RX_BUFFER:
                commands_send = payload[1];
                rxbuf_len = (unsigned short)payload[2] << 8 | (unsigned char)payload[3];

                if (rxbuf_len > 512) {
                    return;
                }
                unsigned char len_high = payload[2];
                unsigned char len_low = payload[3];

                unsigned char crc_high = payload[4];
                unsigned char crc_low = payload[5];

                if (Packet::crc16((const unsigned char*)mCanRxBuffer.data(), rxbuf_len) ==
                        ((unsigned short) crc_high << 8 | (unsigned short) crc_low)) {
                    switch (commands_send) {
                        case 0:
                            break;
                        case 1:
                            // add stop, start, length and crc for the packet decoder
                            if (len_high == 0) {
                                mCanRxBuffer.prepend(len_low);
                                mCanRxBuffer.prepend(2);
                            } else {
                                mCanRxBuffer.prepend(len_low);
                                mCanRxBuffer.prepend(len_high);
                                mCanRxBuffer.prepend(3); // size is 16 bit long
                            }

                            mCanRxBuffer.append(crc_high);
                            mCanRxBuffer.append(crc_low);
                            mCanRxBuffer.append(3);
                            mPacket->processData(mCanRxBuffer);
                            break;
                        case 2:
                            //commands_process_packet(rx_buffer, rxbuf_len, 0);
                            break;
                        default:
                            break;
                    }
                }
                mCanRxBuffer.clear();
                break;
            }
        }
    }
}

void VescInterface::CANbusError(QCanBusDevice::CanBusError error)
{
    QString message;
    switch (error) {
    case QCanBusDevice::NoError:
        break;

    default:
        message = "CAN bus error: " + mCanDevice->errorString();
        break;
    }

    if(!message.isEmpty()) {
        emit statusMessage(message, false);
        mCanDevice->disconnectDevice();
        updateFwRx(false);
    }
}
#endif

void VescInterface::tcpInputConnected()
{
    mTcpSocket->setSocketOption(QAbstractSocket::LowDelayOption, true);

    mSettings.setValue("tcp_server", mLastTcpServer);
    mSettings.setValue("tcp_port", mLastTcpPort);
    setLastConnectionType(CONN_TCP);

    mTcpConnected = true;
    updateFwRx(false);
}

void VescInterface::tcpInputDisconnected()
{
    mTcpConnected = false;
    updateFwRx(false);
}

void VescInterface::tcpInputDataAvailable()
{
    while (mTcpSocket->bytesAvailable() > 0) {
        mPacket->processData(mTcpSocket->readAll());
    }
}

void VescInterface::udpInputDataAvailable()
{
    while (mUdpSocket->hasPendingDatagrams()) {
        QNetworkDatagram datagram = mUdpSocket->receiveDatagram();
        mPacket->processData(datagram.data());
    }
}

void VescInterface::tcpInputError(QAbstractSocket::SocketError socketError)
{
    (void)socketError;

    QString errorStr = mTcpSocket->errorString();
    emit statusMessage(tr("TCP Error") + errorStr, false);
    mTcpSocket->close();
    updateFwRx(false);
}

void VescInterface::udpInputError(QAbstractSocket::SocketError socketError)
{
    (void)socketError;

    QString errorStr = mUdpSocket->errorString();
    emit statusMessage(tr("UDP Error") + errorStr, false);
    mUdpSocket->close();
    mUdpConnected = false;
    updateFwRx(false);
}

#ifdef HAS_BLUETOOTH
void VescInterface::bleDataRx(QByteArray data)
{
    mPacket->processData(data);
}

void VescInterface::bleUnintentionalDisconnect()
{
   emit unintentionalBleDisconnect();
}
#endif

void VescInterface::timerSlot()
{
    // Poll the serial port as well since readyRead is not emitted recursively. This
    // can be a problem when waiting for input with an additional event loop, such as
    // when using QMessageBox.
#ifdef HAS_SERIALPORT
    serialDataAvailable();
#endif
#ifdef HAS_CANBUS
    if (mCanDevice != nullptr) {
        CANbusDataAvailable();
    }
#endif
    tcpInputDataAvailable();

#ifdef HAS_CANBUS
    if (mCanDeviceInterfaces != listCANbusInterfaces()) {
        mCanDeviceInterfaces = listCANbusInterfaces();
        emit CANbusInterfaceListUpdated();
    }
#endif

    if (!mIgnoreCanChange) {
        if (isPortConnected()) {
            if (mSendCanBefore != mCommands->getSendCan() ||
                    (mCommands->getSendCan() &&
                     mCanIdBefore != mCommands->getCanSendId())) {
                updateFwRx(false);
                mFwRetries = 0;
            }

            mFwPollCnt++;
            if (mFwPollCnt >= 4) {
                mFwPollCnt = 0;
                if (!mFwVersionReceived) {
                    mCommands->getFwVersion();
                    mFwRetries++;

                    // Timeout if the firmware cannot be read
                    if (mFwRetries >= 25) {
                        emit statusMessage(tr("No firmware read response"), false);
                        emit messageDialog(tr("Read Firmware Version"),
                                           tr("Could not read firmware version. Make sure that "
                                              "the selected port really belongs to the VESC. "),
                                           false, false);
                        disconnectPort();
                    }
                }
            }
        } else {
            updateFwRx(false);
            mFwRetries = 0;
        }
        mSendCanBefore = mCommands->getSendCan();
        mCanIdBefore = mCommands->getCanSendId();
    }

    // Update fw upload bar and label
    double fwProg = getFwUploadProgress();
    QString fwStatus = getFwUploadStatus();
    if (fwProg > -0.1) {
        mIsUploadingFw = true;
        mIsLastFwBootloader = isCurrentFwBootloader();
        emit fwUploadStatus(fwStatus, fwProg, true);
    } else {
        // The firmware upload just finished or failed
        if (mIsUploadingFw) {
            mFwRetries = 0;
            if (fwStatus.compare("FW Upload Done") == 0) {
                emit fwUploadStatus(fwStatus, 1.0, false);
                if (mIsLastFwBootloader) {
                    emitMessageDialog("Bootloader Upload",
                                      "Bootloader upload finished! You can now upload new firmware "
                                      "to the VESC.",
                                      true, false);
                } else {
                    disconnectPort();
                    emitMessageDialog("Firmware Upload",
                                      "Firmware upload finished! Give the VESC around 10 "
                                      "seconds to apply the firmware and reboot, then reconnect.",
                                      true, false);
                }
            } else {
                emit fwUploadStatus(fwStatus, 0.0, false);
            }
        }
        mIsUploadingFw = false;
    }

    if (mWasConnected != isPortConnected()) {
        mWasConnected = isPortConnected();

        if (!isPortConnected()) {
            if (!getSupportedFirmwarePairs().contains(Utility::configLatestSupported())) {
                Utility::configLoadLatest(this);
            }

            mDeserialFailedMessageShown = false;
        }

        emit portConnectedChanged();
    }
}

void VescInterface::packetDataToSend(QByteArray &data)
{
#ifdef HAS_SERIALPORT
    if (mSerialPort->isOpen()) {
        mSerialPort->write(data);
    }
#endif

#ifdef HAS_CANBUS
    if (isCANbusConnected()) {
        // Sending a frame while a frame is received seems to cause problems,
        // so always delay sending a bit in case a frame that expects a reply
        // was sent just previously. TODO: Figure out what the problem is.
        // Guess: Something in the CANable firmware.
        QThread::msleep(5);

        QCanBusFrame frame;
        frame.setExtendedFrameFormat(true);
        frame.setFrameType(QCanBusFrame::UnknownFrame);
        frame.setFlexibleDataRateFormat(false);
        frame.setBitrateSwitch(false);

        // Remove start byte and length
        if (data[0] == char(2)) {
            data.remove(0, 2);
        } else if (data[0] == char(3)) {
            data.remove(0, 3);
        } else if (data[0] == char(4)) {
            data.remove(0, 4);
        }

        // Remove CRC and stop byte
        data.truncate(data.size() - 3);

        // Since we already are on the CAN-bus, we can send packets that
        // are supposed to be forwarded directly to the correct device.
        int target_id = mLastCanDeviceID;
        if (data.at(0) == COMM_FORWARD_CAN) {
            target_id = uint8_t(data.at(1));
            data.remove(0, 2);
        }

        if (data.size() <= 6) { // Send packet in a single frame
            data.prepend(char(0)); // Process packet at receiver
            data.prepend(char(254)); // VESC Tool sender ID

            frame.setFrameId(uint32_t(target_id) |
                             uint32_t(CAN_PACKET_PROCESS_SHORT_BUFFER << 8));
            frame.setPayload(data);

            mCanDevice->writeFrame(frame);
            mCanDevice->waitForFramesWritten(5);
        } else {
            int len = data.size();
            QByteArray payload;
            int end_a = 0;

            unsigned short crc = Packet::crc16(
                        reinterpret_cast<const unsigned char*>(data.data()),
                        uint32_t(len));

            for (int i = 0;i < len;i += 7) {
                if (i > 255) {
                    break;
                }

                end_a = i + 7;

                payload[0] = char(i);
                payload.append(data.left(7));
                data.remove(0,7);
                frame.setPayload(payload);
                frame.setFrameId(uint32_t(target_id) |
                                 uint32_t(CAN_PACKET_FILL_RX_BUFFER << 8));

                mCanDevice->writeFrame(frame);
                mCanDevice->waitForFramesWritten(5);
//                QThread::msleep(5);
                payload.clear();
            }

            for (int i = end_a;i < len;i += 6) {
                payload[0] = char(i >> 8);
                payload[1] = char(i & 0xFF);

                payload.append(data.left(6));
                data.remove(0,6);
                frame.setPayload(payload);
                frame.setFrameId(uint32_t(target_id) |
                                 uint32_t(CAN_PACKET_FILL_RX_BUFFER_LONG << 8));

                mCanDevice->writeFrame(frame);
                mCanDevice->waitForFramesWritten(5);
//                QThread::msleep(5);
                payload.clear();
            }

            payload[0] = char(254); // vesc tool node ID
            payload[1] = char(0); // process
            payload[2] = char(len >> 8);
            payload[3] = char(len & 0xFF);
            payload[4] = char(crc >> 8);
            payload[5] = char(crc & 0xFF);
            frame.setPayload(payload);
            frame.setFrameId(uint32_t(target_id) |
                             uint32_t(CAN_PACKET_PROCESS_RX_BUFFER << 8));

            mCanDevice->writeFrame(frame);
            mCanDevice->waitForFramesWritten(5);
        }
    }
#endif

    if (mTcpConnected && mTcpSocket->isOpen()) {
        mTcpSocket->write(data);
        mTcpSocket->flush();
    }

    if (mUdpConnected) {
        mUdpSocket->writeDatagram(data, mLastUdpServer, mLastUdpPort);
    }

#ifdef HAS_BLUETOOTH
    if (mBleUart->isConnected()) {
        mBleUart->writeData(data);
    }
#endif
}

void VescInterface::packetReceived(QByteArray &data)
{
    mCommands->processPacket(data);
}

void VescInterface::cmdDataToSend(QByteArray &data)
{
    mPacket->sendPacket(data);
}

void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
{
    // Do not reload configs when the firmware version is read from somewhere else.
    if (mFwVersionReceived) {
        return;
    }

    mLastFwParams = params;

    QString uuidStr = Utility::uuid2Str(params.uuid, true);
    mUuidStr = uuidStr.toUpper();
    mUuidStr.replace(" ", "");
    mFwSupportsConfiguration = false;

#ifdef HAS_BLUETOOTH
    if (mBleUart->isConnected()) {
        if (params.isPaired && !hasPairedUuid(mUuidStr)) {
            disconnectPort();
            emitMessageDialog("Pairing",
                              "This VESC is not paired to your local version of VESC Tool. You can either "
                              "add the UUID to the pairing list manually, or connect over USB and set the app "
                              "pairing flag to false for this VESC. Then you can pair to this version of VESC "
                              "tool, or leave the VESC unpaired.",
                              false, false);
            return;
        }
    }
#endif

    auto fwPairs = getSupportedFirmwarePairs();

    // Make sure that we start from the latest firmware
    if (!fwPairs.contains(Utility::configLatestSupported())) {
        Utility::configLoadLatest(this);
        fwPairs = getSupportedFirmwarePairs();
    }

    if (fwPairs.isEmpty()) {
        emit messageDialog(tr("No Supported Firmwares"),
                           tr("This version of VESC Tool does not seem to have any supported "
                              "firmwares. Something is probably wrong with the motor configuration "
                              "file."),
                           false, false);
        updateFwRx(false);
        mFwRetries = 0;
        disconnectPort();
        return;
    }

    QPair<int, int> highest_supported = *std::max_element(fwPairs.begin(), fwPairs.end());
    QPair<int, int> fw_connected = qMakePair(params.major, params.minor);

    mCommands->setLimitedSupportsFwdAllCan(fw_connected >= qMakePair(3, 45));
    mCommands->setLimitedSupportsEraseBootloader(fw_connected >= qMakePair(3, 59));

    // This bug is fixed in firmware 5.03 beta 53.
    if (fw_connected >= qMakePair(5, 03)) {
        if (fw_connected == qMakePair(5, 03)) {
            if (params.isTestFw == 0 || params.isTestFw > 52) {
                mCommands->setMaxPowerLossBug(false);
            } else {
                mCommands->setMaxPowerLossBug(true);
            }
        } else {
            mCommands->setMaxPowerLossBug(false);
        }
    } else {
        mCommands->setMaxPowerLossBug(true);
    }

    QVector<int> compCommands;
    if (fw_connected >= qMakePair(3, 47)) {
        compCommands.append(int(COMM_GET_VALUES));
        compCommands.append(int(COMM_SET_DUTY));
        compCommands.append(int(COMM_SET_CURRENT));
        compCommands.append(int(COMM_SET_CURRENT_BRAKE));
        compCommands.append(int(COMM_SET_RPM));
        compCommands.append(int(COMM_SET_POS));
        compCommands.append(int(COMM_SET_HANDBRAKE));
        compCommands.append(int(COMM_SET_DETECT));
        compCommands.append(int(COMM_SET_SERVO_POS));
        compCommands.append(int(COMM_SAMPLE_PRINT));
        compCommands.append(int(COMM_TERMINAL_CMD));
        compCommands.append(int(COMM_PRINT));
        compCommands.append(int(COMM_ROTOR_POSITION));
        compCommands.append(int(COMM_EXPERIMENT_SAMPLE));

        // TODO: Maybe detect shouldn't be backwards compatible.
        compCommands.append(int(COMM_DETECT_MOTOR_PARAM));
        compCommands.append(int(COMM_DETECT_MOTOR_R_L));
        compCommands.append(int(COMM_DETECT_MOTOR_FLUX_LINKAGE));
        compCommands.append(int(COMM_DETECT_ENCODER));
        compCommands.append(int(COMM_DETECT_HALL_FOC));

        compCommands.append(int(COMM_REBOOT));
        compCommands.append(int(COMM_ALIVE));
        compCommands.append(int(COMM_GET_DECODED_PPM));
        compCommands.append(int(COMM_GET_DECODED_ADC));
        compCommands.append(int(COMM_GET_DECODED_CHUK));
        compCommands.append(int(COMM_FORWARD_CAN));
        compCommands.append(int(COMM_SET_CHUCK_DATA));
        compCommands.append(int(COMM_CUSTOM_APP_DATA));
        compCommands.append(int(COMM_NRF_START_PAIRING));

        // GPD stuff is quite experimental...
        compCommands.append(int(COMM_GPD_SET_FSW));
        compCommands.append(int(COMM_GPD_BUFFER_NOTIFY));
        compCommands.append(int(COMM_GPD_BUFFER_SIZE_LEFT));
        compCommands.append(int(COMM_GPD_FILL_BUFFER));
        compCommands.append(int(COMM_GPD_OUTPUT_SAMPLE));
        compCommands.append(int(COMM_GPD_SET_MODE));
        compCommands.append(int(COMM_GPD_FILL_BUFFER_INT8));
        compCommands.append(int(COMM_GPD_FILL_BUFFER_INT16));
        compCommands.append(int(COMM_GPD_SET_BUFFER_INT_SCALE));

        compCommands.append(int(COMM_GET_VALUES_SETUP));
        compCommands.append(int(COMM_SET_MCCONF_TEMP));
        compCommands.append(int(COMM_SET_MCCONF_TEMP_SETUP));
        compCommands.append(int(COMM_GET_VALUES_SELECTIVE));
        compCommands.append(int(COMM_GET_VALUES_SETUP_SELECTIVE));

        // TODO: Maybe detect shouldn't be backwards compatible.
        compCommands.append(int(COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP));
        compCommands.append(int(COMM_DETECT_APPLY_ALL_FOC));

        compCommands.append(int(COMM_PING_CAN));
        compCommands.append(int(COMM_APP_DISABLE_OUTPUT));
    }

    if (fw_connected >= qMakePair(3, 52)) {
        compCommands.append(int(COMM_TERMINAL_CMD_SYNC));
        compCommands.append(int(COMM_GET_IMU_DATA));
    }

    if (fw_connected >= qMakePair(3, 54)) {
        compCommands.append(int(COMM_BM_CONNECT));
        compCommands.append(int(COMM_BM_ERASE_FLASH_ALL));
        compCommands.append(int(COMM_BM_WRITE_FLASH));
        compCommands.append(int(COMM_BM_REBOOT));
        compCommands.append(int(COMM_BM_DISCONNECT));
    }

    if (fw_connected >= qMakePair(3, 59)) {
        compCommands.append(int(COMM_BM_MAP_PINS_DEFAULT));
        compCommands.append(int(COMM_BM_MAP_PINS_NRF5X));
    }

    if (fw_connected >= qMakePair(3, 60)) {
        compCommands.append(int(COMM_PLOT_INIT));
        compCommands.append(int(COMM_PLOT_DATA));
        compCommands.append(int(COMM_PLOT_ADD_GRAPH));
        compCommands.append(int(COMM_PLOT_SET_GRAPH));
    }

    if (fw_connected >= qMakePair(3, 62)) {
        compCommands.append(int(COMM_GET_DECODED_BALANCE));
        compCommands.append(int(COMM_BM_MEM_READ));
    }

    if (fw_connected >= qMakePair(3, 63)) {
        compCommands.append(int(COMM_WRITE_NEW_APP_DATA_LZO));
        compCommands.append(int(COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO));
        compCommands.append(int(COMM_BM_WRITE_FLASH_LZO));
    }

    if (fw_connected >= qMakePair(3, 64)) {
        compCommands.append(int(COMM_SET_CURRENT_REL));
        compCommands.append(int(COMM_SET_BATTERY_CUT));
    }

    if (fw_connected >= qMakePair(5, 00)) {
        compCommands.append(int(COMM_SET_CURRENT_REL));
    }

    if (fw_connected >= qMakePair(5, 02)) {
        compCommands.append(int(COMM_CAN_FWD_FRAME));
        compCommands.append(int(COMM_SET_BATTERY_CUT));
        compCommands.append(int(COMM_SET_BLE_NAME));
        compCommands.append(int(COMM_SET_BLE_PIN));
        compCommands.append(int(COMM_SET_CAN_MODE));
        compCommands.append(int(COMM_GET_IMU_CALIBRATION));
        compCommands.append(int(COMM_GET_MCCONF_TEMP));
        compCommands.append(int(COMM_GET_CUSTOM_CONFIG_XML));
        compCommands.append(int(COMM_GET_CUSTOM_CONFIG));
        compCommands.append(int(COMM_GET_CUSTOM_CONFIG_DEFAULT));
        compCommands.append(int(COMM_SET_CUSTOM_CONFIG));
        compCommands.append(int(COMM_BMS_GET_VALUES));
        compCommands.append(int(COMM_BMS_SET_CHARGE_ALLOWED));
        compCommands.append(int(COMM_BMS_SET_BALANCE_OVERRIDE));
        compCommands.append(int(COMM_BMS_RESET_COUNTERS));
        compCommands.append(int(COMM_BMS_FORCE_BALANCE));
        compCommands.append(int(COMM_BMS_ZERO_CURRENT_OFFSET));
        compCommands.append(int(COMM_JUMP_TO_BOOTLOADER_HW));
        compCommands.append(int(COMM_ERASE_NEW_APP_HW));
        compCommands.append(int(COMM_WRITE_NEW_APP_DATA_HW));
        compCommands.append(int(COMM_ERASE_BOOTLOADER_HW));
        compCommands.append(int(COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW));
        compCommands.append(int(COMM_ERASE_NEW_APP_ALL_CAN_HW));
        compCommands.append(int(COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW));
        compCommands.append(int(COMM_ERASE_BOOTLOADER_ALL_CAN_HW));
        compCommands.append(int(COMM_SET_ODOMETER));
    }

    if (fw_connected >= qMakePair(5, 03)) {
        compCommands.append(int(COMM_PSW_GET_STATUS));
        compCommands.append(int(COMM_PSW_SWITCH));
        compCommands.append(int(COMM_BMS_FWD_CAN_RX));
        compCommands.append(int(COMM_BMS_HW_DATA));
        compCommands.append(int(COMM_GET_BATTERY_CUT));
        compCommands.append(int(COMM_BM_HALT_REQ));
        compCommands.append(int(COMM_GET_QML_UI_HW));
        compCommands.append(int(COMM_GET_QML_UI_APP));
        compCommands.append(int(COMM_CUSTOM_HW_DATA));
        compCommands.append(int(COMM_QMLUI_ERASE));
        compCommands.append(int(COMM_QMLUI_WRITE));
    }

    if (fwPairs.contains(fw_connected) || Utility::configSupportedFws().contains(fw_connected)) {
        compCommands.append(int(COMM_SET_MCCONF));
        compCommands.append(int(COMM_GET_MCCONF));
        compCommands.append(int(COMM_GET_MCCONF_DEFAULT));
        compCommands.append(int(COMM_SET_APPCONF));
        compCommands.append(int(COMM_GET_APPCONF));
        compCommands.append(int(COMM_GET_APPCONF_DEFAULT));

        if (!fwPairs.contains(fw_connected)) {
            Utility::configLoad(this, fw_connected.first, fw_connected.second);
        }

        mFwSupportsConfiguration = true;
    }

    // Only store the config version if the loaded firmware is the latest one. This will
    // give a warning when that config is loaded with a new firmware version.
    mMcConfig->setStoreConfigVersion(Utility::configLatestSupported() == fw_connected);

    // Hack for old unity devices with a firmware fork
    if ((fw_connected >= qMakePair(3, 100) && fw_connected <= qMakePair(3, 103)) ||
        (fw_connected >= qMakePair(23, 34) && fw_connected <= qMakePair(23, 46))) {
        compCommands.clear();
    }

    mCommands->setLimitedCompatibilityCommands(compCommands);

    bool wasReceived = mFwVersionReceived;
    mCommands->setLimitedMode(false);

    if (params.major < 0) {
        updateFwRx(false);
        mFwRetries = 0;
        disconnectPort();
        emit messageDialog(tr("Error"), tr("The firmware on the connected VESC is too old. Please"
                                           " update it using a programmer."), false, false);
    } else if (fw_connected > highest_supported) {
        mCommands->setLimitedMode(true);
        updateFwRx(true);
        if (!wasReceived) {
            emit messageDialog(tr("Warning"), tr("The connected VESC has newer firmware than this version of"
                                                " VESC Tool supports. It is recommended that you update VESC "
                                                " Tool to the latest version. Alternatively, the firmware on"
                                                " the connected VESC can be downgraded in the firmware page."
                                                " Until then, limited communication mode will be used."), false, false);
        }
    } else if (!fwPairs.contains(fw_connected)) {
        if (fw_connected >= qMakePair(1, 1)) {
            mCommands->setLimitedMode(true);
            updateFwRx(true);
            if (!wasReceived) {
                if (mFwSupportsConfiguration) {
                    if (params.hwType == HW_TYPE_VESC) {
                        emit messageDialog(tr("Warning"), tr("The connected VESC has old, but mostly compatible firmware. This is fine if "
                                                             "your setup works properly.<br><br>"
                                                             "Check out the firmware changelog (from the help menu) to decide if you want to "
                                                             "use some of the new features that have been added after your firmware version. "
                                                             "Keep in mind that you only should upgrade firmware if you have time to test "
                                                             "it after the upgrade and carefully make sure that everything works as expected."),
                                           false, false);
                    }
                } else {
                    emit messageDialog(tr("Warning"), tr("The connected VESC has too old firmware. Since the"
                                                         " connected VESC has firmware with bootloader support, it can be"
                                                         " updated from the Firmware page."
                                                         " Until then, limited communication mode will be used."), false, false);
                }
            }
        } else {
            updateFwRx(false);
            mFwRetries = 0;
            disconnectPort();
            if (!wasReceived) {
                emit messageDialog(tr("Error"), tr("The firmware on the connected VESC is too old. Please"
                                                   " update it using a programmer."), false, false);
            }
        }
    } else {
        updateFwRx(true);
        if (fw_connected < highest_supported) {
            if (!wasReceived) {
                emit messageDialog(tr("Warning"), tr("The connected VESC has compatible, but old"
                                                    " firmware. It is recommended that you update it."), false, false);
            }
        }

        QString fwStr = QString("VESC Firmware Version %1.%2").arg(params.major).arg(params.minor);
        if (!params.hw.isEmpty()) {
            fwStr += ", Hardware: " + params.hw;
        }

        if (!uuidStr.isEmpty()) {
            fwStr += ", UUID: " + uuidStr;
        }

        emit statusMessage(fwStr, true);
    }

    if (params.major >= 0) {
        mFwTxt = QString("Fw: %1.%2").arg(params.major).arg(params.minor);
        mFwPair = qMakePair(params.major, params.minor);
        mHwTxt = params.hw;
        if (!params.hw.isEmpty()) {
            mFwTxt += ", Hw: " + params.hw;
        }

        if (!uuidStr.isEmpty()) {
            mFwTxt += "\n" + uuidStr;
        }
    }

    // Check for known issues in firmware
    QString fwParam = QString("fw_%1.%2").arg(params.major).arg(params.minor);
    if (mFwConfig->hasParam(fwParam)) {
        auto fwInfoCfg = mFwConfig->getParam(fwParam);
        if (fwInfoCfg) {
            emitMessageDialog("Firmware Known Issues", fwInfoCfg->description, false, true);
        }
    }

    if (params.isTestFw > 0 && !VT_IS_TEST_VERSION) {
        emitMessageDialog("Test Firmware",
                          "The connected VESC has test firmware, and this is not a test build of VESC Tool. You should "
                          "update the firmware urgently, as this is not a safe situation.",
                          false, false);
    }

    // Read custom configs
    if (params.customConfigNum > 0) {
        while (!mCustomConfigs.isEmpty()) {
            mCustomConfigs.last()->deleteLater();
            mCustomConfigs.removeLast();
        }

        bool readConfigsOk = true;
        for (int i = 0;i < params.customConfigNum;i++) {
            QByteArray configData;
            int confIndLast = 0;
            int lenConfLast = 0;
            auto conn = connect(mCommands, &Commands::customConfigChunkRx,
                    [&](int confInd, int lenConf, int ofsConf, QByteArray data) {
                if (configData.size() <= ofsConf) {
                    configData.append(data);
                }
                confIndLast = confInd;
                lenConfLast = lenConf;
            });

            auto getChunk = [&](int size, int offset, int tries, int timeout) {
                bool res = false;

                for (int j = 0;j < tries;j++) {
                    mCommands->customConfigGetChunk(i, size, offset);
                    res = Utility::waitSignal(mCommands, SIGNAL(customConfigChunkRx(int,int,int,QByteArray)), timeout);
                    if (res) {
                        break;
                    }
                }
                return res;
            };

            if (getChunk(10, 0, 5, 1500)) {
                while (configData.size() < lenConfLast) {
                    int dataLeft = lenConfLast - configData.size();
                    if (!getChunk(dataLeft > 400 ? 400 : dataLeft, configData.size(), 5, 1500)) {
                        break;
                    }
                }

                if (configData.size() == lenConfLast) {
                    mCustomConfigs.append(new ConfigParams(this));
                    connect(mCustomConfigs.last(), &ConfigParams::updateRequested, [this]() {
                        mCommands->customConfigGet(mCustomConfigs.size() - 1, false);
                    });
                    connect(mCustomConfigs.last(), &ConfigParams::updateRequestDefault, [this]() {
                        mCommands->customConfigGet(mCustomConfigs.size() - 1, true);
                    });

                    if (!mCustomConfigs.last()->loadCompressedParamsXml(configData)) {
                        readConfigsOk = false;
                        disconnect(conn);
                        break;
                    }

                    emitStatusMessage(QString("Got custom config %1").arg(i), true);
                } else {
                    emitMessageDialog("Get Custom Config",
                                      "Could not read custom config from hardware",
                                      false, false);
                    readConfigsOk = false;
                    disconnect(conn);
                    break;
                }
            }

            disconnect(conn);
        }

        mCustomConfigsLoaded = readConfigsOk;
    }

    emit customConfigLoadDone();

    // Read qmlui
    if (mLoadQmlUiOnConnect && params.hasQmlHw) {
        QByteArray qmlData;
        int lenQmlLast = 0;
        auto conn = connect(mCommands, &Commands::qmluiHwRx,
                            [&](int lenQml, int ofsQml, QByteArray data) {
            if (qmlData.size() <= ofsQml) {
                qmlData.append(data);
            }
            lenQmlLast = lenQml;
        });

        auto getQmlChunk = [&](int size, int offset, int tries, int timeout) {
            bool res = false;

            for (int j = 0;j < tries;j++) {
                mCommands->qmlUiHwGet(size, offset);
                res = Utility::waitSignal(mCommands, SIGNAL(qmluiHwRx(int,int,QByteArray)), timeout);
                if (res) {
                    break;
                }
            }
            return res;
        };

        if (getQmlChunk(10, 0, 5, 1500)) {
            while (qmlData.size() < lenQmlLast) {
                int dataLeft = lenQmlLast - qmlData.size();
                if (!getQmlChunk(dataLeft > 400 ? 400 : dataLeft, qmlData.size(), 5, 1500)) {
                    break;
                }
            }

            if (qmlData.size() == lenQmlLast) {
                mQmlHw = QString::fromUtf8(qUncompress(qmlData));
                mQmlHwLoaded = true;
                emitStatusMessage("Got qmlui HW", true);
            } else {
                mQmlHwLoaded = false;
                emitMessageDialog("Get qmlui HW",
                                  "Could not read qmlui HW from hardware",
                                  false, false);
                disconnect(conn);
            }
        }

        disconnect(conn);
    }

    if (mLoadQmlUiOnConnect && params.hasQmlApp) {
        QByteArray qmlData;
        int lenQmlLast = 0;
        auto conn = connect(mCommands, &Commands::qmluiAppRx,
                            [&](int lenQml, int ofsQml, QByteArray data) {
            if (qmlData.size() <= ofsQml) {
                qmlData.append(data);
            }
            lenQmlLast = lenQml;
        });

        auto getQmlChunk = [&](int size, int offset, int tries, int timeout) {
            bool res = false;

            for (int j = 0;j < tries;j++) {
                mCommands->qmlUiAppGet(size, offset);
                res = Utility::waitSignal(mCommands, SIGNAL(qmluiAppRx(int,int,QByteArray)), timeout);
                if (res) {
                    break;
                }
            }
            return res;
        };

        if (getQmlChunk(10, 0, 5, 1500)) {
            while (qmlData.size() < lenQmlLast) {
                int dataLeft = lenQmlLast - qmlData.size();
                if (!getQmlChunk(dataLeft > 400 ? 400 : dataLeft, qmlData.size(), 5, 1500)) {
                    break;
                }
            }

            if (qmlData.size() == lenQmlLast) {
                mQmlApp = QString::fromUtf8(qUncompress(qmlData));
                mQmlAppLoaded = true;
                emitStatusMessage("Got qmlui App", true);
            } else {
                mQmlAppLoaded = false;
                emitMessageDialog("Get qmlui App",
                                  "Could not read qmlui App from hardware",
                                  false, false);
                disconnect(conn);
            }
        }

        disconnect(conn);
    }

    if (params.hasQmlApp || params.hasQmlHw) {
        emit qmlLoadDone();
    }
}

void VescInterface::appconfUpdated()
{
    emit statusMessage(tr("App configuration updated"), true);
}

void VescInterface::mcconfUpdated()
{
    emit statusMessage(tr("MC configuration updated"), true);

    if (isPortConnected() && fwRx()) {
        QPair<int, int> fw_connected = qMakePair(mLastFwParams.major, mLastFwParams.minor);

        if (fw_connected >= qMakePair(5, 03)) {
            if (mMcConfig->getConfigVersion() != VT_CONFIG_VERSION) {
                emitMessageDialog("Configuration Loaded",
                                  "The loaded motor configuration file is from a different firmware and/or different "
                                  "version of VESC Tool. If it does not work properly you should run the motor wizard "
                                  "again or re-measure the parameters manually.\n\n"
                                  ""
                                  "The main reason for this is that the motor resistance and induction values are defined "
                                  "differently after firmware 5.03, so old configs will not run properly.",
                                  false);
            }
        }
    }
}

void VescInterface::ackReceived(QString ackType)
{
    emit statusMessage(ackType, true);
}

bool VescInterface::getFwSupportsConfiguration() const
{
    return mFwSupportsConfiguration;
}

bool VescInterface::confStoreBackup(bool can, QString name)
{
    if (!isPortConnected()) {
        emitMessageDialog("Backup Configuration", "The VESC must be connected to perform this operation.", false, false);
        return false;
    }

    if (mLastFwParams.hwType != HW_TYPE_VESC) {
        emitMessageDialog("Backup Configuration", "This only works for motor controllers.", false, false);
        return false;
    }

    QStringList uuidsOk;

    auto storeConf = [this, &uuidsOk, &name]() {
        QString uuid;
        if (!Utility::configLoadCompatible(this, uuid)) {
            return false;
        }

        uuidsOk.append(uuid);

        ConfigParams *pMc = mcConfig();
        ConfigParams *pApp = appConfig();

        commands()->getMcconf();
        bool rxMc = Utility::waitSignal(pMc, SIGNAL(updated()), 1500);
        commands()->getAppConf();
        bool rxApp = Utility::waitSignal(pApp, SIGNAL(updated()), 1500);

        if (rxMc && rxApp) {
            CONFIG_BACKUP cfg;
            cfg.name = name;
            cfg.vesc_uuid = uuid;
            cfg.mcconf_xml_compressed = pMc->saveCompressed("mcconf");
            cfg.appconf_xml_compressed = pApp->saveCompressed("appconf");
            mConfigurationBackups.insert(uuid, cfg);
            return true;
        } else {
            emitMessageDialog("Backup Configuration", "Reading configuration timed out.", false, false);
            return false;
        }
    };

    bool res = true;

    bool canLastFwd = commands()->getSendCan();
    int canLastId = commands()->getCanSendId();
    auto fwLast = getFirmwareNowPair();

    if (can) {
        ignoreCanChange(true);
        commands()->setSendCan(false);
    }

    res = storeConf();

    if (res && can) {
        for (int d: scanCan()) {
            commands()->setSendCan(true, d);

            FW_RX_PARAMS fwp;
            Utility::getFwVersionBlocking(this, &fwp);

            if (fwp.hwType == HW_TYPE_VESC) {
                res = storeConf();
            }

            if (!res) {
                break;
            }
        }
    }

    commands()->setSendCan(canLastFwd, canLastId);
    ignoreCanChange(false);
    if (!getSupportedFirmwarePairs().contains(fwLast)) {
        Utility::configLoad(this, fwLast.first, fwLast.second);
    }

    if (res) {
        storeSettings();
        emit configurationBackupsChanged();

        QString uuidsStr;
        for (auto s: uuidsOk) {
            uuidsStr += s + "\n";
        }

        emitMessageDialog("Backup Configuration",
                          "Configuration backup successful for the following VESC UUIDs:\n" + uuidsStr,
                          true, false);
    }

    return res;
}

bool VescInterface::confRestoreBackup(bool can)
{
    if (!isPortConnected()) {
        emitMessageDialog("Restore Configuration", "The VESC must be connected to perform this operation.", false, false);
        return false;
    }

    if (mLastFwParams.hwType != HW_TYPE_VESC) {
        emitMessageDialog("Restore Configuration", "This only works for motor controllers.", false, false);
        return false;
    }

    QStringList missingConfigs;
    QStringList uuidsOk;

    auto restoreConf = [this, &missingConfigs, &uuidsOk]() {
        QString uuid;
        if (!Utility::configLoadCompatible(this, uuid)) {
            return false;
        }

        ConfigParams *pMc = mcConfig();
        ConfigParams *pApp = appConfig();

        commands()->getMcconf();
        bool rxMc = Utility::waitSignal(pMc, SIGNAL(updated()), 2000);
        commands()->getAppConf();
        bool rxApp = Utility::waitSignal(pApp, SIGNAL(updated()), 2000);

        if (rxMc && rxApp) {
            if (mConfigurationBackups.contains(uuid)) {
                pMc->loadCompressed(mConfigurationBackups[uuid].mcconf_xml_compressed, "mcconf");
                pApp->loadCompressed(mConfigurationBackups[uuid].appconf_xml_compressed, "appconf");

                // Try a few times, as BLE seems to drop the response sometimes.
                bool txMc = false, txApp = false;
                for (int i = 0;i < 2;i++) {
                    commands()->setMcconf(false);
                    txMc = Utility::waitSignal(commands(), SIGNAL(ackReceived(QString)), 2000);
                    commands()->setAppConf();
                    txApp = Utility::waitSignal(commands(), SIGNAL(ackReceived(QString)), 2000);

                    if (txApp && txMc) {
                        break;
                    }
                }

                uuidsOk.append(uuid);

                if (!txMc) {
                    emitMessageDialog("Restore Configuration",
                                      "No response when writing MC configuration to " + uuid + ".", false, false);
                }

                if (!txApp) {
                    emitMessageDialog("Restore Configuration",
                                      "No response when writing app configuration to " + uuid + ".", false, false);
                }

                return txMc && txApp;
            } else {
                missingConfigs.append(uuid);
            }
            return true;
        } else {
            emitMessageDialog("Restore Configuration", "Reading configuration timed out.", false, false);
            return false;
        }
    };

    bool res = true;

    bool canLastFwd = commands()->getSendCan();
    int canLastId = commands()->getCanSendId();
    auto fwLast = getFirmwareNowPair();

    if (can) {
        ignoreCanChange(true);
        commands()->setSendCan(false);
    }

    res = restoreConf();

    if (res && can) {
        for (int d: scanCan()) {
            commands()->setSendCan(true, d);

            FW_RX_PARAMS fwp;
            Utility::getFwVersionBlocking(this, &fwp);

            if (fwp.hwType == HW_TYPE_VESC) {
                res = restoreConf();
            }

            if (!res) {
                break;
            }
        }
    }

    commands()->setSendCan(canLastFwd, canLastId);
    ignoreCanChange(false);
    if (!getSupportedFirmwarePairs().contains(fwLast)) {
        Utility::configLoad(this, fwLast.first, fwLast.second);
    }

    if (res) {
        storeSettings();
        emit configurationBackupsChanged();

        commands()->getMcconf(); //Refresh Motor conf.
        commands()->getAppConf(); //Refresh App conf.

        if (!uuidsOk.isEmpty()) {
            QString uuidsStr;
            for (auto s: uuidsOk) {
                uuidsStr += s + "\n";
            }

            emitMessageDialog("Restore Configuration",
                              "Configuration restoration successful for the following VESC UUIDs:\n" + uuidsStr,
                              true, false);
        }

        if (!missingConfigs.empty()) {
            QString missing;
            for (auto s: missingConfigs) {
                missing += s + "\n";
            }

            emitMessageDialog("Restore Configurations",
                              "The following UUIDs did not have any backups:\n" + missing,
                              false, false);
        }
    }

    return res;
}

bool VescInterface::confLoadBackup(QString uuid)
{
    if (mConfigurationBackups.contains(uuid)) {
        mMcConfig->loadCompressed(mConfigurationBackups[uuid].mcconf_xml_compressed, "mcconf");
        mAppConfig->loadCompressed(mConfigurationBackups[uuid].appconf_xml_compressed, "appconf");
        return true;
    } else {
        return false;
    }
}

QStringList VescInterface::confListBackups()
{
    QStringList res;
    QHashIterator<QString, CONFIG_BACKUP> i(mConfigurationBackups);
    while (i.hasNext()) {
        i.next();
        res.append(i.key());
    }

    return res;
}

void VescInterface::confClearBackups()
{
    mConfigurationBackups.clear();
    storeSettings();
    emit configurationBackupsChanged();
}

QString VescInterface::confBackupName(QString uuid)
{
    QString res;
    if (mConfigurationBackups.contains(uuid)) {
        res = mConfigurationBackups[uuid].name;
    }
    return res;
}

bool VescInterface::deserializeFailedSinceConnected()
{
    return mDeserialFailedMessageShown;
}

FW_RX_PARAMS VescInterface::getLastFwRxParams()
{
    return mLastFwParams;
}

int VescInterface::customConfigNum()
{
    if (mCustomConfigsLoaded) {
        return mCustomConfigs.size();
    } else {
        return 0;
    }
}

bool VescInterface::customConfigsLoaded()
{
    return mCustomConfigsLoaded;
}

ConfigParams *VescInterface::customConfig(int configNum)
{
    if (customConfigsLoaded() && configNum < mCustomConfigs.size()) {
        return mCustomConfigs[configNum];
    } else {
        return nullptr;
    }
}

bool VescInterface::qmlHwLoaded()
{
    return mQmlHwLoaded;
}

bool VescInterface::qmlAppLoaded()
{
    return mQmlAppLoaded;
}

QString VescInterface::qmlHw()
{
    return mQmlHwLoaded ? mQmlHw : "";
}

QString VescInterface::qmlApp()
{
    return mQmlAppLoaded ? mQmlApp : "";
}

void VescInterface::updateFwRx(bool fwRx)
{
    bool change = mFwVersionReceived != fwRx;
    mFwVersionReceived = fwRx;
    if (change) {
        emit fwRxChanged(mFwVersionReceived, mCommands->isLimitedMode());
    }

    if (!mFwVersionReceived) {
        mCustomConfigsLoaded = false;
        mQmlHwLoaded = false;
        mQmlAppLoaded = false;
    }
}

void VescInterface::setLastConnectionType(conn_t type)
{
    mLastConnType = type;
    mSettings.setValue("connection_type", type);
}