[CPP-297] Add INS settings confirmation popup

console_backend/src/common_constants.rs

@@ -269,6 +269,10 @@ pub enum Keys {
     NETWORK_INFO,
     #[strum(serialize = "IP_ADDRESS")]
     IP_ADDRESS,
+    #[strum(serialize = "RECOMMENDED_INS_SETTINGS")]
+    RECOMMENDED_INS_SETTINGS,
+    #[strum(serialize = "NEW_INS_CONFIRMATON")]
+    NEW_INS_CONFIRMATON,
     #[strum(serialize = "ANTENNA_STATUS")]
     ANTENNA_STATUS,
 }

console_backend/src/server_recv_thread.rs

@@ -347,6 +347,9 @@ pub fn server_recv_thread(
                             port,
                         })
                     }
+                    m::message::ConfirmInsChange(Ok(_)) => {
+                        shared_state_clone.set_settings_confirm_ins_change(true);
+                    }
                     _ => {
                         error!("unknown message from front-end");
                     }

console_backend/src/settings_tab.rs

@@ -6,6 +6,7 @@ use std::path::Path;
 use anyhow::anyhow;
 use capnp::message::Builder;
 use ini::Ini;
+use lazy_static::lazy_static;
 use log::{debug, error, warn};
 use parking_lot::{MappedMutexGuard, Mutex, MutexGuard};
 use sbp::link::Link;
@@ -20,6 +21,15 @@ use crate::utils::*;
 const FIRMWARE_VERSION_SETTING_KEY: &str = "firmware_version";
 const DGNSS_SOLUTION_MODE_SETTING_KEY: &str = "dgnss_solution_mode";
 
+lazy_static! {
+    static ref RECOMMENDED_INS_SETTINGS: [(&'static str, &'static str, SettingValue); 4] = [
+        ("imu", "imu_raw_output", SettingValue::Boolean(true)),
+        ("imu", "gyro_range", SettingValue::String("125".to_string())),
+        ("imu", "acc_range", SettingValue::String("8g".to_string())),
+        ("imu", "imu_rate", SettingValue::String("100".to_string())),
+    ];
+}
+
 pub struct SettingsTab<'link, S> {
     client_sender: S,
     shared_state: SharedState,
@@ -67,7 +77,7 @@ impl<'link, S: CapnProtoSender> SettingsTab<'link, S> {
             };
         }
         if settings_state.reset {
-            if let Err(e) = self.reset() {
+            if let Err(e) = self.reset(true) {
                 error!("Issue resetting settings {}", e);
             };
         }
@@ -76,6 +86,11 @@ impl<'link, S: CapnProtoSender> SettingsTab<'link, S> {
                 error!("Issue saving settings, {}", e);
             };
         }
+        if settings_state.confirm_ins_change {
+            if let Err(e) = self.confirm_ins_change() {
+                error!("Issue confirming INS change, {}", e);
+            };
+        }
     }
 
     pub fn refresh(&mut self) {
@@ -138,10 +153,12 @@ impl<'link, S: CapnProtoSender> SettingsTab<'link, S> {
             .send_data(serialize_capnproto_builder(builder));
     }
 
-    pub fn reset(&self) -> Result<()> {
+    pub fn reset(&self, reset_settings: bool) -> Result<()> {
+        let flags = if reset_settings { 1 } else { 0 };
+
         self.msg_sender.send(
             MsgReset {
-                flags: 1,
+                flags,
                 sender_id: None,
             }
             .into(),
@@ -155,6 +172,87 @@ impl<'link, S: CapnProtoSender> SettingsTab<'link, S> {
         Ok(())
     }
 
+    pub fn confirm_ins_change(&mut self) -> Result<()> {
+        let ins_mode = self
+            .settings
+            .get("ins", "output_mode")?
+            .value
+            .as_ref()
+            .ok_or_else(|| anyhow!("setting not found"))?;
+
+        let ins_on = ins_mode != &SettingValue::String("Disabled".to_string());
+
+        if ins_on {
+            let recommended_settings = self.get_recommended_ins_setting_changes()?;
+
+            for recommendation in recommended_settings {
+                // todo(DEVINFRA-570): Remove below line when libsettings-rs
+                // returns "True"/"False" for bools
+                let value = if &recommendation.3 == "true" {
+                    "True"
+                } else {
+                    &recommendation.3
+                };
+                self.write_setting(&recommendation.0, &recommendation.1, value)?;
+            }
+        }
+
+        self.save()?;
+        self.reset(false)?;
+
+        Ok(())
+    }
+
+    pub fn get_recommended_ins_setting_changes(
+        &self,
+    ) -> Result<Vec<(String, String, String, String)>> {
+        let client = self.client();
+
+        let mut recommended_changes = vec![];
+
+        for setting in RECOMMENDED_INS_SETTINGS.iter() {
+            let value = client
+                .read_setting(setting.0, setting.1)
+                .ok_or_else(|| anyhow!("setting not found"))??;
+            if value != setting.2 {
+                recommended_changes.push((
+                    setting.0.to_string(),
+                    setting.1.to_string(),
+                    value.to_string(),
+                    setting.2.to_string(),
+                ));
+            }
+        }
+
+        Ok(recommended_changes)
+    }
+
+    pub fn send_ins_change_response(&mut self, output_mode: &str) -> Result<()> {
+        let mut builder = Builder::new_default();
+        let msg = builder.init_root::<crate::console_backend_capnp::message::Builder>();
+        let mut ins_resp = msg.init_ins_settings_change_response();
+
+        if output_mode != "Disabled" {
+            let recommendations = self.get_recommended_ins_setting_changes()?;
+            let mut recommended_entries = ins_resp
+                .reborrow()
+                .init_recommended_settings(recommendations.len() as u32);
+
+            for (i, recommendation) in recommendations.iter().enumerate() {
+                let mut entry = recommended_entries.reborrow().get(i as u32);
+                entry.set_setting_group(&recommendation.0);
+                entry.set_setting_name(&recommendation.1);
+                entry.set_current_value(&recommendation.2);
+                entry.set_recommended_value(&recommendation.3);
+            }
+        }
+
+        self.client_sender
+            .send_data(serialize_capnproto_builder(builder));
+
+        Ok(())
+    }
+
     pub fn write_setting(&mut self, group: &str, name: &str, value: &str) -> Result<()> {
         let setting = self.settings.get(group, name)?;
 
@@ -181,6 +279,10 @@ impl<'link, S: CapnProtoSender> SettingsTab<'link, S> {
                 .set(group, name, SettingValue::String(value.to_string()))?;
         }
 
+        if group == "ins" && name == "output_mode" {
+            self.send_ins_change_response(value)?;
+        }
+
         self.send_table_data();
 
         Ok(())

console_backend/src/shared_state.rs

@@ -248,6 +248,10 @@ impl SharedState {
         let mut shared_data = self.lock().expect(SHARED_STATE_LOCK_MUTEX_FAILURE);
         shared_data.settings_tab.reset = set_to;
     }
+    pub fn set_settings_confirm_ins_change(&self, set_to: bool) {
+        let mut shared_data = self.lock().expect(SHARED_STATE_LOCK_MUTEX_FAILURE);
+        shared_data.settings_tab.confirm_ins_change = set_to;
+    }
     pub fn set_export_settings(&self, path: Option<PathBuf>) {
         let mut shared_data = self.lock().expect(SHARED_STATE_LOCK_MUTEX_FAILURE);
         shared_data.settings_tab.export = path;
@@ -546,6 +550,7 @@ pub struct SettingsTabState {
     pub refresh: bool,
     pub reset: bool,
     pub save: bool,
+    pub confirm_ins_change: bool,
     pub export: Option<PathBuf>,
     pub import: Option<PathBuf>,
     pub write: Option<settings_tab::SaveRequest>,
@@ -564,6 +569,7 @@ impl SettingsTabState {
         self.refresh
             || self.reset
             || self.save
+            || self.confirm_ins_change
             || self.export.is_some()
             || self.import.is_some()
             || self.write.is_some()

resources/Constants/Constants.qml

@@ -29,6 +29,7 @@ QtObject {
     property QtObject baselineTable
     property QtObject settingsTab
     property QtObject settingsTable
+    property QtObject insSettingsPopup
     property QtObject solutionPosition
     property QtObject solutionTable
     property QtObject solutionVelocity
@@ -514,4 +515,11 @@ QtObject {
         readonly property string zoomAllButtonUrl: "qrc:///zoom-all.svg"
     }
 
+    insSettingsPopup: QtObject {
+        readonly property var columnHeaders: ["Name", "Current Value", "Recommended Value"]
+        readonly property int dialogWidth: 550
+        readonly property int columnSpacing: 10
+        readonly property int tableHeight: 150
+    }
+
 }

resources/SettingsTab.qml

@@ -58,6 +58,11 @@ Item {
                 }
                 settings_tab_model.clear_import_status(settingsTabData);
             }
+            if (settingsTabData.new_ins_confirmation) {
+                insSettingsPopup.settings = settingsTabData.recommended_ins_settings;
+                insSettingsPopup.insPopup.open();
+                settings_tab_model.clear_new_ins_confirmation(settingsTabData);
+            }
         }
     }
 
@@ -111,6 +116,10 @@ Item {
         onYes: data_model.settings_save_request()
     }
 
+    SettingsTabComponents.InsSettingsPopup {
+        id: insSettingsPopup
+    }
+
     MessageDialog {
         id: importFailure