#include "Rover.h"

#include <AP_RangeFinder/RangeFinder_Backend.h>

#if LOGGING_ENABLED == ENABLED

struct PACKED log_Arm_Disarm {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t  arm_state;
    uint16_t arm_checks;
};

void Rover::Log_Write_Arm_Disarm()
{
    struct log_Arm_Disarm pkt = {
        LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
        time_us                 : AP_HAL::micros64(),
        arm_state               : arming.is_armed(),
        arm_checks              : arming.get_enabled_checks()
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

// Write an attitude packet
void Rover::Log_Write_Attitude()
{
    float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
    const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);

    DataFlash.Log_Write_Attitude(ahrs, targets);

#if AP_AHRS_NAVEKF_AVAILABLE
    DataFlash.Log_Write_EKF(ahrs);
    DataFlash.Log_Write_AHRS2(ahrs);
#endif
    DataFlash.Log_Write_POS(ahrs);

    // log steering rate controller
    DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
    DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());

    // log pitch control for balance bots
    if (is_balancebot()) {
        DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
    }

    // log heel to sail control for sailboats
    if (g2.motors.has_sail()) {
        DataFlash.Log_Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
    }
}

// Write a range finder depth message
void Rover::Log_Write_Depth()
{
    // only log depth on boats with working downward facing range finders
    if (!rover.is_boat() || !rangefinder.has_data_orient(ROTATION_PITCH_270)) {
        return;
    }

    // get position
    Location loc;
    if (!ahrs.get_position(loc)) {
        return;
    }

    // check if new sensor reading has arrived
    uint32_t reading_ms = rangefinder.last_reading_ms(ROTATION_PITCH_270);
    if (reading_ms == rangefinder_last_reading_ms) {
        return;
    }
    rangefinder_last_reading_ms = reading_ms;

    DataFlash.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth",
                        "sDUm", "FGG0", "QLLf",
                        AP_HAL::micros64(),
                        loc.lat,
                        loc.lng,
                        (double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f));
}

struct PACKED log_Error {
  LOG_PACKET_HEADER;
  uint64_t time_us;
  uint8_t sub_system;
  uint8_t error_code;
};

// Write an error packet
void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
  struct log_Error pkt = {
      LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
      time_us       : AP_HAL::micros64(),
      sub_system    : sub_system,
      error_code    : error_code,
  };
  DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

// guided mode logging
struct PACKED log_GuidedTarget {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t type;
    float pos_target_x;
    float pos_target_y;
    float pos_target_z;
    float vel_target_x;
    float vel_target_y;
    float vel_target_z;
};

// Write a Guided mode target
void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
{
    struct log_GuidedTarget pkt = {
        LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
        time_us         : AP_HAL::micros64(),
        type            : target_type,
        pos_target_x    : pos_target.x,
        pos_target_y    : pos_target.y,
        pos_target_z    : pos_target.z,
        vel_target_x    : vel_target.x,
        vel_target_y    : vel_target.y,
        vel_target_z    : vel_target.z
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

struct PACKED log_Nav_Tuning {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float wp_distance;
    uint16_t wp_bearing_cd;
    uint16_t nav_bearing_cd;
    uint16_t yaw;
    float xtrack_error;
};

// Write a navigation tuning packet
void Rover::Log_Write_Nav_Tuning()
{
    struct log_Nav_Tuning pkt = {
        LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
        time_us             : AP_HAL::micros64(),
        wp_distance         : control_mode->get_distance_to_destination(),
        wp_bearing_cd       : (uint16_t)wrap_360_cd(nav_controller->target_bearing_cd()),
        nav_bearing_cd      : (uint16_t)wrap_360_cd(nav_controller->nav_bearing_cd()),
        yaw                 : (uint16_t)ahrs.yaw_sensor,
        xtrack_error        : nav_controller->crosstrack_error()
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

void Rover::Log_Write_Proximity()
{
    DataFlash.Log_Write_Proximity(g2.proximity);
}

void Rover::Log_Write_Sail()
{
    // only log sail if present
    if (!g2.motors.has_sail()) {
        return;
    }

    // get wind direction
    float wind_dir_rel = 0.0f;
    if (rover.g2.windvane.enabled()) {
        wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
    }
    DataFlash.Log_Write("SAIL", "TimeUS,WindDirRel,SailOut,VMG",
                        "sh%n", "F000", "Qfff",
                        AP_HAL::micros64(),
                        (double)wind_dir_rel,
                        (double)g2.motors.get_mainsail(),
                        (double)sailboat_get_VMG());
}

struct PACKED log_Steering {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t steering_in;
    float steering_out;
    float desired_lat_accel;
    float lat_accel;
    float desired_turn_rate;
    float turn_rate;
};

struct PACKED log_Startup {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t startup_type;
    uint16_t command_total;
};

void Rover::Log_Write_Startup(uint8_t type)
{
    struct log_Startup pkt = {
        LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
        time_us         : AP_HAL::micros64(),
        startup_type    : type,
        command_total   : mission.num_commands()
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

// Write a steering packet
void Rover::Log_Write_Steering()
{
    float lat_accel = DataFlash.quiet_nanf();
    g2.attitude_control.get_lat_accel(lat_accel);
    struct log_Steering pkt = {
        LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
        time_us        : AP_HAL::micros64(),
        steering_in        : channel_steer->get_control_in(),
        steering_out       : g2.motors.get_steering(),
        desired_lat_accel  : g2.attitude_control.get_desired_lat_accel(),
        lat_accel          : lat_accel,
        desired_turn_rate  : degrees(g2.attitude_control.get_desired_turn_rate()),
        turn_rate          : degrees(ahrs.get_yaw_rate_earth())
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

struct PACKED log_Throttle {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t throttle_in;
    float throttle_out;
    float desired_speed;
    float speed;
    float accel_y;
};

// Write a throttle control packet
void Rover::Log_Write_Throttle()
{
    const Vector3f accel = ins.get_accel();
    float speed = DataFlash.quiet_nanf();
    g2.attitude_control.get_forward_speed(speed);
    struct log_Throttle pkt = {
        LOG_PACKET_HEADER_INIT(LOG_THR_MSG),
        time_us         : AP_HAL::micros64(),
        throttle_in     : channel_throttle->get_control_in(),
        throttle_out    : g2.motors.get_throttle(),
        desired_speed   : g2.attitude_control.get_desired_speed(),
        speed           : speed,
        accel_y         : accel.y
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

struct PACKED log_Rangefinder {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float    lateral_accel;
    uint16_t rangefinder1_distance;
    uint16_t rangefinder2_distance;
    uint16_t detected_count;
    int8_t   turn_angle;
    uint16_t turn_time;
    uint16_t ground_speed;
    int8_t   throttle;
};

// Write a rangefinder packet
void Rover::Log_Write_Rangefinder()
{
    uint16_t turn_time = 0;
    if (!is_zero(obstacle.turn_angle)) {
        turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
    }
    AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
    AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
    struct log_Rangefinder pkt = {
        LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG),
        time_us               : AP_HAL::micros64(),
        lateral_accel         : g2.attitude_control.get_desired_lat_accel(),
        rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0,
        rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0,
        detected_count        : obstacle.detected_count,
        turn_angle            : static_cast<int8_t>(obstacle.turn_angle),
        turn_time             : turn_time,
        ground_speed          : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)),
        throttle              : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

void Rover::Log_Write_RC(void)
{
    DataFlash.Log_Write_RCIN();
    DataFlash.Log_Write_RCOUT();
    if (rssi.enabled()) {
        DataFlash.Log_Write_RSSI(rssi);
    }
}

// wheel encoder packet
struct PACKED log_WheelEncoder {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float distance_0;
    uint8_t quality_0;
    float rpm_0;
    float distance_1;
    uint8_t quality_1;
    float rpm_1;
};

// log wheel encoder information
void Rover::Log_Write_WheelEncoder()
{
    // return immediately if no wheel encoders are enabled
    if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
        return;
    }
    struct log_WheelEncoder pkt = {
        LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
        time_us     : AP_HAL::micros64(),
        distance_0  : g2.wheel_encoder.get_distance(0),
        quality_0   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
        rpm_0       : wheel_encoder_rpm[0],
        distance_1  : g2.wheel_encoder.get_distance(1),
        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
        rpm_1       : wheel_encoder_rpm[1]
    };
    DataFlash.WriteBlock(&pkt, sizeof(pkt));
}

void Rover::Log_Write_Vehicle_Startup_Messages()
{
    // only 200(?) bytes are guaranteed by DataFlash
    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
    DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
    ahrs.Log_Write_Home_And_Origin();
    gps.Write_DataFlash_Log_Startup_messages();
}

// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const LogStructure Rover::log_structure[] = {
    LOG_COMMON_STRUCTURES,
    { LOG_STARTUP_MSG, sizeof(log_Startup),
      "STRT", "QBH",        "TimeUS,SType,CTot", "s--", "F--" },
    { LOG_THR_MSG, sizeof(log_Throttle),
      "THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
    { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
      "NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" },
    { LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
      "RGFD", "QfHHHbHCb",  "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
    { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
      "ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
    { LOG_STEERING_MSG, sizeof(log_Steering),
      "STER", "Qhfffff",   "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
    { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
      "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
    { LOG_ERROR_MSG, sizeof(log_Error),
      "ERR",   "QBB",         "TimeUS,Subsys,ECode", "s--", "F--" },
    { LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
      "WENC",  "Qfbffbf", "TimeUS,Dist0,Qual0,RPM0,Dist1,Qual1,RPM1", "sm-qm-q", "F0--0--" },
};

void Rover::log_init(void)
{
    DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
}

#else  // LOGGING_ENABLED

// dummy functions
void Rover::Log_Write_Arm_Disarm() {}
void Rover::Log_Write_Attitude() {}
void Rover::Log_Write_Depth() {}
void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Rover::Log_Write_Nav_Tuning() {}
void Rover::Log_Write_Proximity() {}
void Rover::Log_Write_Sail() {}
void Rover::Log_Write_Startup(uint8_t type) {}
void Rover::Log_Write_Throttle() {}
void Rover::Log_Write_Rangefinder() {}
void Rover::Log_Write_RC(void) {}
void Rover::Log_Write_Steering() {}
void Rover::Log_Write_WheelEncoder() {}\
void Rover::Log_Write_Vehicle_Startup_Messages() {}

#endif  // LOGGING_ENABLED