# drive APMrover2 in SITL
from __future__ import print_function
import os
import shutil

import pexpect
from pymavlink import mavutil

from common import *
from pysim import util
from pysim import vehicleinfo

# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))


# HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
homeloc = None


def arm_rover(mavproxy, mav):
    wait_ready_to_arm(mav);

    mavproxy.send('arm throttle\n')
    mavproxy.expect('ARMED')

    print("ROVER ARMED")
    return True


def disarm_rover(mavproxy, mav):
    mavproxy.send('disarm\n')
    mavproxy.expect('DISARMED')

    print("ROVER DISARMED")
    return True


def drive_left_circuit(mavproxy, mav):
    """Drive a left circuit, 50m on a side."""
    mavproxy.send('switch 6\n')
    wait_mode(mav, 'MANUAL')
    mavproxy.send('rc 3 2000\n')

    print("Driving left circuit")
    # do 4 turns
    for i in range(0, 4):
        # hard left
        print("Starting turn %u" % i)
        mavproxy.send('rc 1 1000\n')
        if not wait_heading(mav, 270 - (90*i), accuracy=10):
            return False
        mavproxy.send('rc 1 1500\n')
        print("Starting leg %u" % i)
        if not wait_distance(mav, 50, accuracy=7):
            return False
    mavproxy.send('rc 3 1500\n')
    print("Circuit complete")
    return True


def drive_RTL(mavproxy, mav):
    """Drive to home."""
    print("Driving home in RTL")
    mavproxy.send('switch 3\n')
    if not wait_location(mav, homeloc, accuracy=22, timeout=90):
        return False
    print("RTL Complete")
    return True


def setup_rc(mavproxy):
    """Setup RC override control."""
    for chan in [1, 2, 3, 4, 5, 6, 7]:
        mavproxy.send('rc %u 1500\n' % chan)
    mavproxy.send('rc 8 1800\n')


def drive_mission(mavproxy, mav, filename):
    """Drive a mission from a file."""
    global homeloc
    print("Driving mission %s" % filename)
    mavproxy.send('wp load %s\n' % filename)
    mavproxy.expect('Flight plan received')
    mavproxy.send('wp list\n')
    mavproxy.expect('Requesting [0-9]+ waypoints')
    mavproxy.send('switch 4\n')  # auto mode
    mavproxy.send('rc 3 1500\n')
    wait_mode(mav, 'AUTO')
    if not wait_waypoint(mav, 1, 4, max_dist=5):
        return False
    wait_mode(mav, 'HOLD')
    print("Mission OK")
    return True

def do_get_banner(mavproxy, mav):
    mavproxy.send("long DO_SEND_BANNER 1\n")
    start = time.time()
    while True:
        m = mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
        if m is not None and "APM:Rover" in m.text:
            print("banner received: %s" % (m.text))
            return True
        if time.time() - start > 10:
            break

    print("banner not received")

    return False

def do_get_autopilot_capabilities(mavproxy, mav):
    mavproxy.send("long REQUEST_AUTOPILOT_CAPABILITIES 1\n")
    m = mav.recv_match(type='AUTOPILOT_VERSION', blocking=True, timeout=10)
    if m is None:
        print("AUTOPILOT_VERSION not received")
        return False
    print("AUTOPILOT_VERSION received")
    return True;

def do_set_mode_via_command_long(mavproxy, mav):
    base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
    custom_mode = 4 # hold
    start = time.time()
    while time.time() - start < 5:
        mavproxy.send("long DO_SET_MODE %u %u\n" % (base_mode,custom_mode))
        m = mav.recv_match(type='HEARTBEAT', blocking=True, timeout=10)
        if m is None:
            return False
        if m.custom_mode == custom_mode:
            return True
        time.sleep(0.1)
    return False

def drive_brake_get_stopping_distance(mavproxy, mav, speed):
    # measure our stopping distance:
    old_cruise_speed = get_parameter(mavproxy, 'CRUISE_SPEED')
    old_accel_max = get_parameter(mavproxy, 'ATC_ACCEL_MAX')

    # controller tends not to meet cruise speed (max of ~14 when 15
    # set), thus *1.2
    set_parameter(mavproxy, 'CRUISE_SPEED', speed*1.2)
    # at time of writing, the vehicle is only capable of 10m/s/s accel
    set_parameter(mavproxy, 'ATC_ACCEL_MAX', 15)
    mavproxy.send("mode STEERING\n")
    wait_mode(mav, 'STEERING')
    mavproxy.send('rc 3 2000\n')
    wait_groundspeed(mav, 15, 100)
    initial = mav.location()
    initial_time = time.time()
    while time.time() - initial_time < 2:
        # wait for a position update from the autopilot
        start = mav.location()
        if start != initial:
            break
    mavproxy.send('rc 3 1500\n')
    wait_groundspeed(mav, 0, 0.2) # why do we not stop?!
    initial = mav.location()
    initial_time = time.time()
    while time.time() - initial_time < 2:
        # wait for a position update from the autopilot
        stop = mav.location()
        if stop != initial:
            break
    delta = get_distance(start, stop)

    set_parameter(mavproxy, 'CRUISE_SPEED', old_cruise_speed)
    set_parameter(mavproxy, 'ATC_ACCEL_MAX', old_accel_max)

    return delta

def drive_brake(mavproxy, mav):
    old_using_brake = get_parameter(mavproxy, 'ATC_BRAKE')
    old_cruise_speed = get_parameter(mavproxy, 'CRUISE_SPEED')

    set_parameter(mavproxy, 'CRUISE_SPEED', 15)
    set_parameter(mavproxy, 'ATC_BRAKE', 0)

    distance_without_brakes = drive_brake_get_stopping_distance(mavproxy, mav, 15)

    # brakes on:
    set_parameter(mavproxy, 'ATC_BRAKE', 1)
    distance_with_brakes = drive_brake_get_stopping_distance(mavproxy, mav, 15)
    # revert state:
    set_parameter(mavproxy, 'ATC_BRAKE', old_using_brake)
    set_parameter(mavproxy, 'CRUISE_SPEED', old_cruise_speed)

    delta = distance_without_brakes - distance_with_brakes
    if delta < distance_without_brakes*0.05: # 5% isn't asking for much
        print("Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)" % (distance_with_brakes, distance_without_brakes, delta))
        return False
    else:
        print("Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" % (distance_with_brakes, distance_without_brakes, delta))

    return True

vinfo = vehicleinfo.VehicleInfo()

def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
    """Drive APMrover2 in SITL.

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    """
    global homeloc

    if frame is None:
        frame = 'rover'

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if use_map:
        options += ' --map'

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
    mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)

    print("WAITING FOR PARAMETERS")
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    if params is None:
        params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
    if not isinstance(params, list):
        params = [params]
    for x in params:
        mavproxy.send("param load %s\n" % os.path.join(testdir, x))
        mavproxy.expect('Loaded [0-9]+ parameters')
    set_parameter(mavproxy, 'LOG_REPLAY', 1)
    set_parameter(mavproxy, 'LOG_DISARMED', 1)

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sitl)

    sitl = util.start_SITL(binary, model='rover', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
    mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sitl, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception as msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
    mav.message_hooks.append(message_hook)
    mav.idle_hooks.append(idle_hook)

    failed = False
    e = 'None'
    try:
        print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
        mav.wait_heartbeat()
        print("Setting up RC parameters")
        setup_rc(mavproxy)
        print("Waiting for GPS fix")
        mav.wait_gps_fix()
        homeloc = mav.location()
        print("Home location: %s" % homeloc)
        if not arm_rover(mavproxy, mav):
            print("Failed to ARM")
            failed = True
        if not drive_mission(mavproxy, mav, os.path.join(testdir, "rover1.txt")):
            print("Failed mission")
            failed = True
        if not drive_brake(mavproxy, mav):
            print("Failed brake")
            failed = True
        if not disarm_rover(mavproxy, mav):
            print("Failed to DISARM")
            failed = True
        if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/APMrover2-log.bin")):
            print("Failed log download")
            failed = True
#        if not drive_left_circuit(mavproxy, mav):
#            print("Failed left circuit")
#            failed = True
#        if not drive_RTL(mavproxy, mav):
#            print("Failed RTL")
#            failed = True

        # do not move this to be the first test.  MAVProxy's dedupe
        # function may bite you.
        print("Getting banner")
        if not do_get_banner(mavproxy, mav):
            print("FAILED: get banner")
            failed = True

        print("Getting autopilot capabilities")
        if not do_get_autopilot_capabilities(mavproxy, mav):
            print("FAILED: get capabilities")
            failed = True

        print("Setting mode via MAV_COMMAND_DO_SET_MODE")
        if not do_set_mode_via_command_long(mavproxy, mav):
            failed = True

    except pexpect.TIMEOUT as e:
        print("Failed with timeout")
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sitl)

    valgrind_log = util.valgrind_log_filepath(binary=binary, model='rover')
    if os.path.exists(valgrind_log):
        os.chmod(valgrind_log, 0o644)
        shutil.copy(valgrind_log, util.reltopdir("../buildlogs/APMrover2-valgrind.log"))

    if failed:
        print("FAILED: %s" % e)
        return False
    return True