#!/usr/bin/env python3
'''
trajectory viewer for aerobatic logs
'''

from panda3d_viewer import Viewer, ViewerConfig
from pymavlink.quaternion import QuaternionBase, Quaternion
from pymavlink.rotmat import Vector3, Matrix3
from pymavlink import mavutil
from MAVProxy.modules.lib import mp_util

import math, sys

# quaternion to rotate to fix NED to ENU conversion
q_NED_ENU = Quaternion([0, -math.sqrt(2.0)*0.5, -math.sqrt(2)*0.5, 0])

def qtuple(q):
    '''
    return a quaternion tuple. We mirror on the Z axis by changing
    the sign of two elements to cope with the different conventions
    '''
    return (q[0],q[1],q[2],q[3])

config = ViewerConfig()
config.set_window_size(320, 240)
config.enable_antialiasing(True, multisamples=4)

def view_path(viewer, path, color):
    idx = 0
    print("Plotting %u points" % len(path))
    m = Matrix3()
    m.from_euler(0, math.radians(90), 0)
    qorient = Quaternion(m)

    for i in range(1,len(path)):
        p0 = path[i-1]
        p1 = path[i]
        dx = p1.pos[0] - p0.pos[0]
        dy = p1.pos[1] - p0.pos[1]
        dz = p1.pos[2] - p0.pos[2]
        dt = p1.t - p0.t
        if dt > 0.5:
            continue
        dist = math.sqrt(dx**2+dy**2+dz**2)+0.001
        if dist <= 0:
            continue
        if math.isnan(p1.q[0]) or math.isnan(p1.q[1]) or math.isnan(p1.q[2]) or math.isnan(p1.q[3]):
            continue
        pname = 'p%u' % i
        viewer.append_box('root', pname, (dist, args.width, 0.002), frame=(p1.pos,qtuple(p1.q)))
        viewer.set_material('root', pname, color_rgba=color)

class LogPoint(object):
    def __init__(self, x,y,z,q,t):
        # convert from NED to ENU
        global q_NED_ENU
        self.pos = (y,x,-z)
        self.q = q_NED_ENU * q
        self.t = t

def offset_between(ORGN1, ORGN2):
    '''return x,y offset in meters between ORGN1 and ORGN2'''
    dist = mp_util.gps_distance(ORGN1.Lat, ORGN1.Lng, ORGN2.Lat, ORGN2.Lng)
    bearing = mp_util.gps_bearing(ORGN1.Lat, ORGN1.Lng, ORGN2.Lat, ORGN2.Lng)
    ofs_x = dist * math.cos(math.radians(bearing))
    ofs_y = dist * math.sin(math.radians(bearing))
    return ofs_x, ofs_y

def show_log(viewer,filename,reduction):
    print("Viewing %s" % filename)
    mlog = mavutil.mavlink_connection(filename)

    path_POST = []
    path_POSM = []
    path_POSB = []
    ATT = None

    scale = 0.01
    counts = {}
    ORGN = None
    ofs_x = 0
    ofs_y = 0


    while True:
        m = mlog.recv_match(type=['POST', 'POSB', 'POSM', 'ATT', 'ORGN'])
        if m is None:
            break

        mtype = m.get_type()

        if mtype == 'ORGN':
            if m.Type == 0:
                if ORGN is None:
                    ORGN = m
                else:
                    ofs_x, ofs_y = offset_between(m, ORGN)
                    ORGN = m
            continue


        if not mtype in counts:
            counts[mtype] = 0
        counts[mtype] += 1
        if counts[mtype] % int(reduction) != 0:
            continue

        if mtype != 'ATT':
            px = m.px + ofs_x
            py = m.py + ofs_y

        if mtype == 'POST' and ATT is not None:
            path_POST.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
        if mtype == 'POSB' and ATT is not None:
            path_POSB.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
        if mtype == 'POSM' and ATT is not None:
            path_POSM.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
        if mtype == 'ATT':
            ATT = m

    view_path(viewer, path_POST, (0.7,0.1,0.1,1))
    view_path(viewer, path_POSM, (0.1,0.7,0.1,1))
    view_path(viewer, path_POSB, (0.1,0.1,0.7,1))

import argparse
parser = argparse.ArgumentParser(description='Aerobatic log viewer')
parser.add_argument('file', nargs='?', default=None, help='bin log file')
parser.add_argument('--reduce', type=int, default=1, help='reduction ratio for messages')
parser.add_argument('--width', type=float, default=0.1, help='line width')
args = parser.parse_args()

filename = args.file

viewer = Viewer(window_type='onscreen', window_title=filename, config=config)
viewer.append_group('root')
show_log(viewer, filename, args.reduce)
viewer.reset_camera(pos=(0, -6, 1), look_at=(0, 0, 1))
viewer.join()