# fly ArduPlane in SIL

import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, random

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


HOME_LOCATION='-35.362938,149.165085,584,270'
WIND="0,180,0.2" # speed,direction,variance

homeloc = None

def takeoff(mavproxy, mav):
    '''takeoff get to 30m altitude'''
    mavproxy.send('switch 4\n')
    wait_mode(mav, 'FBWA')

    # some rudder to counteract the prop torque
    mavproxy.send('rc 4 1700\n')

    # some up elevator to keep the tail down
    mavproxy.send('rc 2 1200\n')

    # get it moving a bit first
    mavproxy.send('rc 3 1150\n')
    mav.recv_match(condition='VFR_HUD.groundspeed>2', blocking=True)

    # a bit faster
    mavproxy.send('rc 3 1300\n')
    mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)

    # a bit faster again, straighten rudder
    mavproxy.send('rc 3 1600\n')
    mavproxy.send('rc 4 1500\n')
    mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)

    # hit the gas harder now, and give it some more elevator
    mavproxy.send('rc 2 1100\n')
    mavproxy.send('rc 3 1800\n')

    # gain a bit of altitude
    if not wait_altitude(mav, homeloc.alt+30, homeloc.alt+60, timeout=30):
        return False

    # level off
    mavproxy.send('rc 2 1500\n')

    print("TAKEOFF COMPLETE")
    return True

def fly_left_circuit(mavproxy, mav):
    '''fly a left circuit, 200m on a side'''
    mavproxy.send('switch 4\n')
    wait_mode(mav, 'FBWA')
    mavproxy.send('rc 3 2000\n')
    if not wait_level_flight(mavproxy, mav):
        return False

    print("Flying 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)):
            return False
        mavproxy.send('rc 1 1500\n')
        print("Starting leg %u" % i)
        if not wait_distance(mav, 100, accuracy=20):
            return False
    print("Circuit complete")
    return True

def fly_RTL(mavproxy, mav):
    '''fly to home'''
    print("Flying home in RTL")
    mavproxy.send('switch 2\n')
    wait_mode(mav, 'RTL')
    if not wait_location(mav, homeloc, accuracy=90,
                         target_altitude=homeloc.alt+100, height_accuracy=20,
                         timeout=90):
        return False
    print("RTL Complete")
    return True

def fly_LOITER(mavproxy, mav, num_circles=4):
    '''loiter where we are'''
    print("Testing LOITER for %u turns" % num_circles)
    mavproxy.send('switch 3\n')
    mavproxy.send('loiter\n')
    wait_mode(mav, 'LOITER')
    while num_circles > 0:
        if not wait_heading(mav, 0):
            return False
        if not wait_heading(mav, 180):
            return False
        num_circles -= 1
        print("Loiter %u circles left" % num_circles)
    print("Completed Loiter OK")
    return True


def wait_level_flight(mavproxy, mav, accuracy=5, timeout=30):
    '''wait for level flight'''
    tstart = time.time()
    print("Waiting for level flight")
    while time.time() < tstart + timeout:
        m = mav.recv_match(type='ATTITUDE', blocking=True)
        roll = math.degrees(m.roll)
        pitch = math.degrees(m.pitch)
        print("Roll=%.1f Pitch=%.1f" % (roll, pitch))
        if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
            print("Attained level flight")
            return True
    print("Failed to attain level flight")
    return False


def change_altitude(mavproxy, mav, altitude, accuracy=10):
    '''get to a given altitude'''
    mavproxy.send('switch 4\n')
    wait_mode(mav, 'FBWA')
    alt_error = mav.messages['VFR_HUD'].alt - altitude
    if alt_error > 0:
        mavproxy.send('rc 2 2000\n')
    else:
        mavproxy.send('rc 2 1000\n')
    if not wait_altitude(mav, altitude-accuracy/2, altitude+accuracy/2):
        return False
    mavproxy.send('rc 2 1500\n')
    print("Reached target altitude at %u" % mav.messages['VFR_HUD'].alt)
    return wait_level_flight(mavproxy, mav)


def axial_left_roll(mavproxy, mav, count=1):
    '''fly a left axial roll'''
    # full throttle!
    mavproxy.send('rc 3 2000\n')
    if not change_altitude(mavproxy, mav, homeloc.alt+200):
        return False

    # fly the roll in manual
    mavproxy.send('switch 6\n')
    wait_mode(mav, 'MANUAL')

    while count > 0:
        print("Starting roll")
        mavproxy.send('rc 1 1000\n')
        if not wait_roll(mav, -150, accuracy=20):
            return False
        if not wait_roll(mav, 150, accuracy=20):
            return False
        if not wait_roll(mav, 0, accuracy=20):
            return False
        count -= 1

    # back to FBWA
    mavproxy.send('rc 1 1500\n')
    mavproxy.send('switch 4\n')
    wait_mode(mav, 'FBWA')
    mavproxy.send('rc 3 1700\n')
    return wait_level_flight(mavproxy, mav)


def inside_loop(mavproxy, mav, count=1):
    '''fly a inside loop'''
    # full throttle!
    mavproxy.send('rc 3 2000\n')
    if not change_altitude(mavproxy, mav, homeloc.alt+200):
        return False

    # fly the loop in manual
    mavproxy.send('switch 6\n')
    wait_mode(mav, 'MANUAL')

    while count > 0:
        print("Starting loop")
        mavproxy.send('rc 2 1000\n')
        if not wait_pitch(mav, 80, accuracy=20):
            return False
        if not wait_pitch(mav, 0, accuracy=20):
            return False
        count -= 1

    # back to FBWA
    mavproxy.send('rc 2 1500\n')
    mavproxy.send('switch 4\n')
    wait_mode(mav, 'FBWA')
    mavproxy.send('rc 3 1700\n')
    return wait_level_flight(mavproxy, mav)



def setup_rc(mavproxy):
    '''setup RC override control'''
    for chan in [1,2,4,5,6,7]:
        mavproxy.send('rc %u 1500\n' % chan)
    mavproxy.send('rc 3 1000\n')
    mavproxy.send('rc 8 1800\n')


def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
    '''fly a mission from a file'''
    global homeloc
    print("Flying 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 1\n') # auto mode
    wait_mode(mav, 'AUTO')
    if not wait_waypoint(mav, 1, 7, max_dist=60):
        return False
    if not wait_groundspeed(mav, 0, 0.5, timeout=60):
        return False
    print("Mission OK")
    return True


def fly_ArduPlane(viewerip=None):
    '''fly ArduPlane in SIL

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

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL('ArduPlane', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

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

    cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
    cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
    if viewerip:
        cmd += " --fgout=%s:5503" % viewerip

    runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Simulator ready to fly')

    sil = util.start_SIL('ArduPlane')
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

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

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, 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 takeoff(mavproxy, mav):
            print("Failed takeoff")
            failed = True
        if not fly_left_circuit(mavproxy, mav):
            print("Failed left circuit")
            failed = True
        if not axial_left_roll(mavproxy, mav, 1):
            print("Failed left roll")
            failed = True
        if not inside_loop(mavproxy, mav):
            print("Failed inside loop")
            failed = True
        if not fly_RTL(mavproxy, mav):
            print("Failed RTL")
            failed = True
        if not fly_LOITER(mavproxy, mav):
            print("Failed LOITER")
            failed = True
        if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
                           target_altitude=homeloc.alt+100):
            print("Failed mission")
            failed = True
    except pexpect.TIMEOUT, e:
        failed = True

    mav.close()
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(runsim)

    if os.path.exists('ArduPlane-valgrind.log'):
        os.chmod('ArduPlane-valgrind.log', 0644)
        shutil.copy("ArduPlane-valgrind.log", util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))

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