/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

/*
   This is the ArduRover firmware. It was originally derived from
   ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
   AP_HAL merge by Andrew Tridgell

   Maintainer: Randy Mackay, Grant Morphett

   Authors:    Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin, Grant Morphett

   Thanks to:  Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier

   APMrover alpha version tester: Franco Borasio, Daniel Chapelat...

   Please contribute your ideas! See https://dev.ardupilot.org for details
*/

#include "Rover.h"

#define FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE

#include "AP_Gripper/AP_Gripper.h"

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)

/*
  scheduler table - all regular tasks are listed here, along with how
  often they should be called (in Hz) and the maximum time
  they are expected to take (in microseconds)
 */
const AP_Scheduler::Task Rover::scheduler_tasks[] = {
    //         Function name,          Hz,     us,
    SCHED_TASK(read_radio,             50,    200),
    SCHED_TASK(ahrs_update,           400,    400),
    SCHED_TASK(read_rangefinders,      50,    200),
    SCHED_TASK(update_current_mode,   400,    200),
    SCHED_TASK(set_servos,            400,    200),
    SCHED_TASK_CLASS(AP_GPS,              &rover.gps,              update,         50,  300),
    SCHED_TASK_CLASS(AP_Baro,             &rover.barometer,        update,         10,  200),
    SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,  200),
#if HAL_PROXIMITY_ENABLED
    SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200),
#endif
    SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100),
    SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100),
    SCHED_TASK(update_wheel_encoder,   50,    200),
    SCHED_TASK(update_compass,         10,    200),
    SCHED_TASK(update_mission,         50,    200),
    SCHED_TASK(update_logging1,        10,    200),
    SCHED_TASK(update_logging2,        10,    200),
    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_receive,                    400,    500),
    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_send,                       400,   1000),
    SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_mode_switch,        7,    200),
    SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_aux_all,           10,    200),
    SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10,  300),
    SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200),
#if GRIPPER_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,      update,         10,   75),
#endif
    SCHED_TASK(rpm_update,             10,    100),
#if HAL_MOUNT_ENABLED
    SCHED_TASK_CLASS(AP_Mount,            &rover.camera_mount,     update,         50,  200),
#endif
#if CAMERA == ENABLED
    SCHED_TASK_CLASS(AP_Camera,           &rover.camera,           update,         50,  200),
#endif
    SCHED_TASK(gcs_failsafe_check,     10,    200),
    SCHED_TASK(fence_check,            10,    200),
    SCHED_TASK(ekf_check,              10,    100),
    SCHED_TASK_CLASS(ModeSmartRTL,        &rover.mode_smartrtl,    save_position,   3,  200),
    SCHED_TASK_CLASS(AP_Notify,           &rover.notify,           update,         50,  300),
    SCHED_TASK(one_second_loop,         1,   1500),
#if HAL_SPRAYER_ENABLED
    SCHED_TASK_CLASS(AC_Sprayer,          &rover.g2.sprayer,           update,      3,  90),
#endif
    SCHED_TASK_CLASS(Compass,          &rover.compass,              cal_update, 50, 200),
    SCHED_TASK(compass_save,           0.1,   200),
    SCHED_TASK(accel_cal_update,       10,    200),
#if LOGGING_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Logger,     &rover.logger,        periodic_tasks, 50,  300),
#endif
    SCHED_TASK_CLASS(AP_InertialSensor,   &rover.ins,              periodic,      400,  200),
    SCHED_TASK_CLASS(AP_Scheduler,        &rover.scheduler,        update_logging, 0.1, 200),
    SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  200),
#if STATS_ENABLED == ENABLED
    SCHED_TASK(stats_update,            1,    200),
#endif
    SCHED_TASK(crash_check,            10,    200),
    SCHED_TASK(cruise_learn_update,    50,    200),
#if ADVANCED_FAILSAFE == ENABLED
    SCHED_TASK(afs_fs_check,           10,    200),
#endif
    SCHED_TASK(read_airspeed,          10,    100),
};


void Rover::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                                uint8_t &task_count,
                                uint32_t &log_bit)
{
    tasks = &scheduler_tasks[0];
    task_count = ARRAY_SIZE(scheduler_tasks);
    log_bit = MASK_LOG_PM;
}

constexpr int8_t Rover::_failsafe_priorities[7];

Rover::Rover(void) :
    AP_Vehicle(),
    param_loader(var_info),
    channel_steer(nullptr),
    channel_throttle(nullptr),
    channel_lateral(nullptr),
    logger{g.log_bitmask},
    modes(&g.mode1),
    control_mode(&mode_initializing)
{
}

// set target location (for use by scripting)
bool Rover::set_target_location(const Location& target_loc)
{
    // exit if vehicle is not in Guided mode or Auto-Guided mode
    if (!control_mode->in_guided_mode()) {
        return false;
    }

    return control_mode->set_desired_location(target_loc);
}

// set target velocity (for use by scripting)
bool Rover::set_target_velocity_NED(const Vector3f& vel_ned)
{
    // exit if vehicle is not in Guided mode or Auto-Guided mode
    if (!control_mode->in_guided_mode()) {
        return false;
    }

    // convert vector length into speed
    const float target_speed_m = safe_sqrt(sq(vel_ned.x) + sq(vel_ned.y));

    // convert vector direction to target yaw
    const float target_yaw_cd = degrees(atan2f(vel_ned.y, vel_ned.x)) * 100.0f;

    // send target heading and speed
    mode_guided.set_desired_heading_and_speed(target_yaw_cd, target_speed_m);

    return true;
}

// set steering and throttle (-1 to +1) (for use by scripting)
bool Rover::set_steering_and_throttle(float steering, float throttle)
{
    // exit if vehicle is not in Guided mode or Auto-Guided mode
    if (!control_mode->in_guided_mode()) {
        return false;
    }

    // set steering and throttle
    mode_guided.set_steering_and_throttle(steering, throttle);
    return true;
}

// get control output (for use in scripting)
// returns true on success and control_value is set to a value in the range -1 to +1
bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value)
{
    switch (control_output) {
    case AP_Vehicle::ControlOutput::Roll:
        control_value = constrain_float(g2.motors.get_roll(), -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::Pitch:
        control_value = constrain_float(g2.motors.get_pitch(), -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::Walking_Height:
        control_value = constrain_float(g2.motors.get_walking_height(), -1.0f, 1.0f);
        return true;    
    case AP_Vehicle::ControlOutput::Throttle:
        control_value = constrain_float(g2.motors.get_throttle() / 100.0f, -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::Yaw:
        control_value = constrain_float(g2.motors.get_steering() / 4500.0f, -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::Lateral:
        control_value = constrain_float(g2.motors.get_lateral() / 100.0f, -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::MainSail:
        control_value = constrain_float(g2.motors.get_mainsail() / 100.0f, -1.0f, 1.0f);
        return true;
    case AP_Vehicle::ControlOutput::WingSail:
        control_value = constrain_float(g2.motors.get_wingsail() / 100.0f, -1.0f, 1.0f);
        return true;
    default:
        return false;
    }
    return false;
}

#if STATS_ENABLED == ENABLED
/*
  update AP_Stats
*/
void Rover::stats_update(void)
{
    g2.stats.set_flying(g2.motors.active());
    g2.stats.update();
}
#endif


// update AHRS system
void Rover::ahrs_update()
{
    arming.update_soft_armed();

#if HIL_MODE != HIL_MODE_DISABLED
    // update hil before AHRS update
    gcs().update();
#endif

    // AHRS may use movement to calculate heading
    update_ahrs_flyforward();

    ahrs.update();

    // update position
    have_position = ahrs.get_position(current_loc);

    // set home from EKF if necessary and possible
    if (!ahrs.home_is_set()) {
        if (!set_home_to_current_location(false)) {
            // ignore this failure
        }
    }

    // if using the EKF get a speed update now (from accelerometers)
    Vector3f velocity;
    if (ahrs.get_velocity_NED(velocity)) {
        ground_speed = norm(velocity.x, velocity.y);
    } else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
        ground_speed = ahrs.groundspeed();
    }

    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        Log_Write_Sail();
    }

    if (should_log(MASK_LOG_IMU)) {
        AP::ins().Write_IMU();
    }
}

/*
  check for GCS failsafe - 10Hz
 */
void Rover::gcs_failsafe_check(void)
{
    if (!g.fs_gcs_enabled) {
        // gcs failsafe disabled
        return;
    }

    // check for updates from GCS within 2 seconds
    const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
    bool do_failsafe = true;
    if (gcs_last_seen_ms == 0) {
        // we've never seen the GCS, so we never failsafe for not seeing it
        do_failsafe = false;
    } else if (millis() - gcs_last_seen_ms <= 2000) {
        // we've never seen the GCS in the last couple of seconds, so all good
        do_failsafe = false;
    }

    failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", do_failsafe);
}

/*
  log some key data - 10Hz
 */
void Rover::update_logging1(void)
{
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        Log_Write_Sail();
    }

    if (should_log(MASK_LOG_THR)) {
        Log_Write_Throttle();
        logger.Write_Beacon(g2.beacon);
    }

    if (should_log(MASK_LOG_NTUN)) {
        Log_Write_Nav_Tuning();
    }

#if HAL_PROXIMITY_ENABLED
    if (should_log(MASK_LOG_RANGEFINDER)) {
        logger.Write_Proximity(g2.proximity);
    }
#endif
}

/*
  log some key data - 10Hz
 */
void Rover::update_logging2(void)
{
    if (should_log(MASK_LOG_STEERING)) {
        Log_Write_Steering();
    }

    if (should_log(MASK_LOG_RC)) {
        Log_Write_RC();
        g2.wheel_encoder.Log_Write();
    }

    if (should_log(MASK_LOG_IMU)) {
        AP::ins().Write_Vibration();
    }
}


/*
  once a second events
 */
void Rover::one_second_loop(void)
{
    // allow orientation change at runtime to aid config
    ahrs.update_orientation();

    set_control_channels();

    // cope with changes to aux functions
    SRV_Channels::enable_aux_servos();

    // update notify flags
    AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
    AP_Notify::flags.pre_arm_gps_check = true;
    AP_Notify::flags.armed = arming.is_armed();
    AP_Notify::flags.flying = hal.util->get_soft_armed();

    // cope with changes to mavlink system ID
    mavlink_system.sysid = g.sysid_this_mav;

    // attempt to update home position and baro calibration if not armed:
    if (!hal.util->get_soft_armed()) {
        update_home();
    }

    // need to set "likely flying" when armed to allow for compass
    // learning to run
    set_likely_flying(hal.util->get_soft_armed());

    // send latest param values to wp_nav
    g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
}

void Rover::update_current_mode(void)
{
    // check for emergency stop
    if (SRV_Channels::get_emergency_stop()) {
        // relax controllers, motor stopping done at output level
        g2.attitude_control.relax_I();
    }

    control_mode->update();
}

// update mission including starting or stopping commands. called by scheduler at 10Hz
void Rover::update_mission(void)
{
    if (control_mode == &mode_auto) {
        if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
            mode_auto.mission.update();
        }
    }
}

// vehicle specific waypoint info helpers
bool Rover::get_wp_distance_m(float &distance) const
{
    // see GCS_MAVLINK_Rover::send_nav_controller_output()
    if (!rover.control_mode->is_autopilot_mode()) {
        return false;
    }
    distance = control_mode->get_distance_to_destination();
    return true;
}

// vehicle specific waypoint info helpers
bool Rover::get_wp_bearing_deg(float &bearing) const
{
    // see GCS_MAVLINK_Rover::send_nav_controller_output()
    if (!rover.control_mode->is_autopilot_mode()) {
        return false;
    }
    bearing = control_mode->wp_bearing();
    return true;
}

// vehicle specific waypoint info helpers
bool Rover::get_wp_crosstrack_error_m(float &xtrack_error) const
{
    // see GCS_MAVLINK_Rover::send_nav_controller_output()
    if (!rover.control_mode->is_autopilot_mode()) {
        return false;
    }
    xtrack_error = control_mode->crosstrack_error();
    return true;
}


Rover rover;
AP_Vehicle& vehicle = rover;

AP_HAL_MAIN_CALLBACKS(&rover);