#include "Copter.h"

/*
  mavlink motor test - implements the MAV_CMD_DO_MOTOR_TEST mavlink command so that the GCS/pilot can test an individual motor or flaps
                       to ensure proper wiring, rotation.
 */

// motor test definitions
#define MOTOR_TEST_TIMEOUT_SEC          600     // max timeout is 10 minutes (600 seconds)

static uint32_t motor_test_start_ms;        // system time the motor test began
static uint32_t motor_test_timeout_ms;      // test will timeout this many milliseconds after the motor_test_start_ms
static uint8_t motor_test_seq;              // motor sequence number of motor being tested
static uint8_t motor_test_count;            // number of motors to test
static uint8_t motor_test_throttle_type;    // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
static float motor_test_throttle_value;  // throttle to be sent to motor, value depends upon it's type

// motor_test_output - checks for timeout and sends updates to motors objects
void Copter::motor_test_output()
{
    // exit immediately if the motor test is not running
    if (!ap.motor_test) {
        return;
    }

    EXPECT_DELAY_MS(2000);

    // check for test timeout
    uint32_t now = AP_HAL::millis();
    if ((now - motor_test_start_ms) >= motor_test_timeout_ms) {
        if (motor_test_count > 1) {
            if (now - motor_test_start_ms < motor_test_timeout_ms*1.5) {
                // output zero for 50% of the test time
                motors->output_min();
            } else {
                // move onto next motor
                motor_test_seq++;
                motor_test_count--;
                motor_test_start_ms = now;
                if (!motors->armed()) {
                    motors->armed(true);
                    hal.util->set_soft_armed(true);
                }
            }
            return;
        }
        // stop motor test
        motor_test_stop();
    } else {
        int16_t pwm = 0;   // pwm that will be output to the motors

        // calculate pwm based on throttle type
        switch (motor_test_throttle_type) {

            case MOTOR_TEST_COMPASS_CAL:
                compass.set_voltage(battery.voltage());
                compass.per_motor_calibration_update();
                FALLTHROUGH;

            case MOTOR_TEST_THROTTLE_PERCENT:
                // sanity check motor_test_throttle value
#if FRAME_CONFIG != HELI_FRAME
                if (motor_test_throttle_value <= 100) {
                    int16_t pwm_min = motors->get_pwm_output_min();
                    int16_t pwm_max = motors->get_pwm_output_max();
                    pwm = (int16_t) (pwm_min + (pwm_max - pwm_min) * motor_test_throttle_value * 1e-2f);
                }
#endif
                break;

            case MOTOR_TEST_THROTTLE_PWM:
                pwm = (int16_t)motor_test_throttle_value;
                break;

            case MOTOR_TEST_THROTTLE_PILOT:
                pwm = channel_throttle->get_radio_in();
                break;

            default:
                motor_test_stop();
                return;
        }

        // sanity check throttle values
        if (pwm >= RC_Channel::RC_MIN_LIMIT_PWM && pwm <= RC_Channel::RC_MAX_LIMIT_PWM) {
            // turn on motor to specified pwm value
            motors->output_test_seq(motor_test_seq, pwm);
        } else {
            motor_test_stop();
        }
    }
}

// mavlink_motor_test_check - perform checks before motor tests can begin
//  return true if tests can continue, false if not
bool Copter::mavlink_motor_control_check(const GCS_MAVLINK &gcs_chan, bool check_rc, const char* mode)
{
    // check board has initialised
    if (!ap.initialised) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: Board initialising", mode);
        return false;
    }

    // Check Motor test is allowed
    char failure_msg[100] {};
    if (!motors->motor_test_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: %s", mode, failure_msg);
        return false;
    }

    // check rc has been calibrated
    if (check_rc && !arming.rc_calibration_checks(true)) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: RC not calibrated", mode);
        return false;
    }

    // ensure we are landed
    if (!ap.land_complete) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: vehicle not landed", mode);
        return false;
    }

    // check if safety switch has been pushed
    if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: Safety switch", mode);
        return false;
    }

    // check E-Stop is not active
    if (SRV_Channels::get_emergency_stop()) {
        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: Motor Emergency Stopped", mode);
        return false;
    }

    // if we got this far the check was successful and the motor test can continue
    return true;
}

// mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
//  returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, float throttle_value,
                                         float timeout_sec, uint8_t motor_count)
{
    if (motor_count == 0) {
        motor_count = 1;
    }
    // if test has not started try to start it
    if (!ap.motor_test) {
        /* perform checks that it is ok to start test
           The RC calibrated check can be skipped if direct pwm is
           supplied
        */
        if (!mavlink_motor_control_check(gcs_chan, throttle_type != 1, "Motor Test")) {
            return MAV_RESULT_FAILED;
        } else {
            // start test
            gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");
            ap.motor_test = true;

            EXPECT_DELAY_MS(3000);

            // wait for rate thread to stop running due to motor test
            while (using_rate_thread) {
                hal.scheduler->delay(1);
            }

            // enable and arm motors
            if (!motors->armed()) {
                motors->output_min();  // output lowest possible value to motors
                motors->armed(true);
                hal.util->set_soft_armed(true);
            }

            // disable throttle and gps failsafe
            g.failsafe_throttle.set(FS_THR_DISABLED);
            g.failsafe_gcs.set(FS_GCS_DISABLED);
            g.fs_ekf_action.set(0);

            // turn on notify leds
            AP_Notify::flags.esc_calibration = true;
        }
    }

    // set timeout
    motor_test_start_ms = AP_HAL::millis();
    motor_test_timeout_ms = MIN(timeout_sec, MOTOR_TEST_TIMEOUT_SEC) * 1000;

    // store required output
    motor_test_seq = motor_seq;
    motor_test_count = motor_count;
    motor_test_throttle_type = throttle_type;
    motor_test_throttle_value = throttle_value;

    if (motor_test_throttle_type == MOTOR_TEST_COMPASS_CAL) {
        compass.per_motor_calibration_start();
    }            

    // return success
    return MAV_RESULT_ACCEPTED;
}

// motor_test_stop - stops the motor test
void Copter::motor_test_stop()
{
    // exit immediately if the test is not running
    if (!ap.motor_test) {
        return;
    }

    gcs().send_text(MAV_SEVERITY_INFO, "finished motor test");    

    // flag test is complete
    ap.motor_test = false;

    // disarm motors
    motors->armed(false);
    hal.util->set_soft_armed(false);

    // reset timeout
    motor_test_start_ms = 0;
    motor_test_timeout_ms = 0;

    // re-enable failsafes
    g.failsafe_throttle.load();
    g.failsafe_gcs.load();
    g.fs_ekf_action.load();

    if (motor_test_throttle_type == MOTOR_TEST_COMPASS_CAL) {
        compass.per_motor_calibration_end();
    }

    // turn off notify leds
    AP_Notify::flags.esc_calibration = false;
}