/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// Unit tests for the AP_Math polygon code
//

#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Param.h>
#include <AP_HAL.h>
#include <AP_Math.h>

#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif

static const struct {
    Vector2f wp1, wp2, location;
    bool passed;
} test_points[] = {
    { Vector2f(-35.3647759314918, 149.16265692810987),
      Vector2f(-35.36279922658029, 149.16352169591426),
      Vector2f(-35.36214956969903, 149.16461410046492), true },
    { Vector2f(-35.36438601157189, 149.16613916088568),
      Vector2f(-35.364432558610254, 149.16287313113048),
      Vector2f(-35.36491510034746, 149.16365837225004), false },
    { Vector2f(0, 0),
      Vector2f(0, 1),
      Vector2f(0, 2), true },
    { Vector2f(0, 0),
      Vector2f(0, 2),
      Vector2f(0, 1), false },
    { Vector2f(0, 0),
      Vector2f(1, 0),
      Vector2f(2, 0), true },
    { Vector2f(0, 0),
      Vector2f(2, 0),
      Vector2f(1, 0), false },
    { Vector2f(0, 0),
      Vector2f(-1, 1),
      Vector2f(-2, 2), true },
};

#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))

static struct Location location_from_point(Vector2f pt)
{
    struct Location loc = {0};
    loc.lat = pt.x * 1.0e7;
    loc.lng = pt.y * 1.0e7;
    return loc;
}

static void test_passed_waypoint(void)
{
    hal.console->println("waypoint tests starting");
    for (uint8_t i=0; i<ARRAY_LENGTH(test_points); i++) {
        struct Location loc = location_from_point(test_points[i].location);
        struct Location wp1 = location_from_point(test_points[i].wp1);
        struct Location wp2 = location_from_point(test_points[i].wp2);
        if (location_passed_point(loc, wp1, wp2) != test_points[i].passed) {
            hal.console->printf("Failed waypoint test %u\n", (unsigned)i);
            return;
        }
    }
    hal.console->println("waypoint tests OK");
}

static void test_one_offset(struct Location &loc,
                            float ofs_north, float ofs_east,
                            float dist, float bearing)
{
    struct Location loc2;
    float dist2, bearing2;

    loc2 = loc;
    uint32_t t1 = hal.scheduler->micros();
    location_offset(&loc2, ofs_north, ofs_east);
    hal.console->printf("location_offset took %u usec\n",
                        (unsigned)(hal.scheduler->micros() - t1));
    dist2 = get_distance(&loc, &loc2);
    bearing2 = get_bearing_cd(&loc, &loc2) * 0.01;
    float brg_error = bearing2-bearing;
    if (brg_error > 180) {
        brg_error -= 360;
    } else if (brg_error < -180) {
        brg_error += 360;
    }

    if (fabs(dist - dist2) > 1.0 ||
        brg_error > 1.0) {
        hal.console->printf("Failed offset test brg_error=%f dist_error=%f\n",
                      brg_error, dist-dist2);
    }
}

static const struct {
    float ofs_north, ofs_east, distance, bearing;
} test_offsets[] = {
    { 1000, 1000,  sqrt(2.0)*1000, 45 },
    { 1000, -1000, sqrt(2.0)*1000, -45 },
    { 1000, 0,     1000, 0 },
    { 0, 1000,     1000, 90 },
};

static void test_offset(void)
{
    struct Location loc;

    loc.lat = -35*1.0e7;
    loc.lng = 149*1.0e7;

    for (uint8_t i=0; i<ARRAY_LENGTH(test_offsets); i++) {
        test_one_offset(loc,
                        test_offsets[i].ofs_north,
                        test_offsets[i].ofs_east,
                        test_offsets[i].distance,
                        test_offsets[i].bearing);
    }
}

/*
 *  polygon tests
 */
void setup(void)
{
    test_passed_waypoint();
    test_offset();
}

void loop(void){}

AP_HAL_MAIN();