#include "Tracker.h"

// mission storage
static const StorageAccess wp_storage(StorageManager::StorageMission);

static void mavlink_delay_cb_static()
{
    tracker.mavlink_delay_cb();
}

void Tracker::init_tracker()
{
    // initialise console serial port
    serial_manager.init_console();

    hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
                        fwver.fw_string,
                        hal.util->available_memory());

    // Check the EEPROM format version before loading any parameters from EEPROM
    load_parameters();

    gcs().set_dataflash(&DataFlash);

    mavlink_system.sysid = g.sysid_this_mav;

    // initialise serial ports
    serial_manager.init();

    // setup first port early to allow BoardConfig to report errors
    gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);

    // Register mavlink_delay_cb, which will run anytime you have
    // more than 5ms remaining in your call to hal.scheduler->delay
    hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
    
    BoardConfig.init();
#if HAL_WITH_UAVCAN
    BoardConfig_CAN.init();
#endif

    // initialise notify
    notify.init(false);
    AP_Notify::flags.pre_arm_check = true;
    AP_Notify::flags.pre_arm_gps_check = true;
    AP_Notify::flags.failsafe_battery = false;

    // init baro before we start the GCS, so that the CLI baro test works
    barometer.init();

    // we start by assuming USB connected, as we initialed the serial
    // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.    
    usb_connected = true;
    check_usb_mux();

    // setup telem slots with serial ports
    gcs().setup_uarts(serial_manager);

#if LOGGING_ENABLED == ENABLED
    log_init();
#endif

    if (g.compass_enabled==true) {
        if (!compass.init() || !compass.read()) {
            hal.console->printf("Compass initialisation failed!\n");
            g.compass_enabled = false;
        } else {
            ahrs.set_compass(&compass);
        }
    }

    // GPS Initialization
    gps.set_log_gps_bit(MASK_LOG_GPS);
    gps.init(serial_manager);

    ahrs.init();
    ahrs.set_fly_forward(false);

    ins.init(scheduler.get_loop_rate_hz());
    ahrs.reset();

    barometer.calibrate();

    // initialise DataFlash library
    DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));

    // set serial ports non-blocking
    serial_manager.set_blocking_writes_all(false);

    // initialise servos
    init_servos();

    // use given start positions - useful for indoor testing, and
    // while waiting for GPS lock
    // sanity check location
    if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
        current_loc.lat = g.start_latitude * 1.0e7f;
        current_loc.lng = g.start_longitude * 1.0e7f;
    } else {
        gcs().send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
    }

    // see if EEPROM has a default location as well
    if (current_loc.lat == 0 && current_loc.lng == 0) {
        get_home_eeprom(current_loc);
    }

    init_capabilities();

    gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
    hal.scheduler->delay(1000); // Why????

    set_mode(AUTO, MODE_REASON_STARTUP); // tracking

    if (g.startup_delay > 0) {
        // arm servos with trim value to allow them to start up (required
        // for some servos)
        prepare_servos();
    }

    // disable safety if requested
    BoardConfig.init_safety();    
}

/*
  fetch HOME from EEPROM
*/
bool Tracker::get_home_eeprom(struct Location &loc)
{
    // Find out proper location in memory by using the start_byte position + the index
    // --------------------------------------------------------------------------------
    if (g.command_total.get() == 0) {
        return false;
    }

    // read WP position
    loc.options = wp_storage.read_byte(0);
    loc.alt = wp_storage.read_uint32(1);
    loc.lat = wp_storage.read_uint32(5);
    loc.lng = wp_storage.read_uint32(9);

    return true;
}

void Tracker::set_home_eeprom(struct Location temp)
{
    wp_storage.write_byte(0, temp.options);
    wp_storage.write_uint32(1, temp.alt);
    wp_storage.write_uint32(5, temp.lat);
    wp_storage.write_uint32(9, temp.lng);

    // Now have a home location in EEPROM
    g.command_total.set_and_save(1); // At most 1 entry for HOME
}

void Tracker::set_home(struct Location temp)
{
    set_home_eeprom(temp);
    current_loc = temp;
    gcs().send_home(temp);
    Location ekf_origin;
    if (ahrs.get_origin(ekf_origin)) {
        gcs().send_ekf_origin(ekf_origin);
    }
}

// sets ekf_origin if it has not been set.
//  should only be used when there is no GPS to provide an absolute position
void Tracker::set_ekf_origin(const Location& loc)
{
    // check location is valid
    if (!check_latlng(loc)) {
        return;
    }

    // check EKF origin has already been set
    Location ekf_origin;
    if (ahrs.get_origin(ekf_origin)) {
        return;
    }

    if (!ahrs.set_origin(loc)) {
        return;
    }

    // send ekf origin to GCS
    gcs().send_ekf_origin(loc);
}

void Tracker::arm_servos()
{
    hal.util->set_soft_armed(true);
    DataFlash.set_vehicle_armed(true);
}

void Tracker::disarm_servos()
{
    hal.util->set_soft_armed(false);
    DataFlash.set_vehicle_armed(false);
}

/*
  setup servos to trim value after initialising
 */
void Tracker::prepare_servos()
{
    start_time_ms = AP_HAL::millis();
    SRV_Channels::set_output_limit(SRV_Channel::k_tracker_yaw, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
    SRV_Channels::set_output_limit(SRV_Channel::k_tracker_pitch, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
    SRV_Channels::calc_pwm();
    SRV_Channels::output_ch_all();
}

void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
{
    if (control_mode == mode) {
        // don't switch modes if we are already in the correct mode.
        return;
    }
    control_mode = mode;

	switch (control_mode) {
    case AUTO:
    case MANUAL:
    case SCAN:
    case SERVO_TEST:
        arm_servos();
        break;

    case STOP:
    case INITIALISING:
        disarm_servos();
        break;
    }

	// log mode change
	DataFlash.Log_Write_Mode(control_mode, reason);
}

void Tracker::check_usb_mux(void)
{
    bool usb_check = hal.gpio->usb_connected();
    if (usb_check == usb_connected) {
        return;
    }

    // the user has switched to/from the telemetry port
    usb_connected = usb_check;
}

/*
  should we log a message type now?
 */
bool Tracker::should_log(uint32_t mask)
{
    if (!DataFlash.should_log(mask)) {
        return false;
    }
    return true;
}