from LogAnalyzer import Test, TestResult
import DataflashLog
from VehicleType import VehicleType

# from ArduCopter/defines.h
AUTOTUNE_INITIALISED       = 30
AUTOTUNE_OFF               = 31
AUTOTUNE_RESTART           = 32
AUTOTUNE_SUCCESS           = 33
AUTOTUNE_FAILED            = 34
AUTOTUNE_REACHED_LIMIT     = 35
AUTOTUNE_PILOT_TESTING     = 36
AUTOTUNE_SAVEDGAINS        = 37

AUTOTUNE_EVENTS = frozenset([AUTOTUNE_INITIALISED,
                            AUTOTUNE_OFF,
                            AUTOTUNE_RESTART,
                            AUTOTUNE_SUCCESS,
                            AUTOTUNE_FAILED,
                            AUTOTUNE_REACHED_LIMIT,
                            AUTOTUNE_PILOT_TESTING,
                            AUTOTUNE_SAVEDGAINS])

class TestAutotune(Test):
    '''test for autotune success (copter only)'''

    class AutotuneSession(object):
        def __init__(self, events):
            self.events = events
        @property
        def linestart(self):
            return self.events[0][0]
        @property
        def linestop(self):
            return self.events[-1][0]
        @property
        def success(self):
            return AUTOTUNE_SUCCESS in [i for _,i in self.events]
        @property
        def failure(self):
            return AUTOTUNE_FAILED in [i for _,i in self.events]
        @property
        def limit(self):
            return AUTOTUNE_REACHED_LIMIT in [i for _,i in self.events]

        def __repr__(self):
            return "<AutotuneSession {}-{}>".format(self.linestart,self.linestop)


    def __init__(self):
        Test.__init__(self)
        self.name = "Autotune"

    def run(self, logdata, verbose):
        self.result = TestResult()
        self.result.status = TestResult.StatusType.GOOD

        if logdata.vehicleType != VehicleType.Copter:
            self.result.status = TestResult.StatusType.NA
            return

        for i in ['EV','ATDE','ATUN']:
            r = False
            if not i in logdata.channels:
                self.result.status = TestResult.StatusType.UNKNOWN
                self.result.statusMessage = "No {} log data".format(i)
                r = True
        if r:
            return

        events = list(filter(lambda x: x[1] in AUTOTUNE_EVENTS, logdata.channels["EV"]["Id"].listData))
        attempts = []

        j = None
        for i in range(0,len(events)):
            line,ev = events[i]
            if ev == AUTOTUNE_INITIALISED:
                if j is not None:
                    attempts.append(TestAutotune.AutotuneSession(events[j:i]))
                j = i

        # last attempt
        if j is not None:
            attempts.append(TestAutotune.AutotuneSession(events[j:]))

        for a in attempts:
                # this should not be necessary!
                def class_from_channel(c):
                    members = dict({'__init__':lambda x: setattr(x,i,None) for i in logdata.channels[c]})
                    cls = type(\
                               'Channel__{:s}'.format(c),
                               (object,),
                               members
                               )
                    return cls

                # last wins
                if a.success:
                    self.result.status = TestResult.StatusType.GOOD
                    s = "[+]"
                elif a.failure:
                    self.result.status = TestResult.StatusType.FAIL
                    s = "[-]"
                else:
                    self.result.status = TestResult.StatusType.UNKNOWN
                    s = "[?]"

                s += " Autotune {}-{}\n".format(a.linestart,a.linestop)
                self.result.statusMessage += s

                if verbose:
                    linenext = a.linestart + 1
                    while linenext < a.linestop:
                        try:
                            line = logdata.channels['ATUN']['RateMax'].getNearestValueFwd(linenext)[1]
                            if line > a.linestop:
                                break
                        except:
                            break
                        atun = class_from_channel('ATUN')()
                        for key in logdata.channels['ATUN']:
                            setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[0])
                        linenext = logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[1] + 1
                        self.result.statusMessage += 'ATUN Axis:{atun.Axis} TuneStep:{atun.TuneStep} RateMin:{atun.RateMin:5.0f} RateMax:{atun.RateMax:5.0f} RPGain:{atun.RPGain:1.4f} RDGain:{atun.RDGain:1.4f} SPGain:{atun.SPGain:1.1f} (@line:{l})\n'.format(l=linenext,s=s, atun=atun)
                    self.result.statusMessage += '\n'