from LogAnalyzer import Test,TestResult
import DataflashLog

import math # for isnan()


class TestParams(Test):
	'''test for any obviously bad parameters in the config'''

	def __init__(self):
		self.name = "Parameters"


	# helper functions
	def __checkParamIsEqual(self, paramName, expectedValue, logdata):
		value = logdata.parameters[paramName]
		if value != expectedValue:
			self.result.status = TestResult.StatusType.FAIL
			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting %s\n" % (paramName, `value`, `expectedValue`)
	def __checkParamIsLessThan(self, paramName, maxValue, logdata):
		value = logdata.parameters[paramName]
		if value >= maxValue:
			self.result.status = TestResult.StatusType.FAIL
			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting less than %s\n" % (paramName, `value`, `maxValue`)
	def __checkParamIsMoreThan(self, paramName, minValue, logdata):
		value = logdata.parameters[paramName]
		if value <= minValue:
			self.result.status = TestResult.StatusType.FAIL
			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting less than %s\n" % (paramName, `value`, `minValue`)


	def run(self, logdata):
		self.result = TestResult()
		self.result.status = TestResult.StatusType.PASS  # PASS by default, tests below will override it if they fail

		# check all params for NaN
		for name,value in logdata.parameters.iteritems():
			if math.isnan(value):
				self.result.status = TestResult.StatusType.FAIL
				self.result.extraFeedback = self.result.extraFeedback + name + " is NaN\n"

		# add parameter checks below using the helper functions, any failures will trigger a FAIL status and accumulate info in extraFeedback
		# if more complex checking or correlations are required you can access parameter values directly using the logdata.parameters[paramName] dict
		if logdata.vehicleType == "ArduCopter":
			self.__checkParamIsEqual   ("MAG_ENABLE",   1, logdata)
			self.__checkParamIsLessThan("THR_MIN",    200, logdata)
			self.__checkParamIsLessThan("THR_MID",    701, logdata)
			self.__checkParamIsMoreThan("THR_MID",    299, logdata)
			# TODO: add more parameter tests, these are just an example...
		elif logdata.vehicleType == "ArduPlane":
			# TODO: add parameter checks for plane...
			pass

		if self.result.status == TestResult.StatusType.FAIL:
			self.result.statusMessage = "Bad parameters found:"