#compdef sim_vehicle.py
#autoload

local temp_word
local cur cword prev
_sim_vehicle() {
  typeset -A opt_args
  local context state state_descr line curcontext="$curcontext"
    cur=${words[CURRENT]}
    prev=${words[CURRENT-1]}
  _arguments -C -A -s -S \
    '(- 1 *)'{-h,--help}'[show help options and exit]' \
    '(-j --jobs)'{-j,--jobs}'[number of processors to use during build]:int:' \
    '(-N --no-rebuild)'{-N,--no-rebuild}'[do not rebuild before starting ardupilot]' \
    '(-D --debug)'{-D,--debug}'[build with debugging]' \
    '(-c --clean)'{-c,--clean}'[do a make clean before building]' \
    '(-I --instance=)'{-I,--instance=}'[instance of simulator]:int:' \
    '(-V --valgrind)'{-V,--valgrind}'[enable valgrind for memory access checking (slow!)]' \
    '--callgrind[enable valgrind for performance analysis (slow!!)]' \
    '(-T --tracker)'{-T,--tracker}'[start an antenna tracker instance]' \
    '(-A --sitl-instance-args)'{-A,--sitl-instance-args}'[pass arguments to SITL instance]:SITL_INSTANCE_ARGS:' \
    '(-G --gdb)'{-G,--gdb}'[use gdb for debugging ardupilot]' \
    '(-g --gdb-stopped)'{-g,--gdb-stopped}'[use gdb for debugging ardupilot (no auto-start)]' \
    '--lldb[use lldb for debugging ardupilot]' \
    '--lldb-stopped[use ldb for debugging ardupilot (no auto-start)]' \
    '(-d --delay-start=)'{-d,--delay-start=}'[delay start of mavproxy by this number of seconds]:int:' \
    '(-B --breakpoint=)'{-B,--breakpoint=}'[add a breakpoint at given location in debugger]:LOCATION:' \
    '(-M --mavlink-gimbal)'{-M,--mavlink-gimbal}'[enable MAVLink gimbal]' \
    '(-L --location=)'{-L,--location=}'[use start location from Tools/autotest/locations.txt]:LOCATION:' \
    '(-l --custom-location=)'{-l,--custom-location=}'[set custom start location (lat,lon,alt,heading)]:LOCATION:' \
    '(-S --speedup=)'{-S,--speedup=}'[set simulation speedup (1 for wall clock time)]:SPEEDUP:' \
    '(-t --tracker-location=)'{-t,--tracker-location=}'[set antenna tracker start location]:TRACKER_LOCATION:' \
    '(-w --wipe-eeprom)'{-w,--wipe-eeprom}'[wipe EEPROM and reload parameters]' \
    '(-m --mavproxy-args=)'{-m,--mavproxy-args=}'[additional arguments to pass to mavproxy.py]:MAVPROXY_ARGS:' \
    '--strace[strace the ArduPilot binary]' \
    '--model=[Override simulation model to use]:MODEL:' \
    '--use-dir=[Store SITL state and output in named directory]:DIR:' \
    '--no-mavproxy[Do notlaunch MAVProxy]' \
    '--fresh-params[Generate and use local parameter help XML]' \
    '--mcast[Use multicasting at default 239.255.145.50:14550]' \
    '--osd[Enable SITL OSD]' \
    '--tonealarm[Enable SITL ToneAlarm]' \
    '--rgbled[Enable SITL RGBLed]' \
    '--add-param-file=[Add a parameters file to use]:ADD_PARAM_FILE:' \
    '--no-extra-ports[Disable setup of UDP 14550 and 14551 output]' \
    '(-Z --swarm=)'{-Z,--swarm=}'[Specify path of swarminit.txt for shifting spawn
                        location]:SWARM:' \
    '--flash-storage[enable use of flash storage emulation]' \
    '--out=[create an additional mavlink output]:OUT:' \
    '--map[load map module on startup]' \
    '--console[load console module on startup]' \
    '--aircraft=[store state and logs in named directory]:AIRCRAFT:' \
    '--moddebug=[mavproxy module debug]:int:' \
    '(-v --vehicle)'{-v,--vehicle}'[vehicle type]:vehicle:_sim_vehicle_vehicles' \
    '(-f --frame)'{-f,--frame}'[set vehicle frame type]:frame:_copter_frames' \
  && ret=0
  

}

# TODO : generate with regex from sim_vehicle help
(( $+functions[_sim_vehicle_vehicles] )) ||
_sim_vehicle_vehicles() {
  local vehicles; vehicles=(
    'ArduCopter:Copter type' \
    'AntennaTracker:Tracker type' \
    'APMrover2:Rover type' \
    'ArduSub:Sub type' \
    'ArduPlane:Plane type'
  )
  _describe -t vehicles 'vehicle' vehicles "$@" && ret=0
}

# TODO : generate with regex from sim_vehicle help
(( $+functions[_copter_frames] )) ||
_copter_frames() {
search_vehicle=true
local_current=$CURRENT
vehicle=''
while ( $search_vehicle || $local_current -eq 0 )
do
    case $words[$local_current] in 
        ("ArduCopter" | "AntennaTracker" | "APMrover2" | "ArduSub" | "ArduPlane")
            search_vehicle=false
            vehicle=$words[$local_current]
            ;;
    esac
    local_current=$(( $local_current - 1 ))
done
local frames; 
case $vehicle in
    ("ArduCopter")
       frames=(
            '+:Copter type +' \
            'X:Copter type X' \
            'airsim-copter:Copter for AirSim' \
            'coaxcopter:Copter type Coaxial' \
            'djix:Copter type DJI X' \
            'dodeca-hexa:Copter type Dodeca-hexa' \
            'gazebo-iris:Copter type iris for Gazebo' \
            'heli:Heli' \
            'heli-compound:Heli with compound' \
            'heli-dual:Dual Heli' \
            'hexa:Copter type hexa' \
            'octa:Copter type octa' \
            'octa-quad:Copter type octa-quad' \
            'quad:Copter type quad' \
            'scrimmage-copter:Copter for scrimmage' \
            'singlecopter:Copter type singlecopter' \
            'tri:Copter type tri' \
            'y6:Copter type y6' \
            
          );;
    ("APMrover2")
       frames=(
            'balancebot:Balance Bot' \
            'gazebo-rover:Rover for Gazebo' \
            'rover:Rover type ackerman' \
            'rover-skid:Rover type skidsteering' \
            'sailboat:Boat type sailboat' \
            'sailboat-motor:Boat type sailboat with motor' \
            'balancebot:Balance Bot' \
          );;
   ("ArduSub")
          frames=(
            'gazebo-bluerov2:Sub for Gazebo' \
            'vectored:Sub vectored' \
          );;
   ("AntennaTracker")
          frames=(
            'tracker:Antenna Tracker' \
          );;
    ("ArduPlane")
       frames=(
            'CRRCSim:Plane for CRRCSim' \
            'gazebo-zephyr:Plane for Gazebo' \
            'jsbsim:Plane for jsbsim' \
            'plane:Plane type plane' \
            'plane-dspoilers:Plane with dspoilers' \
            'plane-elevon:Plane with elevon' \
            'plane-jet:Plane type jet' \
            'plane-tailsitter:Plane type tailsitter' \
            'plane-vtailjet:Plane type vtail' \
            'quadplane:Plane type quadplane' \
            'quadplane-cl84:Plane type quadplane-cl84' \
            'quadplane-tilttrivec:Plane type quadplane-tilttrivec' \
            'quadplane-tri:Plane type quadplane-tri' \
            'scrimmage-plane:Plane for scrimmage' \
          );;
    esac
  _describe -t frames 'frame' frames "$@" && ret=0
}

_sim_vehicle "$@"