/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

/*
  new variable scheme
  Andrew Tridgell February 2012
*/

#include <FastSerial.h>
#include <AP_Common.h>
#include <PID.h>            // PID library
#include <APM_RC.h>         // ArduPilot Mega RC Library
#include <RC_Channel.h>     // RC Channel Library
#include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
#include <I2C.h>
#include <AP_Math.h>
#include <config.h>
#include <Parameters.h>

static Parameters g;
static AP_Compass_HMC5843 compass;

FastSerialPort0(Serial);

#define SERIAL0_BAUD 115200

#define Debug(fmt, args...)  Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)


void setup() {
	Serial.begin(SERIAL0_BAUD, 128, 128);

	load_parameters();

	// show some sizes
	Serial.printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
	Serial.printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
	Serial.printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
	Serial.printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
	Serial.printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);

	// some ad-hoc testing

	// try set interfaces
	g.throttle_min.set(g.throttle_min+1);
	g.throttle_min.save();
	g.throttle_min.set_and_save(g.throttle_min+1);

	Serial.printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);

	// find a variable by name
	AP_Param                  *vp;
	enum ap_var_type type;
	vp = AP_Param::find("RLL2SRV_P", &type);
	((AP_Float *)vp)->set(23);

	Serial.printf_P(PSTR("RLL2SRV_P=%f\n"),
					g.pidServoRoll.kP());

	char s[AP_MAX_NAME_SIZE+1];

	g.throttle_min.copy_name(s, sizeof(s));
	s[AP_MAX_NAME_SIZE] = 0;
	Serial.printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);

	g.channel_roll.radio_min.copy_name(s, sizeof(s));
	s[AP_MAX_NAME_SIZE] = 0;
	Serial.printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);

	// full testing of all variables
	uint32_t token;
	for (AP_Param *ap = AP_Param::first(&token, &type);
		 ap;
		 ap=AP_Param::next(&token, &type)) {
		test_variable(ap, type);
	}
	Serial.println_P(PSTR("All done."));
}

void loop()
{
}

// test all interfaces for a variable
void test_variable(AP_Param *ap, enum ap_var_type type)
{
	static uint8_t value;
	char s[AP_MAX_NAME_SIZE+1];

	value++;

	ap->copy_name(s, sizeof(s));
	Serial.printf_P(PSTR("Testing variable '%s' of type %u\n"),
					s, type);
	enum ap_var_type type2;
	if (AP_Param::find(s, &type2) != ap ||
		type2 != type) {
		Debug("find failed");
	}
	switch (type) {
	case AP_PARAM_INT8: {
		AP_Int8 *v = (AP_Int8 *)ap;
		v->set(value);
		if (!v->save()) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->get() != value) {
			Debug("wrong value %u %u", (unsigned)v->get(), value);
		}
		if (!v->set_and_save(value+1)) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->vtype != type) {
			Debug("wrong type");
		}
		if (v->get() != value+1) {
			Debug("wrong value %u %u", (unsigned)v->get(), value+1);
		}
		if (*v != value+1) {
			Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
		}
		*v = value+2;
		if (v->get() != value+2) {
			Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
		}
		break;
	}
	case AP_PARAM_INT16: {
		AP_Int16 *v = (AP_Int16 *)ap;
		v->set(value);
		if (!v->save()) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->get() != value) {
			Debug("wrong value %u %u", (unsigned)v->get(), value);
		}
		if (!v->set_and_save(value+1)) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->vtype != type) {
			Debug("wrong type");
		}
		if (v->get() != value+1) {
			Debug("wrong value %u %u", (unsigned)v->get(), value+1);
		}
		if (*v != value+1) {
			Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
		}
		*v = value+2;
		if (v->get() != value+2) {
			Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
		}
		break;
	}
	case AP_PARAM_INT32: {
		AP_Int32 *v = (AP_Int32 *)ap;
		v->set(value);
		if (!v->save()) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->get() != value) {
			Debug("wrong value %u %u", (unsigned)v->get(), value);
		}
		if (!v->set_and_save(value+1)) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->vtype != type) {
			Debug("wrong type");
		}
		if (v->get() != value+1) {
			Debug("wrong value %u %u", (unsigned)v->get(), value+1);
		}
		if (*v != value+1) {
			Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
		}
		*v = value+2;
		if (v->get() != value+2) {
			Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
		}
		break;
	}
	case AP_PARAM_FLOAT: {
		AP_Float *v = (AP_Float *)ap;
		v->set(value);
		if (!v->save()) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->get() != value) {
			Debug("wrong value %u %u", (unsigned)v->get(), value);
		}
		if (!v->set_and_save(value+1)) {
			Debug("failed set_and_save");
		}
		if (!v->load()) {
			Debug("failed load");
		}
		if (v->vtype != type) {
			Debug("wrong type");
		}
		if (v->get() != value+1) {
			Debug("wrong value %u %u", (unsigned)v->get(), value+1);
		}
		if (*v != value+1) {
			Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
		}
		*v = value+2;
		if (v->get() != value+2) {
			Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
		}
		break;
	}
	default:
		break;
	}
}