# fly ArduCopter in SIL

import util, pexpect, sys, time, math, shutil, os
from common import *

# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))

sys.path.insert(0, util.reltopdir('../pymavlink'))
import mavutil, mavwp

HOME=location(-35.362938,149.165085,584,270)

homeloc = None
num_wp = 0

def arm_motors(mavproxy, mav):
    '''arm motors'''
    print("Arming motors")
    mavproxy.send('switch 6\n') # stabilize mode
    wait_mode(mav, 'STABILIZE')
    mavproxy.send('rc 3 1000\n')
    mavproxy.send('rc 4 2000\n')
    mavproxy.expect('APM: ARMING MOTORS')
    mavproxy.send('rc 4 1500\n')
    print("MOTORS ARMED OK")
    return True

def disarm_motors(mavproxy, mav):
    '''disarm motors'''
    print("Disarming motors")
    mavproxy.send('switch 6\n') # stabilize mode
    mavproxy.send('rc 3 1000\n')
    mavproxy.send('rc 4 1000\n')
    mavproxy.expect('APM: DISARMING MOTORS')
    mavproxy.send('rc 4 1500\n')
    print("MOTORS DISARMED OK")
    return True


def takeoff(mavproxy, mav):
    '''takeoff get to 30m altitude'''
    mavproxy.send('switch 6\n') # stabilize mode
    wait_mode(mav, 'STABILIZE')
    mavproxy.send('rc 3 1500\n')
    wait_altitude(mav, 30, 40)
    print("TAKEOFF COMPLETE")
    return True


def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
    '''hold loiter position'''
    mavproxy.send('switch 5\n') # loiter mode
    wait_mode(mav, 'LOITER')
    m = mav.recv_match(type='VFR_HUD', blocking=True)
    start_altitude = m.alt
    tstart = time.time()
    tholdstart = time.time()
    print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
    while time.time() < tstart + timeout:
        m = mav.recv_match(type='VFR_HUD', blocking=True)
        print("Altitude %u" % m.alt)
        if math.fabs(m.alt - start_altitude) > maxaltchange:
            tholdstart = time.time()
        if time.time() - tholdstart > holdtime:
            print("Loiter OK for %u seconds" % holdtime)
            return True
    print("Loiter FAILED")
    return False


def fly_square(mavproxy, mav, side=50, timeout=120):
    '''fly a square, flying N then E'''
    mavproxy.send('switch 6\n')
    wait_mode(mav, 'STABILIZE')
    tstart = time.time()
    failed = False

    print("Save WP 1")
    save_wp(mavproxy, mav)

    print("turn")
    mavproxy.send('rc 3 1430\n')
    mavproxy.send('rc 4 1610\n')
    if not wait_heading(mav, 0):
        return False
    mavproxy.send('rc 4 1500\n')

    print("Going north %u meters" % side)
    mavproxy.send('rc 2 1390\n')
    if not wait_distance(mav, side):
        failed = True
    mavproxy.send('rc 2 1500\n')

    print("Save WP 2")
    save_wp(mavproxy, mav)

    print("Going east %u meters" % side)
    mavproxy.send('rc 1 1610\n')
    if not wait_distance(mav, side):
        failed = True
    mavproxy.send('rc 1 1500\n')

    print("Save WP 3")
    save_wp(mavproxy, mav)

    print("Going south %u meters" % side)
    mavproxy.send('rc 2 1610\n')
    if not wait_distance(mav, side):
        failed = True
    mavproxy.send('rc 2 1500\n')
    mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)

    print("Save WP 4")
    save_wp(mavproxy, mav)

    print("Going west %u meters" % side)
    mavproxy.send('rc 1 1390\n')
    if not wait_distance(mav, side):
        failed = True
    mavproxy.send('rc 1 1500\n')

    print("Save WP 5")
    save_wp(mavproxy, mav)

    return not failed




def land(mavproxy, mav, timeout=60):
    '''land the quad'''
    print("STARTING LANDING")
    mavproxy.send('switch 6\n')
    wait_mode(mav, 'STABILIZE')

    # start by dropping throttle till we have lost 5m
    mavproxy.send('rc 3 1380\n')
    m = mav.recv_match(type='VFR_HUD', blocking=True)
    wait_altitude(mav, 0, m.alt-5)

    # now let it settle gently
    mavproxy.send('rc 3 1400\n')
    tstart = time.time()

    ret = wait_altitude(mav, -5, 0)
    print("LANDING: ok=%s" % ret)
    return ret


def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
    '''fly circle'''
    print("FLY CIRCLE")
    mavproxy.send('switch 1\n') # CIRCLE mode
    wait_mode(mav, 'CIRCLE')
    m = mav.recv_match(type='VFR_HUD', blocking=True)
    start_altitude = m.alt
    tstart = time.time()
    tholdstart = time.time()
    print("Circle at %u meters for %u seconds" % (start_altitude, holdtime))
    while time.time() < tstart + timeout:
        m = mav.recv_match(type='VFR_HUD', blocking=True)
        print("heading %u" % m.heading)

    print("CIRCLE OK for %u seconds" % holdtime)
    return True


def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
    '''fly a mission from a file'''
    global homeloc
    global num_wp
    print("test: Fly a mission from 0 to %u" % num_wp)
    mavproxy.send('wp set 0\n')
    mavproxy.send('switch 4\n') # auto mode
    wait_mode(mav, 'AUTO')
    #wait_altitude(mav, 30, 40)
    ret = wait_waypoint(mav, 0, num_wp, timeout=500)
    print("test: MISSION COMPLETE: passed=%s" % ret)
    # wait here until ready
    mavproxy.send('switch 5\n')
    wait_mode(mav, 'LOITER')

    return ret

    #if not wait_distance(mav, 30, timeout=120):
    #    return False
    #if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
    #    return False


def load_mission_from_file(mavproxy, mav, filename):
    '''load a mission from a file'''
    global num_wp
    wploader = mavwp.MAVWPLoader()
    wploader.load(filename)
    num_wp = wploader.count()
    print("loaded mission with %u waypoints" % num_wp)
    return True

def upload_mission_from_file(mavproxy, mav, filename):
    '''Upload a mission from a file to APM'''
    global num_wp
    mavproxy.send('wp load %s\n' % filename)
    mavproxy.expect('flight plan received')
    mavproxy.send('wp list\n')
    mavproxy.expect('Requesting [0-9]+ waypoints')
    return True

def save_mission_to_file(mavproxy, mav, filename):
    global num_wp
    mavproxy.send('wp save %s\n' % filename)
    mavproxy.expect('Saved ([0-9]+) waypoints')
    num_wp = int(mavproxy.match.group(1))
    print("num_wp: %d" % num_wp)
    return True

def setup_rc(mavproxy):
    '''setup RC override control'''
    for chan in range(1,9):
        mavproxy.send('rc %u 1500\n' % chan)
    # zero throttle
    mavproxy.send('rc 3 1000\n')


def fly_ArduCopter(viewerip=None):
    '''fly ArduCopter in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global expect_list, homeloc

    hquad_cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    if viewerip:
        hquad_cmd += ' --fgout=192.168.2.15:9123'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter')
    mavproxy.expect('Please Run Setup')

    # we need to restart it after eeprom erase
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    sil = util.start_SIL('ArduCopter')
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    
    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    hquad = pexpect.spawn(hquad_cmd, logfile=sys.stdout, timeout=10)
    util.pexpect_autoclose(hquad)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')
    mavproxy.expect("Ready to FLY")

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list.extend([hquad, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
    mav.message_hooks.append(message_hook)


    failed = False
    e = 'None'
    try:
        mav.wait_heartbeat()
        mav.recv_match(type='GPS_RAW', blocking=True)
        setup_rc(mavproxy)
        homeloc = current_location(mav)
        if not arm_motors(mavproxy, mav):
            failed = True

        if not takeoff(mavproxy, mav):
            failed = True

        print("# Fly A square")
        if not fly_square(mavproxy, mav):
            failed = True

        # save the stored mission
        print("# Save out the C7 mission")
        if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
            failed = True

        # Loiter for 10 seconds
        print("# Loiter for 10 seconds")
        if not loiter(mavproxy, mav):
            failed = True

        #Fly a circle for 60 seconds
        print("# Fly a Circle")
        if not circle(mavproxy, mav):
            failed = True

        # save the stored mission
        print("# Fly CH 7 saved mission")
        if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
            failed = True

        print("# Upload mission1")
        if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
            failed = True

        # this grabs our mission count
        print("# store mission1 locally")
        if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
            failed = True

        print("# Fly mission 2")
        if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
            failed = True
        else:
            print("Flew mission2 OK")

        print("# Land")
        if not land(mavproxy, mav):
            failed = True

        print("# disarm motors")
        if not disarm_motors(mavproxy, mav):
            failed = True
    except pexpect.TIMEOUT, e:
        failed = True

    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    util.pexpect_close(hquad)

    if os.path.exists('ArduCopter-valgrind.log'):
        os.chmod('ArduCopter-valgrind.log', 0644)
        shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))

    if failed:
        print("FAILED: %s" % e)
        return False
    return True