#include "AP_DAL.h"

#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_WheelEncoder/AP_WheelEncoder.h>

#if APM_BUILD_TYPE(APM_BUILD_Replay)
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#endif

extern const AP_HAL::HAL& hal;

AP_DAL *AP_DAL::_singleton = nullptr;

bool AP_DAL::force_write;
bool AP_DAL::logging_started;

void AP_DAL::start_frame(AP_DAL::FrameType frametype)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)

    if (!init_done) {
        init_sensors();
    }

    const AP_AHRS &ahrs = AP::ahrs();

    const uint32_t imu_us = AP::ins().get_last_update_usec();
    if (_last_imu_time_us == imu_us) {
        _RFRF.frame_types |= uint8_t(frametype);
        return;
    }
    _last_imu_time_us = imu_us;

    // we force write all msgs when logging starts
    bool logging = AP::logger().logging_started() && AP::logger().allow_start_ekf();
    if (logging && !logging_started) {
        force_write = true;
    }
    logging_started = logging;

    end_frame();

    _RFRF.frame_types = uint8_t(frametype);
    
    _RFRH.time_flying_ms = AP::vehicle()->get_time_flying_ms();
    _RFRH.time_us = AP_HAL::micros64();
    WRITE_REPLAY_BLOCK(RFRH, _RFRH);

    // update RFRN data
    const log_RFRN old = _RFRN;
    _RFRN.armed = hal.util->get_soft_armed();
    _home = ahrs.get_home();
    _RFRN.lat = _home.lat;
    _RFRN.lng = _home.lng;
    _RFRN.alt = _home.alt;
    _RFRN.EAS2TAS = AP::baro().get_EAS2TAS();
    _RFRN.vehicle_class = (uint8_t)ahrs.get_vehicle_class();
    _RFRN.fly_forward = ahrs.get_fly_forward();
    _RFRN.takeoff_expected = ahrs.get_takeoff_expected();
    _RFRN.touchdown_expected = ahrs.get_touchdown_expected();
    _RFRN.ahrs_airspeed_sensor_enabled = ahrs.airspeed_sensor_enabled(ahrs.get_active_airspeed_index());
    _RFRN.available_memory = hal.util->available_memory();
    _RFRN.ahrs_trim = ahrs.get_trim();
#if AP_OPTICALFLOW_ENABLED
    _RFRN.opticalflow_enabled = AP::opticalflow() && AP::opticalflow()->enabled();
#endif
    _RFRN.wheelencoder_enabled = AP::wheelencoder() && (AP::wheelencoder()->num_sensors() > 0);
    WRITE_REPLAY_BLOCK_IFCHANGED(RFRN, _RFRN, old);

    // update body conversion
    _rotation_vehicle_body_to_autopilot_body = ahrs.get_rotation_vehicle_body_to_autopilot_body();

    _ins.start_frame();
    _baro.start_frame();
    _gps.start_frame();
    _compass.start_frame();
    if (_airspeed) {
        _airspeed->start_frame();
    }
    if (_rangefinder) {
        _rangefinder->start_frame();
    }
#if AP_BEACON_ENABLED
    if (_beacon) {
        _beacon->start_frame();
    }
#endif
#if HAL_VISUALODOM_ENABLED
    if (_visualodom) {
        _visualodom->start_frame();
    }
#endif

    // populate some derivative values:
    _micros = _RFRH.time_us;
    _millis = _RFRH.time_us / 1000UL;

    force_write = false;
#endif
}

// for EKF usage to enable takeoff expected to true
void AP_DAL::set_takeoff_expected()
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    AP_AHRS &ahrs = AP::ahrs();
    ahrs.set_takeoff_expected(true);
#endif
}

/*
  setup optional sensor backends
 */
void AP_DAL::init_sensors(void)
{
    init_done = true;
    bool alloc_failed = false;

    /*
      we only allocate the DAL backends if we had at least one sensor
      at the time we startup the EKF
     */

    auto *rng = AP::rangefinder();
    if (rng && rng->num_sensors() > 0) {
        alloc_failed |= (_rangefinder = new AP_DAL_RangeFinder) == nullptr;
    }

#if AP_AIRSPEED_ENABLED
    auto *aspeed = AP::airspeed();
    if (aspeed != nullptr && aspeed->get_num_sensors() > 0) {
        alloc_failed |= (_airspeed = new AP_DAL_Airspeed) == nullptr;
    }
#endif

#if AP_BEACON_ENABLED
    auto *bcn = AP::beacon();
    if (bcn != nullptr && bcn->enabled()) {
        alloc_failed |= (_beacon = new AP_DAL_Beacon) == nullptr;
    }
#endif

#if HAL_VISUALODOM_ENABLED
    auto *vodom = AP::visualodom();
    if (vodom != nullptr && vodom->enabled()) {
        alloc_failed |= (_visualodom = new AP_DAL_VisualOdom) == nullptr;
    }
#endif

    if (alloc_failed) {
        AP_BoardConfig::allocation_error("DAL backends");
    }
}

/*
  end a frame. Must be called on all events and injections of data (eg
  flow) and before starting a new frame
 */
void AP_DAL::end_frame(void)
{
    if (_RFRF.frame_types != 0) {
        WRITE_REPLAY_BLOCK(RFRF, _RFRF);
        _RFRF.frame_types = 0;
    }
}

void AP_DAL::log_event2(AP_DAL::Event event)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    end_frame();
    struct log_REV2 pkt{
        event          : uint8_t(event),
    };
    WRITE_REPLAY_BLOCK(REV2, pkt);
#endif
}

void AP_DAL::log_SetOriginLLH2(const Location &loc)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    struct log_RSO2 pkt{
        lat            : loc.lat,
        lng            : loc.lng,
        alt            : loc.alt,
    };
    WRITE_REPLAY_BLOCK(RSO2, pkt);
#endif
}

void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed, const float uncertainty)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    struct log_RWA2 pkt{
        airspeed:      aspeed,
        uncertainty:   uncertainty,
    };
    WRITE_REPLAY_BLOCK(RWA2, pkt);
#endif
}

void AP_DAL::log_event3(AP_DAL::Event event)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    end_frame();
    struct log_REV3 pkt{
        event          : uint8_t(event),
    };
    WRITE_REPLAY_BLOCK(REV3, pkt);
#endif
}

void AP_DAL::log_SetOriginLLH3(const Location &loc)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    struct log_RSO3 pkt{
        lat            : loc.lat,
        lng            : loc.lng,
        alt            : loc.alt,
    };
    WRITE_REPLAY_BLOCK(RSO3, pkt);
#endif
}

void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    struct log_RWA3 pkt{
        airspeed:      aspeed,
        uncertainty:   uncertainty
    };
    WRITE_REPLAY_BLOCK(RWA3, pkt);
#endif
}

void AP_DAL::log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    struct log_REY3 pkt{
        yawangle       : yawAngle,
        yawangleerr    : yawAngleErr,
        timestamp_ms   : timeStamp_ms,
        type           : type,
    };
    WRITE_REPLAY_BLOCK(REY3, pkt);
#endif
}

int AP_DAL::snprintf(char* str, size_t size, const char *format, ...) const
{
    va_list ap;
    va_start(ap, format);
    int res = hal.util->vsnprintf(str, size, format, ap);
    va_end(ap);
    return res;
}

void *AP_DAL::malloc_type(size_t size, Memory_Type mem_type) const
{
    return hal.util->malloc_type(size, AP_HAL::Util::Memory_Type(mem_type));
}

// map core number for replay
uint8_t AP_DAL::logging_core(uint8_t c) const
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
    return c+100U;
#else
    return c;
#endif
}

// write out a DAL log message. If old_msg is non-null, then
// only write if the content has changed
void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size)
{
    if (!logging_started) {
        // we're not logging
        return;
    }
    // we use the _end byte to hold a flag for forcing output
    uint8_t &_end = ((uint8_t *)msg)[msg_size];
    if (old_msg && !force_write && _end == 0 && memcmp(msg, old_msg, msg_size) == 0) {
        // no change, skip this block write
        return;
    }
    if (!AP::logger().WriteReplayBlock(msg_type, msg, msg_size)) {
        // mark for forced write next time
        _end = 1;
    } else {
        _end = 0;
    }
}

/*
  check if we are low on CPU for this core. This needs to capture the
  timing of running the cores
*/
bool AP_DAL::ekf_low_time_remaining(EKFType etype, uint8_t core)
{
    static_assert(INS_MAX_INSTANCES <= 4, "max 4 IMUs");
    const uint8_t mask = (1U<<(core+(uint8_t(etype)*4)));
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
    /*
      if we have used more than 1/3 of the time for a loop then we
      return true, indicating that we are low on CPU. This changes the
      scheduling of fusion between lanes
     */
    const auto &imu = AP::ins();
    if ((AP_HAL::micros() - imu.get_last_update_usec())*1.0e-6 > imu.get_loop_delta_t()*0.33) {
        _RFRF.core_slow |= mask;
    } else {
        _RFRF.core_slow &= ~mask;
    }
#endif
    return (_RFRF.core_slow & mask) != 0;
}

// log optical flow data
void AP_DAL::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride)
{
    end_frame();

    const log_ROFH old = _ROFH;
    _ROFH.rawFlowQuality = rawFlowQuality;
    _ROFH.rawFlowRates = rawFlowRates;
    _ROFH.rawGyroRates = rawGyroRates;
    _ROFH.msecFlowMeas = msecFlowMeas;
    _ROFH.posOffset = posOffset;
    _ROFH.heightOverride = heightOverride;
    WRITE_REPLAY_BLOCK_IFCHANGED(ROFH, _ROFH, old);
}

// log external navigation data
void AP_DAL::writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms)
{
    end_frame();

    const log_REPH old = _REPH;
    _REPH.pos = pos;
    _REPH.quat = quat;
    _REPH.posErr = posErr;
    _REPH.angErr = angErr;
    _REPH.timeStamp_ms = timeStamp_ms;
    _REPH.delay_ms = delay_ms;
    _REPH.resetTime_ms = resetTime_ms;
    WRITE_REPLAY_BLOCK_IFCHANGED(REPH, _REPH, old);
}

// log external velocity data
void AP_DAL::writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms)
{
    end_frame();

    const log_REVH old = _REVH;
    _REVH.vel = vel;
    _REVH.err = err;
    _REVH.timeStamp_ms = timeStamp_ms;
    _REVH.delay_ms = delay_ms;
    WRITE_REPLAY_BLOCK_IFCHANGED(REVH, _REVH, old);

}

// log wheel odomotry data
void AP_DAL::writeWheelOdom(float delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset, float radius)
{
    end_frame();

    const log_RWOH old = _RWOH;
    _RWOH.delAng = delAng;
    _RWOH.delTime = delTime;
    _RWOH.timeStamp_ms = timeStamp_ms;
    _RWOH.posOffset = posOffset;
    _RWOH.radius = radius;
    WRITE_REPLAY_BLOCK_IFCHANGED(RWOH, _RWOH, old);
}

void AP_DAL::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset)
{
    end_frame();

    const log_RBOH old = _RBOH;
    _RBOH.quality = quality;
    _RBOH.delPos = delPos;
    _RBOH.delAng = delAng;
    _RBOH.delTime = delTime;
    _RBOH.timeStamp_ms = timeStamp_ms;
    WRITE_REPLAY_BLOCK_IFCHANGED(RBOH, _RBOH, old);
}

#if APM_BUILD_TYPE(APM_BUILD_Replay)
/*
  handle frame message. This message triggers the EKF2/EKF3 updates and logging
 */
void AP_DAL::handle_message(const log_RFRF &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _RFRF.core_slow = msg.core_slow;

    /*
      note that we need to handle the case of LOG_REPLAY=1 with
      LOG_DISARMED=0. To handle this we need to record the start of the filter
     */
    const uint8_t frame_types = msg.frame_types;
    if (frame_types & uint8_t(AP_DAL::FrameType::InitialiseFilterEKF2)) {
        ekf2_init_done = ekf2.InitialiseFilter();
    }
    if (frame_types & uint8_t(AP_DAL::FrameType::UpdateFilterEKF2)) {
        if (!ekf2_init_done) {
            ekf2_init_done = ekf2.InitialiseFilter();
        }
        if (ekf2_init_done) {
            ekf2.UpdateFilter();
        }
    }
    if (frame_types & uint8_t(AP_DAL::FrameType::InitialiseFilterEKF3)) {
        ekf3_init_done = ekf3.InitialiseFilter();
    }
    if (frame_types & uint8_t(AP_DAL::FrameType::UpdateFilterEKF3)) {
        if (!ekf3_init_done) {
            ekf3_init_done = ekf3.InitialiseFilter();
        }
        if (ekf3_init_done) {
            ekf3.UpdateFilter();
        }
    }
    if (frame_types & uint8_t(AP_DAL::FrameType::LogWriteEKF2)) {
        ekf2.Log_Write();
    }
    if (frame_types & uint8_t(AP_DAL::FrameType::LogWriteEKF3)) {
        ekf3.Log_Write();
    }
}

/*
  handle optical flow message
 */
void AP_DAL::handle_message(const log_ROFH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _ROFH = msg;
    ekf2.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
    ekf3.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
}

/*
  handle external position data
 */
void AP_DAL::handle_message(const log_REPH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _REPH = msg;
    ekf2.writeExtNavData(msg.pos, msg.quat, msg.posErr, msg.angErr, msg.timeStamp_ms, msg.delay_ms, msg.resetTime_ms);
    ekf3.writeExtNavData(msg.pos, msg.quat, msg.posErr, msg.angErr, msg.timeStamp_ms, msg.delay_ms, msg.resetTime_ms);
}

/*
  handle external velocity data
 */
void AP_DAL::handle_message(const log_REVH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _REVH = msg;
    ekf2.writeExtNavVelData(msg.vel, msg.err, msg.timeStamp_ms, msg.delay_ms);
    ekf3.writeExtNavVelData(msg.vel, msg.err, msg.timeStamp_ms, msg.delay_ms);
}

/*
  handle wheel odomotry data
 */
void AP_DAL::handle_message(const log_RWOH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _RWOH = msg;
    // note that EKF2 does not support wheel odomotry
    ekf3.writeWheelOdom(msg.delAng, msg.delTime, msg.timeStamp_ms, msg.posOffset, msg.radius);
}

/*
  handle body frame odomotry
 */
void AP_DAL::handle_message(const log_RBOH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
    _RBOH = msg;
    // note that EKF2 does not support body frame odomotry
    ekf3.writeBodyFrameOdom(msg.quality, msg.delPos, msg.delAng, msg.delTime, msg.timeStamp_ms, msg.delay_ms, msg.posOffset);
}
#endif // APM_BUILD_Replay

namespace AP {

AP_DAL &dal()
{
    return *AP_DAL::get_singleton();
}

};

/*
  replay printf. To debug replay failures add rprintf() calls into
  EKF2/EKF3 and compare /tmp/replay.log to /tmp/real.log
 */
void rprintf(const char *format, ...)
{

#if (APM_BUILD_TYPE(APM_BUILD_Replay) || CONFIG_HAL_BOARD == HAL_BOARD_SITL) && CONFIG_HAL_BOARD != HAL_BOARD_CHIBIOS
#if APM_BUILD_TYPE(APM_BUILD_Replay)
    const char *fname = "/tmp/replay.log";
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
    const char *fname = "/tmp/real.log";
#endif
    static FILE *f;
    if (!f) {
        f = ::fopen(fname, "w");
    }
    va_list ap;
    va_start(ap, format);
    vfprintf(f, format, ap);
    fflush(f);
    va_end(ap);
#endif
}