#include "Plane.h"

#include "qautotune.h"

/*****************************************************************************
*   The init_ardupilot function processes everything we need for an in - air restart
*        We will determine later if we are actually on the ground and process a
*        ground start in that case.
*
*****************************************************************************/

static void failsafe_check_static()
{
    plane.failsafe_check();
}

void Plane::init_ardupilot()
{

#if STATS_ENABLED == ENABLED
    // initialise stats module
    g2.stats.init();
#endif

    ins.set_log_raw_bit(MASK_LOG_IMU_RAW);

    // setup any board specific drivers
    BoardConfig.init();

#if HAL_MAX_CAN_PROTOCOL_DRIVERS
    can_mgr.init();
#endif

    rollController.convert_pid();
    pitchController.convert_pid();

    // initialise rc channels including setting mode
#if HAL_QUADPLANE_ENABLED
    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, (quadplane.enabled() && (quadplane.options & QuadPlane::OPTION_AIRMODE_UNUSED) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) ? RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE : RC_Channel::AUX_FUNC::ARMDISARM);
#else
    rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
#endif
    rc().init();

    relay.init();

    // initialise notify system
    notify.init();
    notify_mode(*control_mode);

    init_rc_out_main();
    
    // keep a record of how many resets have happened. This can be
    // used to detect in-flight resets
    g.num_resets.set_and_save(g.num_resets+1);

    // init baro
    barometer.init();

    // initialise rangefinder
    rangefinder.set_log_rfnd_bit(MASK_LOG_SONAR);
    rangefinder.init(ROTATION_PITCH_270);

    // initialise battery monitoring
    battery.init();

    rssi.init();

    rpm_sensor.init();

    // setup telem slots with serial ports
    gcs().setup_uarts();


#if OSD_ENABLED == ENABLED
    osd.init();
#endif

#if LOGGING_ENABLED == ENABLED
    log_init();
#endif

    // initialise airspeed sensor
    airspeed.init();

    AP::compass().set_log_bit(MASK_LOG_COMPASS);
    AP::compass().init();

    // GPS Initialization
    gps.set_log_gps_bit(MASK_LOG_GPS);
    gps.init(serial_manager);

    init_rc_in();               // sets up rc channels from radio

#if HAL_MOUNT_ENABLED
    // initialise camera mount
    camera_mount.init();
#endif

#if LANDING_GEAR_ENABLED == ENABLED
    // initialise landing gear position
    g2.landing_gear.init();
#endif

#if FENCE_TRIGGERED_PIN > 0
    hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
    hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
#endif

    /*
     *  setup the 'main loop is dead' check. Note that this relies on
     *  the RC library being initialised.
     */
    hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);

#if HAL_QUADPLANE_ENABLED
    quadplane.setup();
#endif

    AP_Param::reload_defaults_file(true);
    
    startup_ground();

    // don't initialise aux rc output until after quadplane is setup as
    // that can change initial values of channels
    init_rc_out_aux();

    if (g2.oneshot_mask != 0) {
        hal.rcout->set_output_mode(g2.oneshot_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
    }

    set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);

    // set the correct flight mode
    // ---------------------------
    reset_control_switch();

    // initialise sensor
#if OPTFLOW == ENABLED
    if (optflow.enabled()) {
        optflow.init(-1);
    }
#endif

// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
    g2.gripper.init();
#endif

    // init fence
#if AC_FENCE == ENABLED
    fence.init();
#endif
}

//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Plane::startup_ground(void)
{
    set_mode(mode_initializing, ModeReason::INITIALISED);

#if (GROUND_START_DELAY > 0)
    gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
    delay(GROUND_START_DELAY * 1000);
#else
    gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
#endif

    //INS ground start
    //------------------------
    //
    startup_INS_ground();

    // Save the settings for in-air restart
    // ------------------------------------
    //save_EEPROM_groundstart();

    // initialise mission library
    mission.init();

    // initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED
    logger.setVehicle_Startup_Writer(
        FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
        );
#endif

#if AP_SCRIPTING_ENABLED
    g2.scripting.init();
#endif // AP_SCRIPTING_ENABLED

    // reset last heartbeat time, so we don't trigger failsafe on slow
    // startup
    gcs().sysid_myggcs_seen(AP_HAL::millis());

    // we don't want writes to the serial port to cause us to pause
    // mid-flight, so set the serial ports non-blocking once we are
    // ready to fly
    serial_manager.set_blocking_writes_all(false);
}


bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
{
    // update last reason
    const ModeReason last_reason = _last_reason;
    _last_reason = reason;

    if (control_mode == &new_mode) {
        // don't switch modes if we are already in the correct mode.
        // only make happy noise if using a difent method to switch, this stops beeping for repeated change mode requests from GCS
        if ((reason != last_reason) && (reason != ModeReason::INITIALISED)) {
            AP_Notify::events.user_mode_change = 1;
        }
        return true;
    }

#if HAL_QUADPLANE_ENABLED
    if (new_mode.is_vtol_mode() && !plane.quadplane.available()) {
        // dont try and switch to a Q mode if quadplane is not enabled and initalized
        gcs().send_text(MAV_SEVERITY_INFO,"Q_ENABLE 0");
        // make sad noise
        if (reason != ModeReason::INITIALISED) {
            AP_Notify::events.user_mode_change_failed = 1;
        }
        return false;
    }

#if !QAUTOTUNE_ENABLED
    if (&new_mode == &plane.mode_qautotune) {
        gcs().send_text(MAV_SEVERITY_INFO,"QAUTOTUNE disabled");
        set_mode(plane.mode_qhover, ModeReason::UNAVAILABLE);
        // make sad noise
        if (reason != ModeReason::INITIALISED) {
            AP_Notify::events.user_mode_change_failed = 1;
        }
        return false;
    }
#endif  // !QAUTOTUNE_ENABLED

#else
    if (new_mode.is_vtol_mode()) {
        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
        gcs().send_text(MAV_SEVERITY_INFO,"HAL_QUADPLANE_ENABLED=0");
        // make sad noise
        if (reason != ModeReason::INITIALISED) {
            AP_Notify::events.user_mode_change_failed = 1;
        }
        return false;
    }
#endif  // HAL_QUADPLANE_ENABLED

    // backup current control_mode and previous_mode
    Mode &old_previous_mode = *previous_mode;
    Mode &old_mode = *control_mode;

    // update control_mode assuming success
    // TODO: move these to be after enter() once start_command_callback() no longer checks control_mode
    previous_mode = control_mode;
    control_mode = &new_mode;
    const ModeReason previous_mode_reason = control_mode_reason;
    control_mode_reason = reason;

    // attempt to enter new mode
    if (!new_mode.enter()) {
        // Log error that we failed to enter desired flight mode
        gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");

        // we failed entering new mode, roll back to old
        previous_mode = &old_previous_mode;
        control_mode = &old_mode;
        control_mode_reason = previous_mode_reason;

        // make sad noise
        if (reason != ModeReason::INITIALISED) {
            AP_Notify::events.user_mode_change_failed = 1;
        }
        return false;
    }

    if (previous_mode == &mode_autotune) {
        // restore last gains
        autotune_restore();
    }

    // exit previous mode
    old_mode.exit();

    // record reasons
    control_mode_reason = reason;

    // log and notify mode change
    logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
    notify_mode(*control_mode);
    gcs().send_message(MSG_HEARTBEAT);

    // make happy noise
    if (reason != ModeReason::INITIALISED) {
        AP_Notify::events.user_mode_change = 1;
    }
    return true;
}

bool Plane::set_mode(const uint8_t new_mode, const ModeReason reason)
{
    static_assert(sizeof(Mode::Number) == sizeof(new_mode), "The new mode can't be mapped to the vehicles mode number");

    return set_mode_by_number(static_cast<Mode::Number>(new_mode), reason);
}

bool Plane::set_mode_by_number(const Mode::Number new_mode_number, const ModeReason reason)
{
    Mode *new_mode = plane.mode_from_mode_num(new_mode_number);
    if (new_mode == nullptr) {
        notify_no_such_mode(new_mode_number);
        return false;
    }
    return set_mode(*new_mode, reason);
}

void Plane::check_long_failsafe()
{
    const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
    const uint32_t tnow = millis();
    // only act on changes
    // -------------------
    if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
        uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
        if (failsafe.state == FAILSAFE_SHORT) {
            // time is relative to when short failsafe enabled
            radio_timeout_ms = failsafe.short_timer_ms;
        }
        if (failsafe.rc_failsafe &&
            (tnow - radio_timeout_ms) > g.fs_timeout_long*1000) {
            failsafe_long_on_event(FAILSAFE_LONG, ModeReason::RADIO_FAILSAFE);
        } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == &mode_auto &&
                   gcs_last_seen_ms != 0 &&
                   (tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
            failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
        } else if ((g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HEARTBEAT ||
                    g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI) &&
                   gcs_last_seen_ms != 0 &&
                   (tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
            failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
        } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI && 
                   gcs().chan(0) != nullptr &&
                   gcs().chan(0)->last_radio_status_remrssi_ms() != 0 &&
                   (tnow - gcs().chan(0)->last_radio_status_remrssi_ms()) > g.fs_timeout_long*1000) {
            failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
        }
    } else {
        uint32_t timeout_seconds = g.fs_timeout_long;
        if (g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
            // avoid dropping back into short timeout
            timeout_seconds = g.fs_timeout_short;
        }
        // We do not change state but allow for user to change mode
        if (failsafe.state == FAILSAFE_GCS && 
            (tnow - gcs_last_seen_ms) < timeout_seconds*1000) {
            failsafe_long_off_event(ModeReason::GCS_FAILSAFE);
        } else if (failsafe.state == FAILSAFE_LONG && 
                   !failsafe.rc_failsafe) {
            failsafe_long_off_event(ModeReason::RADIO_FAILSAFE);
        }
    }
}

void Plane::check_short_failsafe()
{
    // only act on changes
    // -------------------
    if (g.fs_action_short != FS_ACTION_SHORT_DISABLED &&
       failsafe.state == FAILSAFE_NONE &&
       flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
        // The condition is checked and the flag rc_failsafe is set in radio.cpp
        if(failsafe.rc_failsafe) {
            failsafe_short_on_event(FAILSAFE_SHORT, ModeReason::RADIO_FAILSAFE);
        }
    }

    if(failsafe.state == FAILSAFE_SHORT) {
        if(!failsafe.rc_failsafe || g.fs_action_short == FS_ACTION_SHORT_DISABLED) {
            failsafe_short_off_event(ModeReason::RADIO_FAILSAFE);
        }
    }
}


void Plane::startup_INS_ground(void)
{
    if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
        gcs().send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
    } else {
        gcs().send_text(MAV_SEVERITY_ALERT, "Skipping INS calibration");
    }

    ahrs.init();
    ahrs.set_fly_forward(true);
    ahrs.set_vehicle_class(AP_AHRS::VehicleClass::FIXED_WING);
    ahrs.set_wind_estimation_enabled(true);

    ins.init(scheduler.get_loop_rate_hz());
    ahrs.reset();

    // read Baro pressure at ground
    //-----------------------------
    barometer.set_log_baro_bit(MASK_LOG_IMU);
    barometer.calibrate();

    if (airspeed.enabled()) {
        // initialize airspeed sensor
        // --------------------------
        airspeed.calibrate(true);
    } else {
        gcs().send_text(MAV_SEVERITY_WARNING,"No airspeed sensor present");
    }
}

// sets notify object flight mode information
void Plane::notify_mode(const Mode& mode)
{
    notify.flags.flight_mode = mode.mode_number();
    notify.set_flight_mode_str(mode.name4());
}

/*
  should we log a message type now?
 */
bool Plane::should_log(uint32_t mask)
{
#if LOGGING_ENABLED == ENABLED
    return logger.should_log(mask);
#else
    return false;
#endif
}

/*
  return throttle percentage from 0 to 100 for normal use and -100 to 100 when using reverse thrust
 */
int8_t Plane::throttle_percentage(void)
{
#if HAL_QUADPLANE_ENABLED
    if (quadplane.in_vtol_mode() && !quadplane.tailsitter.in_vtol_transition()) {
        return quadplane.motors->get_throttle_out() * 100.0;
    }
#endif
    float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
    if (!have_reverse_thrust()) {
        return constrain_int16(throttle, 0, 100);
    }
    return constrain_int16(throttle, -100, 100);
}

// update the harmonic notch filter center frequency dynamically
void Plane::update_dynamic_notch()
{
    if (!ins.gyro_harmonic_notch_enabled()) {
        return;
    }
    const float ref_freq = ins.get_gyro_harmonic_notch_center_freq_hz();
    const float ref = ins.get_gyro_harmonic_notch_reference();

    if (is_zero(ref)) {
        ins.update_harmonic_notch_freq_hz(ref_freq);
        return;
    }

    switch (ins.get_gyro_harmonic_notch_tracking_mode()) {
        case HarmonicNotchDynamicMode::UpdateThrottle: // throttle based tracking
            // set the harmonic notch filter frequency approximately scaled on motor rpm implied by throttle
#if HAL_QUADPLANE_ENABLED
            if (quadplane.available()) {
                ins.update_harmonic_notch_freq_hz(ref_freq * MAX(1.0f, sqrtf(quadplane.motors->get_throttle_out() / ref)));
            }
#endif
            break;

        case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking
            float rpm;
            if (rpm_sensor.get_rpm(0, rpm)) {
                // set the harmonic notch filter frequency from the main rotor rpm
                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm * ref / 60.0f));
            } else {
                ins.update_harmonic_notch_freq_hz(ref_freq);
            }
            break;
#if HAL_WITH_ESC_TELEM
        case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
            // set the harmonic notch filter frequency scaled on measured frequency
            if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
                float notches[INS_MAX_NOTCHES];
                const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);

                for (uint8_t i = 0; i < num_notches; i++) {
                    notches[i] =  MAX(ref_freq, notches[i]);
                }
                if (num_notches > 0) {
                    ins.update_harmonic_notch_frequencies_hz(num_notches, notches);
#if HAL_QUADPLANE_ENABLED
                } else if (quadplane.available()) {    // throttle fallback
                    ins.update_harmonic_notch_freq_hz(ref_freq * MAX(1.0f, sqrtf(quadplane.motors->get_throttle_out() / ref)));
#endif
                } else {
                    ins.update_harmonic_notch_freq_hz(ref_freq);
                }
            } else {
                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP::esc_telem().get_average_motor_frequency_hz() * ref));
            }
            break;
#endif
#if HAL_GYROFFT_ENABLED
        case HarmonicNotchDynamicMode::UpdateGyroFFT: // FFT based tracking
            // set the harmonic notch filter frequency scaled on measured frequency
            if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
                float notches[INS_MAX_NOTCHES];
                const uint8_t peaks = gyro_fft.get_weighted_noise_center_frequencies_hz(INS_MAX_NOTCHES, notches);

                ins.update_harmonic_notch_frequencies_hz(peaks, notches);
            } else {
                ins.update_harmonic_notch_freq_hz(gyro_fft.get_weighted_noise_center_freq_hz());
            }
            break;
#endif
        case HarmonicNotchDynamicMode::Fixed: // static
        default:
            ins.update_harmonic_notch_freq_hz(ref_freq);
            break;
    }
}