from LogAnalyzer import Test,TestResult
import DataflashLog

import math


class TestCompass(Test):
	'''test for compass offsets and throttle interference'''

	def __init__(self):
		self.name = "Compass"

	def run(self, logdata, verbose):
		self.result = TestResult()
		self.result.status = TestResult.StatusType.GOOD

		# test that compass offset parameters are within recommended range (+/- 150)
		maxOffset = 150
		if logdata.hardwareType == "PX4":
			maxOffset = 250 # Pixhawks have their offsets scaled larger
		compassOfsX = logdata.parameters["COMPASS_OFS_X"]
		compassOfsY = logdata.parameters["COMPASS_OFS_Y"]
		compassOfsZ = logdata.parameters["COMPASS_OFS_Z"]
		if abs(compassOfsX) > maxOffset or abs(compassOfsY) > maxOffset or abs(compassOfsZ) > maxOffset:
			self.result.status = TestResult.StatusType.FAIL
			self.result.statusMessage = "Large compass off params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (compassOfsX,compassOfsY,compassOfsZ)

		# check for excessive compass offsets using MAG data if present (it can change during flight is compass learn is on)
		if "MAG" in logdata.channels:
			errMsg = ""
			if logdata.channels["MAG"]["OfsX"].max() >  maxOffset:
				errMsg  = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].max()
				err = True
			if logdata.channels["MAG"]["OfsX"].min() < -maxOffset:
				errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].min()
				err = True
			if logdata.channels["MAG"]["OfsY"].max() >  maxOffset:
				errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].max()
				err = True
			if logdata.channels["MAG"]["OfsY"].min() < -maxOffset:
				errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].min()
				err = True
			if logdata.channels["MAG"]["OfsZ"].max() >  maxOffset:
				errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].max()
				err = True
			if logdata.channels["MAG"]["OfsZ"].min() < -maxOffset:
				errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].min()
				err = True
			if errMsg:
				self.result.status = TestResult.StatusType.FAIL
				self.result.statusMessage = self.result.statusMessage + "Large compass offset in MAG data:" + errMsg + "\n"

		# check for mag field length change, and length outside of recommended range
		if "MAG" in logdata.channels:
			percentDiffThresholdWARN = 0.25
			percentDiffThresholdFAIL = 0.35
			minMagFieldThreshold = 120.0
			maxMagFieldThreshold = 550.0
			index = 0
			length = len(logdata.channels["MAG"]["MagX"].listData)
			magField = []
			(minMagField, maxMagField) = (None,None)
			(minMagFieldLine, maxMagFieldLine) = (None,None)
			zerosFound = False
			while index<length:
				mx = logdata.channels["MAG"]["MagX"].listData[index][1]
				my = logdata.channels["MAG"]["MagY"].listData[index][1]
				mz = logdata.channels["MAG"]["MagZ"].listData[index][1]
				if ((mx==0) and (my==0) and (mz==0)): # sometimes they're zero, not sure why, same reason as why we get NaNs as offsets?
					zerosFound = True
				else:
					mf = math.sqrt(mx*mx + my*my + mz*mz)
					magField.append(mf)
					if mf<minMagField:
						minMagField = mf
						minMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
					if mf>maxMagField:
						maxMagField = mf
						maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
					if index == 0:
						(minMagField, maxMagField) = (mf,mf)
				index += 1
			percentDiff = (maxMagField-minMagField) / minMagField
			if percentDiff > percentDiffThresholdFAIL:
				self.result.status = TestResult.StatusType.FAIL
				self.result.statusMessage = self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff*100)
			elif percentDiff > percentDiffThresholdWARN:
			 	if self.result.status != TestResult.StatusType.FAIL:
					self.result.status = TestResult.StatusType.WARN
				self.result.statusMessage = self.result.statusMessage + "Moderate change in mag_field (%.2f%%)\n" % (percentDiff*100)
			else:
				self.result.statusMessage = self.result.statusMessage + "mag_field interference within limits (%.2f%%)\n" % (percentDiff*100)
			if minMagField < minMagFieldThreshold:
				self.result.statusMessage = self.result.statusMessage + "Min mag field length (%.2f) < recommended (%.2f)\n" % (minMagField,minMagFieldThreshold)
			if maxMagField > maxMagFieldThreshold:
				self.result.statusMessage = self.result.statusMessage + "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField,maxMagFieldThreshold)
			if zerosFound:
				if self.result.status != TestResult.StatusType.FAIL:
					self.result.status = TestResult.StatusType.WARN
				self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
			if verbose:
				self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (minMagField,minMagFieldLine)
				self.result.statusMessage = self.result.statusMessage + "Max mag_field of %.2f on line %d\n" % (maxMagField,maxMagFieldLine)

		else:
			self.result.statusMessage = self.result.statusMessage + "No MAG data, unable to test mag_field interference\n"