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

/*
   Lead developers: Matthew Ridley and Andrew Tridgell
 
   Please contribute your ideas! See http://dev.ardupilot.com for details

   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "Tracker.h"

#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
    .function = FUNCTOR_BIND(&tracker, &Tracker::func, void),\
    AP_SCHEDULER_NAME_INITIALIZER(func)\
    .interval_ticks = _interval_ticks,\
    .max_time_micros = _max_time_micros,\
}

/*
  scheduler table - all regular tasks apart from the fast_loop()
  should be listed here, along with how often they should be called
  (in 20ms units) and the maximum time they are expected to take (in
  microseconds)
 */
const AP_Scheduler::Task Tracker::scheduler_tasks[] PROGMEM = {
    SCHED_TASK(update_ahrs,             1,   1000),
    SCHED_TASK(read_radio,              1,    200),
    SCHED_TASK(update_tracking,         1,   1000),
    SCHED_TASK(update_GPS,              5,   4000),
    SCHED_TASK(update_compass,          5,   1500),
    SCHED_TASK(update_barometer,        5,   1500),
    SCHED_TASK(gcs_update,              1,   1700),
    SCHED_TASK(gcs_data_stream_send,    1,   3000),
    SCHED_TASK(compass_accumulate,      1,   1500),
    SCHED_TASK(barometer_accumulate,    1,    900),
    SCHED_TASK(update_notify,           1,    100),
    SCHED_TASK(check_usb_mux,           5,    300),
    SCHED_TASK(gcs_retry_deferred,      1,   1000),
    SCHED_TASK(one_second_loop,        50,   3900),
    SCHED_TASK(compass_cal_update,      1,    100),
};

/**
  setup the sketch - called once on startup
 */
void Tracker::setup() 
{
    // load the default values of variables listed in var_info[]
    AP_Param::setup_sketch_defaults();

    // initialise notify
    notify.init(false);

    // antenna tracker does not use pre-arm checks or battery failsafe
    AP_Notify::flags.pre_arm_check = true;
    AP_Notify::flags.pre_arm_gps_check = true;
    AP_Notify::flags.failsafe_battery = false;

    init_tracker();

    // initialise the main loop scheduler
    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
}

/**
   loop() is called continuously 
 */
void Tracker::loop()
{
    // wait for an INS sample
    ins.wait_for_sample();

    // tell the scheduler one tick has passed
    scheduler.tick();

    scheduler.run(19900UL);
}

void Tracker::one_second_loop()
{
    // send a heartbeat
    gcs_send_message(MSG_HEARTBEAT);

    // make it possible to change orientation at runtime
    ahrs.set_orientation();

    // sync MAVLink system ID
    mavlink_system.sysid = g.sysid_this_mav;

    // updated armed/disarmed status LEDs
    update_armed_disarmed();

    one_second_counter++;

    if (one_second_counter >= 60) {
        if(g.compass_enabled) {
            compass.save_offsets();
        }
        one_second_counter = 0;
    }
}

#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
// needed for APM1 inertialsensor driver
AP_ADC_ADS7844 apm1_adc;
#endif

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

Tracker::Tracker(void)
{
    memset(&current_loc, 0, sizeof(current_loc));
    memset(&vehicle, 0, sizeof(vehicle));
}

Tracker tracker;

AP_HAL_MAIN_CALLBACKS(&tracker);