#!/usr/bin/env bash
################################################################################
# Copyright 2023 ModalAI Inc.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
#    this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
#    this list of conditions and the following disclaimer in the documentation
#    and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its contributors
#    may be used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# 4. The Software is used solely in conjunction with devices provided by
#    ModalAI Inc.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
################################################################################

NAME="voxl-px4"
SERVICE_FILE="${NAME}.service"
CONFIG_FILE="/etc/modalai/${NAME}.conf"
USER=$(whoami)

print_usage () {
	echo ""
	echo "Config script for voxl-px4"
	echo "wizard coming soon. For now, call with one of the following args:"
	echo ""
	echo ""
	echo "voxl-configure-px4 disable"
	echo "voxl-configure-px4 enable"
	echo "voxl-configure-px4 factory_enable"
	echo "voxl-configure-px4 d0005_v2"
	echo "voxl-configure-px4 starling_v2"
	echo "voxl-configure-px4 d0006_v1"
	echo "voxl-configure-px4 sentinel_v1"
	echo "voxl-configure-px4 d0008"
	echo "voxl-configure-px4 fpv_revB"
	echo "voxl-configure-px4 d0010"
	echo "voxl-configure-px4 d0011"
	echo "voxl-configure-px4 d0013"
	echo "voxl-configure-px4 d0015"
	echo "voxl-configure-px4 voxl2-mini"
	echo ""
	echo "show this help message:"
	echo "voxl-configure-px4 help"
	echo ""
	echo "Use voxl-configure-px4 factory_enable to configure default values"

}

## set most parameters which don't have quotes in json
set_param () {
	if [ "$#" != "2" ]; then
		echo "set_param expected 2 args"
		exit 1
	fi

	var=$1
	val=$2

	sed -i "/$var=/c $var=$val" ${CONFIG_FILE}
}

disable_service_and_exit () {
	echo "disabling ${NAME} systemd service"
	systemctl disable ${SERVICE_FILE}
	echo "stopping ${NAME} systemd service"
	systemctl stop ${SERVICE_FILE}
	echo "Done configuring ${NAME}"
	exit 0
}

enable_service_and_exit () {
	echo "enabling  ${NAME} systemd service"
	systemctl enable  ${SERVICE_FILE}
	echo "Done configuring ${NAME}"
	exit 0
}

reset_config_file_to_default () {
	echo "wiping old config file"
	rm -rf ${CONFIG_FILE}

	# create config description section on top of file
    echo -e "#!/bin/bash\n#\n# voxl-px4 Configuration File\
    \n#\
    \n# AIRFRAME:\
    \n#     Tell PX4 which AIRFRAME to use.\
    \n#     Options include: [MULTICOPTER, FIXED_WING]\
    \n#\
    \n# GPS:\
    \n#     Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise\
    \n#     choose AUTODETECT and the startup script will attempt to automatically\
    \n#     configure the GPS, magnetometer, and status LED\
    \n#     Options include: [NONE, AUTODETECT]\
    \n#\
    \n# RC:\
    \n#     Tell PX4 which RC transmitter to use. \
    \n#     Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)\
    \n#     Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]\
    \n#\
    \n# ESC:\
    \n#     Tell PX4 which type of ESC to use. \
    \n#     Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]\
    \n#\
    \n# POWER_MANAGER:\
    \n#     Tell PX4 which power manager to use. \
    \n#     Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.\
    \n#     Use EXTERNAL when not using the ModalAI APM power manager to power the board\
    \n#       This also just disables the voxlpm driver, same as the NONE option\
    \n#     Options include: [VOXLPM, EXTERNAL, NONE]\
    \n#\
    \n# AIRSPEED_SENSOR:\
    \n#     Tell PX4 which airspeed sensor peripheral to use. \
    \n#     Note: The sensor will be started on external I2C port on voxl2\
    \n#     Options include: [NONE, MS4525DO]\
    \n#\
    \n# DISTANCE_SENSOR:\
    \n#     Tell PX4 which distance sensor peripheral to use. \
	\n#     Note: The sensor will be started on the RC port so it is only\
	\n#           really possible to use it when using external RC.\
    \n#     Options include: [NONE, LIGHTWARE_SF000]\
    \n#\
    \n# OSD:\
    \n#     Tell PX4 whether to enable OSD (on-screen display). \
    \n#     Options include: [ENABLE, DISABLE]\
    \n#\
    \n# DAEMON_MODE:\
    \n#     Tell PX4 whether to enable daemon mode. \
    \n#     Options include: [ENABLE, DISABLE]\
    \n#\
    \n# SENSOR_CAL:\
    \n#     Tell PX4 where to source sensor calibration information. \
    \n#     Options include: [ACTUAL, FAKE]\
    \n#\
    \n# ARTIFACT_MODE:\
    \n#     Do not allow artifacts to be saved to disk. Will not start the logging \
    \n#     module, will delete any current log files, and will delete the data manager file. \
    \n#     Options include: [ENABLE, DISABLE]\
    \n#\
    \n# EXTRA_STEPS:\
    \n#     Optional field that allows a user to define custom commands to be run by PX4 on boot. \
    \n#     Must be a valid bash array as seen below \
    \n#     Example: EXTRA_STEPS=( \"qshell gps start\" \"qshell commander mode manual\" ) \
    \n#\
    \n#" > $CONFIG_FILE

    echo "AIRFRAME=MULTICOPTER" >> $CONFIG_FILE
    echo "GPS=NONE" >> $CONFIG_FILE
    echo "RC=SPEKTRUM" >> $CONFIG_FILE
    echo "ESC=VOXL_ESC" >> $CONFIG_FILE
	echo "POWER_MANAGER=VOXLPM" >> $CONFIG_FILE
    echo "AIRSPEED_SENSOR=NONE" >> $CONFIG_FILE
    echo "DISTANCE_SENSOR=NONE" >> $CONFIG_FILE
    echo "OSD=DISABLE" >> $CONFIG_FILE
    echo "DAEMON_MODE=ENABLE" >> $CONFIG_FILE
    echo "SENSOR_CAL=ACTUAL" >> $CONFIG_FILE
	echo "ARTIFACT_MODE=DISABLE" >> $CONFIG_FILE
    echo "EXTRA_STEPS=()" >> $CONFIG_FILE
}

################################################################################
## actual start of execution, handle optional arguments first
################################################################################

## sanity checks
if [ "${USER}" != "root" ]; then
	echo "Please run this script as root"
	exit 1
fi

## convert argument to lower case for robustness
arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')

## parse arguments
case ${arg} in
	"")
		echo "ERROR no argument given"
		print_usage
		exit 1
		;;
	"h"|"-h"|"help"|"--help")
		print_usage
		exit 0
		;;
	"disable")
		disable_service_and_exit
		;;
	"enable")
		enable_service_and_exit
		;;
	"factory_enable")
		reset_config_file_to_default
		enable_service_and_exit
		;;
	"crsf_gps_apm"|"d0005_v2"|"starling_v2"|"d0006_v2"|"sentinel_v2")
		reset_config_file_to_default
		set_param GPS AUTODETECT
		set_param RC CRSF_RAW
		enable_service_and_exit
		;;
	"spektrum_gps_apm"|"d0006_v1"|"sentinel_v1")
		## First revision Sentinel with Holybro GPS and Spektrum Radio
		reset_config_file_to_default
		set_param GPS AUTODETECT
		set_param RC SPEKTRUM
		enable_service_and_exit
		;;
	"d0008"|"fpv_revb")
		reset_config_file_to_default
		set_param GPS NONE
		set_param RC CRSF_RAW
		set_param OSD ENABLE
		enable_service_and_exit
		;;
	"crsf_nogps_apm"|"d0010")
		## Starling 1 with no GPS
		reset_config_file_to_default
		set_param GPS NONE
		set_param RC CRSF_RAW
		enable_service_and_exit
		;;
	"crsf_gps_noapm"|"d0011"|"voxl2-mini")
		reset_config_file_to_default
		set_param GPS AUTODETECT
		set_param RC CRSF_RAW
		set_param POWER_MANAGER NONE
		enable_service_and_exit
		;;
	"crsf_nogps_noapm"|"d0013")
		reset_config_file_to_default
		set_param GPS NONE
		set_param RC CRSF_RAW
		set_param POWER_MANAGER NONE
		enable_service_and_exit
		;;
	"d0015")
		reset_config_file_to_default
		set_param GPS AUTODETECT
		set_param ESC VOXL2_IO_PWM_ESC
		set_param RC CRSF_RAW
		set_param AIRFRAME FIXED_WING
		set_param AIRSPEED_SENSOR MS4525DO
		set_param DISTANCE_SENSOR LIGHTWARE_SF000
		enable_service_and_exit
		;;
	*)
		echo "invalid option: $arg"
		exit 1
esac

## should never get here
exit 1