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#include <gtest/gtest.h>
#include <PositionControl.hpp>
#include <px4_defines.h>

using namespace matrix;

TEST(PositionControlTest, EmptySetpoint)
{
	PositionControl position_control;

	vehicle_local_position_setpoint_s output_setpoint{};
	position_control.getLocalPositionSetpoint(output_setpoint);
	EXPECT_EQ(output_setpoint.x, 0.f);
	EXPECT_EQ(output_setpoint.y, 0.f);
	EXPECT_EQ(output_setpoint.z, 0.f);
	EXPECT_EQ(output_setpoint.yaw, 0.f);
	EXPECT_EQ(output_setpoint.yawspeed, 0.f);
	EXPECT_EQ(output_setpoint.vx, 0.f);
	EXPECT_EQ(output_setpoint.vy, 0.f);
	EXPECT_EQ(output_setpoint.vz, 0.f);
	EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
	EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0.f, 0.f, 0.f));
	EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));

	vehicle_attitude_setpoint_s attitude{};
	position_control.getAttitudeSetpoint(attitude);
	EXPECT_EQ(attitude.roll_body, 0.f);
	EXPECT_EQ(attitude.pitch_body, 0.f);
	EXPECT_EQ(attitude.yaw_body, 0.f);
	EXPECT_EQ(attitude.yaw_sp_move_rate, 0.f);
	EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
	//EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control
	EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
	EXPECT_EQ(attitude.roll_reset_integral, false);
	EXPECT_EQ(attitude.pitch_reset_integral, false);
	EXPECT_EQ(attitude.yaw_reset_integral, false);
	EXPECT_EQ(attitude.fw_control_yaw, false);
	EXPECT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
}

class PositionControlBasicTest : public ::testing::Test
{
public:
	PositionControlBasicTest()
	{
		_position_control.setPositionGains(Vector3f(1.f, 1.f, 1.f));
		_position_control.setVelocityGains(Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f));
		_position_control.setVelocityLimits(1.f, 1.f, 1.f);
		_position_control.setThrustLimits(0.1f, 0.9f);
		_position_control.setTiltLimit(1.f);
		_position_control.setHoverThrust(.5f);

		_contraints.tilt = 1.f;
		_contraints.speed_xy = NAN;
		_contraints.speed_up = NAN;
		_contraints.speed_down = NAN;

		_input_setpoint.x = NAN;
		_input_setpoint.y = NAN;
		_input_setpoint.z = NAN;
		_input_setpoint.yaw = NAN;
		_input_setpoint.yawspeed = NAN;
		_input_setpoint.vx = NAN;
		_input_setpoint.vy = NAN;
		_input_setpoint.vz = NAN;
		Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.acceleration);
		Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.thrust);
	}

	void runController()
	{
		_position_control.updateConstraints(_contraints);
		_position_control.updateSetpoint(_input_setpoint);
		_position_control.generateThrustYawSetpoint(.1f);
		_position_control.getLocalPositionSetpoint(_output_setpoint);
		_position_control.getAttitudeSetpoint(_attitude);
	}

	PositionControl _position_control;
	vehicle_constraints_s _contraints{};
	vehicle_local_position_setpoint_s _input_setpoint{};
	vehicle_local_position_setpoint_s _output_setpoint{};
	vehicle_attitude_setpoint_s _attitude{};
};

class PositionControlBasicDirectionTest : public PositionControlBasicTest
{
public:
	void checkDirection()
	{
		Vector3f thrust(_output_setpoint.thrust);
		EXPECT_GT(thrust(0), 0.f);
		EXPECT_GT(thrust(1), 0.f);
		EXPECT_LT(thrust(2), 0.f);

		Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
		EXPECT_LT(body_z(0), 0.f);
		EXPECT_LT(body_z(1), 0.f);
		EXPECT_GT(body_z(2), 0.f);
	}
};

TEST_F(PositionControlBasicDirectionTest, PositionControlDirectionP)
{
	_input_setpoint.x = .1f;
	_input_setpoint.y = .1f;
	_input_setpoint.z = -.1f;
	runController();
	checkDirection();
}

TEST_F(PositionControlBasicDirectionTest, VelocityControlDirection)
{
	_input_setpoint.vx = .1f;
	_input_setpoint.vy = .1f;
	_input_setpoint.vz = -.1f;
	runController();
	checkDirection();
}

TEST_F(PositionControlBasicTest, PositionControlMaxTilt)
{
	_input_setpoint.x = 10.f;
	_input_setpoint.y = 10.f;
	_input_setpoint.z = -0.f;

	runController();
	Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
	float angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
	EXPECT_GT(angle, 0.f);
	EXPECT_LE(angle, 1.f);

	_contraints.tilt = .5f;
	runController();
	body_z = Quatf(_attitude.q_d).dcm_z();
	angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
	EXPECT_GT(angle, 0.f);
	EXPECT_LE(angle, .50001f);
}

TEST_F(PositionControlBasicTest, PositionControlMaxVelocity)
{
	_input_setpoint.x = 10.f;
	_input_setpoint.y = 10.f;
	_input_setpoint.z = -10.f;

	runController();
	Vector2f velocity_xy(_output_setpoint.vx, _output_setpoint.vy);
	EXPECT_LE(velocity_xy.norm(), 1.f);
	EXPECT_LE(abs(_output_setpoint.vz), 1.f);
}

TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
{
	_input_setpoint.x = 10.f;
	_input_setpoint.y = 10.f;
	_input_setpoint.z = -10.f;

	runController();
	EXPECT_EQ(_attitude.thrust_body[0], 0.f);
	EXPECT_EQ(_attitude.thrust_body[1], 0.f);
	EXPECT_LT(_attitude.thrust_body[2], -.1f);
	EXPECT_GE(_attitude.thrust_body[2], -0.9f);
}

TEST_F(PositionControlBasicTest, PositionControlFailsafeInput)
{
	_input_setpoint.vz = .7f;
	_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;

	runController();
	EXPECT_EQ(_attitude.thrust_body[0], 0.f);
	EXPECT_EQ(_attitude.thrust_body[1], 0.f);
	EXPECT_LT(_output_setpoint.thrust[2], -.1f);
	EXPECT_GT(_output_setpoint.thrust[2], -.5f);
	EXPECT_GT(_attitude.thrust_body[2], -.5f);
	EXPECT_LE(_attitude.thrust_body[2], -.1f);
}