#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
#    If the dollar sign ('$') is followed by a left bracket ('{') then the
#    variable name is terminated with the right bracket character ('}').
#    Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------

#
# Set default paramter values.
# Do not add intra word spaces
# it wastes flash
#
set R /
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FRC /fs/microsd/etc/rc.txt
set IOFW "/etc/extras/px4_io-v2_default.bin"
set LOGGER_ARGS ""
set LOGGER_BUF 8
set PARAM_FILE ""
set PARAM_BACKUP_FILE ""
set RC_INPUT_ARGS ""
set STORAGE_AVAILABLE no
set STORAGE_CHECK yes
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
set SDCARD_FORMAT no
set STARTUP_TUNE 1
set VEHICLE_TYPE none

# Fine-grained feature gates.
set USE_HARDFAULT_LOG no
set USE_EXTERNAL_AIRFRAMES no
set USE_PARAM_BACKUPS no
set USE_PARAM_IMPORT_DEBUG no
set USE_TASK_WATCHDOG no
set USE_ALT_UPDATE_DIRS no

# Airframe parameter versioning
# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
set PARAM_DEFAULTS_VER 1

#
# Print full system version.
#
ver all

#
# Optional early board init: rc.board_early
# Can be used for setting env vars for rcS.
#
set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
if [ -f $BOARD_RC_EARLY ]
then
	. $BOARD_RC_EARLY
fi
unset BOARD_RC_EARLY

#
# Try to mount/check storage (rc.board_early can disable this).
#
if [ $STORAGE_CHECK = yes ]
then
	#
	# Try to mount the microSD card.
	#
	if [ -b "/dev/mmcsd0" ]
	then
		if mount -t vfat /dev/mmcsd0 /fs/microsd
		then
			if [ -f "/fs/microsd/.format" ]
			then
				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
				set SDCARD_FORMAT yes
				rm /fs/microsd/.format
				umount /fs/microsd

			else
				set STORAGE_AVAILABLE yes
			fi
		fi

		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
		then
			echo "INFO [init] formatting /dev/mmcsd0"
			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)

			if mkfatfs -F 32 /dev/mmcsd0
			then
				echo "INFO [init] card formatted"

				if mount -t vfat /dev/mmcsd0 /fs/microsd
				then
					set STORAGE_AVAILABLE yes
					set STARTUP_TUNE 14 # tune 14 = SD_INIT
				else
					echo "ERROR [init] card mount failed"
				fi
			else
				echo "ERROR [init] format failed"
			fi
		fi
	else
		# Is there a device mounted for storage
		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
		then
			set STORAGE_AVAILABLE yes
		fi
	fi
fi

if [ $STORAGE_AVAILABLE = yes ]
then
	set USE_HARDFAULT_LOG yes
	set USE_EXTERNAL_AIRFRAMES yes
	set USE_PARAM_BACKUPS yes
	set USE_PARAM_IMPORT_DEBUG yes
	set USE_ALT_UPDATE_DIRS yes
	set PARAM_FILE /fs/microsd/params
	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
fi

if [ $USE_HARDFAULT_LOG = yes ]
then
	if hardfault_log check
	then
		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
		if hardfault_log commit
		then
			hardfault_log reset
		fi
	fi
fi

if [ $USE_TASK_WATCHDOG = yes ]
then
	task_watchdog start
fi

if [ $USE_ALT_UPDATE_DIRS = yes ]
then
	# Check for an update of the ext_autostart folder, and replace the old one with it
	if [ -e /fs/microsd/ext_autostart_new ]
	then
		echo "Updating external autostart files"
		rm -r $SDCARD_EXT_PATH
		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
	fi
fi

#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $FRC ]
then
	. $FRC
else

	# Load param file location from kconfig
	. ${R}etc/init.d/rc.filepaths

	# Check if /fs/mtd_params is a valid BSON file
	if ! bsondump docsize /fs/mtd_caldata
	then
		echo "New /fs/mtd_caldata size is:"
		bsondump docsize /fs/mtd_caldata
	fi

	#
	# Load parameters.
	#
	# if the board has a storage for (factory) calibration data
	if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
	then
		param load /fs/mtd_caldata
	fi

	param select $PARAM_FILE
	if ! param import
	then
		echo "ERROR [init] param import failed"
		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

		bsondump $PARAM_FILE

		if [ -d "/fs/microsd" ]
		then
			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
			then
				# save copy of the failed param file for debugging
				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
			fi

			# try importing from backup file
			if [ -f $PARAM_BACKUP_FILE ]
			then
				echo "[init] importing from parameter backup"

				# dump current backup file contents for comparison
				bsondump $PARAM_BACKUP_FILE

				param import $PARAM_BACKUP_FILE

				# overwrite invalid $PARAM_FILE with backup
				cp $PARAM_BACKUP_FILE $PARAM_FILE
			fi

			param status

			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
			then
				dmesg >> /fs/microsd/param_import_fail.txt &
			fi
		fi
	fi

	if [ $USE_PARAM_BACKUPS = yes ]
	then
		param select-backup $PARAM_BACKUP_FILE
	fi

	if mft query -q -k MFT -s MFT_ETHERNET -v 1
	then
		netman update -i eth0
	fi

	# To trigger a parameter reset during boot SYS_AUTOCONFIG was set to 1 before
	if param greater SYS_AUTOCONFIG 0
	then
		# Reset parameters except airframe, parameter version, sensor calibration, total flight time, flight UUID
		param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
	fi

	#
	# Optional board architecture defaults: rc.board_arch_defaults
	#
	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
	then
		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
		. $BOARD_ARCH_RC_DEFAULTS
	fi
	unset BOARD_ARCH_RC_DEFAULTS

	#
	# Optional board defaults: rc.board_defaults
	#
	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
	if [ -f $BOARD_RC_DEFAULTS ]
	then
		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
		. $BOARD_RC_DEFAULTS
	fi
	unset BOARD_RC_DEFAULTS

	#
	# Optional additional init file: rc.additional_init
	#
	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
	then
		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
		. $BOARD_RC_ADDITIONAL_INIT
	fi
	unset BOARD_RC_ADDITIONAL_INIT

	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
	# Run autogenerated ROMFS airframe script
	. ${R}etc/init.d/rc.autostart

	if [ ${VEHICLE_TYPE} = none ]
	then
		# Run external airframe script on SD card or EEPROM-backed storage
		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
		then
			. ${R}etc/init.d/rc.autostart_ext
		else
			echo "ERROR [init] no external airframe storage, skipping"
		fi
	fi

	if [ ${VEHICLE_TYPE} = none ]
	then
		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
		param set SYS_AUTOSTART 0
		tune_control play error
	fi

	# Check parameter version and reset upon airframe configuration version mismatch.
	# Reboot required because "param reset_all" would reset all "param set" lines from airframe.
	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
	then
		echo "Switched to different parameter version. Resetting parameters."
		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
		param set SYS_AUTOCONFIG 1
		param save
		reboot
	fi

	#
	# Start the tone_alarm driver.
	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
	#
	tone_alarm start

	#
	# Waypoint storage.
	# REBOOTWORK this needs to start in parallel.
	#
	if param compare -s SYS_DM_BACKEND 1
	then
		dataman start -r
	else
		if param compare SYS_DM_BACKEND 0
		then
			# dataman start default
			dataman start
		fi
	fi

	#
	# Start the socket communication send_event handler.
	#
	send_event start

	#
	# Start the hardfault streamer.
	#
	if param compare -s SYS_HF_MAV 1
	then
		hardfault_stream start
	fi

	#
	# Start the resource load monitor.
	#
	load_mon start

	#
	# Start system state indicator.
	#
	rgbled start -X -q
	rgbled_ncp5623c start -X -q
	rgbled_lp5562 start -X -q
	rgbled_is31fl3195 start -X -q

	#
	# Override parameters from user configuration file.
	#
	if [ -f $FCONFIG ]
	then
		echo "Custom: ${FCONFIG}"
		. $FCONFIG
	fi


	#
	# Sensors System (start before Commander so Preflight checks are properly run).
	#
	if param greater SYS_HITL 0
	then
		sensors start -h

		# disable GPS
		param set GPS_1_CONFIG 0

		# start the simulator in hardware if needed
		if param compare SYS_HITL 2
		then
			simulator_sih start
			sensor_baro_sim start
			sensor_mag_sim start
			sensor_gps_sim start
			sensor_agp_sim start
		fi

	else
		#
		# board sensors: rc.sensors
		#
		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
		if [ -f $BOARD_RC_SENSORS ]
		then
			echo "Board sensors: ${BOARD_RC_SENSORS}"
			. $BOARD_RC_SENSORS
		fi
		unset BOARD_RC_SENSORS

		. ${R}etc/init.d/rc.sensors

		if param compare -s BAT1_SOURCE 2
		then
			esc_battery start
		fi

		if ! param compare BAT1_SOURCE 1
		then
			battery_status start
		fi

		sensors start
	fi

	#
	# state estimator selection
	#
	if param compare -s EKF2_EN 1
	then
		ekf2 start &
	fi

	if param compare -s LPE_EN 1
	then
		local_position_estimator start
	fi

	if param compare -s ATT_EN 1
	then
		attitude_estimator_q start
	fi

	#
	# px4io
	#
	if px4io supported
	then
	# Check if PX4IO present and update firmware if needed.
		if [ -f $IOFW ]
		then
			if ! px4io checkcrc ${IOFW}
			then
				# tune Program PX4IO
				tune_control play -t 16 # tune 16 = PROG_PX4IO

				if px4io update ${IOFW}
				then
					usleep 10000
					tune_control stop
					if px4io checkcrc ${IOFW}
					then
						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
					else
						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
					fi
				else
					tune_control stop
				fi
			fi

			if ! px4io start
			then
				echo "PX4IO start failed"
				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
			fi
		fi
	fi

	# Heater driver for temperature regulated IMUs.
	# The heater needs to start after px4io.
	if param compare -s SENS_EN_THERMAL 1
	then
		heater start
	fi


	#
	# RC update (map raw RC input to calibrate manual control)
	#  start before commander
	#
	rc_update start
	manual_control start

	# Start camera trigger, capture and PPS before pwm_out as they might access
	# pwm pins
	if param greater -s TRIG_MODE 0
	then
		camera_trigger start
		camera_feedback start
	fi
	# PPS capture driver
	if param greater -s PPS_CAP_ENABLE 0
	then
		pps_capture start
	fi
	# RPM capture driver
	if param greater -s RPM_CAP_ENABLE 0
	then
		rpm_capture start
	fi
	# Camera capture driver
	if param greater -s CAM_CAP_FBACK 0
	then
		if camera_capture start
		then
			camera_capture on
		fi
	fi

	#
	# Commander
	#
	if param greater SYS_HITL 0
	then
		commander start -h

		if ! pwm_out_sim start -m hil
		then
			tune_control play error
		fi

	else
		commander start

		dshot start
		pwm_out start
	fi

	#
	# Optional UAVCAN/DroneCAN or Cyphal
	#
	if param greater -s UAVCAN_ENABLE 0
	then
		uavcan start
	else
		if param greater -s CYPHAL_ENABLE 0
		then
			cyphal start
		fi
	fi

	#
	# Configure vehicle type specific parameters.
	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
	. ${R}etc/init.d/rc.vehicle_setup

	# Pre-takeoff continuous magnetometer calibration
	if param compare -s MBE_ENABLE 1
	then
		mag_bias_estimator start
	fi

	#
	# Optional board mavlink streams: rc.board_mavlink
	#
	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
	if [ -f $BOARD_RC_MAVLINK ]
	then
		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
		. $BOARD_RC_MAVLINK
	fi
	unset BOARD_RC_MAVLINK

	#
	# Start UART/Serial device drivers.
	# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
	#
	. ${R}etc/init.d/rc.serial

	if param greater -s ZENOH_ENABLE 0
	then
		zenoh start
	fi

	# Must be started after the serial config is read
	rc_input start $RC_INPUT_ARGS

	# Manages USB interface
	if param greater -s SYS_USB_AUTO -1
	then
		if ! cdcacm_autostart start
		then
			sercon
			echo "Starting MAVLink on /dev/ttyACM0"
			mavlink start -d /dev/ttyACM0
		fi
	fi

	#
	# Play the startup tune (if not disabled or there is an error)
	#
	param compare CBRK_BUZZER 782090
	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
	then
		tune_control play -t $STARTUP_TUNE
	fi

	#
	# Start the navigator.
	#
	navigator start

	#
	# Start a thermal calibration if required.
	#
	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
	if [ -f ${RC_THERMAL_CAL} ]
	then
		. ${RC_THERMAL_CAL}
	fi
	unset RC_THERMAL_CAL

	#
	# Start gimbal to control mounts such as gimbals, disabled by default.
	#
	if param greater -s MNT_MODE_IN -1
	then
		gimbal start
	fi

	# Blacksheep telemetry
	if param compare -s TEL_BST_EN 1
	then
		bst start -X
	fi

	if param compare -s IMU_GYRO_FFT_EN 1
	then
		gyro_fft start
	fi

	if param compare -s IMU_GYRO_CAL_EN 1
	then
		gyro_calibration start
	fi

	# Check for px4flow sensor
	if param compare -s SENS_EN_PX4FLOW 1
	then
		px4flow start -X &
	fi

	payload_deliverer start

	if param compare -s ICE_EN 1
	then
		internal_combustion_engine_control start
	fi

	#
	# Optional board supplied extras: rc.board_extras
	#
	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
	if [ -f $BOARD_RC_EXTRAS ]
	then
		echo "Board extras: ${BOARD_RC_EXTRAS}"
		. $BOARD_RC_EXTRAS
	fi
	unset BOARD_RC_EXTRAS

	#
	# Start any custom addons from the sdcard.
	#
	if [ -f $FEXTRAS ]
	then
		echo "Addons script: ${FEXTRAS}"
		. $FEXTRAS
	fi

	#
	# Start the logger.
	#
	set RC_LOGGING ${R}etc/init.d/rc.logging
	if [ -f ${RC_LOGGING} ]
	then
		. ${RC_LOGGING}
	fi
	unset RC_LOGGING

	#
	# Start the VTX services.
	#
	if ! param compare -s VTX_SER_CFG 0
	then
		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
		if [ -f ${RC_VTXTABLE} ]
		then
			. ${RC_VTXTABLE}
		fi
		unset RC_VTXTABLE
	fi

	#
	# Set additional parameters and env variables for selected AUTOSTART.
	#
	if ! param compare SYS_AUTOSTART 0
	then
		. ${R}etc/init.d/rc.autostart.post
	fi


	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
	then
		sh $BOARD_BOOTLOADER_UPGRADE
	fi
	unset BOARD_BOOTLOADER_UPGRADE

#
# End of autostart.
#
fi

#
# Unset all script parameters to free RAM.
#
unset R
unset FCONFIG
unset FEXTRAS
unset FRC
unset IOFW
unset LOGGER_ARGS
unset LOGGER_BUF
unset PARAM_FILE
unset PARAM_BACKUP_FILE
unset PARAM_DEFAULTS_VER
unset RC_INPUT_ARGS
unset STORAGE_AVAILABLE
unset STORAGE_CHECK
unset SDCARD_EXT_PATH
unset SDCARD_FORMAT
unset STARTUP_TUNE
unset USE_HARDFAULT_LOG
unset USE_EXTERNAL_AIRFRAMES
unset USE_PARAM_BACKUPS
unset USE_PARAM_IMPORT_DEBUG
unset USE_TASK_WATCHDOG
unset USE_ALT_UPDATE_DIRS
unset VEHICLE_TYPE

#
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
#
mavlink boot_complete