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#include "ActuatorEffectivenessStandardVTOL.hpp"
#include <ControlAllocation/ControlAllocation.hpp>

using namespace matrix;

ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL(ModuleParams *parent)
	: ModuleParams(parent), _mc_rotors(this), _control_surfaces(this)
{
}

bool
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configuration, bool force)
{
	if (!force) {
		return false;
	}

	// MC motors
	configuration.selected_matrix = 0;
	_mc_rotors.getEffectivenessMatrix(configuration, true);
	_mc_motors_mask = (1u << _mc_rotors.geometry().num_rotors) - 1;

	// Pusher/Puller
	configuration.selected_matrix = 1;

	for (int i = 0; i < _param_ca_stdvtol_n_p.get(); ++i) {
		configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f});
	}

	// Control Surfaces
	configuration.selected_matrix = 1;
	_first_control_surface_idx = configuration.num_actuators_matrix[configuration.selected_matrix];
	_control_surfaces.getEffectivenessMatrix(configuration, true);

	return true;
}

void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
		int matrix_index, ActuatorVector &actuator_sp)
{
	// apply flaps
	if (matrix_index == 1) {
		actuator_controls_s actuator_controls_1;

		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
			float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
			float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
			_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
		}
	}
}

void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
	if (_flight_phase == flight_phase) {
		return;
	}

	ActuatorEffectiveness::setFlightPhase(flight_phase);

	// update stopped motors
	switch (flight_phase) {
	case FlightPhase::FORWARD_FLIGHT:
		_stopped_motors = _mc_motors_mask;
		break;

	case FlightPhase::HOVER_FLIGHT:
	case FlightPhase::TRANSITION_FF_TO_HF:
	case FlightPhase::TRANSITION_HF_TO_FF:
		_stopped_motors = 0;
		break;
	}
}