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 *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
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 * 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 PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
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 *
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/**
 * @file actuator_test.cpp
 *
 * CLI to publish the actuator_test msg
 */

#include <drivers/drv_hrt.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_test.h>
#include <math.h>

extern "C" __EXPORT int actuator_test_main(int argc, char *argv[]);

static void actuator_test(int function, float value, int timeout_ms, bool release_control);
static void usage(const char *reason);

void actuator_test(int function, float value, int timeout_ms, bool release_control)
{
	actuator_test_s actuator_test{};
	actuator_test.timestamp = hrt_absolute_time();
	actuator_test.function = function;
	actuator_test.value = value;
	actuator_test.action = release_control ? actuator_test_s::ACTION_RELEASE_CONTROL : actuator_test_s::ACTION_DO_CONTROL;
	actuator_test.timeout_ms = timeout_ms;

	uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
	actuator_test_pub.publish(actuator_test);
}

static void usage(const char *reason)
{
	if (reason != nullptr) {
		PX4_WARN("%s", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
Utility to test actuators.

WARNING: remove all props before using this command.
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("actuator_test", "command");
	PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set an actuator to a specific output value");
	PRINT_MODULE_USAGE_PARAM_COMMENT("The actuator can be specified by motor, servo or function directly:");
	PRINT_MODULE_USAGE_PARAM_INT('m', -1, 1, 8, "Motor to test (1...8)", true);
	PRINT_MODULE_USAGE_PARAM_INT('s', -1, 1, 8, "Servo to test (1...8)", true);
	PRINT_MODULE_USAGE_PARAM_INT('f', -1, 1, 8, "Specify function directly", true);

	PRINT_MODULE_USAGE_PARAM_FLOAT('v', 0, -1, 1, "value (-1...1)", false);
	PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (run interactive if not set)", true);

	PRINT_MODULE_USAGE_COMMAND_DESCR("iterate-motors", "Iterate all motors starting and stopping one after the other");
	PRINT_MODULE_USAGE_COMMAND_DESCR("iterate-servos", "Iterate all servos deflecting one after the other");
}

int actuator_test_main(int argc, char *argv[])
{
	int function = 0;
	float value = 10.0f;
	int ch;
	int timeout_ms = 0;

	int myoptind = 1;
	const char *myoptarg = nullptr;

	while ((ch = px4_getopt(argc, argv, "m:s:f:v:t:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {

		case 'm':
			function = actuator_test_s::FUNCTION_MOTOR1 + (int)strtol(myoptarg, nullptr, 0) - 1;
			break;

		case 's':
			function = actuator_test_s::FUNCTION_SERVO1 + (int)strtol(myoptarg, nullptr, 0) - 1;
			break;

		case 'f':
			function = (int)strtol(myoptarg, nullptr, 0);
			break;

		case 'v':
			value = strtof(myoptarg, nullptr);

			if (value < -1.f || value > 1.f) {
				usage("value invalid");
				return 1;
			}
			break;

		case 't':
			timeout_ms = strtof(myoptarg, nullptr) * 1000.f;
			break;

		default:
			usage(nullptr);
			return 1;
		}
	}


	if (myoptind >= 0 && myoptind < argc) {
		if (strcmp("set", argv[myoptind]) == 0) {

			if (value > 9.f) {
				usage("Missing argument: value");
				return 1;
			}

			if (function == 0) {
				usage("Missing argument: function");
				return 1;
			}

			if (timeout_ms == 0) {
				// interactive
				actuator_test(function, value, 0, false);

				/* stop on any user request */
				PX4_INFO("Press Enter to stop");
				char c;
				ssize_t ret = read(0, &c, 1);

				if (ret < 0) {
					PX4_ERR("read failed: %i", errno);
				}

				actuator_test(function, NAN, 0, true);
			} else {
				actuator_test(function, value, timeout_ms, false);
			}
			return 0;

		} else if (strcmp("iterate-motors", argv[myoptind]) == 0) {
			value = 0.15f;
			for (int i = 0; i < actuator_test_s::MAX_NUM_MOTORS; ++i) {
				PX4_INFO("Motor %i (%.0f%%)", i, (double)(value*100.f));
				actuator_test(actuator_test_s::FUNCTION_MOTOR1+i, value, 400, false);
				px4_usleep(600000);
			}
			return 0;

		} else if (strcmp("iterate-servos", argv[myoptind]) == 0) {
			value = 0.3f;
			for (int i = 0; i < actuator_test_s::MAX_NUM_SERVOS; ++i) {
				PX4_INFO("Servo %i (%.0f%%)", i, (double)(value*100.f));
				actuator_test(actuator_test_s::FUNCTION_SERVO1+i, value, 800, false);
				px4_usleep(1000000);
			}
			return 0;
		}
	}

	usage(nullptr);
	return 0;
}