/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
 *
 * 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 PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * 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 OWNER 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.
 *
 ****************************************************************************/

/**
 * @file commander_helper.cpp
 * Commander helper functions implementations
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 *
 */

#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <math.h>
#include <string.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>

#include "commander_helper.h"

#define VEHICLE_TYPE_FIXED_WING 1
#define VEHICLE_TYPE_QUADROTOR 2
#define VEHICLE_TYPE_COAXIAL 3
#define VEHICLE_TYPE_HELICOPTER 4
#define VEHICLE_TYPE_GROUND_ROVER 10
#define VEHICLE_TYPE_BOAT 11
#define VEHICLE_TYPE_SUBMARINE 12
#define VEHICLE_TYPE_HEXAROTOR 13
#define VEHICLE_TYPE_OCTOROTOR 14
#define VEHICLE_TYPE_TRICOPTER 15
#define VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TILTROTOR 21
#define VEHICLE_TYPE_VTOL_FIXEDROTOR 22 // VTOL standard
#define VEHICLE_TYPE_VTOL_TAILSITTER 23

#define BLINK_MSG_TIME	700000	// 3 fast blinks (in us)

bool is_multirotor(const vehicle_status_s &current_status)
{
	return ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ||
		(current_status.system_type == VEHICLE_TYPE_TRICOPTER));
}

bool is_rotary_wing(const vehicle_status_s &current_status)
{
	return is_multirotor(current_status)
	       || (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
	       || (current_status.system_type == VEHICLE_TYPE_COAXIAL);
}

bool is_vtol(const vehicle_status_s &current_status)
{
	return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_FIXEDROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
}

bool is_vtol_tailsitter(const vehicle_status_s &current_status)
{
	return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
}

bool is_fixed_wing(const vehicle_status_s &current_status)
{
	return current_status.system_type == VEHICLE_TYPE_FIXED_WING;
}

bool is_ground_vehicle(const vehicle_status_s &current_status)
{
	return (current_status.system_type == VEHICLE_TYPE_BOAT || current_status.system_type == VEHICLE_TYPE_GROUND_ROVER);
}

// End time for currently blinking LED message, 0 if no blink message
static hrt_abstime blink_msg_end = 0;
static int fd_leds{-1};

static led_control_s led_control {};
static orb_advert_t led_control_pub = nullptr;

// Static array that defines the duration of each tune, 0 if it's a repeating tune (therefore no fixed duration)
static unsigned int tune_durations[tune_control_s::NUMBER_OF_TUNES] {};

// End time of currently played tune, 0 for repeating tunes or silence
static hrt_abstime tune_end = 0;

// currently playing tune, can be interrupted after tune_end
static uint8_t tune_current = tune_control_s::TUNE_ID_STOP;

static tune_control_s tune_control {};
static orb_advert_t tune_control_pub = nullptr;


int buzzer_init()
{
	tune_durations[tune_control_s::TUNE_ID_NOTIFY_POSITIVE] = 800000;
	tune_durations[tune_control_s::TUNE_ID_NOTIFY_NEGATIVE] = 900000;
	tune_durations[tune_control_s::TUNE_ID_NOTIFY_NEUTRAL] = 500000;
	tune_durations[tune_control_s::TUNE_ID_ARMING_WARNING] = 3000000;
	tune_durations[tune_control_s::TUNE_ID_HOME_SET] = 800000;
	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_FAST] = 800000;
	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;

	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);

	return PX4_OK;
}

void buzzer_deinit()
{
	orb_unadvertise(tune_control_pub);
}

void set_tune_override(const int tune_id)
{
	tune_control.tune_id = tune_id;
	tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
	tune_control.tune_override = true;
	tune_control.timestamp = hrt_absolute_time();
	orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}

void set_tune(const int tune_id)
{
	const hrt_abstime current_time = hrt_absolute_time();
	const unsigned int new_tune_duration = tune_durations[tune_id];
	const bool current_tune_is_repeating = (tune_end == 0);
	const bool new_tune_is_repeating = (new_tune_duration == 0);

	bool set_new_tune = false;

	if (!current_tune_is_repeating) {
		// Current non repeating tune has ended
		if (current_time > tune_end) {
			set_new_tune = true;
		}

		// Allow non repeating tune to interrupt current non repeating tune, if it's different
		if (!new_tune_is_repeating && (tune_id != tune_current)) {
			set_new_tune = true;
		}

	} else {
		// Allow interrupting repeating tune as long as it's a different tune
		if (tune_id != tune_current) {
			set_new_tune = true;
		}
	}

	if (set_new_tune) {
		tune_control.tune_id = tune_id;
		tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
		tune_control.tune_override = false;
		tune_control.timestamp = current_time;
		orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);

		tune_current = tune_id;

		if (new_tune_duration != 0) {
			// Set tune ending time for a finite duration tunes
			tune_end = current_time + new_tune_duration;

		} else {
			// Set tune ending time as 0 to indicate it's a repeating tune
			tune_end = 0;
		}
	}
}

void tune_home_set(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_GREEN, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_HOME_SET);
	}
}

void tune_mission_ok(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_GREEN, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
	}
}

void tune_mission_warn(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_YELLOW, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEUTRAL);
	}
}

void tune_mission_fail(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_RED, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEGATIVE);
	}
}

/**
 * Blink green LED and play positive tune (if use_buzzer == true).
 */
void tune_positive(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_GREEN, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
	}
}

/**
 * Blink white LED and play neutral tune (if use_buzzer == true).
 */
void tune_neutral(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_WHITE, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEUTRAL);
	}
}

/**
 * Blink red LED and play negative tune (if use_buzzer == true).
 */
void tune_negative(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_RED, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEGATIVE);
	}
}

void tune_failsafe(bool use_buzzer)
{
	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
	rgbled_set_color_and_mode(led_control_s::COLOR_PURPLE, led_control_s::MODE_BLINK_FAST);

	if (use_buzzer) {
		set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST);
	}
}

int blink_msg_state()
{
	if (blink_msg_end == 0) {
		return 0;

	} else if (hrt_absolute_time() > blink_msg_end) {
		blink_msg_end = 0;
		return 2;

	} else {
		return 1;
	}
}

int led_init()
{
	blink_msg_end = 0;

	led_control.led_mask = 0xff;
	led_control.mode = led_control_s::MODE_OFF;
	led_control.priority = 0;
	led_control.timestamp = hrt_absolute_time();
	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);

	/* first open normal LEDs */
	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);

	if (fd_leds < 0) {
		// there might not be an LED available, so don't make this an error
		PX4_INFO("LED: open %s failed (%i)", LED0_DEVICE_PATH, errno);
		return -errno;
	}

	/* the green LED is only available on FMUv5 */
	px4_ioctl(fd_leds, LED_ON, LED_GREEN);

	/* the blue LED is only available on AeroCore but not FMUv2 */
	px4_ioctl(fd_leds, LED_ON, LED_BLUE);

	/* switch blue off */
	led_off(LED_BLUE);

	/* we consider the amber led mandatory */
	if (px4_ioctl(fd_leds, LED_ON, LED_AMBER)) {
		PX4_WARN("Amber LED: ioctl fail");
		return PX4_ERROR;
	}

	/* switch amber off */
	led_off(LED_AMBER);

	return 0;
}

void led_deinit()
{
	orb_unadvertise(led_control_pub);
	px4_close(fd_leds);
}

int led_toggle(int led)
{
	return px4_ioctl(fd_leds, LED_TOGGLE, led);
}

int led_on(int led)
{
	return px4_ioctl(fd_leds, LED_ON, led);
}

int led_off(int led)
{
	return px4_ioctl(fd_leds, LED_OFF, led);
}

void rgbled_set_color_and_mode(uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio)
{
	led_control.mode = mode;
	led_control.color = color;
	led_control.num_blinks = blinks;
	led_control.priority = prio;
	led_control.timestamp = hrt_absolute_time();
	orb_publish(ORB_ID(led_control), led_control_pub, &led_control);
}

void rgbled_set_color_and_mode(uint8_t color, uint8_t mode)
{
	rgbled_set_color_and_mode(color, mode, 0, 0);
}