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#include "RoverAckermann.hpp"

using namespace time_literals;
using namespace matrix;

RoverAckermann::RoverAckermann() :
	ModuleParams(nullptr),
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
	_rover_ackermann_status_pub.advertise();
	updateParams();
}

bool RoverAckermann::init()
{
	ScheduleOnInterval(10_ms); // 100 Hz
	return true;
}

void RoverAckermann::updateParams()
{
	ModuleParams::updateParams();

	// Update slew rates
	if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON) {
		_throttle_with_accel_limit.setSlewRate(_param_ra_max_accel.get() / _param_ra_max_speed.get());
	}

	if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) {
		_steering_with_rate_limit.setSlewRate((M_DEG_TO_RAD_F * _param_ra_max_steering_rate.get()) /
						      _param_ra_max_steer_angle.get());
	}
}

void RoverAckermann::Run()
{
	if (should_exit()) {
		ScheduleClear();
		exit_and_cleanup();
		return;
	}

	// uORB subscriber updates
	if (_parameter_update_sub.updated()) {
		updateParams();
	}

	if (_vehicle_status_sub.updated()) {
		vehicle_status_s vehicle_status;
		_vehicle_status_sub.copy(&vehicle_status);
		_nav_state = vehicle_status.nav_state;
		_armed = vehicle_status.arming_state == 2;
	}

	if (_local_position_sub.updated()) {
		vehicle_local_position_s local_position{};
		_local_position_sub.copy(&local_position);
		const Vector3f rover_velocity = {local_position.vx, local_position.vy, local_position.vz};
		_actual_speed = rover_velocity.norm();
	}

	// Timestamps
	hrt_abstime timestamp_prev = _timestamp;
	_timestamp = hrt_absolute_time();
	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;

	if (_armed) {
		// Navigation modes
		switch (_nav_state) {
		case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
				manual_control_setpoint_s manual_control_setpoint{};

				if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
					_motor_setpoint.steering = manual_control_setpoint.roll;
					_motor_setpoint.throttle =  manual_control_setpoint.throttle;
				}

			} break;

		case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
		case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
			_motor_setpoint = _ackermann_guidance.computeGuidance(_nav_state);
			break;

		default: // Unimplemented nav states will stop the rover
			_motor_setpoint.steering = 0.f;
			_motor_setpoint.throttle =  0.f;
			break;
		}

		// Sanitize actuator commands
		if (!PX4_ISFINITE(_motor_setpoint.steering)) {
			_motor_setpoint.steering = 0.f;
		}

		if (!PX4_ISFINITE(_motor_setpoint.throttle)) {
			_motor_setpoint.throttle = 0.f;
		}

		// Acceleration slew rate
		if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON
		    && fabsf(_motor_setpoint.throttle) > fabsf(_throttle_with_accel_limit.getState())) {
			_throttle_with_accel_limit.update(_motor_setpoint.throttle, dt);

		} else {
			_throttle_with_accel_limit.setForcedValue(_motor_setpoint.throttle);
		}

		// Steering slew rate
		if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) {
			_steering_with_rate_limit.update(_motor_setpoint.steering, dt);

		} else {
			_steering_with_rate_limit.setForcedValue(_motor_setpoint.steering);
		}

		// Publish rover ackermann status (logging)
		rover_ackermann_status_s rover_ackermann_status{};
		rover_ackermann_status.timestamp = _timestamp;
		rover_ackermann_status.throttle_setpoint = _motor_setpoint.throttle;
		rover_ackermann_status.steering_setpoint = _motor_setpoint.steering;
		rover_ackermann_status.actual_speed = _actual_speed;
		_rover_ackermann_status_pub.publish(rover_ackermann_status);

		// Publish to motor
		actuator_motors_s actuator_motors{};
		actuator_motors.reversible_flags = _param_r_rev.get();
		actuator_motors.control[0] = math::constrain(_throttle_with_accel_limit.getState(), -1.f, 1.f);
		actuator_motors.timestamp = _timestamp;
		_actuator_motors_pub.publish(actuator_motors);

		// Publish to servo
		actuator_servos_s actuator_servos{};
		actuator_servos.control[0] = math::constrain(_steering_with_rate_limit.getState(), -1.f, 1.f);
		actuator_servos.timestamp = _timestamp;
		_actuator_servos_pub.publish(actuator_servos);

	} else { // Reset on disarm
		_motor_setpoint.steering = 0.f;
		_motor_setpoint.throttle =  0.f;
		_throttle_with_accel_limit.setForcedValue(0.f);
		_steering_with_rate_limit.setForcedValue(0.f);
	}
}

int RoverAckermann::task_spawn(int argc, char *argv[])
{
	RoverAckermann *instance = new RoverAckermann();

	if (instance) {
		_object.store(instance);
		_task_id = task_id_is_work_queue;

		if (instance->init()) {
			return PX4_OK;
		}

	} else {
		PX4_ERR("alloc failed");
	}

	delete instance;
	_object.store(nullptr);
	_task_id = -1;

	return PX4_ERROR;
}

int RoverAckermann::custom_command(int argc, char *argv[])
{
	return print_usage("unknown command");
}

int RoverAckermann::print_usage(const char *reason)
{
	if (reason) {
		PX4_ERR("%s\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Rover ackermann module.
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
	return 0;
}

extern "C" __EXPORT int rover_ackermann_main(int argc, char *argv[])
{
	return RoverAckermann::main(argc, argv);
}