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#include "GNSS.hpp"

#include "Utilities.hpp"
#include <lib/parameters/param.h>
#include <lib/sensor/Utilities.hpp>

using namespace matrix;
using namespace time_literals;

namespace sensor
{
namespace configuration
{

GNSS::GNSS()
{
	Reset();
}

GNSS::GNSS(uint32_t device_id)
{
	set_device_id(device_id);
}

void GNSS::set_device_id(uint32_t device_id)
{
	if (_device_id != device_id) {

		_device_id = device_id;

		Reset();

		ParametersUpdate();
	}
}

bool GNSS::set_configuration_index(int calibration_index)
{
	if ((calibration_index >= 0) && (calibration_index < MAX_SENSOR_COUNT)) {
		_configuration_index = calibration_index;
		return true;
	}

	return false;
}

void GNSS::ParametersUpdate()
{
	if (_device_id == 0) {
		return;
	}

	_configuration_index = FindCurrentConfigurationIndex(SensorString(), _device_id);

	if (_configuration_index == -1) {
		// no saved calibration available
		Reset();

	} else {
		ParametersLoad();
	}
}

bool GNSS::ParametersLoad()
{
	if (_configuration_index >= 0 && _configuration_index < MAX_SENSOR_COUNT) {
		// SENS_GNSSx_PRIO
		_priority = GetConfigurationParamInt32(SensorString(), "PRIO", _configuration_index);

		if ((_priority < 0) || (_priority > 100)) {
			// reset to default, -1 is the uninitialized parameter value
			static constexpr int32_t SENS_PRIO_UNINITIALIZED = -1;

			if (_priority != SENS_PRIO_UNINITIALIZED) {
				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting", SensorString(), _device_id,
					_configuration_index, _priority);

				SetConfigurationParam(SensorString(), "PRIO", _configuration_index, SENS_PRIO_UNINITIALIZED);
			}

			_priority = DEFAULT_PRIORITY;
		}

		// SENS_GNSSx_POS{X,Y,Z}
		set_position(GetConfigurationParamsVector3f(SensorString(), "POS", _configuration_index));

		return true;
	}

	return false;
}

void GNSS::Reset()
{
	_position.zero();

	_priority = DEFAULT_PRIORITY;

	_configuration_index = -1;
}

bool GNSS::ParametersSave(int desired_configuration_index, bool force)
{
	if (force && desired_configuration_index >= 0 && desired_configuration_index < MAX_SENSOR_COUNT) {
		_configuration_index = desired_configuration_index;

	} else if (!force || (_configuration_index < 0)
		   || (desired_configuration_index != -1 && desired_configuration_index != _configuration_index)) {

		// ensure we have a valid calibration slot (matching existing or first available slot)
		int8_t calibration_index_prev = _configuration_index;
		_configuration_index = FindAvailableConfigurationIndex(SensorString(), _device_id, desired_configuration_index);

		if (calibration_index_prev >= 0 && (calibration_index_prev != _configuration_index)) {
			PX4_WARN("%s %" PRIu32 " calibration index changed %" PRIi8 " -> %" PRIi8, SensorString(), _device_id,
				 calibration_index_prev, _configuration_index);
		}
	}

	if (_configuration_index >= 0 && _configuration_index < MAX_SENSOR_COUNT) {
		// save calibration
		bool success = true;
		success &= SetConfigurationParam(SensorString(), "ID", _configuration_index, _device_id);
		success &= SetConfigurationParam(SensorString(), "PRIO", _configuration_index, _priority);
		success &= SetConfigurationParamsVector3f(SensorString(), "POS", _configuration_index, _position);

		return success;
	}

	return false;
}

void GNSS::PrintStatus()
{
	PX4_INFO_RAW("%s %" PRIu32 " EN: %d, position: [%05.3f %05.3f %05.3f]\n",
		     SensorString(), device_id(), enabled(),
		     (double)_position(0), (double)_position(1), (double)_position(2));
}

} // namespace configuration
} // namespace sensor