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/**
 * @file calibration_routines.cpp
 * Calibration routines implementations.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <px4_platform_common/defines.h>
#include <px4_platform_common/events.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>

#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/systemlib/mavlink_log.h>
#include <matrix/math.hpp>

#include <uORB/Publication.hpp>
#include <uORB/SubscriptionBlocking.hpp>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>

#include "calibration_routines.h"
#include "calibration_messages.h"
#include "commander_helper.h"

using namespace time_literals;

enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub, bool lenient_still_position)
{
	static constexpr unsigned ndim = 3;

	float accel_ema[ndim] {};                       // exponential moving average of accel
	float accel_disp[3] {};                         // max-hold dispersion of accel
	static constexpr float ema_len = 0.5f;          // EMA time constant in seconds
	static constexpr float normal_still_thr = 0.25; // normal still threshold
	float still_thr2 = powf(lenient_still_position ? (normal_still_thr * 3) : normal_still_thr, 2);
	static constexpr float accel_err_thr = 5.0f;    // set accel error threshold to 5m/s^2
	const hrt_abstime still_time = lenient_still_position ? 500000 : 1300000; // still time required in us

	/* set timeout to 90s */
	static constexpr hrt_abstime timeout = 90_s;

	const hrt_abstime t_start = hrt_absolute_time();
	hrt_abstime t_timeout = t_start + timeout;
	hrt_abstime t = t_start;
	hrt_abstime t_prev = t_start;
	hrt_abstime t_still = 0;

	unsigned poll_errcount = 0;

	// Setup subscriptions to onboard accel sensor
	uORB::SubscriptionBlocking<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};

	while (true) {
		vehicle_acceleration_s accel;

		if (vehicle_acceleration_sub.updateBlocking(accel, 100000)) {
			t = hrt_absolute_time();
			float dt = (t - t_prev) / 1000000.0f;
			t_prev = t;
			float w = dt / ema_len;

			for (unsigned i = 0; i < ndim; i++) {

				float di = accel.xyz[i];

				float d = di - accel_ema[i];
				accel_ema[i] += d * w;
				d = d * d;
				accel_disp[i] = accel_disp[i] * (1.0f - w);

				if (d > still_thr2 * 8.0f) {
					d = still_thr2 * 8.0f;
				}

				if (d > accel_disp[i]) {
					accel_disp[i] = d;
				}
			}

			/* still detector with hysteresis */
			if (accel_disp[0] < still_thr2 &&
			    accel_disp[1] < still_thr2 &&
			    accel_disp[2] < still_thr2) {

				/* is still now */
				if (t_still == 0) {
					/* first time */
					calibration_log_info(mavlink_log_pub, "[cal] detected rest position, hold still...");
					t_still = t;
					t_timeout = t + timeout;

				} else {
					/* still since t_still */
					if (t > t_still + still_time) {
						/* vehicle is still, exit from the loop to detection of its orientation */
						break;
					}
				}

			} else if (accel_disp[0] > still_thr2 * 4.0f ||
				   accel_disp[1] > still_thr2 * 4.0f ||
				   accel_disp[2] > still_thr2 * 4.0f) {
				/* not still, reset still start time */
				if (t_still != 0) {
					calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
					px4_usleep(200000);
					t_still = 0;
				}
			}

		} else {
			poll_errcount++;
		}

		if (t > t_timeout) {
			poll_errcount++;
		}

		if (poll_errcount > 1000) {
			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SENSOR_MSG);
			return ORIENTATION_ERROR;
		}
	}

	if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
	    fabsf(accel_ema[1]) < accel_err_thr &&
	    fabsf(accel_ema[2]) < accel_err_thr) {
		return ORIENTATION_TAIL_DOWN;        // [ g, 0, 0 ]
	}

	if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
	    fabsf(accel_ema[1]) < accel_err_thr &&
	    fabsf(accel_ema[2]) < accel_err_thr) {
		return ORIENTATION_NOSE_DOWN;        // [ -g, 0, 0 ]
	}

	if (fabsf(accel_ema[0]) < accel_err_thr &&
	    fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
	    fabsf(accel_ema[2]) < accel_err_thr) {
		return ORIENTATION_LEFT;        // [ 0, g, 0 ]
	}

	if (fabsf(accel_ema[0]) < accel_err_thr &&
	    fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
	    fabsf(accel_ema[2]) < accel_err_thr) {
		return ORIENTATION_RIGHT;        // [ 0, -g, 0 ]
	}

	if (fabsf(accel_ema[0]) < accel_err_thr &&
	    fabsf(accel_ema[1]) < accel_err_thr &&
	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) {
		return ORIENTATION_UPSIDE_DOWN;        // [ 0, 0, g ]
	}

	if (fabsf(accel_ema[0]) < accel_err_thr &&
	    fabsf(accel_ema[1]) < accel_err_thr &&
	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) {
		return ORIENTATION_RIGHTSIDE_UP;        // [ 0, 0, -g ]
	}

	calibration_log_critical(mavlink_log_pub, "ERROR: invalid orientation");

	return ORIENTATION_ERROR;	// Can't detect orientation
}

const char *detect_orientation_str(enum detect_orientation_return orientation)
{
	static const char *rgOrientationStrs[] = {
		"back",		// tail down
		"front",	// nose down
		"left",
		"right",
		"up",		// upside-down
		"down",		// right-side up
		"error"
	};

	return rgOrientationStrs[orientation];
}

calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
		bool side_data_collected[detect_orientation_side_count], calibration_from_orientation_worker_t calibration_worker,
		void *worker_data, bool lenient_still_position)
{
	const hrt_abstime calibration_started = hrt_absolute_time();
	calibrate_return result = calibrate_return_ok;

	unsigned orientation_failures = 0;

	// Rotate through all requested orientation
	while (true) {
		if (calibrate_cancel_check(mavlink_log_pub, calibration_started)) {
			result = calibrate_return_cancelled;
			break;
		}

		if (orientation_failures > 4) {
			result = calibrate_return_error;
			calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "timeout: no motion");
			break;
		}

		unsigned int side_complete_count = 0;

		// Update the number of completed sides
		for (unsigned i = 0; i < detect_orientation_side_count; i++) {
			if (side_data_collected[i]) {
				side_complete_count++;
			}
		}

		if (side_complete_count == detect_orientation_side_count) {
			// We have completed all sides, move on
			break;
		}

		/* inform user which orientations are still needed */
		char pendingStr[80];
		pendingStr[0] = 0;

		for (unsigned int cur_orientation = 0; cur_orientation < detect_orientation_side_count; cur_orientation++) {
			if (!side_data_collected[cur_orientation]) {
				strncat(pendingStr, " ", sizeof(pendingStr) - 1);
				strncat(pendingStr, detect_orientation_str((enum detect_orientation_return)cur_orientation), sizeof(pendingStr) - 1);
			}
		}

		calibration_log_info(mavlink_log_pub, "[cal] pending:%s", pendingStr);
		px4_usleep(20000);
		calibration_log_info(mavlink_log_pub, "[cal] hold vehicle still on a pending side");
		px4_usleep(20000);
		enum detect_orientation_return orient = detect_orientation(mavlink_log_pub, lenient_still_position);

		if (orient == ORIENTATION_ERROR) {
			orientation_failures++;
			calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
			px4_usleep(20000);
			continue;
		}

		/* inform user about already handled side */
		if (side_data_collected[orient]) {
			orientation_failures++;
			set_tune(tune_control_s::TUNE_ID_NOTIFY_NEGATIVE);
			calibration_log_info(mavlink_log_pub, "[cal] %s side already completed", detect_orientation_str(orient));
			px4_usleep(20000);
			continue;
		}

		calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
		px4_usleep(20000);
		calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
		px4_usleep(20000);
		orientation_failures = 0;

		// Call worker routine
		result = calibration_worker(orient, worker_data);

		if (result != calibrate_return_ok) {
			break;
		}

		calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
		px4_usleep(20000);
		calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
		px4_usleep(20000);

		// Note that this side is complete
		side_data_collected[orient] = true;

		// output neutral tune
		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEUTRAL);

		// temporary priority boost for the white blinking led to come trough
		rgbled_set_color_and_mode(led_control_s::COLOR_WHITE, led_control_s::MODE_BLINK_FAST, 3, 1);
		px4_usleep(200000);
	}

	return result;
}

bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &calibration_started)
{
	bool ret = false;

	uORB::Subscription vehicle_command_sub{ORB_ID(vehicle_command)};
	vehicle_command_s cmd;

	while (vehicle_command_sub.update(&cmd)) {
		if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION) {
			// only handle commands sent after calibration started from external sources
			if ((cmd.timestamp > calibration_started) && cmd.from_external) {

				vehicle_command_ack_s command_ack{};

				if ((int)cmd.param1 == 0 &&
				    (int)cmd.param2 == 0 &&
				    (int)cmd.param3 == 0 &&
				    (int)cmd.param4 == 0 &&
				    (int)cmd.param5 == 0 &&
				    (int)cmd.param6 == 0) {

					command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
					mavlink_log_critical(mavlink_log_pub, CAL_QGC_CANCELLED_MSG);
					tune_positive(true);
					ret = true;

				} else {
					command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
					mavlink_log_critical(mavlink_log_pub, "command denied during calibration: %" PRIu32 "\t", cmd.command);
					events::send<uint32_t>(events::ID("commander_cal_cmd_denied"), {events::Log::Error, events::LogInternal::Info},
							       "Command denied during calibration: {1}", cmd.command);
					tune_negative(true);
					ret = false;
				}

				command_ack.command = cmd.command;
				command_ack.target_system = cmd.source_system;
				command_ack.target_component = cmd.source_component;
				command_ack.timestamp = hrt_absolute_time();

				uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
				command_ack_pub.publish(command_ack);

				return ret;
			}
		}
	}

	return ret;
}