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/**
 * @file task.cpp
 *
 * Main task handling the temperature calibration process
 *
 * @author Beat Küng <beat-kueng@gmx.net>
 */

#include <uORB/topics/sensor_gyro.h>
#include <mathlib/mathlib.h>
#include <px4_log.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <drivers/drv_hrt.h>

#include <unistd.h>

#include "common.h"
#include "temperature_calibration.h"
#include "accel.h"
#include "baro.h"
#include "gyro.h"

class TemperatureCalibration;

namespace temperature_calibration
{
TemperatureCalibration *instance = nullptr;
}


class TemperatureCalibration
{
public:
	/**
	 * Constructor
	 */
	TemperatureCalibration(bool accel, bool baro, bool gyro);

	/**
	 * Destructor
	 */
	~TemperatureCalibration();

	/**
	 * Start task.
	 *
	 * @return		OK on success.
	 */
	int		start();

	static void do_temperature_calibration(int argc, char *argv[]);

	void		task_main();

	void exit() { _force_task_exit = true; }

private:
	bool	_force_task_exit = false;
	int	_control_task = -1;		// task handle for task

	bool _accel; ///< enable accel calibration?
	bool _baro; ///< enable baro calibration?
	bool _gyro; ///< enable gyro calibration?
};

TemperatureCalibration::TemperatureCalibration(bool accel, bool baro, bool gyro)
	: _accel(accel), _baro(baro), _gyro(gyro)
{
}

TemperatureCalibration::~TemperatureCalibration()
{
}

void TemperatureCalibration::task_main()
{
	// subscribe to all gyro instances
	int gyro_sub[SENSOR_COUNT_MAX];
	px4_pollfd_struct_t fds[SENSOR_COUNT_MAX] = {};
	unsigned num_gyro = orb_group_count(ORB_ID(sensor_gyro));

	if (num_gyro > SENSOR_COUNT_MAX) {
		num_gyro = SENSOR_COUNT_MAX;
	}

	for (unsigned i = 0; i < num_gyro; i++) {
		gyro_sub[i] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
		fds[i].fd = gyro_sub[i];
		fds[i].events = POLLIN;
	}

	int32_t min_temp_rise = 24;
	param_get(param_find("SYS_CAL_TEMP"), &min_temp_rise);
	PX4_INFO("Waiting for %i degrees difference in sensor temperature", min_temp_rise);

	//init calibrators
	TemperatureCalibrationBase *calibrators[3];
	bool error_reported[3] = {};
	int num_calibrators = 0;

	if (_accel) {
		calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise);

		if (calibrators[num_calibrators]) {
			++num_calibrators;

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

	if (_baro) {
		calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise);

		if (calibrators[num_calibrators]) {
			++num_calibrators;

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

	if (_gyro) {
		calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, gyro_sub, num_gyro);

		if (calibrators[num_calibrators]) {
			++num_calibrators;

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

	// reset params
	for (int i = 0; i < num_calibrators; ++i) {
		calibrators[i]->reset_calibration();
	}

	// make sure the system updates the changed parameters
	param_notify_changes();

	usleep(300000); // wait a bit for the system to apply the parameters

	hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;

	while (!_force_task_exit) {
		/* we poll on the gyro(s), since this is the sensor with the highest update rate.
		 * Each individual sensor will then check on its own if there's new data.
		 */
		int ret = px4_poll(fds, num_gyro, 1000);

		if (ret < 0) {
			// Poll error, sleep and try again
			usleep(10000);
			continue;

		} else if (ret == 0) {
			// Poll timeout or no new data, do nothing
			continue;
		}

		//if gyro is not enabled: we must do an orb_copy here, so that poll() does not immediately return again
		if (!_gyro) {
			sensor_gyro_s gyro_data;

			for (int i = 0; i < num_gyro; ++i) {
				orb_copy(ORB_ID(sensor_gyro), gyro_sub[i], &gyro_data);
			}
		}

		int min_progress = 110;

		for (int i = 0; i < num_calibrators; ++i) {
			ret = calibrators[i]->update();

			if (ret < 0) {
				if (!error_reported[i]) {
					PX4_ERR("Calibration update step failed (%i)", ret);
					error_reported[i] = true;
				}

			} else if (ret < min_progress) {
				min_progress = ret;
			}
		}

		if (min_progress == 110) {
			break; // we are done
		}

		//print progress each second
		hrt_abstime now = hrt_absolute_time();

		if (now > next_progress_output) {
			PX4_INFO("Calibration progress: %i%%", min_progress);
			next_progress_output = now + 1e6;
		}
	}

	PX4_INFO("Sensor Measurments completed");

	// do final calculations & parameter storage
	for (int i = 0; i < num_calibrators; ++i) {
		int ret = calibrators[i]->finish();

		if (ret < 0) {
			PX4_ERR("Failed to finish calibration process (%i)", ret);
		}
	}


	for (int i = 0; i < num_calibrators; ++i) {
		delete calibrators[i];
	}

	for (unsigned i = 0; i < num_gyro; i++) {
		orb_unsubscribe(gyro_sub[i]);
	}

	delete temperature_calibration::instance;
	temperature_calibration::instance = nullptr;
	PX4_INFO("Exiting temperature calibration task");
}

void TemperatureCalibration::do_temperature_calibration(int argc, char *argv[])
{
	temperature_calibration::instance->task_main();
}

int TemperatureCalibration::start()
{

	ASSERT(_control_task == -1);
	_control_task = px4_task_spawn_cmd("temperature_calib",
					   SCHED_DEFAULT,
					   SCHED_PRIORITY_MAX - 5,
					   5800,
					   (px4_main_t)&TemperatureCalibration::do_temperature_calibration,
					   nullptr);

	if (_control_task < 0) {
		delete temperature_calibration::instance;
		temperature_calibration::instance = nullptr;
		PX4_ERR("start failed");
		return -errno;
	}

	return 0;
}

int run_temperature_calibration(bool accel, bool baro, bool gyro)
{
	PX4_INFO("Starting temperature calibration task (accel=%i, baro=%i, gyro=%i)", (int)accel, (int)baro, (int)gyro);
	temperature_calibration::instance = new TemperatureCalibration(accel, baro, gyro);

	if (temperature_calibration::instance == nullptr) {
		PX4_ERR("alloc failed");
		return 1;
	}

	return temperature_calibration::instance->start();
}