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#include "ActuatorEffectiveness.hpp"

#include <px4_platform_common/log.h>

int ActuatorEffectiveness::Configuration::addActuator(ActuatorType type, const matrix::Vector3f &torque,
		const matrix::Vector3f &thrust)
{
	int actuator_idx = num_actuators_matrix[selected_matrix];

	if (actuator_idx >= NUM_ACTUATORS) {
		PX4_ERR("Too many actuators");
		return -1;
	}

	if ((int)type < (int)ActuatorType::COUNT - 1 && num_actuators[(int)type + 1] > 0) {
		PX4_ERR("Trying to add actuators in the wrong order (add motors first, then servos)");
		return -1;
	}

	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::ROLL, actuator_idx) = torque(0);
	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::PITCH, actuator_idx) = torque(1);
	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::YAW, actuator_idx) = torque(2);
	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_X, actuator_idx) = thrust(0);
	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Y, actuator_idx) = thrust(1);
	effectiveness_matrices[selected_matrix](ActuatorEffectiveness::ControlAxis::THRUST_Z, actuator_idx) = thrust(2);
	matrix_selection_indexes[totalNumActuators()] = selected_matrix;
	++num_actuators[(int)type];
	return num_actuators_matrix[selected_matrix]++;
}

void ActuatorEffectiveness::Configuration::actuatorsAdded(ActuatorType type, int count)
{
	int total_count = totalNumActuators();

	for (int i = 0; i < count; ++i) {
		matrix_selection_indexes[i + total_count] = selected_matrix;
	}

	num_actuators[(int)type] += count;
	num_actuators_matrix[selected_matrix] += count;
}

int ActuatorEffectiveness::Configuration::totalNumActuators() const
{
	int total_count = 0;

	for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
		total_count += num_actuators_matrix[i];
	}

	return total_count;
}