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#include "VehicleGPSPosition.hpp"

#include <px4_platform_common/log.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>

namespace sensors
{
VehicleGPSPosition::VehicleGPSPosition() :
	ModuleParams(nullptr),
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
{
	_vehicle_gps_position_pub.advertise();
}

VehicleGPSPosition::~VehicleGPSPosition()
{
	Stop();
	perf_free(_cycle_perf);
}

bool VehicleGPSPosition::Start()
{
	// force initial updates
	ParametersUpdate(true);

	ScheduleNow();

	return true;
}

void VehicleGPSPosition::Stop()
{
	Deinit();

	// clear all registered callbacks
	for (auto &sub : _sensor_gps_sub) {
		sub.unregisterCallback();
	}
}

void VehicleGPSPosition::ParametersUpdate(bool force)
{
	// Check if parameters have changed
	if (_parameter_update_sub.updated() || force) {
		// clear update
		parameter_update_s param_update;
		_parameter_update_sub.copy(&param_update);

		updateParams();

		if (_param_sens_gps_mask.get() == 0) {
			_sensor_gps_sub[0].registerCallback();

		} else {
			for (auto &sub : _sensor_gps_sub) {
				sub.registerCallback();
			}
		}

		_gps_blending.setBlendingUseSpeedAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_SPD_ACC);
		_gps_blending.setBlendingUseHPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_HPOS_ACC);
		_gps_blending.setBlendingUseVPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_VPOS_ACC);
		_gps_blending.setBlendingTimeConstant(_param_sens_gps_tau.get());
		_gps_blending.setPrimaryInstance(_param_sens_gps_prime.get());
	}
}

void VehicleGPSPosition::Run()
{
	perf_begin(_cycle_perf);
	ParametersUpdate();

	// Check all GPS instance
	bool any_gps_updated = false;
	bool gps_updated = false;

	for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
		gps_updated = _sensor_gps_sub[i].updated();

		sensor_gps_s gps_data;

		if (gps_updated) {
			any_gps_updated = true;

			_sensor_gps_sub[i].copy(&gps_data);
			_gps_blending.setGpsData(gps_data, i);

			if (!_sensor_gps_sub[i].registered()) {
				_sensor_gps_sub[i].registerCallback();
			}
		}
	}

	if (any_gps_updated) {
		_gps_blending.update(hrt_absolute_time());

		if (_gps_blending.isNewOutputDataAvailable()) {
			sensor_gps_s gps_output{_gps_blending.getOutputGpsData()};

			// clear device_id if blending
			if (_gps_blending.getSelectedGps() == GpsBlending::GPS_MAX_RECEIVERS_BLEND) {
				gps_output.device_id = 0;
			}

			_vehicle_gps_position_pub.publish(gps_output);
		}
	}

	ScheduleDelayed(300_ms); // backup schedule

	perf_end(_cycle_perf);
}

void VehicleGPSPosition::PrintStatus()
{
	PX4_INFO_RAW("[vehicle_gps_position] selected GPS: %d\n", _gps_blending.getSelectedGps());
}

}; // namespace sensors