#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

echo -e "\n*************************"
echo "AIRFRAME: $AIRFRAME"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
    echo -e "\t$i"
done
echo -e "*************************\n"

# In order to just exit after starting the uorb / muorb modules define
# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
# This is useful for testing / debug where you may want to start drivers
# and modules manually from the px4 command shell
if [ ! -z $MINIMAL_PX4 ]; then
    /bin/echo "Running minimal script"
    param select /data/px4/param/parameters
    param load
    exit 0
fi

# Figure out what platform we are running on.
PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
    # If we couldn't get the platform from the voxl-platform utility then check
    # /etc/version to see if there is an M0052 substring in the version string. If so,
    # then we assume that we are on M0052.
    VERSIONSTRING=""
    if [ -f /etc/version ]; then
        VERSIONSTRING=$(</etc/version)
    fi
    M0052SUBSTRING="M0052"
    if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
        PLATFORM="M0052"
    fi
fi

# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
    /bin/echo "Running on M0052"
    /bin/echo "Error M0052 is no longer supported!!!"
    exit 1
elif [ $PLATFORM = "M0054" ]; then
    /bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
    /bin/echo "Running on M0104"
elif [ $PLATFORM = "M0197" ]; then
    /bin/echo "Running on M0197"
else
    /bin/echo "Error, cannot determine platform!"
    exit 1
fi

# Sleep a little here. A lot happens when the uorb and muorb start
# and we need to make sure that it all completes successfully to avoid
# any possible race conditions.
/bin/sleep 1

param select /data/px4/param/parameters

# Change defaults before loading in updated parameters from the file

# This was the default pre-v1.16.0 and for folks relying on that
# we set it up here
param set-default EKF2_EV_CTRL 15
# Shouldn't need to do it separately with qshell but set-default
# implementation needs to be updated to set it on DSP as well. Until
# then need to do it as a separate step.
qshell param set-default EKF2_EV_CTRL 15

# Load in all of the parameters that have been saved in the file
# after updating any default values
param load

# IMU (accelerometer / gyroscope)
if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
    qshell icm42688p start -s -R 12 -C 32768
elif [ "$PLATFORM" == "M0197" ]; then
    /bin/echo "Starting bmi270 IMU driver with rotation 26"
    qshell bmi270 start -s -R 26
else
    /bin/echo "Starting IMU driver with no rotation"
    qshell icm42688p start -s -C 32768
fi

# First look for any external barometers connected to the apps proc
EXTERNAL_BAROMETER=0

/bin/echo "Looking for external DPS368 barometer"
if dps310 start -X -b /dev/i2c-0; then
	/bin/echo "Detected external DPS368 barometer"
	EXTERNAL_BAROMETER=1
fi

if (( EXTERNAL_BAROMETER == 0 )); then
	/bin/echo "Looking for external ICP10100 barometer"
	if icp101xx start -X -b /dev/i2c-0; then
		/bin/echo "Detected external ICP10100 barometer"
		EXTERNAL_BAROMETER=1
	fi
fi

# If no external barometers found, use the builtin barometer
if (( EXTERNAL_BAROMETER == 0 )); then
    /bin/echo "Did not detect an external barometer, starting onboard barometer"
    if [ "$PLATFORM" == "M0197" ]; then
       /bin/echo "Starting dps368 barometer on M0197"
       qshell dps310 start -I -b 5
    else
        # Start Invensense ICP 101xx barometer built on to VOXL 2
        qshell icp101xx start -I -b 5
    fi
fi

# Auto detect the magnetometer. If one or both of these devices
# are not connected it will fail but not cause any harm.
/bin/echo "Looking for qmc5883l magnetometer"
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1
/bin/echo "Looking for ist8308 magnetometer"
# Rotation 12 = PITCH_180
qshell ist8308 start -R 12 -X -b 1
/bin/echo "Looking for iis2mdc magnetometer"
# Note: Rotation may not be correct
qshell iis2mdc start -R 10 -X -b 1

# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
    if [ "$PLATFORM" == "M0197" ]; then
	gps start -d /dev/ttyHS7
    else
	qshell gps start
    fi
fi

# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
# fail but not cause any harm.
/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

# We do not change the value of SYS_AUTOCONFIG but if it does not
# show up as used then it is not reported to QGC and we get a
# missing parameter error. Also, we don't use SYS_AUTOSTART but QGC
# complains about it as well.
param touch SYS_AUTOCONFIG
param touch SYS_AUTOSTART

# ESC driver
if [ "$ESC" == "VOXL_ESC" ]; then
    /bin/echo "Starting VOXL ESC driver"
    qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
    if [ "$RC" == "M0065_SBUS" ]; then
        /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
        qshell voxl2_io start
    else
        /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
        qshell voxl2_io start -e
    fi
else
    /bin/echo "No ESC type specified, not starting an ESC driver"
fi


# RC driver
if [ "$RC" == "FAKE_RC_INPUT" ]; then
    /bin/echo "Starting fake RC driver"
    qshell rc_controller start
elif [ "$RC" == "CRSF_RAW" ]; then
    /bin/echo "Starting CRSF RC driver"
    qshell crsf_rc start -d 7
elif [ "$RC" == "CRSF_MAV" ]; then
    /bin/echo "Starting TBS crossfire RC - MAV Mode"
    qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
    /bin/echo "Starting Spektrum RC"
    qshell spektrum_rc start
elif [ "$RC" == "GHST" ]; then
    /bin/echo "Starting GHST RC driver"
    qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
    if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
        /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
        qshell dsp_sbus start
        retVal=$?
        if [ $retVal -ne 0 ]; then
            /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
            /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
            qshell voxl2_io start -d -p 7
        fi
    else
        /bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
    fi
fi

if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
    # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
    qshell lightware_laser_serial start -d 7
fi

if [ "$POWER_MANAGER" == "VOXLPM" ]; then
    # APM power monitor
    qshell voxlpm start -X -b 2
fi

if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
	qshell ms4525do start -X -b 4
fi

# Optional distance sensor on spare i2c
# qshell vl53l0x start -X -b 4
# qshell vl53l1x start -X -b 4

# Start all of the processing modules on DSP
qshell sensors start
qshell ekf2 start

if [ "$AIRFRAME" == "FIXED_WING" ]; then
	qshell fw_pos_control start
	qshell fw_att_control start
	qshell fw_rate_control start
	qshell airspeed_selector start
	qshell fw_autotune_attitude_control start
	qshell land_detector start fixedwing
elif [ $AIRFRAME = "MULTICOPTER" ]; then
	qshell mc_pos_control start
	qshell mc_att_control start
	qshell mc_rate_control start
	qshell mc_hover_thrust_estimator start
	qshell mc_autotune_attitude_control start
	qshell land_detector start multicopter
fi

qshell manual_control start
qshell control_allocator start
qshell load_mon start
qshell rc_update start

qshell commander start

# This is needed for altitude and position hold modes
qshell flight_mode_manager start

# Start all of the processing modules on the applications processor
dataman start
navigator start
vehicle_air_data_bridge start
sensor_baro_bridge start
vehicle_local_position_bridge start

# Start uxrce_dds_client for ros2 offboard messages from agent over localhost
uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888

voxl_save_cal_params start

# start the onboard fast link to connect to voxl-mavlink-server
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

# slow down some of the fastest streams
mavlink stream -u 14556 -s HIGHRES_IMU -r 10
mavlink stream -u 14556 -s ATTITUDE -r 10
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

# Increase heartbeat rate so VFC can get faster mode updates
mavlink stream -u 14556 -s HEARTBEAT -r 10

# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink boot_complete

# Optional MSP OSD driver for DJI goggles
# This is only supported on M0054 (with M0125 accessory board)
if [ "$OSD" == "ENABLE" ]; then
    /bin/echo "Starting OSD driver"
    msp_osd start -d /dev/ttyHS1
fi

# Start optional EXTRA_STEPS
for i in "${EXTRA_STEPS[@]}"
do
    $i
done

# Start logging module. This is done as the last step because any topics
# marked as optional will only be logged if they have been advertised when
# this is started. By starting it last it makes sure to see those
# advertisements as the other modules are starting before it.
logger start