/****************************************************************************
 *
 *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
 *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 *
 ****************************************************************************/


/**
 * @file simulator.h
 *
 * This module interfaces via MAVLink to a software in the loop simulator (SITL)
 * such as jMAVSim or Gazebo.
 */

#pragma once

#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_range_finder.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/bitmask.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>

#include <random>

#include <v2.0/common/mavlink.h>
#include <v2.0/mavlink_types.h>

using namespace time_literals;

//! Enumeration to use on the bitmask in HIL_SENSOR
enum class SensorSource {
	ACCEL		= 0b111,
	GYRO		= 0b111000,
	MAG		= 0b111000000,
	BARO		= 0b1101000000000,
	DIFF_PRESS	= 0b10000000000
};
ENABLE_BIT_OPERATORS(SensorSource)

//! AND operation for the enumeration and unsigned types that returns the bitmask
template<typename A, typename B>
static inline SensorSource operator &(A lhs, B rhs)
{
	// make it type safe
	static_assert((std::is_same<A, uint32_t>::value || std::is_same<A, SensorSource>::value),
		      "first argument is not uint32_t or SensorSource enum type");
	static_assert((std::is_same<B, uint32_t>::value || std::is_same<B, SensorSource>::value),
		      "second argument is not uint32_t or SensorSource enum type");

	typedef typename std::underlying_type<SensorSource>::type underlying;

	return static_cast<SensorSource>(
		       static_cast<underlying>(lhs) &
		       static_cast<underlying>(rhs)
	       );
}

class Simulator : public ModuleParams
{
public:
	static Simulator *getInstance() { return _instance; }

	enum class InternetProtocol {
		TCP,
		UDP
	};

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

	void set_ip(InternetProtocol ip) { _ip = ip; }
	void set_port(unsigned port) { _port = port; }

#if defined(ENABLE_LOCKSTEP_SCHEDULER)
	bool has_initialized() { return _has_initialized.load(); }
#endif

private:
	Simulator() : ModuleParams(nullptr)
	{
	}

	~Simulator()
	{
		// free perf counters
		perf_free(_perf_sim_delay);
		perf_free(_perf_sim_interval);

		for (size_t i = 0; i < sizeof(_dist_pubs) / sizeof(_dist_pubs[0]); i++) {
			delete _dist_pubs[i];
		}

		px4_lockstep_unregister_component(_lockstep_component);

		_instance = nullptr;
	}


	void check_failure_injections();

	int publish_flow_topic(const mavlink_hil_optical_flow_t *flow);
	int publish_odometry_topic(const mavlink_message_t *odom_mavlink);
	int publish_distance_topic(const mavlink_distance_sensor_t *dist);

	static Simulator *_instance;

	// simulated sensor instances
	static constexpr uint8_t ACCEL_COUNT_MAX = 3;
	PX4Accelerometer _px4_accel[ACCEL_COUNT_MAX] {
		{1310988, ROTATION_NONE}, // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
		{1310996, ROTATION_NONE}, // 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
		{1311004, ROTATION_NONE}, // 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
	};

	static constexpr uint8_t GYRO_COUNT_MAX = 3;
	PX4Gyroscope _px4_gyro[GYRO_COUNT_MAX] {
		{1310988, ROTATION_NONE}, // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
		{1310996, ROTATION_NONE}, // 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
		{1311004, ROTATION_NONE}, // 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
	};

	PX4Magnetometer		_px4_mag_0{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
	PX4Magnetometer		_px4_mag_1{197644, ROTATION_NONE}; // 197644: DRV_MAG_DEVTYPE_MAGSIM, BUS: 2, ADDR: 1, TYPE: SIMULATION

	PX4Barometer		_px4_baro_0{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
	PX4Barometer		_px4_baro_1{6620428}; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION

	float _sensors_temperature{0};

	perf_counter_t _perf_sim_delay{perf_alloc(PC_ELAPSED, MODULE_NAME": network delay")};
	perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};

	// uORB publisher handlers
	uORB::Publication<differential_pressure_s>	_differential_pressure_pub{ORB_ID(differential_pressure)};
	uORB::PublicationMulti<optical_flow_s>		_flow_pub{ORB_ID(optical_flow)};
	uORB::Publication<irlock_report_s>		_irlock_report_pub{ORB_ID(irlock_report)};
	uORB::Publication<vehicle_odometry_s>		_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
	uORB::Publication<vehicle_odometry_s>		_mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};

	uORB::Publication<vehicle_command_ack_s>	_command_ack_pub{ORB_ID(vehicle_command_ack)};

	uORB::PublicationMulti<distance_sensor_s>	*_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
	uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};

	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};

	unsigned int _port{14560};

	InternetProtocol _ip{InternetProtocol::UDP};

	double _realtime_factor{1.0};		///< How fast the simulation runs in comparison to real system time

	hrt_abstime _last_sim_timestamp{0};
	hrt_abstime _last_sitl_timestamp{0};


	void run();
	void handle_message(const mavlink_message_t *msg);
	void handle_message_distance_sensor(const mavlink_message_t *msg);
	void handle_message_hil_gps(const mavlink_message_t *msg);
	void handle_message_hil_sensor(const mavlink_message_t *msg);
	void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
	void handle_message_landing_target(const mavlink_message_t *msg);
	void handle_message_odometry(const mavlink_message_t *msg);
	void handle_message_optical_flow(const mavlink_message_t *msg);
	void handle_message_rc_channels(const mavlink_message_t *msg);
	void handle_message_vision_position_estimate(const mavlink_message_t *msg);

	void parameters_update(bool force);
	void poll_for_MAVLink_messages();
	void request_hil_state_quaternion();
	void send();
	void send_controls();
	void send_heartbeat();
	void send_mavlink_message(const mavlink_message_t &aMsg);
	void update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors);

	static void *sending_trampoline(void *);

	mavlink_hil_actuator_controls_t actuator_controls_from_outputs();


	// uORB publisher handlers
	uORB::Publication<vehicle_angular_velocity_s>	_vehicle_angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
	uORB::Publication<vehicle_attitude_s>		_attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
	uORB::Publication<vehicle_global_position_s>	_gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
	uORB::Publication<vehicle_local_position_s>	_lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
	uORB::Publication<input_rc_s>			_input_rc_pub{ORB_ID(input_rc)};

	// HIL GPS
	static constexpr int MAX_GPS = 3;
	uORB::PublicationMulti<sensor_gps_s>	*_sensor_gps_pubs[MAX_GPS] {};
	uint8_t _gps_ids[MAX_GPS] {};
	std::default_random_engine _gen{};

	// uORB subscription handlers
	int _actuator_outputs_sub{-1};
	actuator_outputs_s _actuator_outputs{};

	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};

	// hil map_ref data
	struct map_projection_reference_s _hil_local_proj_ref {};

	bool _hil_local_proj_inited{false};

	double _hil_ref_lat{0};
	double _hil_ref_lon{0};
	float _hil_ref_alt{0.0f};
	uint64_t _hil_ref_timestamp{0};

	vehicle_status_s _vehicle_status{};

	bool _accel_blocked[ACCEL_COUNT_MAX] {};
	bool _accel_stuck[ACCEL_COUNT_MAX] {};
	matrix::Vector3f _last_accel[GYRO_COUNT_MAX] {};

	bool _gyro_blocked[GYRO_COUNT_MAX] {};
	bool _gyro_stuck[GYRO_COUNT_MAX] {};
	matrix::Vector3f _last_gyro[GYRO_COUNT_MAX] {};

	bool _baro_blocked{false};
	bool _baro_stuck{false};

	bool _mag_blocked{false};
	bool _mag_stuck{false};

	bool _gps_blocked{false};
	bool _airspeed_blocked{false};

	float _last_magx{0.0f};
	float _last_magy{0.0f};
	float _last_magz{0.0f};

#if defined(ENABLE_LOCKSTEP_SCHEDULER)
	px4::atomic<bool> _has_initialized {false};
#endif

	int _lockstep_component{-1};

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
		(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
		(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id
	)
};