/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup PathPlanner Path Planner Module
 * @brief Executes a series of waypoints
 * @{
 *
 * @file       pathplanner.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Executes a series of waypoints
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "openpilot.h"
#include "flightstatus.h"
#include "positionactual.h"
#include "positiondesired.h"
#include "waypoint.h"
#include "waypointactive.h"

// Private constants
#define STACK_SIZE_BYTES 2500
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
#define MAX_QUEUE_SIZE 2

// Private types

// Private variables
static xTaskHandle taskHandle;
static xQueueHandle queue;

// Private functions
static void pathPlannerTask(void *parameters);

/**
 * Module initialization
 */
int32_t PathPlannerStart()
{
	taskHandle = NULL;

	// Start VM thread
	xTaskCreate(pathPlannerTask, (signed char *)"PathPlanner", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
	TaskMonitorAdd(TASKINFO_RUNNING_PATHPLANNER, taskHandle);

	return 0;
}

/**
 * Module initialization
 */
int32_t PathPlannerInitialize()
{
	taskHandle = NULL;
	
	WaypointInitialize();
	WaypointActiveInitialize();
	
	// Create object queue
	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

	return 0;
}

MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart)

/**
 * Module task
 */
int32_t bad_inits;
int32_t bad_reads;
static void pathPlannerTask(void *parameters)
{
	FlightStatusData flightStatus;
	PositionActualData positionActual;
	PositionDesiredData positionDesired;

	WaypointActiveData waypointActive;
	WaypointData waypoint;
	for(uint32_t i = 0; i < 20; i++) {
		waypoint.Position[1] = 30 * cos(i / 10.0 * M_PI);
		waypoint.Position[0] = 50 * sin(i / 10.0 * M_PI);
		waypoint.Position[2] = -50;
		waypoint.Action = WAYPOINT_ACTION_NEXT;
		WaypointCreateInstance();
		bad_inits += (WaypointInstSet(i, &waypoint) != 0);
	}
	
	for(uint32_t i = 20; i < 35; i++) {
		waypoint.Position[1] = 55 + 20 * cos(i / 10.0 * M_PI - M_PI / 2);
		waypoint.Position[0] = 25 + 25 * sin(i / 10.0 * M_PI - M_PI / 2);
		waypoint.Position[2] = -50;
		waypoint.Action = WAYPOINT_ACTION_NEXT;
		WaypointCreateInstance();
		bad_inits += (WaypointInstSet(i, &waypoint) != 0);
	}
	
	waypoint.Position[1] = 35;
	waypoint.Position[0] = -50;
	waypoint.Position[2] = -50;
	waypoint.Action = WAYPOINT_ACTION_RTH;
	WaypointCreateInstance();
	WaypointInstSet(35, &waypoint);

	

	const float MIN_RADIUS = 2.0f; // Radius to consider at waypoint (m)

	// Main thread loop
	bool pathplanner_active = false;
	while (1)
	{
		FlightStatusGet(&flightStatus);

		vTaskDelay(100);

		if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {
			pathplanner_active = false;
			continue;
		}

		if(pathplanner_active == false) {
			WaypointActiveSet(&waypointActive);
			waypointActive.Index = 0;
			WaypointActiveSet(&waypointActive);

			WaypointInstGet(waypointActive.Index, &waypoint);

			PositionDesiredGet(&positionDesired);
			positionDesired.North = waypoint.Position[WAYPOINT_POSITION_NORTH];
			positionDesired.East = waypoint.Position[WAYPOINT_POSITION_EAST];
			positionDesired.Down = waypoint.Position[WAYPOINT_POSITION_DOWN];
			PositionDesiredSet(&positionDesired);

			pathplanner_active = true;

			continue;
		}

		PositionActualGet(&positionActual);
		WaypointActiveGet(&waypointActive);
		WaypointInstGet(waypointActive.Index, &waypoint);

		float r2 = powf(positionActual.North - waypoint.Position[WAYPOINT_POSITION_NORTH], 2) +
		     powf(positionActual.East - waypoint.Position[WAYPOINT_POSITION_EAST], 2) +
			powf(positionActual.Down - waypoint.Position[WAYPOINT_POSITION_DOWN], 2);

		// We hit this waypoint
		if (r2 < (MIN_RADIUS * MIN_RADIUS)) {
			switch(waypoint.Action) {
				case WAYPOINT_ACTION_NEXT:
					waypointActive.Index++;
					WaypointActiveSet(&waypointActive);
					
					if(WaypointInstGet(waypointActive.Index, &waypoint) != 0) {
						// Oh shit, tried to go to non-existant waypoint
						continue;
					}

					PositionDesiredGet(&positionDesired);
					positionDesired.North = waypoint.Position[WAYPOINT_POSITION_NORTH];
					positionDesired.East = waypoint.Position[WAYPOINT_POSITION_EAST];
					positionDesired.Down = waypoint.Position[WAYPOINT_POSITION_DOWN];
					PositionDesiredSet(&positionDesired);
					break;
				case WAYPOINT_ACTION_RTH:
					// Fly back to the home location but 20 m above it
					PositionDesiredGet(&positionDesired);
					positionDesired.North = 0;
					positionDesired.East = 0;
					positionDesired.Down = -20;
					PositionDesiredSet(&positionDesired);
					break;
				default:
					PIOS_DEBUG_Assert(0);
			}
		}
	}
}

/**
  * @}
  * @}
  */