#include "PxQuadMAV.h"
#include "GAudioOutput.h"

PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
        UAS(mavlink, id)
{
}

/**
 * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
 * mavlink packet is received.
 *
 * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
 *             messages can be sent back to the system via this link
 * @param message MAVLink message, as received from the MAVLink protocol stack
 */
void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    // Let UAS handle the default message set
    UAS::receiveMessage(link, message);
    mavlink_message_t* msg = &message;

    //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;

// Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES

    if (message.sysid == uasId)
    {
        QString uasState;
        QString stateDescription;
        QString patternPath;
        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_RAW_AUX:
            {
                mavlink_raw_aux_t raw;
                mavlink_msg_raw_aux_decode(&message, &raw);
                quint64 time = getUnixTime(0);
                emit valueChanged(uasId, "Pressure", raw.baro, time);
                emit valueChanged(uasId, "Temperature", raw.temp, time);
            }
            break;
        case MAVLINK_MSG_ID_PATTERN_DETECTED:
            {
                QByteArray b;
                b.resize(256);
                mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
                b.append('\0');
                QString path = QString(b);
                bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
            }
            break;
    case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
            {
                mavlink_watchdog_heartbeat_t payload;
                mavlink_msg_watchdog_heartbeat_decode(msg, &payload);

                emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
            }
            break;

    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
            {
                mavlink_watchdog_process_info_t payload;
                mavlink_msg_watchdog_process_info_decode(msg, &payload);

                emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
            }
            break;

    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
            {
                mavlink_watchdog_process_status_t payload;
                mavlink_msg_watchdog_process_status_decode(msg, &payload);
                emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
            }
            break;
    case MAVLINK_MSG_ID_DEBUG_VECT:
            {
                mavlink_debug_vect_t vect;
                mavlink_msg_debug_vect_decode(msg, &vect);
                QString str((const char*)vect.name);
                quint64 time = getUnixTime(vect.usec);
                emit valueChanged(uasId, str+".x", vect.x, time);
                emit valueChanged(uasId, str+".y", vect.y, time);
                emit valueChanged(uasId, str+".z", vect.z, time);
            }
            break;
    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
            {
                mavlink_vision_position_estimate_t pos;
                mavlink_msg_vision_position_estimate_decode(&message, &pos);
                quint64 time = getUnixTime(pos.usec);
                //emit valueChanged(uasId, "vis. time", pos.usec, time);
                emit valueChanged(uasId, "vis. roll", pos.roll, time);
                emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
                emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
                emit valueChanged(uasId, "vis. x", pos.x, time);
                emit valueChanged(uasId, "vis. y", pos.y, time);
                emit valueChanged(uasId, "vis. z", pos.z, time);
                emit valueChanged(uasId, "vis. vx", pos.vx, time);
                emit valueChanged(uasId, "vis. vy", pos.vy, time);
                emit valueChanged(uasId, "vis. vz", pos.vz, time);
                emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
            }
            break;
    case MAVLINK_MSG_ID_AUX_STATUS:
            {
                mavlink_aux_status_t status;
                mavlink_msg_aux_status_decode(&message, &status);
                emit loadChanged(this, status.load/10.0f);
                emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
                emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
                emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
                emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
                emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
                qDebug() << "System Load:" << status.load;
                emit UAS::valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
            }
            break;
        case MAVLINK_MSG_ID_CONTROL_STATUS:
            {
                mavlink_control_status_t status;
                mavlink_msg_control_status_decode(&message, &status);
                // Emit control status vector
                emit attitudeControlEnabled(static_cast<bool>(status.control_att));
                emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
                emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
                emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));

                // Emit localization status vector
                emit localizationChanged(this, status.position_fix);
                emit visionLocalizationChanged(this, status.vision_fix);
                emit gpsLocalizationChanged(this, status.gps_fix);

                qDebug() << "ATT CONTROL IS" << status.control_att;
            }
            break;
    default:
            // Do nothing
            break;
        }
    }

#endif
}

void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    mavlink_watchdog_command_t payload;
    payload.target_system_id = uasId;
    payload.watchdog_id = watchdogId;
    payload.process_id = processId;
    payload.command_id = (uint8_t)command;

    mavlink_message_t msg;
    mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
    sendMessage(msg);
#endif
}
