/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


/**
 * @file
 *   @brief Definition of UDP connection (server) for unmanned vehicles
 *   @author Lorenz Meier <lorenz@px4.io>
 *
 */

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <QHostInfo>

#include <iostream>

#include "UAS.h"
#include "QGCJSBSimLink.h"
#include "QGC.h"
#include "QGCMessageBox.h"

QGCJSBSimLink::QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
    : _vehicle(vehicle)
    , socket(NULL)
    , process(NULL)
    , startupArguments(startupArguments)
{
    // We're doing it wrong - because the Qt folks got the API wrong:
    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
    moveToThread(this);

    this->host = host;
    this->port = port + _vehicle->id();
    this->connectState = false;
    this->currentPort = 49000 + _vehicle->id();
    this->name = tr("JSBSim Link (port:%1)").arg(port);
    setRemoteHost(remoteHost);
}

QGCJSBSimLink::~QGCJSBSimLink()
{   //do not disconnect unless it is connected.
    //disconnectSimulation will delete the memory that was allocated for process, terraSync and socket
    if(connectState){
       disconnectSimulation();
    }
}

/**
 * @brief Runs the thread
 *
 **/
void QGCJSBSimLink::run()
{
    qDebug() << "STARTING FLIGHTGEAR LINK";

    if (!_vehicle) return;
    socket = new QUdpSocket(this);
    socket->moveToThread(this);
    connectState = socket->bind(host, port, QAbstractSocket::ReuseAddressHint);

    QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCJSBSimLink::readBytes);

    process = new QProcess(this);

    connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCJSBSimLink::updateControls);
    connect(this, &QGCJSBSimLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);

    _vehicle->uas()->startHil();

    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
    // Catch process error
    connect(process, static_cast<void (QProcess::*)(QProcess::ProcessError)>(&QProcess::error),
            this, &QGCJSBSimLink::processError);

    // Start Flightgear
    QStringList arguments;
    QString processJSB;
    QString rootJSB;

#ifdef Q_OS_MACX
    processJSB = "/usr/local/bin/JSBSim";
    rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
#endif

#ifdef Q_OS_WIN32
    processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
    rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
#endif

#ifdef Q_OS_LINUX
    processJSB = "/usr/games/fgfs";
    rootJSB = "/usr/share/games/flightgear";
#endif

    // Sanity checks
    bool sane = true;
    QFileInfo executable(processJSB);
    if (!executable.isExecutable())
    {
        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim was not found at %1").arg(processJSB));
        sane = false;
    }

    QFileInfo root(rootJSB);
    if (!root.isDir())
    {
        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim data directory was not found at %1").arg(rootJSB));
        sane = false;
    }

    if (!sane) return;

    /*Prepare JSBSim Arguments */

    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
    {
        arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB, rootJSB, script);
    }
    else
    {
        arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB, rootJSB, script);
    }

    process->start(processJSB, arguments);

    emit simulationConnected(connectState);
    if (connectState) {
        emit simulationConnected();
        connectionStartTime = QGC::groundTimeUsecs()/1000;
    }
    qDebug() << "STARTING SIM";

    exec();
}

void QGCJSBSimLink::setPort(int port)
{
    this->port = port;
    disconnectSimulation();
    connectSimulation();
}

void QGCJSBSimLink::processError(QProcess::ProcessError err)
{
    QString msg;
    
    switch(err) {
        case QProcess::FailedToStart:
            msg = tr("JSBSim Failed to start. Please check if the path and command is correct");
            break;
            
        case QProcess::Crashed:
            msg = tr("JSBSim crashed. This is a JSBSim-related problem, check for JSBSim upgrade.");
            break;
            
        case QProcess::Timedout:
            msg = tr("JSBSim start timed out. Please check if the path and command is correct");
            break;
            
        case QProcess::ReadError:
        case QProcess::WriteError:
            msg = tr("Could not communicate with JSBSim. Please check if the path and command are correct");
            break;
            
        case QProcess::UnknownError:
        default:
            msg = tr("JSBSim error occurred. Please check if the path and command is correct.");
            break;
    }
    
    QGCMessageBox::critical("JSBSim HIL", msg);
}

/**
 * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
 */
void QGCJSBSimLink::setRemoteHost(const QString& host)
{
    if (host.contains(":"))
    {
        //qDebug() << "HOST: " << host.split(":").first();
        QHostInfo info = QHostInfo::fromName(host.split(":").first());
        if (info.error() == QHostInfo::NoError)
        {
            // Add host
            QList<QHostAddress> hostAddresses = info.addresses();
            QHostAddress address;
            for (int i = 0; i < hostAddresses.size(); i++)
            {
                // Exclude loopback IPv4 and all IPv6 addresses
                if (!hostAddresses.at(i).toString().contains(":"))
                {
                    address = hostAddresses.at(i);
                }
            }
            currentHost = address;
            //qDebug() << "Address:" << address.toString();
            // Set port according to user input
            currentPort = host.split(":").last().toInt();
        }
    }
    else
    {
        QHostInfo info = QHostInfo::fromName(host);
        if (info.error() == QHostInfo::NoError)
        {
            // Add host
            currentHost = info.addresses().first();
        }
    }

}

void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
{
    // magnetos,aileron,elevator,rudder,throttle\n

    //float magnetos = 3.0f;
    Q_UNUSED(time);
    Q_UNUSED(systemMode);
    Q_UNUSED(navMode);

    if(!qIsNaN(rollAilerons) && !qIsNaN(pitchElevator) && !qIsNaN(yawRudder) && !qIsNaN(throttle))
    {
        QString state("%1\t%2\t%3\t%4\t%5\n");
        state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
        emit _invokeWriteBytes(state.toLatin1());
    }
    else
    {
        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << qIsNaN(rollAilerons) << ", pitch: " << qIsNaN(pitchElevator) << ", yaw: " << qIsNaN(yawRudder) << ", throttle: " << qIsNaN(throttle);
    }
    //qDebug() << "Updated controls" << state;
}

void QGCJSBSimLink::_writeBytes(const QByteArray data)
{
    //#define QGCJSBSimLink_DEBUG
#ifdef QGCJSBSimLink_DEBUG
    QString bytes;
    QString ascii;
    for (int i=0, size = data.size(); i<size; i++)
    {
        unsigned char v = data[i];
        bytes.append(QString().sprintf("%02x ", v));
        if (data[i] > 31 && data[i] < 127)
        {
            ascii.append(data[i]);
        }
        else
        {
            ascii.append(219);
        }
    }
    qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
    qDebug() << bytes;
    qDebug() << "ASCII:" << ascii;
#endif
    if (connectState && socket) socket->writeDatagram(data, currentHost, currentPort);
}

/**
 * @brief Read a number of bytes from the interface.
 *
 * @param data Pointer to the data byte array to write the bytes to
 * @param maxLength The maximum number of bytes to write
 **/
void QGCJSBSimLink::readBytes()
{
    const qint64 maxLength = 65536;
    char data[maxLength];
    QHostAddress sender;
    quint16 senderPort;

    unsigned int s = socket->pendingDatagramSize();
    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
    socket->readDatagram(data, maxLength, &sender, &senderPort);

    /*
    // Print string
    QByteArray b(data, s);
    QString state(b);

    // Parse string
    float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
    double lat, lon, alt;
    double vx, vy, vz, xacc, yacc, zacc;

    // Send updated state
    emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
        pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
    */

        // Echo data for debugging purposes
        std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
        for (unsigned int i=0; i<s; i++)
        {
            unsigned int v=data[i];
            fprintf(stderr,"%02x ", v);
        }
        std::cerr << std::endl;
}


/**
 * @brief Get the number of bytes to read.
 *
 * @return The number of bytes to read
 **/
qint64 QGCJSBSimLink::bytesAvailable()
{
    return socket->pendingDatagramSize();
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
bool QGCJSBSimLink::disconnectSimulation()
{
    disconnect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCJSBSimLink::updateControls);
    disconnect(this, &QGCJSBSimLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);
    disconnect(process, static_cast<void (QProcess::*)(QProcess::ProcessError)>(&QProcess::error),
            this, &QGCJSBSimLink::processError);

    if (process)
    {
        process->close();
        delete process;
        process = NULL;
    }
    if (socket)
    {
        socket->close();
        delete socket;
        socket = NULL;
    }

    connectState = false;

    emit simulationDisconnected();
    emit simulationConnected(false);
    return !connectState;
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool QGCJSBSimLink::connectSimulation()
{
    start(HighPriority);
    return true;
}

/**
 * @brief Set the startup arguments used to start flightgear
 *
 **/
void QGCJSBSimLink::setStartupArguments(QString startupArguments)
{
    this->startupArguments = startupArguments;
}

/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
bool QGCJSBSimLink::isConnected()
{
    return connectState;
}

QString QGCJSBSimLink::getName()
{
    return name;
}

QString QGCJSBSimLink::getRemoteHost()
{
    return QString("%1:%2").arg(currentHost.toString(), currentPort);
}

void QGCJSBSimLink::setName(QString name)
{
    this->name = name;
}