/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: @author Ivan Ovinnikov <oivan@ethz.ch>
 *
 * 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
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
/**
 * @file fixedwing_pos_control.c
 * Implementation of a fixed wing attitude controller.
 */

#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>

/* Prototypes */
/**
 * Deamon management function.
 */
__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);

/**
 * Mainloop of deamon.
 */
int fixedwing_pos_control_thread_main(int argc, char *argv[]);

/**
 * Print the correct usage.
 */
static void usage(const char *reason);

/* Variables */
static bool thread_should_exit = false;		/**< Deamon exit flag */
static bool thread_running = false;		/**< Deamon status flag */
static int deamon_task;				/**< Handle of deamon task / thread */

/* Main Thread */
int fixedwing_pos_control_thread_main(int argc, char *argv[])
{
	/* read arguments */
		bool verbose = false;

		for (int i = 1; i < argc; i++) {
			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
				verbose = true;
			}
		}

		/* welcome user */
		printf("[fixedwing att_control] started\n");

		/* declare and safely initialize all structs */


		/* output structs */
		struct vehicle_attitude_setpoint_s attitude_setpoint;
		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));

		/* publish attitude setpoint */

		attitude_setpoint.roll_tait_bryan = 0.0f;
		attitude_setpoint.pitch_tait_bryan = 0.0f;
		attitude_setpoint.yaw_tait_bryan = 0.0f;
		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);



//		/* subscribe */
//

		/* Setup of loop */
//		struct pollfd fds = { .fd = att_sub, .events = POLLIN };

		while(!thread_should_exit)
		{
			/* wait for a sensor update, check for exit condition every 500 ms */
//			poll(&fds, 1, 500);
			sleep(500); //TODO removeme, this is for testing only

			/* Control */


			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
		}

		printf("[fixedwing_pos_control] exiting.\n");
		thread_running = false;


		close(attitude_setpoint_pub);

		fflush(stdout);
		exit(0);

		return 0;

}

/* Startup Functions */

static void
usage(const char *reason)
{
	if (reason)
		fprintf(stderr, "%s\n", reason);
	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
	exit(1);
}

/**
 * The deamon app only briefly exists to start
 * the background job. The stack size assigned in the
 * Makefile does only apply to this management task.
 *
 * The actual stack size should be set in the call
 * to task_create().
 */
int fixedwing_pos_control_main(int argc, char *argv[])
{
	if (argc < 1)
		usage("missing command");

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			printf("fixedwing_pos_control already running\n");
			/* this is not an error */
			exit(0);
		}

		thread_should_exit = false;
		deamon_task = task_spawn("fixedwing_pos_control",
					 SCHED_DEFAULT,
					 SCHED_PRIORITY_MAX - 20,
					 4096,
					 fixedwing_pos_control_thread_main,
					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
		thread_running = true;
		exit(0);
	}

	if (!strcmp(argv[1], "stop")) {
		thread_should_exit = true;
		exit(0);
	}

	if (!strcmp(argv[1], "status")) {
		if (thread_running) {
			printf("\tfixedwing_pos_control is running\n");
		} else {
			printf("\tfixedwing_pos_control not started\n");
		}
		exit(0);
	}

	usage("unrecognized command");
	exit(1);
}