#!/usr/bin/env python
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#
#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# 1. Redistributions of source code must retain the above copyright
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#
# @author Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4'

import unittest
import rospy
import math
import rosbag

from numpy import linalg
import numpy as np

from px4.msg import vehicle_control_mode
from px4.msg import vehicle_local_position
from px4.msg import vehicle_local_position_setpoint
from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
from px4_test_helper import PX4TestHelper

#
# Tests flying a path in offboard control by sending position setpoints
# over MAVROS.
#
# For the test to be successful it needs to reach all setpoints in a certain time.
# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
#
class MavrosOffboardPosctlTest(unittest.TestCase):

    def setUp(self):
        rospy.init_node('test_node', anonymous=True)
        self.helper = PX4TestHelper("mavros_offboard_posctl_test")
        self.helper.setUp()

        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
        rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
        self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
        self.rate = rospy.Rate(10) # 10hz
        self.has_pos = False
        self.local_position = PoseStamped()
        self.control_mode = vehicle_control_mode()

    def tearDown(self):
        self.helper.tearDown()

    #
    # General callback functions used in tests
    #
    def position_callback(self, data):
        self.has_pos = True
        self.local_position = data

    def vehicle_control_mode_callback(self, data):
        self.control_mode = data


    #
    # Helper methods
    #
    def is_at_position(self, x, y, z, offset):
        if not self.has_pos:
            return False

        rospy.logdebug("current position %f, %f, %f" %
                        (self.local_position.pose.position.x,
                        self.local_position.pose.position.y,
                        self.local_position.pose.position.z))

        desired = np.array((x, y, z))
        pos = np.array((self.local_position.pose.position.x,
                        self.local_position.pose.position.y,
                        self.local_position.pose.position.z))
        return linalg.norm(desired - pos) < offset

    def reach_position(self, x, y, z, timeout):
        # set a position setpoint
        pos = PoseStamped()
        pos.header = Header()
        pos.header.frame_id = "base_footprint"
        pos.pose.position.x = x
        pos.pose.position.y = y
        pos.pose.position.z = z

        # For demo purposes we will lock yaw/heading to north.
        yaw_degrees = 0  # North
        yaw = math.radians(yaw_degrees)
        quaternion = quaternion_from_euler(0, 0, yaw)
        pos.pose.orientation = Quaternion(*quaternion)

        # does it reach the position in X seconds?
        count = 0
        while count < timeout:
            # update timestamp for each published SP
            pos.header.stamp = rospy.Time.now()
            self.pub_spt.publish(pos)
            self.helper.bag_write('mavros/setpoint/local_position', pos)

            if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
                break
            count = count + 1
            self.rate.sleep()

        self.assertTrue(count < timeout, "took too long to get to position")

    #
    # Test offboard position control
    #
    def test_posctl(self):
        # prepare flight path
        positions = (
            (0, 0, 0),
            (2, 2, 2),
            (2, -2, 2),
            (-2, -2, 2),
            (2, 2, 2))

        for i in range(0, len(positions)):
            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)

        count = 0
        timeout = 50
        while count < timeout:
            if not self.is_at_position(2, 2, 2, 0.5):
                break
            count = count + 1
            self.rate.sleep()

        self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
        self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
        self.assertTrue(count == timeout, "position could not be held")


if __name__ == '__main__':
    import rostest
    rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
    #unittest.main()