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 *
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 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file land_detector_main.cpp
 * Land detection algorithm
 *
 * @author Johan Jansen <jnsn.johan@gmail.com>
 */

#include <unistd.h>					//usleep
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <drivers/drv_hrt.h>
#include <systemlib/systemlib.h>	//Scheduler
#include <systemlib/err.h>			//print to console

#include "FixedwingLandDetector.h"
#include "MulticopterLandDetector.h"

//Function prototypes
static int land_detector_start(const char *mode);
static void land_detector_stop();

/**
 * land detector app start / stop handling function
 * This makes the land detector module accessible from the nuttx shell
 * @ingroup apps
 */
extern "C" __EXPORT int land_detector_main(int argc, char *argv[]);

//Private variables
static LandDetector *land_detector_task = nullptr;
static int _landDetectorTaskID = -1;
static char _currentMode[12];

/**
* Deamon thread function
**/
static void land_detector_deamon_thread(int argc, char *argv[])
{
	land_detector_task->start();
}

/**
* Stop the task, force killing it if it doesn't stop by itself
**/
static void land_detector_stop()
{
	if (land_detector_task == nullptr || _landDetectorTaskID == -1) {
		errx(1, "not running");
		return;
	}

	land_detector_task->shutdown();

	//Wait for task to die
	int i = 0;

	do {
		/* wait 20ms */
		usleep(20000);

		/* if we have given up, kill it */
		if (++i > 50) {
			task_delete(_landDetectorTaskID);
			break;
		}
	} while (land_detector_task->isRunning());


	delete land_detector_task;
	land_detector_task = nullptr;
	_landDetectorTaskID = -1;
	errx(0, "land_detector has been stopped");
}

/**
* Start new task, fails if it is already running. Returns OK if successful
**/
static int land_detector_start(const char *mode)
{
	if (land_detector_task != nullptr || _landDetectorTaskID != -1) {
		errx(1, "already running");
		return -1;
	}

	//Allocate memory
	if (!strcmp(mode, "fixedwing")) {
		land_detector_task = new FixedwingLandDetector();

	} else if (!strcmp(mode, "multicopter")) {
		land_detector_task = new MulticopterLandDetector();

	} else {
		errx(1, "[mode] must be either 'fixedwing' or 'multicopter'");
		return -1;
	}

	//Check if alloc worked
	if (land_detector_task == nullptr) {
		errx(1, "alloc failed");
		return -1;
	}

	//Start new thread task
	_landDetectorTaskID = task_spawn_cmd("land_detector",
					     SCHED_DEFAULT,
					     SCHED_PRIORITY_DEFAULT,
					     1000,
					     (main_t)&land_detector_deamon_thread,
					     nullptr);

	if (_landDetectorTaskID < 0) {
		errx(1, "task start failed: %d", -errno);
		return -1;
	}

	/* avoid memory fragmentation by not exiting start handler until the task has fully started */
	const uint32_t timeout = hrt_absolute_time() + 5000000; //5 second timeout

	while (!land_detector_task->isRunning()) {
		usleep(50000);
		printf(".");
		fflush(stdout);

		if (hrt_absolute_time() > timeout) {
			err(1, "start failed - timeout");
			land_detector_stop();
			exit(1);
		}
	}

	printf("\n");

	//Remember current active mode
	strncpy(_currentMode, mode, 12);

	exit(0);
	return 0;
}

/**
* Main entry point for this module
**/
int land_detector_main(int argc, char *argv[])
{

	if (argc < 1) {
		goto exiterr;
	}

	if (argc >= 2 && !strcmp(argv[1], "start")) {
		land_detector_start(argv[2]);
	}

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

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

			if (land_detector_task->isRunning()) {
				warnx("running (%s)", _currentMode);

			} else {
				errx(1, "exists, but not running (%s)", _currentMode);
			}

			exit(0);

		} else {
			errx(1, "not running");
		}
	}

exiterr:
	warnx("usage: land_detector {start|stop|status} [mode]");
	warnx("mode can either be 'fixedwing' or 'multicopter'");
	return 1;
}