/****************************************************************************
 *
 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 *
 * 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 geo.c
 *
 * Geo / math functions to perform geodesic calculations
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <geo/geo.h>
#include <px4.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <string.h>
#include <float.h>

__EXPORT float _wrap_pi(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= M_PI_F) {
		bearing -= M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < -M_PI_F) {
		bearing += M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_2pi(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= M_TWOPI_F) {
		bearing -= M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < 0.0f) {
		bearing += M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_180(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= 180.0f) {
		bearing -= 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < -180.0f) {
		bearing += 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_360(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= 360.0f) {
		bearing -= 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < 0.0f) {
		bearing += 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}