/****************************************************************************
 *
 *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
 *   Author: Holger Steinhaus <hsteinhaus@gmx.de>
 *
 * 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
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 ****************************************************************************/

/**
 * @file motor_test.c
 *
 * Tool for drive testing
 */

#include <nuttx/config.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/test_motor.h>


#include "systemlib/systemlib.h"
#include "systemlib/err.h"


__EXPORT int	motor_test_main(int argc, char *argv[]);
static void motor_test(unsigned channel, float value);
static void usage(const char *reason);

void motor_test(unsigned channel, float value)
{
	orb_advert_t        _test_motor_pub;
	struct test_motor_s _test_motor;

	_test_motor.motor_number = channel;
	_test_motor.timestamp = hrt_absolute_time();
	_test_motor.value = value;

        if (_test_motor_pub > 0) {
	    /* publish armed state */
            orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
        } else {
            /* advertise and publish */
            _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
        }
}

static void usage(const char *reason)
{
	if (reason != NULL)
		warnx("%s", reason);

	errx(1,
		"usage:\n"
		"motor_test\n"
		"    -m <channel>            Motor to test (0..7)\n"
		"    -p <power>              Power (0..100)\n");
}

int motor_test_main(int argc, char *argv[])
{
	unsigned long channel, lval;
	float value;
	int ch;

	if (argc != 5) {
		usage("please specify motor and power");
	}

	while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
		switch (ch) {

		case 'm':
			/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
			channel = strtoul(optarg, NULL, 0);
			break;

		case 'p':
			/* Read in custom low value */
			lval = strtoul(optarg, NULL, 0);

			if (lval > 100)
				usage("value invalid");

			value = (float)lval/100.f;
			break;
		default:
			usage(NULL);
		}
	}

	motor_test(channel, value);

	printf("motor %d set to %.2f\n", channel, value);

	exit(0);
}