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/// @file calibration_routines.h
///	@authot Don Gagne <don@thegagnes.com>

#pragma once

/**
 * Least-squares fit of a sphere to a set of points.
 *
 * Fits a sphere to a set of points on the sphere surface.
 *
 * @param x point coordinates on the X axis
 * @param y point coordinates on the Y axis
 * @param z point coordinates on the Z axis
 * @param size number of points
 * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
 * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
 * @param sphere_x coordinate of the sphere center on the X axis
 * @param sphere_y coordinate of the sphere center on the Y axis
 * @param sphere_z coordinate of the sphere center on the Z axis
 * @param sphere_radius sphere radius
 *
 * @return 0 on success, 1 on failure
 */
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
			     float *sphere_radius);
int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[],
				unsigned int size, unsigned int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z,
				float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
				float *offdiag_z);
int run_lm_sphere_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
		      unsigned int size, float *offset_x, float *offset_y, float *offset_z,
		      float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
		      float *offdiag_z);
int run_lm_ellipsoid_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
		      unsigned int size, float *offset_x, float *offset_y, float *offset_z,
		      float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
		      float *offdiag_z);
bool inverse4x4(float m[], float invOut[]);
bool mat_inverse(float* A, float* inv, uint8_t n);

// FIXME: Change the name
static const unsigned max_accel_sens = 3;

// The order of these cannot change since the calibration calculations depend on them in this order
enum detect_orientation_return {
	DETECT_ORIENTATION_TAIL_DOWN,
	DETECT_ORIENTATION_NOSE_DOWN,
	DETECT_ORIENTATION_LEFT,
	DETECT_ORIENTATION_RIGHT,
	DETECT_ORIENTATION_UPSIDE_DOWN,
	DETECT_ORIENTATION_RIGHTSIDE_UP,
	DETECT_ORIENTATION_ERROR
};
static const unsigned detect_orientation_side_count = 6;

/// Wait for vehicle to become still and detect it's orientation
///	@return Returns detect_orientation_return according to orientation when vehicle
///		and ready for measurements
enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,	///< uORB handle to write output to
		int	cancel_sub,			///< Cancel subscription from calibration_cancel_subscribe
		int	accel_sub,			///< Orb subcription to accel sensor
		bool	lenient_still_detection);	///< true: Use more lenient still position detection

/// Returns the human readable string representation of the orientation
///	@param orientation Orientation to return string for, "error" if buffer is too small
const char *detect_orientation_str(enum detect_orientation_return orientation);

enum calibrate_return {
	calibrate_return_ok,
	calibrate_return_error,
	calibrate_return_cancelled
};

typedef calibrate_return(*calibration_from_orientation_worker_t)(detect_orientation_return
		orientation,	///< Orientation which was detected
		int				cancel_sub,	///< Cancel subscription from calibration_cancel_subscribe
		void				*worker_data);	///< Opaque worker data

/// Perform calibration sequence which require a rest orientation detection prior to calibration.
///	@return OK: Calibration succeeded, ERROR: Calibration failed
calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,		///< uORB handle to write output to
		int		cancel_sub,						///< Cancel subscription from calibration_cancel_subscribe
		bool	side_data_collected[detect_orientation_side_count],	///< Sides for which data still needs calibration
		calibration_from_orientation_worker_t calibration_worker,		///< Worker routine which performs the actual calibration
		void	*worker_data,						///< Opaque data passed to worker routine
		bool	lenient_still_detection);				///< true: Use more lenient still position detection

/// Called at the beginning of calibration in order to subscribe to the cancel command
///	@return Handle to vehicle_command subscription
int calibrate_cancel_subscribe(void);

/// Called to cancel the subscription to the cancel command
///	@param cancel_sub Cancel subcription from calibration_cancel_subscribe
void calibrate_cancel_unsubscribe(int cancel_sub);

/// Used to periodically check for a cancel command
bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub,	///< uORB handle to write output to
			    int cancel_sub);	///< Cancel subcription fromcalibration_cancel_subscribe


// TODO FIXME: below are workarounds for QGC. The issue is that sometimes
// a mavlink log message is overwritten by the following one. A workaround
// is to wait for some time after publishing each message and hope that it
// gets sent out in the meantime.

#define calibration_log_info(_pub, _text, ...)			\
	do { \
		mavlink_and_console_log_info(_pub, _text, ##__VA_ARGS__); \
		usleep(10000); \
	} while(0);

#define calibration_log_critical(_pub, _text, ...)			\
	do { \
		mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
		usleep(10000); \
	} while(0);

#define calibration_log_emergency(_pub, _text, ...)			\
	do { \
		mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
		usleep(10000); \
	} while(0);
