/****************************************************************************
 *
 *   Copyright (c) 2012-2015 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 test_sensors.c
 * Tests the onboard sensors.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <px4_config.h>
#include <px4_posix.h>

#include <sys/types.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <systemlib/err.h>

#include <arch/board/board.h>

#include "tests_main.h"

#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>

static int accel(int argc, char *argv[], const char *path);
static int gyro(int argc, char *argv[], const char *path);
static int mag(int argc, char *argv[], const char *path);
static int baro(int argc, char *argv[], const char *path);

/****************************************************************************
 * Private Data
 ****************************************************************************/

struct {
	const char	*name;
	const char	*path;
	int	(* test)(int argc, char *argv[], const char *path);
} sensors[] = {
	{"accel0",	ACCEL0_DEVICE_PATH,	accel},
	{"accel1",	ACCEL1_DEVICE_PATH,	accel},
	{"gyro0",	GYRO0_DEVICE_PATH,	gyro},
	{"gyro1",	GYRO1_DEVICE_PATH,	gyro},
	{"mag0",	MAG0_DEVICE_PATH,	mag},
	{"baro0",	BARO0_DEVICE_PATH,	baro},
	{NULL, NULL, NULL}
};

static int
accel(int argc, char *argv[], const char *path)
{
	printf("\tACCEL: test start\n");
	fflush(stdout);

	int		fd;
	struct accel_report buf;
	int		ret;

	fd = px4_open(path, O_RDONLY);

	if (fd < 0) {
		printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
		return ERROR;
	}

	/* wait at least 100ms, sensor should have data after no more than 20ms */
	usleep(100000);

	/* read data - expect samples */
	ret = px4_read(fd, &buf, sizeof(buf));

	if (ret != sizeof(buf)) {
		printf("\tACCEL: read1 fail (%d)\n", ret);
		return ERROR;

	} else {
		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
	}

	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
		warnx("ACCEL acceleration values out of range!");
		return ERROR;
	}

	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);

	if (len < 8.0f || len > 12.0f) {
		warnx("ACCEL scale error!");
		return ERROR;
	}

	/* Let user know everything is ok */
	printf("\tOK: ACCEL passed all tests successfully\n");
	px4_close(fd);

	return OK;
}

static int
gyro(int argc, char *argv[], const char *path)
{
	printf("\tGYRO: test start\n");
	fflush(stdout);

	int		fd;
	struct gyro_report buf;
	int		ret;

	fd = px4_open(path, O_RDONLY);

	if (fd < 0) {
		printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
		return ERROR;
	}

	/* wait at least 5 ms, sensor should have data after that */
	usleep(5000);

	/* read data - expect samples */
	ret = px4_read(fd, &buf, sizeof(buf));

	if (ret != sizeof(buf)) {
		printf("\tGYRO: read fail (%d)\n", ret);
		return ERROR;

	} else {
		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
	}

	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);

	if (len > 0.3f) {
		warnx("GYRO scale error!");
		return ERROR;
	}

	/* Let user know everything is ok */
	printf("\tOK: GYRO passed all tests successfully\n");
	px4_close(fd);

	return OK;
}

static int
mag(int argc, char *argv[], const char *path)
{
	printf("\tMAG: test start\n");
	fflush(stdout);

	int		fd;
	struct mag_report buf;
	int		ret;

	fd = px4_open(path, O_RDONLY);

	if (fd < 0) {
		printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
		return ERROR;
	}

	/* wait at least 5 ms, sensor should have data after that */
	usleep(5000);

	/* read data - expect samples */
	ret = px4_read(fd, &buf, sizeof(buf));

	if (ret != sizeof(buf)) {
		printf("\tMAG: read fail (%d)\n", ret);
		return ERROR;

	} else {
		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
	}

	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);

	if (len < 0.25f || len > 3.0f) {
		warnx("MAG scale error!");
		return ERROR;
	}

	/* Let user know everything is ok */
	printf("\tOK: MAG passed all tests successfully\n");
	px4_close(fd);

	return OK;
}

static int
baro(int argc, char *argv[], const char *path)
{
	printf("\tBARO: test start\n");
	fflush(stdout);

	int		fd;
	struct baro_report buf;
	int		ret;

	fd = px4_open(path, O_RDONLY);

	if (fd < 0) {
		printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
		return ERROR;
	}

	/* wait at least 5 ms, sensor should have data after that */
	usleep(5000);

	/* read data - expect samples */
	ret = px4_read(fd, &buf, sizeof(buf));

	if (ret != sizeof(buf)) {
		printf("\tBARO: read fail (%d)\n", ret);
		return ERROR;

	} else {
		printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude,
		       (double)buf.temperature);
	}

	/* Let user know everything is ok */
	printf("\tOK: BARO passed all tests successfully\n");
	px4_close(fd);

	return OK;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: test_sensors
 ****************************************************************************/

int test_sensors(int argc, char *argv[])
{
	unsigned	i;

	printf("Running sensors tests:\n\n");
	fflush(stdout);

	int ret = OK;

	for (i = 0; sensors[i].name; i++) {
		printf("  sensor: %s\n", sensors[i].name);

		/* Flush */
		fflush(stdout);
		/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */

		ret += sensors[i].test(argc, argv, sensors[i].path);
	}

	return ret;
}
