/*
*  This file is part of openauto project.
*  Copyright (C) 2018 f1x.studio (Michal Szwaj)
*
*  openauto is free software: you can redistribute it and/or modify
*  it under the terms of the GNU General Public License as published by
*  the Free Software Foundation; either version 3 of the License, or
*  (at your option) any later version.

*  openauto is distributed in the hope that it will be useful,
*  but WITHOUT ANY WARRANTY; without even the implied warranty of
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*  GNU General Public License for more details.
*
*  You should have received a copy of the GNU General Public License
*  along with openauto. If not, see <http://www.gnu.org/licenses/>.
*/

#include <aap_protobuf/service/sensorsource/message/DrivingStatus.pb.h>
#include <aap_protobuf/service/sensorsource/message/SensorType.pb.h>
#include <f1x/openauto/Common/Log.hpp>
#include <f1x/openauto/autoapp/Service/Sensor/SensorService.hpp>
#include <fstream>
#include <cmath>
#include <gps.h>

namespace f1x {
  namespace openauto {
    namespace autoapp {
      namespace service {
        namespace sensor {
          SensorService::SensorService(boost::asio::io_service &ioService,
                                       aasdk::messenger::IMessenger::Pointer messenger)
              : strand_(ioService),
                timer_(ioService),
                channel_(std::make_shared<aasdk::channel::sensorsource::SensorSourceService>(strand_, std::move(messenger))) {

          }

          void SensorService::start() {
            strand_.dispatch([this, self = this->shared_from_this()]() {
              if (gps_open("127.0.0.1", "2947", &this->gpsData_)) {
                OPENAUTO_LOG(warning) << "[SensorService] can't connect to GPSD.";
              } else {
                OPENAUTO_LOG(info) << "[SensorService] Connected to GPSD.";
                gps_stream(&this->gpsData_, WATCH_ENABLE | WATCH_JSON, NULL);
                this->gpsEnabled_ = true;
              }

              if (is_file_exist("/tmp/night_mode_enabled")) {
                this->isNight = true;
              }
              this->sensorPolling();

              OPENAUTO_LOG(info) << "[SensorService] start()";
              channel_->receive(this->shared_from_this());
            });

          }

          void SensorService::stop() {
            this->stopPolling = true;

            strand_.dispatch([this, self = this->shared_from_this()]() {
              if (this->gpsEnabled_) {
                gps_stream(&this->gpsData_, WATCH_DISABLE, NULL);
                gps_close(&this->gpsData_);
                this->gpsEnabled_ = false;
              }

              OPENAUTO_LOG(info) << "[SensorService] stop()";
            });
          }

          void SensorService::pause() {
            strand_.dispatch([this, self = this->shared_from_this()]() {
              OPENAUTO_LOG(info) << "[SensorService] pause()";
            });
          }

          void SensorService::resume() {
            strand_.dispatch([this, self = this->shared_from_this()]() {
              OPENAUTO_LOG(info) << "[SensorService] resume()";
            });
          }

          void SensorService::fillFeatures(
              aap_protobuf::service::control::message::ServiceDiscoveryResponse &response) {
            OPENAUTO_LOG(info) << "[SensorService] fillFeatures()";

            auto *service = response.add_channels();
            service->set_id(static_cast<uint32_t>(channel_->getId()));

            auto *sensorChannel = service->mutable_sensor_source_service();
            sensorChannel->add_sensors()->set_sensor_type(aap_protobuf::service::sensorsource::message::SensorType::SENSOR_DRIVING_STATUS_DATA);
            sensorChannel->add_sensors()->set_sensor_type(aap_protobuf::service::sensorsource::message::SensorType::SENSOR_LOCATION);
            sensorChannel->add_sensors()->set_sensor_type(aap_protobuf::service::sensorsource::message::SensorType::SENSOR_NIGHT_MODE);
          }

          void SensorService::onChannelOpenRequest(const aap_protobuf::service::control::message::ChannelOpenRequest &request) {
            OPENAUTO_LOG(info) << "[SensorService] onChannelOpenRequest()";
            OPENAUTO_LOG(debug) << "[SensorService] Channel Id: " << request.service_id() << ", Priority: " << request.priority();

            aap_protobuf::service::control::message::ChannelOpenResponse response;
            const aap_protobuf::shared::MessageStatus status = aap_protobuf::shared::MessageStatus::STATUS_SUCCESS;
            response.set_status(status);

            auto promise = aasdk::channel::SendPromise::defer(strand_);
            promise->then([]() {},
                          std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            channel_->sendChannelOpenResponse(response, std::move(promise));

            channel_->receive(this->shared_from_this());
          }

          void SensorService::onSensorStartRequest(
              const aap_protobuf::service::sensorsource::message::SensorRequest &request) {
            OPENAUTO_LOG(info) << "[SensorService] onSensorStartRequest()";
            OPENAUTO_LOG(debug) << "[SensorService] Request Type: "<< request.type();

            aap_protobuf::service::sensorsource::message::SensorStartResponseMessage response;
            response.set_status(aap_protobuf::shared::MessageStatus::STATUS_SUCCESS);

            auto promise = aasdk::channel::SendPromise::defer(strand_);

            if (request.type() == aap_protobuf::service::sensorsource::message::SENSOR_DRIVING_STATUS_DATA)
            {
              promise->then(std::bind(&SensorService::sendDrivingStatusUnrestricted, this->shared_from_this()),
                            std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            }
            else if (request.type() == aap_protobuf::service::sensorsource::message::SensorType::SENSOR_NIGHT_MODE)
            {
              promise->then(std::bind(&SensorService::sendNightData, this->shared_from_this()),
                            std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            }
            else
            {
              promise->then([]() {},
                            std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            }

            channel_->sendSensorStartResponse(response, std::move(promise));
            channel_->receive(this->shared_from_this());
          }

          void SensorService::sendDrivingStatusUnrestricted() {
            OPENAUTO_LOG(info) << "[SensorService] sendDrivingStatusUnrestricted()";
            aap_protobuf::service::sensorsource::message::SensorBatch indication;
            indication.add_driving_status_data()->set_status(aap_protobuf::service::sensorsource::message::DrivingStatus::DRIVE_STATUS_UNRESTRICTED);

            auto promise = aasdk::channel::SendPromise::defer(strand_);
            promise->then([]() { },
                          std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            channel_->sendSensorEventIndication(indication, std::move(promise));
          }

          void SensorService::sendNightData() {
            OPENAUTO_LOG(info) << "[SensorService] sendNightData()";
            aap_protobuf::service::sensorsource::message::SensorBatch indication;

            if (SensorService::isNight) {
              OPENAUTO_LOG(info) << "[SensorService] Night Mode Triggered";
              indication.add_night_mode_data()->set_night_mode(true);
            } else {
              OPENAUTO_LOG(info) << "[SensorService] Day Mode Triggered";
              indication.add_night_mode_data()->set_night_mode(false);
            }

            auto promise = aasdk::channel::SendPromise::defer(strand_);
            promise->then([]() {},
                          std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            channel_->sendSensorEventIndication(indication, std::move(promise));
            if (this->firstRun) {
              this->firstRun = false;
              this->previous = this->isNight;
            }
          }

          void SensorService::sendGPSLocationData() {
            OPENAUTO_LOG(info) << "[SensorService] sendGPSLocationData()";
            aap_protobuf::service::sensorsource::message::SensorBatch indication;

            auto *locInd = indication.add_location_data();

            // epoch seconds
            // locInd->set_timestamp(this->gpsData_.fix.time * 1e3);
            // degrees
            locInd->set_latitude_e7(this->gpsData_.fix.latitude * 1e7);
            locInd->set_longitude_e7(this->gpsData_.fix.longitude * 1e7);
            // meters
            auto accuracy = sqrt(pow(this->gpsData_.fix.epx, 2) + pow(this->gpsData_.fix.epy, 2));
            locInd->set_accuracy_e3(accuracy * 1e3);

            if (this->gpsData_.set & ALTITUDE_SET) {
              // meters above ellipsoid
              locInd->set_altitude_e2(this->gpsData_.fix.altitude * 1e2);
            }
            if (this->gpsData_.set & SPEED_SET) {
              // meters per second to knots
              locInd->set_speed_e3(this->gpsData_.fix.speed * 1.94384 * 1e3);
            }
            if (this->gpsData_.set & TRACK_SET) {
              // degrees
              locInd->set_bearing_e6(this->gpsData_.fix.track * 1e6);
            }

            auto promise = aasdk::channel::SendPromise::defer(strand_);
            promise->then([]() {},
                          std::bind(&SensorService::onChannelError, this->shared_from_this(), std::placeholders::_1));
            channel_->sendSensorEventIndication(indication, std::move(promise));
          }

          void SensorService::sensorPolling() {
            OPENAUTO_LOG(info) << "[SensorService] sensorPolling()";
            if (!this->stopPolling) {
              strand_.dispatch([this, self = this->shared_from_this()]() {
                this->isNight = is_file_exist("/tmp/night_mode_enabled");
                if (this->previous != this->isNight && !this->firstRun) {
                  this->previous = this->isNight;
                  this->sendNightData();
                }

                if ((this->gpsEnabled_) &&
                    (gps_waiting(&this->gpsData_, 0)) &&
                    (gps_read(&this->gpsData_) > 0) &&
                    (this->gpsData_.status != STATUS_NO_FIX) &&
                    (this->gpsData_.fix.mode == MODE_2D || this->gpsData_.fix.mode == MODE_3D) &&
                    (this->gpsData_.set & TIME_SET) &&
                    (this->gpsData_.set & LATLON_SET))
                {
                  this->sendGPSLocationData();
                }

                timer_.expires_from_now(boost::posix_time::milliseconds(250));
                timer_.async_wait(strand_.wrap(std::bind(&SensorService::sensorPolling, this->shared_from_this())));
              });
            }
          }

          bool SensorService::is_file_exist(const char *fileName) {
            OPENAUTO_LOG(info) << "[SensorService] is_file_exist()";
            std::ifstream ifile(fileName, std::ios::in);
            return ifile.good();
          }

          void SensorService::onChannelError(const aasdk::error::Error &e) {
            OPENAUTO_LOG(error) << "[SensorService] onChannelError(): " << e.what();
          }
        }
      }
    }
  }
}