/*!
 * \file rtklib_pvt.cc
 * \brief Interface of a Position Velocity and Time computation block
 * \author Javier Arribas, 2017. jarribas(at)cttc.es
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR 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.
 *
 * GNSS-SDR 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 GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */


#include "rtklib_pvt.h"
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"


using google::LogMessage;

RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
        std::string role,
        unsigned int in_streams,
        unsigned int out_streams) :
                role_(role),
                in_streams_(in_streams),
                out_streams_(out_streams)
{
    // dump parameters
    std::string default_dump_filename = "./pvt.dat";
    std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
    std::string default_nmea_dump_devname = "/dev/tty1";
    std::string default_rtcm_dump_devname = "/dev/pts/1";
    DLOG(INFO) << "role " << role;
    dump_ = configuration->property(role + ".dump", false);
    dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);

    // moving average depth parameters
    int averaging_depth = configuration->property(role + ".averaging_depth", 10);
    bool flag_averaging = configuration->property(role + ".flag_averaging", false);

    // output rate
    int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);

    // display rate
    int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);

    // NMEA Printer settings
    bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
    std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
    std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);

    // RTCM Printer settings
    bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
    std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
    bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
    unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
    unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
    // RTCM message rates: least common multiple with output_rate_ms
    int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
    int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
    int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
    int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
    int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
    std::map<int,int> rtcm_msg_rate_ms;
    rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
    rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
    for (int k = 1071; k < 1078; k++) // All GPS MSM
        {
            rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
        }
    for (int k = 1091; k < 1098; k++) // All Galileo MSM
        {
            rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
        }
    // getting names from the config file, if available
    // default filename for assistance data
    const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
    const std::string utc_default_xml_filename = "./gps_utc_model.xml";
    const std::string iono_default_xml_filename = "./gps_iono.xml";
    const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
    const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
    eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
    //std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
    //std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
    //std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
    //std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);

    // Infer the type of receiver
    /*
     *   TYPE  |  RECEIVER
     *     0   |  Unknown
     *     1   |  GPS L1 C/A
     *     2   |  GPS L2C
     *     3   |  GPS L5
     *     4   |  Galileo E1B
     *     5   |  Galileo E5a
     *     6   |  Galileo E5b
     *     7   |  GPS L1 C/A + GPS L2C
     *     8   |  GPS L1 C/A + GPS L5
     *     9   |  GPS L1 C/A + Galileo E1B
     *    10   |  GPS L1 C/A + Galileo E5a
     *    11   |  GPS L1 C/A + Galileo E5b
     *    12   |  Galileo E1B + GPS L2C
     *    13   |  Galileo E1B + GPS L5
     *    14   |  Galileo E1B + Galileo E5a
     *    15   |  Galileo E1B + Galileo E5b
     *    16   |  GPS L2C + GPS L5
     *    17   |  GPS L2C + Galileo E5a
     *    18   |  GPS L2C + Galileo E5b
     *    19   |  GPS L5 + Galileo E5a
     *    20   |  GPS L5 + Galileo E5b
     *    21   |  GPS L1 C/A + Galileo E1B + GPS L2C
     *    22   |  GPS L1 C/A + Galileo E1B + GPS L5
     */
    int gps_1C_count = configuration->property("Channels_1C.count", 0);
    int gps_2S_count = configuration->property("Channels_2S.count", 0);
    int gal_1B_count = configuration->property("Channels_1B.count", 0);
    int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
    int gal_E5b_count = configuration->property("Channels_7X.count", 0);

    unsigned int type_of_receiver = 0;
    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;

    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;

    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
    //if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;


    //RTKLIB PVT solver options
    /* defaults processing options */
    prcopt_t default_opt={PMODE_SINGLE,0,2,SYS_GPS,   /* mode,soltype,nf,navsys */
            15.0*D2R, { {}, {{},{}} },           /* elmin,snrmask */
            0,1,1,1,                    /* sateph,modear,glomodear,bdsmodear */
            5,0,10,1,                   /* maxout,minlock,minfix,armaxiter */
            0,0,0,0,                    /* estion,esttrop,dynamics,tidecorr */
            1,0,0,0,0,                  /* niter,codesmooth,intpref,sbascorr,sbassatsel */
            0,0,                        /* rovpos,refpos */
            {100.0,100.0,100.0},              /* eratio[] */
            {100.0,0.003,0.003,0.0,1.0}, /* err[] */
            {30.0,0.03,0.3},            /* std[] */
            {1E-4,1E-3,1E-4,1E-1,1E-2,0.0}, /* prn[] */
            5E-12,                      /* sclkstab */
            {3.0,0.9999,0.25,0.1,0.05}, /* thresar */
            0.0,0.0,0.05,               /* elmaskar,almaskhold,thresslip */
            30.0,30.0,30.0,             /* maxtdif,maxinno,maxgdop */
            {},{},{},                /* baseline,ru,rb */
            {"",""},                    /* anttype */
            {},{},{},             /* antdel,pcv,exsats */
            0, 0, 0, {"",""}, {}, 0, {{},{}}, { {}, {{},{}}, {{},{}}, {}, {} }, 0, {}
    };
    rtklib_options=default_opt;
    // make PVT object
    pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options);
    DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}


bool RtklibPvt::save_assistance_to_XML()
{
    LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
    std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();

    if (eph_map.size() > 0)
        {
            try
                {
                    std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
                    boost::archive::xml_oarchive xml(ofs);
                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
                    ofs.close();
                    LOG(INFO) << "Saved GPS L1 Ephemeris map data";
                }
            catch (std::exception& e)
                {
                    LOG(WARNING) << e.what();
                    return false;
                }
            return true;     // return variable (true == succeeded)
        }
    else
        {
            LOG(WARNING) << "Failed to save Ephemeris, map is empty";
            return false;
        }
}


RtklibPvt::~RtklibPvt()
{
    save_assistance_to_XML();
}


void RtklibPvt::connect(gr::top_block_sptr top_block)
{
    if(top_block) { /* top_block is not null */};
    // Nothing to connect internally
    DLOG(INFO) << "nothing to connect internally";
}


void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{
    if(top_block) { /* top_block is not null */};
    // Nothing to disconnect
}


gr::basic_block_sptr RtklibPvt::get_left_block()
{
    return pvt_;
}


gr::basic_block_sptr RtklibPvt::get_right_block()
{
    return pvt_; // this is a sink, nothing downstream
}