'use strict';

// define all the global variables that are uses to hold FC state
var CONFIG;
var BF_CONFIG;          // Remove when we officialy retire BF 3.1
var FEATURE_CONFIG;
var BEEPER_CONFIG;
var MIXER_CONFIG;
var BOARD_ALIGNMENT_CONFIG;
var LED_STRIP;
var LED_COLORS;
var LED_MODE_COLORS;
var PID;
var PID_names;
var PIDs;
var RC_MAP;
var RC;
var RC_tuning;
var AUX_CONFIG;
var AUX_CONFIG_IDS;
var MODE_RANGES;
var MODE_RANGES_EXTRA;
var ADJUSTMENT_RANGES;
var SERVO_CONFIG;
var SERVO_RULES;
var SERIAL_CONFIG;
var SENSOR_DATA;
var MOTOR_DATA;
var MOTOR_TELEMETRY_DATA;
var SERVO_DATA;
var GPS_DATA;
var ANALOG;
var VOLTAGE_METERS;
var VOLTAGE_METER_CONFIGS;
var CURRENT_METERS;
var CURRENT_METER_CONFIGS;
var BATTERY_STATE;
var BATTERY_CONFIG;
var ARMING_CONFIG;
var FC_CONFIG;
var MISC; // DEPRECATED
var MOTOR_CONFIG;
var GPS_CONFIG;
var COMPASS_CONFIG;
var RSSI_CONFIG;
var MOTOR_3D_CONFIG;
var DATAFLASH;
var SDCARD;
var BLACKBOX;
var TRANSPONDER;
var RC_DEADBAND_CONFIG;
var SENSOR_ALIGNMENT;
var RX_CONFIG;
var FAILSAFE_CONFIG;
var GPS_RESCUE;
var RXFAIL_CONFIG;
var PID_ADVANCED_CONFIG;
var FILTER_CONFIG;
var ADVANCED_TUNING;
var SENSOR_CONFIG;
var COPY_PROFILE;
var VTX_CONFIG;
var VTXTABLE_BAND;
var VTXTABLE_POWERLEVEL;
var MULTIPLE_MSP;
var DEFAULT;
var DEFAULT_PIDS;

var FC = {
    resetState: function () {
        CONFIG = {
            apiVersion:                       "0.0.0",
            flightControllerIdentifier:       '',
            flightControllerVersion:          '',
            version:                          0,
            buildInfo:                        '',
            multiType:                        0,
            msp_version:                      0, // not specified using semantic versioning
            capability:                       0,
            cycleTime:                        0,
            i2cError:                         0,
            activeSensors:                    0,
            mode:                             0,
            profile:                          0,
            uid:                              [0, 0, 0],
            accelerometerTrims:               [0, 0],
            name:                             '',
            displayName:                      'JOE PILOT',
            numProfiles:                      3,
            rateProfile:                      0,
            boardType:                        0,
            armingDisableCount:               0,
            armingDisableFlags:               0,
            armingDisabled:                   false,
            runawayTakeoffPreventionDisabled: false,
            boardIdentifier:                  "",
            boardVersion:                     0,
            commCapabilities:                 0,
            targetName:                       "",
            boardName:                        "",
            manufacturerId:                   "",
            signature:                        [],
            mcuTypeId:                        255,
        };

        BF_CONFIG = {
            currentscale:               0,
            currentoffset:              0,
            currentmetertype:           0,
            batterycapacity:            0,
        };

        COPY_PROFILE = {
            type:                       0,
            dstProfile:                 0,
            srcProfile:                 0,
        };
        
        FEATURE_CONFIG = {
            features:                   0,
        };

        BEEPER_CONFIG = {
            beepers:                    0,
            dshotBeaconTone:            0,
            dshotBeaconConditions:      0,
        };
        
        MIXER_CONFIG = {
            mixer:                      0,
            reverseMotorDir:            0,
        }; 

        BOARD_ALIGNMENT_CONFIG = {
            roll:                       0,
            pitch:                      0,
            yaw:                        0,
        };

        LED_STRIP =                     [];
        LED_COLORS =                    [];
        LED_MODE_COLORS =               [];

        PID = {
            controller:                 0
        };

        PID_names =                     [];
        PIDs = new Array(10);
        for (var i = 0; i < 10; i++) {
            PIDs[i] = new Array(3);
        }

        RC_MAP = [];

        // defaults
        // roll, pitch, yaw, throttle, aux 1, ... aux n
        RC = {
            active_channels:            0,
            channels:                   new Array(32),
        };

        RC_tuning = {
            RC_RATE:                    0,
            RC_EXPO:                    0,
            roll_pitch_rate:            0, // pre 1.7 api only
            roll_rate:                  0,
            pitch_rate:                 0,
            yaw_rate:                   0,
            dynamic_THR_PID:            0,
            throttle_MID:               0,
            throttle_EXPO:              0,
            dynamic_THR_breakpoint:     0,
            RC_YAW_EXPO:                0,
            rcYawRate:                  0,
            rcPitchRate:                0,
            RC_PITCH_EXPO:              0,
            roll_rate_limit:            1998,
            pitch_rate_limit:           1998,
            yaw_rate_limit:             1998,
        };

        AUX_CONFIG =                    [];
        AUX_CONFIG_IDS =                [];

        MODE_RANGES =                   [];
        MODE_RANGES_EXTRA =             [];
        ADJUSTMENT_RANGES =             [];

        SERVO_CONFIG =                  [];
        SERVO_RULES =                   [];

        SERIAL_CONFIG = {
            ports:                      [],

            // pre 1.6 settings
            mspBaudRate:                0,
            gpsBaudRate:                0,
            gpsPassthroughBaudRate:     0,
            cliBaudRate:                0,
        };

        SENSOR_DATA = {
            gyroscope:                  [0, 0, 0],
            accelerometer:              [0, 0, 0],
            magnetometer:               [0, 0, 0],
            altitude:                   0,
            sonar:                      0,
            kinematics:                 [0.0, 0.0, 0.0],
            debug:                      [0, 0, 0, 0],
        };

        MOTOR_DATA =                    new Array(8);
        SERVO_DATA =                    new Array(8);

        MOTOR_TELEMETRY_DATA = {
            rpm:                        [0, 0, 0, 0, 0, 0, 0, 0],
            invalidPercent:             [0, 0, 0, 0, 0, 0, 0, 0],
            temperature:                [0, 0, 0, 0, 0, 0, 0, 0],
            voltage:                    [0, 0, 0, 0, 0, 0, 0, 0],
            current:                    [0, 0, 0, 0, 0, 0, 0, 0],
            consumption:                [0, 0, 0, 0, 0, 0, 0, 0],
        };

        GPS_DATA = {
            fix:                        0,
            numSat:                     0,
            lat:                        0,
            lon:                        0,
            alt:                        0,
            speed:                      0,
            ground_course:              0,
            distanceToHome:             0,
            ditectionToHome:            0,
            update:                     0,

            chn:                        [],
            svid:                       [],
            quality:                    [],
            cno:                        []
        };

        ANALOG = {
            voltage:                    0,
            mAhdrawn:                   0,
            rssi:                       0,
            amperage:                   0,
            last_received_timestamp:    Date.now() // FIXME this code lies, it's never been received at this point
        };

        VOLTAGE_METERS =                [];
        VOLTAGE_METER_CONFIGS =         [];
        CURRENT_METERS =                [];
        CURRENT_METER_CONFIGS =         [];

        BATTERY_STATE = {};
        BATTERY_CONFIG = {
            vbatmincellvoltage:         0,
            vbatmaxcellvoltage:         0,
            vbatwarningcellvoltage:     0,
            capacity:                   0,
            voltageMeterSource:         0,
            currentMeterSource:         0,
        };

        ARMING_CONFIG = {
            auto_disarm_delay:          0,
            disarm_kill_switch:         0,
            small_angle:                0,
        };

        FC_CONFIG = {
            loopTime:                   0
        };

        MISC = {
            // DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
            failsafe_throttle:          0,
            gps_baudrate:               0,
            multiwiicurrentoutput:      0,
            placeholder2:               0,
            vbatscale:                  0,
            vbatmincellvoltage:         0,
            vbatmaxcellvoltage:         0,
            vbatwarningcellvoltage:     0,
            batterymetertype:           1, // 1=ADC, 2=ESC
        };
        MOTOR_CONFIG = {
            minthrottle:                0,
            maxthrottle:                0,
            mincommand:                 0,
            motor_count:                0,
            motor_poles:                0,
            use_dshot_telemetry:        false,
            use_esc_sensor:             false,
        };

        GPS_CONFIG = {
            provider:                   0,
            ublox_sbas:                 0,
            auto_config:                0,
            auto_baud:                  0,
        };

        COMPASS_CONFIG = {
            mag_declination:            0,
        };

        RSSI_CONFIG = {
            channel:                    0,
        };

        MOTOR_3D_CONFIG = {
            deadband3d_low:             0,
            deadband3d_high:            0,
            neutral:                    0,
        };

        DATAFLASH = {
            ready:                      false,
            supported:                  false,
            sectors:                    0,
            totalSize:                  0,
            usedSize:                   0
        };

        SDCARD = {
            supported:                  false,
            state:                      0,
            filesystemLastError:        0,
            freeSizeKB:                 0,
            totalSizeKB:                0,
        };

        BLACKBOX = {
            supported:                  false,
            blackboxDevice:             0,
            blackboxRateNum:            1,
            blackboxRateDenom:          1,
            blackboxPDenom:             0,
        };

        TRANSPONDER = {
            supported:                  false,
            data:                       [],
            provider:                   0,
            providers:                  [],
        };

        RC_DEADBAND_CONFIG = {
            deadband:                   0,
            yaw_deadband:               0,
            alt_hold_deadband:          0,
            deadband3d_throttle:        0,
        };

        SENSOR_ALIGNMENT = {
            align_gyro:                 0,
            align_acc:                  0,
            align_mag:                  0,
            gyro_detection_flags:       0,
            gyro_to_use:                0,
            gyro_1_align:               0,
            gyro_2_align:               0,
        };

        PID_ADVANCED_CONFIG = {
            gyro_sync_denom:            0,
            pid_process_denom:          0,
            use_unsyncedPwm:            0,
            fast_pwm_protocol:          0,
            motor_pwm_rate:             0,
            digitalIdlePercent:         0,
            gyroUse32kHz:               0,
            motorPwmInversion:          0,
            gyroToUse:                  0,
            gyroHighFsr:                0,
            gyroMovementCalibThreshold: 0,
            gyroCalibDuration:          0,
            gyroOffsetYaw:              0,
            gyroCheckOverflow:          0,
            debugMode:                  0,
            debugModeCount:             0,
        };

        FILTER_CONFIG = {
            gyro_hardware_lpf:          0,
            gyro_32khz_hardware_lpf:    0,
            gyro_lowpass_hz:            0,
            gyro_lowpass_dyn_min_hz:    0,
            gyro_lowpass_dyn_max_hz:    0,
            gyro_lowpass_type:          0,
            gyro_lowpass2_hz:           0,
            gyro_lowpass2_type:         0,
            gyro_notch_hz:              0,
            gyro_notch_cutoff:          0,
            gyro_notch2_hz:             0,
            gyro_notch2_cutoff:         0,
            dterm_lowpass_hz:           0,
            dterm_lowpass_dyn_min_hz:   0,
            dterm_lowpass_dyn_max_hz:   0,
            dterm_lowpass_type:         0,
            dterm_lowpass2_hz:          0,
            dterm_lowpass2_type:        0,
            dterm_notch_hz:             0,
            dterm_notch_cutoff:         0,
            yaw_lowpass_hz:             0,
            dyn_notch_range:            0,
            dyn_notch_width_percent:    0,
            dyn_notch_q:                0,
            dyn_notch_min_hz:           0,
        };

        ADVANCED_TUNING = {
            rollPitchItermIgnoreRate:   0,
            yawItermIgnoreRate:         0,
            yaw_p_limit:                0,
            deltaMethod:                0,
            vbatPidCompensation:        0,
            dtermSetpointTransition:    0,
            dtermSetpointWeight:        0,
            toleranceBand:              0,
            toleranceBandReduction:     0,
            itermThrottleGain:          0,
            pidMaxVelocity:             0,
            pidMaxVelocityYaw:          0,
            levelAngleLimit:            0,
            levelSensitivity:           0,
            itermThrottleThreshold:     0,
            itermAcceleratorGain:       0,
            itermRotation:              0,
            smartFeedforward:           0,
            itermRelax:                 0,
            itermRelaxType:             0,
            itermRelaxCutoff:           0,
            absoluteControlGain:        0,
            throttleBoost:              0,
            acroTrainerAngleLimit:      0,
            feedforwardRoll:            0,
            feedforwardPitch:           0,
            feedforwardYaw:             0,
            feedforwardTransition:      0,
            antiGravityMode:            0,
            dMinRoll:                   0,
            dMinPitch:                  0,
            dMinYaw:                    0,
            dMinGain:                   0,
            dMinAdvance:                0,
            useIntegratedYaw:           0,
            integratedYawRelax:         0,
        };

        SENSOR_CONFIG = {
            acc_hardware:               0,
            baro_hardware:              0,
            mag_hardware:               0,
        };

        RX_CONFIG = {
            serialrx_provider:            0,
            stick_max:                    0,
            stick_center:                 0,
            stick_min:                    0,
            spektrum_sat_bind:            0,
            rx_min_usec:                  0,
            rx_max_usec:                  0,
            rcInterpolation:              0,
            rcInterpolationInterval:      0,
            rcInterpolationChannels:      0,
            airModeActivateThreshold:     0,
            rxSpiProtocol:                0,
            rxSpiId:                      0,
            rxSpiRfChannelCount:          0,
            fpvCamAngleDegrees:           0,
            rcSmoothingType:              0,
            rcSmoothingInputCutoff:       0,
            rcSmoothingDerivativeCutoff:  0, 
            rcSmoothingInputType:         0,
            rcSmoothingDerivativeType:    0,
            rcSmoothingAutoSmoothness:    0,
            usbCdcHidType:                0,
        };

        FAILSAFE_CONFIG = {
            failsafe_delay:                 0,
            failsafe_off_delay:             0,
            failsafe_throttle:              0,
            failsafe_switch_mode:           0,
            failsafe_throttle_low_delay:    0,
            failsafe_procedure:             0,
        };

        GPS_RESCUE = {
            angle:                          0,
            initialAltitudeM:               0,
            descentDistanceM:               0,
            rescueGroundspeed:              0,
            throttleMin:                    0,
            throttleMax:                    0,
            throttleHover:                  0,
            sanityChecks:                   0,
            minSats:                        0,
        };

        RXFAIL_CONFIG = [];

        VTX_CONFIG = {
            vtx_type:                       0,
            vtx_band:                       0,
            vtx_channel:                    0,
            vtx_power:                      0,
            vtx_pit_mode:                   false,
            vtx_frequency:                  0,
            vtx_device_ready:               false,
            vtx_low_power_disarm:           0,
            vtx_pit_mode_frequency:         0,
            vtx_table_available:            false,
            vtx_table_bands:                0,
            vtx_table_channels:             0,
            vtx_table_powerlevels:          0,
            vtx_table_clear:                false,
        };

        VTXTABLE_BAND = {
            vtxtable_band_number:           0,
            vtxtable_band_name:             '',
            vtxtable_band_letter:           '',
            vtxtable_band_is_factory_band:  false,
            vtxtable_band_frequencies:      [],
        };

        VTXTABLE_POWERLEVEL = {
            vtxtable_powerlevel_number:     0,
            vtxtable_powerlevel_value:      0,
            vtxtable_powerlevel_label:      0,
        };

        MULTIPLE_MSP = {
            msp_commands:                   [],
        };

        DEFAULT = {
            gyro_lowpass_hz:                100,
            gyro_lowpass_dyn_min_hz:        150,
            gyro_lowpass_dyn_max_hz:        450,
            gyro_lowpass_type:              FC.FILTER_TYPE_FLAGS.PT1,
            gyro_lowpass2_hz:               300,
            gyro_lowpass2_type:             FC.FILTER_TYPE_FLAGS.PT1,
            gyro_notch_cutoff:              300,
            gyro_notch_hz:                  400,
            gyro_notch2_cutoff:             100,
            gyro_notch2_hz:                 200,
            dterm_lowpass_hz:               100,
            dterm_lowpass_dyn_min_hz:       150,
            dterm_lowpass_dyn_max_hz:       250,
            dterm_lowpass_type:             FC.FILTER_TYPE_FLAGS.PT1,
            dterm_lowpass2_hz:              150,
            dterm_lowpass2_type:            FC.FILTER_TYPE_FLAGS.BIQUAD,
            dterm_notch_cutoff:             160,
            dterm_notch_hz:                 260,
            yaw_lowpass_hz:                 100,
        };

        DEFAULT_PIDS = [
            42, 85, 35, 20, 90,
            46, 90, 38, 22, 95,
            30, 90,  0,  0, 90,
        ];
    },

    getHardwareName: function () {
        let name;
        if (CONFIG.targetName) {
            name = CONFIG.targetName;
        } else {
            name = CONFIG.boardIdentifier;
        }

        if (CONFIG.boardName && CONFIG.boardName !== name) {
            name = CONFIG.boardName + "(" + name + ")";
        }

        if (CONFIG.manufacturerId) {
            name = CONFIG.manufacturerId + "/" + name;
        }

        return name;
    },

    MCU_TYPES: {
        0: "SIMULATOR",
        1: "F103",
        2: "F303",
        3: "F40X",
        4: "F411",
        5: "F446",
        6: "F722",
        7: "F745",
        8: "F746",
        9: "F765",
        255: "Unknown MCU",
    },

    getMcuType: function () {
        return FC.MCU_TYPES[CONFIG.mcuTypeId];
    },

    COMM_CAPABILITIES_FLAGS: {
        HAS_VCP: 0x01,
        HAS_SOFTSERIAL: 0x02,
    },

    boardHasVcp: function () {
        var hasVcp = false;
        if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
            hasVcp = (CONFIG.commCapabilities & FC.COMM_CAPABILITIES_FLAGS.HAS_VCP) !== 0;
        } else {
            hasVcp = BOARD.find_board_definition(CONFIG.boardIdentifier).vcp;
        }

        return hasVcp;
    },

    FILTER_TYPE_FLAGS: {
        PT1: 0,
        BIQUAD: 1,
    },

    getFilterDefaults: function() {
        var versionFilterDefaults = DEFAULT;

        if (semver.eq(CONFIG.apiVersion, "1.40.0")) {
            versionFilterDefaults.dterm_lowpass2_hz = 200;
        } else if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
            versionFilterDefaults.gyro_lowpass_hz = 150;
            versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
            versionFilterDefaults.gyro_lowpass2_hz = 0;
            versionFilterDefaults.gyro_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
            versionFilterDefaults.dterm_lowpass_hz = 150;
            versionFilterDefaults.dterm_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
            versionFilterDefaults.dterm_lowpass2_hz = 150;
            versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
            if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
                versionFilterDefaults.gyro_lowpass_hz = 200;
                versionFilterDefaults.gyro_lowpass_dyn_min_hz = 200;
                versionFilterDefaults.gyro_lowpass_dyn_max_hz = 500;
                versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.PT1;
                versionFilterDefaults.gyro_lowpass2_hz = 250;
                versionFilterDefaults.gyro_lowpass2_type = FC.FILTER_TYPE_FLAGS.PT1;
                versionFilterDefaults.dterm_lowpass_hz = 150;
                versionFilterDefaults.dterm_lowpass_dyn_min_hz = 70;
                versionFilterDefaults.dterm_lowpass_dyn_max_hz = 170;
                versionFilterDefaults.dterm_lowpass_type = FC.FILTER_TYPE_FLAGS.PT1;
                versionFilterDefaults.dterm_lowpass2_hz = 150;
                versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.PT1;
            }
        } 
        return versionFilterDefaults;
    },

    getPidDefaults: function() {
        var versionPidDefaults = DEFAULT_PIDS;
        // if defaults change they should go here
        return versionPidDefaults;
    },
};