//
// Copyright (C) 2018 Kubos Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License")
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//

#![deny(missing_docs)]
#![deny(warnings)]

//! Kubos Service for interacting with an [Adcole Maryland Aerospace MAI-400](https://www.adcolemai.com/adacs)
//!
//! # Configuration
//!
//! The service can be configured in the `/home/system/etc/config.toml` with the following fields:
//!
//! ```toml
//! [mai400-service.addr]
//! ip = "127.0.0.1"
//! port = 8082
//! ```
//!
//! Where `ip` specifies the service's IP address, and `port` specifies the port which UDP requests should be sent to.
//!
//! # Starting the Service
//!
//! The service should be started automatically by its init script, but may also be started manually:
//!
//! ```shell
//! $ mai400-service
//! Kubos MAI-400 service started
//! Listening on: 10.63.1.20:8082
//! ```
//!
//! # Queries
//!
//! ## Ping
//!
//! Test query to verify service is running without attempting
//! to communicate with the underlying subsystem
//!
//! ```json
//! {
//!     ping: "pong"
//! }
//! ```
//!
//! ## ACK
//!
//! Get the last run mutation
//!
//! ```json
//! {
//!     ack: AckCommand
//! }
//! ```
//!
//! ## Errors
//!
//! Get all errors encountered since the last time this field was queried
//!
//! ```json
//! {
//!     errors: [String]
//! }
//! ```
//!
//! ## Power Status
//!
//! Get the current power state and uptime of the system
//!
//! ```json
//! {
//!     power {
//!         state: PowerState,
//!         uptime: Int
//!     }
//! }
//! ```
//!
//! ## Configuration
//!
//! Get the current configuration of the system
//!
//! ```json
//! {
//!     config: "Not Implemented"
//! }
//! ```
//!
//! ## Telemetry
//!
//! Get current telemetry information for the system
//!
//! ```json
//! {
//!     telemetry{
//!         nominal{
//!             gpsTime: i32,
//!             timeSubsec: i32,
//!             cmdValidCntr: i32,
//!             cmdInvalidCntr: i32,
//!             cmdInvalidChksumCntr: i32,
//!             lastCommand: i32,
//!             acsMode: i32,
//!             css: [i32; 6],
//!             eclipseFlag: i32,
//!             sunVecB: [i32; 3],
//!             iBFieldMeas: [i32; 3],
//!             bd: [f64; 3],
//!             rwsSpeedCmd: [i32; 3],
//!             rwsSpeedTach: [i32; 3],
//!             rwaTorqueCmd: [f64; 3],
//!             gcRwaTorqueCmd: [i32; 3],
//!             torqueCoilCmd: [f64; 3],
//!             gcTorqueCoilCmd: [i32; 3],
//!             qboCmd: [i32; 4],
//!             qboHat: [i32; 4],
//!             angleToGo: f64,
//!             qError: [i32; 4],
//!             omegaB: [f64; 3],
//!             nb: [i32; 3],
//!             neci: [i32; 3],
//!         },
//!         debug{
//!             irehs{
//!                 thermopilesA: [i32; 4],
//!                 thermopilesB: [i32; 4],
//!                 tempA: [i32; 4],
//!                 tempB: [i32; 4],
//!                 dipAngleA: i32,
//!                 dipAngleB: i32,
//!                 solutionDegraded: [Vec<String>; 8],
//!                 thermopileStructA{
//!                     dipAngle: i32,
//!                     earthLimb: {
//!                         adc: i32,
//!    		               temp: i32,
//!    		               errors: bool,
//!    		               flags: Vec<String>,
//!     	               },
//!                     earthRef: {...},
//!                     spaceRef: {...},
//!                     wideFov: {...},
//!                 thermopileStructB{...}
//!             },
//!             rawImu{
//!                 accel: [i32; 3],
//!                 gyro: [i32; 3],
//!                 gyroTemp: i32,
//!             },
//!             rotating{
//!                 bFieldIgrf: [f64; 3],
//!                 sunVecEph: [f64; 3],
//!                 scPosEci: [f64; 3],
//!                 scVelEci: [f64; 3],
//!                 keplerElem{
//!                     semiMajorAxis: f32,
//!                     eccentricity: f32,
//!                     inclination: f32,
//!                     raan: f32,
//!                     argParigee: f32,
//!                     trueAnomoly: f32,
//!                 },
//!                 kBdot: [f64; 3],
//!                 kp: [f64; 3],
//!                 kd: [f64; 3],
//!                 kUnload: [f64; 3],
//!                 cssBias: [i32; 6],
//!                 magBias: [i32; 3],
//!                 rwsVolt: i32,
//!                 rwsPress: i32,
//!                 attDetMode: i32,
//!                 rwsResetCntr: [i32; 3],
//!                 sunMagAligned: i32,
//!                 minorVersion: i32,
//!                 maiSn: i32,
//!                 orbitPropMode: i32,
//!                 acsOpMode: i32,
//!                 procResetCntr: i32,
//!                 majorVersion: i32,
//!                 adsOpMode: i32,
//!                 cssGain: [f64; 6],
//!                 magGain: [f64; 3],
//!                 orbitEpoch: i32,
//!                 trueAnomolyEpoch: f64,
//!                 orbitEpochNext: i32,
//!                 scPosEciEpoch: [f64; 3],
//!                 scVelEciEpoch: [f64; 3],
//!                 qbXWheelSpeed: i32,
//!                 qbXFilterGain: f64,
//!                 qbXDipoleGain: f64,
//!                 dipoleGain: [f64; 3],
//!                 wheelSpeedBias: [i32; 3],
//!                 cosSunMagAlignThresh: f64,
//!                 unloadAngThresh: f64,
//!                 qSat: f64,
//!                 rwaTrqMax: f64,
//!                 rwsMotorCurrent: [i32; 3],
//!                 rwsMotorTemp: i32,
//!             }
//!         }
//!     }
//! }
//! ```
//!
//! ## Test Results
//!
//! Get the test results of the last run test
//!
//! Note: For this service, this actually just fetches the nominal
//! and debug telemetry of the system, since there is no actual
//! built-in test
//!
//! ```json
//! {
//!     testResults{
//!         success,
//!         telemetryNominal{...},
//!         telemetryDebug{...}
//!     }
//! }
//! ```
//!
//! ## System Mode
//!
//! Get the current mode of the system
//!
//! ```json
//! {
//!     mode: Mode
//! }
//! ```
//!
//! ## System Orientation
//!
//! Get the last reported orientation of the system
//!
//! ```json
//! {
//!     orientation: "Not Implemented"
//! }
//! ```
//!
//! ## System Spin
//!
//! Get the last reported spin values of the system
//! Note: The spin values are automatically updated every six seconds
//!
//! ```json
//! {
//!     spin{
//!         x: f64,
//!         y: f64,
//!         z: f64
//!     }
//! }
//! ```
//!
//! # Mutations
//!
//! ## Errors
//!
//! Get all errors encountered while processing this GraphQL request
//!
//! Note: This will only return errors thrown by fields which have
//! already been processed, so it is recommended that this field be specified last.
//!
//! ```json
//! mutation {
//!     errors: [String]
//! }
//! ```
//!
//! ## No-Op
//!
//! Execute a trivial command against the system
//!
//! ```json
//! mutation {
//!     noop {
//!         errors: String,
//!         success: Boolean
//!    }
//! }
//! ```
//!
//! ## Set Power State
//!
//! Control the power state of the system
//!
//! - state: Power state the system should be changed to
//!   Note: The only valid input for this service is `RESET`
//!
//! ```json
//! mutation {
//!     controlPower(state: PowerState) {
//!         errors: String,
//!         success: Boolean,
//!         power: PowerState
//!     }
//! }
//! ```
//!
//! ## Configuration
//!
//! Configure the system
//!
//! ```json
//! mutation {
//!     configureHardware: "Not Implemented"
//! }
//! ```
//!
//! ## System Self-Test
//!
//! Run a system self-test
//!
//! - test: Type of self-test to perform
//!
//! ```json
//! mutation {
//!     testHardware(test: TestType) {
//!         ... on IntegrationTestRsults {
//!             errors: String,
//!             success: Boolean,
//!             telemetryNominal{...},
//!             telemetryDebug{...}
//!         }
//!         ... on HardwareTestResults {
//!             errors: "Not Implemented",
//!             success: true,
//!             data: Empty
//!         }
//!    }
//! }
//! ```
//!
//! ## Passthrough
//!
//! Pass a custom command through to the system
//!
//! - command: String containing the hex values to be sent (ex. "C3").
//!          It will be converted to a byte array before transfer.
//!
//! ```json
//! mutation {
//!     issueRawCommand(command: String) {
//!         errors: String,
//!         success: Boolean,
//!         response: String
//!     }
//! }
//! ```
//!
//! ## Set ADC Mode
//!
//! Set the attitude control mode
//!
//! - mode: Control mode to change to
//! - qbiCmd: Optional array of four values needed for Qinertial and Qtable mode
//! - sunAngleEnable: Optional. Specifies whether the sun rotating angle should be updated when
//!                 using Normal-Sun or LatLong-Sun mode
//! sunRotAngle: Optional. The sun rotating angle for use in Normal-Sun and LatLong-Sun mode
//!
//! ```json
//! mutation {
//!     setMode(mode: Mode, qbiCmd: Vec<i32>, sunAngleEnable: bool, sunRotAngle: f64) {
//!         errors: String,
//!         success: Boolean,
//!         response: String
//!     }
//! }
//! ```
//!
//! ## Set System Values
//!
//! Update system values
//!
//! - gpsTime: Optional. If specified, updates the system's ADACS clock
//! - rv: Optional. If specified, updates the orbital position and velocity at epoch.
//!     The argument has the following sub-fields:
//!         - eciPos: Vector containing the new X, Y, and Z ECI position values
//!         - eciVel: Vector containing the new X, Y, and Z ECI velocity values
//!         - timeEpoch: GPS time at which the eciPos and eciVel values will go into effect
//!
//! ```json
//! mutation {
//!     update(gps_time: Option<i32>,
//!         rv: Option<{eciPos: [f64; 3], eciVel: [f64; 3], timeEpoch: i32}>) {
//!         errors: String,
//!         success: Boolean,
//!     }
//! }
//! ```
//!

#![recursion_limit = "256"]

#[macro_use]
extern crate juniper;

mod model;
mod objects;
mod schema;
#[cfg(test)]
mod tests;

use crate::model::{ReadData, Subsystem};
pub use crate::objects::*;
use crate::schema::{MutationRoot, QueryRoot};
use kubos_service::{Config, Service};
use log::error;
use mai400_api::MAIResult;
use std::sync::Arc;
use syslog::Facility;

fn main() -> MAIResult<()> {
    syslog::init(
        Facility::LOG_DAEMON,
        log::LevelFilter::Debug,
        Some("mai400-service"),
    )
    .unwrap();

    Service::new(
        Config::new("mai400-service")
            .map_err(|err| {
                error!("Failed to load service config: {:?}", err);
                err
            })
            .unwrap(),
        Subsystem::new("/dev/ttyS5", Arc::new(ReadData::new())).map_err(|err| {
            error!("Failed to initialize subsystem: {:?}", err);
            err
        })?,
        QueryRoot,
        MutationRoot,
    )
    .start();

    Ok(())
}