/****************************************************************************
 *
 *   Copyright (c) 2014 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 offboard.cpp
 *
 * Helper class for offboard commands
 *
 * @author Julian Oes <julian@oes.ch>
 */

#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>

#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>

#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>

#include "navigator.h"
#include "offboard.h"

Offboard::Offboard(Navigator *navigator, const char *name) :
	NavigatorMode(navigator, name),
	_offboard_control_sp({0})
{
	/* load initial params */
	updateParams();
	/* initial reset */
	on_inactive();
}

Offboard::~Offboard()
{
}

void
Offboard::on_inactive()
{
}

void
Offboard::on_activation()
{
}

void
Offboard::on_active()
{
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

	bool updated;
	orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
	if (updated) {
		update_offboard_control_setpoint();
	}

	/* copy offboard setpoints to the corresponding topics */
	if (_navigator->get_control_mode()->flag_control_position_enabled
	    && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
		/* position control */
		pos_sp_triplet->current.x = _offboard_control_sp.p1;
		pos_sp_triplet->current.y = _offboard_control_sp.p2;
		pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
		pos_sp_triplet->current.z = -_offboard_control_sp.p4;

		pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
		pos_sp_triplet->current.valid = true;
		pos_sp_triplet->current.position_valid = true;

		_navigator->set_position_setpoint_triplet_updated();

	} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
	           && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
		/* velocity control */
		pos_sp_triplet->current.vx = _offboard_control_sp.p2;
		pos_sp_triplet->current.vy = _offboard_control_sp.p1;
		pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
		pos_sp_triplet->current.vz = _offboard_control_sp.p4;

		pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
		pos_sp_triplet->current.valid = true;
		pos_sp_triplet->current.velocity_valid = true;

		_navigator->set_position_setpoint_triplet_updated();
	}

}


void
Offboard::update_offboard_control_setpoint()
{
	orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp);

}