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/**
 * @file esc.hpp
 *
 * UAVCAN <--> ORB bridge for ESC messages:
 *     uavcan.equipment.esc.RawCommand
 *     uavcan.equipment.esc.RPMCommand
 *     uavcan.equipment.esc.Status
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <systemlib/perf_counter.h>
#include <uORB/topics/esc_status.h>


class UavcanEscController
{
public:
	UavcanEscController(uavcan::INode& node);
	~UavcanEscController();

	int init();

	void update_outputs(float *outputs, unsigned num_outputs);

	void arm_esc(bool arm);

private:
	/**
	 * ESC status message reception will be reported via this callback.
	 */
	void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);

	/**
	 * ESC status will be published to ORB from this callback (fixed rate).
	 */
	void orb_pub_timer_cb(const uavcan::TimerEvent &event);


	static constexpr unsigned MAX_RATE_HZ = 200;			///< XXX make this configurable
	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;

	typedef uavcan::MethodBinder<UavcanEscController*,
		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
		StatusCbBinder;

	typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
		TimerCbBinder;

	bool		_armed = false;
	esc_status_s	_esc_status = {};
	orb_advert_t	_esc_status_pub = -1;

	/*
	 * libuavcan related things
	 */
	uavcan::MonotonicTime							_prev_cmd_pub;   ///< rate limiting
	uavcan::INode								&_node;
	uavcan::Publisher<uavcan::equipment::esc::RawCommand>			_uavcan_pub_raw_cmd;
	uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>	_uavcan_sub_status;
	uavcan::TimerEventForwarder<TimerCbBinder>				_orb_timer;

	/*
	 * Perf counters
	 */
	perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
	perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
};