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/**
 * @file mavlink.cpp
 * Dummy mavlink node that interfaces to a mavros node via UDP
 * This simulates the onboard mavlink app to some degree. It should be possible to
 * send offboard setpoints via mavros to the SITL setup the same way as on the real system
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
*/

#include "mavlink.h"

#include <platforms/px4_middleware.h>

using namespace px4;

Mavlink::Mavlink() :
	_n(),
	_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
	_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1))
{
	_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
	_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));

}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "mavlink");
	Mavlink m;
	ros::spin();
	return 0;
}

void Mavlink::VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg)
{
	mavlink_message_t msg_m;
	mavlink_msg_attitude_quaternion_pack_chan(
			_link->get_system_id(),
			_link->get_component_id(),
			_link->get_channel(),
			&msg_m, //XXX hardcoded
			get_time_micros() / 1000,
			msg->q[0],
			msg->q[1],
			msg->q[2],
			msg->q[3],
			msg->rollspeed,
			msg->pitchspeed,
			msg->yawspeed);
	_link->send_message(&msg_m);
}

void Mavlink::handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) {
	(void)sysid;
	(void)compid;

	switch(mmsg->msgid) {
		case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
			handle_msg_set_attitude_target(mmsg);
			break;
		default:
			break;
	}

}

void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg)
{
	mavlink_set_attitude_target_t set_att_target;
	mavlink_msg_set_attitude_target_decode(mmsg, &set_att_target);

	offboard_control_mode offboard_control_mode_msg;
	/* set correct ignore flags for body rate fields: copy from mavlink message */
	offboard_control_mode_msg.ignore_bodyrate = (bool)(set_att_target.type_mask & 0x7);
	/* set correct ignore flags for thrust field: copy from mavlink message */
	offboard_control_mode_msg.ignore_thrust = (bool)(set_att_target.type_mask & (1 << 6));
	/* set correct ignore flags for attitude field: copy from mavlink message */
	offboard_control_mode_msg.ignore_attitude = (bool)(set_att_target.type_mask & (1 << 7));

	offboard_control_mode_msg.timestamp = get_time_micros();
	_offboard_control_mode_pub.publish(offboard_control_mode_msg);

	vehicle_attitude_setpoint v_att_sp_msg;

	/* The real mavlink app has a ckeck at this location which makes sure that the attitude setpoint
	 * gets published only if in offboard mode. We leave that out for now.
	 * */

	v_att_sp_msg.timestamp = get_time_micros();
	mavlink_quaternion_to_euler(set_att_target.q, &v_att_sp_msg.roll_body, &v_att_sp_msg.pitch_body,
			&v_att_sp_msg.yaw_body);
	mavlink_quaternion_to_dcm(set_att_target.q, (float(*)[3])v_att_sp_msg.R_body.data());
	v_att_sp_msg.R_valid = true;
	v_att_sp_msg.thrust = set_att_target.thrust;
	for (ssize_t i = 0; i < 4; i++) {
		v_att_sp_msg.q_d[i] = set_att_target.q[i];
	}
	v_att_sp_msg.q_d_valid = true;

	_v_att_sp_pub.publish(v_att_sp_msg);

}