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#ifndef CAMERA_TRIGGER_HPP
#define CAMERA_TRIGGER_HPP

#include <uORB/topics/camera_trigger.h>

class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraTrigger(mavlink); }

	static constexpr const char *get_name_static() { return "CAMERA_TRIGGER"; }
	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_TRIGGER; }

	const char *get_name() const override { return get_name_static(); }
	uint16_t get_id() override { return get_id_static(); }

	bool const_rate() override { return true; }

	unsigned get_size() override
	{
		if (_camera_trigger_sub.advertised()) {
			return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES
			       + MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL
		}

		return 0;
	}

private:
	explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {}

	uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)};

	bool send() override
	{
		camera_trigger_s camera_trigger;

		if ((_mavlink->get_free_tx_buf() >= get_size()) && _camera_trigger_sub.update(&camera_trigger)) {
			/* ensure that only active trigger events are sent */
			if (camera_trigger.timestamp > 0) {
				mavlink_camera_trigger_t msg{};
				msg.time_usec = camera_trigger.timestamp;
				msg.seq = camera_trigger.seq;
				mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);


				vehicle_command_s vcmd{};
				vcmd.timestamp = hrt_absolute_time();
				vcmd.param1 = 0.0f; // all cameras
				vcmd.param2 = 0.0f; // duration 0 because only taking one picture
				vcmd.param3 = 1.0f; // only take one
				vcmd.param4 = NAN;
				vcmd.param5 = (double)NAN;
				vcmd.param6 = (double)NAN;
				vcmd.param7 = NAN;
				vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
				vcmd.target_system = mavlink_system.sysid;
				vcmd.target_component = MAV_COMP_ID_CAMERA;

				MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());


				// TODO: move this camera_trigger and publish as a vehicle_command
				/* send MAV_CMD_DO_DIGICAM_CONTROL*/
				mavlink_command_long_t command_long_msg{};

				command_long_msg.target_system = 0; // 0 for broadcast
				command_long_msg.target_component = MAV_COMP_ID_CAMERA;
				command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
				command_long_msg.confirmation = 0;
				command_long_msg.param1 = NAN;
				command_long_msg.param2 = NAN;
				command_long_msg.param3 = NAN;
				command_long_msg.param4 = NAN;
				command_long_msg.param5 = 1;   // take 1 picture
				command_long_msg.param6 = NAN;
				command_long_msg.param7 = NAN;

				mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);

				return true;
			}
		}

		return false;
	}
};

#endif // CAMERA_TRIGGER_HPP
