/****************************************************************************
 *
 *   Copyright (c) 2020-2021 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
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 ****************************************************************************/

#pragma once

#include "data_validator/DataValidatorGroup.hpp"

#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/systemlib/mavlink_log.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/vehicle_air_data.h>

using namespace time_literals;

namespace sensors
{
class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
{
public:

	VehicleAirData();
	~VehicleAirData() override;

	bool Start();
	void Stop();

	void PrintStatus();

private:
	void Run() override;

	void ParametersUpdate();
	void SensorCorrectionsUpdate(bool force = false);
	void AirTemperatureUpdate();

	static constexpr int MAX_SENSOR_COUNT = 4;

	uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
	uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};

	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
		{this, ORB_ID(sensor_baro), 0},
		{this, ORB_ID(sensor_baro), 1},
		{this, ORB_ID(sensor_baro), 2},
		{this, ORB_ID(sensor_baro), 3},
	};

	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};

	hrt_abstime _last_publication_timestamp{0};
	hrt_abstime _last_error_message{0};
	orb_advert_t _mavlink_log_pub{nullptr};

	DataValidatorGroup _voter{1};
	unsigned _last_failover_count{0};

	uint64_t _baro_timestamp_sum{0};
	float _baro_sum{0.f};
	int _baro_sum_count{0};

	sensor_baro_s _last_data[MAX_SENSOR_COUNT] {};
	bool _advertised[MAX_SENSOR_COUNT] {};

	float _thermal_offset[MAX_SENSOR_COUNT] {0.f, 0.f, 0.f};

	uint8_t _priority[MAX_SENSOR_COUNT] {};

	int8_t _selected_sensor_sub_index{-1};

	float _air_temperature_celsius{20.f}; // initialize with typical 20degC ambient temperature

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::SENS_BARO_QNH>) _param_sens_baro_qnh,
		(ParamFloat<px4::params::SENS_BARO_RATE>) _param_sens_baro_rate
	)
};
}; // namespace sensors
