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#ifndef GIMBAL_MANAGER_STATUS_HPP
#define GIMBAL_MANAGER_STATUS_HPP

#include <uORB/topics/gimbal_manager_status.h>

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

	static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_STATUS"; }
	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS; }

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

	unsigned get_size() override
	{
		if (_gimbal_manager_status_sub.advertised()) {
			return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
		}

		return 0;
	}

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

	uORB::Subscription _gimbal_manager_status_sub{ORB_ID(gimbal_manager_status)};

	bool send() override
	{
		gimbal_manager_status_s gimbal_manager_status;

		if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) {
			mavlink_gimbal_manager_status_t msg{};

			msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
			msg.flags = gimbal_manager_status.flags;
			msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
			msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid;
			msg.primary_control_compid = gimbal_manager_status.primary_control_compid;
			msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid;
			msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid;

			mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg);

			return true;
		}

		return false;
	}
};

#endif // GIMBAL_MANAGER_STATUS_HPP
