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/**
 * @file EscClient.hpp
 *
 * Client-side implementation of UDRAL specification ESC service
 *
 * Publishes the following Cyphal messages:
 *   reg.udral.service.actuator.common.sp.Value31.0.1
 *   reg.udral.service.common.Readiness.0.1
 *
 * Subscribes to the following Cyphal messages:
 *   zubax.telega.CompactFeedback.0.1
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#pragma once

#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_test.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include "../Subscribers/DynamicPortSubscriber.hpp"
#include "../Publishers/Publisher.hpp"
#include <lib/mixer_module/mixer_module.hpp>

// UDRAL Specification Messages
using std::isfinite;
#include <reg/udral/service/actuator/common/sp/Vector31_0_1.h>
#include <reg/udral/service/common/Readiness_0_1.h>


class ReadinessPublisher : public UavcanPublisher
{
public:

	ReadinessPublisher(CanardHandle &handle, UavcanParamManager &pmgr) :
		UavcanPublisher(handle, pmgr, "udral.", "readiness") { };

	~ReadinessPublisher() {};

	void update() override
	{
		actuator_test_s actuator_test;

		if (_actuator_test_sub.update(&actuator_test)) {
			_actuator_test_timestamp = actuator_test.timestamp;
		}

		if (_armed_sub.updated()) {
			actuator_armed_s new_arming;
			_armed_sub.update(&new_arming);

			if (new_arming.armed != _armed.armed) {
				_armed = new_arming;
				publish_readiness();
			}
		}

		if (hrt_absolute_time() > _previous_pub_time + READINESS_PUBLISH_PERIOD) {
			publish_readiness();
		}
	}

	static constexpr hrt_abstime READINESS_PUBLISH_PERIOD = 100000;
	hrt_abstime _previous_pub_time = 0;

	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
	actuator_armed_s _armed {};

	uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
	uint64_t _actuator_test_timestamp{0};

	CanardTransferID _arming_transfer_id;

	void publish_readiness()
	{
		const hrt_abstime now = hrt_absolute_time();
		_previous_pub_time = now;

		size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;

		if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) {
			return;
		}

		reg_udral_service_common_Readiness_0_1 msg_arming {};

		if (_armed.armed || _actuator_test_timestamp + 100_ms > now) {
			msg_arming.value = reg_udral_service_common_Readiness_0_1_ENGAGED;

		} else if (_armed.prearmed) {
			msg_arming.value = reg_udral_service_common_Readiness_0_1_STANDBY;

		} else {
			msg_arming.value = reg_udral_service_common_Readiness_0_1_SLEEP;
		}

		uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];

		CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id));
		const CanardTransferMetadata transfer_metadata = {
			.priority       = CanardPriorityNominal,
			.transfer_kind  = CanardTransferKindMessage,
			.port_id        = arming_pid,
			.remote_node_id = CANARD_NODE_ID_UNSET,
			.transfer_id    = _arming_transfer_id,
		};

		int result = reg_udral_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
				&payload_size);

		if (result == 0) {
			++_arming_transfer_id;
			result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
						       &transfer_metadata,
						       payload_size,
						       &arming_payload_buffer);
		}
	};
};

class UavcanEscController : public UavcanPublisher
{
public:
	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;

	UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) :
		UavcanPublisher(handle, pmgr, "udral.", "esc") { }

	~UavcanEscController() {}

	void update() override
	{
	}

	void update_outputs(float outputs[MAX_ACTUATORS], unsigned num_outputs)
	{
		if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) {
			return;
		}

		uint8_t max_num_outputs = MAX_ACTUATORS > num_outputs ? num_outputs : MAX_ACTUATORS;

		for (int8_t i = max_num_outputs - 1; i >= _max_number_of_nonzero_outputs; i--) {
			if (fabsf(outputs[i]) > FLT_EPSILON) {
				_max_number_of_nonzero_outputs = i + 1;
				break;
			}
		}

		uint16_t payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_value_ARRAY_CAPACITY_];

		for (uint8_t i = 0; i < _max_number_of_nonzero_outputs; i++) {
			payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.f); // Output is float16 so this would benefit rescaling to e.g. [-1,1]
		}

		const CanardTransferMetadata transfer_metadata = {
			.priority       = CanardPriorityNominal,
			.transfer_kind  = CanardTransferKindMessage,
			.port_id        = _port_id,
			.remote_node_id = CANARD_NODE_ID_UNSET,
			.transfer_id    = _transfer_id,
		};

		++_transfer_id;
		_canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
				      &transfer_metadata,
				      _max_number_of_nonzero_outputs * 2,
				      &payload_buffer);
	}

private:
	uint8_t _max_number_of_nonzero_outputs{1};
};

class UavcanEscFeedbackSubscriber : public UavcanDynamicPortSubscriber
{
public:
	UavcanEscFeedbackSubscriber(CanardHandle &handle, UavcanParamManager &pmgr, uint8_t instance = 0) :
		UavcanDynamicPortSubscriber(handle, pmgr, "zubax.", "feedback", instance) {}

	void subscribe() override
	{
		_canard_handle.RxSubscribe(CanardTransferKindMessage,
					   _subj_sub._canard_sub.port_id,
					   zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES,
					   CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
					   &_subj_sub._canard_sub);
		_esc_status.esc_armed_flags |= 1 << _instance;
		_esc_status.esc_count++;
	};

	void unsubscribe() override
	{
		_canard_handle.RxUnsubscribe(CanardTransferKindMessage, _subj_sub._canard_sub.port_id);
		_esc_status.esc_armed_flags &= ~(1 << _instance);
		_esc_status.esc_count--;
	};

	void callback(const CanardRxTransfer &receive) override
	{
		if (_instance >= esc_status_s::CONNECTED_ESC_MAX) {
			return;
		}

		auto &ref = _esc_status.esc[_instance];
		const ZubaxCompactFeedback *feedback = ((const ZubaxCompactFeedback *)(receive.payload));

		ref.timestamp       = hrt_absolute_time();
		ref.esc_address     = receive.metadata.remote_node_id;
		ref.esc_voltage     = 0.2 * feedback->dc_voltage;
		ref.esc_current     = 0.2 * feedback->dc_current;
		ref.esc_temperature = NAN;
		ref.esc_rpm         = feedback->velocity * RAD_PER_SEC_TO_RPM;
		ref.esc_errorcount  = 0;

		_esc_status.counter++;
		_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
		_esc_status.esc_armed_flags = (1 << _esc_status.esc_count) - 1;
		_esc_status.timestamp = hrt_absolute_time();
		_esc_status_pub.publish(_esc_status);

		_esc_status.esc_online_flags = 0;
		const hrt_abstime now = hrt_absolute_time();

		for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) {
			if (_esc_status.esc[index].timestamp > 0 && now - _esc_status.esc[index].timestamp < 1200_ms) {
				_esc_status.esc_online_flags |= (1 << index);
			}
		}
	};

private:
	static constexpr float RAD_PER_SEC_TO_RPM = 9.5492968;
	static constexpr size_t zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES = 7;

	// https://telega.zubax.com/interfaces/cyphal.html#compact
#pragma pack(push, 1)
	struct ZubaxCompactFeedback {
		uint32_t dc_voltage 		: 11;
		int32_t dc_current 		: 12;
		int32_t phase_current_amplitude	: 12;
		int32_t velocity 		: 13;
		int8_t demand_factor_pct 	: 8;
	};
#pragma pack(pop)
	static_assert(sizeof(ZubaxCompactFeedback) == zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES);

	static esc_status_s _esc_status;

	uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
};