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/**
 * @file input_rc.cpp
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "input_rc.h"

#include <errno.h>
#include <px4_posix.h>
#include <px4_defines.h>


namespace vmount
{


InputRC::InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw)
{
	_aux_channels[0] = aux_channel_roll;
	_aux_channels[1] = aux_channel_pitch;
	_aux_channels[2] = aux_channel_yaw;
}

InputRC::~InputRC()
{
	if (_manual_control_setpoint_sub >= 0) {
		orb_unsubscribe(_manual_control_setpoint_sub);
	}
}

int InputRC::initialize()
{
	_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));

	if (_manual_control_setpoint_sub < 0) {
		return -errno;
	}

	return 0;
}

int InputRC::update_impl(unsigned int timeout_ms, ControlData **control_data)
{
	px4_pollfd_struct_t polls[1];
	polls[0].fd = 		_manual_control_setpoint_sub;
	polls[0].events = 	POLLIN;

	int ret = px4_poll(polls, 1, timeout_ms);

	if (ret < 0) {
		return -errno;
	}

	if (ret == 0) {
		*control_data = nullptr;

	} else {
		if (polls[0].revents & POLLIN) {
			_read_control_data_from_subscription(_control_data);
			*control_data = &_control_data;
		}
	}

	return 0;
}

void InputRC::_read_control_data_from_subscription(ControlData &control_data)
{
	manual_control_setpoint_s manual_control_setpoint;
	orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &manual_control_setpoint);
	control_data.type = ControlData::Type::Angle;

	for (int i = 0; i < 3; ++i) {
		control_data.type_data.angle.is_speed[i] = false;
		control_data.type_data.angle.angles[i] = _get_aux_value(manual_control_setpoint, i) * M_PI_F;

		control_data.stabilize_axis[i] = false;
	}

	control_data.gimbal_shutter_retract = false;
}

float InputRC::_get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx)
{
	switch (_aux_channels[channel_idx]) {

	case 1:
		return manual_control_setpoint.aux1;

	case 2:
		return manual_control_setpoint.aux2;

	case 3:
		return manual_control_setpoint.aux3;

	case 4:
		return manual_control_setpoint.aux4;

	case 5:
		return manual_control_setpoint.aux5;

	default:
		return 0.0f;
	}
}

void InputRC::print_status()
{
	PX4_INFO("Input: RC (channels: roll=%i, pitch=%i, yaw=%i)", _aux_channels[0], _aux_channels[1], _aux_channels[2]);
}

} /* namespace vmount */