/****************************************************************************
 *
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 * modification, are permitted provided that the following conditions
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#pragma once

#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <simulation/failure_injection/failureInjection.hpp>
#include <drivers/drv_sensor.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/world_magnetic_model/geo_mag_declination.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/lat_lon_alt/lat_lon_alt.hpp>
#include <parameters/param.h>
#include <random>

using namespace time_literals;

class SensorSimManager : public ModuleBase<SensorSimManager>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	SensorSimManager();
	~SensorSimManager() override;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

private:
	void Run() override;

	// Sensor simulation methods
	void updateGPS();
	void updateBarometer();
	void updateMagnetometer();
	void updateAirspeed();
	void updateAGP();
	void updateIMU();
	void updateDistanceSensor();

	// Utility methods
	static float generate_wgn();
	matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz);

	// Sensor timing structure
	struct SensorTiming {
		hrt_abstime interval_us;
		hrt_abstime next_update_time;
		hrt_abstime offset_us;
		bool enabled;
	};

	// Sensor timings with random offsets
	SensorTiming _gps_timing;
	SensorTiming _baro_timing;
	SensorTiming _mag_timing;
	SensorTiming _airspeed_timing;
	SensorTiming _agp_timing;
	SensorTiming _imu_timing;
	SensorTiming _distance_sensor_timing;
	SensorTiming _failure_update;

	// Subscriptions
	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position_groundtruth)};
	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude_groundtruth)};
	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};

	// Publications
	uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
	uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
	uORB::PublicationMulti<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
	uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
	uORB::PublicationMulti<vehicle_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};

	PX4Accelerometer _px4_accel{1310988, ROTATION_NONE}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
	PX4Gyroscope     _px4_gyro{1310988, ROTATION_NONE};  // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
	PX4Magnetometer _px4_mag{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION

	FailureInjection _failure_injection{};

	matrix::Vector3f _last_mag{};
	float _last_baro_pressure{0.0f};
	float _last_baro_temperature{0.0f};

	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
	perf_counter_t _gps_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": gps")};
	perf_counter_t _baro_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": baro")};
	perf_counter_t _mag_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": mag")};
	perf_counter_t _airspeed_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": airspeed")};
	perf_counter_t _agp_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": agp")};
	perf_counter_t _imu_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": imu")};
	perf_counter_t _distance_sensor_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": distance")};

	// Random number generator for offsets and noise
	std::random_device _rd;
	std::mt19937 _gen;
	std::uniform_real_distribution<float> _uniform_dist;

	// Parameters
	DEFINE_PARAMETERS(
		(ParamInt<px4::params::SENS_EN_GPSSIM>) _param_sens_en_gpssim,
		(ParamInt<px4::params::SENS_EN_BAROSIM>) _param_sens_en_barosim,
		(ParamInt<px4::params::SENS_EN_MAGSIM>) _param_sens_en_magsim,
		(ParamInt<px4::params::SENS_EN_ARSPDSIM>) _param_sens_en_arspdsim,
		(ParamInt<px4::params::SENS_EN_AGPSIM>) _param_sens_en_agpsim,
		(ParamInt<px4::params::SENS_EN_DISTSIM>) _param_sens_en_distsim,
		(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used,
		(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
		(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t,
		(ParamFloat<px4::params::SIM_MAG_OFFSET_X>) _sim_mag_offset_x,
		(ParamFloat<px4::params::SIM_MAG_OFFSET_Y>) _sim_mag_offset_y,
		(ParamFloat<px4::params::SIM_MAG_OFFSET_Z>) _sim_mag_offset_z,
		(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _distance_snsr_min,
		(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _distance_snsr_max
	)

	hrt_abstime _last_baro_update_time{0};
	float _baro_drift_pa{0.0f};
	float _baro_drift_pa_per_sec{0.1f};
	bool _baro_rnd_use_last{false};
	double _baro_rnd_y2{0.0};

	matrix::Vector3f _mag_earth_pred{};
	bool _mag_earth_available{false};

	LatLonAlt _agp_measured_lla{};
	matrix::Vector3f _agp_position_bias{};
	uint64_t _agp_time_last_update{0};

	matrix::Vector3f _last_accel{};
	matrix::Vector3f _last_gyro{};
	matrix::Vector3f _specific_force_E{};

	float _last_distance_sensor_value{0.0f};

	// Air constants
	static constexpr float TEMPERATURE_MSL = 288.0f; // [K]
	static constexpr float PRESSURE_MSL = 101325.0f; // [Pa]
	static constexpr float LAPSE_RATE = 0.0065f; // [K/m]
	static constexpr float AIR_DENSITY_MSL = 1.225f; // [kg/m^3]
	static constexpr float RHO = 1.225f; // Air density at sea level [kg/m^3]

	// IMU constants
	static constexpr float T1_C = 15.0f; // Temperature constant

	static constexpr hrt_abstime GROUNDTRUTH_DATA_MAX_AGE_US = 12000;

	// Parameter handles for cross-module access
	param_t _param_sim_gz_en_handle{PARAM_INVALID};
	int32_t _sim_gz_en_value{0};

};