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/**
 * @file SubscriptionManager.cpp
 *
 * Manages the UAVCAN subscriptions
 *
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 */


#include "SubscriptionManager.hpp"



void SubscriptionManager::subscribe()
{
	_heartbeat_sub.subscribe();
	_getinfo_rsp.subscribe();
	_access_rsp.subscribe();

	for (auto &sub : _uavcan_subs) {
		param_t param_handle = param_find(sub.px4_name);

		if (param_handle == PARAM_INVALID) {
			PX4_ERR("Param %s not found", sub.px4_name);
			break;
		}

		if ((param_type(param_handle) == PARAM_TYPE_INT32)) {
			int32_t port_id {};
			param_get(param_handle, &port_id);

			if (port_id >= 0) { // PortID is set create a subscriber
				UavcanDynamicPortSubscriber *dynsub = sub.create_sub(_canard_instance, _param_manager);

				if (_dynsubscribers != NULL) {
					_dynsubscribers->setNext(dynsub);
				}

				_dynsubscribers = dynsub;
				dynsub->updateParam();
			}
		}
	}
}

void SubscriptionManager::printInfo()
{

}

void SubscriptionManager::updateParams()
{
	//TODO dynamically update params and unsubscribe
}