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/**
 * @file ManualControl.hpp
 *
 * @brief Logic for handling RC or Joystick input
 *
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include <lib/hysteresis/hysteresis.h>
#include <px4_platform_common/module_params.h>

#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>

class ManualControl : ModuleParams
{
public:
	ManualControl(ModuleParams *parent) : ModuleParams(parent) {};
	~ManualControl() override = default;

	void setRCAllowed(const bool rc_allowed) { _rc_allowed = rc_allowed; }
	void update();
	bool isRCAvailable() { return _rc_available; }
	bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode);
	bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
			 manual_control_switches_s &manual_control_switches, const bool landed);
	bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
		      manual_control_switches_s &manual_control_switches, const bool landed);

	manual_control_setpoint_s _manual_control_setpoint{};

private:
	void updateParams() override;
	void process(manual_control_setpoint_s &manual_control_setpoint);

	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
	manual_control_setpoint_s _last_manual_control_setpoint{};

	// Availability
	bool _rc_allowed{false};
	bool _rc_available{false};

	// Arming/disarming
	systemlib::Hysteresis _stick_disarm_hysteresis{false};
	systemlib::Hysteresis _stick_arm_hysteresis{false};
	uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
		(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_arm_switch_is_button,
		(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
	)
};