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 *    used to endorse or promote products derived from this software
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#pragma once

/**
 * @file rc_update.h
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */

#include "parameters.h"

#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <uORB/topics/rc_channels.h>

namespace sensors
{

/**
 ** class RCUpdate
 *
 * Handling of RC updates
 */
class RCUpdate
{
public:
	/**
	 * @param parameters parameter values. These do not have to be initialized when constructing this object.
	 * Only when calling init(), they have to be initialized.
	 */
	RCUpdate(const Parameters &parameters);

	/**
	 * initialize subscriptions etc.
	 * @return 0 on success, <0 otherwise
	 */
	int init();

	/**
	 * deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
	 */
	void deinit();

	/**
	 * Check for changes in rc_parameter_map
	 */
	void rc_parameter_map_poll(ParameterHandles &parameter_handles, bool forced = false);

	/**
	 * update the RC functions. Call this when the parameters change.
	 */
	void update_rc_functions();

	/**
	 * Gather and publish RC input data.
	 */
	void		rc_poll(const ParameterHandles &parameter_handles);

private:

	/**
	 * Get and limit value for specified RC function. Returns NAN if not mapped.
	 */
	float		get_rc_value(uint8_t func, float min_value, float max_value);

	/**
	 * Get switch position for specified function.
	 */
	switch_pos_t	get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
	switch_pos_t	get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);

	/**
	 * Update parameters from RC channels if the functionality is activated and the
	 * input has changed since the last update
	 *
	 * @param
	 */
	void set_params_from_rc(const ParameterHandles &parameter_handles);


	int		_rc_sub = -1;			/**< raw rc channels data subscription */
	int		_rc_parameter_map_sub = -1;		/**< rc parameter map subscription */

	orb_advert_t	_rc_pub = nullptr;		/**< raw r/c control topic */
	orb_advert_t	_manual_control_pub = nullptr;	/**< manual control signal topic */
	orb_advert_t	_actuator_group_3_pub = nullptr;/**< manual control as actuator topic */

	struct rc_channels_s _rc;			/**< r/c channel data */

	struct rc_parameter_map_s _rc_parameter_map;
	float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< parameter values for RC control */

	const Parameters &_parameters;

	hrt_abstime _last_rc_to_param_map_time = 0;

	math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
	math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
	math::LowPassFilter2p _filter_yaw;
	math::LowPassFilter2p _filter_throttle;

};



} /* namespace sensors */