/****************************************************************************
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 *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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#pragma once

#include <lib/battery/battery.h>
#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/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>

using namespace time_literals;

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

	static constexpr uint32_t BATTERY_SIMLATOR_SAMPLE_FREQUENCY_HZ = 100; // Hz
	static constexpr uint32_t BATTERY_SIMLATOR_SAMPLE_INTERVAL_US = 1_s / BATTERY_SIMLATOR_SAMPLE_FREQUENCY_HZ;

	uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};

	Battery _battery;

	uint64_t _last_integration_us{0};
	float _battery_percentage{1.f};
	bool _armed{false};

	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
		(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _param_bat_min_pct //< minimum battery percentage
	)
};