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#include "servo.hpp"
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>

using namespace time_literals;

UavcanServoController::UavcanServoController(uavcan::INode &node) :
	_node(node),
	_uavcan_pub_array_cmd(node)
{
	_uavcan_pub_array_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
}

void
UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
{
	uavcan::equipment::actuator::ArrayCommand msg;

	for (unsigned i = 0; i < num_outputs; ++i) {
		uavcan::equipment::actuator::Command cmd;
		cmd.actuator_id = i;
		cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
		cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]

		msg.commands.push_back(cmd);
	}

	_uavcan_pub_array_cmd.broadcast(msg);
}