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/**
 * @file Sticks.hpp
 *
 * Library abstracting stick input from manual_control_setpoint
 *
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include <px4_platform_common/module_params.h>
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/failsafe_flags.h>

class Sticks : public ModuleParams
{
public:
	Sticks(ModuleParams *parent);
	~Sticks() = default;

	// Checks for updated manual control input & updates internal values
	bool checkAndUpdateStickInputs();

	bool isAvailable() { return _input_available; };

	// Helper functions to get stick values more intuitively
	float getRoll() const { return _positions(0); }
	float getPitch() const { return _positions(1); }
	float getYaw() const { return _positions(2); }
	float getThrottleZeroCentered() const { return _positions(3); }

	float getRollExpo(float expo = .6f) const { return math::expo_deadzone(getRoll(), expo, _param_man_deadzone.get()); }
	float getPitchExpo(float expo = .6f) const { return math::expo_deadzone(getPitch(), expo, _param_man_deadzone.get()); }
	float getYawExpo(float expo = .6f) const { return math::expo_deadzone(getYaw(), expo, _param_man_deadzone.get()); }
	float getThrottleZeroCenteredExpo(float expo = .6f) const { return math::expo_deadzone(getThrottleZeroCentered(), expo, _param_man_deadzone.get()); }

	const matrix::Vector2f getPitchRoll() { return {getPitch(), getRoll()}; }
	const matrix::Vector2f getPitchRollExpo() { return {getPitchExpo(), getRollExpo()}; }

	const matrix::Vector<float, 6> &getAux() const { return _aux_positions; }

	/**
	 * Limit the the horizontal input from a square shaped joystick gimbal to a unit circle
	 * @param v Vector containing x, y, z axis of the joystick gimbal. x, y get adjusted
	 */
	static void limitStickUnitLengthXY(matrix::Vector2f &v);

	/**
	 * Rotate horizontal component of joystick input into the vehicle body orientation
	 * @param v Vector containing x, y, z axis of the joystick input.
	 * @param yaw Current vehicle yaw heading
	 * @param yaw_setpoint Current yaw setpoint if it's locked else NAN
	 */
	static void rotateIntoHeadingFrameXY(matrix::Vector2f &v, const float yaw, const float yaw_setpoint);

private:
	bool _input_available{false};
	matrix::Vector4f _positions; ///< unmodified manual stick inputs roll, pitch, yaw ,throttle

	matrix::Vector<float, 6> _aux_positions;

	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
	uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone
	)
};