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/**
 * @file ControlAllocator.hpp
 *
 * Control allocator.
 *
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

#pragma once

#include <ActuatorEffectiveness.hpp>
#include <ActuatorEffectivenessMultirotor.hpp>
#include <ActuatorEffectivenessStandardVTOL.hpp>
#include <ActuatorEffectivenessTiltrotorVTOL.hpp>
#include <ActuatorEffectivenessTailsitterVTOL.hpp>
#include <ActuatorEffectivenessRoverAckermann.hpp>
#include <ActuatorEffectivenessFixedWing.hpp>
#include <ActuatorEffectivenessMCTilt.hpp>
#include <ActuatorEffectivenessCustom.hpp>
#include <ActuatorEffectivenessUUV.hpp>
#include <ActuatorEffectivenessHelicopter.hpp>
#include <ActuatorEffectivenessHelicopterCoaxial.hpp>

#include <ControlAllocation.hpp>
#include <ControlAllocationPseudoInverse.hpp>
#include <ControlAllocationSequentialDesaturation.hpp>

#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.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/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/actuator_servos.h>
#include <uORB/topics/actuator_servos_trim.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/failure_detector_status.h>

class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
	static constexpr int NUM_AXES = ControlAllocation::NUM_AXES;

	static constexpr int MAX_NUM_MOTORS = actuator_motors_s::NUM_CONTROLS;
	static constexpr int MAX_NUM_SERVOS = actuator_servos_s::NUM_CONTROLS;

	using ActuatorVector = ActuatorEffectiveness::ActuatorVector;

	ControlAllocator();

	virtual ~ControlAllocator();

	/** @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);

	/** @see ModuleBase::print_status() */
	int print_status() override;

	void Run() override;

	bool init();

private:

	struct ParamHandles {
		param_t slew_rate_motors[MAX_NUM_MOTORS];
		param_t slew_rate_servos[MAX_NUM_SERVOS];
	};

	struct Params {
		float slew_rate_motors[MAX_NUM_MOTORS];
		float slew_rate_servos[MAX_NUM_SERVOS];
	};

	/**
	 * initialize some vectors/matrices from parameters
	 */
	void parameters_updated();

	void update_allocation_method(bool force);
	bool update_effectiveness_source();

	void update_effectiveness_matrix_if_needed(EffectivenessUpdateReason reason);

	void check_for_motor_failures();

	void publish_control_allocator_status(int matrix_index);

	void publish_actuator_controls();

	AllocationMethod _allocation_method_id{AllocationMethod::NONE};
	ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; 	///< class for control allocation calculations
	int _num_control_allocation{0};
	hrt_abstime _last_effectiveness_update{0};

	enum class EffectivenessSource {
		NONE = -1,
		MULTIROTOR = 0,
		FIXED_WING = 1,
		STANDARD_VTOL = 2,
		TILTROTOR_VTOL = 3,
		TAILSITTER_VTOL = 4,
		ROVER_ACKERMANN = 5,
		ROVER_DIFFERENTIAL = 6,
		MOTORS_6DOF = 7,
		MULTIROTOR_WITH_TILT = 8,
		CUSTOM = 9,
		HELICOPTER_TAIL_ESC = 10,
		HELICOPTER_TAIL_SERVO = 11,
		HELICOPTER_COAXIAL = 12,
	};

	enum class FailureMode {
		IGNORE = 0,
		REMOVE_FIRST_FAILING_MOTOR = 1,
	};

	EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
	ActuatorEffectiveness *_actuator_effectiveness{nullptr}; 	///< class providing actuator effectiveness

	uint8_t _control_allocation_selection_indexes[NUM_ACTUATORS * ActuatorEffectiveness::MAX_NUM_MATRICES] {};
	int _num_actuators[(int)ActuatorType::COUNT] {};

	// Inputs
	uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)};  /**< vehicle torque setpoint subscription */
	uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)};	 /**< vehicle thrust setpoint subscription */

	uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1};  /**< vehicle torque setpoint subscription (2. instance) */
	uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1};	 /**< vehicle thrust setpoint subscription (2. instance) */

	// Outputs
	uORB::PublicationMulti<control_allocator_status_s> _control_allocator_status_pub[2] {ORB_ID(control_allocator_status), ORB_ID(control_allocator_status)};

	uORB::Publication<actuator_motors_s>	_actuator_motors_pub{ORB_ID(actuator_motors)};
	uORB::Publication<actuator_servos_s>	_actuator_servos_pub{ORB_ID(actuator_servos)};
	uORB::Publication<actuator_servos_trim_s>	_actuator_servos_trim_pub{ORB_ID(actuator_servos_trim)};

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

	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
	uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};

	matrix::Vector3f _torque_sp;
	matrix::Vector3f _thrust_sp;
	bool _publish_controls{true};

	// Reflects motor failures that are currently handled, not motor failures that are reported.
	// For example, the system might report two motor failures, but only the first one is handled by CA
	uint16_t _handled_motor_failure_bitmask{0};

	perf_counter_t	_loop_perf;			/**< loop duration performance counter */

	bool _armed{false};
	hrt_abstime _last_run{0};
	hrt_abstime _timestamp_sample{0};
	hrt_abstime _last_status_pub{0};

	ParamHandles _param_handles{};
	Params _params{};
	bool _has_slew_rate{false};

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,
		(ParamInt<px4::params::CA_METHOD>) _param_ca_method,
		(ParamInt<px4::params::CA_FAILURE_MODE>) _param_ca_failure_mode,
		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
	)

};