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#include "output_rc.h"

#include <uORB/topics/gimbal_controls.h>
#include <px4_platform_common/defines.h>
#include <matrix/matrix/math.hpp>

using math::constrain;

namespace gimbal
{

OutputRC::OutputRC(const Parameters &parameters)
	: OutputBase(parameters)
{
}

void OutputRC::update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id)
{
	hrt_abstime now = hrt_absolute_time();

	if (new_setpoints) {
		_set_angle_setpoints(control_data);
	}

	_handle_position_update(control_data);

	_calculate_angle_output(now);

	_stream_device_attitude_status();

	// If the output is RC, then we signal this by referring to compid 1.
	gimbal_device_id = 1;

	// _angle_outputs are in radians, gimbal_controls are in [-1, 1]
	gimbal_controls_s gimbal_controls{};
	gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = constrain(
				(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll)) *
				(1.0f / (math::radians(_parameters.mnt_range_roll / 2.0f))),
				-1.f, 1.f);
	gimbal_controls.control[gimbal_controls_s::INDEX_PITCH] = constrain(
				(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch)) *
				(1.0f / (math::radians(_parameters.mnt_range_pitch / 2.0f))),
				-1.f, 1.f);
	gimbal_controls.control[gimbal_controls_s::INDEX_YAW] = constrain(
				(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) *
				(1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))),
				-1.f, 1.f);
	gimbal_controls.timestamp = hrt_absolute_time();
	_gimbal_controls_pub.publish(gimbal_controls);

	_last_update = now;
}

void OutputRC::print_status() const
{
	PX4_INFO("Output: AUX");
}

void OutputRC::_stream_device_attitude_status()
{
	gimbal_device_attitude_status_s attitude_status{};
	attitude_status.timestamp = hrt_absolute_time();
	attitude_status.target_system = 0;
	attitude_status.target_component = 0;
	attitude_status.device_flags = 0;

	if (_absolute_angle[0]) {
		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK;
	}

	if (_absolute_angle[1]) {
		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK;
	}

	if (_absolute_angle[2]) {
		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_LOCK;
	}

	matrix::Eulerf euler(_angle_outputs[0], _angle_outputs[1], _angle_outputs[2]);
	matrix::Quatf q(euler);
	q.copyTo(attitude_status.q);

	attitude_status.failure_flags = 0;

	// If the output is RC, then we signal this by referring to compid 1.
	attitude_status.gimbal_device_id = 1;

	_attitude_status_pub.publish(attitude_status);
}

} /* namespace gimbal */