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 * 1. Redistributions of source code must retain the above copyright
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#ifndef ESC_INFO_HPP
#define ESC_INFO_HPP

#include <uORB/topics/esc_status.h>

class MavlinkStreamESCInfo : public MavlinkStream
{
public:
	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamESCInfo(mavlink); }

	static constexpr const char *get_name_static() { return "ESC_INFO"; }
	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ESC_INFO; }

	const char *get_name() const override { return get_name_static(); }
	uint16_t get_id() override { return get_id_static(); }

	unsigned get_size() override
	{
		static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
		return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
	}

private:
	explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}

	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
	uint8_t _number_of_batches{0};

	bool send() override
	{
		static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
		esc_status_s esc_status;

		if (_esc_status_sub.update(&esc_status)) {
			mavlink_esc_info_t msg{};

			msg.time_usec = esc_status.timestamp;
			msg.counter = esc_status.counter;
			msg.count = esc_status.esc_count;
			msg.connection_type = esc_status.esc_connectiontype;
			msg.info = esc_status.esc_online_flags;

			// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
			_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);

			for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
				msg.index = batch_number * batch_size;

				for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
					msg.failure_flags[esc_index] = esc_status.esc[esc_index].failures;
					msg.error_count[esc_index] = esc_status.esc[esc_index].esc_errorcount;
					msg.temperature[esc_index] = static_cast<int16_t>(esc_status.esc[esc_index].esc_temperature *
								     100.f); // convert to centiDegrees
				}

				mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
			}

			return true;
		}

		return false;
	}
};

#endif // ESC_INFO_HPP