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 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
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/**
 * @file camera_feedback.cpp
 *
 * Online and offline geotagging from camera feedback
 *
 * @author Mohammed Kabir <kabir@uasys.io>
 */

#include "camera_feedback.hpp"

namespace camera_feedback
{
CameraFeedback	*g_camera_feedback;
}

CameraFeedback::CameraFeedback() :
	_task_should_exit(false),
	_main_task(-1),
	_trigger_sub(-1),
	_gpos_sub(-1),
	_att_sub(-1),
	_capture_pub(nullptr),
	_camera_feedback_mode(CAMERA_FEEDBACK_MODE_NONE)
{

	// Parameters
	_p_feedback = param_find("CAM_FBACK_MODE");

	param_get(_p_feedback, (int32_t *)&_camera_feedback_mode);

}

CameraFeedback::~CameraFeedback()
{

	if (_main_task != -1) {

		/* task wakes up every 100ms or so at the longest */
		_task_should_exit = true;

		/* wait for a second for the task to quit at our request */
		unsigned i = 0;

		do {
			/* wait 20ms */
			usleep(20000);

			/* if we have given up, kill it */
			if (++i > 50) {
				px4_task_delete(_main_task);
				break;
			}
		} while (_main_task != -1);
	}

	camera_feedback::g_camera_feedback = nullptr;
}

int
CameraFeedback::start()
{

	/* start the task */
	_main_task = px4_task_spawn_cmd("camera_feedback",
					SCHED_DEFAULT,
					SCHED_PRIORITY_DEFAULT + 15,
					1600,
					(px4_main_t)&CameraFeedback::task_main_trampoline,
					nullptr);

	if (_main_task < 0) {
		warn("task start failed");
		return -errno;
	}

	return OK;

}

void
CameraFeedback::stop()
{
	if (camera_feedback::g_camera_feedback != nullptr) {
		delete (camera_feedback::g_camera_feedback);
	}
}


void
CameraFeedback::task_main()
{

	// We only support trigger feedback for now
	// This will later be extended to support hardware feedback from the camera.
	if (_camera_feedback_mode != CAMERA_FEEDBACK_MODE_TRIGGER) {
		return;
	}

	// Polling sources
	_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
	struct camera_trigger_s trig = {};

	px4_pollfd_struct_t fds[1] = {};
	fds[0].fd = _trigger_sub;
	fds[0].events = POLLIN;

	// Geotagging subscriptions
	_gpos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
	struct vehicle_global_position_s gpos = {};
	struct vehicle_attitude_s att = {};

	bool updated = false;

	while (!_task_should_exit) {

		/* wait for up to 20ms for data */
		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 20);

		if (pret < 0) {
			PX4_WARN("poll error %d, %d", pret, errno);
			continue;
		}

		/* trigger subscription updated */
		if (fds[0].revents & POLLIN) {

			orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);

			/* update geotagging subscriptions */
			orb_check(_gpos_sub, &updated);

			if (updated) {
				orb_copy(ORB_ID(vehicle_global_position), _gpos_sub, &gpos);
			}

			orb_check(_att_sub, &updated);

			if (updated) {
				orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
			}

			if (trig.timestamp == 0 ||
			    gpos.timestamp == 0 ||
			    att.timestamp == 0) {
				// reject until we have valid data
				continue;
			}

			struct camera_capture_s capture = {};

			// Fill timestamps
			capture.timestamp = trig.timestamp;

			capture.timestamp_utc = trig.timestamp_utc;

			// Fill image sequence
			capture.seq = trig.seq;

			// Fill position data
			capture.lat = gpos.lat;

			capture.lon = gpos.lon;

			capture.alt = gpos.alt;

			capture.ground_distance = gpos.terrain_alt_valid ? (gpos.alt - gpos.terrain_alt) : -1.0f;

			// Fill attitude data
			// TODO : this needs to be rotated by camera orientation or set to gimbal orientation when available
			capture.q[0] = att.q[0];

			capture.q[1] = att.q[1];

			capture.q[2] = att.q[2];

			capture.q[3] = att.q[3];

			// Indicate that no capture feedback from camera is available
			capture.result = -1;

			int instance_id;

			orb_publish_auto(ORB_ID(camera_capture), &_capture_pub, &capture, &instance_id, ORB_PRIO_DEFAULT);

		}

	}

	orb_unsubscribe(_trigger_sub);
	orb_unsubscribe(_gpos_sub);
	orb_unsubscribe(_att_sub);

	_main_task = -1;

}

int
CameraFeedback::task_main_trampoline(int argc, char *argv[])
{
	camera_feedback::g_camera_feedback->task_main();
	return 0;
}

static int usage()
{
	PX4_INFO("usage: camera_feedback {start|stop}\n");
	return 1;
}

extern "C" __EXPORT int camera_feedback_main(int argc, char *argv[]);

int camera_feedback_main(int argc, char *argv[])
{
	if (argc < 2) {
		return usage();
	}

	if (!strcmp(argv[1], "start")) {

		if (camera_feedback::g_camera_feedback != nullptr) {
			PX4_WARN("already running");
			return 0;
		}

		camera_feedback::g_camera_feedback = new CameraFeedback();

		if (camera_feedback::g_camera_feedback == nullptr) {
			PX4_WARN("alloc failed");
			return 1;
		}

		camera_feedback::g_camera_feedback->start();
		return 0;
	}

	if (camera_feedback::g_camera_feedback == nullptr) {
		PX4_WARN("not running");
		return 1;

	} else if (!strcmp(argv[1], "stop")) {
		camera_feedback::g_camera_feedback->stop();

	} else {
		return usage();
	}

	return 0;
}