/****************************************************************************
 *
 *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/


/**
 * @file LidarLite.h
 * @author Johan Jansen <jnsn.johan@gmail.com>
 *
 * Generic interface driver for the PulsedLight Lidar-Lite range finders.
 */
#include "LidarLite.h"
#include <errno.h>
#include <nuttx/clock.h>

LidarLite::LidarLite() :
    _min_distance(LL40LS_MIN_DISTANCE),
    _max_distance(LL40LS_MAX_DISTANCE),
    _measure_ticks(0)
{
    //ctor
}

LidarLite::~LidarLite()
{
    //dtor
}

void LidarLite::set_minimum_distance(const float min)
{
    _min_distance = min;
}

void LidarLite::set_maximum_distance(const float max)
{
    _max_distance = max;
}

float LidarLite::get_minimum_distance() const
{
    return _min_distance;
}

float LidarLite::get_maximum_distance() const
{
    return _max_distance;
}

uint32_t LidarLite::getMeasureTicks() const 
{
    return _measure_ticks;
}

int LidarLite::ioctl(struct file *filp, int cmd, unsigned long arg)
{
    switch (cmd) {

    case SENSORIOCSPOLLRATE: {
            switch (arg) {

            /* switching to manual polling */
            case SENSOR_POLLRATE_MANUAL:
                stop();
                _measure_ticks = 0;
                return OK;

            /* external signalling (DRDY) not supported */
            case SENSOR_POLLRATE_EXTERNAL:

            /* zero would be bad */
            case 0:
                return -EINVAL;

            /* set default/max polling rate */
            case SENSOR_POLLRATE_MAX:
            case SENSOR_POLLRATE_DEFAULT: {
                    /* do we need to start internal polling? */
                    bool want_start = (_measure_ticks == 0);

                    /* set interval for next measurement to minimum legal value */
                    _measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL);

                    /* if we need to start the poll state machine, do it */
                    if (want_start) {
                        start();
                    }

                    return OK;
                }

            /* adjust to a legal polling interval in Hz */
            default: {
                    /* do we need to start internal polling? */
                    bool want_start = (_measure_ticks == 0);

                    /* convert hz to tick interval via microseconds */
                    unsigned ticks = USEC2TICK(1000000 / arg);

                    /* check against maximum rate */
                    if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
                        return -EINVAL;
                    }

                    /* update interval for next measurement */
                    _measure_ticks = ticks;

                    /* if we need to start the poll state machine, do it */
                    if (want_start) {
                        start();
                    }

                    return OK;
                }
            }
        }

    case SENSORIOCGPOLLRATE:
        if (_measure_ticks == 0) {
            return SENSOR_POLLRATE_MANUAL;
        }

        return (1000 / _measure_ticks);

    case SENSORIOCRESET:
        reset_sensor();
        return OK;

    case RANGEFINDERIOCSETMINIUMDISTANCE: {
            set_minimum_distance(*(float *)arg);
            return OK;
        }
        break;

    case RANGEFINDERIOCSETMAXIUMDISTANCE: {
            set_maximum_distance(*(float *)arg);
            return OK;
        }
        break;

    default:
        return -EINVAL;
    }
}