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/**
 * @file hardpoint.cpp
 *
 * @author Andreas Jochum <Andreas@NicaDrone.com>
 */

#include "hardpoint.hpp"
#include <systemlib/err.h>

UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
	_node(node),
	_uavcan_pub_raw_cmd(node),
	_timer(node)
{
	_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
}


UavcanHardpointController::~UavcanHardpointController()
{

}

int UavcanHardpointController::init()
{
	/*
	 * Setup timer and call back function for periodic updates
	 */
	_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
	return 0;
}

void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
{
	_cmd.command = command;
	_cmd.hardpoint_id = hardpoint_id;

	/*
	 * Publish the command message to the bus
	 */
	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);

	/*
	 * Start the periodic update timer after a command is set
	 */
	if (!_timer.isRunning()) {
		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
	}

}
void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
{
	/*
	 * Broadcast command at MAX_RATE_HZ
	 */
	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
}