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/**
 *
 * Online and offline geotagging from camera feedback
 *
 * @author Mohammed Kabir <kabir@uasys.io>
 */

#pragma once

#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/camera_capture.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/gimbal_device_attitude_status.h>

class CameraFeedback : public ModuleBase, public ModuleParams, public px4::WorkItem
{
public:
	static Descriptor desc;

	CameraFeedback();
	~CameraFeedback() override = default;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

private:

	void Run() override;

	uORB::SubscriptionCallbackWorkItem _trigger_sub{this, ORB_ID(camera_trigger)};

	uORB::Subscription	_gpos_sub{ORB_ID(vehicle_global_position)};
	uORB::Subscription	_att_sub{ORB_ID(vehicle_attitude)};
	uORB::Subscription	_gimbal_sub{ORB_ID(gimbal_device_attitude_status)};

	uORB::Publication<camera_capture_s>	_capture_pub{ORB_ID(camera_capture)};

	param_t _p_cam_cap_fback;
	int32_t _cam_cap_fback{0};
};