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/**
 * @file status_display.h
 * Status Display decouples LED and tunes from commander
 *
 * @author Simone Guscetti <simone@px4.io>
 */

#pragma once

#include <drivers/drv_hrt.h>

#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>

namespace events
{
namespace status
{

class StatusDisplay
{
public:

	StatusDisplay();

	/** regularily called to handle state updates */
	void process();

protected:
	/**
	 * check for topic updates
	 * @return true if one or more topics got updated
	 */
	bool check_for_updates();

	/**
	 * handle LED logic changes & call publish()
	 */
	void set_leds();

	/** publish LED control */
	void publish();

	// TODO: review if there is a better variant that allocates this in the memory
	uORB::SubscriptionData<battery_status_s> _battery_status_sub{ORB_ID(battery_status)};
	uORB::SubscriptionData<cpuload_s> _cpu_load_sub{ORB_ID(cpuload)};
	uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
	uORB::SubscriptionData<vehicle_status_flags_s> _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
	uORB::SubscriptionData<vehicle_attitude_s> _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};

	struct led_control_s _led_control = {};

private:
	bool _old_gps_lock_valid = false;
	bool _old_home_position_valid = false;
	bool _low_battery = false;
	bool _critical_battery = false;
	int _old_nav_state = -1;
	int _old_battery_status_warning = -1;

	uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};

};

} /* namespace status */
} /* namespace events */