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#pragma once

#include "FunctionProviderBase.hpp"

#include <uORB/topics/vehicle_command.h>

/**
 * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
 */
class FunctionActuatorSet : public FunctionProviderBase
{
public:
	FunctionActuatorSet()
	{
		for (int i = 0; i < max_num_actuators; ++i) {
			_data[i] = NAN;
		}
	}

	static FunctionProviderBase *allocate(const Context &context) { return new FunctionActuatorSet(); }

	void update() override
	{
		vehicle_command_s vehicle_command;

		while (_topic.update(&vehicle_command)) {
			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR) {
				int index = (int)(vehicle_command.param7 + 0.5f);

				if (index == 0) {
					_data[0] = vehicle_command.param1;
					_data[1] = vehicle_command.param2;
					_data[2] = vehicle_command.param3;
					_data[3] = vehicle_command.param4;
					_data[4] = vehicle_command.param5;
					_data[5] = vehicle_command.param6;
				}
			}
		}
	}

	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }

private:
	static constexpr int max_num_actuators = 6;

	uORB::Subscription _topic{ORB_ID(vehicle_command)};
	float _data[max_num_actuators] {};
};