/****************************************************************************
 *
 *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
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 * 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
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 * 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
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#pragma once

#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/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls.h>
#include <battery/battery.h>

using namespace time_literals;

class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
{
public:
	EscBattery();
	~EscBattery() = 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;

	void parameters_updated();

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
	uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};

	static constexpr uint32_t ESC_BATTERY_INTERVAL_US = 20_ms; // assume higher frequency esc feedback than 50Hz
	Battery _battery;
};