/****************************************************************************
 *
 *   Copyright (c) 2021-2022 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:
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 * 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
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 *    used to endorse or promote products derived from this software
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 * 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 <drivers/drv_hrt.h>
#include <lib/mathlib/math/WelfordMeanVector.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/sensor_calibration/Gyroscope.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_status.h>

using namespace time_literals;

class GyroCalibration : public ModuleBase<GyroCalibration>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	GyroCalibration();
	~GyroCalibration() override;

	/** @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();

	int print_status() override;

private:
	static constexpr hrt_abstime INTERVAL_US = 20000_us;
	static constexpr int MAX_SENSORS = 4;

	void Run() override;

	void Reset()
	{
		for (int gyro = 0; gyro < MAX_SENSORS; gyro++) {
			_gyro_mean[gyro].reset();
			_gyro_last_update[gyro] = 0;
		}

		_last_calibration_update = hrt_absolute_time();
	}

	// return the square of two floating point numbers
	static constexpr float sq(float var) { return var * var; }

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status};

	uORB::SubscriptionMultiArray<sensor_accel_s, MAX_SENSORS> _sensor_accel_subs{ORB_ID::sensor_accel};
	uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS>  _sensor_gyro_subs{ORB_ID::sensor_gyro};

	calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
	math::WelfordMeanVector<float, 3> _gyro_mean[MAX_SENSORS] {};
	matrix::Vector3f _gyro_cal_variance[MAX_SENSORS] {};
	float _temperature[MAX_SENSORS] {};
	hrt_abstime _gyro_last_update[MAX_SENSORS] {};

	matrix::Vector3f _acceleration[MAX_SENSORS] {};

	hrt_abstime _last_calibration_update{0};

	bool _armed{false};
	bool _system_calibrating{false};

	perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
	perf_counter_t _calibration_updated_perf{perf_alloc(PC_COUNT, MODULE_NAME": calibration updated")};
};