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#include "functions.hpp"

FunctionMotors::FunctionMotors(const Context &context)
	: _topic(&context.work_item, ORB_ID(actuator_motors)),
	  _reversible_motors(context.reversible_motors)
{
	for (int i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
		_data.control[i] = NAN;
	}
}
void FunctionMotors::update()
{
	bool updated = _topic.update(&_data);

	if (updated && !_reversible_motors) {
		for (int i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
			if (_data.control[i] < -FLT_EPSILON) {
				_data.control[i] = NAN;

			} else {
				// remap from [0, 1] to [-1, 1]
				_data.control[i] = _data.control[i] * 2.f - 1.f;
			}
		}
	}
}

FunctionActuatorSet::FunctionActuatorSet()
{
	for (int i = 0; i < max_num_actuators; ++i) {
		_data[i] = NAN;
	}
}

void FunctionActuatorSet::update()
{
	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;
			}
		}
	}
}