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/**
 * @file gnss.hpp
 *
 * UAVCAN <--> ORB bridge for GNSS messages:
 *     uavcan.equipment.gnss.Fix (deprecated, but still supported for backward compatibility)
 *     uavcan.equipment.gnss.Fix2
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 * @author Andrew Chambers <achamber@gmail.com>
 */

#pragma once

#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/gps_inject_data.h>

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/gnss/RTCMStream.hpp>

#include <lib/perf/perf_counter.h>

#include "sensor_bridge.hpp"

class UavcanGnssBridge : public UavcanSensorBridgeBase
{
	static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;

public:
	static const char *const NAME;

	UavcanGnssBridge(uavcan::INode &node);
	~UavcanGnssBridge();

	const char *get_name() const override { return NAME; }

	int init() override;
	void update() override;
	void print_status() const override;

private:
	/**
	 * GNSS fix message will be reported via this callback.
	 */
	void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
	void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);

	template <typename FixType>
	void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
			  uint8_t fix_type,
			  const float (&pos_cov)[9], const float (&vel_cov)[9],
			  const bool valid_pos_cov, const bool valid_vel_cov);

	void handleInjectDataTopic();
	bool injectData(const uint8_t *data, size_t data_len);

	typedef uavcan::MethodBinder < UavcanGnssBridge *,
		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
		AuxiliaryCbBinder;

	typedef uavcan::MethodBinder < UavcanGnssBridge *,
		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
		FixCbBinder;

	typedef uavcan::MethodBinder < UavcanGnssBridge *,
		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
		Fix2CbBinder;

	typedef uavcan::MethodBinder<UavcanGnssBridge *,
		void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
		TimerCbBinder;

	uavcan::INode &_node;

	uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
	uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
	uavcan::Publisher<uavcan::equipment::gnss::RTCMStream> _pub_rtcm;

	uint64_t	_last_gnss_auxiliary_timestamp{0};
	float		_last_gnss_auxiliary_hdop{0.0f};
	float		_last_gnss_auxiliary_vdop{0.0f};

	uORB::Subscription			_orb_inject_data_sub{ORB_ID(gps_inject_data)};

	bool _system_clock_set{false};  ///< Have we set the system clock at least once from GNSS data?

	bool *_channel_using_fix2; ///< Flag for whether each channel is using Fix2 or Fix msg

	perf_counter_t _rtcm_perf;
};
