/****************************************************************************
 *
 *   Copyright (c) 2021 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
 *    distribution.
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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 "UavcanPublisherBase.hpp"

#include <ardupilot/indication/Button.hpp>

#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/safety.h>

namespace uavcannode
{

class SafetyButton :
	public UavcanPublisherBase,
	public uORB::SubscriptionCallbackWorkItem,
	private uavcan::Publisher<ardupilot::indication::Button>
{
public:
	SafetyButton(px4::WorkItem *work_item, uavcan::INode &node) :
		UavcanPublisherBase(ardupilot::indication::Button::DefaultDataTypeID),
		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety)),
		uavcan::Publisher<ardupilot::indication::Button>(node)
	{}

	void PrintInfo() override
	{
		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
			printf("\t%s -> %s:%d\n",
			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
			       ardupilot::indication::Button::getDataTypeFullName(),
			       ardupilot::indication::Button::DefaultDataTypeID);
		}
	}

	void BroadcastAnyUpdates() override
	{
		// safety -> standard::indication::button
		safety_s safety;

		if (uORB::SubscriptionCallbackWorkItem::update(&safety)) {
			if (safety.safety_switch_available) {
				ardupilot::indication::Button Button{};
				Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
				Button.press_time = safety.safety_off ? UINT8_MAX : 0;
				uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
			}
		}
	}
};
} // namespace uavcannode
