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/**
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#include "differential_pressure.hpp"

#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <parameters/param.h>
#include <systemlib/err.h>

const char *const UavcanDifferentialPressureBridge::NAME = "differential_pressure";

UavcanDifferentialPressureBridge::UavcanDifferentialPressureBridge(uavcan::INode &node) :
	UavcanSensorBridgeBase("uavcan_differential_pressure", ORB_ID(differential_pressure)),
	_sub_air(node)
{
}

int UavcanDifferentialPressureBridge::init()
{
	// Initialize the calibration offset
	param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);

	int res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));

	if (res < 0) {
		DEVICE_LOG("failed to start uavcan sub: %d", res);
		return res;
	}

	return 0;
}

void UavcanDifferentialPressureBridge::air_sub_cb(const
		uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg)
{
	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
	_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;

	float diff_press_pa = msg.differential_pressure;
	float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;

	if (PX4_ISFINITE(diff_press_pa)) {
		differential_pressure_s report{};

		report.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset;
		report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset;
		report.temperature = temperature_c;
		report.device_id = _device_id.devid;
		report.timestamp = hrt_absolute_time();

		publish(msg.getSrcNodeID().get(), &report);
	}
}
