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/**
 * @brief Airspeed Plugin
 *
 * This plugin publishes Airspeed sensor data
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 */

#ifndef _GAZEBO_AIRSPEED_PLUGIN_HH_
#define _GAZEBO_AIRSPEED_PLUGIN_HH_

#include <math.h>
#include <cstdio>
#include <cstdlib>
#include <queue>
#include <random>

#include <sdf/sdf.hh>
#include <common.h>
#include <random>

#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math.hh>

#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/sensors/Sensor.hh>

#include <Airspeed.pb.h>
#include <Wind.pb.h>

namespace gazebo
{

typedef const boost::shared_ptr<const physics_msgs::msgs::Wind> WindPtr;

class GAZEBO_VISIBLE AirspeedPlugin : public SensorPlugin
{
public:
  AirspeedPlugin();
  virtual ~AirspeedPlugin();

protected:
  virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
  virtual void OnUpdate(const common::UpdateInfo&);
  virtual void OnSensorUpdate();

private:
  void WindVelocityCallback(WindPtr& msg);

  physics::ModelPtr model_;
  physics::WorldPtr world_;
  physics::LinkPtr link_;
  sensors::SensorPtr parentSensor_;

  transport::NodePtr node_handle_;
  transport::SubscriberPtr wind_sub_;
  transport::PublisherPtr airspeed_pub_;
  event::ConnectionPtr updateConnection_;
  event::ConnectionPtr updateSensorConnection_;

  common::Time last_time_;
  std::string namespace_;
  std::string link_name_;
  std::string model_name_;
  std::string airspeed_topic_;

  ignition::math::Vector3d wind_vel_;
  ignition::math::Vector3d vel_a_;

  std::default_random_engine random_generator_;
  std::normal_distribution<float> standard_normal_distribution_;

  float diff_pressure_stddev_;
  float temperature_;

};     // class GAZEBO_VISIBLE AirspeedPlugin
}      // namespace gazebo
#endif // _GAZEBO_AIRSPEED_PLUGIN_HH_