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/**
 * @file mixer_AllocatedActuatorMixer.cpp
 *
 * Mixer for allocated actuators.
 *
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

#include "AllocatedActuatorMixer.hpp"

#include <mathlib/mathlib.h>
#include <cstdio>
#include <px4_platform_common/defines.h>

// #define debug(fmt, args...)	do { } while(0)
#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)

AllocatedActuatorMixer::AllocatedActuatorMixer(ControlCallback control_cb,
		uintptr_t cb_handle,
		uint8_t index) :
	Mixer(control_cb, cb_handle)
{
	if (index < 8) {
		_control_group = 4;
		_control_index = index;

	} else if (index < 16) {
		_control_group = 5;
		_control_index = index - 8;

	} else {
		debug("'A:' invalid index");
	}
}

unsigned AllocatedActuatorMixer::set_trim(float trim)
{
	return 1;
}

unsigned AllocatedActuatorMixer::get_trim(float *trim)
{
	*trim = 0.0f;
	return 1;
}

int
AllocatedActuatorMixer::parse(const char *buf, unsigned &buflen, uint8_t &index)
{
	int ret;
	int i;

	// enforce that the mixer ends with a new line
	if (!string_well_formed(buf, buflen)) {
		return -1;
	}

	// parse line
	if ((ret = sscanf(buf, "A: %d", &i)) != 1) {
		debug("'A:' parser: failed on '%s'", buf);
		return -1;
	}

	buf = skipline(buf, buflen);

	if (buf == nullptr) {
		debug("'A:' parser: no line ending, line is incomplete");
		return -1;
	}

	// check parsed index
	if (i < 16) {
		index = i;

	} else {
		debug("'A:' parser: invalid index");
		return -1;
	}

	return 0;
}

AllocatedActuatorMixer *
AllocatedActuatorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf,
				  unsigned &buflen)
{
	uint8_t index;

	if (parse(buf, buflen, index) == 0) {
		return new AllocatedActuatorMixer(control_cb, cb_handle, index);

	} else {
		return nullptr;
	}
}

unsigned
AllocatedActuatorMixer::mix(float *outputs, unsigned space)
{
	if (space < 1) {
		return 0;
	}

	_control_cb(_cb_handle,
		    _control_group,
		    _control_index,
		    *outputs);

	return 1;
}

void
AllocatedActuatorMixer::groups_required(uint32_t &groups)
{
	groups |= 1 << _control_group;
}