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 *    notice, this list of conditions and the following disclaimer.
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 *    used to endorse or promote products derived from this software
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#include "AerotennaULanding.hpp"

#include <lib/drivers/device/Device.hpp>

AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) :
	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
	_px4_rangefinder(0, rotation)
{
	/* store port name */
	strncpy(_port, port, sizeof(_port) - 1);

	/* enforce null termination */
	_port[sizeof(_port) - 1] = '\0';

	device::Device::DeviceId device_id;
	device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL;

	uint8_t bus_num = atoi(&_port[strlen(_port) - 1]); // Assuming '/dev/ttySx'

	if (bus_num < 10) {
		device_id.devid_s.bus = bus_num;
	}

	_px4_rangefinder.set_device_id(device_id.devid);
	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_ULANDING);
	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR);

	_px4_rangefinder.set_min_distance(ULANDING_MIN_DISTANCE);
	_px4_rangefinder.set_max_distance(ULANDING_MAX_DISTANCE);
}

AerotennaULanding::~AerotennaULanding()
{
	stop();

	perf_free(_sample_perf);
	perf_free(_comms_errors);
}

int AerotennaULanding::init()
{
	start();

	return PX4_OK;
}

int AerotennaULanding::collect()
{
	perf_begin(_sample_perf);

	int bytes_processed = 0;
	int distance_cm = -1;
	int index = 0;

	float distance_m = -1.0f;

	bool checksum_passed = false;

	// Read from the sensor UART buffer.
	const hrt_abstime timestamp_sample = hrt_absolute_time();
	int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer));

	if (bytes_read > 0) {
		index = bytes_read - 6;

		while (index >= 0 && !checksum_passed) {
			if (_buffer[index] == ULANDING_PACKET_HDR) {
				bytes_processed = index;

				while (bytes_processed < bytes_read && !checksum_passed) {
					if (ULANDING_VERSION == 1) {
						uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF;
						uint8_t checksum_byte = _buffer[index + 5];

						if (checksum_value == checksum_byte) {
							checksum_passed = true;
							distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2];
							distance_m = static_cast<float>(distance_cm) / 100.f;
						}

					} else {
						checksum_passed = true;
						distance_cm = (_buffer[index + 1] & 0x7F);
						distance_cm += ((_buffer[index + 2] & 0x7F) << 7);
						distance_m = static_cast<float>(distance_cm) * 0.045f;
						break;
					}

					bytes_processed++;
				}
			}

			index--;
		}
	}

	if (!checksum_passed) {
		return -EAGAIN;
	}

	_px4_rangefinder.update(timestamp_sample, distance_m);

	perf_end(_sample_perf);

	return PX4_OK;
}

int AerotennaULanding::open_serial_port(const speed_t speed)
{
	// File descriptor initialized?
	if (_file_descriptor > 0) {
		PX4_DEBUG("serial port already open");
		return PX4_OK;
	}

	// Configure port flags for read/write, non-controlling, non-blocking.
	int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);

	// Open the serial port.
	_file_descriptor = ::open(_port, flags);

	if (_file_descriptor < 0) {
		PX4_ERR("open failed (%i)", errno);
		return PX4_ERROR;
	}

	if (!isatty(_file_descriptor)) {
		PX4_WARN("not a serial device");
		return PX4_ERROR;
	}

	termios uart_config{};

	// Store the current port configuration. attributes.
	tcgetattr(_file_descriptor, &uart_config);

	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);

	// Clear ONLCR flag (which appends a CR for every LF).
	uart_config.c_oflag &= ~ONLCR;

	// No parity, one stop bit.
	uart_config.c_cflag &= ~(CSTOPB | PARENB);

	// No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off
	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);

	// Set the input baud rate in the uart_config struct.
	int termios_state = cfsetispeed(&uart_config, speed);

	if (termios_state < 0) {
		PX4_ERR("CFG: %d ISPD", termios_state);
		::close(_file_descriptor);
		return PX4_ERROR;
	}

	// Set the output baud rate in the uart_config struct.
	termios_state = cfsetospeed(&uart_config, speed);

	if (termios_state < 0) {
		PX4_ERR("CFG: %d OSPD", termios_state);
		::close(_file_descriptor);
		return PX4_ERROR;
	}

	// Apply the modified port attributes.
	termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);

	if (termios_state < 0) {
		PX4_ERR("baud %d ATTR", termios_state);
		::close(_file_descriptor);
		return PX4_ERROR;
	}

	PX4_INFO("successfully opened UART port %s", _port);
	return PX4_OK;
}

void AerotennaULanding::Run()
{
	// Ensure the serial port is open.
	open_serial_port();

	collect();
}

void AerotennaULanding::start()
{
	// Schedule the driver at regular intervals.
	ScheduleOnInterval(ULANDING_MEASURE_INTERVAL, 0);
}

void AerotennaULanding::stop()
{
	// Ensure the serial port is closed.
	::close(_file_descriptor);

	// Clear the work queue schedule.
	ScheduleClear();
}

void AerotennaULanding::print_info()
{
	perf_print_counter(_sample_perf);
	perf_print_counter(_comms_errors);
}