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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 ****************************************************************************/

/**
 *
 * This module is a modification of the rover attitide control module and is designed for the
 * TUHH hippocampus.
 *
 * All the acknowledgments and credits for the fw wing app are reported in those files.
 *
 * @author Daniel Duecker <daniel.duecker@tuhh.de>
 * @author Philipp Hastedt <philipp.hastedt@tuhh.de>
 * @author Tim Hansen <t.hansen@tuhh.de>
 */

#include <float.h>

#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/uORB.h>

using matrix::Eulerf;
using matrix::Quatf;
using matrix::Matrix3f;
using matrix::Vector3f;
using matrix::Dcmf;

using uORB::SubscriptionData;

using namespace time_literals;

class UUVAttitudeControl: public ModuleBase<UUVAttitudeControl>, public ModuleParams, public px4::WorkItem
{
public:
	UUVAttitudeControl();
	~UUVAttitudeControl();

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

private:
	uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

	uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};	/**< vehicle attitude setpoint */
	uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle bodyrates setpoint subscriber */
	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};	/**< vehicle angular velocity subscription */
	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	/**< notification of manual control updates */
	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle status subscription */

	uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};

	actuator_controls_s _actuators {}; /**< actuator control inputs */
	manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
	vehicle_attitude_setpoint_s _attitude_setpoint {}; /**< vehicle attitude setpoint */
	vehicle_rates_setpoint_s _rates_setpoint {}; /**< vehicle bodyrates setpoint */
	vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */

	perf_counter_t	_loop_perf; /**< loop performance counter */

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::UUV_ROLL_P>) _param_roll_p,
		(ParamFloat<px4::params::UUV_ROLL_D>) _param_roll_d,
		(ParamFloat<px4::params::UUV_PITCH_P>) _param_pitch_p,
		(ParamFloat<px4::params::UUV_PITCH_D>) _param_pitch_d,
		(ParamFloat<px4::params::UUV_YAW_P>) _param_yaw_p,
		(ParamFloat<px4::params::UUV_YAW_D>) _param_yaw_d,
		// control/input modes
		(ParamInt<px4::params::UUV_INPUT_MODE>) _param_input_mode,
		(ParamInt<px4::params::UUV_SKIP_CTRL>) _param_skip_ctrl,
		// direct access to inputs
		(ParamFloat<px4::params::UUV_DIRCT_ROLL>) _param_direct_roll,
		(ParamFloat<px4::params::UUV_DIRCT_PITCH>) _param_direct_pitch,
		(ParamFloat<px4::params::UUV_DIRCT_YAW>) _param_direct_yaw,
		(ParamFloat<px4::params::UUV_DIRCT_THRUST>) _param_direct_thrust
	)

	void Run() override;
	/**
	 * Update our local parameter cache.
	 */
	void parameters_update(bool force = false);

	/**
	 * Control Attitude
	 */
	void control_attitude_geo(const vehicle_attitude_s &attitude, const vehicle_attitude_setpoint_s &attitude_setpoint,
				  const vehicle_angular_velocity_s &angular_velocity, const vehicle_rates_setpoint_s &rates_setpoint);
	void constrain_actuator_commands(float roll_u, float pitch_u, float yaw_u,
					 float thrust_x, float thrust_y, float thrust_z);
};