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/**
 * @file Battery.hpp
 *
 * Defines basic functionality of UAVCAN v1 Battery subscription
 *
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#pragma once

#include <uORB/topics/battery_status.h>
#include <uORB/PublicationMulti.hpp>

// DS-15 Specification Messages
#include <reg/drone/physics/electricity/SourceTs_0_1.h>
#include <reg/drone/service/battery/Parameters_0_3.h>
#include <reg/drone/service/battery/Status_0_2.h>

#include "DynamicPortSubscriber.hpp"

#define KELVIN_OFFSET 273.15f
#define WH_TO_JOULE   3600

class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
{
public:
	UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
		UavcanDynamicPortSubscriber(ins, pmgr, "energy_source", instance)
	{
		_subj_sub.next = &_status_sub;
		_status_sub._subject_name = _status_name;
		_status_sub.next = &_parameters_sub;
		_parameters_sub._subject_name = _parameters_name;
		_parameters_sub.next = NULL;
	}

	void subscribe() override
	{
		// Subscribe to messages reg.drone.physics.electricity.SourceTs.0.1
		canardRxSubscribe(&_canard_instance,
				  CanardTransferKindMessage,
				  _subj_sub._canard_sub._port_id,
				  reg_drone_physics_electricity_SourceTs_0_1_EXTENT_BYTES_,
				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
				  &_subj_sub._canard_sub);

		// Subscribe to messages reg.drone.service.battery.Status.0.2
		canardRxSubscribe(&_canard_instance,
				  CanardTransferKindMessage,
				  _status_sub._canard_sub._port_id,
				  reg_drone_service_battery_Status_0_2_EXTENT_BYTES_,
				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
				  &_status_sub._canard_sub);

		// Subscribe to messages reg.drone.service.battery.Parameters.0.3
		canardRxSubscribe(&_canard_instance,
				  CanardTransferKindMessage,
				  _parameters_sub._canard_sub._port_id,
				  reg_drone_service_battery_Parameters_0_3_EXTENT_BYTES_,
				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
				  &_parameters_sub._canard_sub);
	};

	void callback(const CanardTransfer &receive) override
	{
		PX4_INFO("BmsCallback");

		if (receive.port_id == _subj_sub._canard_sub._port_id) {
			reg_drone_physics_electricity_SourceTs_0_1 source_ts {};
			size_t source_ts_size_in_bytes = receive.payload_size;
			reg_drone_physics_electricity_SourceTs_0_1_deserialize_(&source_ts,
					(const uint8_t *)receive.payload,
					&source_ts_size_in_bytes);
			bat_status.timestamp = hrt_absolute_time(); //FIXME timesyncronization source_ts.timestamp.microsecond;
			bat_status.voltage_v = source_ts.value.power.voltage.volt;
			bat_status.current_a = source_ts.value.power.current.ampere;

			bat_status.connected = true; // Based on some threshold or an error??

			// Estimate discharged mah from Joule
			if (_nominal_voltage != NAN) {
				bat_status.discharged_mah = (source_ts.value.full_energy.joule - source_ts.value.energy.joule)
							    / (_nominal_voltage * WH_TO_JOULE);
			}

			bat_status.remaining = source_ts.value.energy.joule / source_ts.value.full_energy.joule;

			// TODO uORB publication rate limiting
			_battery_status_pub.publish(bat_status);
			print_message(bat_status);


		} else if (receive.port_id == _status_sub._canard_sub._port_id) {
			reg_drone_service_battery_Status_0_2 bat {};
			size_t bat_size_in_bytes = receive.payload_size;
			reg_drone_service_battery_Status_0_2_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bytes);

			bat_status.scale = -1; // What does the mean?

			bat_status.temperature = bat.temperature_min_max[1].kelvin - KELVIN_OFFSET; // PX4 uses degC we assume

			bat_status.cell_count = bat.cell_voltages.count;

			uint32_t cell_count = bat_status.cell_count;

			if (cell_count > (sizeof(bat_status.voltage_cell_v) / sizeof(bat_status.voltage_cell_v[0]))) {
				cell_count = sizeof(bat_status.voltage_cell_v) / sizeof(bat_status.voltage_cell_v[0]);
			}

			float voltage_cell_min = FLT_MAX_EXP;
			float voltage_cell_max = FLT_MIN_EXP;

			for (uint32_t i = 0; i < cell_count; i++) {
				bat_status.voltage_cell_v[i] = bat.cell_voltages.elements[i];

				if (bat_status.voltage_cell_v[i] > voltage_cell_max) {
					voltage_cell_max = bat_status.voltage_cell_v[i];
				}

				if (bat_status.voltage_cell_v[i] < voltage_cell_min) {
					voltage_cell_min = bat_status.voltage_cell_v[i];
				}
			}

			bat_status.max_cell_voltage_delta = voltage_cell_max - voltage_cell_min; // Current delta or max delta over time?

		} else if (receive.port_id == _parameters_sub._canard_sub._port_id) {
			reg_drone_service_battery_Parameters_0_3 parameters {};
			size_t parameters_size_in_bytes = receive.payload_size;
			reg_drone_service_battery_Parameters_0_3_deserialize_(&parameters,
					(const uint8_t *)receive.payload,
					&parameters_size_in_bytes);

			bat_status.capacity = parameters.design_capacity.coulomb / 3.6f; // Coulomb -> mAh
			bat_status.cycle_count = parameters.cycle_count;
			bat_status.serial_number = parameters.unique_id & 0xFFFF;
			bat_status.state_of_health = parameters.state_of_health_pct;
			bat_status.max_error = 1; // UAVCAN didn't spec'ed this, but we're optimistic
			bat_status.id = 0; //TODO instancing
			_nominal_voltage = parameters.nominal_voltage.volt;
		}
	}

private:
	float _nominal_voltage = NAN;

	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};

	SubjectSubscription _status_sub;
	SubjectSubscription _parameters_sub;

	const char *_status_name = "battery_status";
	const char *_parameters_name = "battery_parameters";

	battery_status_s bat_status {0};
};