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/**
 * @file heater.h
 *
 * @author Mark Sauder <mcsauder@gmail.com>
 * @author Alex Klimaj <alexklimaj@gmail.com>
 * @author Jake Dahl <dahl.jakejacob@gmail.com>
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#pragma once

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.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/Publication.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/heater_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>

#include <mathlib/mathlib.h>

using namespace time_literals;

#define CONTROLLER_PERIOD_DEFAULT    10000
#define TEMPERATURE_TARGET_THRESHOLD 2.5f

class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	Heater();

	virtual ~Heater();

	/**
	 * @see ModuleBase::custom_command().
	 * @brief main Main entry point to the module that should be
	 *        called directly from the module's main method.
	 * @param argc The input argument count.
	 * @param argv Pointer to the input argument array.
	 * @return Returns 0 iff successful, -1 otherwise.
	 */
	static int custom_command(int argc, char *argv[]);

	/**
	 * @see ModuleBase::print_usage().
	 * @brief Prints the module usage to the nuttshell console.
	 * @param reason The requested reason for printing to console.
	 */
	static int print_usage(const char *reason = nullptr);

	/**
	 * @see ModuleBase::task_spawn().
	 * @brief Initializes the class in the same context as the work queue
	 *        and starts the background listener.
	 * @param argv Pointer to the input argument array.
	 * @return Returns 0 iff successful, -1 otherwise.
	 */
	static int task_spawn(int argc, char *argv[]);

	/**
	 * @brief Initiates the heater driver work queue, starts a new background task,
	 *        and fails if it is already running.
	 * @return Returns 1 iff start was successful.
	 */
	int start();

private:

	/** Disables the heater (either by GPIO or PX4IO). */
	void disable_heater();

	/** Turns the heater on (either by GPIO or PX4IO). */
	void heater_on();

	/** Turns the heater off (either by GPIO or PX4IO). */
	void heater_off();

	void initialize();

	/** Enables / configures the heater (either by GPIO or PX4IO). */
	void initialize_heater_io();

	/** @brief Called once to initialize uORB topics. */
	bool initialize_topics();

	void publish_status();

	/** @brief Calculates the heater element on/off time and schedules the next cycle. */
	void Run() override;

	/**
	 * @brief Updates and checks for updated uORB parameters.
	 * @param force Boolean to determine if an update check should be forced.
	 */
	void update_params(const bool force = false);

	/** Work queue struct for the scheduler. */
	static struct work_s _work;

	/** File descriptor for PX4IO for heater ioctl's */
#if defined(PX4IO_HEATER_ENABLED)
	int _io_fd {-1};
#endif

	bool _heater_initialized     = false;
	bool _heater_on              = false;
	bool _temperature_target_met = false;

	int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
	int _controller_time_on_usec = 0;

	float _integrator_value   = 0.0f;
	float _proportional_value = 0.0f;

	uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};

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

	uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};

	uint32_t _sensor_device_id{0};

	float _temperature_last{NAN};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::SENS_IMU_TEMP_FF>) _param_sens_imu_temp_ff,
		(ParamFloat<px4::params::SENS_IMU_TEMP_I>)  _param_sens_imu_temp_i,
		(ParamFloat<px4::params::SENS_IMU_TEMP_P>)  _param_sens_imu_temp_p,
		(ParamFloat<px4::params::SENS_IMU_TEMP>)    _param_sens_imu_temp,
		(ParamInt<px4::params::SENS_TEMP_ID>)       _param_sens_temp_id
	)
};