/****************************************************************************
 *
 *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file AFBRS50.hpp
 *
 * Driver for the Broadcom AFBR-S50 connected via SPI.
 *
 */
#pragma once

#include "argus.h"

#include <drivers/drv_hrt.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

using namespace time_literals;

class AFBRS50 : public px4::ScheduledWorkItem
{
public:
	AFBRS50(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
	~AFBRS50() override;

	int init();

	/**
	 * Diagnostics - print some basic information about the driver.
	 */
	void print_info();

	/**
	 * Stop the automatic measurement state machine.
	 */
	void stop();

private:
	void Run() override;

	void UpdateMode();

	void ProcessMeasurement(void *data);

	static status_t measurement_ready_callback(status_t status, void *data);

	void get_mode();
	void set_mode(argus_mode_t mode);

	argus_hnd_t *_hnd{nullptr};
	argus_mode_t _mode{ARGUS_MODE_A}; // Long-Range

	enum class STATE : uint8_t {
		TEST,
		CONFIGURE,
		COLLECT,
		STOP
	} _state{STATE::CONFIGURE};

	PX4Rangefinder _px4_rangefinder;

	hrt_abstime _measurement_time{0};

	perf_counter_t _sample_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": sample interval")};

	int _measure_interval{1000000 / 100}; // 100Hz
	float _current_distance{0};
	const float _short_range_threshold = 4.0; //meters
	const float _long_range_threshold = 6.0; //meters
	float _max_distance;
	float _min_distance;
};
