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 * 1. Redistributions of source code must retain the above copyright
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/**
 * @file df_ms5611_wrapper.cpp
 * Lightweight driver to access the MS5611 of the DriverFramework.
 */

#include <px4_config.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_getopt.h>
#include <errno.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <board_config.h>

#include <ms5611/MS5611.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_ms5611_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfMS5611Wrapper : public MS5611
{
public:
	DfMS5611Wrapper();
	~DfMS5611Wrapper();


	/**
	 * Start automatic measurement.
	 *
	 * @return 0 on success
	 */
	int		start();

	/**
	 * Stop automatic measurement.
	 *
	 * @return 0 on success
	 */
	int		stop();

private:
	int _publish(struct baro_sensor_data &data);

	orb_advert_t		_baro_topic;

	int			_baro_orb_class_instance;

	perf_counter_t		_baro_sample_perf;

};

DfMS5611Wrapper::DfMS5611Wrapper() :
	MS5611(BARO_DEVICE_PATH),
	_baro_topic(nullptr),
	_baro_orb_class_instance(-1),
	_baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
{
}

DfMS5611Wrapper::~DfMS5611Wrapper()
{
	perf_free(_baro_sample_perf);
}

int DfMS5611Wrapper::start()
{
	/* Init device and start sensor. */
	int ret = init();

	if (ret != 0) {
		PX4_ERR("MS5611 init fail: %d", ret);
		return ret;
	}

	ret = MS5611::start();

	if (ret != 0) {
		PX4_ERR("MS5611 start fail: %d", ret);
		return ret;
	}

	return 0;
}

int DfMS5611Wrapper::stop()
{
	/* Stop sensor. */
	int ret = MS5611::stop();

	if (ret != 0) {
		PX4_ERR("MS5611 stop fail: %d", ret);
		return ret;
	}

	return 0;
}

int DfMS5611Wrapper::_publish(struct baro_sensor_data &data)
{
	perf_begin(_baro_sample_perf);

	baro_report baro_report = {};
	baro_report.timestamp = hrt_absolute_time();

	baro_report.pressure = data.pressure_pa;
	baro_report.temperature = data.temperature_c;

	// TODO: verify this, it's just copied from the MS5611 driver.

	// Constant for now
	const double MSL_PRESSURE_KPA = 101325.0 / 1000.0;

	/* tropospheric properties (0-11km) for standard atmosphere */
	const double T1 = 15.0 + 273.15;	/* temperature at base height in Kelvin */
	const double a  = -6.5 / 1000;	/* temperature gradient in degrees per metre */
	const double g  = 9.80665;	/* gravity constant in m/s/s */
	const double R  = 287.05;	/* ideal gas constant in J/kg/K */

	/* current pressure at MSL in kPa */
	double p1 = MSL_PRESSURE_KPA;

	/* measured pressure in kPa */
	double p = static_cast<double>(data.pressure_pa) / 1000.0;

	/*
	 * Solve:
	 *
	 *     /        -(aR / g)     \
	 *    | (p / p1)          . T1 | - T1
	 *     \                      /
	 * h = -------------------------------  + h1
	 *                   a
	 */
	baro_report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;

	// TODO: when is this ever blocked?
	if (!(m_pub_blocked)) {

		if (_baro_topic == nullptr) {
			_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
							  &_baro_orb_class_instance, ORB_PRIO_DEFAULT);

		} else {
			orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
		}
	}

	/* Notify anyone waiting for data. */
	DevMgr::updateNotify(*this);

	perf_end(_baro_sample_perf);

	return 0;
};


namespace df_ms5611_wrapper
{

DfMS5611Wrapper *g_dev = nullptr;

int start(/* enum Rotation rotation */);
int stop();
int info();
void usage();

int start(/*enum Rotation rotation*/)
{
	g_dev = new DfMS5611Wrapper(/*rotation*/);

	if (g_dev == nullptr) {
		PX4_ERR("failed instantiating DfMS5611Wrapper object");
		return -1;
	}

	int ret = g_dev->start();

	if (ret != 0) {
		PX4_ERR("DfMS5611Wrapper start failed");
		return ret;
	}

	// Open the IMU sensor
	DevHandle h;
	DevMgr::getHandle(BARO_DEVICE_PATH, h);

	if (!h.isValid()) {
		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
			    BARO_DEVICE_PATH, h.getError());
		return -1;
	}

	DevMgr::releaseHandle(h);

	return 0;
}

int stop()
{
	if (g_dev == nullptr) {
		PX4_ERR("driver not running");
		return 1;
	}

	int ret = g_dev->stop();

	if (ret != 0) {
		PX4_ERR("driver could not be stopped");
		return ret;
	}

	delete g_dev;
	g_dev = nullptr;
	return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
	if (g_dev == nullptr) {
		PX4_ERR("driver not running");
		return 1;
	}

	PX4_DEBUG("state @ %p", g_dev);

	return 0;
}

void
usage()
{
	PX4_WARN("Usage: df_ms5611_wrapper 'start', 'info', 'stop'");
}

} // namespace df_ms5611_wrapper


int
df_ms5611_wrapper_main(int argc, char *argv[])
{
	int ret = 0;
	int myoptind = 1;

	if (argc <= 1) {
		df_ms5611_wrapper::usage();
		return 1;
	}

	const char *verb = argv[myoptind];


	if (!strcmp(verb, "start")) {
		ret = df_ms5611_wrapper::start();
	}

	else if (!strcmp(verb, "stop")) {
		ret = df_ms5611_wrapper::stop();
	}

	else if (!strcmp(verb, "info")) {
		ret = df_ms5611_wrapper::info();
	}

	else {
		df_ms5611_wrapper::usage();
		return 1;
	}

	return ret;
}
