/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 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
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#include <string.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_workqueue.h>
#include <systemlib/airspeed.h>
#include <systemlib/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/uORB.h>

/* Default I2C bus */
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;

class __EXPORT Airspeed : public device::I2C
{
public:
	Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
	virtual ~Airspeed();

	virtual int	init();

	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);

private:
	/* this class has pointer data members and should not be copied */
	Airspeed(const Airspeed &);
	Airspeed &operator=(const Airspeed &);

protected:
	virtual int	probe();

	/**
	* Perform a poll cycle; collect from the previous measurement
	* and start a new one.
	*/
	virtual void	cycle() = 0;
	virtual int	measure() = 0;
	virtual int	collect() = 0;

	/**
	 * Update the subsystem status
	 */
	void update_status();

	work_s			_work;
	bool			_sensor_ok;
	bool			_last_published_sensor_ok;
	uint32_t		_measure_ticks;
	bool			_collect_phase;
	float			_diff_pres_offset;

	orb_advert_t		_airspeed_pub;
	int			_airspeed_orb_class_instance;

	orb_advert_t		_subsys_pub;

	int			_class_instance;

	unsigned		_conversion_interval;

	perf_counter_t		_sample_perf;
	perf_counter_t		_comms_errors;

	/**
	* Initialise the automatic measurement state machine and start it.
	*
	* @note This function is called at open and error time.  It might make sense
	*       to make it more aggressive about resetting the bus in case of errors.
	*/
	void	start();

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

	/**
	* Static trampoline from the workq context; because we don't have a
	* generic workq wrapper yet.
	*
	* @param arg		Instance pointer for the driver that is polling.
	*/
	static void	cycle_trampoline(void *arg);

	/**
	* add a new report to the reports queue
	*
	* @param report		differential_pressure_s report
	*/
	void	new_report(const differential_pressure_s &report);
};


