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/**
 * @file manual_input.h
 * Reads from the ros joystick topic and publishes to the px4 manual control setpoint topic.
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
*/

#pragma once

#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include <sensor_msgs/Joy.h>

class ManualInput
{
public:
	ManualInput();

	~ManualInput() {}

protected:
	/**
	 * Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
	 */
	void JoyCallback(const sensor_msgs::JoyConstPtr &msg);

	/**
	 * Helper function to map and scale joystick axis
	 */
	void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone,
		     float &out);
	/**
	 * Helper function to map joystick buttons
	 */
	void MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp);

	ros::NodeHandle _n;
	ros::Subscriber _joy_sub;
	ros::Publisher _man_ctrl_sp_pub;

	/* Parameters */
	enum MAIN_STATE {
		MAIN_STATE_MANUAL = 0,
		MAIN_STATE_ALTCTL,
		MAIN_STATE_POSCTL,
		MAIN_STATE_AUTO_MISSION,
		MAIN_STATE_AUTO_LOITER,
		MAIN_STATE_AUTO_RTL,
		// MAIN_STATE_ACRO,
		MAIN_STATE_OFFBOARD,
		MAIN_STATE_MAX
	};

	int _param_buttons_map[MAIN_STATE_MAX];	    /**< joystick button mapping, order according to MAIN_STATE */
	bool _buttons_state[MAIN_STATE_MAX];	    /**< joystick button state of last iteration,
						      order according to MAIN_STATE */

	int _param_axes_map[4];
	double _param_axes_scale[4];
	double _param_axes_offset[4];
	double _param_axes_dz[4];

	px4::manual_control_setpoint _msg_mc_sp;
};
