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#pragma once

#include <containers/Bitset.hpp>
#include <lib/sensor_calibration/Gyroscope.hpp>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2pArray.hpp>
#include <lib/mathlib/math/filter/NotchFilter.hpp>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_fft.h>
#include <uORB/topics/sensor_gyro_fifo.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
#include <uORB/topics/vehicle_angular_velocity.h>

using namespace time_literals;

namespace sensors
{

class VehicleAngularVelocity : public ModuleParams, public px4::ScheduledWorkItem
{
public:
	VehicleAngularVelocity();
	~VehicleAngularVelocity() override;

	void PrintStatus();
	bool Start();
	void Stop();

private:
	void Run() override;

	void CalibrateAndPublish(bool publish, const hrt_abstime &timestamp_sample, const matrix::Vector3f &angular_velocity,
				 const matrix::Vector3f &angular_acceleration);

	inline float FilterAngularVelocity(int axis, float data[], int N = 1);
	inline float FilterAngularAcceleration(int axis, float dt_s, float data[], int N = 1);

	void DisableDynamicNotchEscRpm();
	void DisableDynamicNotchFFT();
	void ParametersUpdate(bool force = false);

	void ResetFilters();
	void SensorBiasUpdate(bool force = false);
	bool SensorSelectionUpdate(bool force = false);
	void UpdateDynamicNotchEscRpm(bool force = false);
	void UpdateDynamicNotchFFT(bool force = false);
	bool UpdateSampleRate();

	// scaled appropriately for current sensor
	matrix::Vector3f GetResetAngularVelocity() const;
	matrix::Vector3f GetResetAngularAcceleration() const;

	static constexpr int MAX_SENSOR_COUNT = 4;

	uORB::Publication<vehicle_angular_acceleration_s> _vehicle_angular_acceleration_pub{ORB_ID(vehicle_angular_acceleration)};
	uORB::Publication<vehicle_angular_velocity_s>     _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};

	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
#if !defined(CONSTRAINED_FLASH)
	uORB::Subscription _esc_status_sub {ORB_ID(esc_status)};
	uORB::Subscription _sensor_gyro_fft_sub {ORB_ID(sensor_gyro_fft)};
#endif // !CONSTRAINED_FLASH

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

	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)};
	uORB::SubscriptionCallbackWorkItem _sensor_fifo_sub{this, ORB_ID(sensor_gyro_fifo)};

	calibration::Gyroscope _calibration{};

	matrix::Vector3f _bias{};

	matrix::Vector3f _angular_velocity{};
	matrix::Vector3f _angular_velocity_prev{};
	matrix::Vector3f _angular_acceleration{};

	matrix::Vector3f _angular_velocity_raw_prev{};
	hrt_abstime _timestamp_sample_last{0};

	hrt_abstime _publish_interval_min_us{0};
	hrt_abstime _last_publish{0};

	float _filter_sample_rate_hz{NAN};

	static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */

	// angular velocity filters
	math::LowPassFilter2pArray _lp_filter_velocity[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};
	math::NotchFilter<float> _notch_filter_velocity[3] {};

#if !defined(CONSTRAINED_FLASH)

	enum DynamicNotch {
		EscRpm = 1,
		FFT    = 2,
	};

	static constexpr hrt_abstime DYNAMIC_NOTCH_FITLER_TIMEOUT = 1_s;

	static constexpr int MAX_NUM_ESC_RPM = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
	static constexpr int MAX_NUM_ESC_RPM_HARMONICS = 3;

	static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof(
				sensor_gyro_fft_s::peak_frequencies_x[0]);

	math::NotchFilter<float> _dynamic_notch_filter_esc_rpm[3][MAX_NUM_ESC_RPM][MAX_NUM_ESC_RPM_HARMONICS] {};
	math::NotchFilter<float> _dynamic_notch_filter_fft[3][MAX_NUM_FFT_PEAKS] {};

	px4::Bitset<MAX_NUM_ESC_RPM> _esc_available{};
	hrt_abstime _last_esc_rpm_notch_update[MAX_NUM_ESC_RPM] {};

	perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr};
	perf_counter_t _dynamic_notch_filter_fft_update_perf{nullptr};
	perf_counter_t _dynamic_notch_filter_esc_rpm_perf{nullptr};
	perf_counter_t _dynamic_notch_filter_fft_perf{nullptr};

	bool _dynamic_notch_esc_rpm_available{false};
	bool _dynamic_notch_fft_available{false};
#endif // !CONSTRAINED_FLASH

	// angular acceleration filter
	math::LowPassFilter2p _lp_filter_acceleration[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};

	uint32_t _selected_sensor_device_id{0};

	bool _reset_filters{true};
	bool _fifo_available{false};

	perf_counter_t _filter_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro filter reset")};
	perf_counter_t _selection_changed_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro selection changed")};

	DEFINE_PARAMETERS(
#if !defined(CONSTRAINED_FLASH)
		(ParamInt<px4::params::IMU_GYRO_DYN_NF>) _param_imu_gyro_dyn_nf,
#endif // !CONSTRAINED_FLASH
		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
		(ParamFloat<px4::params::IMU_GYRO_NF_FREQ>) _param_imu_gyro_nf_freq,
		(ParamFloat<px4::params::IMU_GYRO_NF_BW>) _param_imu_gyro_nf_bw,
		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
		(ParamFloat<px4::params::IMU_DGYRO_CUTOFF>) _param_imu_dgyro_cutoff
	)
};

} // namespace sensors