/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#include "AP_RPM_config.h"

#if AP_RPM_ENABLED

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include "AP_RPM_Params.h"

class AP_RPM_Backend;

class AP_RPM
{
    friend class AP_RPM_Backend;

public:
    AP_RPM();

    CLASS_NO_COPY(AP_RPM);  /* Do not allow copies */

    // RPM driver types
    enum RPM_Type {
        RPM_TYPE_NONE    = 0,
#if AP_RPM_PIN_ENABLED
        RPM_TYPE_PWM     = 1,
        RPM_TYPE_PIN     = 2,
#endif
#if AP_RPM_EFI_ENABLED
        RPM_TYPE_EFI     = 3,
#endif
#if AP_RPM_HARMONICNOTCH_ENABLED
        RPM_TYPE_HNTCH   = 4,
#endif
#if AP_RPM_ESC_TELEM_ENABLED
        RPM_TYPE_ESC_TELEM  = 5,
#endif
#if AP_RPM_GENERATOR_ENABLED
        RPM_TYPE_GENERATOR  = 6,
#endif
#if AP_RPM_SIM_ENABLED
        RPM_TYPE_SITL   = 10,
#endif
    };

    // The RPM_State structure is filled in by the backend driver
    struct RPM_State {
        uint8_t                instance;        // the instance number of this RPM
        float                  rate_rpm;        // measured rate in revs per minute
        uint32_t               last_reading_ms; // time of last reading
        float                  signal_quality;  // synthetic quality metric 
    };

    // parameters for each instance
    AP_RPM_Params _params[RPM_MAX_INSTANCES];

    static const struct AP_Param::GroupInfo var_info[];

    // Return the number of rpm sensor instances
    uint8_t num_sensors(void) const {
        return num_instances;
    }

    // detect and initialise any available rpm sensors
    void init(void);

    // update state of all rpm sensors. Should be called from main loop
    void update(void);

    /*
      return RPM for a sensor. Return -1 if not healthy
     */
    bool get_rpm(uint8_t instance, float &rpm_value) const;

    /*
      return signal quality for a sensor.
     */
    float get_signal_quality(uint8_t instance) const {
        return state[instance].signal_quality;
    }

    bool healthy(uint8_t instance) const;

    bool enabled(uint8_t instance) const;

    static AP_RPM *get_singleton() { return _singleton; }

    // check settings are valid
    bool arming_checks(size_t buflen, char *buffer) const;

#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
    // Return the sensor id to use for streaming over DroneCAN, negative number disables
    int8_t get_dronecan_sensor_id(uint8_t instance) const;
#endif

private:
    void convert_params(void);

    static AP_RPM *_singleton;

    RPM_State state[RPM_MAX_INSTANCES];
    AP_RPM_Backend *drivers[RPM_MAX_INSTANCES];
    uint8_t num_instances;

    void Log_RPM() const;
};

namespace AP {
    AP_RPM *rpm();
};

#endif  // AP_RPM_ENABLED