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  /**
   * @file Battery.hpp
   *
   * Defines basic functionality of UAVCAN v1 Battery subscription
   *
   * @author Jacob Crabill <jacob@flyvoly.com>
   */
  
  #pragma once
  
  #include <uORB/topics/battery_status.h>
  #include <uORB/PublicationMulti.hpp>
  
  // DS-15 Specification Messages
  #include <reg/drone/physics/electricity/SourceTs_0_1.h>
  #include <reg/drone/service/battery/Parameters_0_3.h>
  #include <reg/drone/service/battery/Status_0_2.h>
  
  #include "../DynamicPortSubscriber.hpp"
  
  #define KELVIN_OFFSET 273.15f
  #define WH_TO_JOULE   3600
  
  class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
  {
  public:
  	UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
  		UavcanDynamicPortSubscriber(ins, pmgr, "energy_source", instance)
  	{
  		_subj_sub.next = &_status_sub;
  
  		_status_sub._subject_name = _status_name;
  		_status_sub._canard_sub.user_reference = this;
  		_status_sub.next = &_parameters_sub;
  
  		_parameters_sub._subject_name = _parameters_name;
  		_parameters_sub._canard_sub.user_reference = this;
  		_parameters_sub.next = NULL;
  	}
  
  	void subscribe() override
  	{
  		// Subscribe to messages reg.drone.physics.electricity.SourceTs.0.1
  		canardRxSubscribe(&_canard_instance,
  				  CanardTransferKindMessage,
  				  _subj_sub._canard_sub.port_id,
  				  reg_drone_physics_electricity_SourceTs_0_1_EXTENT_BYTES_,
  				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
  				  &_subj_sub._canard_sub);
  
  		// Subscribe to messages reg.drone.service.battery.Status.0.2
  		canardRxSubscribe(&_canard_instance,
  				  CanardTransferKindMessage,
  				  _status_sub._canard_sub.port_id,
  				  reg_drone_service_battery_Status_0_2_EXTENT_BYTES_,
  				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
  				  &_status_sub._canard_sub);
  
  		// Subscribe to messages reg.drone.service.battery.Parameters.0.3
  		canardRxSubscribe(&_canard_instance,
  				  CanardTransferKindMessage,
  				  _parameters_sub._canard_sub.port_id,
  				  reg_drone_service_battery_Parameters_0_3_EXTENT_BYTES_,
  				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
  				  &_parameters_sub._canard_sub);
  	};
  
  	void callback(const CanardTransfer &receive) override
  	{
  		PX4_INFO("BmsCallback");
  
  		if (receive.port_id == _subj_sub._canard_sub.port_id) {
  			reg_drone_physics_electricity_SourceTs_0_1 source_ts {};
  			size_t source_ts_size_in_bytes = receive.payload_size;
  			reg_drone_physics_electricity_SourceTs_0_1_deserialize_(&source_ts,
  					(const uint8_t *)receive.payload,
  					&source_ts_size_in_bytes);
  			bat_status.timestamp = hrt_absolute_time(); //FIXME timesyncronization source_ts.timestamp.microsecond;
  			bat_status.voltage_v = source_ts.value.power.voltage.volt;
  			bat_status.current_a = source_ts.value.power.current.ampere;
  
  			bat_status.connected = true; // Based on some threshold or an error??
  
  			// Estimate discharged mah from Joule
  			if (_nominal_voltage != NAN) {
  				bat_status.discharged_mah = (source_ts.value.full_energy.joule - source_ts.value.energy.joule)
  							    / (_nominal_voltage * WH_TO_JOULE);
  			}
  
  			bat_status.remaining = source_ts.value.energy.joule / source_ts.value.full_energy.joule;
  
  			// TODO uORB publication rate limiting
  			_battery_status_pub.publish(bat_status);
  			print_message(bat_status);
  
  
  		} else if (receive.port_id == _status_sub._canard_sub.port_id) {
  			reg_drone_service_battery_Status_0_2 bat {};
  			size_t bat_size_in_bytes = receive.payload_size;
  			reg_drone_service_battery_Status_0_2_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bytes);
  
  			bat_status.scale = -1; // What does the mean?
  
  			bat_status.temperature = bat.temperature_min_max[1].kelvin - KELVIN_OFFSET; // PX4 uses degC we assume
  
  			bat_status.cell_count = bat.cell_voltages.count;
  
  			uint32_t cell_count = bat_status.cell_count;
  
  			if (cell_count > (sizeof(bat_status.voltage_cell_v) / sizeof(bat_status.voltage_cell_v[0]))) {
  				cell_count = sizeof(bat_status.voltage_cell_v) / sizeof(bat_status.voltage_cell_v[0]);
  			}
  
  			float voltage_cell_min = FLT_MAX_EXP;
  			float voltage_cell_max = FLT_MIN_EXP;
  
  			for (uint32_t i = 0; i < cell_count; i++) {
  				bat_status.voltage_cell_v[i] = bat.cell_voltages.elements[i];
  
  				if (bat_status.voltage_cell_v[i] > voltage_cell_max) {
  					voltage_cell_max = bat_status.voltage_cell_v[i];
  				}
  
  				if (bat_status.voltage_cell_v[i] < voltage_cell_min) {
  					voltage_cell_min = bat_status.voltage_cell_v[i];
  				}
  			}
  
  			bat_status.max_cell_voltage_delta = voltage_cell_max - voltage_cell_min; // Current delta or max delta over time?
  
  		} else if (receive.port_id == _parameters_sub._canard_sub.port_id) {
  			reg_drone_service_battery_Parameters_0_3 parameters {};
  			size_t parameters_size_in_bytes = receive.payload_size;
  			reg_drone_service_battery_Parameters_0_3_deserialize_(&parameters,
  					(const uint8_t *)receive.payload,
  					&parameters_size_in_bytes);
  
  			bat_status.capacity = parameters.design_capacity.coulomb / 3.6f; // Coulomb -> mAh
  			bat_status.cycle_count = parameters.cycle_count;
  			bat_status.serial_number = parameters.unique_id & 0xFFFF;
  			bat_status.state_of_health = parameters.state_of_health_pct;
  			bat_status.max_error = 1; // UAVCAN didn't spec'ed this, but we're optimistic
  			bat_status.id = 0; //TODO instancing
  			_nominal_voltage = parameters.nominal_voltage.volt;
  		}
  	}
  
  private:
  	float _nominal_voltage = NAN;
  
  	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
  
  	SubjectSubscription _status_sub;
  	SubjectSubscription _parameters_sub;
  
  	const char *_status_name = "battery_status";
  	const char *_parameters_name = "battery_parameters";
  
  	battery_status_s bat_status {0};
  };
  