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  /**
   * @file uavcan_main.hpp
   *
   * Defines basic functinality of UAVCAN node.
   *
   * @author Pavel Kirienko <pavel.kirienko@gmail.com>
   *		 Andreas Jochum <Andreas@NicaDrone.com>
   */
  
  #pragma once
  
  #include <px4_config.h>
  
  #include "uavcan_driver.hpp"
  #include <uavcan/helpers/heap_based_pool_allocator.hpp>
  #include <uavcan/protocol/global_time_sync_master.hpp>
  #include <uavcan/protocol/global_time_sync_slave.hpp>
  #include <uavcan/protocol/node_status_monitor.hpp>
  #include <uavcan/protocol/param/GetSet.hpp>
  #include <uavcan/protocol/param/ExecuteOpcode.hpp>
  #include <uavcan/protocol/RestartNode.hpp>
  
  #include <drivers/device/device.h>
  #include <perf/perf_counter.h>
  
  #include <uORB/topics/actuator_controls.h>
  #include <uORB/topics/actuator_outputs.h>
  #include <uORB/topics/actuator_armed.h>
  #include <uORB/topics/test_motor.h>
  #include <uORB/topics/actuator_direct.h>
  
  #include "actuators/esc.hpp"
  #include "actuators/hardpoint.hpp"
  #include "sensors/sensor_bridge.hpp"
  
  #include "uavcan_servers.hpp"
  #include "allocator.hpp"
  
  #define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
  
  // we add two to allow for actuator_direct and busevent
  #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
  
  /**
   * A UAVCAN node.
   */
  class UavcanNode : public device::CDev
  {
  	static constexpr unsigned MaxBitRatePerSec	= 1000000;
  	static constexpr unsigned bitPerFrame		= 148;
  	static constexpr unsigned FramePerSecond	= MaxBitRatePerSec / bitPerFrame;
  	static constexpr unsigned FramePerMSecond	= ((FramePerSecond / 1000) + 1);
  
  	static constexpr unsigned PollTimeoutMs		= 3;
  
  
  	/*
  	 * This memory is reserved for uavcan to use for queuing CAN frames.
  	 * At 1Mbit there is approximately one CAN frame every 145 uS.
  	 * The number of buffers sets how long you can go without calling
  	 * node_spin_xxxx. Since our task is the only one running and the
  	 * driver will light the fd when there is a CAN frame we can nun with
  	 * a minimum number of buffers to conserver memory. Each buffer is
  	 * 32 bytes. So 5 buffers costs 160 bytes and gives us a poll rate
  	 * of ~1 mS
  	 *  1000000/200
  	 */
  
  	static constexpr unsigned RxQueueLenPerIface	= FramePerMSecond * PollTimeoutMs; // At
  	static constexpr unsigned StackSize		= 2400;
  
  public:
  	typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
  	enum eServerAction {None, Start, Stop, CheckFW, Busy};
  
  	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
  
  	virtual		~UavcanNode();
  
  	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
  
  	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
  
  	uavcan::Node<>	&get_node() { return _node; }
  
  	// TODO: move the actuator mixing stuff into the ESC controller class
  	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
  
  	void		subscribe();
  
  	int		teardown();
  
  	int		arm_actuators(bool arm);
  
  	void		print_info();
  
  	void		shrink();
  
  	void		hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
  
  	static UavcanNode *instance() { return _instance; }
  	static int		 getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
  	int			 fw_server(eServerAction action);
  	void			attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
  	int			 list_params(int remote_node_id);
  	int			 save_params(int remote_node_id);
  	int			 set_param(int remote_node_id, const char *name, char *value);
  	int			 get_param(int remote_node_id, const char *name);
  	int			 reset_node(int remote_node_id);
  
  private:
  	void		fill_node_info();
  	int		init(uavcan::NodeID node_id);
  	void		node_spin_once();
  	int		run();
  	int		add_poll_fd(int fd);			///< add a fd to poll list, returning index into _poll_fds[]
  	int		start_fw_server();
  	int		stop_fw_server();
  	int		request_fw_check();
  	int		print_params(uavcan::protocol::param::GetSet::Response &resp);
  	int		get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
  	void 		update_params();
  	void		set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
  	{
  		_setget_response = resp;
  	}
  	void		free_setget_response(void)
  	{
  		_setget_response = nullptr;
  	}
  
  	int			_task = -1;			///< handle to the OS task
  	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
  	volatile eServerAction	_fw_server_action;
  	int			 _fw_server_status;
  	int			_armed_sub = -1;		///< uORB subscription of the arming status
  	actuator_armed_s	_armed = {};			///< the arming request of the system
  	bool			_is_armed = false;		///< the arming status of the actuators on the bus
  
  	int			_test_motor_sub = -1;   ///< uORB subscription of the test_motor status
  	test_motor_s		_test_motor = {};
  	bool			_test_in_progress = false;
  
  	unsigned		_output_count = 0;		///< number of actuators currently available
  
  	static UavcanNode	*_instance;			///< singleton pointer
  
  	uavcan_node::Allocator	 _pool_allocator;
  
  	uavcan::Node<>			_node;				///< library instance
  	pthread_mutex_t			_node_mutex;
  	px4_sem_t			_server_command_sem;
  	UavcanEscController		_esc_controller;
  	UavcanHardpointController	_hardpoint_controller;
  	uavcan::GlobalTimeSyncMaster	_time_sync_master;
  	uavcan::GlobalTimeSyncSlave	_time_sync_slave;
  	uavcan::NodeStatusMonitor	_node_status_monitor;
  
  	List<IUavcanSensorBridge *>	_sensor_bridges;		///< List of active sensor bridges
  
  	MixerGroup			*_mixers = nullptr;
  	ITxQueueInjector		*_tx_injector;
  	uint32_t			_groups_required = 0;
  	uint32_t			_groups_subscribed = 0;
  	int				_control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
  	actuator_controls_s		_controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
  	orb_id_t			_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
  	pollfd				_poll_fds[UAVCAN_NUM_POLL_FDS] = {};
  	unsigned			_poll_fds_num = 0;
  	int32_t 			_idle_throttle_when_armed = 0;
  
  	int				_actuator_direct_sub = -1;   ///< uORB subscription of the actuator_direct topic
  	uint8_t				_actuator_direct_poll_fd_num = 0;
  	actuator_direct_s		_actuator_direct = {};
  
  	actuator_outputs_s		_outputs = {};
  
  	perf_counter_t			_perf_control_latency;
  
  	bool 				_airmode = false;
  
  	// index into _poll_fds for each _control_subs handle
  	uint8_t				_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
  
  	void handle_time_sync(const uavcan::TimerEvent &);
  
  	typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;
  	uavcan::TimerEventForwarder<TimerCallback> _master_timer;
  
  	bool _callback_success;
  	uavcan::protocol::param::GetSet::Response *_setget_response;
  	typedef uavcan::MethodBinder<UavcanNode *,
  		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
  	typedef uavcan::MethodBinder<UavcanNode *,
  		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> ExecuteOpcodeCallback;
  	typedef uavcan::MethodBinder<UavcanNode *,
  		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
  	void cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
  	void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
  	void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);
  
  };
  