acoustic.h

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/*******************************************************************************
 * \file acoustic.h
 * 
 * \author MAV'RIC Team
 * \author Meysam Basiri
 * \author Gregoire Heitz
 *   
 * \brief Acoustic communication and processing functions
 *
 ******************************************************************************/

#ifndef ACOUSTIC_H_
#define ACOUSTIC_H_


#ifdef __cplusplus
extern "C" {
    #endif

#include <stdint.h>
#include <stdbool.h>
#include "streams.h"

#include "buffer.h"
#include "ahrs.h"
#include "position_estimation.h"
#include "remote.h"
#include "navigation.h"
#include "stabilisation_copter.h"
#include "stabilisation.h"
#include "mavlink_waypoint_handler.h"
#include "tasks.h"


#define STORE_SIZE          4       
#define RELIABILITY_ARC     0.25f   
#define WAIT_LIMIT          6       
#define MAX_DETECTION_RANGE 100     


typedef struct  
{
    int16_t azimuth;                                    
    int16_t elevation;                                  
    bool    new_data;                                   
    bool    reliabe_data;                               
    float   reliabe_az;                                 
    float   reliabe_el;                                 
    
    buffer_t audio_buffer;                              
    byte_stream_t audio_stream_in;                      
    //byte_stream_t* audio_stream_out;                  ///< Acoustic out coming stream
    
    ahrs_t*                     ahrs;                   
    position_estimation_t*      position_estimation;    
    remote_t*                   remote;                 
    navigation_t*               navigation;             
    stabilisation_copter_t*     stabilisation_copter;   
    control_command_t*          controls_nav;           
    mavlink_waypoint_handler_t* waypoint_handler;       
    byte_stream_t*              telemetry_down_stream;  
}audio_t;


void acoustic_init( audio_t*            audio_data,
                    int32_t                     UID,
                    ahrs_t*                     ahrs,
                    position_estimation_t*      position_estimation,
                    remote_t*                   remote,
                    navigation_t*               navigation,
                    stabilisation_copter_t*     stabilisation_copter,
                    control_command_t*          controls_nav,
                    mavlink_waypoint_handler_t* waypoint_handler,
                    byte_stream_t*              telemetry_down_stream);


task_return_t acoustic_update(audio_t* audio_data);


void turn_off_siren(byte_stream_t *out_stream);

void acoustic_set_speed_command(audio_t* audio_data, float rel_pos[], float dist2wpSqr);



#ifdef __cplusplus
}
#endif

#endif