mavlink_communication.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
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 * 
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 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
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 ******************************************************************************/

/*******************************************************************************
 * \file mavlink_communication.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief This module takes care of sending periodic telemetric messages and 
 * handling incoming messages 
 *
 ******************************************************************************/


#ifndef MAVLINK_COMMUNICATION_H_
#define MAVLINK_COMMUNICATION_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "scheduler.h"
#include "mavlink_stream.h"
#include "mavlink_message_handler.h"
#include "onboard_parameters.h"


typedef void* handling_telemetry_module_struct_t;


typedef void (*mavlink_send_msg_function_t) (handling_telemetry_module_struct_t, mavlink_stream_t*, mavlink_message_t*);


typedef struct  
{
    mavlink_stream_t* mavlink_stream;                               
    mavlink_send_msg_function_t function;                           
    handling_telemetry_module_struct_t      module_struct;          
}mavlink_send_msg_handler_t;


typedef struct  
{
    uint32_t msg_sending_count;                                     
    uint32_t max_msg_sending_count;                                 
    mavlink_send_msg_handler_t msg_send_list[];                     
}mavlink_send_msg_handler_set_t;

typedef struct 
{
    scheduler_t                     scheduler;                      
    mavlink_stream_t                mavlink_stream;                 
    mavlink_message_handler_t       message_handler;                
    onboard_parameters_t            onboard_parameters;             
    
    mavlink_send_msg_handler_set_t* send_msg_handler_set;           

} mavlink_communication_t;


typedef struct
{
    scheduler_conf_t                scheduler_config;
    mavlink_stream_conf_t           mavlink_stream_config;          
    mavlink_message_handler_conf_t  message_handler_config;         
    onboard_parameters_conf_t       onboard_parameters_config;      
    
    uint32_t                        max_msg_sending_count;          
} mavlink_communication_conf_t;



bool mavlink_communication_init(mavlink_communication_t* mavlink_communication, const mavlink_communication_conf_t* config, byte_stream_t* rx_stream, byte_stream_t* tx_stream);


task_return_t mavlink_communication_update(mavlink_communication_t* mavlink_communication);


void mavlink_communication_suspend_downstream(mavlink_communication_t* mavlink_communication, uint32_t delay);

bool mavlink_communication_add_msg_send(    mavlink_communication_t* mavlink_communication, uint32_t repeat_period, task_run_mode_t run_mode, task_timing_mode_t timing_mode, task_priority_t priority, mavlink_send_msg_function_t function, handling_telemetry_module_struct_t module_structure, uint32_t task_id);

task_return_t mavlink_communication_send_message(mavlink_send_msg_handler_t* msg_send);

#ifdef __cplusplus
}
#endif

#endif /* MAVLINK_COMMUNICATION_H_ */