/home/travis/build/lis-epfl/MAVRIC_Library/drivers/unsupported/acoustic.hpp

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

#ifndef ACOUSTIC_HPP_
#define ACOUSTIC_HPP_

#include <cstdint>
#include <cstdbool>

#include "communication/mavlink_waypoint_handler.hpp"
#include "control/stabilisation_copter.hpp"
#include "control/stabilisation.hpp"
#include "mission/navigation.hpp"
#include "sensing/ahrs.hpp"
#include "sensing/ins.hpp"
#include "manual_control/remote.hpp"

extern "C"
{
#include "util/streams.h"
#include "buffer.h"
}

#define STORE_SIZE          4       ///< number of azimuth/elevation values stored for reliability test
#define RELIABILITY_ARC     0.25f   ///< the threshold to consider a measurement as reliable (compared with previous 3 measurements)
#define WAIT_LIMIT          6       ///< wait for WAITLIMIT*ACOUSTIC_TASK_ITERATION ms to recieve the new measurement, else reset reliability
#define MAX_DETECTION_RANGE 100     ///< set the maximum range


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;                   
    INS*                        position_estimation;    
    remote_t*                   remote;                 
    navigation_t*               navigation;             
    stabilisation_copter_t*     stabilisation_copter;   
    control_command_t*          controls_nav;           
    Mavlink_waypoint_handler*   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*       position_estimation,
                   remote_t*                    remote,
                   navigation_t*                navigation,
                   stabilisation_copter_t*      stabilisation_copter,
                   control_command_t*           controls_nav,
                   Mavlink_waypoint_handler*  waypoint_handler,
                   byte_stream_t*               telemetry_down_stream);


bool 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);

#endif