/home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_communication.hpp

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/*******************************************************************************
 * \file mavlink_communication.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief This module handles various aspect of mavlink protocol with periodic telemetry,
 *        message callback, and onboard parameters
 *
 ******************************************************************************/


#ifndef MAVLINK_COMMUNICATION_HPP_
#define MAVLINK_COMMUNICATION_HPP_

#include "communication/mavlink_stream.hpp"
#include "communication/periodic_telemetry.hpp"
#include "communication/onboard_parameters.hpp"
#include "communication/mavlink_message_handler.hpp"


template<uint32_t N_TELEM, uint32_t N_MSG_CB, uint32_t N_CMD_CB, uint32_t N_PARAM>
class Mavlink_communication_T
{
public:

    struct conf_t
    {
        Mavlink_stream::conf_t          mavlink_stream;  
        Periodic_telemetry::conf_t      telemetry;       
        Mavlink_message_handler::conf_t handler;         
        Onboard_parameters::conf_t      parameters;      
    };

    static inline conf_t default_config(uint8_t sysid = 1)
    {
        conf_t conf                       = {};

        conf.mavlink_stream        = {};
        conf.mavlink_stream.sysid  = sysid;
        conf.mavlink_stream.compid = 50;
        conf.mavlink_stream.debug  = false,

        conf.telemetry     = Periodic_telemetry::default_config();
        conf.handler       = Mavlink_message_handler::default_config();
        conf.parameters    = Onboard_parameters::default_config();

        return conf;
    };

    Mavlink_communication_T(Serial& serial, State& state, File& file_storage, const conf_t& config = default_config()):
        mavlink_stream_(serial, config.mavlink_stream),
        handler_(mavlink_stream_, config.handler),
        telemetry_(mavlink_stream_, handler_, config.telemetry),
        parameters_(file_storage, state, handler_, mavlink_stream_, config.parameters)
    {}

    uint32_t sysid()
    {
        return mavlink_stream_.sysid();
    }


    /*
     * \brief   Returns periodic telemetry
     */
    Periodic_telemetry& telemetry()
    {
        return telemetry_;
    }

    /*
     * \brief   Returns message_handler
     */
    Mavlink_message_handler& handler()
    {
        return handler_;
    }

    /*
     * \brief   Returns mavlink_stream
     */
    Mavlink_stream& mavlink_stream()
    {
        return mavlink_stream_;
    }

    /*
     * \brief   Returns onboard_parameters struct
     */
    Onboard_parameters& parameters()
    {
        return parameters_;
    }


    bool update(void)
    {
        // Receive new message
        Mavlink_stream::msg_received_t rec;
        while (mavlink_stream_.receive(&rec))
        {
                handler_.receive(&rec);
        }

        // Send messages
        telemetry_.update();

        // Send one onboard param, if necessary
        parameters_.send_first_scheduled_parameter();

        return true;
    }


    static bool update_task(Mavlink_communication_T* mavlink_communication)
    {
        return mavlink_communication->update();
    }

private:
    Mavlink_stream                                  mavlink_stream_;       
    Mavlink_message_handler_T<N_MSG_CB, N_CMD_CB>   handler_;              
    Periodic_telemetry_T<N_TELEM>                   telemetry_;            
    Onboard_parameters_T<N_PARAM>                   parameters_;           
};


#endif /* MAVLINK_COMMUNICATION_HPP_ */