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

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
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 ******************************************************************************/

/*******************************************************************************
 * \file onboard_parameters.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Onboard parameters
 *
 ******************************************************************************/


#ifndef ONBOARD_PARAMETERS_HPP_
#define ONBOARD_PARAMETERS_HPP_

#include <cstdbool>

#include "communication/mavlink_stream.hpp"
#include "communication/mavlink_message_handler.hpp"
#include "status/state.hpp"
#include "hal/common/file.hpp"


class Onboard_parameters
{
public:

    struct conf_t
    {
        bool debug;                                                 
    };


    static inline conf_t default_config(void);


    Onboard_parameters(File& file, const State& state, Mavlink_message_handler& message_handler, const Mavlink_stream& mavlink_stream, const conf_t& config);

    bool add(uint32_t* val, const char* param_name);

    bool add(int32_t* val, const char* param_name);

    bool add(float* val, const char* param_name);

     bool read_from_storage();

    bool write_to_storage();

    bool send_first_scheduled_parameter(void);


protected:

    struct param_entry_t
    {
        float* param;                                               
        char param_name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN];  
        mavlink_message_type_t data_type;                           
        uint8_t param_name_length;                                  
        uint8_t param_id;                                           
        bool  schedule_for_transmission;                            
    };


    virtual uint32_t max_count(void) = 0;


    virtual param_entry_t* parameters(void) = 0;


private:

    bool debug_;                                             
    File& file_;                                             
    const State& state_;                                     
    const Mavlink_stream& mavlink_stream_;                   
    uint32_t param_count_;                                   


     bool send_one_parameter_now(uint32_t index);


    /******************************
     * static callback functions  *
     ******************************/
    static bool send_all_scheduled_parameters(Onboard_parameters* onboard_parameters);

    static void schedule_all_parameters(Onboard_parameters* onboard_parameters, uint32_t sysid, const mavlink_message_t* msg);

    static void send_parameter(Onboard_parameters* onboard_parameters, uint32_t sysid, const mavlink_message_t* msg);

    static void receive_parameter(Onboard_parameters* onboard_parameters, uint32_t sysid, const mavlink_message_t* msg);

    static mav_result_t preflight_storage(Onboard_parameters* onboard_parameters, const mavlink_command_long_t* msg);

};

template<uint32_t N>
class Onboard_parameters_T: public Onboard_parameters
{
public:
    Onboard_parameters_T(File& file, const State& state, Mavlink_message_handler& message_handler, const Mavlink_stream& mavlink_stream, const conf_t& config):
        Onboard_parameters(file, state, message_handler, mavlink_stream, config)
    {}


protected:

    uint32_t max_count(void)
    {
        return N;
    }


    param_entry_t* parameters(void)
    {
        return parameters_;
    }


private:
    param_entry_t parameters_[N];         
};


Onboard_parameters::conf_t Onboard_parameters::default_config(void)
{
    conf_t conf = {};
    conf.debug = false;
    return conf;
}

#endif /* ONBOARD_PARAMETERS_HPP_ */