/**
 ******************************************************************************
 *
 * @file       uavobject.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Interface implemented by all UAVObjects.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef UAVOBJECT_H
#define UAVOBJECT_H

#include <stdint.h>
#include "FreeRTOS.h"
#include "queue.h"

/**
 * Object update mode, used by multiple modules (e.g. telemetry and logger)
 */
typedef enum {
	UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
	UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
	UPDATEMODE_MANUAL,  /** Manually update object, by calling the updated() function */
	UPDATEMODE_NEVER /** Object is never updated */
} UAVObjectUpdateMode;

/**
 * Object metadata, each object has a meta object that holds its metadata. The metadata define
 * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
 */
typedef struct {
	int8_t ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
	UAVObjectUpdateMode telemetryUpdateMode; /** Update mode used by the telemetry module */
	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
	UAVObjectUpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS */
	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
	UAVObjectUpdateMode loggingUpdateMode; /** Update mode used by the logging module */
	int32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} UAVObjectMetadata;

/**
 * Interface implemented by all UAVObjects.
 */
struct UAVObjectStruct {
	uint32_t objectID; /** Unique object ID */
 	uint32_t metadataID; /** ID of the metadata object */
	int32_t isMetadata; /** Defines if this object is a meta object (1:meta, 0:regular object) */
	int32_t numBytes; /** Number of bytes of object's data */
	const char* name; /** Object name */
	struct UAVObjectStruct* linkedObj; /** Link between regular objects and metaobject, for regular objects this is the metaobject, for metadata objects this is the parent object */
	int32_t (*pack)(uint32_t objId, uint8_t* data, int32_t maxLength); /** Pack object data in a byte buffer */
	int32_t (*unpack)(uint32_t objId, uint8_t* data, int32_t length); /** Unpack object data from a byte buffer */
	int32_t (*initializeData)(const char* init); /** Initialize object data from a string, this is used by settings objects, the settings string is parsed and fields initialized */
	void (*getMetadata)(UAVObjectMetadata* dataOut); /** Get the object's metadata */
	void (*setMetadata)(const UAVObjectMetadata* dataIn); /** Set the object's metadata */
	void (*requestUpdate)(); /** Request that this object is updated with the latest value from the GCS */
	void (*updated)(); /** Trigger an update event, used when the update mode is set to UPDATEMODE_MANUAL */
	int32_t (*connect)(xQueueHandle queue, int32_t eventMask); /** Connect an event queue (from a module) to this object, the eventMask defines which events are enabled (or'ed UAVObjectQMsgEvent or 0 for all events) */
	int32_t (*disconnect)(xQueueHandle queue); /** Disconnect an event queue from this object */
};
typedef struct UAVObjectStruct UAVObject;

/**
 * Event types generated by the objects.
 */
typedef enum {
	QMSG_UNPACKED = 1, /** Object data updated by unpacking */
    QMSG_UPDATED = 2, /** Object data updated by changing the data structure */
    QMSG_UPDATED_MANUAL = 4, /** Object update event manually generated */
    QMSG_UPDATE_REQ = 8 /** Request to update object data */
} UAVObjectQMsgEvent;

/**
 * Event message, this structure is send in the event queue each time an event is generated
 */
typedef struct {
	UAVObject* obj;
	UAVObjectQMsgEvent event;
} UAVObjectQMsg;

#endif // UAVOBJECT_H