/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup ManualControlModule Manual Control Module
 * @{
 *
 * @file       manualcontrol.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      ManualControl module. Handles safety R/C link and flight mode.
 *
 * @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 MANUALCONTROL_H
#define MANUALCONTROL_H

#include "manualcontrolcommand.h"

typedef enum { FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3, FLIGHTMODE_TUNING = 4 } flightmode_path;

#define PARSE_FLIGHT_MODE(x) \
    ( \
        (x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
        (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
        (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
        (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
        (x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_LAND) ? FLIGHTMODE_GUIDANCE : \
        (x == FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) ? FLIGHTMODE_TUNING : \
        (x == FLIGHTSTATUS_FLIGHTMODE_POI) ? FLIGHTMODE_GUIDANCE : \
        FLIGHTMODE_UNDEFINED \
    )

int32_t ManualControlInitialize();


/*
 * These are assumptions we make in the flight code about the order of settings and their consistency between
 * objects.  Please keep this synchronized to the UAVObjects
 */
#define assumptions1 \
    ( \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      \
    )

#define assumptions3 \
    ( \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
    )

#define assumptions5 \
    ( \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
        ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
    )

#define ARMING_CHANNEL_ROLL  0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW   2

#define assumptions7 \
    ( \
        (((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_ROLL) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_ROLL) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_PITCH) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_PITCH) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_YAW) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) / 2 == ARMING_CHANNEL_YAW)          \
    )

#define assumptions8 \
    ( \
        (((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 == 0) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 != 0) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 == 0) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 != 0) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 == 0) && \
        (((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT - (int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT) % 2 != 0)   \
    )

#define assumptions_flightmode \
    ( \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int)FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int)FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE == (int)FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_LAND == (int)FLIGHTSTATUS_FLIGHTMODE_LAND) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE == (int)FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) && \
        ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POI == (int)FLIGHTSTATUS_FLIGHTMODE_POI) \
    )

#define assumptions_channelcount \
    ( \
        ((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM) && \
        ((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM) && \
        ((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM) && \
        ((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM) && \
        ((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM))

#endif // MANUALCONTROL_H