/**
 ******************************************************************************
 *
 * @file       telemetry.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   
 * @{
 * 
 *****************************************************************************/
/* 
 * 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 TELEMETRY_H
#define TELEMETRY_H

#include "uavtalk.h"
#include "uavobjects/uavobjectmanager.h"
#include <QMutex>
#include <QMutexLocker>
#include <QThread>
#include <QTimer>

class Telemetry: public QThread
{
    Q_OBJECT

public:
    Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
    void run();

signals:

private slots:
    void objectUpdatedAuto(UAVObject* obj);
    void objectUpdatedManual(UAVObject* obj);
    void objectUnpacked(UAVObject* obj);
    void updateRequested(UAVObject* obj);
    void newObject(UAVObject* obj);
    void newInstance(UAVObject* obj);
    void processPeriodicUpdates();

private:
    // Constants
    static const int REQ_TIMEOUT_MS = 500;
    static const int MAX_RETRIES = 3;
    static const int MAX_UPDATE_PERIOD_MS = 1000;
    static const int MIN_UPDATE_PERIOD_MS = 1;

    // Types
    /**
     * Events generated by objects
     */
    typedef enum {
        EV_UNPACKED = 0x01, /** Object data updated by unpacking */
        EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
        EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
        EV_UPDATE_REQ = 0x08 /** Request to update object data */
    } EventMask;

    typedef struct {
        UAVObject* obj;
        qint32 updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
        qint32 timeToNextUpdateMs; /** Time delay to the next update */
    } ObjectTimeInfo;

    // Variables
    UAVObjectManager* objMngr;
    UAVTalk* utalk;
    QList<ObjectTimeInfo> objList;
    QMutex* mutex;
    QTimer* timer;
    qint32 timeToNextUpdateMs;

    // Methods
    void registerObject(UAVObject* obj);
    void addObject(UAVObject* obj);
    void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
    void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
    void updateObject(UAVObject* obj);
    void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances);


};

#endif // TELEMETRY_H